Mitsubishi Electronics Q173CPUN, Q172CPUN User Manual

SAFETY PRECAUTIONS

(Please read these instructions before using this equipment.)

Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. These precautions apply only to this product. Refer to the Q173CPU(N)/Q172CPU(N) Users manual for a description of the Motion controller safety precautions. In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".

Indicates that incorrect handling may cause hazardous

Depending on circumstances, procedures indicated by results. In any case, it is important to follow the directions for usage.

Please save this manual to make it accessible when required and always forward it to the end user.

DANGER

CAUTION

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.

CAUTION may also be linked to serious

A - 1

For Safe Operations

1. Prevention of electric shocks

DANGER

Never open the front case or terminal covers while the power is ON or the unit is running, as this

may lead to electric shocks.

Never run the unit with the front case or terminal cover removed. The high voltage terminal and

charged sections will be exposed and may lead to electric shocks.

Never open the front case or terminal cover at times other than wiring work or periodic

inspections even if the power is OFF. The insides of the Motion controller and servo amplifier are charged and may lead to electric shocks.

Completely turn off the externally supplied power used in the system before mounting or

removing the module, performing wiring work, or inspections. Failing to do so may lead to electric shocks.

When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and

then check the voltage with a tester, etc. Failing to do so may lead to electric shocks.

Be sure to ground the Motion controller, servo amplifier and servomotor. (Ground resistance :

or less) Do not ground commonly with other devices.

100 The wiring work and inspections must be done by a qualified technician. Wire the units after installing the Motion controller, servo amplifier and servomotor. Failing to do

so may lead to electric shocks or damage. Never operate the switches with wet hands, as this may lead to electric shocks. Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this

may lead to electric shocks. Do not touch the Motion controller, servo amplifier or servomotor terminal blocks while the power

is ON, as this may lead to electric shocks. Do not touch the built-in power supply, built-in grounding or signal wires of the Motion controller

and servo amplifier, as this may lead to electric shocks.

2. For fire prevention

CAUTION

Install the Motion controller, servo amplifier, servomotor and regenerative resistor on

incombustible. Installing them directly or close to combustibles will lead to fire. If a fault occurs in the Motion controller or servo amplifier, shut the power OFF at the servo

amplifier’s power source. If a large current continues to flow, fire may occur. When using a regenerative resistor, shut the power OFF with an error signal. The regenerative

resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead

to fire. Always take heat measures such as flame proofing for the inside of the control panel where the

servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may

lead to fire. Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this

may lead to fire.

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3. For injury prevention

CAUTION

Do not apply a voltage other than that specified in the instruction manual on any terminal.

Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity ( + / - ), as this may lead to destruction or damage. Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and

servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this

timing, these parts become very hot and may lead to burns. Always turn the power OFF before touching the servomotor shaft or coupled machines, as these

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

Doing so may lead to injuries.

4. Various precautions

Strictly observe the following precautions.

Mistaken handling of the unit may lead to faults, injuries or electric shocks.

(1) System structure

CAUTION

Always install a leakage breaker on the Motion controller and servo amplifier power source. If installation of an electromagnetic contactor for power shut off during an error, etc., is specified in

the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor.

Install the emergency stop circuit externally so that the operation can be stopped immediately and

the power shut off.

Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the correct

combinations listed in the instruction manual. Other combinations may lead to fire or faults.

Use the Motion controller, base unit and motion module with the correct combinations listed in the

instruction manual. Other combinations may lead to faults.

If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller,

servo amplifier and servomotor, make sure that the safety standards are satisfied.

Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal

operation of the Motion controller or servo amplifier differ from the safety directive operation in the system.

In systems where coasting of the servomotor will be a problem during the forced stop, emergency

stop, servo OFF or power supply OFF, use dynamic brakes. Make sure that the system considers the coasting amount even when using dynamic brakes. In systems where perpendicular shaft dropping may be a problem during the forced stop,

emergency stop, servo OFF or power supply OFF, use both dynamic brakes and electromagnetic

brakes.

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CAUTION

The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or

servo OFF. These brakes must not be used for normal braking.

The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications,

and must not be used for normal braking.

The system must have a mechanical allowance so that the machine itself can stop even if the

stroke limits switch is passed through at the max. speed. Use wires and cables that have a wire diameter, heat resistance and bending resistance

compatible with the system. Use wires and cables within the length of the range described in the instruction manual. The ratings and characteristics of the parts (other than Motion controller, servo amplifier and

servomotor) used in a system must be compatible with the Motion controller, servo amplifier and

servomotor. Install a cover on the shaft so that the rotary parts of the servomotor are not touched during

operation. There may be some cases where holding by the electromagnetic brakes is not possible due to the

life or mechanical structure (when the ball screw and servomotor are connected with a timing belt,

etc.). Install a stopping device to ensure safety on the machine side.

(2) Parameter settings and programming

CAUTION

Set the parameter values to those that are compatible with the Motion controller, servo amplifier,

servomotor and regenerative resistor model and the system application. The protective functions may not function if the settings are incorrect.

The regenerative resistor model and capacity parameters must be set to values that conform to

the operation mode, servo amplifier and servo power supply module. The protective functions

may not function if the settings are incorrect. Set the mechanical brake output and dynamic brake output validity parameters to values that are

compatible with the system application. The protective functions may not function if the settings

are incorrect. Set the stroke limit input validity parameter to a value that is compatible with the system

application. The protective functions may not function if the setting is incorrect. Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value

that is compatible with the system application. The protective functions may not function if the

setting is incorrect. Set the servomotor capacity and type (standard, low-inertia, flat, etc.) parameter to values that

are compatible with the system application. The protective functions may not function if the

settings are incorrect. Set the servo amplifier capacity and type parameters to values that are compatible with the

system application. The protective functions may not function if the settings are incorrect. Use the program commands for the program with the conditions specified in the instruction

manual.

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CAUTION

Set the sequence function program capacity setting, device capacity, latch validity range, I/O

assignment setting, and validity of continuous operation during error detection to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.

Some devices used in the program have fixed applications, so use these with the conditions

specified in the instruction manual. The input devices and data registers assigned to the link will hold the data previous to when

communication is terminated by an error, etc. Thus, an error correspondence interlock program

specified in the instruction manual must be used. Use the interlock program specified in the intelligent function module's instruction manual for the

program corresponding to the intelligent function module.

(3) Transportation and installation

CAUTION

Transport the product with the correct method according to the mass.

Use the servomotor suspension bolts only for the transportation of the servomotor. Do not

transport the servomotor with machine installed on it. Do not stack products past the limit. When transporting the Motion controller or servo amplifier, never hold the connected wires or

cables. When transporting the servomotor, never hold the cables, shaft or detector. When transporting the Motion controller or servo amplifier, never hold the front case as it may fall

off. When transporting, installing or removing the Motion controller or servo amplifier, never hold the

edges. Install the unit according to the instruction manual in a place where the mass can be withstood. Do not get on or place heavy objects on the product. Always observe the installation direction. Keep the designated clearance between the Motion controller or servo amplifier and control panel

inner surface or the Motion controller and servo amplifier, Motion controller or servo amplifier and

other devices. Do not install or operate Motion controller, servo amplifiers or servomotors that are damaged or

that have missing parts. Do not block the intake/outtake ports of the Motion controller, servo amplifier and servomotor with

cooling fan. Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil

enter the Motion controller, servo amplifier or servomotor. The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or

apply strong impacts on them. Securely fix the Motion controller, servo amplifier and servomotor to the machine according to

the instruction manual. If the fixing is insufficient, these may come off during operation.

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CAUTION

Always install the servomotor with reduction gears in the designated direction. Failing to do so

may lead to oil leaks.

Store and use the unit in the following environmental conditions.

Environment

Ambient temperature

Ambient humidity

Storage temperature

Atmosphere

Altitude

Vibration

Motion controller/Servo amplifier Servomotor

According to each instruction manual.

Indoors (where not subject to direct sunlight).

No corrosive gases, flammable gases, oil mist or dust must exist

1000m (3280.84ft.) or less above sea level

According to each instruction manual

Conditions

0°C to +40°C (With no freezing)

(32°F to +104°F)

80% RH or less

(With no dew condensation)

-20°C to +65°C

(-4°F to +149°F)

When coupling with the synchronous encoder or servomotor shaft end, do not apply impact such

as by hitting with a hammer. Doing so may lead to detector damage.

Do not apply a load larger than the tolerable load onto the synchronous encoder and servomotor

shaft. Doing so may lead to shaft breakage.

When not using the module for a long time, disconnect the power line from the Motion controller

or servo amplifier. Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store. When storing for a long time, please contact with our sales representative.

Also, execute a trial operation.

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(4) Wiring

CAUTION

Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal

screws for tightness after wiring. Failing to do so may lead to run away of the servomotor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF)

on the output side of the servo amplifier.

Correctly connect the output side (terminal U, V, W) and ground. Incorrect connections will lead

the servomotor to operate abnormally. Do not connect a commercial power supply to the servomotor, as this may lead to trouble. Do not mistake the direction of the surge absorbing diode

installed on the DC relay for the control signal output of brake

signals, etc. Incorrect installation may lead to signals not being

output when trouble occurs or the protective functions not

functioning. Do not connect or disconnect the connection cables between

each unit, the encoder cable or PLC expansion cable while the

power is ON. Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may

lead to the cables combing off during operation. Do not bundle the power line or cables.

Servo amplifier

VIN

(24VDC)

Control output signal

(5) Trial operation and adjustment

CAUTION

Confirm and adjust the program and each parameter before operation. Unpredictable

movements may occur depending on the machine. Extreme adjustments and changes may lead to unstable operation, so never make them. When using the absolute position system function, on starting up, and when the Motion

controller or absolute value motor has been replaced, always perform a home position return.

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(6) Usage methods

CAUTION

Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the

Motion controller, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or

parameters have been changed or after maintenance and inspection.

Do not attempt to disassemble and repair the units excluding a qualified technician whom our

company recognized. Do not make any modifications to the unit. Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using

wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the

Motion controller or servo amplifier. When using the CE Mark-compliant equipment, refer to the "EMC Installation Guidelines" (data

number IB(NA)-67339) for the Motion controllers and refer to the corresponding EMC guideline

information for the servo amplifiers, inverters and other equipment. Use the units with the following conditions.

Item Conditions

Input power According to each instruction manual.

Input frequency According to each instruction manual.

Tolerable momentary power failure According to each instruction manual.

(7) Corrective actions for errors

CAUTION

If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the

check details according to the instruction manual, and restore the operation.

If a dangerous state is predicted in case of a power failure or product failure, use a servomotor

with electromagnetic brakes or install a brake mechanism externally. Use a double circuit construction so that the electromagnetic brake operation circuit can be

operated by emergency stop signals set externally.

Shut off with servo ON signal OFF, alarm, electromagnetic brake signal.

Servomotor

Electromagnetic brakes

RA1 EMG

Shut off with the emergency stop signal (EMG).

24VDC

If an error occurs, remove the cause, secure the safety and then resume operation after alarm

release.

The unit may suddenly resume operation after a power failure is restored, so do not go near the

machine. (Design the machine so that personal safety can be ensured even if the machine

restarts suddenly.)

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(8) Maintenance, inspection and part replacement

CAUTION

Perform the daily and periodic inspections according to the instruction manual.

Perform maintenance and inspection after backing up the program and parameters for the Motion

controller and servo amplifier. Do not place fingers or hands in the clearance when opening or closing any opening. Periodically replace consumable parts such as batteries according to the instruction manual. Do not touch the lead sections such as ICs or the connector contacts.

Before touching the module, always touch grounded metal, etc. to discharge static electricity from

human body. Failure to do so may cause the module to fail or malfunction.

Do not directly touch the module's conductive parts and electronic components.

Touching them could cause an operation failure or give damage to the module. Do not place the Motion controller or servo amplifier on metal that may cause a power leakage

or wood, plastic or vinyl that may cause static electricity buildup.

Do not perform a megger test (insulation resistance measurement) during inspection. When replacing the Motion controller or servo amplifier, always set the new module settings

correctly.

When the Motion controller or absolute value motor has been replaced, carry out a home

position return operation using one of the following methods, otherwise position displacement could occur.

1) After writing the servo data to the Motion controller using programming software, switch on the power again, then perform a home position return operation.

2) Using the backup function of the programming software, load the data backed up before replacement.

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

absolute position detector function is correct.

Do not drop or impact the battery installed to the module.

Doing so may damage the battery, causing battery liquid to leak in the battery. Do not use the

dropped or impacted battery, but dispose of it. Do not short circuit, charge, overheat, incinerate or disassemble the batteries. The electrolytic capacitor will generate gas during a fault, so do not place your face near the

Motion controller or servo amplifier. The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary

damage from faults. Replacements can be made by our sales representative. Lock the control panel and prevent access to those who are not certified to handle or install

electric equipment. Do not burn or break a module and servo amplifier. Doing so may cause a toxic gas.

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(9) About processing of waste

When you discard Motion controller, servo amplifier, a battery (primary battery) and other option articles, please follow the law of each country (area).

CAUTION

This product is not designed or manufactured to be used in equipment or systems in situations

that can affect or endanger human life. When considering this product for operation in special applications such as machinery or systems

used in passenger transportation, medical, aerospace, atomic power, electric power, or

submarine repeating applications, please contact your nearest Mitsubishi sales representative. Although this product was manufactured under conditions of strict quality control, you are strongly

advised to install safety devices to forestall serious accidents when it is used in facilities where a

breakdown in the product is likely to cause a serious accident.

(10) General cautions

All drawings provided in the instruction manual show the state with the covers and safety

partitions removed to explain detailed sections. When operating the product, always return the

covers and partitions to the designated positions, and operate according to the instruction

manual.

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REVISIONS

The manual number is given on the bottom left of the back cover.

Print Date Manual Number Revision Jun., 2002 IB(NA)-0300042-A First edition Feb., 2004 IB(NA)-0300042-B [Addition model]

Q173CPUN-T/Q172CPUN-T, A31TU-D3K13/A31TU-DNK13, Q172EX-S1, Q173PX-S1, Q00CPU, Q01CPU, 64AD, Q68ADV, Q68ADI, Q62DA, Q64DA, Q68DAV, Q68DAI, Q170TUD3CBL3M, Q170TUDNCBL3M, Q170TUDNCBL03M-A, Q170TUTM, A31TUD3TM, FR-V5

0- , Software for SV43 [Addition function] For WindowsXP, Home position return function, ROM operation function, Online change function [Additional correction/partial correction] Safety precautions, About processing of waste, Startup slow of the Multiple CPU system, User file list, Error code list, etc. [partial correction]

Mar., 2006 IB(NA)-0300042-C [Addition model]

Q62P, Q172EX-S2, Q172EX-S3, Q170ENC [Addition function] Cam axis command signal, Smoothing clutch complete signal, Gain changing signal, Real mode axis information register, Motion SFC instruction "FMOV", Bit device setting by Motion SFC instruction, Security function [Additional correction/partial correction] Safety precautions, User file list, Error code list, Warranty, Manual model code (1CT781

1XB781), etc.

Apr., 2010 IB(NA)-0300042-D [Additional correction/partial correction]

Safety precautions, "1.6.1 I/O No. for I/O modules and intelligent function modules", Warranty

Japanese Manual Version IB(NA)-0300023

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi 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.

A - 11

INTRODUCTION

Thank you for choosing the Q173CPU(N)/Q172CPU(N) Motion Controller. Please read this manual carefully so that equipment is used to its optimum.

Safety Precautions .........................................................................................................................................A- 1

Revisions ........................................................................................................................................................A-11

Contents .........................................................................................................................................................A-12

About Manuals ...............................................................................................................................................A-18

1. OVERVIEW 1- 1 to 1-96

1.1 Overview................................................................................................................................................... 1- 1

1.2 Features ................................................................................................................................................... 1- 3

1.2.1 Features of Motion CPU ................................................................................................................... 1- 3

1.2.2 Basic specifications of Q173CPU(N)/Q172CPU(N)......................................................................... 1- 6

1.2.3 Operation control/transition control specifications ........................................................................... 1- 9

1.2.4 Differences between Q173CPU(N)/Q172CPU(N)and A173UHCPU/A172SHCPUN.................... 1-13

1.2.5 Positioning dedicated devices/special relays/special registers ....................................................... 1-15

1.3 Hardware Configuration ........................................................................................................................... 1-55

1.3.1 Motion system configuration ............................................................................................................. 1-55

1.3.2 Q173CPU(N) System overall configuration...................................................................................... 1-61

1.3.3 Q172CPU(N) System overall configuration...................................................................................... 1-63

1.3.4 Software packages............................................................................................................................ 1-65

1.3.5 Restrictions on motion systems ........................................................................................................1-69

1.4 Multiple CPU System ...............................................................................................................................1-71

1.4.1 Overview ............................................................................................................................................ 1-71

1.4.2 Installation of PLC CPU and Motion CPU ........................................................................................ 1-72

1.4.3 Precautions for using Q series I/O modules and intelligent function modules................................ 1-73

1.4.4 Modules subject to installation restrictions ....................................................................................... 1-74

1.4.5 Processing time of the Multiple CPU system ...................................................................................1-75

1.4.6 How to reset the Multiple CPU system .............................................................................................1-76

1.4.7 Processing at a CPU DOWN error occurrence by a PLC CPU or Q173CPU(N)/Q172CPU(N).... 1-77

1.5 System Settings .......................................................................................................................................1-80

1.5.1 System data settings .........................................................................................................................1-80

1.5.2 Common system parameters ........................................................................................................... 1-81

1.5.3 Individual parameters ........................................................................................................................1-87

1.6 Assignment of I/O No. ..............................................................................................................................1-92

1.6.1 I/O No. for I/O modules and intelligent function modules ................................................................ 1-92

1.6.2 I/O No. of PLC CPU and Q173CPU(N)/Q172CPU(N)..................................................................... 1-95

1.6.3 Setting I/O No. ................................................................................................................................... 1-96

2. STARTING UP THE MULTIPLE CPU SYSTEM 2- 1 to 2- 2

2.1 Startup Flow of the Multiple CPU System ............................................................................................... 2- 1

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3. COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 3- 1 to 3-26

3.1 Automatic Refresh Function of The Shared CPU Memory .................................................................... 3- 1

3.2 Control Instruction from the PLC CPU to The Motion CPU (Motion dedicated instructions) ................ 3-20

3.3 Reading/Writing Device Data .................................................................................................................. 3-21

3.4 Shared CPU Memory............................................................................................................................... 3-22

4. STRUCTURE OF THE MOTION CPU PROGRAM 4- 1 to 4- 4

4.1 Motion Control in SV13/SV22 Real Mode ............................................................................................... 4- 2

4.2 Motion Control in SV22 Virtual Mode ......................................................................................................4- 3

5. MOTION DEDICATED PLC INSTRUCTION 5- 1 to 5-48

5.1 Motion Dedicated PLC Instruction ........................................................................................................... 5- 1

5.1.1 Restriction item of the Motion dedicated PLC instruction ................................................................5- 1

5.2 Motion SFC Start Request from The PLC CPU to The Motion CPU: S(P).SFCS (PLC instruction:

S(P).SFCS

) ............................................................................................ 5- 9

5.3 Servo Program Start Request from The PLC CPU to The Motion CPU: S(P).SVST (PLC instruction:

S(P).SVST

) ........................................................................................... 5-12

5.4 Current Value Change Instruction from The PLC CPU to The Motion CPU: S(P).CHGA (PLC instruction:

S(P).CHGA

) ..........................................................................................5-17

5.5 Speed Change Instruction from The PLC CPU to The Motion CPU: S(P).CHGV (PLC instruction:

S(P).CHGV

) ..........................................................................................5-30

5.6 Torque Limit Value Change Request Instruction from The PLC CPU to The Motion CPU: S(P).CHGT (PLC instruction:

5.7 Write from The PLC CPU to The Motion CPU: S(P).DDWR (PLC instruction:

5.8 Read from The Devices of The Motion CPU: S(P).DDRD (PLC instruction:

5.9 Interrupt Instruction to The Other CPU: S(P).GINT (PLC instruction:

S(P).CHGT

)........................................................................................... 5-34

S(P).DDRD

S(P).GINT

S(P).DDWR

).............................. 5-46

)............. 5-38

) ................. 5-42

6. MOTION SFC PROGRAMS 6- 1 to 6-28

6.1 Motion SFC Program Configuration ........................................................................................................6- 1

6.2 Motion SFC Chart Symbol List ................................................................................................................ 6- 2

6.3 Branch and Coupling Chart List............................................................................................................... 6- 5

6.4 Motion SFC Program Name .................................................................................................................... 6- 9

6.5 Steps......................................................................................................................................................... 6-10

6.5.1 Motion control step ............................................................................................................................6-10

6.5.2 Operation control step....................................................................................................................... 6-11

6.5.3 Subroutine call/start step................................................................................................................... 6-12

6.5.4 Clear step .......................................................................................................................................... 6-14

6.6 Transitions ................................................................................................................................................ 6-15

6.7 Jump, Pointer ........................................................................................................................................... 6-17

6.8 END .......................................................................................................................................................... 6-17

6.9 Branches, Couplings ................................................................................................................................6-18

6.9.1 Series transition................................................................................................................................. 6-18

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6.9.2 Selective branch, selective coupling................................................................................................. 6-19

6.9.3 Parallel branch, parallel coupling...................................................................................................... 6-20

6.10 Y/N Transitions....................................................................................................................................... 6-22

6.11 Motion SFC Comments ......................................................................................................................... 6-26

7. OPERATION CONTROL PROGRAMS 7- 1 to 7-96

7.1 Operation Control Programs.................................................................................................................... 7- 1

7.2 Device Descriptions ................................................................................................................................. 7- 7

7.3 Constant Descriptions .............................................................................................................................. 7- 9

7.4 Binary Operations .................................................................................................................................... 7-10

7.4.1 Substitution : =................................................................................................................................... 7-10

7.4.2 Addition : +......................................................................................................................................... 7-12

7.4.3 Subtraction :

7.4.4 Multiplication : * ................................................................................................................................. 7-15

7.4.5 Division : / .......................................................................................................................................... 7-16

7.4.6 Remainder : %................................................................................................................................... 7-17

7.5 Bit Operations........................................................................................................................................... 7-18

7.5.1 Bit inversion(Complement) : ~ .......................................................................................................... 7-18

7.5.2 Bit logical AND : & ............................................................................................................................. 7-19

7.5.3 Bit logical OR : | ................................................................................................................................. 7-20

7.5.4 Bit exclusive logical OR : ^................................................................................................................ 7-21

7.5.5 Bit right shift : >>................................................................................................................................ 7-22

7.5.6 Bit left shift : << .................................................................................................................................. 7-23

7.5.7 Sign inversion(Complement of 2) :

7.6 Standard Functions ..................................................................................................................................7-25

7.6.1 Sine : SIN........................................................................................................................................... 7-25

7.6.2 Cosine : COS..................................................................................................................................... 7-26

7.6.3 Tangent : TAN ................................................................................................................................... 7-27

7.6.4 Arcsine : ASIN ...................................................................................................................................7-28

7.6.5 Arccosine : ACOS .............................................................................................................................7-29

7.6.6 Arctangent : ATAN ............................................................................................................................ 7-30

7.6.7 Square root : SQRT .......................................................................................................................... 7-31

7.6.8 Natural logarithm : LN .......................................................................................................................7-32

7.6.9 Exponential operation : EXP ............................................................................................................. 7-33

7.6.10 Absolute value : ABS ......................................................................................................................7-34

7.6.11 Round-off : RND.............................................................................................................................. 7-35

7.6.12 Round-down : FIX ...........................................................................................................................7-36

7.6.13 Round-up : FUP .............................................................................................................................. 7-37

7.6.14 BCD

7.6.15 BIN

7.7 Type Conversions .................................................................................................................................... 7-40

7.7.1 Signed 16-bit integer value conversion : SHORT ............................................................................ 7-40

7.7.2 Unsigned 16-bit integer value conversion : USHORT ..................................................................... 7-41

7.7.3 Signed 32-bit integer value conversion : LONG............................................................................... 7-42

7.7.4 Unsigned 32-bit integer value conversion : ULONG ........................................................................ 7-43

7.7.5 Signed 64-bit floating-point value conversion : FLOAT ................................................................... 7-44

7.7.6 Unsigned 64-bit floating-point value conversion : UFLOAT ............................................................ 7-45

BCD conversion : BCD........................................................................................................ 7-39

.................................................................................................................................. 7-13

............................................................................................... 7-24

BIN conversion : BIN ......................................................................................................... 7-38

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7.8 Bit Device Statuses .................................................................................................................................. 7-46

7.8.1 ON (Normally open contact) : (None) ............................................................................................... 7-46

7.8.2 OFF (Normally closed contact) : ! .....................................................................................................7-47

7.9 Bit Device Controls................................................................................................................................... 7-48

7.9.1 Device set : SET................................................................................................................................ 7-48

7.9.2 Device reset : RST ............................................................................................................................ 7-50

7.9.3 Device output : DOUT ....................................................................................................................... 7-52

7.9.4 Device input : DIN ............................................................................................................................. 7-53

7.9.5 Bit device output : OUT .................................................................................................................... 7-54

7.10 Logical Operations ................................................................................................................................. 7-56

7.10.1 Logical acknowledgement : (None) ................................................................................................7-56

7.10.2 Logical negation : ! ..........................................................................................................................7-57

7.10.3 Logical AND : * ................................................................................................................................ 7-58

7.10.4 Logical OR : +.................................................................................................................................. 7-59

7.11 Comparison Operations......................................................................................................................... 7-60

7.11.1 Equal to : == ....................................................................................................................................7-60

7.11.2 Not equal to : != ...............................................................................................................................7-61

7.11.3 Less than : < .................................................................................................................................... 7-62

7.11.4 Less than or equal to : <= ............................................................................................................... 7-63

7.11.5 More than : > ................................................................................................................................... 7-64

7.11.6 More than or equal to : >=............................................................................................................... 7-65

7.12 Motion-Dedicated Functions(CHGV, CHGT) ........................................................................................7-66

7.12.1 Speed change request : CHGV ......................................................................................................7-66

7.12.2 Torque limit value change request : CHGT.................................................................................... 7-72

7.13 Other Instructions................................................................................................................................... 7-74

7.13.1 Event task enable : EI ..................................................................................................................... 7-74

7.13.2 Event task disable : DI ....................................................................................................................7-75

7.13.3 No operation : NOP......................................................................................................................... 7-76

7.13.4 Block transfer : BMOV .................................................................................................................... 7-77

7.13.5 Same data block transfer : FMOV ..................................................................................................7-80

7.13.6 Write device data to shared CPU memory of the self CPU : MULTW ..........................................7-82

7.13.7 Read device data from shared CPU memory of the other CPU: MULTR..................................... 7-85

7.13.8 Write device data to intelligent function module/special function module : TO............................. 7-88

7.13.9 Read device data from intelligent function module/special function module : FROM .................. 7-91

7.13.10 Time to wait : TIME .......................................................................................................................7-94

7.14 Comment Statement : //......................................................................................................................... 7-96

8. TRANSITION PROGRAMS 8- 1 to 8- 2

8.1 Transition Programs................................................................................................................................. 8- 1

9. MOTION CONTROL PROGRAMS 9- 1 to 9-22

9.1 Servo Instruction List................................................................................................................................ 9- 1

9.2 Servomotor/Virtual Servomotor Shaft Current Value Change................................................................ 9-14

9.3 Synchronous Encoder Shaft Current Value Change Control (SV22 Only)............................................ 9-17

9.4 Cam Shaft Within-One-Revolution Current Value Change Control (SV22 Only) .................................. 9-20

A - 15

9.5 Programming Instructions........................................................................................................................ 9-22

9.5.1 Cancel • start ..................................................................................................................................... 9-22

9.5.2 Indirect designation using motion devices........................................................................................ 9-22

10. MOTION DEVICES 10- 1 to 10- 6

10.1 Motion Registers (#0 to #8191) ............................................................................................................ 10- 1

10.2 Coasting Timer (FT) ..............................................................................................................................10- 6

11. MOTION SFC PARAMETER 11- 1 to 11-20

11.1 Task Definitions.................................................................................................................................... 11- 1

11.2 Number of Consecutive Transitions and Task Operation ..................................................................11- 2

11.2.1 Number of consecutive transitions ...............................................................................................11- 2

11.2.2 Task operation............................................................................................................................... 11- 3

11.3 Execution Status of The Multiple Task................................................................................................ 11- 7

11.4 Task Parameters.................................................................................................................................. 11- 8

11.5 Program Parameters............................................................................................................................ 11-10

11.6 How to Start The Motion SFC Program .............................................................................................. 11-16

11.6.1 Automatic start .............................................................................................................................. 11-16

11.6.2 Start from the Motion SFC program ............................................................................................. 11-16

11.6.3 Start from PLC (PLC instruction S(P).SFCS

)............................................................................ 11-16

11.7 How to End The Motion SFC Program ............................................................................................... 11-17

11.8 How to Change from One Motion SFC Program to Another.............................................................. 11-17

11.9 How to Manage The Executing Program ............................................................................................ 11-17

11.10 Operation Performed at CPU Power-Off or Reset ..........................................................................11-18

11.11 Operation Performed when CPU is Switched from RUN/STOP ...................................................... 11-18

11.12 Operation Performed when PLC Ready flag (M2000) Turns OFF/ON ............................................ 11-19

11.13 Operation at The Error Occurrence................................................................................................... 11-20

12. USER FILES 12- 1 to 12- 8

12.1 Projects................................................................................................................................................. 12- 1

12.2 User File List ........................................................................................................................................ 12- 2

12.3 Online Change in The Motion SFC Program ...................................................................................... 12- 3

12.3.1 Operating method for The Online Change ................................................................................... 12- 4

12.3.2 Transfer of program ...................................................................................................................... 12- 7

13. LIMIT SWITCH OUTPUT FUNCTION 13- 1 to 13- 8

13.1 Operations............................................................................................................................................ 13- 1

13.2 Limit Output Setting Data..................................................................................................................... 13- 4

14. ROM OPERATION FUNCTION 14- 1 to 14-12

14.1 About the ROM Operation Function .................................................................................................... 14- 1

14.2 Specifications of LED • Switch............................................................................................................. 14- 3

14.3 ROM Operation Function Details ........................................................................................................ 14- 5

14.4 Operating Procedure of "ROM writing" ............................................................................................... 14-11

A - 16

15. SECURITY FUNCTION 15- 1 to 15- 6

15.1 Password Registration/change............................................................................................................ 15- 1

15.2 Password Clearance............................................................................................................................ 15- 3

15.3 Password Check ..................................................................................................................................15- 4

15.4 Password Save .................................................................................................................................... 15- 5

15.5 Clear All ................................................................................................................................................ 15- 6

16. COMMUNICATIONS VIA NETWORK 16- 1 to 16-10

16.1 Specifications of The Communications via Network........................................................................... 16- 2

16.2 Access Range of The Communications via Network ......................................................................... 16- 3

16.2.1 Network configuration via the MELSECNET/10(H) or the Ethernet............................................ 16- 3

16.2.2 Network configuration via the CC-Link ......................................................................................... 16- 5

16.2.3 Network configuration via the RS422/485.................................................................................... 16- 6

16.2.4 Network configuration which MELSECNET/10 (H), Ethernet, CC-Link, RS422/485 were mixed

.................................................................................................................................................................. 16- 7

17. MONITOR FUNCTION OF THE MAIN CYCLE 17- 1 to 17- 2

18. SERVO PARAMETER READING FUNCTION 18- 1 to 18- 2

18.1 About The Servo Parameter Read Request Devices......................................................................... 18- 1

18.2 Operating Procedure of The Servo Parameter Reading Function..................................................... 18- 2

19. ERROR CODE LISTS 19- 1 to 19-18

19.1 Reading Procedure for Error Codes.................................................................................................... 19- 1

19.2 Motion SFC Error Code List ................................................................................................................ 19- 2

19.3 Motion SFC Parameter Errors ............................................................................................................. 19-11

19.4 Multiple CPU Error Codes ................................................................................................................... 19-13

19.4.1 Self-diagnosis error code ..............................................................................................................19-13

19.4.2 Release of self-diagnosis error ..................................................................................................... 19-18

APPENDICES APP- 1 to APP-32

APPENDIX 1 Processing Times...............................................................................................................APP- 1

APPENDIX 1.1 Processing time of operation control/Transition instruction .......................................APP- 1

APPENDIX 2 Sample Program ................................................................................................................APP- 9

APPENDIX 2.1 Program example to execute the Multiple CPU dedicated instruction continuously.APP- 9 APPENDIX 2.2 The program example to execute plural Multiple CPU instruction by the instructions of

one time........................................................................................................................APP-11

APPENDIX 2.3 Motion control example by Motion SFC program.......................................................APP-13

APPENDIX 2.4 Continuation execution example at the subroutine re-start by the Motion SFC program

.....................................................................................................................................APP-24

APPENDIX 2.5 Continuation execution example after the stop by the Motion SFC program............APP-28

A - 17

About Manuals

The following manuals are related to this product.

Referring to this list, please request the necessary manuals.

Related Manuals

(1) Motion controller

Q173CPU(N)/Q172CPU(N) Motion controller User's Manual

This manual explains specifications of the Motion CPU modules, Q172LX Servo external signal interface

module, Q172EX Serial absolute synchronous encoder interface module, Q173PX Manual pulse

generator interface module, Teaching units, Power supply modules, Servo amplifiers, SSCNET cables,

synchronous encoder cables and others.

(Optional)

Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual

(REAL MODE)

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

(Optional)

Manual Name

Manual Number

(Model Code)

IB-0300040

(1XB780)

IB-0300043

(1XB782)

Q173CPU(N)/Q172CPU(N) Motion controller (SV22) Programming Manual

(VIRTUAL MODE)

This manual describes the dedicated instructions use to the synchronous control by virtual main shaft,

mechanical system program create mechanical module.

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

(Optional)

Q173CPU(N)/Q172CPU(N) Motion controller (SV43) Programming Manual

This manual describes the dedicated instructions to execute the positioning control by Motion program of

EIA language (G-code).

This manual explains the Multiple CPU system configuration, performance specifications, functions,

programming, debugging, servo parameters, positioning instructions, device list error list and others.

(Optional)

IB-0300044

(1XB783)

IB-0300070

(1CT784)

A - 18

(2) PLC

QCPU User's Manual (Hardware Design, Maintenance and Inspection)

This manual explains the specifications of the QCPU modules, power supply modules, base units,

extension cables, memory card battery, and the maintenance/inspection for the system, trouble shooting,

error codes and others.

(Optional)

Qn(H)/QnPH/QnPRHCPUCPU User's Manual (Function Explanation, Program Fundamentals)

This manual explains the functions, programming methods and devices and others to create programs

with the QCPU.

(Optional)

QCPU User's Manual (Multiple CPU System)

This manual explains Multiple CPU system overview, system configuration, I/O modules, communication

between CPU modules and communication with the I/O modules or intelligent function modules.

(Optional)

Manual Name

Manual Number

(Model Code)

SH-080483ENG

(13JR73)

SH-080808ENG

(13JZ28)

SH-080485ENG

(13JR75)

QCPU Programming Manual (Common Instructions)

This manual explains how to use the sequence instructions, basic instructions, application instructions and

micro computer program.

(Optional)

QCPU (Q Mode)/QnACPU Programming Manual (PID Control Instructions)

This manual explains the dedicated instructions used to exercise PID control.

(Optional)

QCPU (Q Mode)/QnACPU Programming Manual (SFC)

This manual explains the system configuration, performance specifications, functions, programming,

debugging, error codes and others of MELSAP3.

(Optional)

I/O Module Type Building Block User's Manual

This manual explains the specifications of the I/O modules, connector, connector/terminal block

conversion modules and others.

(Optional)

SH-080809ENG

(13JW10)

SH-080040

(13JF59)

SH-080041

(13JF60)

SH-080042

(13JL99)

A - 19

MEMO

A - 20

1 OVERVIEW

1. OVERVIEW

1.1 Overview

This programming manual describes the Motion SFC program and Multiple CPU system of the operating system software packages "SW6RN-SV13Q

Generic term/Abbreviation Description

Q173CPU(N)/Q172CPU(N) or Motion CPU (module)

Q172LX/Q172EX/Q173PX or Motion module

MR-H-BN Servo amplifier model MR-H BN

MR-J2 -B Servo amplifier model MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-03B5

AMP or Servo amplifier

QCPU, PLC CPU or PLC CPU module

Multiple CPU system or Motion system

CPUn

Programming software package General name for "MT Developer" and "GX Developer"

Operating system software General name for "SW RN-SV Q "

SV13

SV22

SV22Q In this manual, the following abbreviations are used.

" for Motion CPU module(Q173CPU(N)/Q172CPU(N)).

Q173CPUN/Q172CPUN/Q173CPUN-T/Q172CPUN-T/Q173CPU/Q172CPU Motion CPU module

Q172LX Servo external signals interface module/ Q172EX(-S1/-S2/-S3) Serial absolute synchronous encoder interface module

Q173PX(-S1) Manual pulse generator interface module

General name for "Servo amplifier model MR-H MR-J2- B/MR-J2-03B5, Vector inverter FREQROL-V500 series"

Qn(H)CPU

Abbreviation for "Multiple PLC system of the Q series"

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

Operating system software for conveyor assembly use (Motion SFC) : SW6RN-SV13Q

Operating system software for automatic machinery use (Motion SFC) : SW6RN-SV22Q

BN/MR-J2S- B/MR-J2M-B/

", "SW6RN-

(Note-1)

MT Developer Abbreviation for Integrated start-up support software package "MT Developer"

GX Developer

Manual pulse generator or MR-HDP01

Serial absolute synchronous encoder or MR-HENC/Q170ENC

SSCNET

Absolute position system

Cooling fan unit Cooling fan unit (Q170FAN)

Dividing unit Dividing unit (Q173DV)

Battery unit Battery unit (Q170BAT)

(Note-2)

Abbreviation for MELSEC PLC programming software package "GX Developer (Version 6 or later)"

Abbreviation for "Manual pulse generator (MR-HDP01)"

Abbreviation for "Serial absolute synchronous encoder (MR-HENC/Q170ENC)"

High speed serial communication between Motion controller and servo amplifier

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

1 - 1

1 OVERVIEW

Generic term/Abbreviation Description

A 0BD-PCF A10BD-PCF/A30BD-PCF SSC I/F board

SSC I/F communication cable Abbreviation for "Cable for SSC I/F board/card"

Teaching Unit or A31TU-D3 /A31TU-DN

Intelligent function module

Vector inverter (FR-V500) Vector inverter FREQROL-V500 series

A31TU-D3

Abbreviation for "MELSECNET/H module/Ethernet module/CC-Link module/ Serial communication module"

/A31TU-DN Teaching unit

(Note-3)

(Note-1) : Q172EX can be used in SV22.

(Note-2) : SSCNET: S

(Note-3) : Teaching unit can be used in SV13.

ervo System Controller NETwork

REMARK

For information about the each module, design method for program and parameter,

Motion CPU module/Motion unit Q173CPU(N)/Q172CPU(N) User’s Manual

PLC CPU, peripheral devices for PLC program design, I/O modules and intelligent function module

Operation method for MT Developer Help of each software

• Design method for positioning control

SV13/SV22

SV22 (Virtual mode)

• Design method for positioning control

• Design method for mechanical system

refer to the following manuals relevant to each module.

Item Reference Manual

Manual relevant to each module

program in the real mode

parameter

program

Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)

Q173CPU(N)/Q172CPU(N) Motion controller (SV22) Programming Manual (VIRTUAL MODE)

1 - 2

1 OVERVIEW

1.2 Features

The Motion CPU and Multiple CPU system have the following features.

1.2.1 Features of Motion CPU

(1) Q series PLC Multiple CPU system

(a) The load of control processing for each CPU can be distributed by

controlling the complicated servo control with the Motion CPU, and the machine control or information control with the PLC CPU, and flexible system configuration can be realized.

(b) The Motion CPU and PLC CPU are selected flexibly, and the Multiple CPU

system up to 4 CPU modules can be realized. The Motion CPU module for the number of axis to be used can be selected.

The PLC CPU module for the program capacity to be used can be selected.

(One or more PLC CPU is necessary with the Multiple CPU system.)

because the Multiple CPU automatic refresh may do automatically data giving and receiving between each CPU of the Multiple CPU system.

(d) The device data access of the Motion CPU and the Motion SFC program

start can be executed from PLC CPU by the Motion dedicated PLC instruction.

(2) Programming in the Motion SFC programs

(a) Since a program intelligible for anyone can be created in flow chart form by

macking a sequence of machine operation correspond to each operation step, maintenance nature improves.

(b) Since transition conditions are judged with Motion CPU side and positioning

starts, there is not dispersion in the response time influenced by PLC scan time.

Q173CPU(N) : Up to 32 axes Q172CPU(N) : Up to 8 axes

Q00CPU : 8k steps Q01CPU : 14k steps Q02CPU, Q02HCPU : 28k steps Q06HCPU : 60k steps Q12HCPU : 124k steps Q25HCPU : 252k steps

1 - 3

1 OVERVIEW

processing method (only active steps) of Motion SFC.

(d) Not only positioning control but also numerical operations, device SET/RST,

etc. can be processed with Motion CPU side, making via PLC CPU is unnecessary and a tact time can be shortened.

(e) By transition condition description peculiar to Motion SFC, the instructions to

servo amplifier is possible at completion of starting condition.

(f) By transition condition description peculiar to Motion SFC, after starting,

transition to next step is possible without waiting for positioning completion.

(g) Motion SFC program that responds and executes it at high speed for

interrupt input from external source can be set.

(h) Motion SFC program executed in the fixed cycle (0.88ms, 1.77ms, 3.55ms,

7.11ms, 14.2ms) by synchronizing to the Motion operation cycle can be set.

(3) High speed operation processing

(a) The minimum operation cycle of the Motion CPU is made 0.88[ms] (so far,

the ratio of 4 times), and it correspond with high frequency operation.

(b) High speed PLC control is possible by the Q series PLC CPU.

(For LD instruction)

Q02HCPU, Q06HCPU, Q12HCPU, Q25HCPU Q02CPU Q00CPU Q01CPU

: 0.034[µs] : 0.079[µs] : 0.16[µs] : 0.10[µs]

(4) Connection between the Motion controller and servo amplifier with

high speed serial communication by SSCNET

High speed serial communication by SSCNET connect between the Motion controller and servo amplifier, and batch control the charge of servo parameter, servo monitor and test operation, etc. It is also realised reduce the number of wires.

(5) The operating system software package for your application needs

By installing the operating system software for applications in the internal flash memory of the Motion CPU, the Motion controller suitable for the machine can be realized. And, it also can correspond with the function improvement of the software package. (a) Conveyor assembly use (SV13)

Offer liner interpolation, circular interpolation, helical interpolation, constantspeed control, speed control, fixed-pitch feed and etc. by the dedicated servo instruction. Ideal for use in conveyors and assembly machines.

1 - 4

1 OVERVIEW

(b) Automatic machinery use (SV22)

Provides synchronous control and offers electronic cam control by mechanical support language. Ideal for use in automatic machinery.

Offer liner interpolation, circular interpolation, helical interpolation, constantspeed positioning and etc. by the EIA language (G-code). Ideal for use in machine tool peripheral.

1 - 5

1 OVERVIEW

1.2.2 Basic specifications of Q173CPU(N)/Q172CPU(N)

Item Q173CPUN Q173CPUN-T Q173CPU Q172CPUN Q172CPUN-T Q172CPU

Teaching unit —— Usable —— —— Usable ——

Internal current consumption(5VDC) [A]

Mass [kg] 0.23 0.24 0.22 0.22 0.23 0.21

Exterior dimensions [mm(inch)]

(1) Module specifications

1.25 1.56

98(3.86)(H) 27.4(1.08)(W)

114.3(4.50)(D)

(Note)

1.75 1.14 1.45

118(4.65)(H)

27.4(1.08)(W)

89.3(3.52)(D)

(Note)

1.62

98(3.86)(H)

(Note) : Current consumption 0.26[A] of the teaching unit is included.

27.4(1.08)(W)

114.3(4.50)(D)

118(4.65)(H)

27.4(1.08)(W)

89.3(3.52)(D)

(2) SV13/SV22 Motion control specifications/performance

specifications

Item Q173CPUN(-T) Q173CPU Q172CPUN(-T) Q172CPU

Number of control axes Up to 32 axes Up to 8 axes

SV13

Operation cycle (default)

SV22

Interpolation functions

Control modes

Acceleration/ deceleration control

Compensation Backlash compensation, Electronic gear

Programming language Motion SFC, Dedicated instruction, Mechanical support language (SV22)

Servo program capacity 14k steps

Number of positioning points

Programming tool IBM PC/AT

Peripheral I/F USB/RS-232/SSCNET

Teaching operation function

Home position return function

JOG operation function Provided

(a) Motion control specifications

0.88ms/ 1 to 8 axes

1.77ms/ 9 to 16 axes

3.55ms/17 to 32 axes

0.88ms/ 1 to 4 axes

1.77ms/ 5 to 12 axes

3.55ms/13 to 24 axes

7.11ms/25 to 32 axes

Linear interpolation (Up to 4 axes), Circular interpolation (2 axes),

Helical interpolation (3 axes)

PTP(Point to Point) control, Speed control, Speed-position control, Fixed-pitch feed,

Constant speed control, Position follow-up control, Speed switching control,

High-speed oscillation control, Synchronous control (SV22)

Automatic trapezoidal acceleration/deceleration,

S-curve acceleration/deceleration

3200 points

(Positioning data can be designated indirectly)

Provided (Q173CPUN-T/Q172CPUN-T, SV13 use)

Proximity dog type (2 types), Count type (3 types), Data set type (2 types), Dog cradle type,

Stopper type (2 types), Limit switch combined type

(Home position return re-try function provided, home position shift function provided)

0.88ms/1 to 8 axes

0.88ms/1 to 4 axes

1.77ms/5 to 8 axes

1 - 6

1 OVERVIEW

Item Q173CPUN(-T) Q173CPU Q172CPUN(-T) Q172CPU

Motion control specifications (continued)

Manual pulse generator operation function

Synchronous encoder operation function

M-code function

Limit switch output function

Absolute position system

Number of SSCNET I/F 5CH

Motion related interface module

(Note-1) : Use the Dividing unit(Q173DV) or dividing cable(Q173J2B CBL M/Q173HB CBL M). (Note-2) : When using the incremental synchronous encoder (SV22 use), you can use avobe number of modules.

When connecting the manual pulse generator, you can use only 1 module.

Possible to connect 12 modules Possible to connect 8 modules

Made compatible by setting battery to servo amplifier.

(Possible to select the absolute data method or incremental method for each axis)

(Note) : When the vector inverter is used, only the increment method.

Q172LX : 4 modules usable Q172LX : 1 module usable

Q172EX : 6 modules usable Q172EX : 4 modules usable

Q173PX : 4 modules usable

Possible to connect 3 modules

M-code output function provided

M-code completion wait function provided

Number of output points 32 points

Watch data: Motion control data/Word device

(Note-1)

2CH

(Note-2)

Q173PX : 3 modules usable

(Note-2)

1 - 7

1 OVERVIEW

Motion SFC program capacity

Motion SFC program

Operation control program (F/FS) / Transition program (G)

Execute specification

Number of I/O points (X/Y) 8192 points

Number of real I/O points (PX/PY) 256 points

Number of devices (Device In the Motion CPU only) (Included the positioning dedicated device)

(b) Motion SFC Performance Specifications

Item Q173CPU(N)/Q172CPU(N)

Code total (Motion SFC chart+ Operation control + Transition)

Text total (Operation control + Transition)

Number of Motion SFC programs 256 (No.0 to 255)

Motion SFC chart size/program Up to 64k bytes (Included Motion SFC chart comments)

Number of Motion SFC steps/program Up to 4094 steps

Number of selective branches/branch 255

Number of parallel branches/branch 255

Parallel branch nesting Up to 4 levels

Number of operation control programs

Number of transition programs 4096(G0 to G4095)

Code size/program Up to approx. 64k bytes (32766 steps)

Number of blocks(line)/program Up to 8192 blocks (in the case of 4 steps(min)/blocks)

Number of characters/block (line) Up to 128 (comment included)

Number of operand/block Up to 64 (operand: constants, word device, bit devices)

( ) nesting/block Up to 32 levels

Descriptive expression

Number of multi executed programs Up to 256

Number of multi active steps Up to 256 steps/all programs

Executed task

Internal relays (M)

Latch relays (L)

Link relays (B) 8192 points

Annunciators (F) 2048 points

Special relays (M) 256 points

Data registers (D) 8192 points

Link registers (W) 8192 points

Special registers (D) 256 points

Motion registers (#) 8192 points

Coasting timers (FT)

Operation control program Calculation expression/bit conditional expression

Transition program

Normal task Executed in motion main cycle

Event task (Execution can be masked.)

NMI task

Fixed cycle

External interrupt

PLC interrupt Executed with interrupt instruction (S(P).GINT) from PLC CPU.

4096 with F(Once execution type) and FS(Scan execution type)

combined. (F/FS0 to F/FS4095)

Calculation expression/bit conditional expression/

comparison conditional expression

(0.88ms, 1.77ms, 3.55ms, 7.11ms, 14.2ms)

Executed when input ON is set among interrupt module QI60

287k bytes

224k bytes

Executed in fixed cycle

(16 points).

Total (M + L) : 8192 points

1 point (888µs)

1 - 8

1 OVERVIEW

1.2.3 Operation control/transition control specifications

Expression

Bit devices

(1) Table of the operation control/transition control specifications

Item Specifications Remark

Calculation expression

Bit conditional

Conditional expression

Accessibility Usable tasks

Input

Output

Internal relay M Latch relay L Link relay B Annunciator F Special relay M

CAUTION

1) Write to device X is allowed only within the input module non-installed range.

2) Special relay has predetermined applications in the system.

(Note) : SET/RST is disabled in the following device ranges.

SET/RST disable range Remark

M2001 to M2032 Start accept device

(Note) : DOUT output disabled in the following device ranges.

DOUT output disable range Remark

Designation including M2000 to M2127

M9000 to M9255 Special relay

expression Comparison conditional expression

Device Symbol

Input module non-loaded range Input module loaded range Output module non-loaded range Output module loaded range

Do not perform write to other than the user setting device.

Returns a numeric result. Expressions for calculating indirectly specified data using constants and word devices. Returns a true or false result. Expression for judging ON or OFF of bit device.

Expressions for comparing indirectly specified data and calculation expressions using constants and word devices.

Description

Read Write Normal Event NMI

example

X100

PX180

Y100

Dedicated device

PY1E0

M20

L1000

B3FF

M9000

: usable

: unusable

D100+1,SIN(D100), etc.

M0, !M0, M1*M0, (M1+M2)*(!M3+M4), etc.

D100==100 D10<D102+D10, etc.

The input X/output Y are written with the actual input PX/actual output PY.

It does the layput of the I/O numbers of PX, PY by a set up of as system. (In the operation control program/transition program, automatically represented as PX/PY according to the system setting information.)

1 - 9

1 OVERVIEW

Table of the operation control/transition control specification(continued)

Item Specifications Remark

K10, D100, etc.

2000000000, W100L, etc.

K-100, H0FFL, etc. 'K' may be omitted.

Word devices

Data type

Constant

Number of instructions

of input PX, output PY

Accessibility Usable tasks

Data register D Link register W Special register D Motion register # Coasting timer FT

CAUTION

1) Special register has predetermined applications in the system.

(None)

Binary operation 6 Bit operation 6 Sign 1 Standard function 15 Type conversion 6 Bit device status 2 Bit device control 5 Logical operation 4 Comparison operation 6 Motion dedicated function 2 Others 10 Input response Direct read control at instruction execution. Read/write response Output response Direct write control at instruction execution.

Devices Symbol

Read Write Normal Event NMI

Do not perform write to other than the user-set device.

16-bit integer type (signed) -32768 to 32767 16-bit integer type (unsigned) 0 to 65535 32-bit integer type (signed) -2147483648 to 2147483647

32-bit integer type (unsigned) 0 to 4294967295 64-bit floating-point type

(double precision real number type) Decimal

constant Hexadecimal constant

The above data type symbol 'L' or '. (decimal point)' provided at the end indicates the data type. The constant without the data type is regarded as the applicable minimum type.

IEEE format 1.23, #10F, etc.

63 in total

Description

example

DOL

W1F : F

D9000

#0F

: usable

: unusable

1 - 10

1 OVERVIEW

(2) Table of the operation control/transition instruction

Classification Symbol Function Format Basic steps

Usable step

F/FS G

Y/N transition's conditional

expression

Section of

reference

= Substitution (D)=(S)

+ Addition (S1)+(S2)

Binary operation

Bit operation

Sign - Sign inversion (complement of 2) -(S) 2

Standard function

Type conversion

Bit device status

Bit device control

- Subtraction (S1)-(S2)

* Multiplication (S1)*(S2)

/ Division (S1)/(S2)

% Remainder (S1)%(S2)

Bit inversion (complement)

& Bit logical AND (S1)&(S2) 4

| Bit logical OR (S1)|(S2) 4

^ Bit exclusive OR (S1)^(S2) 4

>> Bit right shift (S1)>>(S2) 4

<< Bit left shift (S1)<<(S2) 4

SIN Sine SIN(S) 2

COS Cosine COS(S) 2

TAN Tangent TAN(S) 2

ASIN Arcsine ASIN(S) 2

ACOS Arccosine ACOS(S) 2

ATAN Arctangent ATAN(S) 2

SQRT Square root SQRT(S) 2

LN Natural logarithm LN(S) 2

EXP Exponential operation EXP(S) 2

ABS Absolute value ABS(S) 2

RND Round-off RND(S) 2

FIX Round-down FIX(S) 2

FUP Round-up FUP(S) 2

BCD

BIN

BCD

SHORT Convert into 16-bit integer type (signed) SHORT(S) 2

USHORT Convert into 16-bit integer type (unsigned) USHORT(S) 2

LONG Convert into 32-bit integer type (signed) LONG(S) 2

ULONG Convert into 32-bit integer type (unsigned) ULONG(S) 2

FLOAT

UFLOAT

(None) ON (normally open contact) (S) 2

! OFF (normally closed contact) !(S) 2

SET Device set

RST Device reset

DOUT Device output DOUT(D),(S) 4

DIN Device input DIN(D),(S) 4

OUT Bit device output

BIN conversion

BIN

BCD conversion

Regard as signed data and convert into 64bit floating point type Regard as unsigned data and convert into 64-bit floating point type

(S) 2

BIN(S) 2

BCD(S) 2

FLOAT(S) 2

UFLOAT(S) 2

SET(D) 3

SET(D)= (conditional expression)

RST(D) 3

RST(D)=(conditional expression)

OUT(D)=(conditional expression)

— 7.4.1

— 7.4.2

— 7.4.3

— 7.4.4

— 7.4.5

— 7.4.6

— 7.5.1

— 7.5.2

— 7.5.3

— 7.5.4

— 7.5.5

— 7.5.6

— 7.5.7

— 7.6.1

— 7.6.2

— 7.6.3

— 7.6.4

— 7.6.5

— 7.6.6

— 7.6.7

— 7.6.8

— 7.6.9

— 7.6.10

— 7.6.11

— 7.6.12

— 7.6.13

— 7.6.14

— 7.6.15

— 7.7.1

— 7.7.2

— 7.7.3

— 7.7.4

— 7.7.5

— 7.7.6

7.8.1

7.8.2

—

— 7.9.3

— 7.9.4

— 7.9.5

7.9.1

7.9.2

1 - 11

1 OVERVIEW

Table of the operation control/transition instruction (continued)

Classification Symbol Function Format Basic steps

(None) Logical acknowledgment (Conditional expression) 0

! Logical negation !(Conditional expression) 2

Logical operation

Comparison operation

Motion dedicated function

Others

* Logical AND

+ Logical OR

== Equal to

!= Not equal to

< Less than

<= Less than or equal to

> More than

>= More than or equal to

CHGV Speed change request CHGV((S1),(S2)) 4

CHGT Torque limit value change request CHGT((S1),(S2)) 4

EI Event task enable EI 1

DI Event task disable DI 1

NOP No operation NOP 1

BMOV Block transfer BMOV(D),(S),(n) 6

FMOV Same data block transfer FMOV(D),(S),(n) 6

MULTW

Write device data to shared CPU memory of the self CPU Read device data from shared CPU

MULTR

memory of the other CPU

Write device data to intelligent function

module/special function module.

Read device data from intelligent function

FROM

module/special function module.

TIME Time to wait TIME(S) 7 —

(Conditional expression) * (conditional expression)

(Conditional expression) + (conditional expression)

(Conditional expression) == (conditional expression)

(Conditional expression) != (conditional expression)

(Conditional expression) < (conditional expression)

(Conditional expression) <= (conditional expression)

(Conditional expression) > (conditional expression)

(Conditional expression) >= (conditional expression)

MULTW(D),(S),(n),(D1) 8

MULTR(D),(S1),(S2),(n) 7

TO(D1),(D2),(S),(n) 7

FROM(D),(S1),(S2),(n) 7

(3) Rough calculation expression of singleprogram for operation

control/transition program

2 + (1 + Total number of basic steps in 1 block + Number of 32-bit constants/1 block + Number of 64-bit constants/1 block

(1 step = 2 bytes)

Number of blocks (steps)

Usable step

F/FS G

: Usable —: Unusable

Y/N

transition's conditional

expression

Section of

reference

7.10.1

7.10.2

7.10.3

7.10.4

7.11.1

7.11.2

7.11.3

7.11.4

7.11.5

7.11.6

— 7.12.1

— 7.12.2

— 7.13.1

— 7.13.2

— 7.13.3

— 7.13.4

— 7.13.5

— 7.13.6

— 7.13.7

— 7.13.8

— 7.13.9

— 7.13.10

1 - 12

1 OVERVIEW

1.2.4 Differences between Q173CPU(N)/Q172CPU(N) and A173UHCPU/A172SHCPUN

(1) Differences between Q173CPU(N)/Q172CPU(N) and

A173UHCPU/A172SHCPUN

Item Q173CPU(N) Q172CPU(N) A173UHCPU A172SHCPUN

Number of control axes Up to 32 axes Up to 8 axes Up to 32 axes Up to 8 axes

0.88ms/1 to 8 axes

1.77ms/9 to 16 axes

SV13

Operation cycle

SV22

Servo program capacity 14k steps 13k steps

Number of positioning points 3200 points/axis (Positioning data can be designated indirectly.)

Programming tool IBM PC/AT, A31TU-D PC9800 series, IBM PC/AT, A30TU, A31TU

Peripheral devices I/F USB/RS-232/SSCNET RS-422/SSCNET

Motion control

Home position return function

Manual pulse generator operation function

Syncronous encoder operation function

Limit switch output function Output points : 32points, watch data : motion control data/word device

Number of SSCNET Interfaces (Included SSCNET interface 1CH to the parsonal computer)

Number of motion slots

Number of Motion related modules

Normal task Executed in motion main cycle

Fixed Event task (Execution

Excuted task

Motion SFC

Execute specification

Number of I/O (X/Y) points 8192 points 2048 points

Number of real I/O (PX/PY) points Total 256 points

can be masked.)

NMI task

cycle

External

interrupt

PLC

interrupt

3.55ms/17 to 32 axes (Default)

(It can be set up by

the parameters.)

0.88ms/1 to 4 axes

1.77ms/5 to 12 axes

3.55ms/13 to 24 axes

7.11ms/25 to 32 axes (Default)

(It can be set up by

the parameters.)

Proximity dog type(2 types), Count type(3 types),

Data set type(2 types), Dog cradle type,

Stopper type(2 types), Limit switch conbined type

(Home position return retry function provided,

Home position shift function provided)

Possible to connect

12 modules

(Note-1)

5CH

(Up to 7 extension bases of the Q series)

Q172LX : 4 modules

Q172EX : 6 modules

Q173PX : 4 modules

(0.88ms, 1.77ms, 3.55ms, 7.11ms, 14.2ms)

Executed when input on is set among interrupt

Executed with interrupt instruction (GINT) from

Executed when input on is set among interrupt

2CH 4CH 2CH

Up to 64 slots

(Note-2)

Executed in fixed cycle

module(QI60) 16 points.

0.88ms/1 to 8 axes (Default)

(It can be set up by

the parameters.)

0.88ms/1 to 4 axes

1.77ms/5 to 8 axes (Default)

(It can be set up by

the parameters.)

Possible to connect 3 modules

Possible to connect

8 modules

Q172LX : 1 module

Q172EX : 4 modules

Q173PX : 3 modules

PLC CPU.

(Note-2)

1 - 13

3.55ms/1 to 20 axes

7.11ms/21 to 32 axes

3.55ms/1 to 12 axes

7.11ms/13 to 24 axes

14.2ms/25 to 32 axes

Proximity dog type, count type,

data set type 1

Possible to connect

4 modules

8 slots 2 slots

A172SENC : 4 modules A172SENC : 1 module

Executed in fixed cycle

(1.77ms, 3.55ms, 7.11ms, 14.2ms)

Executed when input on is set among

interrupt module(A1SI61) 16 points.

Executed when 1 interrupt point is provided

from PLC CPU.

Executed when input on is set among

interrupt module(A1SI61) 16 points.

3.55ms/1 to 8 axes

3.55 ms/1 to 8 axes

Possible to connect

1 module

1 OVERVIEW

Item Q173CPU(N) Q172CPU(N) A173UHCPU A172SHCPUN

Differences Between Q173CPU(N)/Q172CPU(N) and

A173UHCPU/A172SHCPUN(continued)

Internal relays (M)

Latch relays (L)

Link relays (B) 8192 points 1024 points

Annunciators (F) 2048 points 256 points

Timer contacts (TT) — 2048 points 256 points

Timer coils (TC) — 2048 points 256 points

Number of Devices (internal motion

Motion SFC

CPU only)

Device memory Independence Commonness

Data exchange of PCPU and SCPU

Fixed parameters

Others

PLC ready flag (M2000)

Forced stop input

Back-up battery for internal memory

(Note-1) : Use the Dividing unit (Q173DV) or dividing cable (Q173J2B CBL M/Q173HB CBL M). (Note-2) : When using the incremental synchronous encoder (SV22 use), you can use above number of modules. When connecting the Manual

(Note-3) : When adding the external battery (A6BAT/MR-BAT), Q173DV (Q173CPU(N) use.), or Q170BAT (Q172CPU(N) use.) is used.

Counter contacts (CT) — 1024 points 256 points

Counter coils (CC) — 1024 points 256 points

Special relays (M) 256 points

Data registers (D) 8192 points 1024 points

Link registers (W) 8192 points 1024 points

Currnet value timers (T) — 2048 points 256 points

Currnet value counters (C) — 1024 points 256 points

Special registers (D) 256 points

Motion registers (#) 8192 points

Coasting timer (FT)

The data exchange method by automatic refresh

Number of pulses per revolutions

Amount of pulses per revolutions

Magnification —

M2000 turn it on with switch (STOP or M2000 turn it on when both of switch RUN and setting register is set "1".

An optional bit device(PX, M) is specified in the

parameter. (Emergency stop terminals of the

(Set the external battery (A6BAT/MR-BAT) if

continuous power off time is longer for 1 month or

pulse generator, you can use only 1 module.

Total M+L : 8192 points

1 point (888µs)

between the multiple CPU's.

1 to 2147483647[PLS] 1 to 65535[PLS]

In the case of the unit setup [PLS].

1 to 2147483647[PLS]

RUN),

servo amplifiers can be used.)

Internal rechargeable battery

(Note-3)

more.)

Total M+L(S) :

8192 points

The direct data exchange method which

made a device memory 2 port memory.

In the case of the unit setup [PLS].

1 to 65535[PLS]

1 time, 10 times,

100 times, 1000 times

M2000 turn on by PLC program

Emergency stop of the CPU base unit.

(Forced stop terminals of the servo amplifiers

cannot be used.)

A6BAT/MR-BAT

Total M+L(S) :

2048 points

1 - 14

1 OVERVIEW

1.2.5 Positioning dedicated devices/special relays/special registers

(1) Positioning dedicated devices

The following section describes the positioning dedicated devices.

A range of up to 32 axes is valid in Q173CPU(N), and a range of up to 8 axes is valid in Q172CPU(N). Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)", "Q173CPU(N)/Q172CPU(N) Motion controller (SV22) Programming Manual (VIRTUAL MODE)" for details of the positioning dedicated devices.

(a) Table of the internal relays

Overall configuration

SV13 SV22

Device No. Purpose Device No. Purpose

M0 M0

M2000 M2000

M2320 M2320

M2400 M2400

M3040 M3040

M3072 M3072

M3136 M3136

M3200 M3200

M3840

M4799

User device (2000 points)

Common device (320 points)

Special relay allocated device (Status) (80 points)

Axis status (20 points

Unusable

Common device (Command signal) (64 points)

Special relay allocated device (Command signal) (64 points)

Axis command signal (20 points

User device (960 points)

32 axes)

M3840

M4000

M4640

M4688

M4799

User device (2000 points)

Common device (320 points)

Special relay allocated device (Status) (80 points)

Axis status (20 points Real mode……Each axis Virtual mode….Output module

Unusable

Common device (Command signal) (64 points)

Special relay allocated device (Command signal) (64 points)

Axis command signal (20 points Real mode……Each axis Virtual mode….Output module

Unusable (160 points)

Virtual servomotor axis status (20 points 32 axes) (Mechanical system setting axis only)

Synchronous encoder axis status

Unusable

32 axes)

(Note-1)

(Note-2)

(4 points 12 axes)

(Note-1)

(Note-1,2)

1 - 15

1 OVERVIEW

Overall configuration(Continued)

SV13 SV22

Device No. Purpose Device No. Purpose

M8191

User device (3392 points)

M4800 M4800

M5440

M5488

M5520

M5584

M5600

M8191

(Note-1) : It can be used as an user device in the SV22 real mode only. (Note-2) : Do not set the M4000 to M5599 as a latch range in the virtual mode.

Virtual servomotor axis command

(Note-1, 2)

signal (20 points (Mechanical system setting axis only)

Synchronous encoder axis command signal (4 points

Cam axis command signal (1 point (Mechanical system setting axis only)

Smoothing clutch complete signal

(Note-1, 2)

(2 points 32 axes)

Unusable (16 points)

User device (2592 points)

32 axes)

(Note-2)

12 axes)

32 axes)

(Note-1)

(Note-1, 2)

1 - 16

1 OVERVIEW

MEMO

1 - 17

1 OVERVIEW

1) Table of the axis statuses (SV13/SV22)

Device No. Signal name Device No. Signal name

M2400 to M2419

M2420 to M2439

M2440 to M2459

M2460 to M2479

M2480 to M2499

M2500 to M2519

M2520 to M2539

M2540 to M2559

M2560 to M2579

M2580 to M2599

M2600 to M2619

M2620 to M2639

M2640 to M2659

M2660 to M2679

M2680 to M2699

M2700 to M2719

Axis 1 status

Axis 2 status

Axis 3 status

Axis 4 status

Axis 5 status

Axis 6 status

Axis 7 status

Axis 8 status

Axis 9 status

Axis 10 status

Axis 11 status

Axis 12 status

Axis 13 status

Axis 14 status

Axis 15 status

Axis 16 status

M2720 to M2739

M2740 to M2759

M2760 to M2779

M2780 to M2799

M2800 to M2819

M2820 to M2839

M2840 to M2859

M2860 to M2879

M2880 to M2899

M2900 to M2919

M2920 to M2939

M2940 to M2959

M2960 to M2979

M2980 to M2999

M3000 to M3019

M3020 to M3039

Axis 17 status

Axis 18 status

Axis 19 status

Axis 20 status

Axis 21 status

Axis 22 status

Axis 23 status

Axis 24 status

Axis 25 status

Axis 26 status

Axis 27 status

Axis 28 status

Axis 29 status

Axis 30 status

Axis 31 status

Axis 32 status

1 - 18

1 OVERVIEW

Detailes of each axis

Device No. Signal name

M2400 + 20n Positioning start complete

M2401 + 20n Positioning complete

M2402 + 20n In-position

M2403 + 20n Command in-position

M2404 + 20n Speed controlling

M2405 + 20n Speed/position switching latch signal

M2406 + 20n Zero pass signal

M2407 + 20n Error detection signal

M2408 + 20n Servo error detection signal

M2409 + 20n Home position return request signal

M2410 + 20n Home position return completion signal

M2411 + 20n FLS signal

M2412 + 20n RLS signal

M2413 + 20n STOP signal

M2414 + 20n

M2415 + 20n Servo ready signal

M2416 + 20n Torque limiting signal

M2417 + 20n Unusable

M2418 + 20n

M2419 + 20n M-code outputting signal

(Note-1) : "n" in the above device No. shows the numerical value which

correspond to axis No. Q173CPU(N) : Axis No.1 to No.32 (n=0 to 31) Q172CPU(N) : Axis No.1 to No.8 (n=0 to 7)

(Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

External signals

DOG/CHANGE signal

Virtual mode continuation operation disable warning signal (SV22)

1 - 19

1 OVERVIEW

2) Table of the axis command signals (SV13/SV22)

Device No. Signal name Device No. Signal name

M3200 to M3219

M3220 to M3239

M3240 to M3259

M3260 to M3279

M3280 to M3299

M3300 to M3319

M3320 to M3339

M3340 to M3359

M3360 to M3379

M3380 to M3399

M3400 to M3419

M3420 to M3439

M3440 to M3459

M3460 to M3479

M3480 to M3499

M3500 to M3519

Axis 1 command signal

Axis 2 command signal

Axis 3 command signal

Axis 4 command signal

Axis 5 command signal

Axis 6 command signal

Axis 7 command signal

Axis 8 command signal

Axis 9 command signal

Axis 10 command signal

Axis 11 command signal

Axis 12 command signal

Axis 13 command signal

Axis 14 command signal

Axis 15 command signal

Axis 16 command signal

M3520 to M3539

M3540 to M3559

M3560 to M3579

M3580 to M3599

M3600 to M3619

M3620 to M3639

M3640 to M3659

M3660 to M3679

M3680 to M3699

M3700 to M3719

M3720 to M3739

M3740 to M3759

M3760 to M3779

M3780 to M3799

M3800 to M3819

M3820 to M3839

Axis 17 command signal

Axis 18 command signal

Axis 19 command signal

Axis 20 command signal

Axis 21 command signal

Axis 22 command signal

Axis 23 command signal

Axis 24 command signal

Axis 25 command signal

Axis 26 command signal

Axis 27 command signal

Axis 28 command signal

Axis 29 command signal

Axis 30 command signal

Axis 31 command signal

Axis 32 command signal

1 - 20

1 OVERVIEW

Detailes of each axis

Device No. SV13 SV22

M3200 + 20n Stop command Stop command

M3201 + 20n Rapid stop command Rapid stop command

M3202 + 20n

M3203 + 20n

M3204 + 20n Complete signal OFF command Complete signal OFF command

M3205 + 20n

M3206 + 20n Unusable Unusable

M3207 + 20n Error reset command Error reset command

M3208 + 20n Servo error reset command Servo error reset command

M3209 + 20n

M3210 + 20n

M3211 + 20n

M3212 + 20n

M3213 + 20n

M3214 + 20n

M3215 + 20n Servo OFF command Servo OFF command

M3216 + 20n Gain changing command Gain changing command

M3217 + 20n

M3218 + 20n

M3219 + 20n FIN signal FIN signal

(Note-1) : "n" in the above device No. shows the numerical value which correspond to axis No.

(Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

Forward rotation JOG start command

Reverse rotation JOG start command

Speed/position switching enable command

External stop input disable at start command

Unusable Unusable

Feed current value update request command

Unusable

Unusable Unusable

Q173CPU(N) : Axis No.1 to No.32 (n=0 to 31) Q172CPU(N) : Axis No.1 to No.8 (n=0 to 7)

Forward rotation JOG start command

Reverse rotation JOG start comannd

Speed/position switching enable comannd

External stop input disable at start command

Feed current value update request command

Address clutch reference setting command

Cam reference position setting command

1 - 21

1 OVERVIEW

3) Table of the virtual servomotor axis statuses (SV22 only)

Device No. Signal name Device No. Signal name

M4000 to M4019

M4020 to M4039

M4040 to M4059

M4060 to M4079

M4080 to M4099

M4100 to M4119

M4120 to M4139

M4140 to M4159

M4160 to M4179

M4180 to M4199

M4200 to M4219

M4220 to M4239

M4240 to M4259

M4260 to M4279

M4280 to M4299

M4300 to M4319

Axis 1 status

Axis 2 status

Axis 3 status

Axis 4 status

Axis 5 status

Axis 6 status

Axis 7 status

Axis 8 status

Axis 9 status

Axis 10 status

Axis 11 status

Axis 12 status

Axis 13 status

Axis 14 status

Axis 15 status

Axis 16 status

M4320 to M4339

M4340 to M4359

M4360 to M4379

M4380 to M4399

M4400 to M4419

M4420 to M4439

M4440 to M4459

M4460 to M4479

M4480 to M4499

M4500 to M4519

M4520 to M4539

M4540 to M4559

M4560 to M4579

M4580 to M4599

M4600 to M4619

M4620 to M4639

Axis 17 status

Axis 18 status

Axis 19 status

Axis 20 status

Axis 21 status

Axis 22 status

Axis 23 status

Axis 24 status

Axis 25 status

Axis 26 status

Axis 27 status

Axis 28 status

Axis 29 status

Axis 30 status

Axis 31 status

Axis 32 status

1 - 22

1 OVERVIEW

Detailes of each axis

Device No. Signal name

M4000 + 20n Positioning start complete

M4001 + 20n Positioning complete

M4002 + 20n Unusable

M4003 + 20n Command in-position

M4004 + 20n Speed controlling

M4005 + 20n

M4006 + 20n

M4007 + 20n Error detection

M4008 + 20n

M4009 + 20n

M4010 + 20n

Unusable

M4011 + 20n

M4012 + 20n

M4013 + 20n

M4014 + 20n

M4015 + 20n

M4016 + 20n

M4017 + 20n

M4018 + 20n

M4019 + 20n M-code outputting signal

(Note-1) : "n" in the above device No. shows the numerical value which

correspond to axis No. Q173CPU(N) : Axis No.1 to No.32 (n=0 to 31) Q172CPU(N) : Axis No.1 to No.8 (n=0 to 7)

(Note-2) : The unused axis areas in the mechanical system program can be used as an

user device.

Unusable

1 - 23

1 OVERVIEW

4) Table of the virtual servomotor axis command signals (SV22 only)

Device No. Signal name Device No. Signal name

M4800 to M4819

M4820 to M4839

M4840 to M4859

M4860 to M4879

M4880 to M4899

M4900 to M4919

M4920 to M4939

M4940 to M4959

M4960 to M4979

M4980 to M4999

M5000 to M5019

M5020 to M5039

M5040 to M5059

M5060 to M5079

M5080 to M5099

M5100 to M5119

Axis 1 command signal

Axis 2 command signal

Axis 3 command signal

Axis 4 command signal

Axis 5 command signal

Axis 6 command signal

Axis 7 command signal

Axis 8 command signal

Axis 9 command signal

Axis 10 command signal

Axis 11 command signal

Axis 12 command signal

Axis 13 command signal

Axis 14 command signal

Axis 15 command signal

Axis 16 command signal

M5120 to M5139

M5140 to M5159

M5160 to M5179

M5180 to M5199

M5200 to M5219

M5220 to M5239

M5240 to M5259

M5260 to M5279

M5280 to M5299

M5300 to M5319

M5320 to M5339

M5340 to M5359

M5360 to M5379

M5380 to M5399

M5400 to M5419

M5420 to M5439

Axis 17 command signal

Axis 18 command signal

Axis 19 command signal

Axis 20 command signal

Axis 21 command signal

Axis 22 command signal

Axis 23 command signal

Axis 24 command signal

Axis 25 command signal

Axis 26 command signal

Axis 27 command signal

Axis 28 command signal

Axis 29 command signal

Axis 30 command signal

Axis 31 command signal

Axis 32 command signal

1 - 24

1 OVERVIEW

Detailes of each axis

Device No. Signal name

M4800 + 20n Stop command

M4801 + 20n Rapid stop command

M4802 + 20n Forward rotation JOG start command

M4803 + 20n Reverse rotation JOG start command

M4804 + 20n Complete signal OFF command

M4805 + 20n

M4806 + 20n

M4807 + 20n Error reset command

M4808 + 20n Unusable

M4809 + 20n External stop input disable at start command

M4810 + 20n

M4811 + 20n

M4812 + 20n

M4813 + 20n

M4814 + 20n

M4815 + 20n

M4816 + 20n

M4817 + 20n

M4818 + 20n

M4819 + 20n FIN signal

(Note-1) : "n" in the above device No. shows the numerical value which

correspond to axis No. Q173CPU(N) : Axis No.1 to No.32 (n=0 to 31) Q172CPU(N) : Axis No.1 to No.8 (n=0 to 7)

(Note-2) : The unused axis areas in the mechanical system program can be used as an

user device.

Unusable

1 - 25

1 OVERVIEW

5) Table of the synchronous encoder axis statuses (SV22 only)

Device No. Signal name

M4640 Error detection M4641 External signal TREN M4642 Virtual mode continuation operation disable warning M4643 M4644 Error detection M4645 External signal TREN M4646 Virtual mode continuation operation disable warning M4647 M4648 Error detection M4649 External signal TREN M4650 Virtual mode continuation operation disable warning M4651 M4652 Error detection M4653 External signal TREN M4654 Virtual mode continuation operation disable warning M4655 M4656 Error detection M4657 External signal TREN M4658 Virtual mode continuation operation disable warning M4659 M4660 Error detection M4661 External signal TREN M4662 Virtual mode continuation operation disable warning M4663 M4664 Error detection M4665 External signal TREN M4666 Virtual mode continuation operation disable warning M4667 M4668 Error detection M4669 External signal TREN M4670 Virtual mode continuation operation disable warning M4671 M4672 Error detection M4673 External signal TREN M4674 Virtual mode continuation operation disable warning M4675 M4676 Error detection M4677 External signal TREN M4678 Virtual mode continuation operation disable warning M4679 M4680 Error detection M4681 External signal TREN M4682 Virtual mode continuation operation disable warning M4683 M4684 Error detection M4685 External signal TREN M4686 Virtual mode continuation operation disable warning M4687

Axis 1

Unusable

Axis 2

Unusable

Axis 3

Unusable

Axis 4

Unusable

Axis 5

Unusable

Axis 6

Unusable

Axis 7

Unusable

Axis 8

Unusable

Axis 9

Unusable

Axis 10

Unusable

Axis 11

Unusable

Axis 12

Unusable

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

1 - 26

1 OVERVIEW

6) Table of the syncronous encoder axis command signals (SV22 only)

Device No. Signal name

M5440 Error reset M5441 Unusable M5442 Unusable M5443 M5444 Error reset M5445 Unusable M5446 Unusable M5447 M5448 Error reset M5449 Unusable M5450 Unusable M5451 M5452 Error reset M5453 Unusable M5454 Unusable M5455 M5456 Error reset M5457 Unusable M5458 Unusable M5459 M5460 Error reset M5461 Unusable M5462 Unusable M5463 M5464 Error reset M5465 Unusable M5466 Unusable M5467 M5468 Error reset M5469 Unusable M5470 Unusable M5471 M5472 Error reset M5473 Unusable M5474 Unusable M5475 M5476 Error reset M5477 Unusable M5478 Unusable M5479 M5480 Error reset M5481 Unusable M5482 Unusable M5483 M5484 Error reset M5485 Unusable M5486 Unusable M5487

Axis 1

Unusable

Axis 2

Unusable

Axis 3

Unusable

Axis 4

Unusable

Axis 5

Unusable

Axis 6

Unusable

Axis 7

Unusable

Axis 8

Unusable

Axis 9

Unusable

Axis 10

Unusable

Axis 11

Unusable

Axis 12

Unusable

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

1 - 27

1 OVERVIEW

7) Table of the cam axis command signals (SV22 only)

Device No. Signal name

M5488 Axis 1 cam/ballscrew switching

M5489 Axis 2 cam/ballscrew switching

M5490 Axis 3 cam/ballscrew switching

M5491 Axis 4 cam/ballscrew switching

M5492 Axis 5 cam/ballscrew switching

M5493 Axis 6 cam/ballscrew switching

M5494 Axis 7 cam/ballscrew switching

M5495 Axis 8 cam/ballscrew switching

M5496 Axis 9 cam/ballscrew switching

M5497 Axis 10 cam/ballscrew switching

M5498 Axis 11 cam/ballscrew switching

M5499 Axis 12 cam/ballscrew switching

M5500 Axis 13 cam/ballscrew switching

M5501 Axis 14 cam/ballscrew switching

M5502 Axis 15 cam/ballscrew switching

M5503 Axis 16 cam/ballscrew switching

M5504 Axis 17 cam/ballscrew switching

M5505 Axis 18 cam/ballscrew switching

M5506 Axis 19 cam/ballscrew switching

M5507 Axis 20 cam/ballscrew switching

M5508 Axis 21 cam/ballscrew switching

M5509 Axis 22 cam/ballscrew switching

M5510 Axis 23 cam/ballscrew switching

M5511 Axis 24 cam/ballscrew switching

M5512 Axis 25 cam/ballscrew switching

M5513 Axis 26 cam/ballscrew switching

M5514 Axis 27 cam/ballscrew switching

M5515 Axis 28 cam/ballscrew switching

M5516 Axis 29 cam/ballscrew switching

M5517 Axis 30 cam/ballscrew switching

M5518 Axis 31 cam/ballscrew switching

M5519 Axis 32 cam/ballscrew changing

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N). (Note-3) : The unused aixs areas in the cam axis command signal can be used as an user

device.

1 - 28

1 OVERVIEW

Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark

M5520 Main shaft side M5521 M5522 Main shaft side M5523 M5524 Main shaft side M5525 M5526 Main shaft side M5527 M5528 Main shaft side M5529 M5530 Main shaft side M5531 M5532 Main shaft side M5533 M5534 Main shaft side M5535 M5536 Main shaft side M5537 M5538 Main shaft side M5539 M5540 Main shaft side M5541 M5542 Main shaft side M5543 M5544 Main shaft side M5545 M5546 Main shaft side M5547

M5548 Main shaft side

M5549 M5550 Main shaft side M5551

M5552 Main shaft side M5553 M5554 Main shaft side

M5555 M5556 Main shaft side M5557 M5558 Main shaft side M5559 M5560 Main shaft side M5561 M5562 Main shaft side

M5563

M5564 Main shaft side

M5565

M5566 Main shaft side

M5567 M5568 Main shaft side

M5569

M5570 Main shaft side M5571

M5572 Main shaft side

M5573

M5574 Main shaft side

M5575

M5576 Main shaft side M5577 M5578 Main shaft side

M5579 M5580 Main shaft side M5581 M5582 Main shaft side M5583

Output axis 1

Output axis 2

Output axis 3

Output axis 4

Output axis 5

Output axis 6

Output axis 7

Output axis 8

Output axis 9

Output axis 10

Output axis 11

Output axis 12

Output axis 13

Output axis 14

Output axis 15

Output axis 16

Output axis 17

Output axis 18

Output axis 19

Output axis 20

Output axis 21

Output axis 22

Output axis 23

Output axis 24

Output axis 25

Output axis 26

Output axis 27

Output axis 28

Output axis 29

Output axis 30

Output axis 31

Output axis 32

8) Table of the smoothing clutch complete signals

(SV22 only)

Auxiliary input side

Operation cycle Status signal

Auxiliary input side

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N). (Note-3) : The unused aixs areas in the mechanical system program can be used as an user device.

1 - 29

1 OVERVIEW

9) Table of the common devices (SV13/SV22)

SV13 SV22

Device No. Signal name Device No. Signal name

M2000 PLC ready flag M2000 PLC ready flag

M2001 Axis1 M2001 Axis1

to to to to

M2032 Axis32

Start accept flag (32 points)

M2032 Axis32

Start accept flag (32 points)

Refresh

cycle

Operation

cycle

Fetch

cycle

Main cycle

Signal

direction

Command

signal

(Note-1)

Status

signal

(Note-2, 3)

M2033 Unusable M2033 Unusable — — —

M2034

M2035

Personal computer link communication error flag

Motion SFC error history clear request flag

(Note-5)

M2034

M2035

Personal computer link communication error flag

Motion SFC error history clear request flag

(Note-5)

Operation

cycle

Main cycle

Status

signal

Command

signal

Remark

(Note-4)

M3072

M3080

M2036 M2036

M2037

M2038 Motion SFC debugging flag M2038 Motion SFC debugging flag

M2039 Motion SFC error detection flag M2039 Motion SFC error detection flag

Unusable

M2040

Speed switching point specified flag

M2040

M2041 System setting error flag M2041 System setting error flag

M2042 All axes servo ON command M2042 All axes servo ON command

M2043 M2043

M2044 M2044

Unusable

M2045 M2045

M2046

M2046 Out-of-sync warning

M2047 Motion slot fault detection flag M2047 Motion slot fault detection flag

M2048

JOG operation simultaneous start command

M2048

M2049 All axes servo ON accept flag M2049 All axes servo ON accept flag

Unusable — — —

At debug

Speed switcing point specified flag

Real mode/virtual mode switching request

mode

transition

Operation

cycle

Immedi-

ate

At start

Operation

cycle

At virtual

mode

transition

Real mode/virtual mode switching status

Real mode/virtual mode switching error detection flag

JOG operation simultaneous start command

At virtual

mode

transition

Operation

cycle

Operation

cycle

Main cycle

M2050 Unusable M2050 Unusable — —

M2051

M2052

M2053

Manual pulse generator 1 enable flag

Manual pulse generator 2 enable flag

Manual pulse generator 3 enable flag

M2051

M2052

M2053

Manual pulse generator 1 enable flag

Manual pulse generator 2 enable flag

Manual pulse generator 3 enable flag

Main cycle

Status

signal

Status

signal

Command

signal

(Note-1)

Status

signal

Command

signal

(Note-1)

Status

signal

Command

signal

(Note-1)

Status

signal

—

Command

signal

(Note-1)

M3073

M3074

M3075

M3076

M3077

M3078

M3079

1 - 30

1 OVERVIEW

Table of the common devices (SV13/SV22) (continued)

SV13 SV22

Device No. Signal name Device No. Signal name

M2054 Operation cycle over flag M2054 Operation cycle over flag

M2055 M2055

to to

M2060

Unusable

M2060

Unusable — — —

M2061 Axis 1 M2061 Axis 1

to to to to

Speed changing flag (32 axes)

M2092 Axis 32

Speed changing flag (32 axes)

M2093 M2093

Unusable — — —

M2100

Synchronous encoder current value changing flag (12 axes)

Unusable

M2101 Axis 1

to to

M2112 Axis 12

M2113

Unusable — — —

Refresh

cycle

Operation

cycle

Operation

cycle

Operation

cycle

Fetch

cycle

Signal

direction

Status

signal

Status

signal

(Note-2, 3)

Status

signal

(Note-2, 3)

Remark

(Note-4)

M2127

M2128 Axis 1 M2128 Axis 1

to to to to

M2159 Axis 32

Automatic decelerating flag (32 axes)

M2160 M2160

Unusable

M2127

Automatic decelerating flag

M2159 Axis 32

(32 axes)

Main shaft side

Auxiliary input side

M2161

Output axis 1

to to to

M2222

M2223

Output axis 32

Main shaft side

Auxiliary input side

Clutch status

(Note-6)

M2224

M2239

M2240 Axis 1 M2240 Axis 1

to to to to

M2271 Axis 32

Speed change "0" accepting flag (32 axes)

M2239

M2271 Axis 32

Unusable — — —

Speed change "0" accepting flag (32 axes)

M2272 M2272

to to

M2319

Unusable

M2319

Unusable — — —

Operation

cycle

Operation

cycle

Status

signal

(Note-2, 3)

Status

signal

(Note-2, 3)

1 - 31

1 OVERVIEW

No. Function Bit device Request register

1 PLC ready flag M2000 D704

2 Speed switching point specified flag M2040 D705

3 All axes servo ON command M2042 D706

4 Real mode/virtual mode switching request (SV22) M2043 D707

5 JOG operation simultaneous start command M2048 D708

6 Manual pulse generator 1 enable flag M2051 D755

7 Manual pulse generator 2 enable flag M2052 D756

8 Manual pulse generator 3 enable flag M2053 D757

Explanation of the request register

(Note-1) : Handling of D704 to D708 and D755 to D757 register

Because cannot be turn ON/OFF for every bit from the PLC CPU, the above bit devices are assigned to D register, and each bit device becomes on with the lowest rank bit 0 with 1

0. Use it when the above functions are requested from the PLC CPU using the S(P).DDRD and S(P).DDWR instruction. Refer to "5 MOTION DEDICATED PLC INSTRUCTION " for S(P).DDRD and S(P).DDWR instruction.

(Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N). (Note-3) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-4) : It can also be ordered the device of a remark column. (Note-5) : M3080 does not turn off automatically. Turn it off as an user side. (Note-6) : It is unusable in the SV22 real mode.

1 of each register, and each bit device becomes off

CAUTION

The data executed later becomes effective when the same device is executed simultaneously

in the Motion SFC and PLC program.

1 - 32

1 OVERVIEW

Device No. Signal name Refresh cycle Fetch cycle Signal direction

M2320 Fuse blown detection

10) Table of the special relay allocated devices (Status) (SV13/SV22)

Remark

M9000

(Note)

M2321 AC/DC DOWN detection

M2322 Battery low

M2323 Battery low latch

M2324 Self-diagnostic error

M2325 Diagnostic error

M2326 Always ON

M2327 Always OFF

M2328 Clock data error

M2329 PCPU WDT error flag

M2330 PCPU READY complete flag

M2331 Test mode ON flag

M2332 External forced stop input flag

M2333

Manual pulse generator axis setting error flag

M2334 TEST mode request error flag

M2335 Servo program setting error flag

M2336 CPU No.1 reset flag

Error

occurrence

Main

operation

Error

occurrence

At request

Operation

cycle

Error

occurrence

M9005

M9006

M9007

M9008

M9010

M9036

M9037

M9026

M9073

M9074

M9075

M9076

M9077

Status signal

M9078

M9079

M9240

M2337 CPU No.2 reset flag

M2338 CPU No.3 reset flag

M2339 CPU No.4 reset flag

M2340 CPU No.1 error flag

At Status

change

M2341 CPU No.2 error flag

M2342 CPU No.3 error flag

M2343 CPU No.4 error flag

M2344 Servo parameter reading flag At request

M2345 CPU No.1 MULTR complete flag

M2346 CPU No.2 MULTR complete flag

M2347 CPU No.3 MULTR complete flag

At instruction

completion

M2348 CPU No.4 MULTR complete flag

M2349

Unusable — — — —

M2399

M9241

M9242

M9243

M9244

M9245

M9246

M9247

M9105

M9216

M9217

M9218

M9219

(Note) : The same status as a remark column is output.

1 - 33

1 OVERVIEW

Device No. Signal name Refresh cycle Fetch cycle Signal direction

M3072 PLC ready flag

11) Table of the common devices (Command signal) (SV13/SV22)

Main cycle

Remark

(Note-1) , (Note-2)

M2000

M3073 Speed switching point specified flag At start

M3074 All axes servo ON command

M3075

M3076

M3077 Manual pulse generator 1 enable flag

M3078 Manual pulse generator 2 enable flag

M3079 Manual pulse generator 3 enable flag

M3080

M3081

M3135

(Note-1) : The device of a remarks column turns ON by OFF to ON of the above device, and the device of a remarks column turns

(Note-2) : It can also be ordered the device of a remark column. (Note-3) : M3080 does not turn off automatically. Turn it off as an user side.

Real mode/virtual mode change request (SV22)

JOG operation simultaneous start command

Motion SFC error history clear request

(Note-3)

flag

Unusable — — — —

OFF by ON to OFF of the above device. The state of a device is not in agreement when the device of a remarks column

is turned on directly. In addition, when the request from a data register and the request from the above device are

performed simultaneously, the request from the above device becomes effective.

Operation

cle

At virtual mode

transition

Main cycle

Command

signal

M2040

M2042

M2043

M2048

M2051

M2052

M2053

M2035

12) Table of the special relay allocated devices (Command signal) (SV13/SV22)

Device No. Signal name Refresh cycle Fetch cycle Signal direction

M3136 Clock data set request

Remark

(Note-1), (Note-2)

M9025

M3137 Clock data read request

M3138 Error reset

M3139 Servo parameter read request flag

M3140

M3199

(Note-1) : The device of a remarks column turns ON by OFF to ON of the above device, and the device of a remarks column turns

(Note-2) : It can also be ordered the device of a remark column.

Unusable — — — —

OFF by ON to OFF of the above device. The state of a device is not in agreement when the device of a remarks column

is turned on directly.

Main cycle

Command

signal

M9028

M9060

M9104

1 - 34

1 OVERVIEW

Device No. Application Device No. Application

D0 D0

D640 D640

D704 D704

D758 D758

D800 D800

(b) Table of the data registers

Overall configuration

SV13 SV22

Axis monitor device

(Note)

32 axes)

(10 points

32 axes)

12 axes)

(Note)

Axis monitor device (20 points

Control change register (2 points

Common device (Command signal) (54 points)

Common device (Monitor) (42points)

32 axes)

D1120

D1240

D1560

(20 points Real mode……Each axis Virtual mode….Output module

Control change register (2 points 32 axes)

Common device (Command signal) (54 points)

Common device (Monitor) (42points)

Virtual servomotor axis monitor device (10 points (Mechanical system setting axis only)

Syncronous encoder axis monitor device

Cam axis monitor device (10 points

D8191

User device (7392 points)

D8191

(Note) : It can be used as an user device in the SV22 real mode only.

User device (6632 points)

1 - 35

1 OVERVIEW

1) Table of the each axis monitor devices (SV13/SV22)

Device No. Signal name Device No. Signal name

D0 to D19

D20 to D39

D40 to D59

D60 to D79

D80 to D99

D100 to D119

D120 to D139

D140 to D159

D160 to D179

D180 to D199

D200 to D219

D220 to D239

D240 to D259

D260 to D279

D280 to D299

D300 to D319

Axis 1 monitor device

Axis 2 monitor device

Axis 3 monitor device

Axis 4 monitor device

Axis 5 monitor device

Axis 6 monitor device

Axis 7 monitor device

Axis 8 monitor device

Axis 9 monitor device

Axis 10 monitor device

Axis 11 monitor device

Axis 12 monitor device

Axis 13 monitor device

Axis 14 monitor device

Axis 15 monitor device

Axis 16 monitor device

D320 to D339

D340 to D359

D360 to D379

D380 to D399

D400 to D419

D420 to D439

D440 to D459

D460 to D479

D480 to D499

D500 to D519

D520 to D539

D540 to D559

D560 to D579

D580 to D599

D600 to D619

D620 to D639

Axis 17 monitor device

Axis 18 monitor device

Axis 19 monitor device

Axis 20 monitor device

Axis 21 monitor device

Axis 22 monitor device

Axis 23 monitor device

Axis 24 monitor device

Axis 25 monitor device

Axis 26 monitor device

Axis 27 monitor device

Axis 28 monitor device

Axis 29 monitor device

Axis 30 monitor device

Axis 31 monitor device

Axis 32 monitor device

1 - 36

1 OVERVIEW

Detailes of each axis

Device No. SV13/SV22(Real mode) SV22(Virtual mode) Signal derection

D0 + 20n D1 + 20n

D2 + 20n D3 + 20n

D4 + 20n D5 + 20n

D6 + 20n Minor error code Minor error code

D7 + 20n Major error code Major error code

D8 + 20n Servo error code Servo error code

D9 + 20n

D10 + 20n D11 + 20n

D12 + 20n Execute program No. —

D13 + 20n M-code —

D14 + 20n Torque limit value Torque limit value

D15 + 20n

D16 + 20n D17 + 20n

D18 + 20n D19 + 20n

(Note-1) : "n" in the above device No. shows the numerical value which correspond to axis No.

(Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

Feed current value

Real current value Real current value

Deviation counter value Deviation counter value

Home position return re-travel value

Travel value after proximity dog ON

Data set pointer for constantspeed control

Travel value change register —

Real current value at stop input Hold Monitor device

Q173CPU(N) : Axis No.1 to No.32 (n=0 to 31) Q172CPU(N) : Axis No.1 to No.8 (n=0 to 7)

Feed current value/roller cycle speed

Monitor device

Hold

—

Command

device

1 - 37

1 OVERVIEW

2) Table of the control change registers (SV13/SV22)

Device No. Signal name Device No. Signal name

D640 D641

D642 D643

D644 D645

D646 D647

D648 D649

D650 D651

D652 D653

D654 D655

D656 D657

D658 D659

D660 D661

D662 D663

D664 D665

D666 D667

D668 D669

D670 D671

Axis 1 JOG speed setting register

Axis 2 JOG speed setting register

Axis 3 JOG speed setting register

Axis 4 JOG speed setting register

Axis 5 JOG speed setting register

Axis 6 JOG speed setting register

Axis 7 JOG speed setting register

Axis 8 JOG speed setting register

Axis 9 JOG speed setting register

Axis 10 JOG speed setting register

Axis 11 JOG speed setting register

Axis 12 JOG speed setting register

Axis 13 JOG speed setting register

Axis 14 JOG speed setting register

Axis 15 JOG speed setting register

Axis 16 JOG speed setting register

D672 D673

D674 D675

D676 D677

D678 D679

D680 D681

D682 D683

D684 D685

D686 D687

D688 D689

D690 D691

D692 D693

D694 D695

D696 D697

D698 D699

D700 D701

D702 D703

Axis 17 JOG speed setting register

Axis 18 JOG speed setting register

Axis 19 JOG speed setting register

Axis 20 JOG speed setting register

Axis 21 JOG speed setting register

Axis 22 JOG speed setting register

Axis 23 JOG speed setting register

Axis 24 JOG speed setting register

Axis 25 JOG speed setting register

Axis 26 JOG speed setting register

Axis 27 JOG speed setting register

Axis 28 JOG speed setting register

Axis 29 JOG speed setting register

Axis 30 JOG speed setting register

Axis 31 JOG speed setting register

Axis 32 JOG speed setting register

1 - 38

1 OVERVIEW

MEMO

1 - 39

1 OVERVIEW

3) Table of the virtual servomotor axis monitor devices

(SV22 only)

Device No. Signal name Device No. Signal name

D800 to D809

D810 to D819

D820 to D829

D830 to D839

D840 to D849

D850 to D859

D860 to D869

D870 to D879

D880 to D889

D890 to D899

D900 to D909

D910 to D919

D920 to D929

D930 to D939

D940 to D949

D950 to D959

Axis 1 monitor device

Axis 2 monitor device

Axis 3 monitor device

Axis 4 monitor device

Axis 5 monitor device

Axis 6 monitor device

Axis 7 monitor device

Axis 8 monitor device

Axis 9 monitor device

Axis 10 monitor device

Axis 11 monitor device

Axis 12 monitor device

Axis 13 monitor device

Axis 14 monitor device

Axis 15 monitor device

Axis 16 monitor device

1 - 40

D960 to D969

D970 to D979

D980 to D989

D990 to D999

D1000 to D1009

D1010 to D1019

D1020 to D1029

D1030 to D1039

D1040 to D1049

D1050 to D1059

D1060 to D1069

D1070 to D1079

D1080 to D1089

D1090 to D1099

D1100 to D1109

D1110 to D1119

Axis 17 monitor device

Axis 18 monitor device

Axis 19 monitor device

Axis 20 monitor device

Axis 21 monitor device

Axis 22 monitor device

Axis 23 monitor device

Axis 24 monitor device

Axis 25 monitor device

Axis 26 monitor device

Axis 27 monitor device

Axis 28 monitor device

Axis 29 monitor device

Axis 30 monitor device

Axis 31 monitor device

Axis 32 monitor device

1 OVERVIEW

Detailes of each axis

Device No. Signal name

D800 + 10n D801 + 10n

D802 + 10n Minor error code

D803 + 10n Major error code

D804 + 10n Execute program No.

D805 + 10n M-code

D806 + 10n D807 + 10n

D808 + 10n Error search output axis No.

D809 + 10n Data set pointer for constant-speed control

(Note-1) : "n" in the above device No. shows the numerical value which

correspond to axis No. Q173CPU(N) : Axis No.1 to No.32 (n=0 to 31) Q172CPU(N) : Axis No.1 to No.8 (n=0 to 7)

(Note-2) : The unused axis areas in the mechanical system program can be used as an

user device.

Feed current value

Current value after virtual sevomotor axis main shaft's differential gear

1 - 41

1 OVERVIEW

4) Table of the synchronous encoder axis monitor devices

(SV22 only)

Device No. Signal name

D1120 to D1129

D1130 to D1139

D1140 to D1149

D1150 to D1159

D1160 to D1169

D1170 to D1179

D1180 to D1189

D1190 to D1199

D1200 to D1209

D1210 to D1219

D1220 to D1229

D1230 to D1239

Axis 1 monitor device

Axis 2 monitor device

Axis 3 monitor device

Axis 4 monitor device

Axis 5 monitor device

Axis 6 monitor device

Axis 7 monitor device

Axis 8 monitor device

Axis 9 monitor device

Axis 10 monitor device

Axis 11 monitor device

Axis 12 monitor device

1 - 42

1 OVERVIEW

Detailes of each axis

Device No. Signal name

D1120 + 10n D1121 + 10n

D1122 + 10n Minor error code

D1123 + 10n Major error code

D1124 + 10n

D1125 + 10n

D1126 + 10n D1127 + 10n

D1128 + 10n Error search output axis No.

D1129 + 10n Unusable

(Note-1) : "n" in the above device No. shows the numerical value which

correspond to axis No. Q173CPU(N) : Axis No.1 to No.12 (n=0 to 11) Q172CPU(N) : Axis No.1 to No.8 (n=0 to 7)

(Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

Current value

Unusable

Current value after synchronous encoder axis main shaft's differential gear

1 - 43

1 OVERVIEW

5) Table of the cam axis monitor devices (SV22 only)

Device No. Signal name Device No. Signal name

D1240 to D1249

D1250 to D1259

D1260 to D1269

D1270 to D1279

D1280 to D1289

D1290 to D1299

D1300 to D1309

D1310 to D1319

D1320 to D1329

D1330 to D1339

D1340 to D1349

D1350 to D1359

D1360 to D1369

D1370 to D1379

D1380 to D1389

D1390 to D1399

Axis 1 monitor device

Axis 2 monitor device

Axis 3 monitor device

Axis 4 monitor device

Axis 5 monitor device

Axis 6 monitor device

Axis 7 monitor device

Axis 8 monitor device

Axis 9 monitor device

Axis 10 monitor device

Axis 11 monitor device

Axis 12 monitor device

Axis 13 monitor device

Axis 14 monitor device

Axis 15 monitor device

Axis 16 monitor device

D1400 to D1409

D1410 to D1419

D1420 to D1429

D1430 to D1439

D1440 to D1449

D1450 to D1459

D1460 to D1469

D1470 to D1479

D1480 to D1489

D1490 to D1499

D1500 to D1509

D1510 to D1519

D1520 to D1529

D1530 to D1539

D1540 to D1549

D1550 to D1559

Axis 17 monitor device

Axis 18 monitor device

Axis 19 monitor device

Axis 20 monitor device

Axis 21 monitor device

Axis 22 monitor device

Axis 23 monitor device

Axis 24 monitor device

Axis 25 monitor device

Axis 26 monitor device

Axis 27 monitor device

Axis 28 monitor device

Axis 29 monitor device

Axis 30 monitor device

Axis 31 monitor device

Axis 32 monitor device

1 - 44

1 OVERVIEW

Detailes of each axis

Device No. Signal name

D1240 + 10n Unusable

D1241 + 10n Execute cam No.

D1242 + 10n D1243 + 10n

D1244 + 10n

D1245 + 10n

D1246 + 10n

D1247 + 10n

D1248 + 10n

D1249 + 10n

(Note-1) : "n" in the above device No. shows the numerical value which

correspond to axis No. Q173CPU(N) : Axis No.1 to No.32 (n=0 to 31) Q172CPU(N) : Axis No.1 to No.8 (n=0 to 7)

(Note-2) : The unused aixs areas in the mechanical system program can be used as an

user device.

Execute stroke amount

Current value within 1 cam shaft revolution

Unusable

1 - 45

1 OVERVIEW

6) Table of the common devices (SV13/SV22)

Device No. Signal name

D704 PLC ready flag request D740 Axis 21

D705

D706 All axes servo ON command request D742 Axis 23

D707

D708

D709 Unusable — D745 Axis 26

D710 D746 Axis 27

D713

D714 D715

D716 D717

D718 D719

D720 Axis 1 D755 Manual pulse generator 1 enable flag request

D721 Axis 2 D756 Manual pulse generator 2 enable flag request

D722 Axis 3 D757 Manual pulse generator 3 enable flag request

D723 Axis 4 D758 Unusable —

D724 Axis 5

D725 Axis 6

D726 Axis 7

D727 Axis 8

D728 Axis 9

D729 Axis 10 D790

D730 Axis 11

D731 Axis 12 D792

D732 Axis 13

D733 Axis 14 D799

D734 Axis 15

D735 Axis 16

D736 Axis 17

D737 Axis 18

D738 Axis 19

D739 Axis 20

Speed switching point specified flag request

Real mode/virtual mode switching request (SV22)

JOG operation simultaneous start command request

JOG operation simultaneous start axis setting register

Manual pulse generator axis 1 No. setting register

Manual pulse generator axis 2 No. setting register

Manual pulse generator axis 3 No. setting register

Manual pulse generators 1 pulse input magnification setting register

(Note-1, 2)

Signal

derecrtion

Command

device

Command

device

Device No. Signal name

D741 Axis 22

D743 Axis 24

D744 Axis 25

D747 Axis 28

D748 Axis 29

D749 Axis 30

D750 Axis 32

D751 Axis 32

D752

D753

D754

D759

D760 to D789

D791

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

Manual pulse generator 1 smoothing magnification setting register

Manual pulse generator 2 smoothing magnification setting register

Manual pulse generator 3 smoothing magnification setting register

PCPU ready complete flag status (0 : OFF/1 : ON)

Unusable —

Real mode axis information register (SV22)

Servo amplifier type

Manual pulse generators 1 pulse input magnification setting register

(Note-1, 2)

Signal

derecrtion

Command

device

Monitor

device

Monitor

device

1 - 46

1 OVERVIEW

(2) Special relays

Special relays are internal relays whose applications are fixed in the Motion CPU. For this reason, they cannot be used in the same way as the normal internal relays by the Motion SFC programs. However, they can be turned ON/OFF as needed in order to control the Motion CPU.

The headings in the table that follows have the following meanings.

Item Explanation

No. • Indicates the device No. of the special relay.

Name • Indicates the name of the special relay.

Meaning • Indicates the nature of the special relay.

Details • Indicates detailed information about the nature of the special relay.

• Indicates whether the relay is set by the system or user, and, if it is set by system, when

setting is performed.

S : Set by system (Motion CPU)

U : Set by user (Motion SFC program or test operation using a peripheral device)

S/U : Set by both system (Motion CPU) and user

Set by

(When set)

Main process : Set during each main processing (free time processing of the CPU)

Initial process : Set only during initial processing (when power supply is turned ON, or

Status change : Set only when there is a change in status

Error : Set when error is occurred.

Request : Set only when there is a user request (Special reray, etc.)

Operation cycle : Set during each operation cycle of the Motion CPU.

Indicated only if setting is done by system (Motion CPU) .

when executed the reset)

1 - 47

1 OVERVIEW

Special relay list

No. Name Meaning Details

• Turn on when there is one or more output modules control

of self CPU which fuse has been blown. Remains on if normal status is restored.

• Turn on if a momentary power interruption of less than 20ms occurred during use of the AC power supply module, and reset by turning power off to on.

• Turn on if a momentary power interruption of less than

10ms occurred during use of the DC power supply module, and reset by turning power off to on.

• Turned on when the voltage of the external battery

reduces to less than specified value. Turn off when the voltage of the external battery becomes normal.

• Synchronizes with "BAT. LED"

• Check the voltage of the external battery, only when it is

set with "external battery use" by system setting.

• Turn on when the voltage of the external battery reduces to less than specified value. Remains on if normal status is restored.

• Synchronizes with "BAT. LED"

• Check the voltage of the external battery, only when it is set with "external battery use" by system setting.

• Turn on when error is found as a result of self-diagnosis. Remains on if normal status is restored.

• Turn on when error is found as a result of diagnosis. Remains on if normal status is restored.

• Write clock data stored in D9025 to D9028 to the clock

element when M9025 has changed from off to on.

• Turn on by clock data (D9025 to D9028) error. S(Request)

• Read clock data from D9025 to D9028 in BCD when M9028 is on.

• Turn on without regard to position of RUN/STOP switch on.

• Turn off without regard to position of RUN/STOP switch on.

• A reset of the diagnostic error is executed. U

• Turn on when a "watchdog timer error" is detected by the

Motion CPU self-diagnosis function. When the Motion CPU detects a WDT error, it executes an immediate stop without deceleration of the operating axes.

• The error cause is stored in the "Motion CPU WDT error

cause (D9184)".

• When the PLC ready flag (M2000) turn off to on, the

fixed parameters, servo parameters and limit switch output data, etc., are checked, and if no error is detected this flag turns on.

• Turn off when the PLC ready (M2000) signal turns off.

• This flag status indicates whether a TEST mode

established from a peripheral device is currently in effect.

• If the TEST mode is not established in response to a

TEST mode request from a peripheral device, the "TEST mode request error flag (M9078)" will turn on.

• This flag status indicate whether the forced stop. S(Operation cycle)

M9000 Fuse blown detection flag

AC/DC DOWN detection

M9005

flag

M9006 Battery low flag

M9007 Battery low latch flag

M9008 Self-diagnostic error flag

M9010 Diagnostic error flag

M9025 Clock data set request

M9026 Clock data error

M9028 Clock data read request

M9036 Always ON

M9037 Always OFF

M9060 Diagnostic error reset

M9073 PCPU WDT error flag

PCPU READY complete

M9074

flag

M9075 Test mode ON flag

External forced stop

M9076

input flag

OFF : Normal ON : Fuse blown module

detected

OFF : AC/DC DOWN

not detected

ON : AC/DC DOWN

detected

OFF : Normal ON : Battery low

OFF : No error ON : Error

OFF : Ignored ON : Set request present

used OFF : No error ON : Error OFF : Ignored ON : Read request

ON OFF

OFF

ON : Abnormal OFF : Normal

ON : PCPU READY

OFF : PCPU READY

ON : TEST mode is in

OFF : TEST mode is not in

ON : Forced stop OFF OFF : Forced stop ON

ON : Diagnostic

error reset

completion

uncompletion

effect.

Set by

(When set)

S(Occur an error)

S(Main processing)

S(Occur an error)

S(Request)

(Note-1) : It adds newly at the Motion controller Q series.

Remark

New

(Note-1)

New

(Note-1)

1 - 48

1 OVERVIEW

Special relay list (continued)

No. Name Meaning Details

• This flag indicates whether the setting designated at the manual pulse generator axis setting register (D714 to D719) is normal or abnormal.

• When this relay turn on, the error content is stored at the manual pulse generator axis setting error register (D9185 to D9187).

• Turn on if the TEST mode is not established in response to a TEST mode request from a peripheral device.

• When this relay turns on, the error content is stored at the TEST mode request error register (D9182 to D9183).

• This flag status indicates whether the positioning data of the

servo program(K) specified with the Motion SFC program is normal or abnormal, and if error is detected this flag turns on.

• The content of a servo program setting error is stored at

D9189 and D9190.

• The servo parameter of servo parameter read request axis

set as D9104 is reflected in the Motion CPU from the servo amplifier at the time of OFF to ON.

• This flag turn on while having read the servo amplifier

to the Motion CPU. It turn off automatically after reading completion.

• Turn on when the data read from CPU No.1 is performed normally by MULTR instruction.

• Turn on when the data read from CPU No.2 is performed

normally by MULTR instruction.

• Turn on when the data read from CPU No.3 is performed

normally by MULTR instruction.

• Turn on when the data read from CPU No.4 is performed

normally by MULTR instruction.

• Turn off at reset release of the CPU No.1.

• Turn on during reset of the CPU No.1. (It also contains when a

CPU is removed from the base unit.)

• The other CPU is also resetting.

• Turn off at reset release of the CPU No.2.

• Turn on during reset of the CPU No.2. (It also contains when a

CPU is removed from the base unit.)

• The error of the "MULTI CPU DOWN" (error code : 7000)

occurs in the other CPU.

• Turn off at reset release of the CPU No.3.

• Turn on during reset of the CPU No.3. (It also contains when a

CPU is removed from the base unit.)

• The error of the "MULTI CPU DOWN" (error code : 7000)

occurs in the other CPU.

• Turn off at reset release of the CPU No.4.

• Turn on during reset of the CPU No.4. (It also contains when a

CPU is removed from the base unit.)

• The error of the "MULTI CPU DOWN" (error code : 7000)

occurs in the other CPU.

Manual pulse generator

M9077

axis setting error flag

TEST mode request

M9078

error flag

Servo program setting

M9079

error flag

Servo parameter read

M9104

request flag

Servo parameter reading

M9105

flag

CPU No.1 MULTR

M9216

complete flag

CPU No.2 MULTR

M9217

complete flag

CPU No.3 MULTR

M9218

complete flag

CPU No.4 MULTR

M9219

complete flag

M9240 CPU No.1 resetting flag

M9241 CPU No.2 resetting flag

M9242 CPU No.3 resetting flag

M9243 CPU No.4 resetting flag

ON : At least one D714 to

D719 setting is abnormal.

OFF : All D714 to D719

settings are normal.

ON : Abnormal OFF : Normal

OFF to ON :

Servo parameter read

ON : Servo parameter

reading.

OFF : Except servo

parameter reading.

OFF to ON :

CPU No.1 read completion

OFF to ON :

CPU No.2 read completion

OFF to ON :

CPU No.3 read completion

OFF to ON :

CPU No.4 read completion

OFF : CPU No.1 reset

release

ON : CPU No.1 resetting

OFF : CPU No.2 reset

release

ON : CPU No.2 resetting

OFF : CPU No.3 reset

release

ON : CPU No.3 resetting

OFF : CPU No.4 reset

release

ON : CPU No.4 resetting

(Note-1) : It adds newly at the Motion controller Q series. (Note-2) : The CPU No.1 is reset after the factor of the stop error is removed to cancel a stop error.

Set by

(When set)

S(Occur an error)

S(Reading)

S(Read completion)

S(Change status)

Resetting is cancelled.

Remark

New

(Note-1)

1 - 49

1 OVERVIEW

Special relay list (continued)

No. Name Meaning Details

M9244 CPU No.1 error flag

M9245 CPU No.2 error flag

M9246 CPU No.3 error flag

M9247 CPU No.4 error flag

OFF : CPU No.1 normal ON : On CPU No.1 stop

error

OFF : CPU No.2 normal ON : On CPU No.2 stop

error OFF : CPU No.3 normal ON : On CPU No.3 stop

error OFF : CPU No.4 normal ON : On CPU No.4 stop

error

(Note-1) : It adds newly at the Motion controller Q series. (Note-2) : The CPU No.1 is reset after the factor of the stop error is removed to cancel a stop error.

• Turn off when the CPU No.1 is normal. (It contains at continuation error.)

• Turn on during stop error of the CPU No.1.

• Turn off when the CPU No.2 is normal. (It contains at continuation error.)

• Turn on during stop error of the CPU No.2.

• Turn off when the CPU No.3 is normal. (It contains at continuation error.)

• Turn on during stop error of the CPU No.3.

• Turn off when the CPU No.4 is normal. (It contains at continuation error.)

• Turn on during stop error of the CPU No.4.

(Note-2)

Set by

(When set)

S(Change status)

Resetting is cancelled.

Remark

New

(Note-1)

1 - 50

1 OVERVIEW

(3) Special registers

Special registers are internal registers whose applications are fixed in the Motion CPU. For this reason, it is not possible to use these registers in Motion SFC programs in the same way that normal registers are used. However, data can be written as needed in order to control the Motion CPU. Data stored in the special registers are stored as BIN values if no special designation has been made to the contrary.

The headings in the table that follows have the following meanings.

Item Explanation

Number • Indicates the No. of the special register.

Name • Indicates the name of the special register.

Meaning • Indicates the nature of the special register.

Details • Indicates detailed information about the nature of the special register.

• Indicates whether the register is set by the system or user, and, if it is set by system,

when setting is performed.

S : Set by system (Motion CPU)

U : Set by user (Motion SFC program or test operation using a peripheral device)

S/U : Set by both system (Motion CPU) and user

Set by

(When set)

Main process : Set during each main processing (free time processing of the CPU)

Initial process : Set only during initial processing (when power supply is turned ON, or

Status change : Set only when there is a change in status

Error : Set when error is occurred.

Request : Set only when there is a user request (Special reray , etc.)

Operation cycle : Set during each operation cycle of the Motion CPU.

Indicated only if setting is done by system (Motion CPU) .

when executed the reset)

1 - 51

)2)

1 OVERVIEW

Special register list

No. Name Meaning Details

D9000 Fuse blown No.

AC/DC DOWN

D9005

counter No.

D9008 Diagnostic error

D9010

Diagnostic error

D9011

occurrence time

D9012

Error information

D9013

classfication

D9014 Error information Error information

Module No. with blown fuse

Number of times for AC/DC DOWN

Dignostic error number

Diagnostic error occurrence (Year, Month)

Diagnostic error occurrence time (Day, Hour)

Diagnostic error occurrence time (Minute, Second)

Error information classfication code

• When fuse blown modules are detected, the lowest I/O module No. is stored in D9000.

• 1 is added to the stored value each time the input voltage becomes 85[%](AC power supply/65[%] DC power supply) or less of the rating while the CPU module is performing an operation, and the value is stored in BIN code.

• When error is found as a result of self-diagnosis, error No. is stored in BIN code.

• Refer to "19.4 Multiple CPU Error Codes" for details of the error code.

• The age (A.D, the rightmost two digits) when data on D9008 are updated, and the month stored with a BCD code two digits.

• The day when data on D9008 are updated, and the hour stored with a BCD code two digits.

• The minute when data on D9008 are updated, and the second stored with a BCD code two digits.

• The classification code to judge the error information stored in the eror information (D9014) is stored.

• The following code is stored.

0 : None 1 : Module No./CPU No./Base No. 2 : Parameter No.

• Error information to comply with the diagnostic error (D9008) is stored.

There are following two types informations to be stored.

1) Module No./CPU No./Base No.

•

Module No. or CPU No. is stored according to the error which occurred

in the case of the Multiple CPU system. (Refer to each error code which is stored.) CPU No.1 : 1, CPU No.2 : 2, CPU No.3 : 3, CPU No.4 : 4

2) Parameter No.

• The operation states of CPU as shown below are stored in D9015.

to to

B15 B7B0B8

Year(0 to 99) Month(1 to 12)

to to

B15 B7 B0B8

Day(1 to 31) Hour(0 to 23)

to to

B15 B7 B0B8

Minute(0 to 59) Second(0 to 59)

B15 B12 B11 B8 B7 B4 B3 B0

Example : October 1995 H9510

Example : 25st, 10 a.m H2510

Example : 35 min., 48 sec. H3548

Set by

(When set)

Remark

S(Occur an error)

New

(Note)

Operating state of

D9015

CPU

D9017 Scan time

Maximum scan

D9019

time

D9025 Clock data

Operating state of CPU

Scan time (1ms units)

Maximum scan time (1ms units)

Clock data (Year, month)

1) Operating state of CPU

2) STOP cause

Note : Priority is earliest first

• Main cycle is stored in the unit 1ms.

• Setting range (0 to 65535[ms])

• The maximum value of the main cycle is stored in the unit 1ms.

• Setting range (0 to 65535[ms])

• Stores the year (2 lower digits) and month in BCD.

B15 B12toB11 B8toB7 B4toB3 B0

Year Month

0 : RUN 2 : STOP

0 : RUN/STOP switch 4 : Error

Example : July,1993 H9307

(Note) : It adds newly at the Motion controller Q series.

S(Main processing)

New

(Note)

S/U(Request)

1 - 52

1 OVERVIEW

Special register list (continued)

No. Name Meaning Details

• Stores the day and hour in BCD.

B15 B12to B11 B8to B7 B4to B3 B0to

D9026 Clock data

Clock data (Day, hour)

Example : 31st, 10 a.m. H3110

Set by

(When set)

Remark

D9027 Clock data

Clock data (Minute, second)

• Stores the minute and second in BCD.

Day Hour

B15 B12to B11 B8to B7 B4to B3 B0to

Minute

• Stores the day of the week in BCD.

B15 B12to B11 B8to B7 B4to B3 B0to

Second

Example : 35 min., 48 sec. H3548

Example :

S/U(Request)

Friday H0005

D9028 Clock data

Clock data (Day of week)

"0" must be set here.

Diagnostic error

D9060

reset error No.

D9061 Multiple CPU No. Multiple CPU No. • CPU No. of the self CPU is stored. S(Initial processing)

Servo parameter

D9104

read request axis No.

D9182

Test mode

D9183

request error

Motion CPU WDT

D9184

error cause

D9185

Manual pulse

D9186

generator axis

D9187

setting error

Error No. of releasing an error

Servo parameter read axis No.

It is operating in requirement error occurrence of the test mode, axis information

Error meaning of WDT error occurs

Manual pulse generator axis setting error information

• Error No. of canceling error is stored. U

• Axis No. of servo amplifier which begins to read servo parameter is setting.

Q173CPU(N) : 1 to 32 (Axis1 to 32) Q172CPU(N) : 1 to 8 (Axis1 to 8)

• Each axis is stopping : 0/Operating : 1, information is stored as a bit data.

D9182 : b0 to b15(Axis 1 to Axis 16) D9183 : b0 to b15(Axis 17 to Axis 32)

The following error codes are stored in D9184. 1 : S/W fault 1 2 : Operation cycle over 3 : Q bus WDT error 4 : WDT error 30 : Information processor H/W error 201 to 215 : Q bus H/W fault 250 to 253 : Servo amplifier interface H/W fault 300 : S/W fault3 301 : 15 CPSTART instructions of 8 or more points were started

simultaneously.

302 : During ROM operation, system setting data, program and

parameter written to internal FLASH ROM are fault.

• Contents of the manual pulse generator axis setting error is stored when the manual pulse generator axis setting error flag(M9077) turn on. (Normal : 0/Setting error : 1)

D9185 : The manual pulse generator axis setting error is stored in b0 to b2

(P1 to P3). The smoothing magnification setting is stored in b3 to b5 (P1 to P3).

D9186 : One pulse input magnification setting error is stored in b0 to b15

(axis 1 to axis 16).

D9187 : One pulse input magnification setting error is stored in b0 to b15

(axis 17 to axis 32).

Day of week

Sunday

Monday

Tuesday

Wednesday

Thursday

Friday

Saturday

S(Occur an error)

(Note) : It adds newly at the Motion controller Q series.

New

(Note)

1 - 53

)2)4)3)5)6)8)7)

1 OVERVIEW

Special register list (continued)

No. Name Meaning Details

D9188

D9189

D9190

D9191 D9192

D9193 D9194 D9195

D9196

D9197

Motion operation cycle

Error program No.

Error item information

Servo amplifier loading information

Real mode/virtual mode switching error information

PC link communication error codes

Operation cycle of the Motion CPU setting

Motion operation cycle

Error program No. of servo program

Error code of servo program

Servo amplifier loading information

Real mode/virtual mode Switching error code

PC link communication error codes

Operation cycle of the Motion CPU setting

• The time when the motion operation cycle is stored in the [µs] unit.

When the servo program setting error flag (M9079) turns on, the erroneous servo program No. will be stored.

When the servo program setting error flag (M9079) turns on, the error code corresponding to the erroneous setting item will be stored.

• The loading status(loading : 1/non-loading : 0) of the servo amplifier checked in initial process, and stored as the bit data.

D9191 : b0 to b15(axis 1 to axis 16) D9192 : b0 to b15(axis 17 to axis 32)

• The axis which turned from non-loading to loading status after power-on is

handled as loaded. (However, the axis which turned from loading to nonloading status remains as loaded.)

• When a mode switching error occurs in real-to-virtual or virtual-to-real

mode switching, or a mode continuation error occurs in the virtual mode, its error information is stored.

• The following error code is stored.

00 : No error 01 : Receiving timing error 02 : CRC error 03 : Communication response code error 04 : Received frame error 05 : Communication task start error (Each error code is reset to "00" when normal communication is restarted.)

• The time when the setting operation cycle is stroed in the [µs] unit.

• The CPU switch status is stored in the following format.

B15 B12B11

B7 B4 B3 B0

Set by

(When set)

S(Operation cycle)

S(Occur an error)

S(Initial processing)

S(Occur an error)

S(Initial processing)

Remark

New

(Note)

D9200 State of switch State of CPU switch

D9201 State of LED State of CPU-LED

1) CPU switch status 0 : RUN

2) Memory card switch Always OFF

3) Dip switch

1 : STOP 2 : L.CLR

B8 through B12 correspond to SW1 through SW5 of system setting switch 1. 0 : OFF/1 : ON B13 through B15 is not used.

No used.

1)2)

• Information concerning which of the following states the LEDs on the CPU are in is stored in the following bit patterns.

• 0 is off, 1 is on, and 2 is flicker

B15 B12 B11 B8 B7 B4 B3 B0

1) : RUN 5) : BOOT

2) : ERROR 6) : No used

3) : M.RUN 7) : No used

4) : BAT.ALARM 8) : MODE Bit patterns for MODE

0 : OFF 1 : Green 2 : Orange

(Note) : It adds newly at the Motion controller Q series.

1 - 54

S(Main processing)

S(Change status)

New

(Note)

New

(Note)

1 OVERVIEW

1.3 Hardware Configuration

This section describes the Q173CPU(N)/Q172CPU(N) system configuration, precautions on use of system and configured equipments.

1.3.1 Motion system configuration

This section describes the equipment configuration, configuration with peripheral devices and system configuration in the Q173CPU(N)/Q172CPU(N) system.

1 - 55

1 OVERVIEW

(1) Equipment configuration in Q173CPU(N) system

(a) When using the Dividing unit/external battery

Extension of the Q series module

Motion module

(Q172LX, Q172EX, Q173P X)

(Note-1)

MITSUBISHI

LITHIUM BATT ERY

Battery

(A6BAT/MR-BAT)

Power supply module/

QCPU/ I/O module/ Intelligent

function module of the Q series

CPU base unit

(Q33B, Q35B, Q38B, Q312B)

Motion CPU module

(Q173CPU(N))

SSCNET cable

(Q173DVCBL M)

SSCNET CN1

SSCNET CN2

SSCNET CN3

SSCNET CN4

MITSUBISHI

LITHIUM BATTE RY

Q173CPU

Dividing unit

(Q173DV)

(Note-5)

Extension cable

(QC B)

(Note-2)

Short-circuit connector for

the teaching unit

(Q170TUTM)

(Note-3)

Cable for the teaching unit

(Q170TUD CBL M(-A))

(Note-4)

Short-circuit connector for

the teac hing unit

(A31TUD3TM)

Motion module

(Q172LX, Q172EX, Q173PX)

Q6 B extension base unit

(Q63B, Q65B, Q68B, Q612B)

Power supply module/ I/O module/Intelligent function module of the Q series

(Note-5) (Note-6)

SVO ON

Teaching unit

(A31TU-D3 , A31TU-DN )

SSCNET cable

for MR-H-BN

(MR-J2HBUS M- A) (MR-J2HBUS M)

Servo amplifier

(MR-H-BN)

SSCNET cable

for MR-J2 -B

MITSUBISHI

Servo amplifier

(MR-J2 -B)

1 - 56

It is possible to select the best according to the system.

(Note-1) : When using the external battery, be sure to set the Battery(A6BAT/MR-BAT) to the Dividing unit(Q173DV). Battery(A6BAT/MR-BAT) is optional. (Note-2) : It is possible to use only Q173CPUN-T. It is packed together with Q173CPUN-T. (Note-3) : It varies by the connecting teaching unit. (Note-4) : It is packed together with Q170TUD CBL M. (Note-5) : When using the A31TU-D3 /A31TU-DN , be sure to use the Q173CPUN-T. (Note-6) : A31TU-D3 /A31TU-DN corresponds to only Japanese. It does not correspond to display for English.

1 OVERVIEW

(b) When using the Dividing cable

Extension of the Q series module

Motion module

(Q172LX, Q172EX, Q173PX)

Power supply module/ QCPU/ I/O module/ Intelligent function module of the Q series

CPU base unit

(Q33B, Q35B, Q38B, Q312B)

Motion CPU module

(Q173CPU(N) )

SSCNET cable

for MR-H-BN

(Q173HB CBL M)

SSCNET cable

for MR-J2 -B

(Q173J2B CBL M )

MITSUBIS HI

(Note-4)

Extension cable

(QC B)

(Note-1)

Short-circuit connector for

the teaching unit

(Q170TUTM)

(Note-2)

Cable for the teaching un it

(Q170TUD CBL M(-A))

(Note-3)

Motion module

(Q172LX, Q172EX, Q173PX)

Q6 B extension base unit

(Q63B, Q65B, Q68B, Q612B)

Power supply module/ I/O module/Intelligent function module of the Q series

(Note-5)

(Note-4)

SVO ON

Teaching unit

(A31TU-D3 , A31TU-DN )

Servo amplifier

(MR-H-BN)

Servo amplifier

(MR-J2 -B)

1 - 57

Short-circuit connector for the

teaching unit

(A31TUD3TM)

It is possible to select the best according to the system.

(Note-1) : It is possible to use only Q173CPUN-T. It is packed together with Q173CPUN-T. (Note-2) : It varies by the connecting teaching unit. (Note-3) : It is packed together with Q170TUD CBL M. (Note-4) : When using the A31TU-D3 /A31TU-DN , be sure to use the Q173CPUN-T. (Note-5) : A31TU-D3 /A31TU-DN corresponds to only Japanese.

It does not corres

ond to display for English.

1 OVERVIEW

(2) Equipment configuration in Q172CPU(N) system

(a) When using the external battery

Extension of the Q series module

Motion module

(Q172LX, Q172EX, Q173PX)

(Note-1)

BAT

LITHIUM BATTERY

CPU

PASSED

Battery unit (Q170BAT)

MITSUBISHI

Power supply module/ QCPU/ I/O module/ Intelligent function module of the Q series

CPU base unit

(Q33B, Q35B, Q38B, Q312B)

(Note-5)

Motion CPU module

(Q172CPU(N))

Extension cable

(QC B)

(Note-2)

Short-circuit connector for

the teaching unit

(Q170TUTM)

(Note-3)

Q17BAT

DATE

SSCNET cable

for MR-H-BN

(Q172HBCBL -M) (Q172J2BCBL M-B)

SSCNET cable

for MR-J2 -B

Cable for the teaching unit

(Q170TUD CBL M(-A))

Motion module

(Q172LX, Q172EX, Q173PX)

Q6 B extension base unit

(Q63B, Q65B, Q68B, Q612B)

Power supply module/ I/O module/Intelligent function module of the Q series

(Note-6)

(Note-5)

SVO ON

Teaching unit

(A31TU-D3 , A31TU-DN )

(Note-4)

MITSUBISHI

LITHIUM BATTERY

Battery

(A6BAT/MR-BAT)

Servo amplifier

(MR-H-BN)

Servo amplifier

(MR-J2 -B)

1 - 58

Short-circuit connector for

the teaching unit

(A31TUD3TM)

It is possible to select the best according to the system.

(Note-1) : When using the external battery, be sure to use the SSCNET cable(Q172J2BCBL M-B/Q172HBCBL M-B) and to set the battery (A6BAT/MR-BAT). Also install the battery(A6BAT/MR-BAT)in the Battery unit(Q170BAT). Battery(A6BAT/MR-BAT) is optional. (Note-2) : It is possible to use only Q172CPUN-T. It is packed together with Q172CPUN-T. (Note-3) : It varies by the connecting teaching unit. (Note-4) : It is packed together with Q170TUD CBL M. (Note-5) : When using the A31TU-D3 /A31TU-DN , be sure to use the Q172CPUN-T. (Note-6) : A31TU-D3 /A31TU-DN corresponds to only Japanese. It does not correspond to display for English.

1 OVERVIEW

(b) When not using the external battery

Extension of the Q series module

Motion module

(Q172LX, Q172EX, Q173PX)

Power supply module/ QCPU/ I/O module/ Intelligent function module of the Q series

CPU base unit

(Q33B, Q35B, Q38B, Q312B)

Motion CPU module

(Q172CPU(N))

SSCNET cable

for MR-H-BN

(Q172HBCBL M) (Q172J2B CBL M)

SSCNET cable

for MR-J2 -B

MITSUBISHI

(Note-4)

Extension cable

(QC B)

(Note-1)

Short-circuit connector for

the teaching unit

(Q170TUTM)

(Note-2)

Cable for the teaching unit

(Q170TUD CBL M(-A))

(Note-3)

Motion module

(Q172LX, Q172EX, Q173PX)

Q6 B extension base unit

(Q63B, Q65B, Q68B, Q612B)

Power supply module/ I/O module/Intelligent function module of the Q series

(Note-4)

(Note-5)

SVO ON

Teaching unit

(A31TU-D3 , A31TU-DN )

Servo amplifier

(MR-H-BN)

Servo amplifier (MR-J2 -B)

Short-circuit connector for

the teaching unit

(A31TUD3TM)

It is possible to select the best according to the system.

(Note-1) : It is possible to use only Q172CPUN-T. It is packed together with Q172CPUN-T. (Note-2) : It varies by the connecting teaching unit. (Note-3) : It is packed together with Q170TUD CBL M. (Note-4) : When using the A31TU-D3 /A31TU-DN , be sure to use the Q172CPUN-T. (Note-5) : A31TU-D3 /A31TU-DN corresponds to only Japanese. It does not correspond to display for English.

1 - 59

1 OVERVIEW

(3) Peripheral device configuration for the Q173CPU(N)/Q172CPU(N)

The following (a)(b)(c) can be used.

(a) RS-232 configuration

(b) USB configuration

Motion CPU module

(Q173CPU(N), Q172CPU(N))

RS-232 cable

(QC30R2)

Personal computer

Motion CPU module

(Q173CPU(N), Q172CPU(N))

USB cable

Personal computer

(Windows 98/2000/XP only)

Motion CPU module

(Q173CPU(N), Q172CPU(N))

SSC I/F communication cable

(Q170CDCBL M,

Q170BDCBL M)

MITSUBISHI

SSCNET CARD

A30CD-PCF

SSC I/F Card/Board

(A30CD-PCF/A 0BD-PCF)

Personal computer

(Note) : For information about GPP functions of PLC CPU, refer to the operating

manual of PLC. Also, refer to the help of each software for information about operation of each programming software package.

1 - 60

1 OVERVIEW

1.3.2 Q173CPU(N) System overall configuration

Motion CPU control module

QI60

Serial absolute synchronous encoder cable (MR-JHSCBL M-H/Q170ENCCBL M)

Serial absolute synchronous encoder 2/module

(MR-HENC/Q170ENC)

FLS : Upper stroke limit RLS : Lower stroke limit STOP : Stop signal DOG/CHANGE : Proximity dog/

Speed-position switching

SSCNET SYS TEM2

Terminal connector

CPU base unit (Q3 B)

Q61P-A

100/200VAC

Personal Computer

IBM PC/AT

USB/RS-232

Teaching unit A31TU-D3 /A31TU-DN

Panel Personal Computer (WinNT/Win98/Win2000/WinXP) Computer link SSC

(Note-1)

Cable for the teaching unit

(Q170TUD CBL M(-A))

SSC I/F Communication cable (Q170CDCBL M/

Q170BDCBL M)

SSC I/F Card/Board (A30CD-PCF/A 0BD-PCF)

PLC CPU/ Motion CPU

Q173

Qn(H)

CPU(N)

CPU

Dividing unit (Q173DV)

MITSUBISHI

LITHIUM BATTERY

Q172EX

Q172LX Q172PX

SSCNET cable

SSCNET SYSTEM1

Q6 AD

Q6 DA

I/O module of the Q Series or Special function module

Analogue input/output

Input/output (Up to 256 points)

Interrupt signals (16 points)

Manual pulse generator 3/module

(MR-HDP01)

External input signals

d8d1

(Up to 1 mo dule)

(Up to 6 modules)

SSCNET SYST EM3

Terminal connector

d8d1

Number of Inputs

8 axes/module

(Up to 4 modules)

SSCNET SYSTEM4

Terminal connector

Extension cable

Extension base unit (Q6 B)

l p p u s

u d

o P

UP to 7 extensions

MR-H BN/MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-03B5 model Servo amplifier, Vector inverter(FR-V500), Up to 32 axes

M E

(Note-1) : Be sure to use the Q173CPUN-T. A31TU-D3 /A31TU-DN corresponds to only Japanese.

It does not corres

ond to display for English.

1 - 61

1 OVERVIEW

CAUTION

Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal

operation of the Motion controller or servo amplifier differ from the safety directive operation in the system.

The ratings and characteristics of the parts (other than Motion controller, servo amplifier and

servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor.

Set the parameter values to those that are compatible with the Motion controller, servo amplifier,

servomotor and regenerative resistor model and the system application. The protective functions may not function if the settings are incorrect.

When a teaching unit is used, the cable for the teaching unit is necessary between the Motion

CPU (Q173CPUN-T/Q172CPUN-T) and teaching unit. And, connect the short-circuit connector for teaching unit, after removing the teaching unit or when not using it.

1 - 62

1 OVERVIEW

1.3.3 Q172CPU(N) System overall configuration

Motion CPU control module

QI60

Serial absolute synchronous encoder cable (MR-JHSCBL M-H/Q170ENCCBL M)

Serial absolute synchronous encoder 2/module

(MR-HENC/Q170ENC)

FLS : Upper stroke limit RLS : Lower stroke limit STOP : Stop signal DOG/CHANGE : Proximity dog/

Speed-position switching

d1 d2 d3

CPU base unit (Q3 B)

100/200VAC

Battery unit (Q170BAT)

Personal Computer

IBM PC/AT

USB/RS-232

Teaching unit A31TU-D3 /A31TU-DN

(Note-1)

Cable for the teaching unit

(Q170TUD CBL M(-A))

SSC I/F Card/Board

(A30CD-PCF/A 0BD-PCF)

PLC CPU/ Motion CPU

Qn(H)

Q61P-A

CPU

MITSUBISHI

LITHIUM BATTERY

SSC I/F Communication cable (Q170CDCBL M/

Q170BDCBL M)

l a n

r e

t x e

o v

r e S

Q172

Q172LX Q172PX

CPU(N)

SSCNET cable

SSCNET SYSTEM1

l a n g

i s

l u d

u o

Q172EX

Q6 AD

Q6 DA

I/O module of the Q Series or Special function module

Analogue input/output

Input/output (Up to 256 points)

Interrupt signals (16 points)

Manual pulse generator 3/module

(MR-HDP01)

External input signals

(Up to 1 mo dule)

(Up to 4 modules)

Number of Inputs

8 axes/module

(Up to 1 module)

Terminal connector

Panel Personal Computer (WinNT/Win98/Win2000/WinXP) Computer link SSC

Extension base unit (Q6 B)

l p

Extension cable

p u

r e

u d

UP to 7 extensions

MR-H BN/MR-J2S- B/MR-J2M-B/MR-J2- B/ MR-J2-03B5 model Servo amplifier, Vector inverter(FR-V5 00), Up to 8 axes

(Note-1) : Be sure to use the Q172CPUN-T. A31TU-D3 /A31TU-DN corresponds to only Japanese.

It does not corres

1 - 63

ond to display for English.