Mitsubishi Electric Q, Q173DCPU, Q172DCPU Programming Manual

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MOTION CONTROLLERS

SV22(VIRTUAL MODE)

Q173DCPU Q172DCPU

Programming 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 Q173DCPU/Q172DCPU 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.

A - 2

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 CPU module, 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.

A - 3

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.

A - 4

CAUTION

Use the program commands for the program with the conditions specified in the instruction

manual.

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.

A - 5

CAUTION

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. 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.

A - 6

(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). 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.

A - 7

(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

Input power

Input frequency 50/60Hz ±5%

Tolerable momentary power failure

Q61P-A1 Q61P-A2 Q61P Q62P Q63P Q64P

100 to 120VAC

(85 to 132VAC) (170 to 264VAC) (85 to 264VAC) (15.6 to 31.2VDC)

+10% +10% +10% +30% +10%

200 to 240VAC

-15%

200 to 240VAC

-15%

Conditions

100 to 240VAC

20ms or less

-15%

24VDC

-35%

100 to 120VAC

(85 to 132VAC/

170 to 264VAC)

-15%

+10%

-15%

A - 8

(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 the

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

Servomotor

Electromagnetic brakes

RA1

emergency stop signal(EMG).

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.)

(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.

A - 9

CAUTION

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.

(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

CAUTION

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.

A - 10

REVISIONS

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

Print Date Manual Number Revision

Jan., 2008 IB(NA)-0300137-A First edition

Japanese Manual Number IB(NA)-0300129

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 Mitsubishi Motion controller Q173DCPU/Q172DCPU. Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the Motion controller you have purchased, so as to ensure correct use.

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

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

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

About Manuals ...............................................................................................................................................A-15

1. OVERVIEW 1- 1 to 1- 4

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

1.2 Motion Control in SV13/SV22 Real Mode ............................................................................................... 1- 3

1.3 Motion Control in SV22 Virtual Mode ......................................................................................................1- 4

2. STARTING UP THE MULTIPLE CPU SYSTEM 2- 1 to 2- 8

2.1 Starting Up the System ............................................................................................................................ 2- 1

2.2 Differences Between Incremental System and Absolute System .......................................................... 2 - 3

2.2.1 Operation for incremental system..................................................................................................... 2 - 3

2.2.2 Operation for absolute (absolute position) system........................................................................... 2 - 4

2.3 Differences Between Real Mode and Virtual Mode ................................................................................ 2 - 5

2.3.1 Positioning data ................................................................................................................................. 2 - 5

2.3.2 Positioning devices............................................................................................................................ 2 - 5

2.3.3 Servo programs................................................................................................................................. 2 - 6

2.3.4 Control change (Current value change/speed change) ................................................................... 2 - 7

3. PERFORMANCE SPECIFICATIONS 3- 1 to 3- 2

4. POSITIONING DEDICATED SIGNALS 4- 1 to 4-84

4.1 Internal Relays ......................................................................................................................................... 4- 3

4.1.1 Axis statuses ..................................................................................................................................... 4-14

4.1.2 Axis command signals ......................................................................................................................4-21

4.1.3 Virtual servomotor axis statuses....................................................................................................... 4-26

4.1.4 Virtual servomotor axis command signals ......................................................................................4-30

4.1.5 Synchronous encoder axis statuses ............................................................................................... 4-35

4.1.6 Synchronous encoder axis command signals.................................................................................. 4-36

4.1.7 Common devices .............................................................................................................................. 4-37

4.2 Data Registers.......................................................................................................................................... 4-51

4.2.1 Axis monitor devices ......................................................................................................................... 4-59

4.2.2 Control change registers ................................................................................................................... 4-61

4.2.3 Virtual servomotor axis monitor devices........................................................................................... 4-62

4.2.4 Current value after virtual servomotor axis main shaft's differential gear ....................................... 4-64

A - 12

4.2.5 Synchronous encoder axis monitor devices..................................................................................... 4-66

4.2.6 Current value after synchronous encoder axis main shaft's differential gear ................................. 4-67

4.2.7 Cam axis monitor devices................................................................................................................. 4-69

4.2.8 Common devices .............................................................................................................................. 4-70

4.3 Motion registers(#) ...................................................................................................................................4-73

4.4 Special relays (SM) .................................................................................................................................. 4-75

4.5 Special registers (SD) .............................................................................................................................. 4-78

5. MECHANICAL SYSTEM PROGRAM 5- 1 to 5- 6

5.1 Mechanical Module Connection Diagram ............................................................................................... 5- 2

5.2 Mechanical Module List ...........................................................................................................................5- 5

6. DRIVE MODULE 6- 1 to 6-26

6.1 Virtual Servomotor ................................................................................................................................... 6- 1

6.1.1 Operation description ........................................................................................................................ 6- 1

6.1.2 Parameter list .................................................................................................................................... 6-11

6.1.3 Virtual servomotor axis devices (Internal relays, data registers) ..................................................... 6-16

6.2 Synchronous Encoder.............................................................................................................................. 6-17

6.2.1 Operation description ........................................................................................................................ 6-17

6.2.2 Parameter list .................................................................................................................................... 6-21

6.2.3 Synchronous encoder axis devices (Internal relays, data registers) ...............................................6-22

6.3 Virtual Servomotor/Synchronous Encoder Control Change ................................................................... 6-23

6.3.1 Virtual servomotor control change .................................................................................................... 6-23

6.3.2 Synchronous encoder control change.............................................................................................. 6-25

7. TRANSMISSION MODULE 7- 1 to 7-38

7.1 Gear.......................................................................................................................................................... 7- 3

7.1.1 Operation ........................................................................................................................................... 7- 3

7.1.2 Parameters ........................................................................................................................................ 7- 3

7.2 Clutch........................................................................................................................................................ 7- 5

7.2.1 Operation ........................................................................................................................................... 7-11

7.2.2 Parameters ........................................................................................................................................ 7-25

7.3 Speed Change Gear ................................................................................................................................ 7-34

7.3.1 Operation ........................................................................................................................................... 7-34

7.3.2 Parameters ........................................................................................................................................ 7-35

7.4 Differential Gear .......................................................................................................................................7-37

7.4.1 Operation ........................................................................................................................................... 7-37

7.4.2 Parameters (Must be not set) ........................................................................................................... 7-37

8. OUTPUT MODULE 8- 1 to 8-42

8.1 Rollers....................................................................................................................................................... 8- 5

8.1.1 Operation ........................................................................................................................................... 8- 5

8.1.2 Parameter list .................................................................................................................................... 8- 6

8.2 Ball Screw................................................................................................................................................. 8- 9

8.2.1 Operation ........................................................................................................................................... 8- 9

8.2.2 Parameter list .................................................................................................................................... 8-10

A - 13

8.3 Rotary Tables ...........................................................................................................................................8-13

8.3.1 Operation ........................................................................................................................................... 8-13

8.3.2 Parameter list .................................................................................................................................... 8-14

8.4 Cam .......................................................................................................................................................... 8-21

8.4.1 Operation ........................................................................................................................................... 8-22

8.4.2 Settings items at cam data creating ................................................................................................. 8-25

8.4.3 Parameter list .................................................................................................................................... 8-29

8.4.4 Cam curve list.................................................................................................................................... 8-39

8.5 Phase Compensation Function ............................................................................................................... 8-40

9. REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START 9- 1 to 9-12

9.1 Switching from the Real Mode to Virtual Mode ....................................................................................... 9- 1

9.2 Switching from the Virtual Mode to Real Mode....................................................................................... 9- 5

9.2.1 Switching by user ..............................................................................................................................9- 5

9.2.2 Switching by the operating system software .................................................................................... 9- 5

9.2.3 Continuous operation on servo error in virtual mode .......................................................................9- 6

9.3 Precautions at Real Mode/Virtual Mode Switching................................................................................. 9- 7

9.4 Stop and re-start....................................................................................................................................... 9- 9

9.4.1 Stop operation/stop causes during operation and re-starting operation list.................................... 9-10

10. AUXILIARY AND APPLIED FUNCTIONS 10- 1 to 10- 6

10.1 Mixed Function of Virtual Mode/Real Mode ........................................................................................ 10- 1

APPENDICES APP- 1 to APP-67

APPENDIX 1 Cam Curves........................................................................................................................APP- 1

APPENDIX 2 Error Codes Stored Using The Motion CPU ...................................................................APP- 5

APPENDIX 2.1 Expression Method for Word Data Axis No................................................................APP- 8

APPENDIX 2.2 Related Systems and Error Processing...................................................................... APP- 9

APPENDIX 2.3 Servo program setting errors (Stored in SD517)........................................................APP-10

APPENDIX 2.4 Drive module errors.....................................................................................................APP-15

APPENDIX 2.5 Servo errors.................................................................................................................APP-20

APPENDIX 2.6 Output Module Errors ..................................................................................................APP-39

APPENDIX 2.7 Errors at Real Mode/Virtual Mode Switching..............................................................APP-46

APPENDIX 3 Setting Range for Indirect Setting Devices........................................................................APP-48

APPENDIX 4 Processing Times of the Motion CPU ...............................................................................APP-50

APPENDIX 5 Device List ..........................................................................................................................APP-51

A - 14

About Manuals

The following manuals are also related to this product.

In necessary, order them by quoting the details in the tables below.

Related Manuals

(1) Motion controller

Q173DCPU/Q172DCPU Motion controller User's Manual

This manual explains specifications of the Motion CPU modules, Q172DLX Servo external signal interface

module, Q172DEX Synchronous encoder interface module, Q173DPX Manual pulse generator interface

module, Power supply modules, Servo amplifiers, SSCNET

others.

(Optional)

Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON)

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

parameters, auxiliary/applied functions, error lists and others.

(Optional)

Manual Name

cables, Synchronous encoder cables and

Manual Number

(Model Code)

IB-0300133

(1XB927)

IB-0300134

(1XB928)

Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)

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

(Optional)

Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)

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

(Optional)

IB-0300135

(1XB929)

IB-0300136

(1XB930)

A - 15

(2) PLC

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

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

extension cables, memory card battery and others.

(Optional)

QCPU User's Manual (Function Explanation, Program Fundamentals)

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

with the QCPU.

(Optional)

QCPU User's Manual (Multiple CPU System)

This manual explains the functions, programming methods and cautions and others to construct the

Multiple CPU system with the QCPU.

(Optional)

QCPU (Q Mode)/QnACPU 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)

Manual Name

(3) Servo amplifier

MR-J3- B Servo amplifier Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for

MR-J3-

(Optional)

Fully Closed Loop Control MR-J3- B-RJ006 Servo amplifier Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Fully

Closed Loop Control MR-J3-

(Optional)

B Servo amplifier.

Manual Name

B-RJ006 Servo amplifier.

Manual Number

(Model Code)

SH-080483ENG

(13JR73)

SH-080484ENG

(13JR74)

SH-080485ENG

(13JR75)

SH-080039

(13JF58)

SH-080040

(13JF59)

SH-080041

(13JF60)

SH-080042

(13JL99)

Manual Number

(Model Code)

SH-030051

(1CW202)

SH-030056

(1CW304)

A - 16

1 OVERVIEW

1. OVERVIEW

1.1 Overview

This programming manual describes the dedicated instructions, positioning control parameters and positioning dedicated devices for mechanical system program comprised of a virtual main shaft or mechanical module required to execute the synchronous control in the Motion controller (SV22 virtual mode). The following positioning control is possible in the Motion controller (SV22 virtual

Generic term/Abbreviation Description

Q173DCPU/Q172DCPU or Motion CPU (module)

Q172DLX/Q172DEX/Q173DPX or Motion module

MR-J3- B Servo amplifier model MR-J3- B

AMP or Servo amplifier General name for "Servo amplifier model MR-J3- B"

QCPU, PLC CPU or PLC CPU module QnUD(H)CPU

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

CPUn

Self CPU Motion CPU being programmed by the currently open MT Developer project

Programming software package General name for MT Developer/GX Developer/MR Configurator

Operating system software General name for "SW8DNC-SV Q "

SV13

SV22

MT Developer

GX Developer

MR Configurator

mode).

Applicable CPU Number of positioning control axes

Q173DCPU (32 axes) Up to 32 axes

Q172DCPU (8 axes) Up to 8 axes

In this manual, the following abbreviations are used.

Q173DCPU/Q172DCPU Motion CPU module

Q172DLX Servo external signals interface module/ Q172DEX Serial Synchronous encoder interface module Q173DPX Manual pulse generator interface module

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) : SW8DNC -SV13Q

Operating system software for automatic machinery use (Motion SFC) : SW8DNC -SV22Q

Abbreviation for "Motion controller programming software MT Developer2 (Version 1.00A or later)"

Abbreviation for "MELSEC PLC programming software package GX Developer (Version 8.48A or later)"

Abbreviation for "Servo setup software package MR Configurator (Version C0 or later)"

(Note-1)

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

Serial absolute synchronous encoder or Q170ENC

SSCNET

Absolute position system

(Note-2)

Abbreviation for "Serial absolute synchronous encoder (Q170ENC)"

High speed synchronous network 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

Battery holder unit Battery holder unit (Q170DBATC)

External battery General name for "Q170DBATC" and "Q6BAT"

Intelligent function module

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

(Note-1) : Q172DEX can be used in SV22.

(Note-2) : SSCNET: S

ervo System Controller NETwork

REMARK

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

Motion CPU module/Motion unit Q173DCPU/Q172DCPU 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

• Multiple CPU system configuration

• Performance specification

• Design method for common parameter

• Auxiliary and applied functions (common)

• Design method for Motion SFC program

SV13/SV22

• Design method for Motion SFC parameter

• Motion dedicated PLC instruction

• Design method for positioning control

refer to the following manuals relevant to each module.

Item Reference Manual

Manual relevant to each module

Q173DCPU/Q172DCPU Motion controller

Programming Manual (COMMON)

Q173DCPU/Q172DCPU Motion controller (SV13/SV22)

Programming Manual (Motion SFC)

program in the real mode

parameter

Q173DCPU/Q172DCPU Motion controller (SV13/SV22)

Programming Manual (REAL MODE)

CAUTION

When designing the system, provide external protective and safety circuits to ensure safety in

the event of trouble with the Motion controller.

There are electronic components which are susceptible to the effects of static electricity

mounted on the printed circuit board. When handling printed circuit boards with bare hands you must ground your body or the work bench.

Do not touch current-carrying or electric parts of the equipment with bare hands.

Make parameter settings within the ranges stated in this manual.

Use the program instructions that are used in programs in accordance with the conditions

stipulated in this manual.

Some devices for use in programs have fixed applications: they must be used in accordance

with the conditions stipulated in this manual.

1 - 2

1 OVERVIEW

1.2 Motion Control in SV13/SV22 Real Mode

(1) System with servomotor is controlled directly using the servo program in

(SV13/SV22) real mode.

(2) Setting of the positioning parameter and creation of the servo

program/Motion SFC program are required.

(3) The procedure of positioning control is shown below:

1) Motion SFC program is requested to start using the D(P). SFCS instruction of the PLC program. (Motion SFC program can also be started automatically by parameter setting.)

2) Execute the positioning control using the specified Motion SFC program. (Output to the servo amplifier)

Program structure in SV13/SV22 real mode

3) The servomotor is controlled.

PLC program

DP.SFCS

Motion SFC program start request instruction

(Note) : Motion SFC program can also be started automatically by parameter setting.

••••

•••• ••••

Specification of starting program No.

Motion SFC program

[G100] M2049//servo ON accept ?

Servo program

[K10: real] 1 INC-2 Axis 1, 10000 PLS Axis 2, 20000 PLS Vector speed 30000 PLS/s

Positioning control parameters

Transfer

END

System settings

Fixed parameters

Servo parameters

Parameter blocks

Home position return data

JOG operation data

Limit switch output data

Servo amplifier

Servomotor

1 - 3

1 OVERVIEW

1.3 Motion Control in SV22 Virtual Mode

(1) Synchronous control with software is performed using the mechanical

system program comprised by virtual main shaft and mechanical module in (SV22) virtual mode.

(2) Mechanical system programs is required in addition to the positioning

parameter, servo program/Motion SFC program used in real mode.

(3) The procedure of positioning control in virtual mode is shown below:

1) Motion SFC program for virtual mode is requested to start using the D(P). SFCS instruction of the PLC program. (Motion SFC program can also be started automatically by parameter setting.)

2) The virtual servomotor of the mechanical system program is started.

3) Output the operation result obtained through the transmission module to the servo amplifier set as the output module.

4) The servomotor is controlled.

Program structure in SV22 virtual mode

PLC program

DP.SFCS

•••• K0

Motion SFC program start request instruction

(Note) : Motion SFC program can also be started automatically by parameter setting.

• Home position return data is not used, since home position return cannot be executed in virtual mode. (Home position return is executed in real mode.)

• JOG operation in virtual mode is controlled using the JOG operation data set by drive module parameters.

•••• ••••

Specificatio n of starting program No.

Motion SFC program

[G200] M2044//on virtual mode?

Servo program

[K100: virtua l] 1 VF Axis 1 Speed # 0 PLS/s

Positioning control parameters

Transfer

END

System settings

Fixed paramete rs

Servo parameters

Parameter blocks

Limit switch output data

Mechanical system program

Drive module (Virtual servomotor)

Transmission module

(Axis 1)

Output module

Servo amplifier

Servomotor

1 - 4

2 STARTING UP THE MULTIPLE CPU SYSTEM

2. STARTING UP THE MULTIPLE CPU SYSTEM

The procedure for virtual mode positioning control is shown below.

2.1 Starting Up the System

The procedure to start up for virtual mode system is shown below.

Install the MT Developer

Start the MT Developer

System setting/Multiple CPU settings

Set the following positioning parameters

Fixed parameters Servo parameters Parameter blocks

START

Refer to Chapter 3 of the "Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON)."

Refer to Chapter 4 of the Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)".

Refer to Chapter 3 of the "Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON)."

Execute the relative check, and correct the setting errors

Will cam be used ?

YES

Set the cam data

Create the mechanical system program

Check the mechanical system program, and correct the setting errors

Refer to Chapter "5 MECHANICAL SYSTEM PROGRAM".

2 - 1

2 STARTING UP THE MULTIPLE CPU SYSTEM

Create the Motion SFC program and servo program

Turn the power supply of Multiple CPU system ON

Write the following data to the Motion CPU using MT Developer

System setting data Servo setting data Motion SFC parameter Motion SFC program Servo program Mechanical system program Cam data (Cam use)

Starting up the servo amplifier using

MT Developer

Execute the JOG operation, manual pulse generator operation and home position return test

Adjust cam setting axis (Cam use) (Bottom dead point, stroke value, etc.)

Align the virtual mode operation start position

Set data in the parameter setting device

Switch from real mode to virtual mode

Start drive module operation

Real mode

Virtual mode

Check operation state with the servo monitor or mechanical system monitor

END

2 - 2

2 STARTING UP THE MULTIPLE CPU SYSTEM

2.2 Differences Between Incremental System and Absolute System

The procedure for virtual mode operation is shown below.

2.2.1 Operation for incremental system

The operation procedure for incremental system is shown below.

START

Turn the power supply of Multiple CPU system ON

Execute the all axes servo start request (Turn M2042 on)

Execute the home position return

Align the virtual mode operation start position

Set data in the parameter setting device

Switch from real mode to virtual mode

Set the operation start address by the current value change

Real mode

Virtual mode

Execute virtual mode operation

2 - 3

2 STARTING UP THE MULTIPLE CPU SYSTEM

2.2.2 Operation for absolute (absolute position) system

The operation procedure for absolute system is shown below.

START

Turn the power supply of Multiple CPU system ON

Execute the all axes servo start request (Turn M2042 on)

Is the home position return request signal ON ?

YES

Execute the home position return

Align the virtual mode operation start position

Set data in the parameter setting device

YES

Is the

continuation

disabled warning

signal ON ?

Real mode

Switch from real mode to virtual mode

Set the operation start address by the current value change

Execute virtual mode operation

Virtual mode

2 - 4

2 STARTING UP THE MULTIPLE CPU SYSTEM

2.3 Differences Between Real Mode and Virtual Mode

Specifications of the positioning data, positioning devices and servo programs, etc. used in the real mode differ in part in the virtual mode. When using them in the virtual mode, refer to the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" after checking about a different point in the real mode.

2.3.1 Positioning data

Positioning data used in the virtual mode are shown in Table 2.1 below.

Table 2.1 Positioning Data List

Item Real mode Virtual mode Remark

System settings

Fixed parameters

Servo parameters

Parameter blocks

Home position return data

JOG operation data

Limit switch output data

2.3.2 Positioning devices

The operating ranges of positioning devices used in virtual mode are shown in Table

2.2 below.

Usable units differ according to

the output module.

Only [PLS] usable.

: Used

: Used (Restrictions in part)

: Not used

Table 2.2 Operating Range of Positioning Devices

Device name Real mode Virtual mode

M2000 to M3839

Internal relays

Special relays SM0 to SM2255

Data registers

Motion registers #8000 to #8735

Special registers SD0 to SD2255

M4640 to M4687

M5440 to M5487

D0 to D799

D1120 to D1239

M2000 to M5487

D0 to D1559

2 - 5

2 STARTING UP THE MULTIPLE CPU SYSTEM

2.3.3 Servo programs

(1) Servo program area

(a) The same servo program (Kn) No. cannot be used in both the real mode and

virtual modes. The range of servo program (Kn) used in the virtual mode must be set using MT Developer in advance.

(2) Servo instructions

(a) The home position return, speed control (

high-speed oscillation control and speed control with fixed position stop among the controls which can be used in the real mode cannot be used in the virtual mode.

(b) Control units of the parameter block and the torque limit value among the

positioning data which can be set using the servo program are not used.

(3) Differences of the servo instruction between real mode and virtual mode are

shown in Table 2.3 below.

Table 2.3 Differences of Servo Instruction List

), speed/position switching control,

Item

VPF

Speed/position control

Speed control ( )

Servo instruction

Positioning data

(Note) : It is common in the real mode and virtual mode about instructions except for the above

Home position return

High-speed oscillation

Speed control with fixed position stop

Parameter block

table.

VPR

VPSTART

ZERO

Control units

Torque limit value

VVF

VVR

OSC

PVF

PVR

Real

mode

Virtual

mode

Fixed

"PLS"

: Used, : Unusable, : Not used

Remark

Switch to virtual mode after home position return in the real mode.

The torque limit value is set with the "drive module parameter".

2 - 6

2 STARTING UP THE MULTIPLE CPU SYSTEM

2.3.4 Control change (Current value change/speed change)

When a control change is executed in the virtual mode, the feed current value/speed of the drive module is changed. Control changes are not possible for the output module (except for cam). Differences between control changes in the real mode and virtual modes are shown in Table 2.4 below.

Table 2.4 Differences List of Control Change

Item

Current value

change

Speed change

(Note-1) : If the output module is a roller which uses a speed change gear, a speed change can

be executed by changing the speed change gear ratio.

Real

mode

Drive module Output module

Virtual

servomotor

Synchronous

encoder

Virtual mode

Roller

Ball

screw

Rotary

table

(Note-1)

: Used, : Unusable

Cam

REMARK

Refer to the following Chapters for details of the drive and output modules.

• Drive module : Chapter 5 and 6

• Output module : Chapter 5 and 8

2 - 7

2 STARTING UP THE MULTIPLE CPU SYSTEM

MEMO

2 - 8

3 PERFORMANCE SPECIFICATIONS

3. PERFORMANCE SPECIFICATIONS

Performance specifications of the Motion CPU are shown in Table 3.1 below.

Table 3.1 Motion CPU Performance Specifications (Virtual Mode)

Item Q173DCPU Q172DCPU

Up to 32 axes

Number of control axes

Control method

Drive module

Control units

Program language Dedicated instructions (Servo program + mechanical system program)

Servo program

Number of modules which can be set per CPU

Drive

modules

Virtual

axes

Transmis-

sion

modules

Mechanical system program

Output

modules

Program setting method WindowsR2000/ Windows RXP which starts MT Developer

Types

Resolution per cycle

Memory capacity 132k bytes

Storage memory for cam data CPU internal RAM memory

Cam

Stroke resolution 32767

Control mode Two-way cam/feed cam

Cam data setting method WindowsR2000/ Windows RXP which starts MT Developer

Output module

Capacity

Number of

positioning points

Virtual module 32 axes 8 axes

Synchronous

encoder

Main shaft 32 8

Auxiliary input

axis

Gear 64 16

Clutch 64 16

Speed change

gear

Differential gear 32 8

Differential gear

to main shaft

Roller 32 8

Ball screw 32 8

Rotary table 32 8

Cam 32

Synchronous control, PTP (Point to Point) control, speed control, fixed-pitch feed, constant-speed

Virtual servomotor

Synchronous encoder

Roller

Ball screw

Rotary table Fixed as "degree"

Cam mm, inch, PLS

(Simultaneous : 2 to 4 axes)

(Independent : 32 axes)

control, position follow-up control, speed-switching control

mm, inch

(Note-3)

(Note-2)

(Note-3)

14k steps (14334 steps)

Total of 3200 points (It changes with programs, indirect specification is possible.)

12 axes 8 axes

32 8

64 16

32 8

Total of 32

Up to 256

256 • 512 • 1024 • 2048

Up to 8 axes

(Simultaneous : 2 to 4 axes)

(Independent : 8 axes)

PLS

Total of 8

3 - 1

3 PERFORMANCE SPECIFICATIONS

Table 3.1 Motion CPU Performance Specifications (Virtual Mode) (Continued)

Item Q173DCPU Q172DCPU

Interpolation functions Linear interpolation (2 to 4 axes), circular interpolation (2 axes)

Control methods

Method

Positioning

Position command Address setting range : –2147483648 to 2147483647 [PLS]

Acceleration/

deceleration

Virtual servomoto

control

JOG operation function Provided

M-function (with mode) M-code output function provided, M-code complete wait function provided

Manual pulse generator operation

function

(Test mode only)

Speed command Speed setting range : 1 to 2147483647 [PLS/s]

Automatic

trapezoidal

acceleration/

deceleration

S-curve

acceleration/

deceleration

(Note-1) : When the TREN input signal is used as "external input mode clutch", the high speed reading function cannot be used.

(Note-2) : Capacity matching the servo program for real mode.

(Note-3) : Relation between a resolution per cycle of cam and type are shown below.

Resolution per cycle 256 512 1024 2048

Type 256 128 64 32

PTP (Point to Point) control, speed control, fixed-pitch feed, constant-speed control,

position follow-up control

PTP control : Selection of absolute or incremental data method

Fixed-pitch feed : Incremental data method

Constant-speed control : Both absolute and incremental data method can be used together

Position follow-up control : Absolute data method

Acceleration-fixed acceleration/deceleration Time-fixed acceleration/deceleration

Acceleration time : 1 to 65535 [ms]

Deceleration time : 1 to 65535 [ms]

Up to 3 units can be connected.

Up to 3 axes can be operated simultaneously.

Setting of magnification : 1 to 10000

Setting of smoothing magnification provided.

S-curve ratio : 0 to 100[%]

Acceleration/deceleration time:1 to 5000 [ms]

(Only constant-speed control is possible.)

3 - 2

4 POSITIONING DEDICATED SIGNALS

4. POSITIONING DEDICATED SIGNALS

The internal signals of the Motion CPU and the external signals to the Motion CPU are used as positioning signals.

(1) Internal signals

The following five devices of the Motion CPU are used as the internal signals of the Motion CPU.

• Internal relay (M) .......................... M2000 to M5487 (3488 points)

• Special relay (SM) ....................... SM0 to SM2255 (2256 points)

• Data register (D) .......................... D0 to D1599 (1600 points)

• Motion register (#) ........................ #8000 to #8735 (736 points)

• Special register (SD) ................... SD0 to SD2255 (2256 points)

(2) External signals

The external input signals to the Motion CPU are shown below.

• Upper/lower limit switch input .......... The upper/lower limit of the positioning

range is controlled.

• Stop signal ....................................... This signal makes the starting axis stop.

• Proximity dog signal ........................ ON/OFF signal from the proximity dog.

• Speed/position switching signal ...... Signal for switching from speed to position.

• Manual pulse generator input .......... Signal from the manual pulse generator.

PLC CPU

Device memory

PLC control processor

Configuration between modules

Multiple CPU

Multiple CPU high speed transmission memory

Q series PLC system bus

high speed bus

Motion CPU

Device memory

Multiple CPU high speed transmission memory

Motion control processor

SSCNET

Servo amplifier

PLC I/O module (DI/O)

PLC intelligent function module (A/D, D/A, etc.)

Motion module (Proximity dog signal, manual pulse generator input)

Note) : Device memory data : 1) = 2)

Servomotor

Fig.4.1 Flow of the internal signals/external signals

4 - 1

4 POSITIONING DEDICATED SIGNALS

The positioning dedicated devices are shown below. It indicates the device refresh cycle of the Motion CPU for status signal with the positioning control, and the device fetch cycle of the Motion CPU for command signal with the positioning control. The operation cycle and main cycle of the Motion CPU are shown below. (a) Operation cycle

Item Q173DCPU Q172DCPU

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

Operation cycle (Default)

SV22

(b) Main cycle is not fixed-cycle as operation cycle. The cycle is dozens[ms] to

hundreds[ms].

0.44[ms] / 1 to 4 axes

0.88[ms] / 5 to 12 axes

1.77[ms] / 13 to 28 axes

3.55[ms] / 29 to 32 axes

0.44[ms] / 1 to 4 axes

0.88[ms] / 5 to 8 axes

REMARK

(1) In the positioning dedicated signals, "n" in "M3200+20n", etc. indicates a value

corresponding to axis No. such as the following tables.

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

1 0 9 8 17 16 25 24

2 1 10 9 18 17 26 25

3 2 11 10 19 18 27 26

4 3 12 11 20 19 28 27

5 4 13 12 21 20 29 28

6 5 14 13 22 21 30 29

7 6 15 14 23 22 31 30

8 7 16 15 24 23 32 31

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

(Example) For axis 32 M3200+20n (Stop command)=M3200+20

M3215+20n (Servo OFF command)=M3215+20

• The range (n=0 to 7) of axis No.1 to 8 is valid in the Q172DCPU.

31=M3820

31=M3835

(2) In the positioning dedicated signals, "n" in "M4640+4n", etc. of the "Synchronous

encoder axis status", "Synchronous encoder axis command signal" and "Synchronous encoder axis monitor device" indicates a value corresponding to synchronous encoder No. such as the following tables.

Synchronous encoder No. n Synchronous encoder No. n

P1/E1 0 P7/E7 6

P2/E2 1 P8/E8 7

P3/E3 2 P9/E9 8

P4/E4 3 P10/E10 9

P5/E5 4 P11/E11 10

P6/E6 5 P12/E12 11

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

(Example) For synchronous encoder No.12

M4640+4n (Error detection)= M4640+4

D1122+10n (Minor error code)= D1122+10

• The range (n=0 to 7) of synchronous encoder No. P1/E1 to P8/E8 is valid in the Q172DCPU.

11=M4684

11= D1232

4 - 2

4 POSITIONING DEDICATED SIGNALS

4.1 Internal Relays

(1) Internal relay list

Q173DCPU Q172DCPU

Device No. Purpose Real Virtual Device No. Purpose Real Virtual

Real/

virtual

community

Virtual

M0 M0

M2000 M2000

M2400 M2400

M3040 M2560

M3072 M3072

M3136 M3136

M3200 M3200

M3840 M3360

M4000

M4640

M4688

M4800

M5440

M5488 M5488

to to

M8191

User device

(2000 points)

Common device

(320 points)

Unusable

(80 points)

Axis status

(20 points

Real mode …... Each axis

32 axes)

Virtual mode … Output module

Unusable

(32 points)

Common device

(Command signal)

(64 points)

Unusable

(64 points)

Axis command signal

(20 points

Real mode …... Each axis

32 axes)

Virtual mode … Output module

Unusable

(160 points)

(Note-1)

M4000

Virtual servomotor axis status

(20 points

(Note-1)

M4640

Synchronous encoder axis

32 axes)

(Note-2)

status

(4 points

(Note-1)

M4672

Unusable

12 axes)

(112 points)

(Note-1)

M4800

Back

Virtual servomotor axis

command signal

(20 points

(Note-1)

M5440

32 axes)

(Note-2)

Synchronous encoder axis

command signal

(4 points

User device

12 axes)

(Note-3)

(2704 points)

M2320 M2320

M4160

M4960

M5472

M8191

User device

(2000 points)

Common device

(320 points)

Unusable

(80 points)

Axis status (20 points

8 axes)

Real mode …... Each axis

Virtual mode … Output module

Unusable

(512 points)

Common device

(Command signal)

(64 points)

Unusable

(64 points)

Axis command signal (20 points

Real mode …... Each axis

Virtual mode … Output module

Unusable

(640 points)

(Note-1)

Virtual servomotor axis status

(Note-1)

(20 points

Unusable

8 axes)

(480 points)

(Note-1)

Synchronous encoder axis

status

(Note-1)

(4 points

Unusable

8 axes)

(128 points)

(Note-1)

Virtual servomotor axis

command signal

(Note-1)

(20 points

Unusable

8 axes)

(480 points)

(Note-1)

Synchronous encoder axis

command signal

(Note-1)

(4 points

Unusable

8 axes)

(16 points)

User device

(Note-3)

(2704 points)

axes)

(Note-2)

Back

: Valid, : Invalid

It can be used as an user device.

4 - 3

4 POSITIONING DEDICATED SIGNALS

POINT

(1) Total number of user device points

4704 points

(2) (Note-1) : Do not set M4000 to M5487 as the latch range in virtual mode. (3) (Note-2) : This signal occupies only the area of the axis set in the mechanical

(4) (Note-3) : The cam axis command signal and smoothing clutch complete signal

(5) This manual describes only details for internal relays used in the virtual mode. If

it is required, refer to the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)".

system program. The unused axis areas in the mechanical system program can be used as an user device.

can be set as the optional device at the parameter.

4 - 4

4 POSITIONING DEDICATED SIGNALS

Axis No. Device No. Signal name

1 M2400 to M2419

2 M2420 to M2439 Virtual

3 M2440 to M2459

4 M2460 to M2479

5 M2480 to M2499

6 M2500 to M2519 0 Positioning start complete

7 M2520 to M2539 1 Positioning complete

8 M2540 to M2559

9 M2560 to M2579

10 M2580 to M2599 3 Command in-position

11 M2600 to M2619 4 Speed controlling

12 M2620 to M2639

13 M2640 to M2659

14 M2660 to M2679 6 Zero pass

15 M2680 to M2699 7 Error detection Immediately

16 M2700 to M2719

17 M2720 to M2739

18 M2740 to M2759

19 M2760 to M2779

20 M2780 to M2799

21 M2800 to M2819

22 M2820 to M2839 11 FLS

23 M2840 to M2859 12 RLS

24 M2860 to M2879 13 STOP

25 M2880 to M2899 14

26 M2900 to M2919 15 Servo ready

27 M2920 to M2939 16 Torque limiting

28 M2940 to M2959 17 Unusable

29 M2960 to M2979

30 M2980 to M2999

31 M3000 to M3019

32 M3020 to M3039

: Valid

(2) Axis status list

2 In-position

8 Servo error detection

19 M-code outputting signal

Signal name Real

Speed / position

switching latch

Home position return

request

Home position return

complete

External

signals

DOG/CHANGE

Virtual mode continuation

operation disable warning

(Note-1)

signal

Ball

screw

Rotary

table

OFF

Roller

Real

Cam

Mode

(Note-1) : It is unusable in the SV22 real mode.

Refresh

cycle

axis

Operation

cycle

Operation

cycle

Main cycle

Operation

cycle

Main cycle

Operation

cycle

At virtual

mode

transition

Operation

cycle

Fetch

cycle

Signal

direction

Status

signal

Status

signal

POINT

(1) The range of axis No.1 to 8 is valid in the Q172DCPU. (2) The device area more than 9 axes as an user device in the Q172DCPU.

However, when the project of Q172DCPU is replaced with Q173DCPU, this area cannot be used.

4 - 5

4 POSITIONING DEDICATED SIGNALS

Axis No. Device No. Signal name

1 M3200 to M3219

2 M3220 to M3239 Virtual

3 M3240 to M3259

4 M3260 to M3279

5 M3280 to M3299

6 M3300 to M3319 0 Stop command

7 M3320 to M3339 1 Rapid stop command

8 M3340 to M3359

9 M3360 to M3379

10 M3380 to M3399

11 M3400 to M3419

12 M3420 to M3439

13 M3440 to M3459

14 M3460 to M3479

15 M3480 to M3499

16 M3500 to M3519 6 Unusable

17 M3520 to M3539 7 Error reset command

18 M3540 to M3559

19 M3560 to M3579

20 M3580 to M3599

21 M3600 to M3619

22 M3620 to M3639 10

23 M3640 to M3659 11

24 M3660 to M3679

25 M3680 to M3699

26 M3700 to M3719

27 M3720 to M3739

28 M3740 to M3759

29 M3760 to M3779

30 M3780 to M3799

31 M3800 to M3819

32 M3820 to M3839

17 Unusable

19 FIN signal

: Valid, : Invalid

(3) Axis command signal list

Refresh

15 Servo OFF command

16 Gain changing command

Signal name Real

Forward rotation JOG

start command

Reverse rotation JOG

start command

Complete signal OFF

command

Speed/position switching

enable command

Servo error reset

command

External stop input

disable at start command

Unusable

Feed current value

update request command

Address clutch reference setting command

Cam reference position setting command

Control loop changing

command

(Note-1)

Ball

Roller

Rotary

screw

table

(Note-1) : It is unusable in the SV22 real mode.

(Note-2) : Operation cycle 7.1[ms] or more: Every 3.5[ms]

Cam

Real

mode

axis

cycle

Fetch

cycle

Operation

cycle

Main

cycle

Operation

cycle

Main

cycle

At start

At virtual

mode

transition

Operation

cycle

Operation

cycle

(Note-2)

Operation

cycle

Signal

direction

Command

signal

Command

signal

Command

signal

Command

signal

POINT

(1) The range of axis No.1 to 8 is valid in the Q172DCPU. (2) The device area more than 9 axes as an user device in the Q172DCPU.

However, when the project of Q172DCPU is replaced with Q173DCPU, this area cannot be used.

4 - 6

4 POSITIONING DEDICATED SIGNALS

Axis No. Device No. Signal name

1 M4000 to M4019

2 M4020 to M4039 Virtual

3 M4040 to M4059

4 M4060 to M4079

5 M4080 to M4099

6 M4100 to M4119 0 Positioning start complete

7 M4120 to M4139 1 Positioning complete

8 M4140 to M4159 2 Unusable

9 M4160 to M4179 3 Command in-position

10 M4180 to M4199 4 Speed controlling

11 M4200 to M4219 5

12 M4220 to M4239 6

13 M4240 to M4259

14 M4260 to M4279

15 M4280 to M4299 8

16 M4300 to M4319 9

17 M4320 to M4339 10

18 M4340 to M4359 11

19 M4360 to M4379 12

20 M4380 to M4399 13

21 M4400 to M4419 14

22 M4420 to M4439 15

23 M4440 to M4459 16

24 M4460 to M4479 17

25 M4480 to M4499 18

26 M4500 to M4519

27 M4520 to M4539

28 M4540 to M4559 : Valid, : Invalid

29 M4560 to M4579

30 M4580 to M4599

31 M4600 to M4619

32 M4620 to M4639

(4) Virtual servomotor axis status list

7 Error detection Backup

19 M-code outputting signal Backup

Signal name Real

Backup

Unusable

Unusable — —

Roller

Ball

Rotary

screw

table

Cam

Real

mode

axis

Refresh

cycle

Operation

cycle

Operation

cycle

Immedi-

ately

Operation

cycle

Fetch

cycle

— — —

Signal

direction

Status

signal

Status

signal

Status

signal

Status

signal

POINT

(1) The range of axis No.1 to 8 is valid in the Q172DCPU.

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

user device.

4 - 7

4 POSITIONING DEDICATED SIGNALS

Axis No. Device No. Signal name

1 M4800 to M4819

2 M4820 to M4839 Virtual

3 M4840 to M4859

4 M4860 to M4879

5 M4880 to M4899

6 M4900 to M4919 0 Stop command

7 M4920 to M4939 1 Rapid stop command

8 M4940 to M4959

9 M4960 to M4979

10 M4980 to M4999

11 M5000 to M5019

12 M5020 to M5039

13 M5040 to M5059

14 M5060 to M5079 5

15 M5080 to M5099

16 M5100 to M5119

17 M5120 to M5139

18 M5140 to M5159 8 Unusable

19 M5160 to M5179

20 M5180 to M5199

21 M5200 to M5219

22 M5220 to M5239 10

23 M5240 to M5259 11

24 M5260 to M5279 12

25 M5280 to M5299 13

26 M5300 to M5319 14

27 M5320 to M5339 15

28 M5340 to M5359 16

29 M5360 to M5379 17

30 M5380 to M5399 18

31 M5400 to M5419

32 M5420 to M5439

: Valid, : Invalid

(5) Virtual servomotor axis command signal list

7 Error reset command

19 FIN signal

Signal name Real

Forward rotation JOG

start command

Reverse rotation JOG

start command

Complete signal OFF

command

Unusable

External stop input

disable at start

command

Unusable

Ball

screw

Rotary

table

Cam

Roller

Real

mode

axis

Refresh

cycle

Fetch

cycle

Operation

cycle

Main

cycle

Main

cycle

At start

Operation

cycle

Signal

direction

Command

signal

Command

signal

Command

signal

POINT

(1) The range of axis No.1 to 8 is valid in the Q172DCPU.

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

user device.

4 - 8

4 POSITIONING DEDICATED SIGNALS

Axis No. Device No. Signal name

1 M4640 to M4643

2 M4644 to M4647

3 M4648 to M4651

4 M4652 to M4655 0 Error detection Immediately

5 M4656 to M4659 1 External signal TREN

6 M4660 to M4663

7 M4664 to M4667

8 M4668 to M4671 3 Unusable

9 M4672 to M4675 : Valid

10 M4676 to M4679

11 M4680 to M4683

12 M4684 to M4687

(6) Synchronous encoder axis status list

Virtual mode continuation operation

disable warning

Signal name Real Virtual Refresh cycle Fetch cycle

Main cycle

Signal

direction

Status

signal

POINT

(1) The range of axis No.1 to 8 is valid in the Q172DCPU. (2) The device area more than 9 axes as an user device in the Q172DCPU.

However, when the project of Q172DCPU is replaced with Q173DCPU, this area cannot be used.

Axis No. Device No. Signal name

1 M5440 to M5443

2 M5444 to M5447

3 M5448 to M5451

4 M5452 to M5455

5 M5456 to M5459

6 M5460 to M5463 1

7 M5464 to M5467 2

8 M5468 to M5471 3

9 M5472 to M5475 : Valid, : Invalid

10 M5476 to M5479

11 M5480 to M5483

12 M5484 to M5487

(7) Synchronous encoder axis command signal list

0 Error reset

Unusable

Signal name Real Virtual Refresh cycle Fetch cycle

Main cycle

Signal

direction

Status

signal

POINT

(1) The range of axis No.1 to 8 is valid in the Q172DCPU. (2) The device area more than 9 axes as an user device in the Q172DCPU.

However, when the project of Q172DCPU is replaced with Q173DCPU, this area cannot be used.

4 - 9

4 POSITIONING DEDICATED SIGNALS

Device

No.

M2000 PLC ready flag Main cycle

M2001 Axis 1

M2002 Axis 2

M2003 Axis 3 M2055

M2004 Axis 4 M2056

M2005 Axis 5 M2057

M2006 Axis 6 M2058

M2007 Axis 7 M2059

M2008 Axis 8 M2060

M2009 Axis 9 M2061 Axis 1

M2010 Axis 10 M2062 Axis 2

M2011 Axis 11 M2063 Axis 3

M2012 Axis 12 M2064 Axis 4

M2013 Axis 13 M2065 Axis 5

M2014 Axis 14 M2066 Axis 6

M2015 Axis 15 M2067 Axis 7

M2016 Axis 16 M2068 Axis 8

M2017 Axis 17 M2069 Axis 9

M2018 Axis 18 M2070 Axis 10

M2019 Axis 19 M2071 Axis 11

M2020 Axis 20 M2072 Axis 12

M2021 Axis 21 M2073 Axis 13

M2022 Axis 22 M2074 Axis 14

M2023 Axis 23 M2075 Axis 15

M2024 Axis 24 M2076 Axis 16

M2025 Axis 25 M2077 Axis 17

M2026 Axis 26 M2078 Axis 18

M2027 Axis 27 M2079 Axis 19

M2028 Axis 28 M2080 Axis 20

M2029 Axis 29 M2081 Axis 21

M2030 Axis 30 M2082 Axis 22

M2031 Axis 31 M2083 Axis 23

M2032 Axis 32

M2033 M2085 Axis 25

M2034

M2035

M2036 M2089 Axis 29

M2037

M2038 Motion SFC debugging f lag

M2039 Motion error detecti on flag Immediate

M2040

M2041 System setting error flag Operation cycle

M2042 All axes servo ON command Operation cycle M3074 M2099

M2043

M2044

M2045

M2046 Out-of-sync warning (S V22)

M2047 Motion slot fault detect ion flag Operation cycl e

M2048

M2049 All axes servo ON accept fl ag Operation cycl e

M2050 Unusable — — — — M2114

M2051

M2052

Signal name Refresh cycle Fetch cycle

Start accept flag Operation cycle

Unusable

(2 points)

Motion error history cl ear

request flag

Unusable

(2 points)

Speed switching poi nt specified

flag

Real mode/virtual mode

switching request (SV 22)

Real mode/virtual mode

switching status (SV22)

Real mode/virtual mode

switching error detect ion

signal (SV22)

JOG operation simul taneous

start command

Manual pulse generator 1

enable flag

Manual pulse generator 2

enable flag

(8) Common device list

Signal

Remark

direction

(Note-4)

Command

M3072 M2053

signal

Status

signal

(Note-1),

(Note-2)

— — — —

Main cycle

— — — —

At debugging mode

transition

At virtual m ode

transition

Main cycle

At start

At virtual m ode

transition

Main cycle

Command

signal

Status

signal

Command

signal

Status

signal

Command

signal

Status

signal

Command

signal

Status

signal

Command

signal

M3080

M3073

M3075

M3076

M2113

M3077

M3078

Device

No.

Manual pulse generator 3

enable flag

M2054 Operation cycl e over flag Operation cycl e

Unusable

(6 points)

M2084 Axis 24

M2086 Axis 26

M2087 Axis 27

M2088 Axis 28

M2090 Axis 30

M2091 Axis 31

M2092 Axis 32

M2093

M2094

M2095

Unusable

M2096

(8 points)

M2097

M2098

M2100

M2101 Axis 1

M2102 Axis 2

M2103 Axis 3

M2104 Axis 4

M2105 Axis 5

M2106 Axis 6

M2107 Axis 7

M2108 Axis 8

M2109 Axis 9

M2110 Axis 10

M2111 Axis 11

M2112 Axis 12

Unusable

M2115

(6 points)

M2116

M2117

M2118

Signal name Refresh cycle F etch cycle

Main cycle

— — — —

Speed changing

accepting flag

Synchronous

encoder current

value changing fl ag

(Note-3)

(12 axes)

Operation cycle

— — — —

Operation cycle

— — — —

Signal

direction

Command

signal

Status

signal

Status

signal

(Note-1),

(Note-2)

Status

signal

(Note-1),

(Note-2)

Remark

(Note-4)

M3079

4 - 10

4 POSITIONING DEDICATED SIGNALS

Device

No.

M2119 M2188

M2120 M2189

M2121 M2190

M2122 M2191

M2123 M2192

M2124 M2193

M2125 M2194

M2126 M2195

M2127

M2128 Axis 1 M2197

M2129 Axis 2 M2198

M2130 Axis 3 M2199

M2131 Axis 4 M2200

M2132 Axis 5 M2201

M2133 Axis 6 M2202

M2134 Axis 7 M2203

M2135 Axis 8 M2204

M2136 Axis 9 M2205

M2137 Axis 10 M2206

M2138 Axis 11 M2207

M2139 Axis 12 M2208

M2140 Axis 13 M2209

M2141 Axis 14 M2210

M2142 Axis 15 M2211

M2143 Axis 16 M2212

M2144 Axis 17 M2213

M2145 Axis 18 M2214

M2146 Axis 19 M2215

M2147 Axis 20 M2216

M2148 Axis 21 M2217

M2149 Axis 22 M2218

M2150 Axis 23 M2219

M2151 Axis 24 M2220

M2152 Axis 25 M2221

M2153 Axis 26 M2222

M2154 Axis 27 M2223

M2155 Axis 28 M2224

M2156 Axis 29 M2225

M2157 Axis 30 M2226

M2158 Axis 31 M2227

M2159 Axis 32

M2160 M2229

M2161 M2230

M2162 M2231

M2163 M2232

M2164 M2233

M2165 M2234

M2166 M2235

M2167 M2236

M2168 M2237

M2169 M2238

M2170 M2239

M2171 M2240 Axi s 1

M2172 M2241 Axi s 2

M2173 M2242 Axi s 3

M2174 M2243 Axi s 4

M2175 M2244 Axi s 5

M2176 M2245 Axi s 6

M2177 M2246 Axi s 7

M2178 M2247 Axi s 8

M2179 M2248 Axi s 9

M2180 M2249 Axi s 10

M2181 M2250 Axi s 11

M2182 M2251 Axi s 12

M2183 M2252 Axi s 13

M2184 M2253 Axi s 14

M2185

M2186 M2255 Axi s 16

M2187

Signal name Refresh cycle Fetch cycle

Unusable

(9 points)

Automatic

decelerating fl ag

Unusable

(28 points)

(Note-5)

Common device list (Continued)

Remark

Signal

direction

— — — —

Status

Operation cycle

— — — —

signal

(Note-1),

(Note-2)

(Note-4)

Device

No.

M2196

M2228

M2254 Axi s 15

M2256 Axi s 17

Unusable

(36 points)

(Note-5)

Unusable

(16 points)

Signal name Refresh cycle

— — — —

Speed change "0"

accepting flag

Operation cycle

Fetch cycle

Signal

direction

Status

signal

(Note-1),

(Note-2)

Remark

(Note-4)

4 - 11

4 POSITIONING DEDICATED SIGNALS

Device

No.

M2257 Axis 18 M2289 Axis 18

M2258 Axis 19 M2290 Axis 19

M2259 Axis 20 M2291 Axis 20

M2260 Axis 21 M2292 Axis 21

M2261 Axis 22 M2293 Axis 22

M2262 Axis 23 M2294 Axis 23

M2263 Axis 24 M2295 Axis 24

M2264 Axis 25 M2296 Axis 25

M2265 Axis 26 M2297 Axis 26

M2266 Axis 27 M2298 Axis 27

M2267 Axis 28 M2299 Axis 28

M2268 Axis 29 M2300 Axis 29

M2269 Axis 30 M2301 Axis 30

M2270 Axis 31 M2302 Axis 31

M2271 Axis 32

M2272 Axis 1 M2304

M2273 Axis 2 M2305

M2274 Axis 3 M2306

M2275 Axis 4 M2307

M2276 Axis 5 M2308

M2277 Axis 6 M2309

M2278 Axis 7 M2310

M2279 Axis 8 M2311

M2280 Axis 9 M2312

M2281 Axis 10 M2313

M2282 Axis 11 M2314

M2283 Axis 12 M2315

M2284 Axis 13 M2316

M2285 Axis 14 M2317

M2286 Axis 15 M2318

M2287 Axis 16 M2319

M2288 Axis 17

Signal name Refresh cycle Fetch cycle

Speed change "0"

accepting flag

Control loop

monitor status

Common device list (Continued)

Remark

Operation cycle

Signal

direction

Status

signal

(Note-1),

(Note-2)

(Note-1) : The range of axis No.1 to 8 is valid in the Q172DCPU. (Note-2) : Device area of 9 axes or more is unusable in the Q172DCPU. (Note-3) : This signal is unusable in the SV22 real mode. (Note-4) : It can also be ordered the device of a remark column. (Note-5) : These devices can be used as the clutch statuses.

Device

(Note-4)

No.

M2303 Axis 32

The clutch status can also be set as the optional device at the clutch parameter.

Refer to Section 7.2.2.

Signal name Refresh cycle Fetch cycl e

Unusable

(16 points)

Control loop

monitor status

Operation cycle

— — — —

Signal

direction

Status

signal

(Note-1),

(Note-2)

Remark

(Note-4)

4 - 12

4 POSITIONING DEDICATED SIGNALS

Device No. Signal name Refresh cycle Fetch cycle Signal direction

M3072 PLC ready flag

(9) Common device list (Command signal)

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 Motion error history clear request flag

M3081

M3135

(Note-1): The state of a device is not in agreement when the device of a remark column is turned ON/OFF directly. In addition,

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

(Note-3): Do not use it as an user device. It can be used as a device that performs automatic refresh because of area for the

Real mode/virtual mode switching

request (SV22)

JOG operation simultaneous start

command

Unusable

(55 points)

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.

reserve of command signal.

(Note-3)

— — — —

Operation

cycle

At virtual mode

transition

Main cycle

Command

signal

M2040

M2042

M2043

M2048

M2051

M2052

M2053

M2035

POINT

The device of a remark column turns ON by OFF to ON of the above device, and turns OFF by ON to OFF of the above device. The command signal cannot be turned ON/OFF by the PLC CPU in the automatic refresh because the statuses and commands are mixed together in M2000 to M2053. Use the above devices in the case. And, it can also be turned ON/OFF by the data register. (Refer to Section 4.2.8)

4 - 13

4 POSITIONING DEDICATED SIGNALS

4.1.1 Axis statuses

(1) In-position signal (M2402+20n) ............…................... Status signal

(a) This signal turns on when the number of droop pulses in the deviation

counter becomes below the "in-position range" set in the servo parameters. It turns off at the start.

Number of droop pulses

In-position range

In-position signal (M2402+20n)

OFF

(b) An in-position check is performed in the following cases.

• When the servo power supply is turned on.

• After the automatic deceleration is started during positioning control.

• After the deceleration is started with the JOG start signal OFF.

t real mode

• During the manual pulse generator operation.

• After the proximity dog ON during a home position return.

• After the deceleration is started with the stop command.

• When the speed change to a speed "0" is executed.

• Anytime.............................................................................. At virtual mode

(2) Zero pass signal (M2406+20n) ................................... Status signal

This signal turns on when the zero point is passed after the power supply on of the servo amplifier. Once the zero point has been passed, it remains on state until the Multiple CPU system has been reset. However, in the home position return method of proximity dog, count, dog cradle or limit switch combined type, this signal turns off once at the home position return in real mode start and turns on again at the next zero point passage.

(3) Error detection signal (M2407+20n) ..............….......... Status signal

(a) This signal turns on with detection of a minor error or major error, and it is

used as judgement of the error available/not available.

(Note-1)

The applicable error code register with detection of a minor error. (Refer to Section 4.2.1) The applicable error code register with detection of a major error. (Refer to Section 4.2.1)

is stored in the minor error code storage

(Note-1)

is stored in the major error code storage

4 - 14

(

)

4 POSITIONING DEDICATED SIGNALS

(b) This signal turns off when the error reset command (M3207+20n) turns on.

Error detection signal (M2407+20n)

Error reset command (M3207+20n)

Error detection

OFF

REMARK

(Note-1) : Refer to APPENDIX 2 for the error codes with detection of major/minor

errors.

(4) Servo error detection signal (M2408+20n) ...…........... Status signal

(a) This signal turns on when an error occurs at the servo amplifier side (except

for errors cause of alarms and emergency stops) judgement of the servo error available/not available. When an error is detected at the servo amplifier side, the applicable error

(Note-1)

code Section 4.2.1).

(b) This signal turns off when the servo error reset command (M3208+20n)

turns on or the servo power supply turns on again.

Servo error detection signal (M2408+20n)

Servo error reset command

M3208+20n

(Servo error reset is valid in the real mode only.)

is stored in the servo error code storage register (Refer to

Servo error detection

OFF

(Note-1)

and it is used as

REMARK

(Note-1) : Refer to APPENDIX 2.5 for the error codes on errors detected at the

servo amplifier side.

(5) Home position return request signal (M2409+20n)

....…...….. Status signal

This signal turns on when it is necessary to confirm the home position address. (a) When not using an absolute position system

1) This signal turns on in the following cases:

• Multiple CPU system power supply on or reset

• Servo amplifier power supply on

• Home position return start in the real mode (Unless a home position return is completed normally, the home

position return request signal does not turn off.)

2) This signal turns off by the completion of home position return.

4 - 15

4 POSITIONING DEDICATED SIGNALS

(b) When using an absolute position system

1) This signal turns on in the following cases:

• When not executing a home position return once after system start.

• Home position return start in the real mode (Unless a home position return is completed normally, the home

position return request signal does not turn off.)

• Erase of an absolute data in Motion CPU according to causes, such as battery error

• Servo error [2025] (absolute position erase) occurrence

• Servo error [2143] (absolute position counter warning) occurrence

• Major error [1202], [1203] or [1204] occurrence

• When the

changed.

2) This signal turns off by the completion of the home position return.

"rotation direction selection" of servo parameter is

CAUTION

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 in real mode. In the case of the absolute position system, use the PLC program to check the home position return request before performing the positioning operation. Failure to observe this could lead to an accident such as a collision.

(6) Home position return complete signal (M2410+20n)

......….….. Status signal

(a) This signal turns on when the home position return operation using the

servo program has been completed normally.

(b) This signal turns off at the positioning start, JOG operation start and manual

pulse generator operation start.

using the servo program is executed during this signal on, the "continuous home position return start error (minor error: 115)" occurs and it cannot be start the home position return.

(7) FLS signal (M2411+20n)

(a) This signal is controlled by the ON/OFF state for the upper stroke limit

switch input (FLS) of the Q172DLX/servo amplifier.

• Upper stroke limit switch input OFF ...... FLS signal: ON

• Upper stroke limit switch input ON ........ FLS signal: OFF

(Note-1)

.................................... Status signal

4 - 16

4 POSITIONING DEDICATED SIGNALS

(b) The state for the upper stroke limit switch input (FLS) when the FLS signal

is ON/OFF is shown below.

1) Q172DLX use

FLS signal : ON FLS signal : OFF

Q172DLX Q172DLX

FLS

(Note-2)

FLS

COM

(Note-3)

2) Servo amplifier input use

FLS signal : ON FLS signal : OFF

MR-J3- B

FLS

DI1

DICOM

(Note-1): Refer to the "Q173DCPU/Q172DCPU Motion controller Programming Manual

(COMMON)" for an external signal.

(Note-2): Refer to the "Q173DCPU/Q172DCPU User’s Manual" for a pin configuration.

(Note-3): Refer to the "MR-J3-

B Servo Amplifier Instruction Manual" for a pin configuration.

MR-J3- B

FLS

DI1

DICOM

(8) RLS signal (M2412+20n)

(Note-1)

.................…............... Status signal

(a) This signal is controlled by the ON/OFF state for the lower stroke limit

switch input (RLS) of the Q172DLX/servo amplifier.

• Lower stroke limit switch input OFF ...... RLS signal: ON

• Lower stroke limit switch input ON ........ RLS signal: OFF

(b) The state of the lower stroke limit switch input (RLS) when the RLS signal is

ON/OFF is shown below.

(Note-2)

RLS

RLS signal : OFF

RLS

1) Q172DLX use

RLS signal : ON

Q172DLX Q172DLX

RLS

COM

4 - 17

COM

4 POSITIONING DEDICATED SIGNALS

(Note-3)

2) Servo amplifier input use

RLS signal : ON

MR-J3- B

RLS

DI2

DICOM

(Note-1): Refer to the "Q173DCPU/Q172DCPU Motion controller Programming Manual

(COMMON)" for an external signal.

(Note-2): Refer to the "Q173DCPU/Q172DCPU User’s Manual" for a pin configuration.

(Note-3): Refer to the "MR-J3-

B Servo Amplifier Instruction Manual" for a pin configuration.

RLS signal : OFF

MR-J3- B

RLS

DI2

DICOM

(9) STOP signal (M2413+20n) .....................................…. Status signal

(a) This signal is controlled by the ON/OFF state for the stop signal input

(STOP) of the Q172DLX.

• Stop signal input of the Q172DLX OFF ..... STOP signal: OFF

• Stop signal input of the Q172DLX ON ....... STOP signal: ON

(b) The state of the stop signal input (STOP) of the Q172DLX when the STOP

signal input is ON/OFF is shown below.

STOP signal : ON

Q172DLX

STOP

STOP signal : OFF

Q172DLX

STOP

COM

(10) DOG/CHANGE signal (M2414+20n)

(Note-1)

................ Status signal

(a) This signal turns on/off by the proximity dog input (DOG) of the

Q172DLX/servo amplifier at the home position return in the real mode. This signal turns on/off by the speed/position switching input (CHANGE) of the Q172DLX at the speed/position switching control in the real mode. (There is no CHANGE signal in the servo amplifier.)

(b) When using the Q172DLX, "Normally open contact input" and "Normally

closed contact input" of the system setting can be selected. The state of the speed/position switching input (CHANGE) when the CHANGE signal is ON/OFF is shown below.

(Note-2)

1) Q172DLX use

DOG/CHANGE signal : ON

Q172DLX

DOG/CHANGE

COM

DOG/CHANGE signal : OFF

Q172DLX

DOG/CHANGE

COM

4 - 18

4 POSITIONING DEDICATED SIGNALS

(Note-3)

2) Servo amplifier input use

DOG/CHANGE signal : ON

MR-J3- B MR-J3- B

DOG/CHANGE

DI3

DICOM

(Note-1): Refer to the "Q173DCPU/Q172DCPU Motion controller Programming Manual

(COMMON)" for an external signal.

(Note-2): Refer to the "Q173DCPU/Q172DCPU User’s Manual" for a pin configuration.

(Note-3): Refer to the "MR-J3-

B Servo Amplifier Instruction Manual" for a pin configuration.

DOG/CHANGE signal : OFF

DOG/CHANGE

DI3

DICOM

(11) Servo ready signal (M2415+20n) .......................…... Status signal

(a) This signal turns on when the servo amplifiers connected to each axis are in

the READY state.

(b) This signal turns off in the following cases.

• M2042 is off

• Servo amplifier is not mounted

• Servo parameter is not set

• It is received the forced stop input from an external source

• Servo OFF by the servo OFF command (M3215+20n) ON

• Servo error occurs Refer to "APPENDIX 2.5 Servo errors" for details.

Q61P Q03UD

CPU

Q172D CPU

Q38DB

Communication is normal

Servo ready signal : ON

AMP

POINT

When the part of multiple servo amplifiers connected to the SSCNET becomes a servo error, only an applicable axis becomes the servo OFF state.

(12) Torque limiting signal (M2416+20n) .................…..... Status signal

This signal turns on while torque limit is executed. The signal toward the torque limiting axis turns on.

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4 POSITIONING DEDICATED SIGNALS

(13) Virtual mode continuation operation disable warning signal

(M2418+20n) ..................................................…....... Status signal

When the difference between the final servo command value in previous virtual mode last time and the servo current value at virtual mode switching next time exceeds the "Allowable travel value during power off (× Number of feedback pulses)" set in the "System setting", "Virtual mode continuation operation disable warning signal device" of the applicable axis is turned on as warning of being uncontinuable in virtual mode operation.

It checks for the following cases.

No. Check Remark

Servo amplifier power supply ON for

absolute axis.

2 Anytime during real mode operation.

Reset the "Virtual mode continuation operation disable warning signal device" using the Motion SFC program.

• A minor error [901] (power supply on in

real mode)/[9010] (power supply on in

virtual mode) are also set.

• It also turns on at the following cases.

1) Home position return

2) Current value change

3) Fixed-pitch feed, speed control ( ), ( )

or speed/position switching control.

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4 POSITIONING DEDICATED SIGNALS

4.1.2 Axis command signals

(1) Error reset command (M3207+20n) ..................... Command signal

This command is used to clear the minor/major error code storage register of an axis for which the error detection signal has turn on (M2407+20n: ON), and reset the error detection signal (M2407+20n).

Error detection signal (M2407+20n)

Error reset command (M3207+20n)

Minor error code storage register (D6+20n)

Major error code storage register (D7+20n)

OFF

** : Error code

(2) Servo error reset command (M3208+20n) ........... Command signal

This command is used to clear the servo error code storage register of an axis for which the servo error detection signal has turn on (M2408+20n: ON), and reset the servo error detection signal (M2408+20n).

Servo error detection signal (M2408+20n)

Servo error reset command (M3208+20n)

Servo error code storage register

OFF

** : Error code

(3) Address clutch reference setting command (M3213+20n)

.......... Command signal

This signal is only effective when the output module is a cam connected an address mode clutch or a rotary table, and it is used to specify the "0" reference position for the current value within 1 virtual axis revolution. The following processings are executed based on the ON/OFF state of the address clutch reference setting command at the real mode/virtual mode switching request. (a) M3213+20n : ON

Virtual mode operation starts as "0" for the current value within 1 virtual axis revolution of the main shaft and auxiliary input axis.

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4 POSITIONING DEDICATED SIGNALS

(b) M3213+20n : OFF

• If the drive module is a virtual servomotor or an incremental synchronous encoder, operation will be continued from the current value within 1 virtual axis revolution for the main shaft and auxiliary input axis in the previous virtual mode.

• If the drive module is an absolute synchronous encoder, operation will be continued from the current value within 1 virtual axis revolution for the main shaft and auxiliary input axis calculated from the current value of synchronous encoder.

(4) Cam reference position setting command (M3214+20n)

This signal is only effective when the output module is a cam, and it is used to specify the cam reference position. The following processings are executed based on the ON/OFF state of the cam reference position setting command at the real mode/virtual mode switching request. (a) M3214+20n : ON

• The current value is cam reference position.

• The current feed current value is lower stroke limit value (bottom dead point). Moreover, a cam table search is conducted from the beginning of a cycle, and the bottom dead point (0) is specified as the current value within 1 cam shaft revolution.

..….... Command signal

Stroke amount

Lower stroke limit value

Feed current value (bottom dead point) when M3214+20n is ON.

1 cycle

Current value within 1 cam shaft revolution = 0

Number of pulses within 1 cam shaft revolution-1

• After the bottom dead point alignment of cam is completed at the system start-up, it must be turned on at the first real mode to virtual mode switching. Once the bottom dead point setting is set, operation will be continued with M3214+20n ON by switching from real mode to virtual mode. (The bottom dead point position is stored in the backup memory.)

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4 POSITIONING DEDICATED SIGNALS

(b) M3214+20n : OFF

(Final servo command value in previous virtual mode operation

(Current servo current value) (In-position) ……………………….1)

• For formula 1) Operation will be continued by making the lower stroke limit value and current value within 1 cam shaft revolution into the lower stroke limit value and current value within 1 cam shaft revolution at the previous virtual mode operation.

(Final servo command value in previous virtual mode operation

(Current servo current value) > (In-position) ……………………….2)

• For formula 2) Current value within 1 cam shaft revolution for current feed current value is calculated and operation will be continued by making the lower stroke limit value into the lower stroke limit value at the previous virtual

[Calculation of current value within 1 cam shaft revolution]

mode operation.

(Feed current value) = (Stroke amount)

The stroke ratio(y) used as above formula is calculated, the cam table of the setting cam No. is searched from the beginning of a cycle, and the current value within 1 cam shaft revolution for applicable point is calculated. Because the current value within 1 cam shaft revolution is searched always from the beginning of a cycle, beware of cases where the same stroke ratio appears more than once in the cycle. (Make the necessary position adjustment at the real mode/virtual mode

switching.)

Stroke amount

Lower stroke limit value

(5) Servo OFF command (M3215+20n) ............…..... Command signal

This command is used to execute the servo OFF state (free run state).

• M3215+20n : OFF ......... Servo ON

• M3215+20n : ON ........... Servo OFF (free run state)

This command becomes invalid during positioning, and should therefore be executed after completion of positioning. When the servo OFF command is executed in virtual mode, the clutch will be disengaged first. If it is executed while a "clutch ON" state, a minor error occurs and the servo OFF command becomes invalid.

32767

Stroke ratio

)

(Stroke ratio) (Lower stroke limit value)

In the figure at left, there are 2 relevant points (A and B) for the calculated stroke ratio "y", but only point "A" is recognized.

1 cycle (1 cam shaft revolution)

Number of pulses within 1 cam shaft revolution-1

4 - 23

(

)

4 POSITIONING DEDICATED SIGNALS

CAUTION

Turn the power supply of the servo amplifier side off before touching a servomotor, such as

machine adjustment.

(6) Gain changing command (M3216+20n) .......….....Command signal

This signal is used to change the gain of servo amplifier in the Motion controller by the gain changing command ON/OFF.

• ON .......... Gain changing command ON

• OFF .......... Gain changing command OFF

Refer to the "MR-J3-

changing function. Instruction Manual list is shown below.

Servo amplifier type Instruction manual name

MR-J3- B MR-J3- B Servo Amplifier Instruction Manual (SH-030051)

(7) Control loop changing command (M3218+20n)

When using the fully closed loop control servo amplifier, this signal is used to change the fully closed loop control/semi closed loop control of servo amplifier in the Motion controller by the control loop changing command ON/OFF.

• ON .......... During fully closed loop control

• OFF .......... During semi closed loop control

Fully closed loop control change

Control loop changing command (M3218+20n)

Control loop monitor status

M2272+n

OFF

Refer to the "Fully closed loop control MR-J3Instruction Manual" for details of control loop changing. Instruction Manual list is shown below.

Servo amplifier type Instruction manual name

MR-J3- B-RJ006

B Servo Amplifier Instruction Manual" for details of gain

....................... Command signal

Semi closed loop

B-RJ006 Servo Amplifier

Fully closed loop control MR-J3-

Servo Amplifier Instruction Manual (SH-030056)

control change

B-RJ006

4 - 24

4 POSITIONING DEDICATED SIGNALS

POINTS

(1) When the servo amplifier is not started (LED: "AA", "Ab", "AC", "Ad" or "AE"), if

the control loop changing command is turned ON/OFF, the command becomes invalid.

(2) When the followings are operated during the fully closed loop, it returns to the

semi closed loop control. (a) Power supply OFF or reset of the Multiple CPU system (b) Wire breakage of the SSCNET

Motion controller

cable between the servo amplifier and

4 - 25

(

)

4 POSITIONING DEDICATED SIGNALS

4.1.3 Virtual servomotor axis statuses

(1) Positioning start complete signal (M4000+20n)

.......…….. Status signal

(a) This signal turns on with the start completion for the positioning control of

the axis specified with the servo program. It does not turn on at the starting using JOG operation or speed control.

(Note-1)

It can be used to read a M-code

(b) This signal turns off at leading edge of complete signal OFF command

(M4804+20n) or positioning completion.

At leading edge of complete signal OFF command (M4804+20n)

Servo program start

Start accept flag (M2001 to M2032)

Positioning start complete signal (M4000+20n)

Complete signal OFF command

M4804+20n

OFF

At positioning completion

at the positioning start.

Dwell time

Positioning completion

Servo program start

Start accept flag (M2001 to M2032)

Positioning start complete signal (M4000+20n)

OFF

REMARK

(Note-1) : Refer to Chapter 7 of the "Q173DCPU/ Q172DCPU Motion controller

(SV13/SV22) Programming manual (REAL MODE)".

4 - 26

4 POSITIONING DEDICATED SIGNALS

(2) Positioning complete signal (M4001+20n) ...........…... Status signal

(a) This signal turns on with the completion for the positioning control of the

axis specified with the servo program. It does not turn on at the start or stop on the way using JOG operation or speed control. It does not turn on at the stop on the way during positioning. It can be used to read a M-code at the positioning completion. (Refer to Chapter 7 of the "Q173DCPU/Q172DCPU Motion controller (SV/13/SV22) Programming Manual (REAL MODE)".)

(b) This signal turns off at leading edge of complete signal OFF command

At leading edge of complete signal OFF command (M4804+20n)

(M4804+20n) or positioning start.

Dwell time

Servo program start

Start accept flag (M2001 to M2032)

Positioning complete signal (M4001+20n)

Complete signa l OFF command (M4804+20n)

OFF

At next positioning start

Servo program start

Start accept flag (M2001 to M2032)

Positioning complete signal (M4001+20n)

OFF

Dwell time

Positioning completion

Positioning start

OFF

(3) Command in-positioning signal (M4003+20n) ............ Status signal

(a) This signal turns on when the absolute value of the difference between the

command position and the feed current value becomes below the "command in-position range" set in the parameters of virtual servomotor (Refer to Section 6.1.2). This signal turns off in the following cases.

• Positioning control start

• Speed control

• JOG operation

4 - 27

4 POSITIONING DEDICATED SIGNALS

(b) Command in-position check is continually executed during position control.

This check is not executed during speed control.

Position control start

Command in-position setting

Speed control start

Command in-position (M4003+20n)

OFF

Execution of command in-position check

(4) Speed controlling signal (M4004+20n) ................….... Status signal

(a) This signal turns on during speed control, and it is used as judgement of

during the speed control or position control. The speed controlling signal that turned on with speed control turns off at the positioning control start of following figure.

(b) This signal turns off at the power supply on and during position control.

At speed control

Speed control start

Speed controlling signal (M4004+20n)

OFF

Positioning start

At position control

(5) Error detection signal (M4007+20n) .........…......…..... Status signal

(a) This signal turns on when a minor error or major error is detected in a virtual

servomotor or output module connected to a virtual servomotor. It is used as judgement of the error available/not available by turning the error detection signal on/off.

(b) When the error detection signal turns on, the applicable error code is stored

in the error code storage register.

(Note-1)

• Minor error code

• Major error code

The judgement of the virtual servomotor/output module for detected error can be confirmed by the error code details or turning the error detection signal of output module on/off.

... Stored in the minor error code storage register

(Note-2)

(Note-1)

... Stored in the major error code storage register

(Note-2)

4 - 28

4 POSITIONING DEDICATED SIGNALS

the virtual servomotor or output module connected to the virtual servomotor turns on is normal, the error detection signal turns off.

REMARK

(Note-1) : Refer to APPENDIX 2.4 for details of the virtual servomotor minor/major

error codes. Refer to APPENDIX 2.6 for details of the output module minor/major error codes.

(Note-2) : Refer to Section 4.2.3 for details of the minor/major error code storage

(6) M-code outputting signal (M4019+20n) ...............….... Status signal

(a) This signal turns during M-code is outputting.

(b) This signal turns off when the stop command, cancel signal, skip signal or

FIN signal are inputted.

M-code

M1 M2 M3

M-code outputting signal (M4019+20n)

FIN signal (M4819+20n)

OFF

POINT

(1) The FIN signal and M-code outputting signal are both signal for the FIN signal

wait function.

(2) The FIN signal and M-code outputting signal are effective only when FIN

acceleration/deceleration is designated in the servo program. Otherwise, the FIN signal wait function is disabled, and the M-code outputting signal does not turn on.

4 - 29

4 POSITIONING DEDICATED SIGNALS

4.1.4 Virtual servomotor axis command signals

(1) Stop command (M4800+20n) ...............…............ Command signal

(a) This command stops a starting axis from an external source and becomes

effective at leading edge of signal. (An axis for which the stop command is

Stop command (M4800+20n)

turning on cannot be started.)

OFF

Setting speed

(b) It can also be used as the stop command during the speed control. (Refer

to Section "6.13 Speed Control (I)" of the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details of the speed control.

Table 4.1.

Table 4.1 Stop Processing at Stop command ON

Stop command for specified axis

Stop

Deceleration stop processing

Control when stop command turns of

Processing at the turning stop command on Control details

during execution

Positioning

control

Speed control

JOG operation

The axis decelerates to a stop in the deceleration time set in the parameter block or servo program.

During control During deceleration stop processing

The stop command is ignored and deceleration stop processing is continued.

(d) The stop command in a dwell time is invalid. (After a dwell time, the start

accept flag (M2001+n) turns OFF, and the positioning complete signal (M4001+20n) turns ON.)

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4 POSITIONING DEDICATED SIGNALS

(2) Rapid stop command (M4801+20n) ...........…...... Command signal

(a) This command stops a starting axis rapidly from an external source and

becomes effective at leading edge of signal. (An axis for which the rapid

Rapid stop command (M4801+20n)

stop command is turning on cannot be started.)

OFF

Setting speed

(b) The details of stop processing when the rapid stop command turns on are

shown in Table 4.2.

Table 4.2 Details of stop processing when the rapid stop command turns on

Rapid stop command for specified axis

Rapid stop processing

Stop

Control when rapid stop command turns of

Processing at the turning rapid stop command on Control details

during execution

Positioning

control

Speed control

JOG operation

Rapid stop processing is executed.

Real deceleration time

Rapid stop deceleration time of the parameter block

During control During deceleration stop processing

Deceleration processing is stopped and rapid

Parameter (Speed limit value)

Stop cause

Operation speed

stop processing is executed.

Setting speed

Stop

Deceleration stop processing

Rapid stop cause

Rapid stop deceleration processing

Stop

start accept flag (M2001+n) turns OFF, and the positioning complete signal (M4001+20n) turns ON.)

REMARK

(Note-1) : Rapid stop processing is deceleration stop with deceleration time set in

the parameter block or servo program.

4 - 31

(

)

4 POSITIONING DEDICATED SIGNALS

(3) Forward rotation JOG start command (M4802+20n)/Reverse

rotation JOG start command (M4803+20n) ......... Command signal

(a) JOG operation to the address increase direction is executed while forward

rotation JOG start command (M4802+20n) is turning on. When M4802+20n is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.

(b) JOG operation to the address decrease direction is executed while reverse

rotation JOG start command (M4803+20n) is turning on. When M4803+20n is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.

POINT

Take an interlock so that the forward rotation JOG start command (M4802+20n) and reverse rotation JOG start command (M4803+20n) may not turn on simultaneously.

(4) Complete signal OFF command (M4804+20n)

…...... Command signal

(a) This command is used to turn off the positioning start complete signal

Positioning start complete signal (M4000+20n)

Positioning complete signal (M4001+20n)

Complete signal OFF command

Do not turn the complete signal OFF command on with a PLS instruction. If it is turned on with a PLS instruction, it cannot be turned off the positioning start complete signal (M4000+20n) and the positioning complete signal (M4001+20n).

(M4000+20n) and positioning complete signal (M4001+20n).

ON ON

POINT

M4804+20n

OFF

Dwell timeDwell time

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4 POSITIONING DEDICATED SIGNALS

(5) Error reset command (M4807+20n) ..................... Command signal

(a) This command is used to clear the minor/major error code storage register

of an axis for which the error detection signal has turn on (M4007+20n : ON), and reset the error detection signal (M4007+20n).

(b) The following processing is executed when the error reset command turns

on.

• If the virtual servomotor and output module are normal, the minor/major error code storage registers are cleared and the error detection signal (M4007+20n) is reset.

• If the virtual servomotor and output module error has not been canceled, the error code is again stored in the minor/major error code storage register. In this case, the error detection signal (M4007+20n) remains on.

(6) External stop input disable at start command (M4809+20n)

This command is used to set the external stop signal input valid or invalid.

• ON......... External stop input is set as invalid, and even axes which stop input is

turning on can be started.

• OFF .......External stop input is set as valid, and axes which stop input is

turning on cannot be started.

POINT

When it stops an axis with the external stop input after it starts by turning on the external stop input disable at command (M4809+20n), switch the external stop input from OFF it from ON

ON (If the external stop input is turning on at the starting, switch

OFF ON).

...…... Command signal

4 - 33

(

)

4 POSITIONING DEDICATED SIGNALS

(7) FIN signal (M4819+20n) ....................................... Command signal

When a M-code is set in a servo program, transit to the next block does not execute until the FIN signal changes as follows: OFF to the next block begins after the FIN signal changes as above. It is effective, only when the FIN acceleration/deceleration is set and FIN signal wait function is selected.

Virtual

Point

ON OFF. Positioning

1WAIT 2

CPSTART2 Axis Axis

Point

Speed FIN acceleration/ deceleration

ABS-2 Axis Axis M-code

ABS-2 Axis Axis M-code ABS-2

Axis Axis CPEND

1 2

10000

1, 2,

100

200000 200000

300000 250000

350000 300000

400000 400000

M-code

M-code outputting signal (M4019+20n)

FIN signal

M4819+20n

10 11

Timing Chart for Operation Description

1. When the positioning of point 1 starts, M-code 10 is output and the M-code outputting signal turns on.

2. FIN signal turns on after performing required processing in the Motion SFC program. Transition to the next point does not execute until the FIN signal turns on.

3. When the FIN signal turns on, the M-code outputting signal turns off.

4. When the FIN signal turns off after the M-code outputting signal turns off, the positioning to the next point 2 starts.

POINT

(1) The FIN signal and M-code outputting signal are both signal for the FIN signal

wait function.

(2) The FIN signal and M-code outputting signal are valid only when FIN

acceleration/deceleration is designated in the servo program. Otherwise, the FIN signal wait function is disabled, and the M-code outputting signal does not turn on.

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4 POSITIONING DEDICATED SIGNALS

4.1.5 Synchronous encoder axis statuses

(1) Error detection signal (M4640+4n) ............................ Status signal

(a) This signal turns on when a minor error or major error is detected in a

synchronous encoder or output module connected to the synchronous encoder. It is used as judgement of the error available/not available by turning the error detection signal on/off.

(b) When the error detection signal turns on, the applicable error code is stored

in the error code storage register.

• Minor error code

• Major error code

The judgement of the synchronous encoder/output module for detected error can be confirmed by the error code details or turning the error detection signal of output module on/off.

synchronous encoder or output module connected to the synchronous encoder is normal, the error detection signal turns off.

(2) External signal TREN (M4641+4n) ............................. Status signal

(a) This signal is used for clutch control in the external input mode. It turns on

by turning on the Q172DEX/Q173DPX "TREN" input terminal, and indicates the input ON/OFF state of the "TREN" terminal.

(3) Virtual mode continuation operation disabled warning signal

(M4642+4n) ........................................................…..... Status signal

(a) When the inputted current value at the power supply on of the Multiple CPU

system differs from the memorized current value (Final current value in virtual mode operation) at the power supply off of the Multiple CPU system, like the absolute synchronous encoder is moved during the power supply off of the Multiple CPU system, this signal turns on. The validity of continuation operation in virtual mode can be confirmed at the power supply on or resetting of the Multiple CPU system.

(Note-1)

… Stored in the minor error code storage register

(Note-2)

(Note-1)

… Stored in the major error code storage register

REMARK

(Note-1) : Refer to APPENDIX 2.4 for details of the minor/major error code for the

synchronous encoder.

Refer to APPENDIX 2.6 for details of the minor/major error code for the output

module.

(Note-2) : Refer to Section 4.2.5 for details of the minor/major error code storage register.

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4 POSITIONING DEDICATED SIGNALS

4.1.6 Synchronous encoder axis command signals

(1) Error reset command (M5440+4n) ....................... Command signal

(a) This command is used to clear the minor/major error code storage register

of synchronous encoder of an axis for which the error detection signal has turn on (M4640+4n : ON), and reset the error detection signal (M4640+4n).

(b) The following processing is executed when the error reset command turns

on.

• If the synchronous encoder and output module are normal, the minor/major error code storage registers are cleared and the error detection signal (M4640+4n) is reset.

• If the synchronous encoder and output module error has not been canceled, the error code is again stored in the minor/major error code storage register. In this case, the error detection signal (M4640+4n) remains on.

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4 POSITIONING DEDICATED SIGNALS

4.1.7 Common devices

POINT

(1) Internal relays for positioning control are not latched even within the latch range.

In this manual, in order to indicate that internal relays for positioning control are not latched, the expression used in this text is "M2000 to M2319".

(2) The range devices allocated as internal relays for positioning control cannot be

used by the user even if their applications have not been set.

(1) PLC ready flag (M2000) ............………….………. Command signal

(a) This signal informs the Motion CPU that the PLC CPU is normal.

1) The positioning control, home position return or JOG operation using the servo program which performs the Motion SFC program when the M2000 is ON.

2) The above 1) control is not performed even if the M2000 is turned on during the test mode [TEST mode ON flag (SM501) : ON] using MT Developer.

(b) The setting data such as the fixed parameters, servo parameters and limit

switch output data can be changed using MT Developer when the M2000 is OFF only. The above data using MT Developer cannot be written when the M2000 is ON.

ON.

1) Processing details

• Clear the M-code storage area of all axes.

• Turn the PCPU READY complete flag (SM500) on. (Motion SFC program can be executed.)

• Start to execute the Motion SFC program of the automatic starting from the first.

2) If there is a starting axis, an error occurs, and the processing in above (c)

1) is not executed.

3) The processing in above (c) 1) is not executed during the test mode. It is executed when the test mode is cancelled and M2000 is ON.

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4 POSITIONING DEDICATED SIGNALS

PLC ready flag (M2000)

PCPU READY complete flag (SM500)

Positioning start

OFF

Clear a M-code.

Deceleration stop

PCPU READY complete flag (SM500) does not turn on because during deceleration.

(d) The following processings are performed when the M2000 turns ON to

OFF.

1) Processing details

• Turn the PCPU READY complete flag (SM500) off.

• Deceleration stop of the starting axis.

• Stop to execute the Motion SFC program.

• Turn all points of the real output PY off.

(e) Operation setting at STOP

RUN The condition which the PLC ready flag (M2000) turns on is set in the system setting. Select the following either.

1) M2000 is turned on by switching from STOP to RUN. (Default) The condition which M2000 turns OFF to ON.

• Move the RUN/STOP switch from STOP to RUN.

• Turn the power supply on where the RUN/STOP switch is moved to RUN.

The condition which M2000 turns ON to OFF.

• Move the RUN/STOP switch from RUN to STOP.

2) M2000 is turned on by switching from STOP to RUN and setting 1 in the set register. (M2000 is turned on by set

"1" to the switch RUN

setting register.)

The condition which M2000 is turned ON to OFF.

• Set "1" to the setting register (D704) of the PLC ready flag where the RUN/STOP switch is moved to RUN. (The Motion CPU detects the change of the lowest rank bit 0

1 in D704.)

The condition which M2000 is turned on to off.

• Set "0" to the setting register (D704) of the PLC ready flag where the RUN/STOP switch is moved to RUN. (The Motion CPU detects the change of the lowest rank bit 1

0 in D704.)

• Move the RUN/STOP switch from RUN to STOP.

4 - 38

(

)

4 POSITIONING DEDICATED SIGNALS

(2) Virtual servo start accept flag (M2001 to M2032)

(a) This flag turns on when the servo program is started. The start accept flag

corresponding to an axis specified with the servo program turns on.

(b) The ON/OFF processing of the start accept flag is shown below.

1) When the servo program is started using the Motion SFC program or Motion dedicated PLC instruction (D(P).SVST), the start accept flag corresponding to an axis specified with the servo program turns on and it turns off at the positioning completion. This flag also turns off when it is made to stopping on the way. (When it is made to stop on the way by the speed change to speed

Servo program start

Start accept flag (M2001+n)

Normal positioning completion

OFF

this flag remains on.)

Dwell time

Positioning completion

.......…….. Status signal

"0",

Servo program start

Start accept flag (M2001+n)

Positioning stop during control

Positioning start

OFF

Positioning stop completion

Positioning complete signal (M4001+20n)

Positioning start complete signal (M4000+20n)

OFF

Positioning complete

signal (M4001+20n)

Positioning start complete signal

M4000+20n

OFF

2) This flag turns on at the positioning control by turning on the JOG start

command (M4802+20n or M4803+20n), and turns off at the positioning stop by turning off the JOG start command.

3) This flag turns on during the manual pulse generator enable (M2051 to

M2053: ON), and turns off at the manual pulse generator disable (M2051 to M2053: OFF).

4) This flag turns on during a current value change by the CHGA

instruction of servo program or Motion dedicated PLC instruction (D(P).CHGA), and turns off at the completion of the current value change.

CHGA instruction

Start accept flag (M2001 to M2032)

OFF

Current value changing processing

Turns off at the completion o current value change.

4 - 39

4 POSITIONING DEDICATED SIGNALS

The start accept flag list is shown below.

Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No.

1 M2001 9 M2009 17 M2017 25 M2025

2 M2002 10 M2010 18 M2018 26 M2026

3 M2003 11 M2011 19 M2019 27 M2027

4 M2004 12 M2012 20 M2020 28 M2028

5 M2005 13 M2013 21 M2021 29 M2029

6 M2006 14 M2014 22 M2022 30 M2030

7 M2007 15 M2015 23 M2023 31 M2031

8 M2008 16 M2016 24 M2024 32 M2032

CAUTION

Do not turn the start accept flags ON/OFF in the user side.

• If the start accept flag is turned off using the Motion SFC program or MT Developer while this flag is on, no error will occur but the positioning operation will not be reliable. Depending on the type of machine, it might operate in an unanticipated operation.

(Note): The range of axis No.1 to 8 is valid in the Q172DCPU.

• If the start accept flag is turned on using the Motion SFC program or MT Developer while this flag is off, no error will occur but the "start accept on error" will occur at the next starting and cannot be started.

(3) Motion error history clear request flag (M2035)

….…. Command signal

This flag is used to clear the backed-up Motion error history (#8640 to #8735). The Motion error history is cleared at leading edge of M2035. After detection of the leading edge of M2035, the Motion error history is cleared, and then the M2035 is automatically turned OFF.

(4) Motion SFC debugging flag (M2038) ......….............… Status signal

This flag turns on when it switches to the debug mode of the Motion SFC program using MT Developer. It turns off with release of the debug mode.

(5) Motion error detection flag (M2039) .....…..…......…… Status signal

This flag turns on with error occurrence of the Motion CPU. Turn off this flag by the user side, after checking the error contents and removing the error cause. The self-diagnosis error information except stop error is cleared at the turning M2039 ON to OFF.

(6) Speed switching point specified flag (M2040) ….. Command signal

This flag is used when the speed change is specified at the pass point of the constant speed control.

4 - 40

(

)

4 POSITIONING DEDICATED SIGNALS

(a) By turning M2040 on before the starting of the constant speed control

(before the servo program is started), control with the change speed can be executed from the first of pass point.

• OFF .......... Speed is changed to the specified speed from the pass point

of the constant speed control.

• ON .......... Speed has been changed to the specified speed at the pass

point of the constant speed control.

M2040 OFF

M2040 ON

Pass points of the constant speed control (When the speed change

is specified with P3.)

Speed switching point specified flag (M2040)

Servo program start

Start accept flag (M2001+n)

P1 P2 P3 P4

OFF

Pass points of the constant speed control (When the speed change is specified with P3.)

Speed switching point specified flag (M2040)

Servo program start

Start accept flag

M2001+n

P1 P2 P3 P4

OFF

(7) System setting error flag (M2041) ..............…............. Status signal

This flag set the "system setting data" set by MT Developer and performs an adjustment check with a real mounting state (main base unit/extension base units) at the power supply on or reset.

• ON ........... Error

• OFF ......... Normal

(a) When an error occurs, the 7-segment LED at the front side of Motion CPU

shows the system setting error. The error contents can be confirmed using the Motion CPU error batch monitor of MT Developer.

(b) When M2041 is on, positioning cannot be started. Remove an error factor,

and turn the power supply on again or reset the Multiple CPU system.

REMARK

Even if the module which is not set as the system setting of MT Developer is installed in the slot, it is not set as the object of an adjustment check. And the module which is not set as the system setting cannot be used in the Motion CPU.

4 - 41

4 POSITIONING DEDICATED SIGNALS

(8) All axes servo ON command (M2042) ......…........ Command signal

This command is used to enable servo operation. (a) Servo operation enabled ……M2042 turns on while the servo OFF command

(b) Servo operation disable ........• M2042 is off

• The servo OFF command (M3215+20n) is on

• Servo error state

(M3215+20n) is off and there is no servo error.

(Note)

OFF

All axes servo ON command (M2042)

All axes servo ON accept flag (M2049)

Each axis servo ready state

(Note): Refer to Section "3.1.1 Axis statuses "Servo ready signal"" of the "Q173DCPU/Q172DCPU Motion controller

(SV13/SV22) Programming Manual (REAL MODE)" for details.

POINT

When M2042 turns on, it is not turned off even if the CPU is set in the STOP state.

(9) Real mode/virtual mode switching request flag (M2043)

..….... Command signal

This flag is used for switching between the real mode and virtual modes. (a) Turn the M2043 on after the PCPU READY flag (SM500) has turn on for

switching from the real mode to virtual mode.

• An error check is executed when the M2043 is switched from off to on. If no error is detected, switch to the virtual mode, and the real mode/virtual mode status switching status flag (M2044) turns on.

• If an error is detected, not switch to the virtual mode. In this case, the real mode/virtual mode switching error detection flag (M2045) turns on, and the error code is stored in the real mode/virtual mode switching error code storage register (SD504).

(b) Turn the M2043 off for switching from the virtual mode to real mode.

• If all axes of the virtual servomotors stopped, switch to the real mode, and M2044 turns off.

• If the virtual servomotor is operating also with 1 axis, not switch to the real mode. In this case, the M2045 turns on, and the error code is stored in the SD504.

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4 POSITIONING DEDICATED SIGNALS

(10) Real mode/virtual mode switching status flag (M2044)

This flag checks the switching completion between the real mode and virtual modes, and the current mode.

• This flag turns off with during the real mode or switching completion from the virtual mode to real mode.

• This flag turns on with switching completion from the real mode to virtual mode.

It can be used as an interlock for the servo program start or control change

(speed change, current value change).

(11) Real mode/virtual mode switching error detection flag (M2045)

This flag is used as judgement of the error available/not available at the mode switching (between the real mode and virtual modes).

• This flag remains off if no error was detected at mode switching.

• This flag turns on if an error was detected at mode switching.

In this case, the error code is stored in the SD504.

(12) Out-of-sync warning flag (M2046) ...............….......... Status signal

(a) This signal turns on mode when a discrepancy of synchronized positions

between the drive module and output module occurs during the virtual mode. It is used as judgement for validity of the continuation operation when the drive module has stopped.

• M2046 : ON...............Continuation operation disabled

• M2046 : OFF .............Continuation operation enabled

(b) This flag turns on the following cases.

• Stop by the forced stop.

• The servo error in the output module.

following procedure.

1) Return to the real mode and eliminate the error cause.

2) Synchronize the axes.

3) Turn the out-of-sync warning flag (M2046) off.

4) Switch to the virtual mode.

5) Resume operation.

.........…... Status signal

....…...….. Status signal

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4 POSITIONING DEDICATED SIGNALS

(13) Motion slot fault detection flag (M2047) .................... Status signal

This flag is used as judgement which modules installed in the motion slot of the main base unit is "normal" or "abnormal".

• ON................Installing module is abnormal

• OFF .............Installing module is normal

The module information at the power supply on and after the power supply injection are always checked, and errors are detected. (a) Perform the disposal (stop the starting axis, servo OFF, etc.) of error

detection using the Motion SFC program.

(14) JOG operation simultaneous start command (M2048)

(a) When M2048 turns on, JOG operation simultaneous start based on the

JOG operation execution axis set in the JOG operation simultaneous start axis setting register (D710 to D713).

(b) When M2048 turns off, the axis during operation decelerates to a stop.

(15) All axes servo ON accept flag (M2049) ...........…...... Status signal

This flag turns on when the Motion CPU accepts the all axes servo ON command (M2042). Since the servo ready state of each axis is not checked, confirm it in the servo ready signal (M2415+20n).

.…..... Command signal

(Note)

OFF

ll axes servo ON command

(M2042)

ll axes servo ON accept flag

(M2049)

Each axis servo ready state

(Note) : Refer to Section "3.1.1 Axis statuses "Servo ready signal"" of the "Q173DCPU/Q172DCPU Motion controller

(SV13/SV22) Programming Manual (REAL MODE)" for details.

(16) Manual pulse generator enable flag (M2051 to M2053)

.…..... Command signal

This flag set the enabled or disabled state for positioning with the pulse input

(Note)

from the manual pulse generators connected to P1 to P3 Q173DPX.

• ON ........ Positioning control is executed by the input from the manual pulse

generators.

• OFF ...... Positioning control cannot be executed by the manual pulse

generators because of the input from the manual pulse generators is ignored.

Default value is invalid (OFF).

of the

4 - 44

4 POSITIONING DEDICATED SIGNALS

REMARK

(Note) : Refer to the "Q173DCPU/Q172DCPU User's Manual" for P1 to P3

connector of the Q173DPX.

(17) Operation cycle over flag (M2054) .................…....... Status signal

This flag turns on when the time concerning motion operation exceeds the operation cycle of the Motion CPU setting (SD523). Perform the following operation, in making it turn off.

• Turn the power supply of the Multiple CPU system on to off

• Reset the Multiple CPU system

• Reset using the user program [Error measures]

1) Change the operation cycle into a large value in the system setting.

2) The number of instruction completions of an event task or NMI task in the Motion SFC program.

(18) Speed changing accepting flag (M2061 to M2092)

This flag turns on during speed change by the control change (CHGV) instruction (or Motion dedicated PLC instruction (D(P).CHGV)) of the Motion SFC program.

CHGV instruction

................... Status signal

Speed changing accepting flag

Setting speed

OFF

0 to 4ms

Speed change

Speed change completion

Speed after speed change

The speed changing accepting flag list is shown below.

Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No.

1 M2061 9 M2069 17 M2077 25 M2085

2 M2062 10 M2070 18 M2078 26 M2086

3 M2063 11 M2071 19 M2079 27 M2087

4 M2064 12 M2072 20 M2080 28 M2088

5 M2065 13 M2073 21 M2081 29 M2089

6 M2066 14 M2074 22 M2082 30 M2090

7 M2067 15 M2075 23 M2083 31 M2091

8 M2068 16 M2076 24 M2084 32 M2092

(Note) : The range of axis No.1 to 8 is valid in the Q172DCPU.

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4 POSITIONING DEDICATED SIGNALS

(19) Automatic decelerating flag (M2128 to M2159) ….... Status signal

This signal turns on while automatic deceleration processing is performed during the positioning control or position follow-up control. (a) This flag turns on while automatic deceleration to the command address at

the position follow-up control, but it turns off if the command address is changed.

(b) This signal turns on while automatic deceleration processing is performed

during execution of positioning to final point while in constant speed control.

Automatic deceleratin

fla

OFF

utomatic

deceleratin

fla

OFF

The automatic decelerating flag is turns on after the execution of positioning to final point (P3) even if automatic deceleration processing start while executing the positioning to P2.

POINT

Set a travel value in which automatic deceleration processing can be started at the final positioning point, therefore the automatic decelerating flag turns on at the start point of automatic deceleration processing after this final point.

achieve.

4 - 46

4 POSITIONING DEDICATED SIGNALS

(d) In any of the following cases, this flag does not turn off.

• When deceleration due to JOG signal off

• During manual pulse generator operation

• During deceleration due to stop command or stop cause occurrence

• When travel value is 0

utomatic

decelerating flag

The automatic decelerating flag list is shown below.

Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No.

1 M2128 9 M2136 17 M2144 25 M2152

2 M2129 10 M2137 18 M2145 26 M2153

3 M2130 11 M2138 19 M2146 27 M2154

4 M2131 12 M2139 20 M2147 28 M2155

5 M2132 13 M2140 21 M2148 29 M2156

6 M2133 14 M2141 22 M2149 30 M2157

7 M2134 15 M2142 23 M2150 31 M2158

8 M2135 16 M2143 24 M2151 32 M2159

(20) Speed change "0" accepting flag (M2240 to M2271)

This flag turns on while a speed change request to speed "0" or negative speed change is being accepted. It turns on when the speed change request to speed "0" or negative speed change is accepted during a start. After that, this signal turns off when a speed change is accepted or on completion of a stop due to a stop cause.

OFF

(Note) : The range of axis No.1 to 8 is valid in the Q172DCPU.

.....…..….. Status signal

Deceleration stop at the speed change

Speed change "0"

"0" accept.

Speed change V

Thereafter, by changing speed to except "0", it starts continuously.

Start accept flag

Speed change "0" accepting flag

Positioning complete signal

OFF

4 - 47

4 POSITIONING DEDICATED SIGNALS

The speed change "0" accepting flag list is shown below.

Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No.

1 M2240 9 M2248 17 M2256 25 M2264

2 M2241 10 M2249 18 M2257 26 M2265

3 M2242 11 M2250 19 M2258 27 M2266

4 M2243 12 M2251 20 M2259 28 M2267

5 M2244 13 M2252 21 M2260 29 M2268

6 M2245 14 M2253 22 M2261 30 M2269

7 M2246 15 M2254 23 M2262 31 M2270

8 M2247 16 M2255 24 M2263 32 M2271

REMARK

(1) Even if it has stopped, when the start accept flag (M2001 to M2032) is ON

state, the state where the request of speed change "0" is accepted is indicated.

Confirm by this speed change "0" accepting flag. (2) During interpolation, the flags corresponding to the interpolation axes are set. (3) In any of the following cases, the speed change "0" request is invalid.

• After deceleration by the JOG signal off

• After positioning automatic deceleration start

• After deceleration due to stop cause

(a) The flag turns off if a speed change request occurs during deceleration to a

stop due to speed change "0".

(Note) : The range of axis No.1 to 8 is valid in the Q172DCPU.

Speed change "0"

Speed change V

Start accept flag

Speed change "0" accepting flag

OFF

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4 POSITIONING DEDICATED SIGNALS

(b) The flag turns off if a stop cause occurs after speed change "0" accept.

Start accept flag

Speed change "0" accepting flag

occurs after an automatic deceleration start.

Speed change "0"

Stop cause

OFF

Automatic deceleration start

Speed change "0"

Start accept flag

Speed change "0" acce

ting fla

(OFF)

(d) Even if it is speed change "0" after the automatic deceleration start to the

"command address", speed change "0" accepting flag turns on.

Automatic deceleration start

Speed change "0"

Speed change V

Command address P2

P1 P2

OFF

Start accept flag

Speed change "0" accepting flag

Command address P1

REMARK

It does not start, even if the "command address" is changed during speed change "0" accepting.

4 - 49

(

)

4 POSITIONING DEDICATED SIGNALS

(21) Control loop monitor status (M2272 to M2303)

When using the fully closed loop control servo amplifier, this signal is used to check the fully closed loop control/semi closed loop control of servo amplifier.

• ON .......... During fully closed loop control

• OFF .......... During semi closed loop control

It can be changed the fully closed loop control/semi closed loop control of servo amplifier in the Motion controller by the control loop changing command ON/OFF.

Fully closed loop control change

Control loop changing command (M3218+20n)

Control loop monitor status

M2272+n

OFF

The Control loop monitor status list is shown below.

Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No.

1 M2272 9 M2280 17 M2288 25 M2296

2 M2273 10 M2281 18 M2289 26 M2297

3 M2274 11 M2282 19 M2290 27 M2298

4 M2275 12 M2283 20 M2291 28 M2299

5 M2276 13 M2284 21 M2292 29 M2300

6 M2277 14 M2285 22 M2293 30 M2301

7 M2278 15 M2286 23 M2294 31 M2302

8 M2279 16 M2287 24 M2295 32 M2303

............................... Command signal

Semi closed loop

(Note): The range of axis No.1 to 8 is valid in the Q172DCPU.

control change

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4 POSITIONING DEDICATED SIGNALS

4.2 Data Registers

Device No. Purpose Real Virtual Device No. Purpose Real Virtual

D0 D0

Axis monitor device

(20 points

D640 D640

D704 D704

D758 D758

D800 D800

D1120 D1120

D1240 D1240

D1560 D1560

to to

D8191

Real mode ........... Each axis

Virtual mode ........ Output module

Control change register

(2 points

Common device

(Command signal)

(54 points)

Unusable

(42 points)

Virtual servomotor axis monitor

device

(6 points

Current value after virtual

servomotor axis main shaft's

differential gear

(4 points

Synchronous encoder axis

monitor device

(6 points

Current value after synchronous

encoder axis main shaft's

differential gear

(4 points

Cam axis monitor device

(10 points

User device

(6632 points)

(1) Data register list

Q173DCPU Q172DCPU

Axis monitor device

32 axes)

12 axes)

32 axes)

(Note-1)

(20 points

Back

D160

D656

D880

D1200

D1320

D8191

Real mode ........... Each axis

Virtual mode ........ Output module

Unusable

(480 points)

Control change register

(2 points

Unusable

(48 points)

Common device

(Command signal)

(54 points)

Unusable

(42 points)

Virtual servomotor axis monitor

device

(6 points

Current value after virtual

servomotor axis main shaft's

differential gear

(4 points

Unusable

(240 points)

Synchronous encoder axis

monitor device (6 points

Current value after synchronous

encoder axis main shaft's

differential gear

(4 points

Unusable

(40 points)

Cam axis monitor device

(10 points

Unusable

(6872 points)

User device

(6632 points)

8 axes)

(Note-1)

Usable in the user device.

: Valid

Back

Real/

virtual

community

Virtual

4 - 51

4 POSITIONING DEDICATED SIGNALS

POINT

(1) Total number of points for the user devices

6632 points

(2) (Note-1) : This device occupies only the areas of the axes set in the mechanical

(3) This manual describes only details for data registers used in the virtual mode. If it

is required, refer to the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)".

system program. The unused axis areas in the mechanical system program can be used as an user side.

4 - 52

4 POSITIONING DEDICATED SIGNALS

Axis No. Device No. Signal name

1 D0 to D19

2 D20 to D39 Virtual

3 D40 to D59

4 D60 to D79

5 D80 to D99

6 D100 to D119 0

7 D120 to D139 1

8 D140 to D159 2

9 D160 to D179 3

10 D180 to D199 4

11 D200 to D219 5

12 D220 to D239 6 Minor error code

13 D240 to D259 7 Major error code

14 D260 to D279 8 Servo error code

15 D280 to D299

D300 to D319

17 D320 to D339 10

18 D340 to D359 11

19 D360 to D379 12 Execute program No. At start

20 D380 to D399 13 M-code

21 D400 to D419 14 Torque limit value

22 D420 to D439

23 D440 to D459

24 D460 to D479 16

25 D480 to D499 17

26 D500 to D519 18

27 D520 to D539 19

28 D540 to D559 : Valid, : Invalid

29 D560 to D579

30 D580 to D599

31 D600 to D619

32 D620 to D639

(Note-1): It can be used as the travel value change register. The travel value change register can be set to the device optionally in the

servo program.

Refer to the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details.

(2) Axis monitor device list

Signal name Real

Feed current

value/roller cycle speed

Real current value

Deviation counter value

Home position return

re-travel value

Travel value after

proximity dog ON

Data set pointer for

constant-speed control

Unusable

Real current value at

stop input

(Note-1)

Ball

Roller

Rotary

screw

table

Backup

Cam

Real

mode

axis

Backup

Refresh

Operation

Immediately

Main cycle

Operation

At start/

during start

Operation

cycle

Fetch

cycle

Signal

direction

Monitor

device

Monitor

device

POINT

(1) The range of axis No.1 to 8 is valid in the Q172DCPU. (2) The device area more than 9 axes as an user device in the Q172DCPU.

However, when the project of Q172DCPU is replaced with Q173DCPU, this area cannot be used.

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4 POSITIONING DEDICATED SIGNALS

Axis No. Device No. Signal name

1 D640, D641

2 D642, D643

3 D644, D645

4 D646, D647 0

5 D648, D649 1

6 D650, D651 : Valid

7 D652, D653

8 D654, D655

9 D656, D657

10 D658, D659

11 D660, D661

12 D662, D663

13 D664, D665

14 D666, D667

15 D668, D669

16 D670, D671

17 D672, D673

18 D674, D675

19 D676, D677

20 D678, D679

21 D680, D681

22 D682, D683

23 D684, D685

24 D686, D687

25 D688, D689

26 D690, D691

27 D692, D693

28 D694, D695

29 D696, D697

30 D698, D699

31 D700, D701

32 D702, D703

(3) Control change register list

JOG speed setting

Signal name Real Virtual

Refresh

cycle

Fetch cycle

At start

Signal

direction

Command

device

POINT

(1) The range of axis No.1 to 8 is valid in the Q172DCPU. (2) The device area more than 9 axes as an user device in the Q172DCPU.

However, when the project of Q172DCPU is replaced with Q173DCPU, this area cannot be used.

4 - 54

4 POSITIONING DEDICATED SIGNALS

Axis No. Device No. Signal name

1 D800 to D809

2 D810 to D819 Virtual

3 D820 to D829

4 D830 to D839

5 D840 to D849

6 D850 to D859 0

7 D860 to D869 1

8 D870 to D879 2 Minor error code

9 D880 to D889 3 Major error code

10 D890 to D899 4 Execute program No. At start

11 D900 to D909 5 M-code

12 D910 to D919 6

13 D920 to D929

14 D930 to D939

15 D940 to D949 8 Error search output axis No.

16 D950 to D959

D960 to D969

18 D970 to D979 : Valid, : Invalid

19 D980 to D989

20 D990 to D999

21 D1000 to D1009

22 D1010 to D1019

23 D1020 to D1029

24 D1030 to D1039

25 D1040 to D1049

26 D1050 to D1059

27 D1060 to D1069

28 D1070 to D1079

D1080 to D1089

30 D1090 to D1099

31 D1100 to D1109

32 D1100 to D1119

(4) Virtual servomotor axis monitor device list

Refresh

Signal name Real

Feed current value

Current value after virtual

servomotor axis main

shaft's differential gear

Data set pointer for

constant-speed control

Backup

Roller

Ball

screw

Rotary

table

Cam

Real

mode

axis

cycle

Operation

cycle

Immediately

Operation

cycle

Fetch

cycle

Signal

direction

Monitor

device

POINT

(1) The range of axis No.1 to 8 is valid in the Q172DCPU.

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

user side.

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4 POSITIONING DEDICATED SIGNALS

Axis No. Device No. Signal name

1 D1120 to D1129

2 D1130 to D1139

3 D1140 to D1149

4 D1150 to D1159 0

5 D1160 to D1169 1

6 D1170 to D1179 2 Minor error code

7 D1180 to D1189 3 Major error code

8 D1190 to D1199 4

9 D1200 to D1209 5

10 D1210 to D1219 6

11 D1220 to D1229 7

12 D1230 to D1239 8 Error search output axis No.

(5) Synchronous encoder axis monitor device list

Current value

Unusable

Current value after synchronous encoder

axis main shaft's differential gear

Unusable

: Valid

Signal name Real Virtual

Backup

Refresh

Operation

Immediately

Operation

cycle

Fetch cycle

Signal

direction

Monitor

device

Monitor

device

POINT

(1) It is unusable in the SV22 real mode. (2) The range of axis No.1 to 8 is valid in the Q172DCPU. (3) The device area more than 9 axes as an user device.

However, when the project of Q172DCPU is replaced with Q173DCPU, this area cannot be used.

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4 POSITIONING DEDICATED SIGNALS

Axis No. Device No. Signal name

1 D1240 to D1249

2 D1250 to D1259

D1260 to D1269

4 D1270 to D1279 0 Unusable

5 D1280 to D1289

6 D1290 to D1299 2

7 D1300 to D1309 3

8 D1310 to D1319 4

9 D1320 to D1329 5

10 D1330 to D1339 6

11 D1340 to D1349

12 D1350 to D1359 8

13 D1360 to D1369

14 D1370 to D1379 : Valid

15 D1380 to D1389

16 D1390 to D1399

17 D1400 to D1409

18 D1410 to D1419

19 D1420 to D1429

20 D1430 to D1439

21 D1440 to D1449

22 D1450 to D1459

23 D1460 to D1469

24 D1470 to D1479

25 D1480 to D1489

26 D1490 to D1499

27 D1500 to D1509

28 D1510 to D1519

29 D1520 to D1529

30 D1530 to D1539

31 D1540 to D1549

32 D1550 to D1559

(6) Cam axis monitor device list

Refresh

cycle

Operation

cycle

Fetch cycle

1 Execute cam No.

Execute stroke amount

Current value within 1 cam shaft

revolution

Unusable

Signal name Real Virtual

Backup

Signal

direction

Monitor

device

POINT

(1) The range of axis No.1 to 8 is valid in the Q172DCPU.

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

user side.

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4 POSITIONING DEDICATED SIGNALS

Device

No.

D704 PLC ready flag request D752

D705

D706

D707

D708

D709 Unusable — — — D757

D710 D758

D711 D759

D712 D760

D713

D714 D762

D715

D716 D764

D717

D718 D766

D719

D720 Axis 1 D768

D721 Axis 2 D769

D722 Axis 3 D770

D723 Axis 4 D771

D724 Axis 5 D772

D725 Axis 6 D773

D726 Axis 7 D774

D727 Axis 8 D775

D728 Axis 9 D776

D729 Axis 10 D777

D730 Axis 11 D778

D731 Axis 12 D779

D732 Axis 13 D780

D733 Axis 14 D781

D734 Axis 15 D782

D735 Axis 16 D783

D736 Axis 17 D784

D737 Axis 18 D785

D738 Axis 19 D786

D739 Axis 20 D787

D740 Axis 21 D788

D741 Axis 22 D789

D742 Axis 23 D790

D743 Axis 24 D791

D744 Axis 25 D792

D745 Axis 26 D793

D746 Axis 27 D794

D747 Axis 28 D795

D748 Axis 29 D796

D749 Axis 30 D797

D750 Axis 31 D798

D751 Axis 32

Signal name Refresh cycle Fetch cycle

Speed switching point specified flag request

All axes servo ON command 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), (Note-2)

(7) Common device list

Main cycle

At start

At the manual pulse

generator enable flag

Signal

direction

Command

device

Command

device

D753

D754

D755

D756

D761

D763

D765

D767

D799

Device

No.

Manual pulse generator 1 smoothing magnification setting register

Manual pulse generator 2 smoothing magnification setting register

Manual pulse generator 3 smoothing magnification setting register

Manual pulse generator 1 enable flag request

Manual pulse generator 2 enable flag request

Manual pulse generator 3 enable flag request

Unusable (42 points)

Signal name Ref resh cycle Fetch cycle

(Note-1): The range of axis No.1 to 8 is valid in the Q172DCPU. (Note-2): Device area of 9 axes or more is unusable in the Q172DCPU.

Signal

direction

At the manual pulse

generator enable flag

Main cycle

— — —

Command

device

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4 POSITIONING DEDICATED SIGNALS

4.2.1 Axis monitor devices

The monitoring data area is used by the Motion CPU to store data such as the feed current value during positioning control, the real current value and the deviation counter value. It can be used to check the positioning control state using the Motion SFC program. The user cannot write data to the monitoring data area (except the travel value change register). Refer to "APPENDIX 4 Processing Times of the Motion CPU" for the delay time between a positioning device (input, internal relay and special relay) turning on/off and storage of data in the monitor data area.

(1) Feed current value/roller cycle speed storage register

(D0+20n, D1+20n) ................................................... Monitor device

(a) The target address which is output to the servo amplifier is stored in this

(b) The stroke range check is performed on this feed current value data.

The storage range for cycle speed the roller cycle speed storage register is shown below.

Setting Units Storage Range Real Roller Cycle Speed

mm 0.01 to 6000000.00

inch

(2) Real current value storage register (D2+20n, D3+20n)

(a) This register stores the real current value which took the droop pulses of the

servo amplifier into consideration to the feed current value.

(b) The "feed current value" is equal to the "real current value" in the stopped

state.

(3) Deviation counter value storage register (D4+20n, D5+20n)

This register stores the droop pulses read from the servo amplifier.

(4) Minor error code storage register (D6+20n) .…….... Monitor device

(a) This register stores the corresponding error code (Refer to APPENDIX 2.4

and 2.6) at the minor error occurrence. If another minor error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Minor error codes can be cleared by an error reset command (M3207+20n).

1 to 600000000

[mm/min]

0.001 to 600000.000

[inch/min]

.........….. Monitor device

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4 POSITIONING DEDICATED SIGNALS

(5) Major error code storage register (D7+20n) ...….... Monitor device

(a) This register stores the corresponding error code (Refer to APPENDIX 2.4

and 2.6) at the major error occurrence. If another major error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Major error codes can be cleared by an error reset command (M3207+20n).

(6) Servo error code storage register (D8+20n) ......... Monitor device

(a) This register stores the corresponding error code (Refer to APPENDIX 2.5)

at the servo error occurrence. If another servo error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) It returns to the real mode by the servo error.

(7) Torque limit value storage register (D14+20n) ....... Monitor device

This register stores the torque limit value imposed on the servo amplifier. The default value "300[%]" is stored at the power supply of servo amplifier ON.

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4 POSITIONING DEDICATED SIGNALS

4.2.2 Control change registers

This area stores the JOG operation speed data of the virtual servomotor axis.

Table 4.3 Data storage area for control change list

Name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

D641, D640 D643, D642 D645, D644 D647, D646 D649, D648 D651, D650 D653, D652 D655, D654

Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16

JOG speed

setting

D657, D656 D659, D658 D661, D660 D663, D662 D665, D664 D667, D666 D669, D668 D671, D670

Axis 17 Axis 18 Axis 19 Axis 20 Axis 21 Axis 22 Axis 23 Axis 24

D673, D672 D675, D674 D677, D676 D679, D678 D681, D680 D683, D682 D685, D684 D687, D686

Axis 25 Axis 26 Axis 27 Axis 28 Axis 29 Axis 30 Axis 31 Axis 32

D689, D688 D691, D690 D693, D692 D695, D694 D697, D696 D699, D698 D701, D700 D703, D702

(Note): The range of axis No.1 to 8 is valid in the Q172DCPU.

(1) JOG speed setting registers (D640+2n, D641+2n)

....…….. Command device

(a) This register stores the JOG speed at the JOG operation.

(b) Setting range of the JOG speed is shown below.

Unit

Item

JOG speed 1 to 2147483647 [PLS/s]

Setting Range Unit

PLS

leading edge of the JOG start signal. Even if data is changed during JOG operation, JOG speed cannot be changed.

(d) Refer to Section 6.21 of the

(SV13/SV22) Programming Manual (REAL MODE)

"Q173DCPU/Q172DCPU Motion controller

" for details of the JOG

operation.

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4 POSITIONING DEDICATED SIGNALS

4.2.3 Virtual servomotor axis monitor devices

(1) Feed current value storage register (D800+10n)

.........….. Monitor device

(a) This register stores the target address output to the servo amplifier based

on the positioning address/travel value specified with the servo program.

(b) The stroke range check is performed on this feed current value data.

the infinite operation.

(231-1)

Feed current value

-2

) [PLS] to 2147483647 (231-1) [PLS] in

(d) The date of feed current value storage register is also stored in a backup

memory at the power supply off or resetting of the Multiple CPU system.

(2) Minor error code storage register (D802+10n)

.........….. Monitor device

(a) This register stores the corresponding error code (refer to APPENDIX 2.4

and 2.6) at the minor error occurrence in the virtual servomotor or output module. If another minor error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Minor error codes in the virtual servomotor can be cleared by an error reset

(Note-1)

command Minor error codes in the output module can be cleared by an error reset command

of the drive module.

(Note-2)

of the output module.

REMARK

(Note-1) Refer to Section 4.1.4 for details of the error reset command for the virtual

servomotor axis.

(Note-2) : Refer to Section 4.1.2 for details of the error reset command for the

output module.

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4 POSITIONING DEDICATED SIGNALS

(3) Major error code storage register (D803+10n)

(a) This register stores the corresponding error code (refer to APPENDIX 2.4

and 2.6) at the major error occurrence in the virtual servomotor or output module. If another major error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Major error codes in the virtual servomotor can be cleared by an error reset

command Major error codes in the output module can be cleared by an error reset command

(Note-1)

(Note-2)

REMARK

(Note-1) : Refer to Section 4.1.4 for details of the error reset command for the virtual

servomotor axis.

(Note-2) : Refer to Section 4.1.2 for details of the error reset command for the

output module.

.........….. Monitor device

of the drive module.

of the output module.

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4 POSITIONING DEDICATED SIGNALS

4.2.4 Current value after virtual servomotor axis main shaft's differential gear

(1) Current value after virtual servomotor axis main shaft’s differential

gear storage register (D806+10n, D807+10n)

Differential gear is connected with the main shaft.

.........….. Monitor device

Virtual

servomotor

Differential gear is not connected with the main shaft.

Virtual

servomotor

Differential

gear

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

Virtual servomotor

Synchronous encoder

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

(a) The current value will be the same as the drive module current value of the

main shaft side at the virtual mode switching.

(b) When the current value change is executed toward the drive module current

value of the main shaft side, the current value after main shaft's differential gear is also simultaneous changed to the specified current value.

feed current value of the main shaft side is always stored in the current value storage register after main shaft’s differential gear.

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4 POSITIONING DEDICATED SIGNALS

(2) Error search output axis No. storage register (D808+10n)

(a) This register stores the axis No. of the output module in error by the error

search function in the virtual mode.

(b) If there are no errors at the virtual servomotor axes of the main shaft and

auxiliary input axis, the error occurrence output axis No. is stored into the error search output axis No. storage register of the corresponding drive module No. when a minor or major error occurs at the connected output axis.

1) Searching the main shaft for error The output axes connected to the main shaft are searched for an error in order of lower to higher numbers. If either a minor or major error has occurred, the corresponding output axis No. is stored into the error search output axis No. storage register. Resetting the error of the corresponding output axis stores the other error occurrence output axis No. connected to the same main shaft.

2) Searching the auxiliary input axis for error If either a minor or major error has occurred at the output axis connected to the auxiliary input axis, the corresponding output axis No. is stored into the error search output axis No. storage register. However, when the differential gear (for virtual main shaft connection) is used to provide auxiliary input to the main shaft, the output axis connected to the auxiliary input axis is not searched for an error. Use the main shaft side error search output axis No. storage register to confirm the error occurrence output axis No.

(d) When error occurs at the drive module axis

When an error occurs at the main shaft/auxiliary input axis to which the output axis is connected, "0" (no error) is stored into the error search output axis No. storage device if an error occurred at the output axis.

.........….. Monitor device

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4 POSITIONING DEDICATED SIGNALS

4.2.5 Synchronous encoder axis monitor devices

(1) Current value storage register (D1120+10n, D1121+10n)

(a) This register stores the synchronous encoder current value of the drive

module.

(b) Ring address is "-2147483648 ( -2

at the power supply off or resetting of the Multiple CPU system.

(2) Minor error code storage register (D1122+10n) ...... Monitor device

(a) This register stores the corresponding error code (refer to APPENDIX 2.4

and 2.6) at the minor error occurrence in the synchronous encoder or output module. If another minor error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Minor error codes in the synchronous encoder can be cleared by an error

(Note-1)

reset command Minor error codes in the output module can be cleared by an error reset command

(Note-2)

of the synchronous encoder axis.

of the output module.

.........….. Monitor device

) to 2147483647 (231-1)" [PLS].

REMARK

(Note-1) : Refer to Section 4.1.6 for details of the error reset command for the

synchronous encoder axis.

(Note-2) : Refer to Section 4.1.2 for details of the error reset command for the

output module.

(3) Major error code storage register (D1123+10n) ...... Monitor device

(a) This register stores the corresponding error code (refer to APPENDIX 2.4,

2.6) at the major error occurrence in the synchronous encoder or output module. If another major error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Major error codes in the synchronous encoder axis can be cleared by an

(Note-1)

error reset command

of the synchronous encoder.

Major error codes in the output module can be cleared by an error reset

(Note-2)

command

of the output module.

REMARK

(Note-1) : Refer to Section 4.1.6 for details of the error reset command for the

synchronous encoder axis.

(Note-2) : Refer to Section 4.1.2 for details of the error reset command for the

output module.

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4 POSITIONING DEDICATED SIGNALS

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

(1) Current value after synchronous encoder axis main shaft’s

differential gear storage registers (D1126+10n, D1127+10n)

Differential gear is connected with the main shaft.

.........….. Monitor device

Synchronous

encoder

Differential gear is not connected with the main shaft.

Synchronous

encoder

Differential

gear

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

Virtual servomotor

Synchronous encoder

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

(a) The current value will be the same as the drive module current value of the

main shaft side at the virtual mode switching.

(b) When the current value change is executed toward the drive module current

value of the main shaft side, the current value after main shaft's differential gear is also simultaneous changed to the specified current value.

current value of the main shaft side is always stored in the current value storage register after main shaft’s differential gear.

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4 POSITIONING DEDICATED SIGNALS

(2) Error search output axis No. storage register (D1128+10n)

(a) This register stores the axis No. of the output module in error by the error

search function in the virtual mode.

(b) If there are no errors at the virtual servomotor axes of the main shaft and

(d) When error occurs at the drive module axis

When an error occurs at the main shaft/auxiliary input axis to which the

output axis is connected, "0" (no error) is stored into the error search output axis No. storage device if an error occurred at the output axis.

.........….. Monitor device

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4 POSITIONING DEDICATED SIGNALS

4.2.7 Cam axis monitor devices

(1) Execute cam No. storage register (D1241+10n) ... Monitor device

(a) This register stores the cam No. currently being controlled.

(b) Cam No. of the execute cam No. storage register is held until next cam is

executed. (Cam No. is not cleared, even if cam control is completed.)

(2) Execute stroke amount storage register (D1242+10n, D1243+10n)

(a) This register stores the cam No. currently being controlled.

(3) Current value within 1 cam shaft revolution storage register

(D1244+10n, D1245+10n) ....................................... Monitor device

(a) This register stores the current value within 1 cam shaft revolution set in the

parameter. The current value is a ring address of "0 to [Number of pulses per cam shaft revolution (Nc)-1]".

-1)

.........….. Monitor device

4 - 69

Mitsubishi Electric Q, Q173DCPU, Q172DCPU Programming Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY PRECAUTIONS

REVISIONS

CONTENTS

About Manuals

1. OVERVIEW

1.1 Overview

1.2 Motion Control in SV13/SV22 Real Mode

1.3 Motion Control in SV22 Virtual Mode

2. STARTING UP THE MULTIPLE CPU SYSTEM

2.1 Starting Up the System

2.2 Differences Between Incremental System and Absolute System

2.2.1 Operation for incremental system

2.2.2 Operation for absolute (absolute position) system

2.3 Differences Between Real Mode and Virtual Mode

2.3.1 Positioning data

2.3.2 Positioning devices

2.3.3 Servo programs

2.3.4 Control change (Current value change/speed change)

3. PERFORMANCE SPECIFICATIONS

4. POSITIONING DEDICATED SIGNALS

4.1 Internal Relays

4.1.1 Axis statuses

4.1.2 Axis command signals

4.1.3 Virtual servomotor axis statuses

4.1.4 Virtual servomotor axis command signals

4.1.5 Synchronous encoder axis statuses

4.1.6 Synchronous encoder axis command signals

4.1.7 Common devices

4.2 Data Registers

4.2.1 Axis monitor devices

4.2.2 Control change registers

4.2.3 Virtual servomotor axis monitor devices

4.2.4 Current value after virtual servomotor axis main shaft's differential gear

4.2.5 Synchronous encoder axis monitor devices

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

4.2.7 Cam axis monitor devices