Mitsubishi Electric Q, Q173DCPU-S1, Q172DCPU, Q172DSCPU, Q172DCPU-S1 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 Q173D(S)CPU/Q172D(S)CPU 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 Motion controller, base unit and motion module with the correct combinations listed in the

instruction manual. Other combinations may lead to faults.

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

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

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

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

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

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

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

brakes.

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

manual.

A - 4

CAUTION

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

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

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

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

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

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

program corresponding to the intelligent function module.

(3) Transportation and installation

CAUTION

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

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

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

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

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

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

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

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

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

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

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

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

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

A - 5

CAUTION

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

may lead to oil leaks.

Store and use the unit in the following environmental conditions.

Conditions

Environment

Ambient

temperature

Ambient humidity According to each instruction manual.

Storage

temperature

Atmosphere

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

Vibration According to each instruction manual

Motion controller/Servo amplifier Servomotor

According to each instruction manual.

According to each instruction manual.

Indoors (where not subject to direct sunlight).

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

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.
When you disinfect or protect wooden packing from insects, take measures except by fumigation.

Fumigating the Motion controller and servo amplifier or packing the Motion controller and servo

amplifier with fumigated wooden packing can cause a malfunction of the Motion controller and

servo amplifier due to halogen materials (such as fluorine, chlorine, bromine, and iodine) which

are contained in fumigant.
The Motion controller and servo amplifier must not be used with parts which contain halogen-

series flame retardant materials (such as bromine) under coexisting conditions.

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) and ground. Incorrect connections will lead

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

signal output of brake signals, etc. Incorrect installation may lead to signals not being output

when trouble occurs or the protective functions not functioning.

Servo amplifier

DOCOM

Control output
signal

DICOM

For the sink output interface For the source output interface

24VDC

RA

Servo amplifier

DOCOM

Control output
signal

DICOM

24VDC

RA

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.

(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.

Before starting test operation, set the parameter speed limit value to the slowest value, and

make sure that operation can be stopped immediately by the forced stop, etc. if a hazardous

state occurs.

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 User's manual for the Motion

controllers and refer to the corresponding EMC guideline information for the servo amplifiers,

inverters and other equipment.
Use the units with the following conditions.

Item Conditions

Input power According to each instruction manual.

Input frequency According to each instruction manual.

Tolerable momentary power failure According to each instruction manual.

(7) Corrective actions for errors

CAUTION

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

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

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

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

operated by emergency stop signals set externally.

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

Servo motor

RA1

Electromagnetic
brakes

B

Shut off with the
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.)

A - 8

(8) Maintenance, inspection and part replacement

CAUTION

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

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

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

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

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

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

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

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

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

correctly.

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

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

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

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

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

absolute position detector function is correct.

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

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

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

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

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

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

A - 9

(9) About processing of waste

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

CAUTION

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

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

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

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

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

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

(10) General cautions

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

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

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

manual.

A - 10

REVISIONS

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

Print Date Manual Number Revision
Sep., 2007 IB(NA)-0300137-A First edition
Nov., 2009 IB(NA)-0300137-B [Additional model]

MR-J3W-

B, MR-J3- B-RJ080W, MR-J3- BS

[Additional correction/partial correction]

Safety precautions, About Manuals, Restrictions by the software's
version or serial number, Servo amplifier display servo error code
(#8008+20), Amplifier-less operation status flag (SM508), SSCNET
control (Status_SD508), SSCNET control (Command_SD803),
Advanced S-curve acceleration/deceleration, Error code list, Warranty

Sep., 2011 IB(NA)-0300137-C [Additional model]

Q173DCPU-S1, Q172DCPU-S1, GX Works2, MR Configurator2

[Additional correction/partial correction]

Safety precautions, About Manuals, Restrictions by the software's
version, Error code list

Mar., 2012 IB(NA)-0300137-D [Additional model]

Q173DSCPU, Q172DSCPU, Q171ENC-W8, MR-J4-

[Additional function]

Speed-torque control

[Additional correction/partial correction]

About Manuals, Manual page organization, Restrictions by the
software's version, Programming software version, PI-PID switching
command (M3217+20n), Parameter error number (#8009+20n), Servo
status 1 (#8010+20n), Servo status 2 (#8011+20n), Servo status 3
(#8012+20n), Maximum motion operation cycle (SD524), System
setting error information (SD550, SD551), Error code list, Processing
time of the Motion CPU

Sep., 2012 IB(NA)-0300137-E [Additional correction/partial correction]

About Manuals, Restrictions by the software's version, Programming
software version, External forced stop input ON latch flag (SM506),
Operation method (SD560), Error code list, Processing time of the
Motion CPU

Apr., 2013 IB(NA)-0300137-F [Additional correction/partial correction]

About Manuals, Restrictions by the software's version, Error code list

B, MR-J4W- B

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.

© 2007 MITSUBISHI ELECTRIC CORPORATION

A - 11

INTRODUCTION

Thank you for choosing the Mitsubishi Motion controller Q173D(S)CPU/Q172D(S)CPU.
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.

CONTENTS

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

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

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

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

Manual Page Organization ............................................................................................................................A-17

1. OVERVIEW 1- 1 to 1-10

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

1.2 Motion Control in SV13/SV22 Real Mode............................................................................................... 1- 4

1.3 Motion Control in SV22 Virtual Mode ......................................................................................................1- 5

1.4 Restrictions by the Software's Version .................................................................................................... 1- 6

1.5 Programming Software Version .............................................................................................................. 1-10

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

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

2.2 Starting Up the 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/target position change) ............................. 2- 7

2.3.5 Switching of control mode (Speed-torque control) ........................................................................... 2- 8

3. PERFORMANCE SPECIFICATIONS 3- 1 to 3- 2

4. POSITIONING DEDICATED SIGNALS 4- 1 to 4-90

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

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

4.1.2 Axis command signals ...................................................................................................................... 4-22

4.1.3 Virtual servomotor axis statuses....................................................................................................... 4-27

4.1.4 Virtual servomotor axis command signals ......................................................................................4-31

4.1.5 Synchronous encoder axis statuses ............................................................................................... 4-36

4.1.6 Synchronous encoder axis command signals.................................................................................. 4-37

4.1.7 Common devices .............................................................................................................................. 4-38

4.2 Data Registers.......................................................................................................................................... 4-53

A - 12

4.2.1 Axis monitor devices ......................................................................................................................... 4-61

4.2.2 Control change registers ................................................................................................................... 4-63

4.2.3 Virtual servomotor axis monitor devices........................................................................................... 4-64

4.2.4 Current value after virtual servomotor axis main shaft's differential gear ....................................... 4-66

4.2.5 Synchronous encoder axis monitor devices..................................................................................... 4-68

4.2.6 Current value after synchronous encoder axis main shaft's differential gear ................................. 4-69

4.2.7 Cam axis monitor devices .................................................................................................................4-71

4.2.8 Common devices .............................................................................................................................. 4-72

4.3 Motion Registers(#).................................................................................................................................. 4-75

4.4 Special Relays (SM) ................................................................................................................................ 4-80

4.5 Special Registers (SD)............................................................................................................................. 4-83

5. MECHANICAL SYSTEM PROGRAM 5- 1 to 5-10

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

5.2 Mechanical Module List ........................................................................................................................... 5- 6

6. DRIVE MODULE 6- 1 to 6-24

6.1 Virtual Servomotor ................................................................................................................................... 6- 2

6.1.1 Operation description ........................................................................................................................ 6- 2

6.1.2 Parameter list .................................................................................................................................... 6- 8

6.1.3 Virtual servomotor axis devices (Internal relays, data registers) ..................................................... 6-13

6.2 Synchronous Encoder.............................................................................................................................. 6-14

6.2.1 Operation description ........................................................................................................................ 6-14

6.2.2 Parameter list .................................................................................................................................... 6-19

6.2.3 Synchronous encoder axis devices (Internal relays, data registers) ............................................... 6-20

6.3 Virtual Servomotor/Synchronous Encoder Control Change................................................................... 6-21

6.3.1 Virtual servomotor control change .................................................................................................... 6-21

6.3.2 Synchronous encoder control change.............................................................................................. 6-23

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 ....................................................................................................................................... 7-37

8. OUTPUT MODULE 8- 1 to 8-44

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

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

A - 13

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

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.................................................................................................................................... 8-41

8.5 Phase Compensation Function ...............................................................................................................8-42

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 10-10

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

10.2 Speed-Torque Control .........................................................................................................................10- 7

APPENDICES APP- 1 to APP-82

APPENDIX 1 Error Codes Stored Using the Motion CPU .....................................................................APP- 1

APPENDIX 1.1 Expression method for word data axis No..................................................................APP- 4

APPENDIX 1.2 Related systems and error processing .......................................................................APP- 5

APPENDIX 1.3 Servo program setting errors (Stored in SD517)........................................................APP- 6

APPENDIX 1.4 Drive module errors .....................................................................................................APP-11

APPENDIX 1.5 Servo errors.................................................................................................................APP-17

APPENDIX 1.6 Output module errors ..................................................................................................APP-51

APPENDIX 1.7 Errors at real mode/virtual mode switching ................................................................APP-60

APPENDIX 2 Setting Range for Indirect Setting Devices........................................................................APP-62

APPENDIX 3 Processing Times of the Motion CPU ...............................................................................APP-64

APPENDIX 4 Device List ..........................................................................................................................APP-66

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

Q173D(S)CPU/Q172D(S)CPU 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

maintenance/inspection for the system, trouble shooting and others.

Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)

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

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

Manual Name

cables and Synchronous encoder, and the

Manual Number

(Model Code)

IB-0300133

(1XB927)

IB-0300134

(1XB928)

Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual
(Motion SFC)

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

Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual
(REAL MODE)

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

Q173D(S)CPU/Q172D(S)CPU Motion controller (SV22) Programming Manual
(VIRTUAL MODE)

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

mechanical system program create mechanical module, servo parameters, positioning instructions, device

lists, error lists and others.

Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual
(Advanced Synchronous Control)

This manual explains the dedicated instructions to use the synchronous control by synchronous control

parameters, device lists, error lists and others.

Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (Safety Observation)

This manual explains the details, safety parameters, safety sequence program instructions, device lists

and error lists and others for safety observation function by Motion controller.

Motion controller Setup Guidance (MT Developer2 Version1)

This manual explains the items related to the setup of the Motion controller programming software

MT Developer2.

IB-0300135

(1XB929)

IB-0300136

(1XB930)

IB-0300137

(1XB931)

IB-0300198

(1XB953)

IB-0300183

(1XB945)

IB-0300142

( — )

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 units,

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

error codes and others.

Manual Name

Manual Number

(Model Code)

SH-080483ENG

(13JR73)

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

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

with the QCPU.

QCPU User's Manual (Multiple CPU System)

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

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

modules.

QnUCPU User's Manual (Communication via Built-in Ethernet Port)

This manual explains functions for the communication via built-in Ethernet port of the CPU module.

MELSEC-Q/L Programming Manual (Common Instruction)

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

micro computer program.

MELSEC-Q/L/QnA Programming Manual (PID Control Instructions)

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

MELSEC-Q/L/QnA Programming Manual (SFC)

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

debugging, error codes and others of MELSAP3.

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.

SH-080807ENG

(13JZ27)

SH-080485ENG

(13JR75)

SH-080811ENG

(13JZ29)

SH-080809ENG

(13JW10)

SH-080040

(13JF59)

SH-080041

(13JF60)

SH-080042

(13JL99)

MELSEC-L SSCNET /H Head Module User's Manual

This manual explains specifications of the head module, procedures before operation, system

configuration, installation, wiring, settings, and troubleshooting.

A - 16

SH-081152ENG

(13JZ78)

(3) Servo amplifier

SSCNET /H interface MR-J4- B Servo amplifier Instruction Manual

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

MR-J4-

B Servo amplifier.

Manual Name

Manual Number

(Model Code)

SH-030106

(1CW805)

SSCNET /H interface Multi-axis AC Servo MR-J4W- B Servo amplifier Instruction Manual

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

axis AC Servo MR-J4W

- B Servo amplifier.

SSCNET interface 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-

B Servo amplifier.

SSCNET interface 2-axis AC Servo Amplifier MR-J3W- B Servo amplifier Instruction
Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for 2-axis
AC Servo Amplifier MR-J3W-

B Servo amplifier.

SSCNET Compatible Linear Servo MR-J3- B-RJ004 Instruction Manual

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

Servo MR-J3-

B-RJ004 Servo amplifier.

SSCNET Compatible 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-

B-RJ006 Servo amplifier.

SSCNET Interface Direct Drive Servo MR-J3- B-RJ080W Servo amplifier Instruction
Manual

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

Drive Servo MR-J3-

B-RJ080W Servo amplifier.

SH-030105

(1CW806)

SH-030051

(1CW202)

SH-030073

(1CW604)

SH-030054

(1CW943)

SH-030056

(1CW304)

SH-030079

(1CW601)

SSCNET interface Drive Safety integrated MR-J3- B Safety Servo amplifier Instruction
Manual

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

integrated MR-J3-

B Safety Servo amplifier.

Manual Page Organization

The symbols used in this manual are shown below.

Symbol Description

QDS

Symbol that indicates correspondence to only Q173DSCPU/Q172DSCPU.

QD

Symbol that indicates correspondence to only Q173DCPU(-S1)/Q172DCPU(-S1).

A - 17

SH-030084

(1CW205)

MEMO

A - 18

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

Q173D(S)CPU/Q172D(S)CPU or
Motion CPU (module)

Q172DLX/Q172DEX/Q173DPX/
Q173DSXY or Motion module

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

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

AMP or Servo amplifier

QCPU, PLC CPU or PLC CPU module QnUD(E)(H)CPU/QnUDVCPU

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

CPUn

Operating system software General name for "SW7DNC-SV Q /SW8DNC-SV Q "

SV13

SV22

Programming software package General name for MT Developer2/GX Works2/GX Developer/MR Configurator

MELSOFT MT Works2

MT Developer2

GX Works2

GX Developer

MR Configurator

(Note-2)

mode).

Applicable CPU Number of positioning control axes

Q173DSCPU

Q173DCPU (-S1)

Q172DSCPU Up to 16 axes

Q172DCPU (-S1) Up to 8 axes

Up to 32 axes

In this manual, the following abbreviations are used.

Q173DSCPU/Q172DSCPU/Q173DCPU/Q172DCPU/Q173DCPU-S1/
Q172DCPU-S1 Motion CPU module

Q172DLX Servo external signals interface module/
Q172DEX Synchronous encoder interface module
Q173DPX Manual pulse generator interface module/
Q173DSXY Safety signal module

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

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 engineering environment MELSOFT
MT Works2"

(Note-2)

General name for "MR Configurator/MR Configurator2"

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

Abbreviation for "Programmable controller engineering software
MELSOFT GX Works2 (Version 1.15R or later)"

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

B"

(Note-1)

/

1

1 - 1

1 OVERVIEW

Generic term/Abbreviation Description

MR Configurator

MR Configurator2

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

Serial absolute synchronous encoder
or Q171ENC-W8/Q170ENC

SSCNET /H

SSCNET

SSCNET (/H)

(Note-3)

(Note-3)

(Note-3)

General name for SSCNET /H, SSCNET

Absolute position system

Battery holder unit Battery holder unit (Q170DBATC)

Intelligent function module

SSCNET /H head module

(Note-3)

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

(Note-2): This software is included in Motion controller engineering environment "MELSOFT MT Works2".

(Note-3): SSCNET: S

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

Abbreviation for "Servo setup software package
MR Configurator2 (Version 1.01B or later)"

Abbreviation for "Serial absolute synchronous encoder (Q171ENC-W8/
Q170ENC)"

High speed synchronous network between Motion controller and servo amplifier

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

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

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

ervo System Controller NETwork

1 - 2

1 OVERVIEW

REMARK

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

Motion CPU module/Motion unit

PLC CPU, peripheral devices for sequence program design,

I/O modules and intelligent function module

Operation method for MT Developer2 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

• Design method for Motion SFC parameter

• Motion dedicated PLC instruction

SV13/SV22

SV22

(Advanced

synchronous

control)

• Design method for positioning control

program in the real mode

• Design method for positioning control

parameter

• Design method for safety observation

parameter

• Design method for user made safety

sequence program

• Design method for synchronous control

parameter

to the following manuals relevant to each module.

Item Reference Manual

Q173D(S)CPU/Q172D(S)CPU Motion controller User’s

Manual

Manual relevant to each module

Q173D(S)CPU/Q172D(S)CPU Motion controller

Programming Manual (COMMON)

Q173D(S)CPU/Q172D(S)CPU Motion controller

(SV13/SV22) Programming Manual (Motion SFC)

Q173D(S)CPU/Q172D(S)CPU Motion controller

(SV13/SV22) Programming Manual (REAL MODE)

Q173D(S)CPU/Q172D(S)CPU Motion controller

Programming Manual (Safety Observation)

Q173DSCPU/Q172DSCPU Motion controller (SV22)

Programming Manual (Advanced Synchronous Control)

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 - 3

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 sequence 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 CPU>

Sequence program

DP.SFCS

Motion SFC
program start
request instruction

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

K0

••••

•••• ••••

Specification of starting
program No.

<Motion CPU>

Motion SFC program

1)

[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

2)

3)

Servo amplifier

Servomotor

1 - 4

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 sequence 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 CPU>

Sequence program

DP.SFCS

•••• K0

Motion SFC
program star t
request inst ruction

(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.

•••• ••••

Specification of starting
program No.

<Motion CPU>

Motion SFC program

1)

[G200]
M2044//on virt ual mode?

Servo program

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

Positioning con trol parameter s

Transfer

END

System settings

Fixed parameters

Servo parameters

Parameter blocks

Limit switch output data

Mechanical system program

Drive module
(Virtual servomotor)

Transmission module

2)

(Axis 1)

Output module

3)

Servo amplifier

3)

Servo amplifier

1 - 5

4)

Servomotor

4)

Servomotor

1 OVERVIEW

1.4 Restrictions by the Software's Version

There are restrictions in the function that can be used by the version of the operating
system software and programming software.
The combination of each version and a function is shown in Table1.1.

Table 1.1 Restrictions by the Software's Version

Operating system software version

Function

Checking Motion controller's serial number and operating

system software version in GX Developer

Advanced S-curve acceleration/deceleration

(Except constant-speed control (CPSTART) of servo

program.)

Direct drive servo

MR-J3-

Servo amplifier display servo error code (#8008+20n) — 00H

0.44ms fixed-cycle event task — 00H

444μs coasting timer (SD720, SD721) — 00H

Synchronous encoder current value monitor in real mode — 00H

Display of the past ten times history in current value history

monitor

Amplifier-less operation — 00H

Servo instruction (Home position return (ZERO), high

speed oscillation (OSC)) and manual pulse generator

operation in mixed function of virtual mode/real mode

Advanced S-curve acceleration/deceleration in constant-

speed control (CPSTART) of servo program.

External input signal (DOG) of servo amplifier in home

position return of count type and speed/position switching

control

Communication via PERIPHERAL I/F

Motion SFC operation control instruction

Type conversion (DFLT, SFLT)

Vision system dedicated function (MVOPEN, MVLOAD,

MVTRG, MVPST, MVIN, MVFIN, MVCLOSE, MVCOM)

Home position return of scale home position signal

detection type

Real time display function in digital oscilloscope function

B-RJ080W

Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1)

— 00D

— 00H

— 00H

— 00H

— 00H

— 00K

— 00G

— 00H

— 00L

— 00L

— 00L

— 00N

(Note-1), (Note-2)

1 - 6

1 OVERVIEW

Programming software version

MELSOFT MT Works2 (MT Developer2)

Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1)

— — — — Section 4.3

1.39R 1.06G — — (Note-3)

— — — — (Note-5)

— — — — (Note-5)

1.39R 1.15R — — (Note-5)

1.39R 1.17T — —

(Note-1): SV13/SV22 is the completely same version.

(Note-2): The operating system software version can be confirmed in the operating system software (CD-ROM), MT Developer2 or

(Note-3): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)

(Note-4): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)

(Note-5): Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)

(Note-6): Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (Safety Observation)

(Note-7): Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual (Advanced Synchronous Control)

— — — — (Note-2)

1.39R 1.06G — — (Note-4)

1.39R 1.06G 1.01B C2

— — — —

1.39R 1.06G — — (Note-5)

1.39R 1.09K — — Section 10.1

1.39R 1.09K — — (Note-4)

1.39R 1.15R — —

1.39R 1.15R — — (Note-3)

1.39R 1.15R — — (Note-3)

1.39R 1.15R — — (Note-4)

GX Works2/GX Developer. (Refer to "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON) Section

1.3, 1.4".)

MR Configurator2 MR Configurator

—: There is no restriction by the version.

Section of reference

Section 6.2

Section 6.3

1 - 7

1 OVERVIEW

Table 1.1 Restrictions by the Software's Version (continued)

Operating system software version

Function

Rapid stop deceleration time setting error invalid function

Vision system dedicated function (MVOUT)

Motion SFC operation control instruction

Program control (IF - ELSE - IEND, SELECT -CASE -

SEND, FOR -NEXT, BREAK)

Display format depending on the error setting data

information of motion error history device (#8640 to #8735)

Product information list device (#8736 to #8751) — 00S

Safety observation function — 00S

Feed current value update command (M3212+20n) valid in

speed control (

External forced stop input ON latch (SM506) 00B 00S

Operation method (SD560) 00B Not support

Advanced synchronous control 00B Not support

Limit switch output function expansion 00B Not support

Driver communication function 00C Not support

Intelligent function module support 00C Not support

SSCNET /H head module connection 00C Not support

Cam auto-generation (CAMMK) easy stroke ratio cam 00C Not support

Acceleration/deceleration time change function 00C Not support

Home position return of dogless home position signal

reference type

Setting range expansion of backlash compensation

amount

Multiple CPU synchronous control 00C Not support

Cam axis length per cycle change during synchronous

control

)

Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1)

— 00S

— 00S

— 00R

— 00S

00B Not support

00C Not support

00C Not support

00C Not support

(Note-1), (Note-2)

1 - 8

1 OVERVIEW

Programming software version

MELSOFT MT Works2 (MT Developer2)

Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1)

— — — — (Note-4)

1.39R 1.39R — — (Note-3)

— — — — Section 4.3

1.39R 1.39R — — (Note-6)

— — — — (Note-5)

— Not support — — (Note-5)

1.47Z Not support — — (Note-7)

1.47Z Not support — — (Note-5)

— Not support — — (Note-5)

1.56J Not support — — (Note-5)

1.56J Not support — — (Note-5)

1.56J Not support — — (Note-3)

1.56J Not support — — (Note-4)

1.56J Not support — — (Note-7)

(Note-1): SV13/SV22 is the completely same version.

(Note-2): The operating system software version can be confirmed in the operating system software (CD-ROM), MT Developer2 or

(Note-3): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)

(Note-4): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)

(Note-5): Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)

(Note-6): Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (Safety Observation)

(Note-7): Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual (Advanced Synchronous Control)

1.39R 1.39R — — (Note-3)

— — — — (Note-3)

— Not support — — (Note-4)

1.56J Not support — — (Note-4)

1.56J Not support — — (Note-4)

1.56J Not support — — (Note-7)

GX Works2/GX Developer. (Refer to "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON) Section

1.3, 1.4".)

MR Configurator2 MR Configurator

—: There is no restriction by the version.

Section of reference

1 - 9

1 OVERVIEW

1.5 Programming Software Version

Motion CPU

Q173DSCPU

Q172DSCPU

Q173DCPU-S1

Q172DCPU-S1

Q173DCPU 1.00A 1.03D 1.00A

Q172DCPU 1.00A 1.03D 1.00A

The programming software versions that support Motion CPU are shown below.

MELSOFT MT Works2 (MT Developer2)

SV13/SV22 SV43

(Note-1)

1.39R

1.39R

1.00A

1.00A

(Note-1)

(Note-2)

1.03D

(Note-2)

1.03D

(Note-1): Use version 1.47Z or later to use advanced synchronous control method.

(Note-2): Use version 1.12N or later to communicate via PERIPHERAL I/F.

(Note-3): Use version 1.23Z or later to communicate via PERIPHERAL I/F.

(Note-4): Use version C1 or later to use MR Configurator combination with MT Developer2.

1.10L Not support

1.10L Not support

(Note-3)

(Note-3)

MR Configurator2 MR Configurator

1.00A

1.00A

C0

C0

C0

C0

(Note-4)

(Note-4)

(Note-4)

(Note-4)

1 - 10

2 STARTING UP THE SYSTEM

2. STARTING UP THE SYSTEM

The procedure for virtual mode positioning control is shown below.

2.1 Starting Up the Virtual Mode System

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

START

Install the MT Developer2

Start the MT Developer2

System setting/Multiple CPU
settings/Automatic refresh
setting

Set the following positioning
parameters
Fixed parameters
Servo parameters
Parameter blocks
Limit switch output data

Refer to the "Q173D(S)CPU/Q172D(S)CPU
Motion controller Programming Manual (COMMON)".

Refer to the "Q173D(S)CPU/Q172D(S)CPU
Motion controller (SV13/SV22) Programming
Manual (REAL MODE)".

Refer to the "Q173D(S)CPU/Q172D(S)CPU
Motion controller Programming Manual (COMMON)".

2

Execute the relative check, and
correct the errors

Will cam be used ?

Set the cam data

NO

YES

Create the mechanical system
program

Refer to Chapter "5 MECHANICAL SYSTEM
PROGRAM".

Check the mechanical system
program, and correct the errors

1)

2 - 1

2 STARTING UP THE 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 Developer2

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

1)

Starting up the servo amplifier
using MT Developer2

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

Check operation state with the
servo monitor or mechanical
system monitor

END

2 - 2

Virtual mode

2 STARTING UP THE SYSTEM

2.2 Starting Up the Incremental System and Absolute System

When incremental system or absolute system is used, 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 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

NO

YES

Is the

continuation

disabled warning

signal ON ?

NO

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 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 "Q173D(S)CPU/Q172D(S)CPU
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

(Note): Refer to Section 10.1 for the real mode axis at virtual mode.

2.3.2 Positioning devices

Usable units differ according to the

output module.

Only [PLS] usable.

: Used

: Used (Restrictions in part)

: Not used

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

2.2 below.

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 #8751

Special registers SD0 to SD2255

M4640 to M4687

M5440 to M5487

D0 to D799

D1120 to D1239

2 - 5

M2000 to M5487

D0 to D1559

2 STARTING UP THE 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 Developer2 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

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

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.

shown in Table 2.3 below.

), speed/position switching control,

Table 2.3 Differences of Servo Instruction List

Item

VPF

Speed/position

control

Speed control ( )

Servo

instruction

Positioning

data

(Note-1): Instruction not listed in the table above are common instructions in real mode and virtual

(Note-2): Refer to Section 10.1 for the real mode axis at virtual mode.

Home position

return

High-speed

oscillation

Speed control

with fixed position

stop

Control units

Parameter block

Torque limit value

mode.

VPR

VPSTART

ZERO

VVF

VVR

OSC

PVF

PVR

Real

mode

Virtual

mode

Fixed as

"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 "output

module parameter".

2 - 6

2 STARTING UP THE SYSTEM

2.3.4 Control change (Current value change/speed change/target position 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

Real mode Virtual mode

Item

Current value

change

Speed change

Target position

change

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

QDS

changing the speed change gear ratio.

Servo motor

Synchronous

encoder

Ver.!

Virtual servo

Drive module Output module

Synchronous

motor

encoder

Roller

Ball

Rotary

screw

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

Ver.!

: Refer to Section 1.4 for the software version that supports this function.

2 - 7

2 STARTING UP THE SYSTEM

2.3.5 Switching of control mode (Speed-torque control)

When a speed-torque control is executed in the virtual mode, the control mode of the
output module (except for cam) and real mode axis is switched.
Differences between speed-torque control in the real mode and virtual modes are
shown in Table 2.5 below.

Table 2.5 Differences List of Control Mode Switching

Real mode Virtual mode

Item

Speed-torque

control

Servo motor

Synchronous

encoder

Drive module Output module

Virtual servo

motor

Synchronous

encoder

QDS

Roller

Ball

screw

Rotary

table

Cam

: Used, : Unusable

Real

mode axis

REMARK

Refer to the Section 10.2 for details of the speed-torque control in virtual mode.

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 Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1)

Up to 32 axes

Number of control axes

Control method

Virtual servo

Drive

module

Control

units

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

Servo program

Output

module

Drive module

Virtual axis

Transmission

module

Mechanical system program

Number of modules which can be set per CPU

Output

module

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

motor

Synchronous

encoder

Roller

Ball screw

Rotary table Fixed as "degree"

Cam mm, inch, degree, PLS mm, inch, PLS

Capacity

Number of

positioning

points

Virtual servo

motor

Synchronous

encoder

Virtual main

shaft

Virtual auxiliary

input axis

Gear 64 32 64 16

(Note-1)

Clutch

Speed change

gear

Differential gear 32 16 32 8

Differential gear

to main shaft

Roller 32 16 32 8

Ball screw 32 16 32 8

Rotary table 32 16 32 8

Cam 32

(Simultaneous: 2 to 4/

Independent: 32 axes)

Synchronous control,

PTP (Point to Point) control, speed control,

fixed-pitch feed, constant-speed control,

position follow-up control,

speed-switching control, speed-torque control

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

32 axes 16 axes 32 axes 8 axes

12 axes 12 axes 12 axes 8 axes

32 16 32 8

32 16 32 8

64 32 64 16

64 32 64 16

32 16 32 8

Total 32

Up to 16 axes

(Simultaneous: 2 to 4/

Independent: 16 axes)

mm, inch

16k steps (16384 steps)

Total 16

16

Up to 256

256 • 512 • 1024 • 2048

Up to 32 axes

(Simultaneous: 2 to 4/

Independent: 32 axes)

Synchronous control,

PTP (Point to Point) control, speed control,

fixed-pitch feed, constant-speed control,

position follow-up control,

speed-switching control

PLS

(Note-2)

Total 32

32

(Note-3)

(Note-3)

Up to 8 axes

(Simultaneous: 2 to 4/

Independent: 8 axes)

8

3

Total 8

3 - 1

3 PERFORMANCE SPECIFICATIONS

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

Item Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1)

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]

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

Trapezoidal

acceleration/

deceleration

Acceleration/

deceleration

Virtual servomotor

control

JOG operation function Provided

M-code function M-code output function provided, M-code complete wait function provided

Manual pulse generator operation

function

(Test mode only)

S-curve

acceleration/

deceleration

Advanced 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 section ratio: 0.0 to 100.0[%]

Deceleration section ratio: 0.0 to 100.0[%]

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 #8751 (752 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 control
processor

PLC CPU

Configuration between modules

1)

Device memory

Multiple CPU
high speed
transmission
memory

Q series PLC system bus

Multiple CPU
high speed
bus

Device memory

Multiple CPU
high speed
transmission
memory

Motion CPU

2)

Motion control
processor

SSCNET (/H)

Servo
amplifier

4

PLC I/O module
(DI/O)

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

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

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

M

Servo external input signals
(FLS, RLS, DOG)

Fig.4.1 Flow of the internal signals/external signals

Servo motor

M

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.

Item Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1)

Number of control axes Up to 32 axes Up to 16 axes Up to 32 axes Up to 8 axes

Operation cycle

(Default)

(a) Operation cycle

0.44ms/ 1 to 6 axes

SV22

0.88ms/ 7 to 16 axes

1.77ms/ 17 to 32 axes

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

hundreds[ms].

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 16 axes

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 12 axes

1.77ms/ 13 to 28 axes

3.55ms/ 29 to 32 axes

0.44ms/ 1 to 4 axes

0.88ms/ 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 following range is valid.

• Q172DSCPU : Axis No.1 to 16 (n=0 to 16)

• Q172DCPU(-S1) : Axis No.1 to 8 (n=0 to 7)

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 Synchronous encoder No. n

P1 0 P5 4 P9 8

P2 1 P6 5 P10 9

P3 2 P7 6 P11 10

P4 3 P8 7 P12 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 to P8 is valid in the Q172DCPU(-S1).

11=M4684

11= D1232

4 - 2

4 POSITIONING DEDICATED SIGNALS

4.1 Internal Relays

(1) Internal relay list

Device No. Application Real Virtual

M0

to

M2000

to

M2320

to

M2400

to

M3040

to

M3072

to

M3136

to

M3200

to

M3840

to

M4000

to

(Note-1)

User device

(2000 points)

Common device

(320 points)

Unusable

(80 points)

Axis status

(20 points

Real mode : Each axis

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

Virtual mode : Output module

Unusable

(160 points)

Virtual servomotor axis status
(20 points

SV22

Real/virtual

community

32 axes)

32 axes)

32 axes)

(Note-2)

Backup

(Note-1)

M4640

to

M4688

to

M4800

to

M5440

to

M5488

to

M8191

(Note-1)

(Note-1)

(Note-1)

Synchronous encoder axis

status

(4 points

Unusable

(112 points)

Virtual servomotor axis

command signal
(20 points

Synchronous encoder axis

command signal

(4 points

User device

(2704 points)

12 axes)

32 axes)

12 axes)

(Note-3)

It can be used as a user device.

(Note-2)

(Note-4)

: Valid, : Invalid

Virtual

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) (Note-4): It is valid for the version (Refer to Section 1.4) that supports

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

it is required, refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller
(SV13/SV22) Programming Manual (REAL MODE)".

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

can be set as the optional device at the parameter.

"synchronous encoder current value monitor in real mode".

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

5

8 Servo error detection

9

10

18

19 M-code outputting

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)

Roller

Ball

screw

OFF

OFF

OFF

Rotary

table

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 following range is valid.

• Q172DSCPU : Axis No.1 to 16

• Q172DCPU(-S1) : Axis No.1 to 8

(2) The following device area can be used as a user device.

• Q172DSCPU : 17 axes or more

• Q172DCPU(-S1) : 9 axes or more
However, when the project of Q172DSCPU/Q172DCPU(-S1) is replaced with
Q173DSCPU/Q173DCPU(-S1), this area cannot be used as a user device.

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 16 Gain changing command

17

18

19 FIN signal

: Valid, : Invalid

(3) Axis command signal list

Refresh

2

3

4

5

8

9

12

13

14

15 Servo OFF 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

command

Address clutch reference
setting command

Cam reference position
setting command

PI-PID switching
command

Control loop changing
command

POINT

QDS

(Note-1)

(Note-1)

Roller

Ball

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 start

At virtual

mode

transition

Operation

cycle

Operation

cycle

(Note-2)

Operation

cycle

Signal

direction

Command

signal

Command

signal

Command

signal

(1) The following range is valid.

• Q172DSCPU : Axis No.1 to 16

• Q172DCPU(-S1) : Axis No.1 to 8

(2) The following device area can be used as a user device.

• Q172DSCPU : 17 axes or more

• Q172DCPU(-S1) : 9 axes or more
However, when the project of Q172DSCPU/Q172DCPU(-S1) is replaced with
Q173DSCPU/Q173DCPU(-S1), this area cannot be used as a user device.

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

Refresh

7 Error detection Backup

19 M-code outputting Backup

Signal name Real

Backup

Backup

Unusable — — — — — —

Unusable — — — — — —

Roller

Ball

Rotary

screw

table

Cam

Real

mode

axis

cycle

Operation

cycle

Operation

cycle

Immedi-

Operation

cycle

ately

Fetch

cycle

Signal

direction

Status

signal

Status

signal

Status

signal

Status

signal

POINT

(1) The following range is valid.

• Q172DSCPU : Axis No.1 to 16

• Q172DCPU(-S1) : Axis No.1 to 8

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

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 6

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

Refresh

2

3

4

7 Error reset command

9

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 — — — — — —

Roller

Ball

screw

Rotary

table

Cam

Real

mode

axis

cycle

Fetch

cycle

Operation

cycle

Main

cycle

Main

cycle

At start

Operation

cycle

Signal

direction

Command

signal

Command

signal

Command

signal

Command

signal

POINT

(1) The following range is valid.

• Q172DSCPU : Axis No.1 to 16

• Q172DCPU(-S1) : Axis No.1 to 8

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

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

2

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(-S1).
(2) The device area more than 9 axes as a user device in the Q172DCPU (-S1).

However, when the project of Q172DCPU(-S1) is replaced with Q173DSCPU/
Q172DSCPU/Q173DCPU(-S1), 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 — — — — —

(Note-1): It is valid for the version (Refer to Section 1.4) that supports "synchronous encoder current

Signal name Real Virtual Refresh cycle Fetch cycle

value monitor in real mode".

(Note-1)

Main cycle

Signal

direction

Status

signal

POINT

(1) The range of axis No.1 to 8 is valid in the Q172DCPU(-S1).
(2) The device area more than 9 axes as a user device in the Q172DCPU (-S1).

However, when the project of Q172DCPU(-S1) is replaced with Q173DSCPU/
Q172DSCPU/Q173DCPU(-S1), this area cannot be used.

4 - 9

4 POSITIONING DEDICATED SIGNALS

Device

No.

M2000 PLC ready flag Main cycle

M2001 Axis 1 M2056

M2002 Axis 2 M2057

M2003 Axis 3 M2058

M2004 Axis 4 M2059

M2005 Axis 5 M2060

M2006 Axis 6 M2061 Axis 1

M2007 Axis 7 M2062 Axis 2

M2008 Axis 8 M2063 Axis 3

M2009 Axis 9 M2064 Axis 4

M2010 Axis 10 M2065 Axis 5

M2011 Axis 11 M2066 Axis 6

M2012 Axis 12 M2067 Axis 7

M2013 Axis 13 M2068 Axis 8

M2014 Axis 14 M2069 Axis 9

M2015 Axis 15 M2070 Axis 10

M2016 Axis 16 M2071 Axis 11

M2017 Axis 17 M2072 Axis 12

M2018 Axis 18 M2073 Axis 13

M2019 Axis 19 M2074 Axis 14

M2020 Axis 20 M2075 Axis 15

M2021 Axis 21 M2076 Axis 16

M2022 Axis 22 M2077 Axis 17

M2023 Axis 23 M2078 Axis 18

M2024 Axis 24 M2079 Axis 19

M2025 Axis 25 M2080 Axis 20

M2026 Axis 26 M2081 Axis 21

M2027 Axis 27 M2082 Axis 22

M2028 Axis 28 M2083 Axis 23

M2029 Axis 29 M2084 Axis 24

M2030 Axis 30 M2085 Axis 25

M2031 Axis 31 M2086 Axis 26

M2032 Axis 32

M2033 M2088 Axis 28

M2034

M2035

M2036 M2091 Axis 31

M2037

M2038 Motion SFC debuggin g flag

M2039 Motion error detect ion flag Imm ediate

M2040

M2041 System setting error flag Operation cycle

M2042 All axes servo ON command Operation cycle M3074 M2097

M2043

M2044

M2045

M2046 Out-of-sync warni ng (SV22)

M2047 Motion slot faul t detection flag Operation cycle

M2048

M2049 All axes servo ON accept f lag Operation cycle

M2050 Unusa ble — — — — M2105 Axis 5

M2051

M2052

M2053

M2054 Operation cycle over flag O peration cycle

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

Manual pulse generator 3

enable flag

(8) Common device list

Signal

Remark

(Note-6)

direction

Command

M3072 M2055

signal

Status

signal

(Note-1),

(Note-2),

(Note-3),

(Note-4)

— — — —

Main cycle

— — — —

At debugging mode

transition

At start

At virtual m ode

transition

Main cycle

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

Status

signal

M3080 M2090 Axis 30

M3073 M2095

M2096

M3075 M2098

M3076 M2103 Axis 3

M2104 Axis 4

M3077 M2106 Axis 6

M3078 M2107 Axis 7

M3079 M2108 Axis 8

M2109 Axis 9

Device

No.

Unusable

(6 points)

M2087 Axis 27

M2089 Axis 29

M2092 Axis 32

M2093

M2094

Unusable

(8 points)

M2099

M2100

M2101 Axis 1

M2102 Axis 2

Signal name Refresh cycle Fetch cycle

Speed change

accepting flag

Synchronous

encoder current

value changing fl ag

(Note-5)

Signal

Remark

(Note-6)

direction

— — — —

Status

signal

Operation cycle

— — — —

Operation cycle

(Note-1),

(Note-2),

(Note-3),

(Note-4)

Status

signal

(Note-2),

(Note-4)

4 - 10

4 POSITIONING DEDICATED SIGNALS

Device

No.

M2110 Axis 10 M2179

M2111 Axis 11 M2180

M2112 Axis 12

M2113 M2182

M2114 M2183

M2115 M2184

M2116 M2185

M2117 M2186

M2118 M2187

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 Axis 1

M2172 M2241 Axis 2

M2173 M2242 Axis 3

M2174 M2243 Axis 4

M2175 M2244 Axis 5

M2176 M2245 Axis 6

M2177 M2246 Axis 7

M2178

Signal name Refresh cycle Fetch cycle

Synchronous

encoder current

value changing fl ag

(Note-5)

Unusable

(15 points)

Automatic

decelerating fl ag

Unusable

(19 points)

(Note-7)

Common device list (Continued)

Remark

Signal

direction

Status

Operation cycle

— — — —

Operation cycle

— — — —

signal

(Note-2),

(Note-4)

Status

signal

(Note-1),

(Note-2),

(Note-3),

(Note-4)

(Note-6)

Device

No.

M2181

M2196

M2228

M2247 Axis 8

Unusable

(45 points)

(Note-7)

Unusable

(16 points)

4 - 11

Signal name Refresh cycle

Speed change "0"

accepting flag

— — — —

— — — —

Operation cycle

Fetch cycle

Signal

direction

Status

signal

(Note-1),

(Note-2),

(Note-3),

(Note-4)

Remark

(Note-6)

4 POSITIONING DEDICATED SIGNALS

Device

No.

M2248 Axis 9 M2284 Axi s 13

M2249 Axis 10 M2285 Ax is 14

M2250 Axis 11 M2286 Ax is 15

M2251 Axis 12 M2287 Ax is 16

M2252 Axis 13 M2288 Ax is 17

M2253 Axis 14 M2289 Ax is 18

M2254 Axis 15 M2290 Ax is 19

M2255 Axis 16 M2291 Ax is 20

M2256 Axis 17 M2292 Ax is 21

M2257 Axis 18 M2293 Ax is 22

M2258 Axis 19 M2294 Ax is 23

M2259 Axis 20 M2295 Ax is 24

M2260 Axis 21 M2296 Ax is 25

M2261 Axis 22 M2297 Ax is 26

M2262 Axis 23 M2298 Ax is 27

M2263 Axis 24 M2299 Ax is 28

M2264 Axis 25 M2300 Ax is 29

M2265 Axis 26 M2301 Ax is 30

M2266 Axis 27 M2302 Ax is 31

M2267 Axis 28 M2303 Ax is 32

M2268 Axis 29 M2304

M2269 Axis 30 M2305

M2270 Axis 31 M2306

M2271 Axis 32

M2272 Axis 1 M2308

M2273 Axis 2 M2309

M2274 Axis 3 M2310

M2275 Axis 4 M2311

M2276 Axis 5 M2312

M2277 Axis 6 M2313

M2278 Axis 7 M2314

M2279 Axis 8 M2315

M2280 Axis 9 M2316

M2281 Axis 10 M2317

M2282 Axis 11 M2318

M2283 Axis 12

Signal name Refresh cycle Fetch cycle

Speed change "0"

accepting flag

Control loop

monitor status

Common device list (Continued)

Remark

Signal

direction

Status

signal

Operation cycle

(Note-1),

(Note-2),

(Note-3),

(Note-4)

(Note-1): The range of axis No.1 to 16 is valid in the Q172DSCPU.
(Note-2): The range of axis No.1 to 8 is valid in the Q172DCPU(-S1).
(Note-3): Device area of 17 axes or more is unusable in the Q172DSCPU.
(Note-4): Device area of 9 axes or more is unusable in the Q172DCPU(-S1).
(Note-5): It is unusable in the real mode.

(It can be used in the real mode for the version (Refer to Section 1.4) that supports "synchronous encoder current

value monitor in real mode".)
(Note-6): It can also be ordered the device of a remark colum n.
(Note-7): These devices can be used as the clutch statuses.

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

Refer to Section 7.2.2.

(Note-6)

M2307

M2319

Device

No.

Unusable

(16 points)

Signal name Refresh cycle Fetch cycle

Control loop monit or

status

Operation cycle

— — — —

Signal

direction

Status

signal

(Note-1),

(Note-2),

(Note-3),

(Note-4)

Remark

(Note-6)

4 - 12

4 POSITIONING DEDICATED SIGNALS

Device No. Signal name Refresh cycle Fetch cycle Signal direction

M3072 PLC ready flag

M3073 Speed switching point specified flag At start M2040

M3074 All axes servo ON command

M3075

M3076

M3077 Manual pulse generator 1 enable flag M2051

M3078 Manual pulse generator 2 enable flag M2052

M3079 Manual pulse generator 3 enable flag M2053

M3080 Motion error history clear request flag

M3081

to

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,

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.

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

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

reserve of command signal.

(9) Common device list (Command signal)

Real mode/virtual mode switching request

(SV22)

JOG operation simultaneous start

command

Unusable

(55 points)

(Note-3)

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)

Remark

(Note-1), (Note-2)

Main cycle

Operation cycle

At virtual mode

transition

Main cycle

— — — —

Command

signal

M2000

M2042

M2043

M2048

M2035

4 - 13

A

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 positioning start.

Number of droop pulses

In-position range

t

In-position signal
(M2402+20n)

ON

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 type, count type,
dog cradle type, limit switch combined type, scale home position signal detection
type, or dogless home position signal reference 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

OFF

REMARK

(Note-1) : Refer to APPENDIX 1 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

OFF

ON

ON

ON

ON

(Note-1)

and it is used as

REMARK

(Note-1) : Refer to APPENDIX 1.5 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

• Servo error [2913] (encoder counter error) occurrence

• Major error [1201], [1202], [1203] or [1204] occurrence

• When the "rotation direction selection" of servo parameter is changed.

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

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 sequence program to check
the home position return request before performing the positioning control.
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.

(c) If the home position return of proximity dog, dog cradle or stopper type 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 and bit device

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

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

(Note-1)

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

QDS

.

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

FLS

FLS

COM

2) Servo amplifier input use

3) Bit device use
The set bit device is the FLS signal.

(Note-1): Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual

(Note-2): Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller User’s Manual" for a pin

(Note-3): Refer to the "Servo Amplifier Instruction Manual" for a pin configuration.

FLS signal : ON FLS signal : OFF

Servo amplifier Servo amplifier

FLS

(COMMON)" for an external signal and bit device.

configuration.

DI1

DICOM

(Note-1)

QDS

(Note-3)

FLS

COM

DI1

DICOM

(c) "Normally open contact input" and "Normally closed contact input" of the

QDS

servo data setting can be selected.

(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

QDS

input (RLS) of the Q172DLX/servo amplifier and bit device

.

• 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 signal : ON

Q172DLX Q172DLX

RLS

RLS

1) Q172DLX use

RLS signal : OFF

RLS

RLS

COM

4 - 17

COM

4 POSITIONING DEDICATED SIGNALS

2) Servo amplifier input use

3) Bit device use

(Note-1): Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual

(Note-2): Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller User’s Manual" for a pin

(Note-3): Refer to the "Servo Amplifier Instruction Manual" for a pin configuration.

RLS signal : ON

Servo amplifier Servo amplifier

RLS

DI2

DICOM

(Note-1)

The set bit device is the RLS signal.

(COMMON)" for an external signal and bit device.

configuration.

QDS

(Note-3)

RLS signal : OFF

RLS

DI2

DICOM

(c) "Normally open contact input" and "Normally closed contact input" of the

QDS

servo data setting can be selected.

(9) STOP signal (M2413+20n)

(Note-1)

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

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

QDS

(STOP) of the Q172DLX and bit device

.

• 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) when the STOP signal input is

ON/OFF is shown below.

(Note-2)

STOP signal : ON

Q172DLX

STOP

STOP

1) Q172DLX use

STOP signal : OFF

Q172DLX

STOP

STOP

COM

2) Bit device use

The set bit device is the STOP signal.

(Note-1): Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual

(COMMON)" for an external signal and bit device.

(Note-2): Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller User’s Manual" for a pin

configuration.

(Note-1)

QDS

COM

(c) "Normally open contact input" and "Normally closed contact input" of the

QDS

servo data setting can be selected.

4 - 18

4 POSITIONING DEDICATED SIGNALS

(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/

QDS

servo amplifier/input (DI) of built-in interface in Motion CPU

QDS

device

at the home position return in the real mode.

/bit

This signal turns on/off by the speed/position switching input (CHANGE) of
the Q172DLX/proximity dog input (DOG) of servo amplifier/input (DI) of
built-in interface in Motion CPU

QDS

switching control in the real mode.

/bit device

(Note-2)

QDS

at the speed/position

(There is no CHANGE signal in the servo amplifier.)

(b) The state of the speed/position switching input (CHANGE) when the

CHANGE signal is ON/OFF is shown below.

(Note-3)

1) Q172DLX use

DOG/CHANGE signal : ON

DOG/CHANGE

Q172DLX

DOG/CHANGE

COM

2) Servo amplifier input use

DOG signal : ON

Servo amplifier Servo amplifier

DOG

DI3

(Note-4)

DOG/CHANGE signal : OFF

Q172DLX

DOG/CHANGE

DOG/CHANGE

COM

DOG signal : OFF

DOG

DI3

DICOM

3) Built-in interface in Motion CPU use

(Note-3)

QDS

DI signal : ON

Built-in interface in Motion CPU Built-in interface in Motion CPU

DI

4) Bit device use

The set bit device is the DOG/CHANGE signal.

(Note-1): Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual

(COMMON)" for an external signal and bit device.

(Note-2): When using the Q173DCPU(-S1)/Q172DCPU(-S1), the external input signal (DOG)

of servo amplifier can also be used in the speed/position switching control. (Refer to

Section 1.4 for the software version that supports this function.)

(Note-3): Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller User’s Manual" for a

pin configuration.

(Note-4): Refer to the "Servo Amplifier Instruction Manual" for a pin configuration.

DI

COM

(Note-1)

QDS

DI

DICOM

DI signal : OFF

DI

COM

4 - 19

4 POSITIONING DEDICATED SIGNALS

(c) When using the Q172DLX/built-in interface in Motion CPU, "Normally open

contact input" and "Normally closed contact input" of the system setting
can be selected.
When using the proximity dog input (DOG) of servo amplifier/bit device,
"Normally open contact input" and "Normally closed contact input" of the
servo data setting can be selected.

(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 1.5 Servo errors" for details.

Q61P Q03UD

CPU

Q172D
CPU

QDS

Q38DB

Communication is normal

Servo ready signal : ON

AMP

M

AMP

M

POINT

When the part of multiple servo amplifiers connected to the SSCNET (/H)
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.

4 - 20

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

1

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.

4 - 21

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).

ON

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

OFF

ON

**

**

00

00

** : Error code

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

This command is used to clear the servo error code storage register (D8+20) 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

OFF

ON

ON

**

00

** : 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 processes 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.

4 - 22

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 processes 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.

0

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.)

4 - 23

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 mode

[Calculation of current value within 1 cam shaft revolution]

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)

Execute this command after positioning completion because it becomes invalid
during 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

y

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.

A

1 cycle (1 cam shaft revolution)

B

Number of pulses within
1 cam shaft revolution-1

4 - 24

(

)

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 "Servo amplifier Instruction Manual" for details of gain changing
function.

(7) PI-PID switching command (M3217+20n)

QDS

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

This signal is used to change the PI-PID switching of servo amplifier in the
Motion controller by the PI-PID switching command ON/OFF.

• ON ............. PI-PID switching command ON(PID control)

• OFF ...........PI-PID switching command OFF(PI control)

Refer to the "Servo amplifier Instruction Manual" for details of PI-PID switching
function.

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

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

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

Control loop
changing command
(M3218+20n)

Control loop
monitor status

M2272+n

Fully closed loop
control change

OFF

OFF

ON

Semi closed loop
control change

ON

Refer to the "Servo amplifier Instruction Manual" for details of control loop
changing function.

4 - 25

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 following 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

(c) Control circuit power supply OFF of the servo amplifier

cable between the servo amplifier and

4 - 26

(

)

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 JOG operation.

(Note-1)

It can be used to read an 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

V

OFF

OFF

OFF

At positioning completion

V

at the positioning start.

Dwell time

t

ON

ON

ON

Dwell time

Positioning completion

t

Servo program start

Start accept flag
(M2001 to M2032)

Positioning start complete
signal (M4000+20n)

ON

OFF

ON

OFF

REMARK

(Note-1): Refer to Chapter 7 of the "Q173D(S)CPU/ Q172D(S)CPU Motion controller

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

4 - 27

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 an M-code at the positioning completion.
(Refer to Chapter 7 of the "Q173D(S)CPU/Q172D(S)CPU 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.

V

Dwell time

t

Servo program start

Start accept flag
(M2001 to M2032)

Positioning complete
signal (M4001+20n)

Complete signal OFF
command (M4804+20n)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

At next positioning start

Servo program start

Start accept flag
(M2001 to M2032)

Positioning complete
signal (M4001+20n)

V

OFF

OFF

Dwell time

ON

Positioning
completion

ON

Positioning start

t

ON

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 - 28

4 POSITIONING DEDICATED SIGNALS

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

This check is not executed during speed control.

V

Position
control
start

Command in-position setting

Speed
control
start

t

Command in-position
(M4003+20n)

ON

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

t

(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 - 29

4 POSITIONING DEDICATED SIGNALS

(c) When the error reset command (M4807+20n) turns on in the state where 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 1.4 for details of the virtual servomotor minor/major

error codes.
Refer to APPENDIX 1.6 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

register.

(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

OFF

ON

ON

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 - 30

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

V

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 "Q173D(S)CPU/Q172D(S)CPU
Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for
details of the speed control.

(c) Stop processing details when the stop command turned on is shown in

Table 4.1.

Table 4.1 Stop Processing at Stop command ON

ON

Stop command for
specified axis

Stop

Deceleration stop processing

Control during stop
command OFF

t

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.)

4 - 31

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

V

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

ON

Rapid stop command
for specified axis

Rapid stop processing

Control during rapid
stop command OFF

Stop

t

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

(c) The rapid 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.)

REMARK

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

the parameter block or servo program.

4 - 32

(

)

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

ON

POINT

M4804+20n

ON

OFF

OFF

ON

OFF

Dwell timeDwell time

t

ON

4 - 33

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.
Reset the output module error by error reset of each axis command
signal to the output module.

(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 start 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 - 34

(

)

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.

ON OFF. Positioning

Point

<K 1000>

CPSTART2
Axis
Axis
Speed
FIN
ABS-2

1

Axis
Axis
M-code
ABS-2

2

Axis
Axis
M-code
ABS-2

3

Axis
Axis
M-code
ABS-2

4

Axis
Axis
CPEND

Virtual

1
2

10000

1,
2,

1,
2,

1,
2,

1,
2,

100

200000
200000

300000
250000

11

350000
300000

12

400000
400000

10

Point

M-code

M-code outputting
signal
(M4019+20n)

FIN signal

M4819+20n

1WAIT2

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.

4 - 35

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.

(c) When the error reset command (M5440+4n) turns on in the state where the

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 Q173DPX "TREN" input terminal, and indicates the input
ON/OFF state of the "TREN" terminal.
Q172DEX dose not turn ON regardless of the input status of 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

(Note-2)

REMARK

(Note-1): Refer to APPENDIX 1.4 for details of the minor/major error code for the

synchronous encoder.

Refer to APPENDIX 1.6 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.

4 - 36

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.
Reset the output module error by error reset of each axis command
signal to the output module.

4 - 37

4 POSITIONING DEDICATED SIGNALS

4.1.7 Common devices

POINT

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

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

(c) The following processing are performed when the M2000 turns OFF to ON.

MT Developer2.

switch output data can be changed using MT Developer2 when the M2000
is OFF only.
The above data using MT Developer2 cannot be written when the M2000 is
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.

V

PLC ready flag
(M2000)

PCPU READY
complete flag
(SM500)

Positioning start

OFF

OFF

ON

ON

4 - 38

Clear a M-code.

Deceleration stop

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

t

4 POSITIONING DEDICATED SIGNALS

(d) The following processes 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 at STOP to RUN

Set the condition in which the PLC ready flag (M2000) turns ON. Select the
following either.

1) M2000 turns ON by switching from STOP to RUN. (Default)
Condition in which the M2000 turns from OFF to ON.

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

• Turn ON the Multiple CPU system's power supply with the RUN/STOP

switch set to RUN.

Condition in which the M2000 turns from ON to OFF

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

2) M2000 turns ON by switching from STOP to RUN and by setting "1" in
the setting register.
Condition in which the M2000 turns from OFF to ON

• Set "1" in the setting register (D704) of the PLC ready flag or turn ON

the PLC ready flag (M3072) with the RUN/STOP switch set to RUN.
(The Motion CPU detects the change from "0" to "1" in the lowest bit of
D704).

Condition in which the M2000 turns from ON to OFF

• Set "0" in the setting register (D704) of the PLC ready flag or turn OFF

the PLC ready flag (M3072) with the RUN/STOP switch set to RUN.
(The Motion CPU detects the change from "1" to "0" in the lowest bit of
D704).

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

4 - 39

(

)

f

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 "0",

Servo program start

Start accept flag
(M2001+n)

Normal positioning completion

V

ON

OFF

this flag remains on.)

Dwell time

Positioning
completion

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

t

Servo program start

Start accept flag
(M2001+n)

Positioning stop during control

V

Positioning
start

ON

OFF

t

Positioning
stop
completion

Positioning complete
signal (M4001+20n)

Positioning start
complete signal
(M4000+20n)

OFF

Positioning complete

ON

signal (M4001+20n)

Positioning start
complete signal

M4000+20n

ON

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

ON

Current value changing
processing

Turns off at the completion o
current value change.

4 - 40

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

(Note): The following range is valid.

• Q172DSCPU : Axis No.1 to 16

• Q172DCPU(-S1) : Axis No.1 to 8

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 Developer2 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.

• If the start accept flag is turned on using the Motion SFC program or MT Developer2 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)

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 Developer2.
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.

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

4 - 41

(

)

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.

V

M2040 OFF

V

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)

t

P1 P2 P3 P4

OFF

ON

OFF

t

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

ON

OFF

ON

OFF

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

This flag inputs the "system setting data" set by MT Developer2 and performs an
adjustment check with a real mounting state (main base unit/extension base
units) at Multiple CPU system's 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 monitor of MT Developer2.

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

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

REMARK

Even if the module which is not set as the system setting of MT Developer2 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 - 42

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

Execute this command after positioning completion because it becomes invalid in
positioning.

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

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

• Servo error state

• Forced stop

ON

(Note)

OFF

OFF

OFF

ON

ON

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 "Q173D(S)CPU/Q172D(S)CPU Motion

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

POINT

When M2042 turns ON, it is not turned off even if the Motion CPU is set in the
STOP state.
M2042 turns OFF by the forced stop of Motion CPU.

(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 complete 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.

(c) Refer to Chapter 9 for switching between the real mode and virtual modes.

4 - 43

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.

(c) When the out-of-sync warning flag turns on, resume operation by the

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

4 - 44

A

A

4 POSITIONING DEDICATED SIGNALS

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

This flag is used as judgement of which modules installed in the slot of Motion
management are "normal" or "abnormal".

• ON .......... Installed module is abnormal

• OFF .......... Installed module is normal

The module information at the power supply on and after the power supply on
are always checked, and errors are detected.

(a) When M2047 turns OFF in operation, the operating axis decelerates to a

stop.

(b) 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 monitor of MT Developer2.

(c) When M2047 is ON, positioning cannot be started. Remove an error factor,

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

(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 operating axis 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

ON

(Note)

OFF

OFF

OFF

ON

ON

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 "Q173D(S)CPU/Q172D(S)CPU Motion

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

4 - 45

4 POSITIONING DEDICATED SIGNALS

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

This flag set the enabled or disabled state for positioning with the pulse input
from the manual pulse generators connected to P1 to P3

• 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).

REMARK

(Note) : Refer to the " Q173D(S)CPU/Q172D(S)CPU Motion controller 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.

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

(Note)

of the Q173DPX.

4 - 46

4 POSITIONING DEDICATED SIGNALS

(18) Speed change 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

Speed change
accepting flag

Setting speed

The speed change 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

OFF

ON

0 to 4ms

Speed change completion

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

Speed change

Speed after
speed change

t

(Note): The following range is valid.

• Q172DSCPU : Axis No.1 to 16

• Q172DCPU(-S1) : Axis No.1 to 8

4 - 47

g

g

A

g

g

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.

V

P1

P2

P3

Automatic
deceleratin

fla

ON

OFF

t

V

utomatic

deceleratin

fla

ON

OFF

P1

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.

P2

P3

t

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.

(c) The signal turns off when all normal start complete commands became

achieve.

(d) The automatic decelerating flag (M2128 to M2159) might be turned ON

even during acceleration at advanced S-curve acceleration/deceleration.

4 - 48

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4 POSITIONING DEDICATED SIGNALS

(e) 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

V

ON

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 request is being accepted.
It turns on when the speed change request to speed "0" or negative speed
change request 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.

V

OFF

V

Speed change "0"

1

(Note): The following range is valid.

• Q172DSCPU : Axis No.1 to 16

• Q172DCPU(-S1) : Axis No.1 to 8

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

Deceleration stop at the speed change
"0" accept.

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

Speed change V

2

V

2

t

t

Start accept flag

Speed change "0"
accepting flag

Positioning
complete signal

ON

OFF

4 - 49

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".

V

Speed change "0"

V

1

(Note): The following range is valid.

Speed change V

V

2

• Q172DSCPU : Axis No.1 to 16

• Q172DCPU(-S1) : Axis No.1 to 8

2

t

Start accept flag

ON

Speed change "0"
accepting flag

OFF

4 - 50

p

g

t

4 POSITIONING DEDICATED SIGNALS

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

V

Start accept flag

Speed change "0"
accepting flag

(c) The speed change "0" accepting flag does not turn on if a speed change "0"

occurs after an automatic deceleration start.

V

Speed change "0"

Stop cause

t

ON

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"

Command
address P2

ON

OFF

Speed change V

P1 P2

Start accept flag

Speed change "0"
accepting flag

Command address P1

V

V

1

2

V

2

t

REMARK

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

4 - 51

(

)

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

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

ON

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

Semi closed loop
control change

ON

(Note): The following range is valid.

• Q172DSCPU : Axis No.1 to 16

• Q172DCPU(-S1) : Axis No.1 to 8

4 - 52

4 POSITIONING DEDICATED SIGNALS

4.2 Data Registers

(1) Data register list

SV22

Device No. Application Real Virtual

D0

Axis monitor device

32 axes)

32 axes)

32 axes)

32 axes)

(Note-1)

(Note-1)

to

D640

to

D704

to

D758

to

D800

(20 points

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

Backup

Real/virtual

community

D1120

to

D1240

to

D1560

to

D8191

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)

12 axes)

12 axes)

32 axes)

(Note-1)

It can be used as a user device.

Backup

(Note-2)

Backup

: Valid

Virtual

4 - 53

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) (Note-2) : It is valid for the version (Refer to Section 1.4) that supports

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

is required, refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller
(SV13/SV22) Programming Manual (REAL MODE)".

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

"synchronous encoder current value monitor in real mode".

4 - 54

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

16 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 "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details.

(2) Axis monitor device list

9

15

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

(Note-1)

Unusable

Real current value at

stop input

— — — — — —

Roller

Ball

Rotary

screw

table

Backup

Backup

Real

Cam

mode

axis

Backup

Refresh

Operation

Immediately

Main cycle

Operation

Operation

At start/

during start

Operation

cycle

cycle

cycle

cycle

cycle

Fetch

cycle

Signal

direction

Monitor

device

Monitor

device

POINT

(1) The following range is valid.

• Q172DSCPU : Axis No.1 to 16

• Q172DCPU(-S1) : Axis No.1 to 8

(2) The following device area can be used as a user device.

• Q172DSCPU : 17 axes or more

• Q172DCPU(-S1) : 9 axes or more
However, when the project of Q172DSCPU/Q172DCPU(-S1) is replaced with
Q173DSCPU/Q173DCPU(-S1), this area cannot be used as a user device.

4 - 55

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 following range is valid.

• Q172DSCPU : Axis No.1 to 16

• Q172DCPU(-S1) : Axis No.1 to 8

(2) The following device area can be used as a user device.

• Q172DSCPU : 17 axes or more

• Q172DCPU(-S1) : 9 axes or more
However, when the project of Q172DSCPU/Q172DCPU(-S1) is replaced with
Q173DSCPU/Q173DCPU(-S1), this area cannot be used as a user device.

4 - 56

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

17 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

29 D1080 to D1089

30 D1090 to D1099

31 D1100 to D1109

32 D1100 to D1119

(4) Virtual servomotor axis monitor device list

Refresh

7

9

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

Rotary

screw

table

Cam

Real

mode

axis

cycle

Operation

cycle

Immediately

Operation

cycle

Fetch

cycle

direction

Monitor

POINT

(1) The following range is valid.

• Q172DSCPU : Axis No.1 to 16

• Q172DCPU(-S1) : Axis No.1 to 8

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

user device.

Signal

device

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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 — — — — —

9

: Valid

(Note-1): It is valid for the version (Refer to Section 1.4) that supports "synchronous encoder current

value monitor in real mode".

Signal name Real Virtual

Backup

(Note-1)

Backup

Backup

Refresh

Operation

Immediately

Operation

cycle

cycle

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(-S1).
(3) The device area more than 9 axes as a user device.

However, when the project of Q172DCPU(-S1) is replaced with Q173DSCPU/
Q172DSCPU/Q173DCPU(-S1), 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

3 D1260 to D1269

4 D1270 to D1279 0 Unusable — — — — —

5 D1280 to D1289 1 Execute cam No.

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 7

12 D1350 to D1359 8

13 D1360 to D1369 9

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

Signal

direction

Monitor

device

Refresh

cycle

Operation

cycle

Execute stroke amount

Current value within 1 cam shaft

revolution

Unusable — — — — —

Signal name Real Virtual

Backup

Fetch cycle

POINT

(1) The following range is valid.

• Q172DSCPU : Axis No.1 to 16

• Q172DCPU(-S1) : Axis No.1 to 8

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

user device.

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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 Refresh cycle Fetch cycle

Signal

direction

At the manual pulse

generator enable flag

Main cycle

— — —

Command

device

(Note-1): The following range is valid.

• Q172DSCPU : Axis No.1 to 16

• Q172DCPU(-S1) : Axis No.1 to 8

(Note-2): The following device area is unusable.

• Q172DSCPU : 17 axes or more

• Q172DCPU(-S1) : 9 axes or more

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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.
Refer to "APPENDIX 3 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

register. The target address is based on the command address calculated
from the mechanical system program settings.

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

(c) Roller cycle speed is stored.

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 1.4

and 1.6) 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

0.001 to 600000.000

[mm/min]

[inch/min]

..................... Monitor device

..................... Monitor device

4 - 61