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
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