Mitsubishi Electronics Q173DCPU User Manual

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Motion Controllers

MITSUBISHI ELECTRIC

Programming Manual

Common

01 01 2008 B(NA)-0300134 Version A

Q173DCPU Q172DCPU

INDUSTRIAL AUTOMATION

SAFETY PRECAUTIONS

(Please read these instructions before using this equipment.)

Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. These precautions apply only to this product. Refer to the Q173DCPU/Q172DCPU Users manual for a description of the Motion controller safety precautions. In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".

Indicates that incorrect handling may cause hazardous

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

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

DANGER

CAUTION

conditions, resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight personal injury or physical damage.

CAUTION may also be linked to serious

A - 1

For Safe Operations

1. Prevention of electric shocks

DANGER

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

may lead to electric shocks.

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

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

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

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

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

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

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

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

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

or less) Do not ground commonly with other devices.

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

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

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

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

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

2. For fire prevention

CAUTION

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

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

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

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

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

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

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

lead to fire.

A - 2

3. For injury prevention

CAUTION

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

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

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

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

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

Doing so may lead to injuries.

4. Various precautions

Strictly observe the following precautions.

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

(1) System structure

CAUTION

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

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

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

the power shut off.

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

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

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

instruction manual. Other combinations may lead to faults.

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

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

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

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

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

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

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

brakes.

A - 3

CAUTION

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

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

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

and must not be used for normal braking.

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

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

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

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

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

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

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

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

(2) Parameter settings and programming

CAUTION

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

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

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

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

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

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

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

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

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

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

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

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

system application. The protective functions may not function if the settings are incorrect.

A - 4

CAUTION

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

manual.

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

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

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

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

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

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

program corresponding to the intelligent function module.

(3) Transportation and installation

CAUTION

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

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

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

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

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

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

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

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

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

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

enter the Motion controller, servo amplifier or servomotor.

A - 5

CAUTION

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

apply strong impacts on them.

Securely fix the Motion controller, servo amplifier and servomotor to the machine according to

the instruction manual. If the fixing is insufficient, these may come off during operation. Always install the servomotor with reduction gears in the designated direction. Failing to do so

may lead to oil leaks.

Store and use the unit in the following environmental conditions.

Environment

Ambient

temperature

Ambient humidity

Storage

temperature

Atmosphere

Altitude

Vibration

Motion controller/Servo amplifier Servomotor

According to each instruction manual.

Indoors (where not subject to direct sunlight).

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

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

According to each instruction manual

Conditions

0°C to +40°C (With no freezing)

(32°F to +104°F)

80% RH or less

(With no dew condensation)

-20°C to +65°C

(-4°F to +149°F)

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

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

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

shaft. Doing so may lead to shaft breakage.

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

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

Also, execute a trial operation.

A - 6

(4) Wiring

CAUTION

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

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

on the output side of the servo amplifier.

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

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

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

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

output when trouble occurs or the protective functions not

functioning. Do not connect or disconnect the connection cables between

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

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

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

Servo amplifier

VIN

(24VDC)

Control output signal

(5) Trial operation and adjustment

CAUTION

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

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

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

A - 7

(6) Usage methods

CAUTION

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

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

parameters have been changed or after maintenance and inspection.

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

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

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

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

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

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

Item

Input power

Input frequency 50/60Hz ±5%

Tolerable momentary power failure

Q61P-A1 Q61P-A2 Q61P Q62P Q63P Q64P

100 to 120VAC

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

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

200 to 240VAC

-15%

200 to 240VAC

-15%

Conditions

100 to 240VAC

20ms or less

-15%

24VDC

-35%

100 to 120VAC

(85 to 132VAC/

170 to 264VAC)

-15%

+10%

-15%

A - 8

(7) Corrective actions for errors

CAUTION

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

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

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

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

operated by emergency stop signals set externally.

Shut off with the

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

Servomotor

Electromagnetic brakes

RA1

emergency stop signal(EMG).

EMG

24VDC

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

release.

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

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

restarts suddenly.)

(8) Maintenance, inspection and part replacement

CAUTION

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

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

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

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

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

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

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

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

Do not perform a megger test (insulation resistance measurement) during inspection.

A - 9

CAUTION

When replacing the Motion controller or servo amplifier, always set the new module settings

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

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

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

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

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

absolute position detector function is correct.

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

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

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

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

damage from faults. Replacements can be made by our sales representative.

(9) About processing of waste

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

CAUTION

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

that can affect or endanger human life.

When considering this product for operation in special applications such as machinery or systems

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

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

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

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

(10) General cautions

CAUTION

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

partitions removed to explain detailed sections. When operating the product, always return the covers and partitions to the designated positions, and operate according to the instruction manual.

A - 10

REVISIONS

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

Print Date Manual Number Revision

Jan., 2008 IB(NA)-0300134-A First edition

Japanese Manual Number IB(NA)-0300126

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

A - 11

INTRODUCTION

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

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

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

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

About Manuals ........................................................................................................................................ A-14

1. OVERVIEW 1- 1 to 1-20

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

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

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

1.2.2 Basic specifications of Q173DCPU/Q172DCPU ............................................................................. 1- 5

1.3 Hardware Configuration .................................................................................................................... 1- 8

1.3.1 Motion system configuration ............................................................................................................. 1- 8

1.3.2 Q173DCPU System overall configuration ........................................................................................ 1-10

1.3.3 Q172DCPU System overall configuration ........................................................................................ 1-12

1.3.4 Software packages............................................................................................................................ 1-14

1.3.5 Restrictions on motion systems ........................................................................................................ 1-17

2. MULTIPLE CPU SYSTEM 2- 1 to 2-32

2.1 Multiple CPU System ........................................................................................................................ 2- 1

2.1.1 Overview ............................................................................................................................................ 2- 1

2.1.2 Installation position of CPU module.................................................................................................. 2- 2

2.1.3 Precautions for using I/O modules and intelligent function modules............................................... 2- 3

2.1.4 Modules subject to installation restrictions ....................................................................................... 2- 4

2.1.5 How to reset the Multiple CPU system ............................................................................................. 2- 5

2.1.6 Operation for CPU module stop error............................................................................................... 2- 6

2.2 Starting Up the Multiple CPU System............................................................................................... 2- 9

2.2.1 Startup Flow of the Multiple CPU System ........................................................................................2- 9

2.3 Communication between the PLC CPU and the Motion CPU in the Multiple CPU System ............. 2-11

2.3.1 CPU shared Memory......................................................................................................................... 2-11

2.3.2 Multiple CPU high speed transmission............................................................................................. 2-14

2.3.3 Multiple CPU high speed refresh function........................................................................................ 2-25

2.3.4 Clock synchronization between Multiple CPU ................................................................................. 2-29

2.3.5 Multiple CPU synchronous startup ...................................................................................................2-30

2.3.6 Control Instruction from PLC CPU to Motion CPU .......................................................................... 2-31

3. COMMON PARAMETERS 3- 1 to 3-22

3.1 System Settings ................................................................................................................................ 3- 1

3.1.1 System data settings ......................................................................................................................... 3- 2

3.1.2 Common system parameters ........................................................................................................... 3- 4

A - 12

3.1.3 Individual parameters ........................................................................................................................ 3-10

3.2 I/O number assignment..................................................................................................................... 3-15

3.2.1 I/O number assignment of each module .......................................................................................... 3-15

3.2.2 I/O number of each CPU modules ................................................................................................... 3-17

3.2.3 I/O number setting............................................................................................................................. 3-18

3.3 Servo Parameters ............................................................................................................................. 3-19

4. AUXILIARY AND APPLIED FUNCTIONS 4- 1 to 4-44

4.1 Limit Switch Output Function ............................................................................................................ 4- 1

4.1.1 Operations ......................................................................................................................................... 4- 1

4.1.2 Limit output setting data .................................................................................................................... 4- 4

4.2 Absolute Position System ................................................................................................................. 4- 8

4.2.1 Current value control ......................................................................................................................... 4-10

4.3 High-Speed Reading of Specified Data ............................................................................................ 4-11

4.4 ROM Operation Function .................................................................................................................. 4-12

4.4.1 Specifications of 7-segment LED/Switches...................................................................................... 4-12

4.4.2 Outline of ROM operation ................................................................................................................. 4-14

4.4.3 Operating procedure of the ROM operation function....................................................................... 4-19

4.5 Security Function .............................................................................................................................. 4-21

4.5.1 Password registration/change .......................................................................................................... 4-21

4.5.2 Password delete................................................................................................................................ 4-23

4.5.3 Password check ................................................................................................................................ 4-24

4.5.4 Password save .................................................................................................................................. 4-25

4.6 All clear function................................................................................................................................ 4-26

4.7 Communication via Network ............................................................................................................. 4-27

4.7.1 Specifications of the communications via network........................................................................... 4-27

4.7.2 Access range of the communications via network ........................................................................... 4-28

4.8 Monitor Function of the Main Cycle .................................................................................................. 4-33

4.9 Servo Parameter Reading Function.................................................................................................. 4-34

4.10 Optional Data Monitor Function ...................................................................................................... 4-35

4.11 Connect/Disconnect Function ......................................................................................................... 4-36

4.12 Remote operation ........................................................................................................................... 4-41

4.12.1 Remote RUN/STOP ........................................................................................................................ 4-41

4.12.2 Remote latch clear .......................................................................................................................... 4-43

APPENDICES APP- 1 to APP-35

APPENDIX 1 Special relays/Special registers ................................................................................... APP- 1

APPENDIX 1.1 Special relays ..............................................................................................................APP- 1

APPENDIX 1.2 Special registers .....................................................................................................APP- 5

APPENDIX 1.3 Replacement of special relays/special registers ........................................................APP-11

APPENDIX 2 System Setting Errors.................................................................................................. APP-13

APPENDIX 3 Self-diagnosis error code............................................................................................. APP-15

APPENDIX 4 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU ............ APP-26

APPENDIX 4.1 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU .........APP-26

APPENDIX 4.2 Comparison of devices................................................................................................APP-28

APPENDIX 4.3 Differences of each mode ...........................................................................................APP-35

A - 13

About Manuals

The following manuals are also related to this product.

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

Related Manuals

(1) Motion controller

Q173DCPU/Q172DCPU Motion controller User's Manual

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

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

module, Power supply modules, Servo amplifiers, SSCNET

others.

(Optional)

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

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

(Optional)

Manual Name

cables, Synchronous encoder cables and

Manual Number

(Model Code)

IB-0300133

(1XB927)

IB-0300135

(1XB929)

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

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

(Optional)

Q173DCPU/Q172DCPU 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.

(Optional)

IB-0300136

(1XB930)

IB-0300137

(1XB931)

A - 14

(2) PLC

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

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

extension cables, memory card battery and others.

(Optional)

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

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

with the QCPU.

(Optional)

QCPU User's Manual (Multiple CPU System)

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

Multiple CPU system with the QCPU.

(Optional)

QCPU (Q Mode)/QnACPU Programming Manual (Common Instructions)

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

micro computer program.

(Optional)

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

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

(Optional)

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

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

debugging, error codes and others of MELSAP3.

(Optional)

I/O Module Type Building Block User's Manual

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

conversion modules and others.

(Optional)

Manual Name

(3) Servo amplifier

MR-J3- B Servo amplifier Instruction Manual

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

MR-J3-

(Optional)

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

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

Closed Loop Control MR-J3-

(Optional)

B Servo amplifier.

Manual Name

B-RJ006 Servo amplifier.

Manual Number

(Model Code)

SH-080483ENG

(13JR73)

SH-080484ENG

(13JR74)

SH-080485ENG

(13JR75)

SH-080039

(13JF58)

SH-080040

(13JF59)

SH-080041

(13JF60)

SH-080042

(13JL99)

Manual Number

(Model Code)

SH-030051

(1CW202)

SH-030056

(1CW304)

A - 15

MEMO

A - 16

1 OVERVIEW

1. OVERVIEW

1.1 Overview

This programming manual describes the common items of each operating system software, such as the Multiple CPU system of the operating system software packages

Generic term/Abbreviation Description

Q173DCPU/Q172DCPU or Motion CPU (module)

Q172DLX/Q172DEX/Q173DPX or Motion module

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

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

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

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

CPUn

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

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

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

SV13

SV22

MT Developer

GX Developer

MR Configurator

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

Serial absolute synchronous encoder or Q170ENC

SSCNET

Absolute position system

Battery holder unit Battery holder unit (Q170DBATC)

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

Intelligent function module

(Note-2)

"SW8DNC-SV

In this manual, the following abbreviations are used.

Q " for Motion CPU module (Q173DCPU/Q172DCPU).

Q173DCPU/Q172DCPU Motion CPU module

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

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

Operating system software for conveyor assembly use (Motion SFC) : SW8DNC -SV13Q

Operating system software for automatic machinery use (Motion SFC) : SW8DNC -SV22Q Abbreviation for "Motion controller programming software MT Developer2 (Version 1.00A or later)" Abbreviation for "MELSEC PLC programming software package GX Developer (Version 8.48A or later)" Abbreviation for "Servo setup software package MR Configurator (Version C0 or later)"

Abbreviation for "Serial absolute synchronous encoder (Q170ENC)"

High speed synchronous network between Motion controller and servo amplifier

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

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

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

(Note-2) : SSCNET: S

(Note-1)

ervo System Controller NETwork

1 - 1

1 OVERVIEW

REMARK

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

Motion CPU module/Motion unit Q173DCPU/Q172DCPU User’s Manual

PLC CPU, peripheral devices for PLC program design, I/O

modules and intelligent function module

Operation method for MT Developer Help of each software

• Design method for Motion SFC program

• Design method for Motion SFC parameter

• Motion dedicated PLC instruction

SV13/SV22

SV22

(Virtual mode)

• Design method for positioning control

• Design method for mechanical system

refer to the following manuals relevant to each module.

Item Reference Manual

Manual relevant to each module

Q173DCPU/Q172DCPU Motion controller (SV13/SV22)

Programming Manual (Motion SFC)

program in the real mode

parameter

program

Q173DCPU/Q172DCPU Motion controller (SV13/SV22)

Programming Manual (REAL MODE)

Q173DCPU/Q172DCPU Motion controller (SV22)

Programming Manual (VIRTUAL MODE)

1 - 2

1 OVERVIEW

1.2 Features

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

1.2.1 Features of Motion CPU

(1) Q series PLC Multiple CPU system

(a) Load distribution of processing can be performed by controlling the

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

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

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

Q173DCPU : Up to 32 axes Q172DCPU : Up to 8 axes

The PLC CPU module for the program capacity to be used can be selected. (One or more PLC CPU is necessary with the Multiple CPU system.)

Q03UDCPU : 30k steps Q04UDHCPU : 40k steps Q06UDHCPU : 60k steps

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

(2) High speed operation processing

(a) The minimum operation cycle of the Motion CPU is made 0.44[ms], and it

correspond with high frequency operation.

(b) High speed PLC control is possible by the universal model QCPU.

(For LD instruction)

Q03UDCPU : 20[ns] Q04UDHCPU : 9.5[ns] Q06UDHCPU : 9.5[ns]

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1 OVERVIEW

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

high speed synchronous network by SSCNET

(a) High speed synchronous network by SSCNET connect between the

Motion controller and servo amplifier, and batch control the charge of servo parameter, servo monitor and test operation, etc. It is also realised reduce the number of wires.

(b) The maximum distance between the Motion CPU and servo amplifier, servo

amplifier and servo amplifier of the SSCNET set to 50(164.04)[m(ft.)], and the flexibility improved at the Motion system design.

cable on the same bus was

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

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

(a) Conveyor assembly use (SV13)

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

(b) Automatic machinery use (SV22)

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

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1 OVERVIEW

1.2.2 Basic specifications of Q173DCPU/Q172DCPU

(1) Module specifications

Item Q173DCPU Q172DCPU

Internal current consumption (5VDC) [A] 1.25 1.14

Mass [kg] 0.33 0.33

Exterior dimensions [mm(inch)] 98 (3.85)(H) 27.4 (1.08)(W) 119.3 (4.69)(D)

(2) SV13/SV22 Motion control specifications/performance

specifications

Item Q173DCPU Q172DCPU

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

SV13

Operation cycle

(default)

SV22

Interpolation functions

Control modes

Acceleration/

deceleration control

Compensation Backlash compensation, Electronic gear, Phase compensation (SV22)

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

Servo program capacity 14k steps

Number of positioning

points

Peripheral I/F Via PLC CPU (USB/RS-232)

Home position return

function

JOG operation function Provided

Manual pulse generator

operation function

Synchronous encoder

operation function

M-code function

Limit switch output

function

(a) Motion control specifications

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 18 axes

1.77ms/19 to 32 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

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

Helical interpolation (3 axes)

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

Constant speed control, Position follow-up control, Speed control with fixed position stop,

Speed switching control, High-speed oscillation control, Synchronous control (SV22)

Automatic trapezoidal acceleration/deceleration,

S-curve acceleration/deceleration

3200 points

(Positioning data can be designated indirectly)

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

Stopper type (2 types), Limit switch combined type

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

Possible to connect 3 modules

Possible to connect 12 modules Possible to connect 8 modules

M-code output function provided

M-code completion wait function provided

Number of output points 32 points

Watch data: Motion control data/Word device

1 - 5

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 8 axes

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 8 axes

1 OVERVIEW

Item Q173DCPU Q172DCPU

Motion control specifications (continued)

Absolute position system

Number of SSCNET

systems

Motion related interface

module

(Note-1)

(Note-1) : The servo amplifiers for SSCNET cannot be used.

(Note-2) : When using the incremental synchronous encoder (SV22 use), you can use above number of modules.

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

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

Q172DLX : 4 modules usable Q172DLX : 1 module usable

Q172DEX : 6 modules usable Q172DEX : 4 modules usable

Q173DPX : 4 modules usable

Made compatible by setting battery to servo amplifier.

2 systems 1 system

(Note-2)

Q173DPX : 3 modules usable

(Note-2)

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1 OVERVIEW

Motion SFC program capacity

Motion SFC program

Operation control program

(F/FS)

Transition program

(G)

Execute specification

Number of devices

(Device In the Motion CPU

only)

(Included the positioning

dedicated device)

(b) Motion SFC Performance Specifications

Item Q173DCPU/Q172DCPU

Code total

(Motion SFC chart + Operation control

+ Transition)

Text total

(Operation control + Transition)

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

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

Number of Motion SFC steps/program Up to 4094 steps

Number of selective branches/branch 255

Number of parallel branches/branch 255

Parallel branch nesting Up to 4 levels

Number of operation control programs

Number of transition programs 4096(G0 to G4095)

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

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

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

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

( ) nesting/block Up to 32 levels

Descriptive

expression

Number of multi execute programs Up to 256

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

Executed

task

Internal relays (M) 8192 points

Link relays (B) 8192 points

Annunciators (F) 2048 points

Special relays (SM) 2256 points

Data registers (D) 8192 points

Link registers (W) 8192 points

Special registers (SD) 2256 points

Motion registers (#) 8736 points

Coasting timers (FT)

Multiple CPU area devices (U

Operation control program Calculation expression/bit conditional expression

Transition program

Normal task Execute in main cycle of Motion CPU

Event task

(Execution

can be

masked.)

NMI task

Fixed cycle

External

interrupt

PLC interrupt Execute with interrupt instruction (D(P).GINT) from PLC CPU.

(Note): Usable number of points changes according to the system settings.

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

combined. (F/FS0 to F/FS4095)

Calculation expression/bit conditional expression/

comparison conditional expression

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

Execute when input ON is set among interrupt module QI60

\G) Up to 14336 points usable

543k bytes

484k bytes

Execute in fixed cycle

(16 points).

1 point (888µs)

(Note)

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1 OVERVIEW

1.3 Hardware Configuration

This section describes the Q173DCPU/Q172DCPU system configuration, precautions on use of system, and configured equipments.

1.3.1 Motion system configuration

This section describes the equipment configuration, configuration with peripheral devices and system configuration in the Q173DCPU/Q172DCPU system.

(1) Equipment configuration in Q173DCPU/Q172DCPU system

Power supply module/

QnUD(H)CPU/ I/O module/

Intelligent function module

of the Q series

Extension of the Q series module

(Note-2)

Motion module

(Q172DLX, Q173DPX)

Motion mo dule

(Q172DLX, Q172DEX, Q173DPX)

(Note-1)

Battery holder unit

(Q170DBATC)

(Note-1)

MITSUBISHI

LITHIUM BATT ERY

Battery

(Q6BAT)

Main base unit

(Q38DB, Q312DB)

Motion CPU module

(Q173DCPU/Q172DCPU)

SSCNET cable

(MR-J3BUS M(-A/-B))

Servo amplifier

(MR-J3- B)

Extension cable

(QC B)

Forced stop input cable

(Q170DEMICBL M)

Q6 B extension base unit

(Q63B, Q65B, Q68B, Q612B)

Power supply module/

I/O module/Intelligent function

module of the Q series

It is possible to select the best according to the system.

(Note-1) : Be sure to install the Battery (Q6BAT) to the Battery holder unit (Q170DBATC). It is packed together with Q173DCPU/Q172DCPU.

(Note-2) : Q172DEX cannot be used in the extension base unit. Mount it to the main base unit.

1 - 8

1 OVERVIEW

(2) Peripheral device configuration for the Q173DCPU/Q172DCPU

The following (a)(b) can be used.

(a) USB configuration

(b) RS-232 configuration

PLC CPU module

(QnUD(H)CPU)

USB cable

B I

Personal computer

PLC CPU module

(

QnUD(H)CPU)

RS-232 communication cable

(QC30R2)

M I

Personal computer

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1 OVERVIEW

1.3.2 Q173DCPU System overall configuration

Motion CPU control module

PLC CPU/

Q61P

Motion CPU

QnUD(H) CPU

Q173D

QI60 QX

CPU

Forced stop input cab le (Q170DEMICBL M)

EMI forced stop input (24VDC)

SSCNET cable (MR-J3BUS M(-A/-B))

SSCNET (CN2)

Interrupt signals (16 points)

Extension cable (QC B)

Main base un it

(Q3 DB)

100/200VAC

Personal Computer IBM PC/AT

Battery holder unit Q170DBATC

Extension base unit (Q6 B)

l p p u s

u d

o P

UP to 7 extensions

USB/RS-232

Q6 AD

Q6 DA

Q172D

Serial absolute synchronous encoder cable (Q170ENCCBL M)

FLS RLS STOP

DOG/CHANGE : Proximity dog/ Speed-position switching

l u

Q173D PX

Manual pulse generator 3/module

(MR-HDP01)

Serial absolute synchronous encoder 2/module

External input s ignals

: Upper stroke limit : Lower stroke limit : Stop sign al

Analogue input/output

Input/output (Up to 256 points)

SSCNET (CN1)

d16

I/O module/ Intelligent function module

(Up to 1 module)

(Up to 6 modules) (Q170ENC)

d16

Number of Inputs

8 axes/module

(Up to 4 modules)

M E

1 - 10

MR-J3- B model Servo amplifier, Up to 32 axes (Up to 16 axes/system)

External input signals of servo amplifier

Proximity dog Upper stroke limit Lower stroke limit

M E

1 OVERVIEW

CAUTION

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

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

The ratings and characteristics of the parts (other than Motion controller, servo amplifier and

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

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

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

1 - 11

1 OVERVIEW

1.3.3 Q172DCPU System overall configuration

Motion CPU control module

PLC CPU/

Main base unit

(Q3 DB)

100/200VAC

Personal Computer IBM PC/AT

Battery holder unit Q170DBATC

USB/RS-232

Q61P

Motion CPU

QnUD(H) CPU

Q172D CPU

QI60

Interrupt signals (16 points)

Q6 AD

Q6 DA

l a n

r e

t x e

o v

r e S

Q172D LX

u d o

m e

FLS RLS STOP DOG/CHANGE : Proximity dog/

Speed-position switching

Q172D

Q173D

Serial absolute synchronous encoder cable (Q170ENCCBL M)

Serial absolute synchronous encoder 2/module

(Q170ENC)

External input signals

: Upper stroke limit : Lower stroke limit : Stop signal

Analogue input/output

Input/output (Up to 256 points)

l u d o

m e

c a

r e

t n

I/O module / Intelligent function module

Manual pulse generator 3/module

(MR-HDP01)

(Up to 6 modules)

(Up to 1 module)

Number of Inputs

8 axes/module

(Up to 4 mo dules)

Extension cable (QC B)

Extension base unit

(Q6 B)

l p p u s

u d

o P

UP to 7 extensions

Forced stop input cable (Q170DEMICBL M)

EMI forced stop input (24VDC)

SSCNET cable (MR-J3BUS M(-A/-B))

SSCNET (CN1)

M E

MR-J3- B model Servo amplifier, Up to 8 axes

M E

External input signals of servo amplifier

Proximity dog Upper stroke limit Lower stroke limit

M E

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1 OVERVIEW

CAUTION

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

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

The ratings and characteristics of the parts (other than Motion controller, servo amplifier and

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

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

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

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1 OVERVIEW

1.3.4 Software packages (1) Software packages

For conveyor assembly SV13 SW8DNC-SV13QB SW8DNC-SV13QD For automatic machinery SV22 SW8DNC-SV22QA SW8DNC-SV22QC

MT Developer2

(Note) : Operating environment to use MT Developer is WindowsR Vista/WindowsR XP/WindowsR 2000

(2) Operating environment of personal computer

CPU Memory capacity Recommended 512MB or more

Video card Card compatible with MicrosoftR DirectXR 9.0c or later Available hard disk

capacity

Disk drive CD-ROM disk drive Display

(Note-1) : Microsoft, Windows and DirectX are either registered trademarks or trademarks of Microsoft

(Note-2) : Intel, Celeron an d Pen tium ar e tr adem arks o f In te l Corp orat ion in th e U. S. and ot he r count rie s.

(a) Operating system software

Application

Q173DCPU Q172DCPU

Software package

(b) Motion controller programming software

Part name Model name Details

Conveyor Assembly Software Automatic Machinery So ftw a r e

Cam Data Creation Software SW1DNC-MTW2-E (1 CD-ROM disk)

English version only.

Operating environment is shown below. IBM PC/AT with which Windows version operates normally.

Item Operating environment

Microsoft Microsoft Microsoft Microsoft Microsoft Microsoft Microsoft Microsoft Desktop PC: Recommended Intel Laptop PC: Recommended Intel

Installation: HD 1GB or more Operation: Virtual memory 5 0M B or m or e

Resolution 1024×768 pixels or higher

Corporation in the United States and/or other countries.

WindowsR Vista Home Basic

WindowsR Vista Home Premium

WindowsR Vista Business

WindowsR Vista Ultimate

WindowsR Vista Enterprise

WindowsR XP Professional (Service Pack 2 or later)

WindowsR XP Home Edition (Service Pack 2 or later)

WindowsR 2000 Professional (Service Pack 4 or later)

Digital Oscilloscope Software

Communication System So f tw are

Document Print So ftw ar e

Operation Manual (Help)

Installation manual (PDF)

Vista/WindowsR XP/WindowsR2000 English

CeleronR Processor 2.8GHz or more

PentiumR Processor M 1.7GHz or more

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1 OVERVIEW

(3) Operating system type/version

(a) Confirmation method in the operating system (CD)

1) OS software type

2) OS software version

3) Serial number

Example) When using Q173DCPU, SV22 and version 00A.

1) SW8DNC-SV22QA

2) 00A

(b) Confirmation method in MT Debeloper

The operating system(OS) type/version of connected CPU is displayed on the installation screen of MT Developer.

(OS software)

SV 2 2 QAVER3

A or B : Q173DCPU

C or D : Q172DCPU

(4) Relevant software packages

(a) PLC software package

Model name Software package

00 A

OS version

3: Motion SFC compatibility . : Motion SFC not compatibility

GX Developer SW8D5C-GPPW-E

(b) Servo set up software package

Model name Software package

MR Configurator MRZJW3-SETUP221E

1 - 15

1 OVERVIEW

POINTS

(1) When the operation of Windows is not unclear in the operation of this software,

refer to the manual of Windows or guide-book from the other supplier.

(2) The following functions cannot be used when the computer is running under

Windows This product may not perform properly, when these functions are used.

< Windows

• Activating the application with Windows

Vista, WindowsR XP or WindowsR 2000.

Vista/WindowsR XP>

compatibility mode

• Fast user switching

• Remote desktop

• Large size

)

• x64 Edition (64 bit Windows

< Windows

2000>

• Large fonts

1 - 16

1 OVERVIEW

1.3.5 Restrictions on motion systems

(1) Combination of Multiple CPU system

(a) Motion CPU module cannot be used as standalone module.

Be sure to install the universal model PLC CPU module (Q03UDCPU/ Q04UDHCPU/Q06UDHCPU) to CPU No.1. For Universal model PLC CPU module, "Multiple CPU high speed taransmission function" must be set in the Multiple CPU settings.

(b) Only Multiple CPU high speed main base unit (Q38DB/Q312DB) can be

used.

Q172HCPU(-T)/Q173CPUN(-T)/Q172CPUN(-T) cannot be used.

(d) Up to four modules of PLC CPU modules (Q03UDCPU/Q04UDHCPU/

Q06UDHCPU/Motion CPU modules can be installed from the CPU slot (the slot on the right side of power supply module) to slot 2 of the main base unit. CPU modules called as CPU No.1 to CPU No.4 from the left sequentially. There is no restriction on the installation order of CPU No.2 to No.4. For CPU module except CPU No.1, an empty slot can be reserved for addition of CPU module. An empty slot can be set between CPU modules. However, the mounting condition when combining with the High performance PLC CPU module/Process CPU module/PC CPU module/C controller module is different depending on the specification of CPU modules, refer to the Manuals of each CPU modules.

(e) It takes about 10 seconds to startup (state that can be controlled) of Motion

CPU. Make a Multiple CPU synchronous startup setting suitable for the system.

(f) Execute the automatic refresh of the Motion CPU modules and PLC CPU

modules (Q03UDCPU/Q04UDHCPU/Q06UDHCPU) by using the automatic refresh of Multiple CPU high speed transmission area setting. When the High performance PLC CPU module/Process CPU module/PC CPU module/C controller module is mounted in the combination of Multiple CPU system, the Motion CPU module cannot be execute the automatic refresh with these modules.

(g) Use the Motion dedicated PLC instructions that starts by "D(P).". The Motion

dedicated PLC instructions that starts by "S(P)." cannot be used. When the High performance PLC CPU module/Process CPU module/PC CPU module/C controller module is mounted in the combination of Multiple CPU system, the Motion dedicated PLC instruction from these modules cannot be executed.

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1 OVERVIEW

(2) Motion modules

(a) Installation position of Q172DEX

It cannot be used on the extension base unit.

(b) Q172DLX/Q173DPX can be installed on any of the main base unit/

extension base unit.

(Note-1)

slot 0 to 2 of the main base unit. Wrong installation might damage the main base unit.

(d) Q172EX(-S1/-S2/-S3)/Q172LX/Q173PX(-S1) for Q173HCPU(-T)/

Q172HCPU(-T)/Q173CPUN(-T)/Q172CPUN(-T)/Q173CPU/Q172CPU cannot be used.

(e) Be sure to use the Motion CPU as the control CPU of Motion modules

(Q172DLX, Q172DEX

(Note-1)

operate correctly if PLC CPU is set and installed as the control CPU by mistake. Motion CPU is treated as a 32-point intelligent module by PLC CPU of other CPU.

(Note-1)

is only the main base unit.

/Q173DPX cannot be installed in CPU slot and I/O

, Q173DPX, etc.) for Motion CPU. They will not

(Note-1) : Q172DEX can be used in SV22. It cannot be used in SV13.

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1 OVERVIEW

(3) Other restrictions

(a) Motion CPU module cannot be set as the control CPU of intelligent function

module (except some modules) or Graphic Operation Terminal(GOT).

(b) Be sure to use the external battery.

• Use a EMI terminal of Motion CPU module

• Use a device set in the forced stop input setting of system setting

(d) Forced stop input for EMI terminal of Motion CPU module cannot be

invalidated by the parameter. When the device set in the forced stop input setting is used without use of EMI terminal of Motion CPU module, apply 24VDC voltage on EMI terminal and invalidate the forced stop input of EMI terminal.

(e) Be sure to use the cable for forced stop input (sold separately). The forced

stop cannot be released without using it.

(f) When the operation cycle is 0.4[ms], set the system setting as the axis select

switch of servo amplifier "0 to 7". If the axis select switch of servo amplifier "8 to F" is set, the servo amplifiers are not recognized.

(g) It is impossible to mount the main base unit by DIN rail when using the

Motion CPU module. Doing so could result in vibration that may cause erroneous operation.

(h) The module name displayed by "System monitor" - "Product information list"

of GX Developer is different depending on the function version of Motion modules (Q172DLX, Q172DEX, Q173DPX).

(Note): Even if the function version "C" is displayed, it does not correspond

to the online module change.

Module name

Function version "B" Function version "C"

Q172DLX Q172LX Q172DLX

Q172DEX MOTION-UNIT Q172DEX

Q173DPX MOTION-UNIT Q173DPX

Model display

1 - 19

1 OVERVIEW

MEMO

1 - 20

2 MULTIPLE CPU SYSTEM

2. MULTIPLE CPU SYSTEM

2.1 Multiple CPU System

2.1.1 Overview

(1) What is Multiple CPU system ?

A Multiple CPU system is a system in which more than one PLC CPU module and Motion CPU module (up to 4 modules) are mounted on several main base unit in order to control the I/O modules and intelligent function modules. Each Motion CPU controls the servo amplifiers connected by SSCNET

(2) System configuration based on load distribution

(a) By distributing such tasks as servo control, machine control and information

(b) You can increase the number of control axes by using a multiple Motion

(3) Communication between CPUs in the Multiple CPU system

(a) Since device data of other CPUs can be automatically read by the automatic

(b) Motion dedicated PLC instructions can be used to access device data from

cable.

control among multiple processors, the flexible system configuration can be realized.

CPU modules. It is possible to control up to 96 axes by using the three CPU modules (Q173DCPU).

over several CPU modules, it is possible to reduce the overall system PLC scan time.

refresh function, the self CPU can also use them as those of self CPU. (Note): When the High performance PLC CPU module/Process CPU

module/PC CPU module/C controller module is mounted in the combination of Multiple CPU system, the Motion dedicated PLC instruction from these modules cannot be executed.

the PLC CPU to Motion CPU and start Motion SFC program.

2 - 1

2 MULTIPLE CPU SYSTEM

2.1.2 Installation position of CPU module

Up to four PLC CPUs and Motion CPUs can be installed from the CPU slot (the right side slot of the power supply module) to slots 2 of the main base unit. The Motion CPU module cannot be installed in the CPU slot. The PLC CPU module must be installed in the CPU slot (CPU No.1) in the Multiple CPU system. There is no restriction on the installation order for CPU modules (CPU No.2 to 4). (Note): Refer to the manual for each CPU module when the High performance PLC

CPU module, Process CPU module, PC CPU module and C controller module is mounted in the combination of Multiple CPU.

Table 2.1 Example for CPU module installation

Number of

CPUs

(Example 1)

Power supply

CPU 0 1 2

QnUD(H)

Power supply

Q17 D

CPU

No.2

No.1

CPU 0 1 2

QnUD(H)

Q17 D

CPU

No.2

No.1

CPU 0 1 2

QnUD(H)

Q17 D

CPU

No.2

No.1

An empty slot can be reserved for future addition of a CPU module. Set the number of CPU modules including empty slots in the Multiple CPU setting, and set the type of the slots to be emptied to "PLC (Empty)" in the CPU setting.

CPU 0 1 2

QnUD(H)

CPU

empty

Q17 D

CPU

CPU No.3

QnUD(H)

CPU

CPU No.3

QnUD(H)

CPU

CPU No.3

CPU No.4

CPU

empty

CPU No.4

(Example 2)

Power supply

Installation position of CPU module

—— ——

CPU 0 1 2

Q17 D

CPU

CPU No.2

Q17 D

CPU

CPU No.2

Q17 D

CPU

Q17 D

CPU

CPU No.3

Q17 D

CPU

CPU No.3

CPU

empty

QnUD(H)

Power

CPU

supply

CPU No.1

CPU 0 1 2

QnUD(H)

Power

CPU

supply

CPU No.1

CPU 0 1 2

QnUD(H)

CPU

empty

——

CPU No.4

CPU 0 1 2

QnUD(H)

Power

CPU

CPU No.4

supply

CPU012: Slot numbe

(Example 3)

CPU 0 1 2

QnUD(H)

Power

CPU

supply

CPU

CPU No.1

CPU

empty

Q17 D

CPU

CPU No.2

CPU

empty

Q17 D

CPU

CPU No.3

Q17 D

CPU

Q17 D

CPU

CPU No.4

CPU No.1

CPU No.2

CPU No.3

CPU No.4

CPU No.1

No.2

CPU No.3

CPU No.4

CPU No.1

CPU No.2

CPU No.3

CPU No.4

CPU

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2 MULTIPLE CPU SYSTEM

2.1.3 Precautions for using I/O modules and intelligent function modules

(1) Modules controllable by the Motion CPU

Modules controllable by the Motion CPU are shown below.

• Motion modules (Q172DLX, Q172DEX, Q173DPX)

• I/O modules (QX

• Analogue modules (Q6

• Interrupt module (QI60)

, QY , QH , QX Y )

AD , Q6 AD- , Q6 DA , Q6 DA- )

(2) Compatibility with the Multiple CPU system

The intelligent function modules of function version "B" or later support the Multiple CPU system. Be sure to use the PLC CPU as a control CPU because of the intelligent function modules cannot be controlled by the Motion CPU.

(3) Access range from non-controlled CPU

(a) The Motion CPU can access only the modules controlled by the self CPU. It

cannot access the modules controlled by other CPUs.

(b) Access range from non-controlled PLC CPU for the modules controlled by

the Motion CPU are shown below.

Table 2.2 Access range to non-controlled module

I/O setting outside of the group

Access target

Disabled (Not checked) Enabled (Checked)

Input (X)

Output (Y)

Buffer memory

Read

Write

(Set by PLC CPU)

: Accessible : Inaccessible

REMARK

• The function version of an intelligent function module can be checked on the rated plate of the intelligent function module or in the GX Developer's system monitor product information list.

• Refer to the "Q173DCPU/Q172DCPU User's Manual" for the model name which can be controlled by the Motion CPU.

2 - 3

2 MULTIPLE CPU SYSTEM

2.1.4 Modules subject to installation restrictions

(1) Modules subject to install restrictions for the Motion CPU are sown below. Use

Description Model name

Servo external signals

interface module

Serial absolute synchronous

interface module

Manual pulse generator

interface module

Input module QX

Output module QY

Input/output

composite module

Analogue input module Q6 AD

Analogue output module Q6 DA

Interrupt module QI60 1 module

(Note-1) : When the Manual pulse generator and the serial encoder are used at the same time with the SV22, the

Q173DPX installed in the slot of the smallest number is used for manual pulse generator input.

(Note-2) : SV22 only.

within the restrictions listed below.

Maximum installable modules per CPU

Q173DCPU Q172DCPU

Q172DLX 4 modules 1 module

Q172DEX

(Note-2)

Q173DPX

(Note-1)

QX Y

Q6 AD-

DA-

(Incremental serial encoder use)

(Manual pulse generator only use)

6 modules 4 modules

4 modules

(Note-2)

1 module

(Incremental serial encoder use)

(Manual pulse generator only use)

Total 256 points

3 modules

1 module

(2) A total of eight base units including one main base unit and seven extension base

units can be used. However, the usable slots (number of modules) are limited to 64 per system including empty slots. If a module is installed in slot 65 or subsequent slot, an error (SP. UNIT LAY ERROR) will occur. Make sure all modules are installed in slots 1 to 64. (Even when the total number of slots provided by the main base unit and extension base units exceeds 65 (such as when six 12-slot base units are used), an error does not occur as long as the modules are installed within slots 1 to 64.)

POINT

(1) Q172DLX/Q172DEX/Q173DPX cannot be installed in CPU slot and I/O slot 0

to 2 of the main base unit. Wrong installation might damage the main base unit.

(2) Q172DEX can be installed in the main base unit only. It cannot be used in the

extension base unit.

(Note-2)

2 - 4

2 MULTIPLE CPU SYSTEM

2.1.5 How to reset the Multiple CPU system

The entire Multiple CPU system can be reset by resetting CPU No.1. The CPU modules of No.2 to No.4, I/O modules and intelligent function modules will be reset when PLC CPU No.1 is reset.

If a stop error occurs in any of the CPUs on the Multiple CPU system, either reset CPU No.1 or restart the Multiple CPU system (power supply ON recovery. (Recovery is not allowed by resetting the error-stopped CPU modules other than CPU No.1.)

POINT

(1) It is not possible to reset the CPU modules of No.2 to No.4 individually in the

Multiple CPU system. If an attempt to reset any of those PLC CPU modules during operation of the Multiple CPU system, a "MULTI CPU DOWN (error code: 7000)" error will occur for the other CPUs, and the entire Multiple CPU system will be halted. However, depending on the timing in which any of PLC CPU modules other than No.1 has been reset, an error other than the "MULTI CPU DOWN" may halt the other PLC CPUs/Motion CPUs.

(2) A "MULTI CPU DOWN (error code: 7000)" error will occur regardless of the

operation mode(All stop by stop error of CPU "n"/continue) set at the "Multiple CPU setting" screen when any of PLC CPU modules of No.2 to No.4 is reset. (Refer to Section 2.1.6.)

OFF ON) for

2 - 5

2 MULTIPLE CPU SYSTEM

2.1.6 Operation for CPU module stop error

The entire system will behaves differently depending whether a stop error occurs in CPU No.1 or any of CPU No.2 to No.4 in the Multiple CPU system.

(1) When a stop error occurs at CPU No.1

(a) A "MULTI CPU DOWN (error code: 7000)" error occurs at the other CPUs

and the Multiple CPU system will be halted when a stop error occurs at the PLC CPU No.1.

(b) The following procedure to restore the system is shown below.

1) Confirm the error cause with the PLC diagnostics on GX Developer.

2) Remove the error cause.

3) Either reset the PLC CPU No.1 or restart the power to the Multiple CPU system (power ON

All CPUs on the entire Multiple CPU system will be reset and the system will be restored when PLC CPU No. 1 is reset or the Multiple CPU system is reapplied.

(2) When a stop error occurs at CPU other than No.1

Whether the entire system is halted or not is determined by the Multiple CPU setting's "Operating Mode" setting when a stop error occurs in a PLC CPU module/Motion CPU module other than CPU No.1. The default is set for all CPUs to be stopped with a stop error. When you do not want to stop all CPUs at occurrence of a stop error in a PLC CPU module/Motion CPU module, remove the check mark that corresponds to the CPU No. so that its error will not stop all CPUs. (See arrow A.)

(Note-1)

OFF ON).

(a) When a stop error occurs in the CPU module for which "All station stop by

stop error of CPU 'n' " has been set, a "MULTI CPU DOWN (error code:

7000)" error occurs for the other PLC CPU module/Motion CPU modules

(Note-1)

and the Multiple CPU system will be halted.

2 - 6

2 MULTIPLE CPU SYSTEM

(b) When a stop error occurs in the CPU module for which " All station stop by

POINT

(Note-1) : When a stop error occurs, a "MULTI CPU DOWN (error code : 7000)"

stop error of CPU 'n' " has not been set, a "MULTI EXE. ERROR (error code: 7010)" error occurs in all other CPUs but operations will continue.

stop error will occur at the CPU on which the error was detected. Depending on the timing of error detection, a "MULTI CPU DOWN" error may be detected in a CPU of "MULTI CPU DOWN" status, not the first CPU on which a stop error occurs. Because of this, CPU No. different from the one of initial error CPU may be stored in the error data's common information category. To restore the system, remove the error cause on the CPU that is stopped by an error other than "MULTI CPU DOWN". In the screen below, the cause of the CPU No.2 error that did not cause the "MULTI CPU DOWN" error is to be removed.

1) Confirm the error-detected CPU No. and error cause with the PLC diagnostics on GX Developer.

2) If the error code occurred in Motion CPU 10000 to 10999, confirm the error cause with Motion CPU error batch monitor of MT Developer.

3) Remove the error cause.

4) Either reset the PLC CPU No.1 or restart the power to the Multiple CPU system (power ON

All CPUs on the entire Multiple CPU system will be reset and the system will be restored when PLC CPU No.1 is reset or the power to the Multiple CPU system is reapplied.

OFF ON).

2 - 7

2 MULTIPLE CPU SYSTEM

(3) Operation at a Motion CPU error

Category Type of error Operation Remark

System setting error

WDT error Varies depending on the error.

Operation

disable errors

Operation

continuous

enable errors

Self-diagnosis error Stops at a CPU DOWN error.

Other CPU DOWN error

Self-diagnosis error

Motion SFC error

Minor error

Major error

Servo error

Servo program setting

error

Operations at a Motion CPU error are shown below.

Does not operate from the

beginning (does not run).

Operation corresponding to

STOP (M2000 OFF). Depends on

the "Operation mode upon CPU

stop error" setting.

Operation continues when the

continuous error occurred.

Processing stops for each

program or axis instead of the

Motion CPU stopping all the

processing.

• All actual output PY points turn OFF.

No effect on other CPUs.

• All actual output PY points turn OFF.

Other CPUs may also stop depending on

the parameter setting.

• All actual output PY points turn OFF.

• Only the applicable program stops (the

program may continue depending on the

type of error).

• Actual output PY retains output.

• No effect on other CPUs.

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2 MULTIPLE CPU SYSTEM

2.2 Starting Up the Multiple CPU System

This section describes a standard procedure to start up the Multiple CPU system.

2.2.1 Startup Flow of the Multiple CPU System

START

Definition of functions with Multiple CPU system

Control and function executed in each CPU module are defined.

PLC CPU Motion CPU

PLC CPU

Application and assignment of device

When automatic refresh of the CPU shared memory is performed, the number of refresh points is continuously obtained.

Selection of module

Select the module to achieve the function with the Multiple CPU system.

Installation of module

Install the selected module on the main base unit and extension base unit.

Start-up of GX Developer

Start-up GX Developer (Ver. 8.48A or later).

Creation of parameters, etc.

Create the parameter such as Multiple CPU setting and control CPU setting, and the PLC program.

Connection of PC to the PLC CPU module of CPU No. 1

Connect the PC that started GX Developer to the PLC CPU module of CPU No. 1 with the RS-232 cable/ USB cable.

Refer to Section 2.3

Refer to the "Q173DCPU/Q172DCPU User's Manual"

Refer to the GX Developer Manual.

Create the parameters for CPU No. 1 to 4 and PLC programs. Refer to the "QCPU User's Manual" (Function Explanation/Program Fundamentals)".

PLC CPU

Multiple CPU system power ON

Turn ON the power of Multiple CPU system in the following state of PLC CPU module of CPU No.1. RUN/STOP/RESET switch : STOP

Write of parameter and program

Write parameter and PLC program in the PLC CPU of CPU No. 1. For PLC CPU other than CPU No. 1, select the applicable PLC CPU by specifying the connection.

2 - 9

g sy

2 MULTIPLE CPU SYSTEM

Start-up of MT Developer Refer to the help for operation of MT Developer.

Start-up MT Developer.

Motion CPU

PLC CPU Motion CPU

PLC CPU

Creation of system settings and

program, etc.

Create the system settings, servo data and Motion SFC program.

Write to the Motion CPU

Write the system settings, servo data and Motion SFC program.

Switch setting for all CPUs

Set RUN/STOP/RESET switch of PLC CPU modules and RUN/STOP switch of Motion CPU modules in CPU No.1 to 4 to RUN.

Reset PLC CPU module of CPU No.1

Set RUN/STOP/RESET switch of PLC CPU module in CPU No.1 to RESET to reset the entire system.

Status check in all CPU modules

Check if all CPUs of the Multiple CPU system are RUN status/error by resetting the CPU module of CPU No. 1.

Refer to Section 3.1 for system settings. Refer to the Programming Manual of each operatin

stem software for details of program.

Check and correction of errors

An error is checked with the PC diagnosis function of GX Developer and

PLC CPU Motion CPU

Motion CPU error batch monitor of MT Developer for correction.

Debug of each CPU module

Multiple CPU system is debugged for each PLC CPU/Motion CPU.

Actual operation

Check in the automatic operation.

END

(Note) : Installation of the operating system software is required to the Motion CPU module before start of

the Multiple CPU system. Refer to Chapter 5 of the "Q173DCPU/Q172DCPU User's Manual" for installation of the Motion CPU operating system software.

2 - 10

2 MULTIPLE CPU SYSTEM

2.3 Communication between the PLC CPU and the Motion CPU in the Multiple CPU System

2.3.1 CPU shared Memory

(1) Structure of CPU shared memory

The CPU shared memory is memory provided for each CPU module by which data is written or read between CPU modules of a Multiple CPU system. The CPU shared memory consists of four areas.

• Self CPU operation information area

• System area

• User setting area

• Multiple CPU high speed transmission area

The CPU shared memory configuration and the availability of the communication

(0H)

(1FFH)

(200H)

(7FFH)

(800H)

511 512

2047 2048

from the self CPU using the CPU shared memory by program are shown below.

CPU shared memory

Self CPU operation

information area

System area

User setting area

Self CPU Other CPU

Write Read Write Read

(Note-2) (Note-2)

(Note-1)

(Note-2) (Note-2)

(Note-2)

(FFFH)

(1000H)

(270FH) (2710H)

(5F0FH)

4095 4096

9999

10000

24335

Multiple CPU high speed transmission area

(Variable size in 0 to

up to

14k[points]: 1k words in unit)

Unusable

Multiple CPU high speed bus

: Communication allowed

(Note-3) (Note-3)(Note-3)

: Communication not allowed

REMARK

(Note-1) : Use the MULTW instruction to write to the user setting area of the self

CPU in the Motion CPU. Use the S. TO instruction to write to the user setting area of the self CPU in the PLC CPU.

(Note-2) : Use the MULTR instruction to read the shared memory of self CPU and

other CPU in the Motion CPU. Use the FROM instruction/Multiple CPU area device (U shared memory of the Motion CPU from the PLC CPU.

(Note-3) : Refer to Section 2.3.2(1) for the access method of Multiple CPU high

speed transmission area.

\G ) to read the

2 - 11

2 MULTIPLE CPU SYSTEM

(a) Self CPU operation information area (0H to 1FFH)

1) The following information of self CPU is stored as the Multiple CPU system

Table 2.3 Table of self CPU operation information areas

CPU shared

memory address

0H Information availability

1H Diagnostic error Diagnostic error number

6H to 10H Common error information Common error information

11H to 1BH

1CH Empty —

1DH Switch status CPU switch status

1EH Empty —

1FH CPU operation status CPU operation status

Time the diagnostic error occurred

Error information identification code

Individual error information

Name Detail

Information availability flag

Time the diagnostic error occurred

Error information identification code

Individual error information

2) The self CPU operation information area is refreshed every time the applicable register has been changed in the main cycle.

3) Other PLC CPU can use FROM instruction to read data from the self CPU operation information area. However, because there is a delay in data updating, use the read data for monitoring purposes only.

(b) System area

The area used by the operating systems (OS) of the PLC CPU/Motion CPU.

The area for communication between CPU modules in the Multiple CPU system by MULTR/MULTW instruction of Motion CPU. (PLC CPU use FROM/S.TO instruction or Multiple CPU area devices to communicate between CPU modules.) Refer to the Programming Manual of operating system software for MULTR/MULTW instruction.

(Note)

Description

The area to confirm if information is stored in the self CPU's operation information area (1H to 1FH) or not.

• 0: Information not stored in the self CPU's operation information area.

• 1: Information stored in the self CPU's operation information area.

An error No. identified during diagnosis is stored in BIN. The year and month that the error number was stored in the CPU

shared memory's 1H address is stored with two digits of the BCD code. The date and time that the error number was stored in the CPU shared memory's 1H address is stored with two digits of the BCD code. The minutes and seconds that the error number was stored in the CPU shared memory's 1H address is stored with two digits of the BCD code. Stores an identification code to determine what error information has been stored in the common error information and individual error information. The common information corresponding to the error number identified during diagnosis is stored.

The individual information corresponding to the error num ber identified during diagnostic is stored.

Cannot be used

Stores the CPU module switch status.

Cannot be used

Stores the CPU module's operation status.

(Note) : Refer to the corresponding special register for details.

Corresponding special register

—

SD0

SD1

SD2

SD3

SD4

SD5 to SD15

SD16 to SD26

—

SD200

—

SD203

2 - 12

2 MULTIPLE CPU SYSTEM

(d) Multiple CPU high speed transmission area

CPU No.1

U3E0\G10000

U3E0\G

U3E1\G10000

U3E1\G

U3E2\G10000

U3E2\G

U3E3\G10000

U3E3\G

(Note-1)

CPU No.1 Multiple CPU high speed transmission area (Transmission)

CPU No.2 Multiple CPU high speed transmission area (Reception)

CPU No.3 Multiple CPU high speed transmission area (Reception)

CPU No.4 Multiple CPU high speed transmission area (Reception)

(Note-2)

The area corresponding to the Multiple CPU high speed main base unit

DB) and Multiple CPU high speed transmission that uses the drive

(Q3 system controllers including QnUD(H)CPU and Motion CPU.

The image chart of Multiple CPU high speed transmission area is shown below. Refer to Section 2.3.2(1) for access to the Multiple CPU high speed transmission area of self CPU and other CPU.

CPU No.2

CPU No.1 Multiple CPU high speed transmission area (Reception)

CPU No.2 Multiple CPU high speed transmission area (Transmission)

CPU No.3 Multiple CPU high speed transmission area (Reception)

CPU No.4 Multiple CPU high speed transmission area (Reception)

(Note-2)

(Note-1) : The final device is "10000+(A 1024-B-1)". A : Data transmission size of each CPU (1k words in unit) B : Size used in the automatic refresh of each CPU. Refer to Section "2.3.2 Multiple CPU high speed transmission" for the size setting of A and B. (Note-2) : Transmission area to write/read in the self CPU. Reception area from the other CPU can be read only.

It is updated ever

CPU No.3 CPU No.4

CPU No.1 Multiple CPU high speed transmission area (Reception)

CPU No.2 Multiple CPU high speed transmission area (Reception)

CPU No.3 Multiple CPU high speed transmission area (Transmission)

CPU No.4 Multiple CPU high speed transmission area (Reception)

(Note-2)

0.88ms.

CPU No.1 Multiple CPU high speed transmission area (Reception)

CPU No.2 Multiple CPU high speed transmission area (Reception)

CPU No.3 Multiple CPU high speed transmission area (Reception)

CPU No.4 Multiple CPU high speed transmission area (Transmission)

(Note-2)

2 - 13

2 MULTIPLE CPU SYSTEM

2.3.2 Multiple CPU high speed transmission

(1) Multiple CPU high speed transmission

Multiple CPU high speed transmission is a function for fixed cycle data transmission between Multiple CPUs (Multiple CPU high speed transmission cycle is 0.88ms.). Secure data transmission is possible without effecting the PLC CPU scan time or Motion CPU main cycle because the data transmission and execution of PLC program and Motion SFC program can be executed with parallel processing. High speed response between multiple CPUs is realized by synchronizing the Multiple CPU high speed transmission cycle with Motion CPU operation cycle.

The following methods of data transmission exist between Multiple CPUs for Multiple CPU high speed transmission.

• Multiple CPU area device method Directly set the Multiple CPU high speed transmission area by Multiple CPU area device (U

• Automatic refresh method Refresh the internal devices of each CPU by automatic refresh via "Multiple CPU high speed transmission area".

CPU No.1 (PLC CPU) CPU No.2 (Motion CPU)

PLC program Motion SFC program

SM400

MOV W0

MOV W1

U3E0\ G10000

U3E0\ G10010.1

U3E0\ G10100

U3E0\ G10110.5

END

(a) Multiple CPU area device method

CPU shared memory

(User setting area

U3E0\G10000

U3E0\G10010

U3E0\G10100

U3E0\G10110

\G ) in the program.

(Note-1)

)

CPU No.1

transmitting

data

(User setting area

U3E0\G10000

U3E0\G10010

U3E0\G10100

U3E0\G10110

CPU shared memory

transmitting

(Note-1)

CPU No.1

data

)

U3E0\G10010.1

W0=U3E0\G10010

U3E0\G10110.5

W1=U3E0\G10110

Multiple CPU high speed transmission in 0.88ms cycle

(Note-1)

1), 4) : Write data in the user setting area

3), 6) : Read data from the user setting area

2), 5) : Transmit the contents of user setting area

Note-1: The area composed in the Multiple CPU high speed transmission area. (Refer to Section "(3) Memory configuration of Multiple CPU high speed transmission area".)

by the instruction that uses the Multiple CPU area device.

(Note-1)

by the instruction that uses the Multiple CPU area device.

(Note-1)

to the other CPU with by Multiple CPU high speed transmission in 0.88ms cycle.

2 - 14

2 MULTIPLE CPU SYSTEM

Word device

1) Access to Multiple CPU high speed transmission area a) Description of Multiple CPU area device

: U \ G

CPU shared memory address (decimal) (10000 to up to 24335)

First I/O number of CPU module

CPU No.

First I/O number

CPU No.1

3E0(H)

CPU No.2

3E1(H)

CPU No.3

3E2(H)

CPU No.4

3E3(H)

Bit device

: U \ G .

Bit specification (0 to F : Hexadecimal)

CPU shared memory address (decimal) (10000 to up to 24335)

First I/O number CPU module

CPU No.

First I/O number

CPU No.1

3E0(H)

CPU No.2

3E1(H)

CPU No.3

3E2(H)

CPU No.4

3E3(H)

(Example)

• Multiple CPU high speed transmission memory address of CPU No. 2:

10002 U3E1\G10002

• Bit 14 of CPU No. 3 Multiple CPU high speed transmission memory

address 10200 U3E2\G10200.E

b) Example of access in the program

• Store K12345678 to the Multiple CPU high speed transmission memory 10200,10201 of self CPU (CPU No.2). U3E1\G10200L = K12345678

• Turn on bit 12 of the Multiple CPU high speed transmission memory 10301 of self CPU (CPU No.3) SET U3E2\G10301.C

• Program which executes the positioning for Axis 1 to position set

in the Multiple CPU high speed transmission memory 10400, 10401 of CPU No.1 at the speed set in the 10402, 10403 of CPU No.1, and uses bit 1 of CPU No.1 Multiple CPU high speed

POINT

transmission memory 10404 of CPU No.1 as a cancel signal.

ABS-1

Axis 1, U3E0\G10400

Speed U3E0\G10402

Cancel U3E0\G10404.1

This method can be used to access only the Multiple CPU high speed transmission area of CPU shared memory. It cannot be used to access the CPU shared memory (0 to 4095).

2 - 15

2 MULTIPLE CPU SYSTEM

CPU No.1 (PLC CPU)

PLC program

SM400

INC

END

(b) Example of using automatic refresh method

Device memory

Parameter

CPU No.1 to CPU No.2

1) Transmit the content of D0 to the automatic refresh area

2) Transmit the content of automatic refresh area

3) Read the content of automatic refresh area .

Note-1: The area composed in the Multiple CPU high speed transmission area. (Refer to Section "(3) Memory configuration of Multiple CPU high speed transmission area".)

(2) System configuration

Multiple CPU high speed transmission can be used only between CPU modules for the Multiple CPU high speed transmission installed in the Multiple CPU high speed main base unit (Q3 The system configuration specification is shown in Table 2.4.

Table 2.4 System configuration to use Multiple CPU high speed

(Automatic refresh area

Refresh at the timing of END processing

Transmit D0

transmission

CPU shared memory

CPU No.1

transmitting

data

Multiple CPU high speed transmission in 0.88ms cycle

(Note-1)

to the other CPU by Multiple CPU high speed transmission at 0.88ms cycle.

(Note-1)

at the time of Motion CPU main cycle and transmit it to D2000 by parameter setting.

DB).

CPU No.2 (Motion CPU)

(Note-1)

)

(Note-1)

at the time of END processing by parameter setting.

CPU shared memory

(Automatic refresh area

CPU No.1

transmitting

data

(Note-1)

Refresh at the timing of Motion CPU main cycle

)

Device memory

D2000

Parameter

CPU No.1 to CPU No.2

Receive D2000

Object Restrictions

Base unit Multiple CPU high speed main base unit (Q3 DB) is used.

QnUD(H)CPU is used for CPU No. 1.

CPU module

Q173DCPU/Q172DCPU and QnUD(H)CPU are used for CPU No. 2 to

CPU No. 4

"MULTI EXE. ERROR (error code: 7011) will occur if the power supply of Multiple CPU system is turned on without matching the system configuration shown in Table 2.4.

2 - 16

2 MULTIPLE CPU SYSTEM

(3) Memory configuration of Multiple CPU high speed transmission

area

Memory configuration of Multiple CPU high speed transmission area is shown below.

1) Multiple CPU high speed

transmission area [Variable in 0 to 14k[points]

2) CPU No.1 send area

(Note-1)

]

(Note-1): Multiple CPU high speed transmission area; 14k[points]: Maximum value when constituted with two CPUs 13k[points]: Maximum value when constituted with three CPUs 12k[points]: Maximum value when constituted with four CPUs

CPU No.2 send area

4) CPU No.3 send area

5) CPU No.4 send area

Table 2.5 Description of area

6) User setting area

Automatic refresh area

No. Name Description

• Area for data transmission between each CPU module

Multiple CPU high speed

1) transmission area

in the Multiple CPU system.

• The area up to 14k [points] is divided between each

CPU module that constitutes the Multiple CPU system.

CPU No. n send area

(n=1 to 4)

• Area to store the send data of the each CPU module.

• Sends the data stored in the send area of self CPU to

the other CPUs.

• Other CPU send area stores the data received from

the other CPUs.

• Area for data communication with other CPUs using

the Multiple CPU area device.

6) User setting area

• Can be accessed by the user program using the

Multiple CPU area device.

• Refer to Section 2.3.2 (1) for details of this area.

• Area for communicating device data with other CPUs

by the communication using the automatic refresh.

• Access by user program is disabled.

• Refer to Section "(4)(b) Automatic refresh setting" for

Automatic refresh

area

details of this area.

Size

Setting range Setting unit

0 to 14k 1k

0 to 14k 2

2 - 17

2 MULTIPLE CPU SYSTEM

(4) Parameter setting

The parameter setting list for use with the Multiple CPU high speed transmission is shown in Table 2.6.

Table 2.6 Multiple CPU high speed transmission parameter list

Name Description Target CPU

Multiple CPU high

speed transmission

area setting

Automatic refresh

setting

(a) Multiple CPU high speed transmission area setting

Set the size of the Multiple CPU high speed

transmission area allocated in each CPU module

which composes the Multiple CPU system.

Set the range to execute the data transmission by

the automatic refresh function among the user area

in the Multiple CPU high speed transmission area.

All CPUs

Multiple CPU high speed transmission area setting screen and setting range are shown below.

2 - 18

2 MULTIPLE CPU SYSTEM

Table 2.7 Parameter setting items of Multiple CPU high speed transmission area setting

Item Setting description Setting/display value Restriction

CPU CPU No. corresponding to displayed parameters. CPU No.1 to No.4 — —

Set the number of points of data that each CPU

module sends.

CPU specific

send range

Automatic

refresh

User setting

area

Default value assigned to each CPU is shown

below.

Number of

CPUs

2 7k 7k — —

3 7k 3k 3k —

4 3k 3k 3k 3k

Number of points used in the automatic refresh

function is displayed.

Number of points that is set by the "automatic

refresh setting" is displayed.

Area size specified directly by program is

displayed.

The value where the "number of points set in the

automatic refresh" is subtracted from the "CPU

specific send range setting" is displayed.

Default value of CPU specific

send range [points]

CPU

No.1

No.2

No.3

No.4

Range: 0 to 14k [points]

Unit: 1k [point]

(Points: Word in units)

Range: 0 to 14336 [points]

Unit: 2 [points]

Range: 0 to 14336 [points]

Unit: 2 [points]

• Set the total of all CPUs to be

the following points or lower.

When constituted with two

CPUs: 14k [points]

When constituted with three

CPUs: 13k [points]

When constituted with four

CPUs: 12k [points]

Do not exceed the CPU

specific send range [points].

— —

Consistency

check

Provided

—

2 - 19

2 MULTIPLE CPU SYSTEM

POINT

Selecting "Advanced setting" enables the ability to change the number of points from 1k to 2k in the system area used for Motion dedicated PLC instructions. Changing the number of points in the system area to 2k increases the number of Motion dedicated PLC instructions that can be executed concurrently in a scan. The screen where "Advanced setting" is selected is shown below. Refer to the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC) " for the Motion dedicated PLC instruction.

Item Setting description

CPU specific send range

System area

Total

Set the number of points of data that each CPU module sends.

Set the number of points for a system area to be assigned for each CPU module. (Default value of system area size is 1k [point].)

Display the total of number of points of the self CPU send area and the system area that are assigned to the each CPU module.

Setting/display value

(Points: Word in units)

Range: 0 to 14k [points] Unit: 1k [points]

Range: 1k/2k [points] — Provided

Range: 1 to 16k [points] Unit: 1k [points]

Restriction

• Set the total of all CPUs to

be the following points or

lower.

When constituted with two

CPUs: 14k [points]

When constituted with

three CPUs: 13k [points]

When constituted with four

CPUs: 12k [points]

Set the total of all CPUs to

16.0k points or lower.

Data size

consistency

check

Provided

—

2 - 20

2 MULTIPLE CPU SYSTEM

(b) Automatic refresh setting

Setting for use of the automatic refresh function in the Multiple CPU high speed transmission area. Up to 32 setting ranges can be set for each CPU module. Automatic refresh setting screen and setting range are shown below.

Table 2.8 Parameter setting items of automatic refresh setting

Item Setting description Setting range Restriction

CPU

selection

Setting No.

Points

Start

Select the CPU module for editing of the

CPU specific send range setting.

The setting No. for transmission of each

CPU module is displayed. Automatic

refresh is executed between devices set to

the same setting No. for all CPUs that

constitute the Multiple CPU system.

Set the number of points for data

communication.

Specifies the device which performs the

data communication (automatic refresh).

Specifies the device sent by the self CPU

when the "Send source CPU selection" is

the self CPU, and specifies the device

received by the self CPU when the CPU

specific send range setting is the other

CPU.

CPU No.1 to No.4

1 to 32 — —

Range: 2 to 14336 [points]

Unit: 2 [points]

Usable device ( X, Y, M, B,

D, W, #, SM, SD)

Note) Set "blank" when

automatic refresh is

not executed.

• CPU No. which exceeds the

number of CPU modules cannot

be selected.

• Setting which exceeds the

number of points of the self CPU

send area allocated to the each

CPU module (CPU specific send

range) cannot be set.

• Bit device can be specified in

units of 32 points (2 words) only.

• Bit device can be specified in

units of 16 points (1 word) only.

• Device number cannot be

duplicated.

Data size

consistency

check

—

Provided

None

2 - 21

2 MULTIPLE CPU SYSTEM

POINT

The processing performance of automatic refresh improves when devices are transmitted in 2 word sets. Therefore, it is recommended to set the start device as 2 word unit by inputting an even device number.

• CPU No.1 (PLC CPU) (GX Developer)

Set the device transmitted to CPU No.2.

1) Operation example of automatic refresh a) Parameter setting

The example of setting automatic refresh is shown below.

• CPU No.2 (Motion CPU) (MT Developer)

Set the device received from CPU No.1.

Set the device received from CPU No.2.

Set the device transmitted to CPU No.1.

(Note) : The operation example of automatic refresh is shown on the next page.

2 - 22

2 MULTIPLE CPU SYSTEM

POINT

Set the following operation for automatic refresh setting using GX Developer.

1) Select tab "Multiple CPU high speed communication area setting".

2) Set "Use Multiple CPU high speed communication ".

M2399

M2400

M3039

M3040

M3199

M3200

M3839

M3840

D639

D640

Internal relay

Data register

b) Operation example

The example of operating automatic refresh is shown below.

PLC CPU (CPU No.1) Motion CPU (CPU No.2)

Multiple CPU high speed

transmission area

U3E0\G10000

CPU No.1

transmitting data

Automatic

U3E1\G10000

refresh area

CPU No.2

receiving data

Automatic

refresh area

Transfer

in 0.88ms

cycle

Transfer

in 0.88ms

cycle

Multiple CPU high speed

transmission area

U3E0\G10000

CPU No.1

receiving data

Automatic

refresh area

U3E1\G10000

CPU No.2

transmitting data

Automatic

refresh area

Internal relay

M2399

M2400

M3039

M3040

M3199

M3200

Axis command

M3839

M3840

M8191

Data register

Axis monitor

D639

D640

Control change

D703

D704

Axis status

signal

device

D8191

Whether the Multiple CPU setting parameters are the same for all CPUs or not is automatically checked. A "PARAMETER ERROR (error code: 3012,

3015) " will occur if they do not match.

2 - 23

2 MULTIPLE CPU SYSTEM

(5) Precautions

(a) Assurance of data sent between CPUs

Due to the timing of data sent from the self CPU and automatic refresh in any of the other CPUs, old data and new data may become mixed (data separation). The following shows the methods for avoiding data separation at communications by automatic refresh.

1) Data consistency for 32 bit data Transfer data with automatic refresh method is in units of 32 bits. Since automatic refresh is set in units of 32 bits, 32-bit data does not separate.

• For word data

2 words data can be prevented from separating by using an even number to set the first number of each device in automatic refresh setting.

2) Data consistency for data exceeding 32 bits In automatic refresh method, data is read in descending order of the setting number in automatic refresh setting parameter. Transfer data separation can be avoided by using a transfer number lower than the transfer data as an interlock device.

2 - 24

2 MULTIPLE CPU SYSTEM

2.3.3 Multiple CPU high speed refresh function

This function is used to update the data between internal devices of Motion CPU and the Multiple CPU high speed transmission area. This occurs every operation cycle as

Classification Item Description Setting/display value Restriction

Setting No.

Display

CPU

Device setting

User setting

Points

Refresh cycle Operation cycle (fixed) — —

defined in the device setting of automatic refresh in the self CPU.

Setting No. which executes high speed refresh is displayed. CPU No. set in the automatic refresh setting is automatically displayed by setting devices. Self CPU : Refresh from the internal device

of Motion CPU to Multiple CPU high speed transmission area.

Other CPU : Refresh form the Multiple CPU

high speed transmission area to internal device of Motion CPU.

Set the device No. of Motion CPU to execute the high speed refreshes.

Set the number of points to refresh data of each data in word unit. (Note) Refresh is not executed when not set.

1 to 128

(Up to 128)

CPU No. 1 to No.4

Usable device : D, W, #, SD, M, X, Y, B, SM

Range: 2 to 256 [points] Unit: 2 points

(Note-1)

• The start device number must be a multiple of 16 for the bit device.

• Do not set a device not setting also set in the automatic refresh.

• No. of "start device + number of points" cannot exceed setting range of each setting No. in automatic refresh setting.

• Do not overlap the device No. between setting No..

• Sets the total of all CPUs to 256 points or lower.

(Note-1) : Point in word unit.

(1) Application example of Multiple CPU high speed refresh function

Multiple CPU high speed refresh function is used as in the following applications.

1) Read the data such as the real current value and synchronous encoder current value with PLC CPU at high speed.

2) Exchange the FIN waiting signal at high speed.

2 - 25

2 MULTIPLE CPU SYSTEM

(2) Operation example of Multiple CPU high speed refresh function

(a) Parameter setting

• CPU No.1 (PLC CPU) (GX Developer)

Set the device transmitted to CPU No.2.

The automatic refresh setting of Multiple CPU high speed refresh is shown below.

• CPU No.2 (Motion CPU) (MT Developer)

Set the device received from CPU No.1.

Set the device received from CPU No.2.

Set the device transmitted to CPU No.1.

Set the device to executed the Multiple CPU high speed refresh.

(Note) : The operating example of Multiple CPU high speed refresh function is shown

in "(b) Operation example".

2 - 26

2 MULTIPLE CPU SYSTEM

POINT

Set the following operation for automatic refresh setting using GX Developer.

1) Select tab "Multiple CPU high speed communication area setting".

2) Set "Use Multiple CPU high speed communication ".

2 - 27

2 MULTIPLE CPU SYSTEM

(b) Operation example

Internal relay

M2399

M2400

M3039

M3040

M3199

M3200

M3839

M3840

PLC CPU (CPU No.1)

ssi

Multiple CPU high speed

U3E0\G10000

U3E1\G10000

The example of operating Multiple CPU high speed refresh function is shown below.

Motion CPU (CPU No.2)

transmission area

CPU No.1

transmitting data

Automatic

refresh area

CPU No.2

receiving data

Transfer

in 0.88ms

cycle

Multiple CPU high speed

transmission area

U3E0\G10000

CPU No.1

receiving data

Automatic

refresh area

U3E1\G10000

CPU No.2

transmitting data

Internal relay

M2399

M2400

M2495

M2496

M3039

M3040

M3199

M3200

M3295

M3296

M3839

M3840

status

Axis command

Axis

signal

Data register Data register

D639

D640

Automatic

refresh area

Transfer

in 0.88ms

cycle

Automatic

refresh area

M8191

D2,D3 D12,D13

D19

D20

D22,D23 D32,D33

D39

D40

D42,D43 D52,D53

D59

D60

D62,D63 D72, D73

D79

D80

D639

D640

D703

D704

D8191

• Axis 1 to 4 status information (M2400 to M2495) is transferred to the automatic refresh area one every operation cycle of the Motion CPU.

• Axis 1 to axis 4 command signals are received from the automatic refresh area one every operation cycle of the Motion CPU.

• Real current values of Axis 1 to axis 4 and M-code is updated by setting D0 to D639 of the Motion CPU to the automatic refresh area.

• Every 0.88ms, data in the automatic refresh area of all CPUs are transferred allowing each CPU to update its data upon its next independent operation cycle.

1 axis monitor

device

2 axis monitor

device

3 axis monitor

device

4 axis monitor

device

5 to 32 axis

monitor

device

Control change

2 - 28

2 MULTIPLE CPU SYSTEM

2.3.4 Clock synchronization between Multiple CPU

The clock of each CPU is synchronized with the clock of CPU No. 1. The clock data used for synchronization in a Multiple CPU system can be edited.

(1) Setting of clock data

Set the clock of CPU No.1. The Motion CPU module operates automatically by the clock of CPU No.1.

POINT

The clock data of CPU No.1 is automatically set even if the clocks of CPU No. 2 to 4 are set independently.

(2) Synchronization of clock data

All clocks are synchronized with CPU No.1 immediately after turning ON/resetting power and every 1-second interval thereafter.

(3) Information of clock

The clock data that CPU No. 1 transmits is year, month, day, day of week, hour, minute and second.

(4) Error

Since CPU No.1 sets the clock data at 1-second intervals, an error of up to 1 second may occur to the clock of CPU No.2 to 4.

2 - 29

2 MULTIPLE CPU SYSTEM

2.3.5 Multiple CPU synchronous startup

Multiple CPU synchronous startup function synchronizes the startups of CPU No.1 to CPU No.4. (It takes about ten seconds to startup for Motion CPU.) Since this function monitors the startup of each CPU module, when other CPU is accessed by a user program, an interlock program which checks the CPU module startup is unnecessary. With the Multiple CPU synchronous startup function, the startup is synchronized with the slowest CPU module to startup; therefore, the system startup may be slow.

POINT

Multiple CPU synchronous startup function is for accessing each CPU module in a Multiple CPU system without needing an interlock. This function is not for starting an operation simultaneously among CPU modules after startup.

(1) Multiple CPU synchronous startup setting

To use the Multiple CPU synchronous startup function, check No.1 to No.4 of target CPU in Multiple CPU settings in system setting of MT Developer. (Set it in the Multiple CPU setting of PLC parameter setting of GX Developer for QnUD(H)CPU.) "Set Sync. startup setting of CPU

" is set for No.1 to 4 at default.

Set the same Multiple CPU synchronous startup for all CPUs that constitute the Multiple CPU system. The self-diagnosis error "PARAMETER ERROR (error code: 3015)" will occur if all CPU modules that constitute the Multiple CPU system do not have the same setting. When this function is not used (each CPU startup without synchronization), startup of each CPU module can be confirmed by using special relays SM220 to SM223 (CPU No.1 to 4 READY complete flag).

2 - 30

2 MULTIPLE CPU SYSTEM

2.3.6 Control Instruction from PLC CPU to Motion CPU

Control can be instructed from the PLC CPU to the Motion CPU using the Motion dedicated PLC instructions listed in the table below. Refer to the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for the details of each instruction. (Control may not be instructed from one Motion CPU to another Motion CPU.)

Instruction name Description

D(P).SFCS Start request of the Motion SFC program (Program No. may be specified.)

D(P).SVST Start request of the specified servo program

D(P).CHGA Current value change request of the specified axis

D(P).CHGV Speed change request of the specified axis

D(P).CHGT Torque control value change request of the specified axis

D(P).GINT Execute request of an event task to the other CPU (Motion CPU)

D(P).DDWR

D(P).DDRD

Write device data of the self CPU (PLC CPU) to the device of other CPU

(Motion CPU)

Read device data of other CPU (Motion CPU) to the device of self CPU

(PLC CPU)

For example, by using the D(P).SFCS instruction of Motion dedicated PLC instruction, the Motion SFC of the Motion CPU can be started from the PLC CPU.

PLC CPU Motion CPU

Start request

Motion SFC

D(P). SFCS instruction

2 - 31

2 MULTIPLE CPU SYSTEM

MEMO

2 - 32

3 COMMON PARAMETERS

3. COMMON PARAMETERS

3.1 System Settings

In the Multiple CPU system, the common system parameters and individual parameters are set for each CPU and written to each CPU. (1) The base settings, Multiple CPU settings and Motion slot settings are set in the

common system parameter setting.

(2) The system basic setting, self CPU installation position setting, servo

amplifier setting, high-speed read setting and optional data monitor setting are set in the individual parameter setting.

(3) The data setting and correction can be performed in dialog form using MT

Developer.

3 - 1

3 COMMON PARAMETERS

3.1.1 System data settings

Item Setting range Initial value Remark

Base setting

Common system parameters

Individual parameters

Multiple CPU setting

Motion slot setting

System basic setting

Self CPU installation position setting

The table below lists the system data items to be set.

Main base 8/12 slots Main base: 8 slots

Extension base None/2/3/5/8/10/12 slots None

No. of CPU 2/3/4 modules 2 modules

Error operation mode at the stop of CPU

CPU specific

Multiple CPU high speed transmission area setting

Multiple CPU synchronous startup setting

Module arrangement

Individual module Varies depending on the module.

Operation cycle

Operation at STOP to RUN

Forced stop

Latch range

send range

System area

Automatic refresh setting

(Note-1)

Stop/do not stop all CPUs upon an error in CPU No. 1 to 4. (The setting range varies depending on the number of Multiple CPUs.)

0 to 14k points

1 to 2k points 1

Point : 2 to 14336 points Start : Set target device for

automatic refresh.

Set/do not set CPU No. 1 to 4 as the synchronized startup. (The setting range varies depending on the number of Multiple CPUs.)

Within the main base and extension base slots

0.4ms/0.8ms/1.7ms/3.5ms/7.1 ms/

14.2ms/Auto

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

None/X(PX) (0 to 1FFF)/ M (0 to 8191)

M (0 to 8191)/B (0 to 1FFF)/ F (0 to 2047)/D (0 to 8191)/ W (0 to 1FFF)

Set self CPU/other CPU/CPU (empty) for slots 0/1/2. (The setting range varies depending on the number of Multiple CPUs installed.)

Stop all CPUs upon error in CPU Nos. 1 to 4

Varies depending on the number of CPUs.

None

Set CPU No. 1 to 4 as the synchronized startup.

None

Varies depending on the module.

Auto

M2000 is turned on by switching from STOP to RUN.

None

Set the number of slots in the main base or extension base.

Set the total number of Multiple CPUs including PLC CPU(s).

Set whether or not to stop the entire system when a CPU stop error occurs in each CPU.

Refer to Section 2.3.2.

Refer to Section 2.3.5.

Install the modules controlled by the self CPU in the main base and/or extension base(s).

Set detailed items for each module controlled by the self CPU.

Set the operation cycle of motion control.

Set the condition in which the PLC ready flag (M2000) turns on.

Set the bit device to use forced stop in the program. However, the forced stop input by EMI terminal of Motion CPU module cannot be invalidated using parameter setting.

Set the latch range of device memory.

Set the installation position of the self CPU in the main base.

3 - 2

3 COMMON PARAMETERS

Item Setting range Initial value Remark

Individual parameters

Amplifier setting

High-speed data read setting

Optional data monitor setting

(Note-1) : The forced stop can also be executed by the EMI forced stop terminal of Motion CPU module or forced stop terminal of

servo amplifier besides the forced stop input setting.

Q173DCPU: Up to 2 systems, 32 axes Q172DCPU: Up to 1 system, 8 axes

External signal input setting Amplifier input invalid/Amplifier input valid

Input filter setting None/0.8ms/1.7ms/2.6ms/3.5ms

One Q172DEX/Q173DPX module and one input module.

Set 1 to 3 for each axis. Q173DCPU: Up to 32 axes Q172DCPU: Up to 8 axes

None

Amplifier input invalid

3.5ms

None

Set the model name, axis No. and other details for the servo amplifiers.

—

Set the high-speed read data. Refer to Section 4.3.

Set the optional data monitor. Refer to Section 4.10.

3 - 3

3 COMMON PARAMETERS

3.1.2 Common system parameters

(1) Parameters for operating the Multiple CPU system

In the Multiple CPU system, the common system parameters and individual parameter for each CPU are set and written into each CPU. Regarding the Motion CPU, the items in System Settings related to the entire Multiple CPU system must be identical to the parameter settings in the PLC CPU.

PLC CPU parameters

Motion CPU parameters

Common system parameters

Individual parameter

Common system parameters

Individual parameter

QnUD(H) CPU

Power supply

QnUD(H) CPU

Common system parameters

Individual parameter

Q173D CPU

Q172D CPU

Common system parameters

Individual parameter

Parameter write

3 - 4

3 COMMON PARAMETERS

(2) Parameters common throughout the Multiple CPU system

In the Motion CPU, during initialization the parameters in the table below are verified against the parameters in the PLC CPU of CPU No. 1. Unmatched parameters generate a PARAMETER ERROR (error code: 3012, 3015), so the parameters show below must be set identically between Motion CPUs and the PLC CPU of CPU No.1. (If the system settings are changed in a Motion CPU, it is necessary to reset. Therefore, the parameters are checked only during initialization.) The parameter No. of unmatched parameter is set in the error individual information (SD16) by this error occurrence. PLC CPUs can use the parameters of the other CPUs via "Multiple CPU parameter utilization" of GX Developer. Since Motion CPUs don't have this function, however, the common parameters must be set for each Motion CPU.

Table of Parameters cross-Multiple CPU system

Type of param eter

Name in Motion CPU Name in PLC CPU

No. of CPU No. of PLC Number of CPUs 0E00H

Operating mode Operating mode

CPU specific send range

Multiple CPU setting

Multiple CPU high speed transmission area setting

Multiple CPU synchronous startup setting

System area System area System area size E008H

Automatic refresh setting

Multiple CPU settings

CPU specific send range

Multiple CPU high speed transmission area setting

Automatic refresh setting

Multiple CPU synchronous startup setting

Verification item

Operation mode for CPU stop error

Points of CPU specific send range

Points of automatic refresh

Synchronize Multiple CPU startup or not

Parameter

number

0E01H

E008H Refer to Section 2.3.2.

E009H

E00BH Refer to Section 2.3.5.

Remark

Refer to Section 2.3.2. This parameter can be set when "Advanced setting" is selected.

Refer to Section 2.3.2. (Automatic refresh using Multiple CPU high speed transmission area)

Motion slot setting Detailed settings Control PLC Control CPU No. 0406H

I/O

Base setting

assignment

Basic setting Slots

Total number of bases

Base No.

Base

Number of base slots

0401H

3 - 5

Verify module only set in the system settings in the Motion CPU side.

Not verified if base settings are omitted in the PLC CPU side.

3 COMMON PARAMETERS

(a) Multiple CPU settings

Set the following items identically in Multiple CPU Settings (Motion CPU) in MT Developer and in Multiple CPU Settings (PLC CPU) in GX Developer.

• Number of CPU modules (Included CPU empty slots)

• Operation mode when a CPU stop error occurred

• Multiple CPU high speed transmission area setting (Must be set the same for all CPUs)

• Multiple CPU synchronous startup setting

Multiple CPU Settings (Motion CPU) in MT Developer

Number of CPU modules

Error operation mode at the stop of CPU

Multiple CPU high speed transmission area setting

Multiple PLC Setting (PLC CPU setting) in GX Developer

Multiple CPU synchronous startup setting

Select tab "Multiple CPU high speed communication area setting"

Set "Use multiple CPU high speed communication".

3 - 6

3 COMMON PARAMETERS

(b) Motion slot settings

Set the modules controlled by the self CPU by the Motion Slot Settings (Motion CPU) in MT Developer. In GX Developer, set the slot for Motion CPU control as the CPU number of Motion CPU in I/O Assignment Settings (PLC CPU).

Motion Slot Setting (Motion CPU) in MT Developer

Control CPU No.

I/O Assignment Setting (PLC CPU setting) in GX Developer

(Note): Motion slot setting items are different depending on the operating system software.

3 - 7

3 COMMON PARAMETERS

Set the total number of bases and number of slots in each base identically between Base Settings (Motion CPU) in MT Developer and I/O Assignment Settings (PLC CPU) in GX Developer. In GX Developer, the detailed settings may be omitted by setting the base mode "Automatic".

Base Settings (Motion CPU) in MT Developer

Total number of bases and number of slots in each base

I/O Assignment Settings (PLC CPU setting) in GX Developer

(Note) : Only the Motion CPU may be set without setting the PLC CPU.

3 - 8

3 COMMON PARAMETERS

POINT

GOT is recognized as an intelligent function modules "16 points 10 slots" on the base (number of extension bases and slot No. are set in the GOT parameter.) for bus connection with GOT. Set the one extension base (16 points "10 slots" as number of extension bases for connection with GOT in the system setting (base setting).

When the "2nd stage" of extension base is set as connection with GOT. (Set "10" slot as "2nd stage" of extension base in the base setting.)

10 slots) for connection with GOT, then set

3 - 9

3 COMMON PARAMETERS

3.1.3 Individual parameters

(1) System basic setting

The following explains each item to be set in system basic setting.

(a) Operation cycle

1) Set the of motion operation cycle (cycles at which a position command is

computed and sent to the servo amplifier). The setting range is 0.4ms/0.8ms/1.7ms/3.5ms/7.1ms/14.2ms/Automatic setting. The actual operation cycle corresponding to 0.4ms is 0.444...ms. Similarly, 0.8ms corresponds to 0.888…ms, 1.7ms to 1.777...ms, 3.5ms to 3.555...ms, 7.1ms to 7.111...ms, and 14.2ms to 14.222…ms, respectively.

2) The default value is "Automatic Setting". When "Automatic Setting" is

selected, the operation cycle is set according to the table below based on the number of axes for servo amplifier set in the System Settings.

Operating system Number of axes Operation cycle setting

1 to 6 axes 0.4 ms

SV13

SV22

7 to 18 axes 0.8 ms

19 to 32 axes 1.7 ms

1 to 4 axes 0.4 ms

5 to 12 axes 0.8 ms

13 to 28 axes 1.7 ms

29 to 32 axes 3.5 ms

3 - 10

3 COMMON PARAMETERS

3) If the duration of motion operation has exceeded the operation cycle, the

(b) Operation at STOP to RUN

Set the condition in which the "PLC ready" flag (M2000) turns ON. Select any one of the followings.

1) M2000 is turned on by switching from STOP to RUN.

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

Set the bit device used for executing a forced stop in which all servoamplifier axes are stopped immediately in the program. Either X (PX) or M can be specified. No default value has been set. The set bit device is designated as contact B and performs the following control in response to ON/OFF of the device.

• Bit device is turned OFF …Forced stop input is ON (forced stop)

• Bit device is turned ON …..Forced stop input is OFF (forced stop is

operation cycle over flag (M2054) turns ON. Even when "Automatic setting" is selected, the duration of motion operation may exceed the operation cycle depending on the control conditions. The actual duration of motion operation (unit:μs) is stored in SD522, and the current setting of operation cycle (unit:μs) is stored in SD523. Monitor these special registers and adjust the set value of operation cycle so that the actual duration of motion operation will not exceed the set operation cycle. (A WDT or other error may occur in the Motion CPU.)

Condition in which the M2000 turns from OFF to ON

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

• Turn ON the power supply with the RUN/STOP switch set to RUN.

Condition in which the M2000 turns from ON to OFF

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

set register.

(M2000 turns ON when the switch is set to RUN and 1 is set in the

setting register.)

Condition in which the M2000 turns from OFF to ON

• With the RUN/STOP switch set to RUN, set 1 in the setting register for "PLC ready" flag (D704). (The Motion CPU detects a change from 0 to 1 in the lowest bit in the D704).

Condition in which the M2000 turns from ON to OFF

• With the RUN/STOP switch set to RUN, set 0 in the setting register for "PLC ready" flag (D704). (The Motion CPU detects a change from 1 to 0 in the lowest bit in the D704).

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

released.) The forced stop input by EMI terminal of Motion CPU module cannot be invalidated using parameter setting.

3 - 11

3 COMMON PARAMETERS

(d) Latch range

Set the following latching ranges for M, B, F, D and W, respectively.

• Latch (1) : It is possible clear using the remote operation (Latch clear(1),

• Latch (2) : It is possible clear using the remote operation (Latch clear

(2) Individual module settings

The setting items for each module are shown below.

Latch clear (1)(2)).

(1)(2)).

Setting items for each module

Module name Item Setting range Initial value

Set the number of axes for which

the 8 axes input is used.

Valid on leading edge/

Valid on trailing edge

0.4/0.6/1 ms

(DOG/CHANGE response time)

Used/Unused Unused

Q170ENC/MR-HENC Q170ENC

0.4/0.6/1 ms

(TREN response time)

Used/Unused Unused

Used only Used

Used/Unused

0.4/0.6/1 ms

(TREN response time)

Used/Unused Unused

Q172DLX

Q172DEX

Q173DPX

QI60

Servo external

signals input

module

Synchronous

encoder input

module

Manual pulse

generator input

module

Interrupt

module

External signal setting

DOG

I/O response time

(Operation mode)

Synchronous encoder

setting

Synchronous encoder

selection

I/O response time

(Operation mode)

High-speed data read

setting

Manual pulse generator

setting

(SV13)

Manual pulse generator/

Synchronous encoder

setting

(SV22)

I/O response time

(Operation mode)

High-speed data read

setting

Input response time 0.1/0.2/0.4/0.6/1 ms 0.2 ms 1 1

Unused

Valid on

leading edge

0.4 ms

Used

0.4 ms

Number of usable modules

Q173DCPU Q172DCPU

4 1

6 (SV22) 4 (SV22)

1 (SV13)

4 (SV22)

1 (SV13)

3 (SV22)

3 - 12

3 COMMON PARAMETERS

Setting items for each module (Continued)

Module name Item Setting range Initial value

First I/O No. 00 to FF0 (in units of 16 points) 0

Point 0/16/32/64/128/256 16

High-speed data read

QX Input module

QY Output module

Input/Output

composite

module

Analogue input module

Analogue output module

QH /

Q6 AD / Q6

AD-

Q6 DA / Q6

DA-

setting

I/O response time

(setting for high-speed input

module in parentheses)

First I/O No. 00 to FF0 (in units of 16 points) 0

Point 0/16/32/64/128/256 16

First I/O No. 00 to FF0 (in units of 16 points) 0

Point 0/16/32/64/128/256 16

I/O response time 1/5/10/20/70 ms 10 ms

High-speed data read

setting First I/O No. 00 to FF0 (in units of 16 points) 0

Input range

Temperature drift compensation Resolution mode Normal/High Normal

Operation mode

First I/O No. 00 to FF0 (in units of 16 points) 0

Output range

HOLD/CLEAR function CLEAR only CLEAR

Output mode

Resolution mode Normal/High Normal

Operation mode

Used/Unused Unused

1/5/10/20/70 ms

(0.1/0.2/0.4/0.6/1 ms)

Used/Unused Unused

4 to 20mA/0 to 20mA/1 to 5V/0 to 5V/-10 to 10V/0 to 10V/User range

Used/None Used

Normal (A/D conversion)/Offset gain setting

4 to 20mA/0 to 20mA/1 to 5V/0 to 5V/-10 to 10V/User range

Normal (Asynchronous)/ Synchronous output

Normal (D/A conversion)/ Offset gain setting

10 ms

(0.2 ms)

4 to 20mA

Normal

(A/D

conversion)

4 to 20mA

Normal

(Asyn-

chronous)

Normal

(D/A

conversion)

Number of usable modules

Q173DCPU Q172DCPU

Total 256

points or less

Total 256

points or less

3 - 13

3 COMMON PARAMETERS

(3) External signal input

Servo external signal (Upper stroke limit/Lower stroke limit/Stop signal/Proximity dog) can be selected for every axis from the following two methods.

(a) Q172DLX Servo external signals interface module use

Set the servo external signals interface module, and set axis No. as the "External signal setting" in the system setting.

(b) Servo amplifier input device use (MR-J3-B use only)

Set "Amplifier input valid" as the external signal input setting in the "Amplifier setting" of system setting. There are following restrictions to use.

• Count type home position return cannot be used.

• Speed/position switching control cannot be executed.

• Stop signal (STOP) cannot be used.

The correspondence of external signal and input device is shown below.

Upper stroke limit (FLS) DI1

Lower stroke limit (RLS) DI2

Proximity dog (DOG) DI3

(Note): Refer to the "MR-J3-B Servo Amplifier Instruction Manual" for pin configurations.

Set the external signal setting in the "Input Filter Setting".

External signals

Input device (CN3)

(Note)

3 - 14

3 COMMON PARAMETERS

3.2 I/O number assignment

In the Multiple CPU system, I/O numbers are used for interactive transmission between the Motion CPU and I/O modules and intelligent function modules, or between PLC CPU and Motion CPU.

3.2.1 I/O number assignment of each module

The Multiple CPU system is different from the Single CPU system in the position (slot) of I/O number "0H" for PLC CPU. However, I/O number of control module can be assigned independently for each CPU for Motion CPU.

(1) Position of I/O number "0H"

(a) The number of slots set with the Multiple CPU settings are occupied by the

PLC CPU/Motion CPU on the Multiple CPU system.

(b) I/O modules and intelligent function modules are installed from the right of the

slots occupied by PLC CPU/Motion CPU.

each CPU. The I/O number of PLC CPU control module for an I/O module or intelligent function module mounted to the next slot to those occupied by CPU modules is set as "0H" and consecutive numbers are then allocated sequentially to the right.

(d) Notation of I/O number

• Receiving of ON/OFF data by Motion CPU is deemed input (PX), while outputting of ON/OFF data from Motion CPU is deemed output (PY).

• I/O number is expressed in hexadecimal.

REMARK

1) If the number of CPU modules installed on the main base unit is less than the number set at the "Multiple CPU setting", set the open slot(s) to "PLC (Empty)". Refer to Section 2.1.2 for the "PLC (Empty)" setting.

2) The I/O numbers for the Multiple CPU system can be confirmed with the system monitor of GX Developer.

3 - 15

3 COMMON PARAMETERS

(2) I/O number assignment of Motion CPU control module

Mitsubishi recommends that I/O No. assignment be set as common consecutive No. throughout all CPUs. However, the I/O number of the input modules, output modules and input/output composite modules controlled with the Motion CPU can also be set regardless as the I/O number of PLC CPU. (I/O number of the Motion CPU control modules is indicated as PX/PY.) I/O number of the Motion CPU control modules cannot be assigned by I/O assignment settings of PLC CPU.

Power supply

(3) Setting of the Motion CPU control modules by the PLC CPU

Follow the table below when Motion CPU control modules are set in I/O Assignment Settings of the PLC CPU. (The PLC CPU handles the Q172DLX, Q172DEX and Q173DPX as intelligent function modules having 32 occupied points.) Type and number of points may be left unset.

Module name Type Number of points Remarks

Input module Input

Output module Output

Input/Output composite

module

Analogue input module Analogue input

Analogue output module Analogue output

Interrupt module (QI60) Interrupt

Q172DLX 32 points

Q172DEX 32 points

Q173DPX

POINT

(1) Set the I/O device of the Motion CPU within the range from PX/PY000 to

PX/PYFFF. Set the number of real I/O points within 256 points. (I/O No. may not be consecutive.)

(2) As for the Motion CPU, the Q172DLX, Q172DEX, Q173DPX and QI60 are not

included in the number of real I/O points.

I/O assignment

123450

Q03UD CPU

module

CPU No. 1 CPU No. 2 CPU No. 2

Q173D CPU

Composite I/O

QX41

PX0 to PX1F

(X0 to X1F)

control

module

Intelligent

QY41 QX41 QY41

control

X40 to X5F

CPU No. 1

control

module

PY20 to PX3F

(Y20 to Y3F)

CPU No. 2

module

Selected according

to the module.

16 points

32 points

Y60 to Y7F

CPU No. 1

control

module

• For the control CPU,

set the CPU that

corresponds to the

Motion CPU (required).

• Type and number of

points may be left

unset.

3 - 16

3 COMMON PARAMETERS

3.2.2 I/O number of each CPU modules

In the Multiple CPU system, I/O numbers are assigned to each CPU module to specify installed CPU modules. The I/O number for each CPU module is fixed to the corresponding slot and cannot be changed. The I/O number allocated to each CPU module in the Multiple CPU system is shown below.

CPU module

installation position

First I/O number 3E00H 3E10H 3E20H 3E30H

The I/O number of PLC CPU/Motion CPU are used in the following cases.

• When writing data to the CPU shared memory of self CPU using the S. TO instruction.

• When reading data from the CPU shared memory of other CPU using the FROM instruction.

• When reading data from the CPU shared memory of other CPU using an intelligent function module device (U

• When reading device data directly from the Motion CPU from the PLC CPU using the "D(P).DDRD" instruction.

• When writing device data directly to the Motion CPU from the PLC CPU using the "D(P).DDWR" instruction.

Refer to Section 2.3.6 or the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for the Motion dedicated PLC instruction.

CPU slot Slot 0 Slot 1 Slot 2

\G )

3 - 17

3 COMMON PARAMETERS

3.2.3 I/O number setting

Set the modules installed in the each slot of the main base or extension base and assign the control CPU of applicable slot as the self CPU in the system setting for Motion CPU. The following modules must be set the I/O No..

• Input module • Output module • Input/Output composite module

• Analogue input module • Analogue output module

Refer to the help of MT Developer for the detailed operating procedure on the system settings screen.

Set the I/O No. of modules controlled with the Motion CPU module set in the system structure screen of MT Developer. The setting procedure of I/O No. is shown below.

(Example) For set the output module

1) Double-click the slot position, display the Motion Slot Settings screen.

2) Select the I/O module.

3) Click [Detail Setting].

4) Set the first I/O No. (PX No., PY No.).

5) Select applicable module type and number of points for the I/O module to be used.

6) Click [OK].

(Note): Display of system setting and motion slot setting are different depending on the operating system

software.

POINT

I/O No.s cannot be assigned automatically, unlike a PLC CPU for which I/O No. are assigned automatically if such setting is omitted in the Motion CPU. In the Motion CPU, be sure to set the first I/O No. in System Settings for each module used.

3 - 18

3 COMMON PARAMETERS

3.3 Servo Parameters

The servo parameters control the data fixed by the specifications of the servo amplifier and servomotor controlled in the parameter set for each axis and the control of the servomotor. The servo parameters are set by the Setup software (MR Configurator).

Refer to the "Servo amplifier Instruction Manual" for details of the servo parameters. Refer to the help for handling of MR Configurator.

No. Symbol Name Initial value Unit

PA01 — For manufacturer setting 0000h —

PA02 REG Regenerative brake option 0000h —

PA03 ABS Absolute position detection system 0000h —

PA04 AOP1 Function selection A-1 0000h —

PA05 0

PA06 1

PA07

PA08 ATU Auto tuning mode 0001h —

PA09 RSP Auto tuning response 12 —

PA10 INP In-position range 100 PLS

PA11 1000.0

PA12 1000.0

PA13

PA14 POL Rotation direction selection 0 —

PA15 ENR Encoder output pulse 4000 PLS/rev

PA16 0

PA17 0000h

PA18 0000h

PA19

— For manufacturer setting

Instruction Manual list is shown below.

Servo amplifier type Instruction manual name

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

MR-J3- B-RJ006

Fully closed loop control MR-J3-

(SH-030056)

B-RJ006 Servo Amplifier Instruction Manual

(1) Basic setting parameters

0000h

000Bh

POINTS

(1) When the items marked " " in the above table has changed, make the Multiple

CPU system reset or power supply OFF to ON. And, once turn OFF the servo amplifier power supply and then turn ON it again.

—

3 - 19

3 COMMON PARAMETERS

No. Symbol Name Initial value Unit

PB01 FILT Adaptive tuning mode (Adaptive filter ) 0000h —

PB02 VRFT Vibration suppression control tuning mode (Advanced vibration suppression control) 0000h —

PB03 — For manufacturer setting 0 —

PB04 FFC Feed forward gain 0 %

PB05 — For manufacturer setting 500 —

PB06 GD2 Ratio of load inertia moment to servomotor inertia moment 7.0 times

PB07 PG1 Model loop gain 24 rad/s

PB08 PG2 Position loop gain 37 rad/s

PB09 VG2 Speed loop gain 823 rad/s

PB10 VIC Speed integral compensation 33.7 ms

PB11 VDC Speed differential compensation 980 —

PB12 — For manufacturer setting 0 —

PB13 NH1 Machine resonance suppression filter 1 4500 Hz

PB14 NHQ1 Notch shape selection 1 0000h —

PB15 NH2 Machine resonance suppression filter 2 4500 Hz

PB16 NHQ2 Notch shape selection 2 0000h —

PB17 — Automatic setting parameter — —

PB18 LPF Low pass filter setting 3141 rad/s

PB19 VRF1 Vibration suppression control - vibration frequency setting 100.0 Hz

PB20 VRF2 Vibration suppression control - resonance frequency setting 100.0 Hz

PB21 0.00

PB22

PB23 VFBF Low pass filter selection 0000h —

PB24 MVS Slight vibration suppression control selection 0000h —

PB25 — For manufacturer setting 0000h —

PB26 CDP Gain changing selection 0000h —

PB27 CDL Gain changing condition 10 —

PB28 CDT Gain changing time constant 1 ms

PB29 GD2B Gain changing - ratio of load inertia moment to servo motor inertia moment 7.0 times

PB30 PG2B Gain changing - position loop gain 37 rad/s

PB31 VG2B Gain changing - speed loop gain 823 rad/s

PB32 VICB Gain changing - speed integral compensation 33.7 ms

PB33 VRF1B Gain changing - vibration suppression control - vibration frequency setting 100.0 Hz

PB34 VRF2B Gain changing - vibration suppression control - resonance frequency setting 100.0 Hz

PB35 0.00

PB36 0.00

PB37 100

PB38 0.0

PB39 0.0

PB40 0.0

PB41 1125

PB42 1125

PB43 0004h

PB44 0.0

PB45

— For manufacturer setting

(2) Gain/filter parameters

0.00

0000h

—

POINTS

(1) When the items marked " " in the above table has changed, make the Multiple

CPU system reset or power supply OFF to ON. And, once turn OFF the servo amplifier power supply and then turn ON it again.

3 - 20

3 COMMON PARAMETERS

No. Symbol Name Initial value Unit

PC01 ERZ Error excessive alarm level 3 rev

PC02 MBR Electromagnetic brake sequence output 0 ms

PC03 ENRS Encoder output pulse selection 0000h —

PC04 COP1 Function selection C-1 0000h —

PC05 COP2 Function selection C-2 0000h —

PC06 COP3 Function selection C-3 0000h —

PC07 ZSP Zero speed 50 r/min

PC08 — For manufacturer setting 0 —

PC09 MOD1 Analog monitor 1 output 0000h —

PC10 MOD2 Analog monitor 2 output 0001h —

PC11 MO1 Analog monitor 1 offset 0 mV

PC12 MO2 Analog monitor 2 offset 0 mV

PC13 MOSDL Analog monitor feedback position output standard data Low 0 PLS

PC14 MOSDH Analog monitor feedback position output standard data High 0 10000PLS

PC15 0

PC16

PC17 COP4 Function selection C-4 0000h —

PC18 0000h

PC19 0000h

PC20

PC21 BPS Alarm history clear 0000h —

PC22 0000h

PC23 0000h

PC24 0000h

PC25 0000h

PC26 0000h

PC27 0000h

PC28 0000h

PC29 0000h

PC30 0000h

PC31 0000h

PC32

— For manufacturer setting

(3) Extension setting parameters

0000h

—

POINTS

(1) When the items marked " " in the above table has changed, make the Multiple

CPU system reset or power supply OFF to ON. And, once turn OFF the servo amplifier power supply and then turn ON it again.

3 - 21

3 COMMON PARAMETERS

No. Symbol Name Initial value Unit

PD01 0000h

PD02 0000h

PD03 0000h

PD04 0000h

PD05 0000h

PD06

PD07 DO1 Output signal device selection 1 (CN3-13) 0005h —

PD08 DO2 Output signal device selection 2 (CN3-9) 0004h —

PD09 DO3 Output signal device selection 3 (CN3-15) 0003h —

PD10 0000h

PD11 0004h

PD12 0000h

PD13

PD14 DOP3 Function Selection D-3 0000h —

PD15 0000h

PD16 0000h

PD17 0000h

PD18 0000h

PD19 0000h

PD20 0000h

PD21 0000h

PD22 0000h

PD23 0000h

PD24 0000h

PD25 0000h

PD26 0000h

PD27 0000h

PD28 0000h

PD29 0000h

PD30 0000h

PD31 0000h

PD32

— For manufacturer setting

(4) I/O Setting Parameters

—

0000h

—

0000h

—

0000h

POINTS

(1) When the items marked " " in the above table has changed, make the Multiple

CPU system reset or power supply OFF to ON. And, once turn OFF the servo amplifier power supply and then turn ON it again.

3 - 22

4 AUXILIARY AND APPLIED FUNCTIONS

4. AUXILIARY AND APPLIED FUNCTIONS

4.1 Limit Switch Output Function

This function is used to output the ON/OFF signal corresponding to the data range of the watch data set per output device. Motion control data or optional word data can be used as watch data. (Refer to Section "4.1.2 Limit output setting data" for details.) A maximum output device for 32 points can be set regardless of the number of axes.

4.1.1 Operations

(1) ON output to an output device is made while the watch data value is in the ON

output region set with (ON Value) and (OFF Value) in this function.

(a) (ON Value), (OFF Value) and watch data value are handled as signed data.

ON output region where an ON output is made to the output device is governed by the magnitude relationship between (ON Value) and (OFF

(ON Value) < (OFF Value) (ON Value) <= (watch data value) < (OFF Value)

(ON Value) > (OFF Value)

(ON Value) = (OFF Value) Output OFF in whole region

Value) as indicated below.

Relationship between (ON Value) and

(OFF Value)

1) (ON Value) < (OFF Value)

ON output region

(ON Value) <= (watch data value)

(Watch data value) < (OFF Value)

Output device

ON region setting

Watch data value

OFF

OFF Value

ON Value

(ON Value) (Watch data value) (OFF Value)

OFF

2) (ON Value) > (OFF Value)

Output device

ON region setting

Watch data value

(Watch data value) (OFF Value) (ON Value) (Watch data value)

OFF

ON Value

OFF Value

4 - 1

4 AUXILIARY AND APPLIED FUNCTIONS

3) (ON Value) = (OFF Value)

Output device

ON region setting

Watch data value

(b) The limit switch outputs are controlled based on the each watch data during

the PCPU ready status (SM500: ON) by the PLC ready flag (M2000) from OFF to ON. When the PCPU ready flag (SM500) turns OFF by turning the PLC ready flag (M2000) from ON to OFF, all points turn OFF. When (ON Value) and (OFF Value) are specified with word devices, the word device contents are input to the internal area when the PLC ready flag (M2000) turns from OFF to ON. After that, the word device contents are input per motion operation cycle, and limit switch outputs are controlled.

setting, the output device may be the same. If multiple ON region settings have been made to the same output device, the logical add of the output results in the regions is output.

Output device

OFF in whole region

ON Value OFF Value

OFF

ON region setting No.2

ON region setting No.1

Watch data value

OFF Value

ON Value

OFF Value

ON Value

(2) Output enable/disable bit can be set and executed enable/disable of the limit

switch outputs point-by-point. Limit switch output control is executed when the output enable/disable bit is ON, and the output is OFF when it is OFF. If there is no setting, the outputs are always enabled.

(3) Forced output bit can be set and turned the forcibly output of the limit switch

outputs point-by-point ON. The output is ON when the forced output bit is ON. Priority is given to control of this setting over off (disable) of the "output enable/disable bit". If there is no setting, no forced outputs are not always made.

4 - 2

4 AUXILIARY AND APPLIED FUNCTIONS

(4) When the multiple watch data, ON region, output enable/disable bit and forced

output bit are set to the same output device, the logical add of output results of the settings is output.

SM500

1) Without output enable/disable bit/forced output settings

Output device

ON region setting

Watch data value

2) With output enable/disable bit/forced output settings

Output device

Enable/disable bit

Forced output bit

OFF Value

ON Value

Output OFF Output OFF

Output OFF

Output control based on ON Value and OFF Value

Output ON

(Forced output)

Output OFF

Output ON

(Forced output)

4 - 3

4 AUXILIARY AND APPLIED FUNCTIONS

4.1.2 Limit output setting data

Limit output data list are shown below. Up to 32 points of output devices can be set.

No. Item Setting range

1 Output device Bit device (X, Y, M, B, U \G) —

2 Watch data

ON region

setting

Output enable/disable

bit

5 Forced output bit

ON Value Word device (D, W, #, U \G)/constant (K, H)

OFF Value Word device (D, W, #, U

(The following items of No.1 to No.5 are set together as one point.)

Motion control data/ word device (D, W, #,

\G, absolute address)

(16-bit integer type/32-bit integer type/

64-bit floating-point type)

\G)/constant (K, H)

Bit device (X, Y, M, B, F, SM, U

(default)

Bit device (X, Y, M, B, F, SM, U

(default)

\G)/ none

Fetch

cycle

Operation

cycle

Refresh

cycle

Operation

cycle

—

(1) Output device

(a) Set the bit device which outputs the ON/OFF signal toward the preset watch

data.

(b) As the output device, the following devices can be used.

Item Device No. setting range

Input relay

Output relay

Internal relay

Link relay B0 to B1FFF

Multiple CPU area device

(Note-1) : PX is write-disabled and it cannot be used as the output device.

(Note-2) : The real output device range (PY) is also included.

(Note-3) : M2001 to M2032 cannot be used to the output device.

(Note-4) : "p" indicates the user setting area points of the Multiple CPU high speed

(Note-5) : Only device of the self CPU can be used.

(Note-1)

(Note-2)

(Note-3)

\G10000.0 to U \G (10000+p-1).F

For X, only the free No. of the input card non-loading can be used.

Be careful because it affect a positioning operation, when the positioning

dedicated devices are set.

transmission area for the each CPU.

X0 to X1FFF

Y0 to Y1FFF

M0 to M8191

Remarks

ON : Enable

OFF : Disable

None : Always enable

None : No forced

outputs are

always made

(OFF status)

(Note-4), (Note-5)

4 - 4

4 AUXILIARY AND APPLIED FUNCTIONS

(2) Watch data

(a) This data is used to perform the limit switch output function. This data is

comparison data to output the ON/OFF signal. The output device is

Item Unit Data type

Feed current value

Real current value

Deviation counter value PLS

Motor current 0.1%

Motor speed 0.1r/min

Cam shaft within-one-revolution current value

Feed current value (Virtual)

After-differential current value (Virtual)

After-differential encoder current value

Encoder current value

ON/OFF-controlled according to the ON region setting.

(b) As the watch data, motion control data or optional word device data can be

used.

1) Motion control data

Position command

2) Word device data

Item Device No. setting range

Data register D0 to D8191

Link register W0 to W1FFF

Motion register #0 to #7999

Multiple CPU area device

(Note-1) : "p" indicates the user setting area points of the Multiple CPU high speed

transmission area for the each CPU.

3) When the optional device data is set, the following data type is set as the data type to be compared.

Data type Remarks

16-bit integer type

32-bit integer type

64-bit floating-point type

PLS

Axis No. setting range

Q173DCPU Q172DCPU

32-bit

integer type

16-bit

integer type

32-bit

integer type

\G10000 to U \G (10000+p-1)

Set the device No. as an even No..

1 to 32 1 to 8

1 to 12 1 to 8

(Note-1)

4 - 5

4 AUXILIARY AND APPLIED FUNCTIONS

(3) ON region setting

(a) The data range which makes the output device turn ON/OFF toward the

watch data.

(b) The following devices can be used as the ON Value and OFF Value of the

data range. The data type of device/constant to be set is the same as the type of watch data.

Item Device No. setting range

Data register D0 to D8191

Link register W0 to W1FFF

Motion register #0 to #7999

Multiple CPU area device

Constant Hn/Kn

(Note-1) : "p" indicates the user setting area points of the Multiple CPU high speed

transmission area for the each CPU.

(4) Output enable/disable bit

(a) Set the status of output enable/disable bit when the limit switch output is

forbidden during operation.

1) The following control is exercised.

Output enable/disable bit Control description

Without setting

(always enable)

With setting

ON (enable)

OFF (disable) Limit switch output is turned OFF.

(b) Usable devices

Item Device No. setting range

Input relay

Output relay

Internal relay M0 to M8191

Link relay B0 to B1FFF

Annunciator F0 to F2047

Special relay SM0 to SM1999

Multiple CPU area device

(Note-1) : The real input range(PX) is included.

(Note-2) : The real input range(PY) is included.

(Note-3) : "p" indicates the user setting area points of the Multiple CPU high speed

(Note-1)

(Note-2)

transmission area for the each CPU.

\G10000 to U \G (10000+p-1)

Limit switch output is turned ON/OFF based on the ON

region setting (ON Value, OFF Value).

X0 to X1FFF

\G10000.0 to U \G (10000+p-1).F

Y0 to Y1FFF

(Note-1)

(Note-3)

4 - 6

4 AUXILIARY AND APPLIED FUNCTIONS

(5) Forced output bit

(a) Set the "forced output bit" when you want to forcibly provide the limit switch

outputs during operation.

Refer to Chapter 2 for the user setting area points of the Multiple CPU high speed

transmission area.

1) The following control is exercised.

Output enable/disable bit Control description

Without setting

With setting

OFF

ON Limit switch outputs are turned ON.

(b) Usable devices

Item Device No. setting range

Input relay X0 to X1FFF

Output relay Y0 to Y1FFF

Internal relay M0 to M8191

Link relay B0 to B1FFF

Annunciator F0 to F2047

Special relay SM0 to SM1999

Multiple CPU area device

(Note-1) : "p" indicates the user setting area points of the Multiple CPU high speed

transmission area for the each CPU.

POINT

Limit switch outputs are turned ON/OFF on the basis of

the "output enable/disable bit" and ON region setting

(ON Value, OFF Value).

\G10000.0 to U \G (10000+p-1).F

(Note-1)

4 - 7

4 AUXILIARY AND APPLIED FUNCTIONS

4.2 Absolute Position System

The positioning control for absolute position system can be performed using the absolute-position-compatible servomotors and servo amplifiers. If the machine position is set at the system starting, home position return is not necessary because the absolute position is detected at the power on. The machine position is set with the home position return using the Motion SFC program or MT Developer. (1) Conditions of the absolute position system start

Perform a home position return after machine adjustment at the absolute position system start.

(2) In the absolute positioning system, the absolute position may be lost in the

following cases: Set the absolute position with a home position return.

(a) The battery unit is removed or replaced.

(b) The battery error of the servo amplifier occurs. (It is detected at the servo

amplifier power on).

(d) The cable between servo amplifier and encoder is removed, or the servo

amplifier or encoder is replaced.

(3) The current value history can be monitored using of the "System setting mode-

allowable travel during power off" or "Monitor mode" using a MT Developer. (Refer to the help of MT Developer to be used "Allowable travel during power off" and "Monitor mode".)

CAUTION

After removing or replacing the battery unit, correctly install the new unit and set the absolute

position.

After a servo battery error occurs, eliminate the cause of the error and ensure operation is safe

before setting the absolute position.

After the mechanical system is disturbed by a shock, make the necessary checks and repairs,

and ensure operation is safe before setting the absolute position.

4 - 8

4 AUXILIARY AND APPLIED FUNCTIONS

POINT

(1) The address setting range of absolute position system is 2147483648 to

2147483647. It is not possible to restore position commands that exceed this limit, or current values after a power interruption. Correspond by the [degree] setting for an infinite feed operation.

(2) Even when the current value address is changed by a current value change

instruction, the restored data for the current value after a power interruption is the value based on the status prior to execution of the current value change instruction.

(3) When home position return has not been completed (home position return

request is ON), restoration of the current value after a power interruption is not possible.

4 - 9

Mitsubishi Electronics Q173DCPU User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY PRECAUTIONS

REVISIONS

INTRODUCTION

CONTENTS

About Manuals

1. OVERVIEW

1.1 Overview

1.2 Features

1.2.1 Features of Motion CPU

1.2.2 Basic specifications of Q173DCPU/Q172DCPU

1.3 Hardware Configuration

1.3.1 Motion system configuration

1.3.2 Q173DCPU System overall configuration

1.3.3 Q172DCPU System overall configuration

1.3.4 Software packages (1) Software packages

1.3.5 Restrictions on motion systems

2. MULTIPLE CPU SYSTEM

2.1 Multiple CPU System

2.1.1 Overview

2.1.2 Installation position of CPU module

2.1.3 Precautions for using I/O modules and intelligent function modules

2.1.4 Modules subject to installation restrictions

2.1.5 How to reset the Multiple CPU system

2.1.6 Operation for CPU module stop error

2.2 Starting Up the Multiple CPU System

2.2.1 Startup Flow of the Multiple CPU System

2.3 Communication between the PLC CPU and the Motion CPU in the Multiple CPU System

2.3.1 CPU shared Memory

2.3.2 Multiple CPU high speed transmission

2.3.3 Multiple CPU high speed refresh function

2.3.4 Clock synchronization between Multiple CPU

2.3.5 Multiple CPU synchronous startup

2.3.6 Control Instruction from PLC CPU to Motion CPU

3. COMMON PARAMETERS

3.1 System Settings

3.1.1 System data settings

3.1.2 Common system parameters

3.1.3 Individual parameters

3.2 I/O number assignment

3.2.1 I/O number assignment of each module

3.2.2 I/O number of each CPU modules

3.2.3 I/O number setting

3.3 Servo Parameters

4. AUXILIARY AND APPLIED FUNCTIONS

4.1 Limit Switch Output Function

4.1.1 Operations

4.1.2 Limit output setting data

4.2 Absolute Position System