Mitsubishi Electric Q, Q173DC-S1, Q173DSC, Q172DC-S1, Q172DSC Programming Manual

...

SAFETY PRECAUTIONS

(Please read these instructions before using this equipment.)

Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. These precautions apply only to this product. Refer to the Q173D(S)CPU/Q172D(S)CPU Users manual for a description of the Motion controller safety precautions. In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".

Indicates that incorrect handling may cause hazardous

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

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

DANGER

CAUTION

conditions, resulting in death or severe injury.

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

CAUTION may also be linked to serious

A - 1

For Safe Operations

1. Prevention of electric shocks

DANGER

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

may lead to electric shocks.

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

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

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

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

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

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

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

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

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

or less) Do not ground commonly with other devices.

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

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

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

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

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

2. For fire prevention

CAUTION

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

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

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

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

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

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

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

may lead to fire.

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3. For injury prevention

CAUTION

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

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

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

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

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

Doing so may lead to injuries.

4. Various precautions

Strictly observe the following precautions.

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

(1) System structure

CAUTION

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

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

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

the power shut off.

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

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

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

instruction manual. Other combinations may lead to faults.

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

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

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

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

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

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

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

brakes.

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CAUTION

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

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

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

and must not be used for normal braking.

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

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

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

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

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

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

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

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

(2) Parameter settings and programming

CAUTION

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

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

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

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

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

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

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

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

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

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

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

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

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

manual.

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CAUTION

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

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

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

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

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

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

program corresponding to the intelligent function module.

(3) Transportation and installation

CAUTION

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

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

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

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

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

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

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

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

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

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

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

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

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

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CAUTION

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

may lead to oil leaks.

Store and use the unit in the following environmental conditions.

Environment

Motion controller/Servo amplifier Servomotor

Ambient temperature

Ambient humidity According to each instruction manual.

Storage temperature

Atmosphere

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

Vibration According to each instruction manual

According to each instruction manual.

Indoors (where not subject to direct sunlight).

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

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. When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine

are used for disinfecting and protecting wooden packaging from insects, they cause malfunction

when entering our products.

Please take necessary precautions to ensure that remaining materials from fumigant do not

enter our products, or treat packaging with methods other than fumigation (heat method).

Additionally, disinfect and protect wood from insects before packing products.

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(4) Wiring

CAUTION

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

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

on the output side of the servo amplifier.

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

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

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

when trouble occurs or the protective functions not functioning.

Servo amplifier

DOCOM

24VDC

Servo amplifier

DOCOM

24VDC

Control output signal

DICOM

For the sink output interface For the source output interface

Control output signal

DICOM

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 coming off during operation. Do not bundle the power line or cables.

(5) Trial operation and adjustment

CAUTION

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

movements may occur depending on the machine.

Extreme adjustments and changes may lead to unstable operation, so never make them.

When using the absolute position system function, on starting up, and when the Motion controller

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

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

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

state occurs.

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(6) Usage methods

CAUTION

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

Motion controller, servo amplifier or servomotor.

Always execute a test operation before starting actual operations after the program or

parameters have been changed or after maintenance and inspection. Do not attempt to disassemble and repair the units excluding a qualified technician whom our

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

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

Motion controller or servo amplifier. When using the CE Mark-compliant equipment, refer to the User's manual for the Motion

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

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

Item Conditions

Input power According to each instruction manual.

Input frequency According to each instruction manual.

Tolerable momentary power failure According to each instruction manual.

(7) Corrective actions for errors

CAUTION

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

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

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

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

operated by emergency stop signals set externally.

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

Servo motor

RA1

Electromagnetic brakes

Shut off with the emergency stop signal (EMG).

EMG

24VDC

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

release.

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

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

restarts suddenly.)

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(8) Maintenance, inspection and part replacement

CAUTION

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

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

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

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

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

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

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

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

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

correctly.

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

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

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

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

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

absolute position detector function is correct.

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

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

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

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

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

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

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(9) About processing of waste

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

CAUTION

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

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

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

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

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

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

(10) General cautions

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

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

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

manual.

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REVISIONS

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

Print Date Manual Number Revision Sep., 2007 IB(NA)-0300134-A Sep., 2010 IB(NA)-0300134-B

First edition

[Additional model/function] Software for SV43, Amplifier-less operation function, Q10UD(E)HCPU,

Q13UD(E)HCPU, Q20UD(E)HCPU, Q26UD(E)HCPU, QX40H, QX70H, QH80H, QX90H, MR-J3-

BS [Additional correction/partial correction] Safety precautions, About Manuals, Restrictions by the software's

version, Checking serial number and operating system software version, Servo parameters, Warranty

Sep., 2011 IB(NA)-0300134-C

[Additional model]

Q173DCPU-S1, Q172DCPU-S1, Q50UDEHCPU, Q100UDEHCPU, GX Works2, MR Configurator2

[Additional function]

External input signal (DOG) of servo amplifier, Communication via PERIPHERAL I/F

[Additional correction/partial correction]

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

Mar., 2012 IB(NA)-0300134-D

[Additional model]

Q173DSCPU, Q172DSCPU, MR-J4-

[Additional function]

Servo external signal parameters, Software security key, Mark detection function

[Additional correction/partial correction]

About Manuals, Manual Page Organization, Restrictions by the software's version, Programming software version, Individual parameters, Servo parameter change function, Optional data monitor function, Special relays/Special registers list, System setting errors, Differences between Motion CPU

Sep., 2012 IB(NA)-0300134-E

[Additional function]

Advanced synchronous control, High-speed input request signal setting

[Additional correction/partial correction]

About Manuals, Restrictions by the software's version, Programming software version, Individual parameters, Limit switch output function, Protection by password, Mark detection function, Special relays/ Special registers list, Self-diagnosis error, Differences between Motion CPU

Apr., 2013 IB(NA)-0300134-F

[Additional model]

LJ72MS15, Intelligent function module

[Additional function]

Driver communication function, Connection of SSCNET module

[Additional correction/partial correction]

About Manuals, Restrictions by the software's version, System data setting list, Individual parameters, Special relays/Special registers list, System setting error, Self-diagnosis error, Differences between Motion CPU

B, MR-J4W- B,

/H head

A - 11

Print Date

Manual Number Revision

Nov., 2013 IB(NA)-0300134-G

[Additional correction/partial correction]

Safety precautions, Restrictions by the software's version, System data setting list, Optional data monitor function, Driver communication function (SSCNET

/H), Special registers list, System setting error,

Self-diagnosis error, Differences between Motion CPU

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 - 12

INTRODUCTION

Thank you for choosing the Mitsubishi Motion controller Q173D(S)CPU/Q172D(S)CPU. Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the Motion controller you have purchased, so as to ensure correct use.

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

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

Contents ......................................................................................................................................................... A-13

About Manuals ............................................................................................................................................... A-16

Manual Page Organization ............................................................................................................................ A-18

1. OVERVIEW 1- 1 to 1-32

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 Q173D(S)CPU/Q172D(S)CPU .................................................................... 1- 5

1.3 Hardware Configuration ........................................................................................................................... 1-11

1.3.1 Motion system configuration ............................................................................................................. 1-11

1.3.2 Q173DSCPU/Q172DSCPU System overall configuration .............................................................. 1-14

1.3.3 Q173DCPU(-S1)/Q172DCPU(-S1) System overall configuration ................................................... 1-16

1.3.4 Software packages ............................................................................................................................ 1-17

1.3.5 Restrictions on motion systems ........................................................................................................ 1-19

1.4 Checking Serial Number and Operating System Software Version ....................................................... 1-23

1.4.1 Checking serial number .................................................................................................................... 1-23

1.4.2 Checking operating system software version................................................................................... 1-26

1.5 Restrictions by the Software's Version .................................................................................................... 1-28

1.6 Programming Software Version............................................................................................................... 1-32

2. MULTIPLE CPU SYSTEM 2- 1 to 2-36

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- 6

2.1.6 Operation for CPU module stop error ............................................................................................... 2- 7

2.2 Starting Up the Multiple CPU System ..................................................................................................... 2-10

2.2.1 Startup Flow of the Multiple CPU system ......................................................................................... 2-10

2.3 Communication Between the PLC CPU and the Motion CPU in the Multiple CPU System ................. 2-12

2.3.1 CPU shared memory......................................................................................................................... 2-12

2.3.2 Multiple CPU high speed transmission ............................................................................................. 2-15

2.3.3 Multiple CPU high speed refresh function ........................................................................................ 2-30

2.3.4 Clock synchronization between Multiple CPU ................................................................................. 2-34

2.3.5 Multiple CPU synchronous startup ................................................................................................... 2-35

2.3.6 Control instruction from PLC CPU to Motion CPU ........................................................................... 2-36

A - 13

3. COMMON PARAMETERS 3- 1 to 3-28

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

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

3.1.2 Common system parameters ........................................................................................................... 3- 5

3.1.3 Individual parameters ........................................................................................................................ 3-11

3.2 I/O Number Assignment. ......................................................................................................................... 3-21

3.2.1 I/O number assignment of each module .......................................................................................... 3-21

3.2.2 I/O number of each CPU modules ................................................................................................... 3-23

3.2.3 I/O number setting ............................................................................................................................. 3-24

3.3 Servo Parameters .................................................................................................................................... 3-25

3.4 Servo External Signal Parameters .......................................................................................................... 3-26

4. AUXILIARY AND APPLIED FUNCTIONS 4- 1 to 4-114

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

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

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

4.1.3 Operations (SV22 advanced synchronous control only) ................................................................. 4- 8

4.1.4 Limit output setting data (SV22 advanced synchronous control only) ............................................ 4-10

4.2 Absolute Position System ........................................................................................................................ 4-17

4.2.1 Current value control ......................................................................................................................... 4-19

4.3 High-Speed Reading of Specified Data .................................................................................................. 4-20

4.4 ROM Operation Function ......................................................................................................................... 4-22

4.4.1 Specifications of 7-segment LED/switches ...................................................................................... 4-22

4.4.2 Outline of ROM operation ................................................................................................................. 4-24

4.4.3 Operating procedure of the ROM operation function ....................................................................... 4-29

4.5 Security Function ..................................................................................................................................... 4-31

4.5.1 Protection by password ..................................................................................................................... 4-31

4.5.2 Protection by software security key .................................................................................................. 4-38

4.6 All Clear F unction ..................................................................................................................................... 4-43

4.7 Communication Via Network ................................................................................................................... 4-44

4.7.1 Specifications of the communications via network........................................................................... 4-44

4.8 Monitor Function of the Main Cycle ......................................................................................................... 4-45

4.9 Servo Parameter Read/Change Function ............................................................................................... 4-46

4.10 Optional Data Monitor Function ............................................................................................................. 4-48

4.11 SSCNET Control Function ..................................................................................................................... 4-51

4.11.1 Connect/disconnect function of SSCNET communication ............................................................ 4-52

4.11.2 Amplifier-less operation function .................................................................................................... 4-56

4.12 Remote Operation .................................................................................................................................. 4-60

4.12.1 Remote RUN/STOP ........................................................................................................................ 4-60

4.12.2 Remote latch clear .......................................................................................................................... 4-62

4.13 Communication Function via PERIPHERAL I/F ................................................................................... 4-63

4.13.1 Direct connection............................................................................................................................. 4-63

4.13.2 Connection via HUB ........................................................................................................................ 4-66

4.13.3 MC protocol communication ........................................................................................................... 4-72

4.14 Mark Detection Function ........................................................................................................................ 4-79

4.15 High-speed Input Request Signal Setting (SV22 advanced synchronous control only) ..................... 4-91

4.16 Driver Communication Function ............................................................................................................ 4-94

A - 14

4.16.1 Control details.................................................................................................................................. 4-95

4.16.2 Precautions during control .............................................................................................................. 4-96

4.16.3 Servo parameter............................................................................................................................ 4-100

4.17 Intelligent Function Modules Controlled by Motion CPU .................................................................... 4-101

4.18 Connection of SSCNET

4.18.1 System configuration ..................................................................................................................... 4-104

4.18.2 SSCNET

4.18.3 Data operation of intelligent function module by Motion SFC program ....................................... 4-113

4.18.4 Data of refresh device ................................................................................................................... 4-11 3

4.18.5 Precautions when using SSCNET

APPENDICES APP- 1 to APP-48

APPENDIX 1 Special Relays/Special Registers ...................................................................................... APP- 1

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

APPENDIX 1.2 Special registers .................................................................................................... APP- 6

APPENDIX 1.3 Replacement of special relays/special registers ........................................................ APP-13

APPENDIX 2 System Setting Errors ........................................................................................................ APP-16

APPENDIX 3 Self-diagnosis Error ............................................................................................................ APP- 19

APPENDIX 4 Differences Between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/Q172DCPU(-S1)/

APPENDIX 4.1 Differences between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/Q172DCPU(-S1)/

APPENDIX 4.2 Comparison of devices ................................................................................................ APP- 36

APPENDIX 4.3 Differences of the operating system software ............................................................ APP-45

/H head module parameters ....................................................................................... 4-105

Q173HCPU/Q172H CPU .................................................................................................... A PP-32

Q173HCPU/Q172HCPU ............................................................................................. APP-32

/H Head Module ......................................................................................... 4-104

/H head module................................................................... 4-113

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About Manuals

The following manuals are also related to this product.

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

Related Manuals

(1) Motion controller

Q173D(S)CPU/Q172D(S)CPU Motion controller User's Manual

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

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

module, Power supply modules, Servo amplifiers, SSCNET

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

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

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

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

Manual Name

cables and Synchronous encoder, and the

Manual Number

(Model Code)

IB-0300133

(1XB927)

IB-0300134

(1XB928)

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

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

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

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

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

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

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

lists, error lists and others.

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

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

parameters, device lists, error lists and others.

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

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

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

Motion controller Setup Guidance (MT Developer2 Version1)

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

MT Developer2.

IB-0300135

(1XB929)

IB-0300136

(1XB930)

IB-0300137

(1XB931)

IB-0300198

(1XB953)

IB-0300183

(1XB945)

IB-0300142

( — )

A - 16

(2) PLC

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

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

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

error codes and others.

Manual Name

Manual Number

(Model Code)

SH-080483ENG

(13JR73)

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

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

with the QCPU.

QCPU User's Manual (Multiple CPU System)

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

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

modules.

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

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

MELSEC-Q/L Programming Manual (Common Instruction)

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

micro computer program.

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

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

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

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

debugging, error codes and others of MELSAP3.

I/O Module Type Building Block User's Manual

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

conversion modules and others.

SH-080807ENG

(13JZ27)

SH-080485ENG

(13JR75)

SH-080811ENG

(13JZ29)

SH-080809ENG

(13JW10)

SH-080040

(13JF59)

SH-080041

(13JF60)

SH-080042

(13JL99)

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

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

configuration, installation, wiring, settings, and troubleshooting.

A - 17

SH-081152ENG

(13JZ78)

(3) Servo amplifier

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

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

MR-J4-

B Servo amplifier.

Manual Name

Manual Number

(Model Code)

SH-030106

(1CW805)

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

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

axis AC Servo MR-J4W

- B Servo amplifier.

SSCNET interface MR-J3- B Servo amplifier Instruction Manual

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

MR-J3-

B Servo amplifier.

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

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

B Servo amplifier.

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

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

Servo MR-J3-

B-RJ004 Servo amplifier.

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

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

Closed Loop Control MR-J3-

B-RJ006 Servo amplifier.

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

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

Drive Servo MR-J3-

B-RJ080W Servo amplifier.

SH-030105

(1CW806)

SH-030051

(1CW202)

SH-030073

(1CW604)

SH-030054

(1CW943)

SH-030056

(1CW304)

SH-030079

(1CW601)

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

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

integrated MR-J3-

B Safety Servo amplifier.

Manual Page Organization

The symbols used in this manual are shown below.

Symbol Description

QDS

Symbol that indicates correspondence to only Q173DSCPU/Q172DSCPU.

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

A - 18

SH-030084

(1CW205)

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 "SW7DNC-SV

Generic term/Abbreviation Description

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

Q172DLX/Q172DEX/Q173DPX/ Q173DSXY or Motion module

MR-J4(W)- B Servo amplifier model MR-J4- B/MR-J4W- B MR-J3(W)- B Servo amplifier model MR-J3- B/MR-J3W- B

AMP or Servo amplifier

QCPU, PLC CPU or PLC CPU module QnUD(E)(H)CPU/QnUDVCPU Multiple CPU system or Motion system Abbreviation for "Multiple PLC system of the Q series"

CPUn

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

SV13

SV22

SV43

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

MELSOFT MT Works2

MT Developer2

GX Works2

GX Developer

MR Configurator

MR Configurator2

Manual pulse generator or MR-HDP01 Abbreviation for "Manual pulse generator (MR-HDP01)" Serial absolute synchronous encoder or Q171ENC-W8/Q170ENC

(Note-2)

(Q173D(S)CPU/Q172D(S)CPU).

In this manual, the following abbreviations are used.

(Note-2)

General name for "MR Configurator/MR Configurator2"

Q " and "SW8DNC-SV Q " for Motion CPU module

Q173DSCPU/Q172DSCPU/Q173DCPU/Q172DCPU/Q173DCPU-S1/ Q172DCPU-S1 Motion CPU module Q172DLX Servo external signals interface module/ Q172DEX Synchronous encoder interface module Q173DPX Manual pulse generator interface module/ Q173DSXY Safety signal module

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

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

Operating system software for conveyor assembly use (Motion SFC) : SW8DNC-SV13Q Operating system software for automatic machinery use (Motion SFC) : SW8DNC-SV22Q Operating system software for machine tool peripheral use : SW7DNC-SV43Q

Abbreviation for "Motion controller engineering environment MELSOFT MT Works2" Abbreviation for "Motion controller programming software MT Developer2 (Version 1.00A or later)" Abbreviation for "Programmable controller engineering software MELSOFT GX Works2 (Version 1.15R or later)" Abbreviation for "MELSEC PLC programming software package GX Developer (Version 8.48A or later)"

Abbreviation for "Servo setup software package MR Configurator (Version C0 or later)" Abbreviation for "Servo setup software package MR Configurator2 (Version 1.01B or later)"

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

(Note-1)

1 - 1

1 OVERVIEW

Generic term/Abbreviation Description

SSCNET /H SSCNET SSCNET (/H)

Absolute position system

Battery holder unit Battery holder unit (Q170DBATC)

Intelligent function module

SSCNET /H head module

(Note-3)

General name for SSCNET /H, SSCNET

(Note-3)

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

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

(Note-3): SSCNET: Servo System Controller NETwork

High speed synchronous network between Motion controller and servo amplifier

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

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

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

REMARK

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

Motion CPU module/Motion unit

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

Operation method for MT Developer2 Help of each software

• Design method for Motion SFC program

• Design method for Motion SFC parameter

• Motion dedicated PLC instruction

• Design method for positioning control program in the real mode

SV13/SV22

SV22 (Virtual mode)

SV22 (Advanced synchronous control)

• Design method for positioning control parameter

• Design method for safety observation parameter

• Design method for user made safety sequence program

• Design method for mechanical system program

• Design method for synchronous control parameter

to the following manuals relevant to each module.

Item Reference Manual

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

Manual relevant to each module

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

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

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

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

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

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.

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.)

(SV13/SV22)/Motion program (SV43) 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 0.22[ms]

(Q173DSCPU/Q172DSCPU use), and it correspond with high frequency operation.

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

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

high speed synchronous network by SSCNET

(a) High speed synchronous network by SSCNET (/H) 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 100(328.08)[m(ft.)] for SSCNET and the flexibility improved at the Motion system design.

Q173DSCPU : Up to 32 axes Q172DSCPU : Up to 16 axes Q173DCPU(-S1) : Up to 32 axes Q172DCPU(-S1) : Up to 8 axes

(/H)

cable on the same bus was

/H, 50(164.04)[m(ft.)] for SSCNET ,

1 - 3

1 OVERVIEW

(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 linear interpolation, circular interpolation, helical interpolation, constant-speed 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)

In addition to the functions (real mode) equivalent to the software package for conveyor assembly use (SV13), provides synchronous control and offers electronic cam control. Ideal for use in automatic machinery.

1) Q173DSCPU/Q172DSCPU Select the operation method from the following methods when installing the operating system software. The operation method can be switched by using MT Developer2.

• Virtual mode switching method:

By using the common device (real mode/virtual mode switching request flag), switching between the positioning control in the real mode and the synchronous control, electronic cam control by mechanical support language (virtual mode) is enabled.

• Advanced synchronous control method:

In addition to the positioning control in the real mode, provides synchronous control by setting the synchronous control parameter (advanced synchronous control) by using the synchronous control start signal for each axis.

2) Q173DCPU(-S1)/Q172DCPU(-S1) By using the common device (real mode/virtual mode switching request flag), switching between the positioning control in the real mode and the synchronous control, electronic cam control by mechanical support language (virtual mode) is enabled.

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

1 - 4

1 OVERVIEW

1.2.2 Basic specifications of Q173D(S)CPU/Q172D(S)CPU

Item Q173DSCPU Q172DSCPU Q173DCPU Q173DCPU-S1 Q172DCPU Q172DCPU-S1

Internal current consumption (5VDC) [A]

Mass [kg] 0.38 0.33

Exterior dimensions [mm(inch)]

(Note-1): The current consumption (0.2[A]) of manual pulse generator/incremental synchronous encoder connected to the internal I/F

connector is not included.

(1) Module specifications

(Note-1)

1.75

120.5 (4.74)(H)

120.3 (4.74)(D)

1.44

(Note-1)

27.4 (1.08)(W)

1.25 1.30 1.25 1.30

98 (3.85)(H)

27.4 (1.08)(W) 119.3 (4.70)(D)

(2) SV13/SV22 Motion control specifications/performance

specifications

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

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

SV13

Operation cycle (default)

SV22

Interpolation functions

Control modes

Acceleration/ deceleration control

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

Programming language

Servo program capacity 16k steps

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

Peripheral I/F

Home position return function

(a) Motion control specifications

0.22ms/ 1 to 4 axes

0.44ms/ 5 to 10 axes

0.88ms/ 11 to 24 axes

1.77ms/25 to 32 axes

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 16 axes

1.77ms/17 to 32 axes

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

Speed-torque control,

Synchronous control (SV22 (Virtual mode

switching method/Advanced synchronous control

Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration,

Motion SFC, Dedicated instruction,

Mechanical support language (SV22)

USB/RS-232/Ethernet (Via PLC CPU)

PERIPHERAL I/F (Motion CPU)

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, Scale home position signal detection type,

Dogless home position signal reference type

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

0.22ms/ 1 to 4 axes

0.44ms/ 5 to 10 axes

0.88ms/ 11 to 16 axes

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 16 axes

method))

Advanced S-curve acceleration/deceleration

Helical interpolation (3 axes)

(Note-1)

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

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)

Motion SFC, Dedicated instruction,

Mechanical support language (SV22)

USB/RS-232/Ethernet (Via PLC CPU)

PERIPHERAL I/F (Motion CPU)

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, Scale home position signal detection type

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 8 axes

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 8 axes

(Note-2)

1 - 5

1 OVERVIEW

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

JOG operation function Provided

Manual pulse generator operation function

Synchronous encoder operation

(Note-4)

(Note-5)

SV13

SV22

Mark detection mode setting

Mark detection signal

Mark detection setting

SSCNET

function

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

Limit switch output function

ROM operation function Provided

Multiple CPU synchronous control

External input signal

High-speed reading function

(Note-7)

Forced stop

Number of I/O points

Mark detection function

Clock function Provided

Security function

All clear function Provided

Remote operation Remote RUN/STOP, Remote latch clear

Optional data monitor function

Digital oscilloscope function

Motion control specifications (continued)

Possible to connect 3 modules (Q173DPX use)

Possible to connect 1 module

(Built-in interface in Motion CPU use)

Possible to connect 12 module (SV22 use)

(Q172DEX + Q173DPX + Built-in interface in

Motion CPU + Via device

+ Via servo amplifier

Virtual mode switching method:

Number of output points 32 points

Advanced synchronous control method:

Number of output points 64 points  2 settings Output timing compensation

Watch data: Motion control data/Word device

Q172DLX, External input signals (FLS/RLS/DOG)

of servo amplifier,

Built-in interface in Motion CPU (DI), Bit device

(Via built-in interface in Motion CPU,

Via input module,

Via tracking of Q172DEX/Q173DPX)

Total 256 points

(Built-in interface in Motion CPU (Input 4 points) +

I/O module + Intelligent function module)

Continuous detection mode,

Specified number of detection mode,

Ring buffer mode

Built-in interface in Motion CPU (4 points),

Bit device, DOG/CHANGE signal of Q172DLX

(Protection by software security key or password)

(Communication data: Up to 6 points/axis)

(Real-time waveform can be displayed)

Sampling data: Word 16CH, Bit 16CH

Up to 6 data/axis

Motion buffering method

(Note-5), (Note-6)

Watch data: Motion control data/Word device

Provided None

Provided

Motion controller forced stop (EMI connector, System setting),

32 settings

Provided

(Communication data: Up to 3 points/axis)

(Note-3)

(Note-5)

)

Number of output points 32 points

Forced stop terminal of servo amplifier

Up to 3 data/axis

Possible to connect 3 modules (Q173DPX use)

Possible to connect 12

modules (SV22 use)

(Q172DEX + Q173DPX)

Number of output points 32 points

Watch data: Motion control data/Word device

Q172DLX or External input signals

(FLS/RLS/DOG) of servo amplifier

(Via input module, Via tracking of

Q172DEX/Q173DPX)

Total 256 points

(Protection by password)

Motion buffering method

(Real-time waveform can be displayed)

Sampling data: Word 4CH, Bit 8CH

Possible to connect 8

modules (SV22 use)

(Q172DEX + Q173DPX)

Provided

(I/O module)

None

Provided

None

1 - 6

1 OVERVIEW

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

Absolute position system

SSCNET communication

(Note-8)

Driver communication function

(Note-10)

Number of Motion related modules

Number of SSCNET /H head module connection stations

(Note-1): SV22 virtual mode only (Note-2): Q173DCPU-S1/Q172DCPU-S1 only (Note-3): When the manual pulse generator is used via the built-in interface in Motion CPU, the Q173DPX cannot be used. (Note-4): Any incremental synchronous encoder connected to the built-in interface in Motion CPU will automatically be assigned an

(Note-5): SV22 advanced synchronous control only (Note-6): Servo amplifier (MR-J4(Note-7): This cannot be used in SV22 advanced synchronous control. (Note-8): The servo amplifiers for SSCNET cannot be used. (Note-9): SSCNET

(Note-10): Servo amplifier (MR-J3(Note-11): When using the incremental synchronous encoder (SV22 use), you can use above number of modules.

Communication method

Number of lines

Q172DLX 4 modules usable 2 modules usable 4 modules usable 1 module usable

Q172DEX 6 modules usable 4 modules usable

Q173DPX

Axis No. one integer greater than the number of encoders connected to any Q172DEX modules and Q173DPX modules.

and SSCNET /H cannot be combined in the same line.

For Q173DSCPU, SSCNET

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

Motion control specifications (continued)

Made compatible by setting battery to servo amplifier.

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

SSCNET

(Note-9)

2 lines

Up to 8 stations usable

(Up to 4 stations/line)

B-RJ) only.

or SSCNET /H can be set every line.

B/MR-J4- B-RJ) only.

/H, SSCNET SSCNET

1 line

Provided None

4 modules usable

Up to 4 stations usable

(Note-9)

(Note-11)

2 lines 1 line

3 modules usable

Unusable

(Note-11)

1 - 7

1 OVERVIEW

Code total

Motion SFC program capacity

Motion SFC program

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

Execute specification

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

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

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

(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) 12288 points

Link relays (B) 8192 points

Annunciators (F) 2048 points

Special relays (SM) 2256 points

Data registers (D)

Link registers (W) 8192 points

Special registers (SD) 2256 points

Motion registers (#) 12288 points

Coasting timers (FT)

Multiple CPU area devices (U \G)

(b) Motion SFC Performance Specifications

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

652k bytes 543k bytes

668k bytes 484k bytes

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

combined. (F/FS0 to F/FS4095)

Operation control program

Transition program

Normal task Execute in main cycle of Motion CPU

Event task (Execution can be masked.)

NMI task Execute when input ON is set among interrupt module QI60 (16 points).

Fixed cycle

External interrupt Execute when input ON is set among interrupt module QI60 (16 points).

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

(Note-1): 19824 points can be used for SV22 advanced synchronous control. (Note-2): Usable number of points changes according to the system settings.

Calculation expression,

bit conditional expression,

branch/repetition processing

Calculation expression/bit conditional expression/

comparison conditional expression

Execute in fixed cycle

(0.22ms, 0.44ms, 0.88ms, 1.77ms,

3.55ms, 7.11ms, 14.2ms)

256 points

(Built-in interface in Motion CPU

(Input 4 points) + I/O module +

Intelligent function module)

8192 points

(Note-1)

1 point (888µs)

Up to 14336 points usable

(0.44ms, 0.88ms, 1.77ms, 3.55ms,

Calculation expression,

bit conditional expression

Execute in fixed cycle

7.11ms, 14.2ms)

256 points

(I/O module)

8192 points

(Note-2)

1 - 8

1 OVERVIEW

(3) SV43 Motion control specifications/performance specifications

Item Q173DCPU(-S1) Q172DCPU(-S1)

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

Operation cycle (default)

Interpolation functions Linear interpolation (Up to 4 axes), Circular interpolation (2 axes), Helical interpolation (3 axes)

Control modes PTP (Point to Point) control, Constant speed positioning, High-speed oscillation control

Acceleration/deceleration control Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration

Compensation Backlash compensation, Electronic gear

Programming language Dedicated instruction (EIA language)

Motion program capacity 504k bytes

Number of programs 1024

Number of simultaneous start programs

Number of positioning points Approx. 10600 points (Positioning data can be designated indirectly)

Peripheral I/F

Home position return function

JOG operation function Provided

Manual pulse generator operation function

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

Limit switch output function

Skip function Provided

Override ratio setting function Override ratio setting : -100 to 100[%]

ROM operation function Provided

External input signal Q172DLX or External input signals (FLS/RLS/DOG) of servo amplifier

High-speed reading function Provided (Via input module, Via tracking of Q173DPX)

Forced stop

Number of I/O points Total 256 points (I/O module)

Clock function Provided

Security function Provided (Protection by password)

All clear function Provided

Remote operation Remote RUN/STOP, Remote latch clear

Digital oscilloscope function Provided

Absolute position system

SSCNET communication

(Note-2)

Number of Motion related modules

Communication method

Number of lines

Q172DLX 4 modules usable 1 module usable

Q173DPX 1 modules usable

(a) Motion control specifications

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 12 axes

1.77ms/13 to 28 axes

3.55ms/29 to 32 axes

Axis designation program : 32

Control program : 16

USB/RS-232/Ethernet (Via PLC CPU)

PERIPHERAL I/F (Motion CPU)

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, Scale home position signal detection type

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

Possible to connect 3 modules (Q173DPX use)

Number of output points 32 points

Watch data: Motion control data/Word device

Motion controller forced stop (EMI connector, System setting),

Forced stop terminal of servo amplifier

Made compatible by setting battery to servo amplifier.

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

SSCNET

2 lines 1 line

(Note-1): Q173DCPU-S1/Q172DCPU-S1 only (Note-2): The servo amplifiers for SSCNET cannot be used.

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 8 axes

Axis designation program : 8

Control program : 16

(Note-1)

1 - 9

1 OVERVIEW

Program capacity

Operation controls

G-codes Positioning command

M-codes Output command to data register M****

Special M-codes Program control command M00, M01, M02, M30, M98, M99, M100

Variable Device variable X, Y, M, B, F, D, W, #, U \G

Functions

Instructions

Number of controls

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

Total of program files 504k bytes

Number of programs Up to 1024 (No. 1 to 1024)

Arithmetic operation

Comparison operation Equal to, Not equal to

Logical operation

Trigonometric function SIN, COS, TAN, ASIN, ACOS, ATAN

Numerical function ABS, SQR, BIN, LN, EXP, BCD, RND, FIX, FUP, INT, FLT, DFLT, SFLT

Start/end CALL, CLEAR

Home position return CHGA

Speed/torque setting CHGV, CHGT, TL

Motion control WAITON, WAITOFF, EXEON, EXEOFF

Jump/repetition processing

Data operation

Program calls (GOSUB/GOSUBE) Up to 8

Program calls (M98) Up to 8

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) 1 point (888µs)

Multiple CPU area devices (U \G)

(b) Motion program performance specifications

Item Q173DCPU(-S1)/Q172DCPU(-S1)

Unary operation, Addition and subtraction operation, Multiplication and

division operation, Remainder operation

Logical shift operation, Logical negation, Logical AND,

Logical OR, Exclusive OR

G00, G01, G02, G03, G04, G09, G12, G13, G23, G24, G25, G26, G28, G30, G32, G43, G44, G49, G53, G54, G55, G56, G57, G58, G59, G61, G64, G90, G91, G92, G98, G99, G100, G101

CALL, GOSUB, GOSUBE, IF…GOTO,

IF…THEN…ELSE IF...ELSE...END,

WHILE…DO…BREAK...CONTINUE...END

BMOV, BDMOV, FMOV, BSET, BRST, SET, RST, MULTW, MULTR,

TO, FROM, ON, OFF, IF…THEN…SET/RST/OUT, PB

Up to 14336 points usable

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

(Note)

1 - 10

1 OVERVIEW

1.3 Hardware Configuration

This section describes the Motion controller system configuration, precautions on use of system, and configured equipments.

1.3.1 Motion system configuration

Motion module

(Q172DLX, Q172DEX, Q173DPX)

Safety signal module

(Q173DSXY)

(1) Equipment configuration in system

(a) Q173DSCPU/Q172DSCPU

Power supply module/

QnUD(E)(H)CPU/QnUDVCPU/

I/O module/Intelligent function

module of the Q series

Main base unit

(Q35DB, Q 38DB, Q31 2DB)

Motion CPU module

(Q173DSCPU/Q172DSCPU)

Extension cable

(QC B)

Forced stop input cab le

(Q170DEMICBL M)

Extension of the Q series module

(Note-2)

Motion module

(Q172DLX, Q173DPX)

Q6 B extension base unit

(Q63B, Q65B, Q68B, Q612B)

Power supply module/

I/O module/Intelligent function

module of the Q series

RIO cable

(Q173DSXYCBL M)

(Note-1)

MITSUBISHI

LITHIUM BATTERY

PROGRAMMABLE CONTROLL ER

Q6BAT

TYPE

SSCNET cable

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

Servo amplifier

(MR-J3(W)- B)

Battery

(Q6BAT)

Servo amplifier

(MR-J4(W)- B)

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

(Note-1): Be sure to install the Battery (Q6BAT). It is packed together with Q173DSCPU/Q172DSCPU. (Note-2): Q172DEX cannot be used in the extension base unit. Install it to the main base unit.

1 - 11

1 OVERVIEW

(b) Q173DCPU(-S1)/Q172DCPU(-S1)

Power supply module/

QnUD(E)(H)CPU/QnUDVCPU/

I/O module/Intelligent function

module of the Q series

Extension of the Q series module

(Note-2)

Motion module

(Q172DLX, Q173DPX)

Motion module

(Q172DLX, Q172DEX, Q173DPX)

(Note-3)

Safety signal module

(Q173DSXY)

(Note-3)

RIO cable

(Q173DSXYCBL M)

Main base unit

(Q35DB, Q 38DB, Q31 2DB)

Motion CPU module

(Q173DCPU(-S1)/ Q172DCPU(-S1))

SSCNET cable

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

Servo amplifier

(MR-J3(W)- B)

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(-S1)/Q172DCPU(-S1). (Note-2): Q172DEX cannot be used in the extension base unit. Install it to the main base unit. (Note-3): Q173DCPU-S1/Q172DCPU-S1 only.

Extension cable

(QC B)

Forced stop input cab le

(Q170DEMICBL M)

(Note-1)

Battery holder unit

(Q170DBATC)

(Note-1)

LITHIUM BATTERY

PROGRAMMABLE CONTROLL ER

TYPE Q6BAT

Battery

(Q6BAT)

MITSUBISHI

Q6 B extension base unit

(Q63B, Q65B, Q68B, Q612B)

Power supply module/

I/O module/Intelligent function

module of the Q series

1 - 12

1 OVERVIEW

(2) Peripheral device configuration for the Q173D(S)CPU/

Q172D(S)CPU

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

(a) USB configuration (b) RS-232 configuration (c) Ethernet configuration

PLC CPU module

(QnUD(E)(H)CPU/QnUDVCPU)

USB cable

Personal computer

PLC CPU module

(QnUD(H)CPU)

RS-232 communication cable

(QC30R2)

Personal computer Personal computer

(Note-1): Corresponding Ethernet cables

Part name Connection type Cable type Ethernet standard Specification

Connection with HUB Straight cable

Ethernet cable

Direct connection Crossover cable

1) Connecting to Motion CPU module

10BASE-T

100BASE-TX

10BASE-T

100BASE-TX

[Selection criterion of cable]

• Category : 5 or higher

• Diameter of lead : AWG26 or higher

• Shield : Copper braid shield and drain wire

Compliant with Ethernet standards, category 5 or higher.

• Shielded twisted pair cable (STP cable)

Copper braid shield and aluminium layered type shield

2) Connecting to PLC CPU module Refer to the "QnUCPU User's Manual (Communication via Built-in Ethernet Port)".

Motion CPU module

(Q17 DSCPU/Q17 DCPU-S1)

PLC CPU module

(QnUDE(H)CPU/QnUDVCPU)

Ethernet cable

(Note-1)

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1 OVERVIEW

1.3.2 Q173DSCPU/Q172DSCPU System overall configuration

Motion CPU control module

u o

o r

Q173D

Serial absolute synchronous encoder cable (Q170ENCCBL M)

Serial absolute synchronous encoder 2/module

(Q171ENC-W8)

Upper stroke limit Lower stroke limit STOP signal Proximity dog/Speed-position switching

LJ72MS15L61P

MELSEC-L s eries SS CNET /H head module (LJ72MS15)

Q173DSCPU: 2 lines (Up to 8 stations (Up to 4 stations/line)) Q172DSCPU: 1 line (Up to 4 stations)

PERIPHERAL I/F

Panel personal computer

100/200VAC

Personal Computer IBM PC/AT

Extension base unit (Q6 B)

Extension cable (QC B)

Serial abso lute synchronous encoder cable (Q170ENCCBL M-A)

Serial absolute synchronous

encoder (Q171ENC-W8)

UP to 7 extensions

Line 2 SSCNET (/H) (CN2)

(Note-2)

Main base unit

(Q3 DB)

Q61P

QnUD CPU

USB/RS-232/

(Note-1)

Ethernet

Battery (Q6BAT)

Forced stop input cable (Q170DEMICBL M)

EMI forced stop input (24VDC)

l p p u s

r e

u d

o P

d01

M E

d16

M E

MR-J3(W)- B/MR-J4(W)- B model Servo amplifier

Q173DSCPU: 2 lines (Up to 32 axes (Up to 16 axes/line)) Q172DSCPU: 1 line (Up to 16axes)

External input signals of servo amplifier

Proximity dog/Speed-position switching Upper stroke limit Lower stroke limit

PLC CPU/ Motion CPU

Q17 DS CPU

QI60

QX QY

Q6 AD Q172DLXQ172D

Q6 DA

Intelligent

function module

Interrupt signals (16 points)

Manual pulse generator/

Incremental synchronous encoder 1/module

Input signal/Mark detection input signal (4 points)

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

Line 1 SSCNET (/H) (CN1)

d01

M E

d16

l a n

r e

t x e

o v r e S

FLS : Upper stroke limit RLS : Lower stroke limit STOP : Stop signal DOG/CHANGE : Proximity dog/Speed-position switching

Analogue input/o utput

Input/output (Up to 256 points)

l u d

l u

I/O module/ Intelligent function module

Manual pulse generator 3/module

(MR-HDP01)

External input signals

LJ72MS15L61P

I/O module/ Intelligent function module

(Note-1): QnUDE(H)CPU/QnUDVCPU only (Note-2): MR-J4- B-RJ only

Number of Inputs

8 axes/module

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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

1.3.3 Q173DCPU(-S1)/Q172DCPU(-S1) System overall configuration

Motion CPU control module

Q173D PX

Serial absolute synchronous encoder 2/module (Q170ENC)

I/O module/ Intelligent function module

Manual pulse generator 3/module

(MR-HDP01)

External input signals

Panel personal compute

PERIPHERAL I/F

(Note-1)

Main base unit

100/200VAC

Personal Computer IBM PC/AT

Battery holder unit Q170DBATC

EMI forced stop inpu t (24VDC)

PLC CPU/

Q61P

(Note-2)

Motion CPU

QnUD CPU

(Q3 DB)

USB/RS-232/ Ethernet

Forced stop input cab le (Q170DEMICBL M)

Q17 D CPU

QI60

Q6 AD Q172DLXQ172D

Q6 DA

Interrupt signals (16 points)

e t

Serial absolute synchron ous encoder cable (Q170ENCCBL M)

FLS : Upper stroke limit RLS : Lower stroke limit STOP : Stop signal DOG/CHANGE : Proximity dog/Speed-position switching

Analogue input/output

Input/output (Up to 256 points)

Number of Inputs

8 axes/module

Extension base unit (Q6 B)

Extension cable (QC B)

l p p u s

u d

o P

UP to 7 extensions

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

Line 2 SSCNET (CN2)

Line 1 SSCNET (CN1)

d01

M E

d16

d01

M E

MR-J3(W)- B model Servo amplifier

Q173DCPU(-S1): 2 lines (Up to 32 axes (Up to 16 axes/line)) Q172DCPU(-S1): 1 line (Up to 8 axes)

External input signals of servo amplifier

Proximity dog/Speed-pos ition switching Upper stroke limit Lower stroke limit

(Note-1): Q173DCPU-S1/Q172DCPU-S1 only (Note-2): QnUDE(H)CPU/QnUDVCPU only

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.

d16

M E

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1 OVERVIEW

1.3.4 Software packages

Conveyor assembly use SV13

Automatic machinery use SV22

Machine tool peripheral use SV43

(1) Operating system software

Application

Q173DSCPU

SW8DNC-SV13QJ SW8DNC-SV13QL SW8DNC-SV13QB SW8DNC-SV13QD

SW8DNC-SV22QJ SW8DNC-SV22QL SW8DNC-SV22QA SW8DNC-SV22QC

(Note-1): The operating system software (SV22 (Virtual mode switching method)) is installed

(Note-1)

— — SW7DNC-SV43QA SW7DNC-SV43QC

at the time of product purchases.

Q172DSCPU

Software package

(Note-1)

Q173DCPU(-S1) Q172DCPU(-S1)

(2) Operating system software type/version

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

1) Operating system software type

2) Operating system software version

3) Serial number

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

1) SW8DNC-SV22QA

2) 00B

(b) Confirmation method in MT Developer2

The operating system software type and version of connected CPU can be confirmed on the following screens.

1) Installation screen

2) CPU information screen displayed by menu bar [Help] Information]

(OS software)

SV2 2QA VER 0 0 B

[CPU

A or B : Q173DCPU(-S1) C or D : Q172DCPU(-S1) J or L : Q173DSCPU Q172DSCPU

3: Motion SFC compatibility . : Motion SFC not compatibility

OS version

(3) Programming software packages

(a) Motion controller engineering environment

Part name Model name

MELSOFT MT Works2 (MT Developer2

(Note-1): This software is included in Motion controller engineering environment "MELSOFT MT Works2".

(Note-1)

)

1 - 17

SW1DNC-MTW2-E

1 OVERVIEW

(4) Related software packages

(a) PLC software package

Model name Software package

GX Works2 SW1DNC-GXW2-E

GX Developer SW8D5C-GPPW-E

(b) Servo set up software package

Model name Software package

MR Configurator2 SW1DNC-MRC2-E MR Configurator

POINTS

When the operation of WindowsR is unclear in the operation of this software, refer to the manual of Windows

(Note-1)

or guide-book from the other supplier.

MRZJW3-SETUP221E

(Note-1): Q173DSCPU/Q172DSCPU is not supported.

1 - 18

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 to CPU No.1. For Universal model PLC CPU module, "Multiple CPU high speed transmission function" must be set in the Multiple CPU settings.

(b) Only Multiple CPU high speed main base unit (Q35DB/Q38DB/Q312DB)

can be used.

Q172DCPU(-S1) and Q173HCPU(-T)/Q172HCPU(-T)/Q173CPUN(-T)/ Q172CPUN(-T) cannot be used. The combination of Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/ Q172DCPU(-S1) can be used.

(d) Up to four modules of universal model PLC CPU modules/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 installation 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 universal

model PLC CPU modules 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 installed 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 installed in the combination of Multiple CPU system, the Motion dedicated PLC instruction from these modules cannot be executed.

1 - 19

1 OVERVIEW

(2) Motion modules

(a) Installation position of Q172DEX

unit. 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) Q173DSXY cannot be used in Q173DCPU/Q172DCPU.

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

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

(f) 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.

(g) Q173DSXY is managed with PLC CPU.

The Motion CPU to connect Q173DSXY is only CPU No.2 in the Multiple CPU system. Q173DSXY cannot be used for the CPU No. 3 or 4.

(Note-1): Q172DEX can be used in SV22. It cannot be used in SV13/SV43.

(Note-1)

and Q173DSXY is only the main base

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

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

1 - 20

1 OVERVIEW

(3) Other restrictions

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

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

(b) Be sure to use the battery.

• Use a EMI connector of Motion CPU module

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

(d) Forced stop input for EMI connector 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 connector of Motion CPU module, apply 24VDC voltage on EMI connector and invalidate the forced stop input of EMI connector.

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

stop cannot be released without using it.

(f) Set "SSCNET

system setting to communicate with the servo amplifiers. MR-J4(W)can be used by setting "SSCNET

(g) There are the following restrictions when "SSCCNET

communication method. When the operation cycle is 0.2[ms], set the system setting and the axis select rotary switch of servo amplifier to "0 to 3". If the axis select rotary switch of servo amplifier is set to "4 to F", the servo amplifiers are not recognized. When the operation cycle is 0.4[ms], set the system setting and the axis select rotary switch of servo amplifier to "0 to 7". If the axis select rotary switch of servo amplifier is set to "8 to F", the servo amplifiers are not recognized. There is no restriction when "SSCNET

(Note): The setting of axis select rotary switch differs according to the servo

amplifier. Refer to the "Servo amplifier Instruction Manual" for details.

(h) Maximum number of control axes of servo amplifier is shown below.

• Operation cycle is 0.2[ms]: 4 axes per line

• Operation cycle is 0.4[ms]: 8 axes per line There is no restriction when "SSCNET

QDS

(i) When the operation cycle is "default setting", the operation cycle is set

depending on the number of axes used. However, when "SSCNET in the SSCNET communication setting and the number of axes used of servo amplifier is 9 axes or more per line, the operation cycle of 0.8 [ms] or more is set. (Refer to Section 1.2.2.)

/H" or "SSCNET " for every line in the SSCNET setting of

B can be used by setting "SSCNET /H", and MR-J3(W)- B

QDS

" is set as

QDS

/H" is set in the SSCNET setting.

QDS

" is set

1 - 21

1 OVERVIEW

(j) MR-J4W3-

B (Software version "A2" or before) and MR-J3W- B does not support operation cycle 0.2 [ms]. Set 0.4[ms] or more as operation cycle to use MR-J4W3-

QDS

MR-J4W 3-

B (Software version "A2" or before) and MR-J3W- B.

B (Software version "A3" or later) supports operation cycle 0.2 [ms]. However, when using operation cycle 0.2 [ms], some functions are restricted. Refer to the "Servo amplifier Instruction Manual" for details.

(k) If there is an axis which is not set at least 1 axis by system setting in

applicable servo amplifier at MR-J4W-

B use, all axes connected to applicable servo amplifier and subsequent servo amplifiers cannot be connected. Set "Not used" to the applicable axis with a dip switch for the axis which is not used by MR-J4W-

QDS

(l) 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.

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

of GX Works2/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

Q172DLX Q172LX Q172DLX

Q172DEX MOTION-UNIT Q172DEX

Q173DPX MOTION-UNIT Q173DPX

Function version "B" Function version "C"

Model display

(n) Use the Graphic Operation Terminal (GOT) that supports Motion CPU

(Q173D(S)CPU/Q172D(S)CPU). (Refer to the "GOT1000 Series Connection Manual (Mitsubishi Products)".)

1 - 22

1 OVERVIEW

1.4 Checking Serial Number and Operating System Software Version

Checking for the serial number of Motion CPU module and Motion module, and the operating system software version are shown below.

1.4.1 Checking serial number

(1) Motion CPU module (Q173DSCPU/Q172DSCPU)

(a) Rating plate

Q173DSCPU

The rating plate is situated on the side face of the Motion CPU module.

(b) Front of Motion CPU module

The serial number is printed in the projection parts forward of the lower side of Motion CPU module.

Serial number

STOP RUN

EMI

PERIPHERAL I/F

CN1CN2

EXT.I/F

PULL

FRONT RIO

N2X234999

MITSUBISHI

MOTION CONTR OLLER

MODEL

Q173DSCPU

SERIAL

US LISTED

IND. CONT.EQ.

80M1

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN

See Q 173DS CPU In struc tion m anual.

5VDC 1.75A

N2X234999

KCC-REI-MEKTC510A792G61 DATE:2011-11

PASSED

Serial number

Rating plate

The serial number can be checked on the system monitor screen in GX Works2/GX Developer. (Refer to Section 1.4.2.)

1 - 23

1 OVERVIEW

(2) Motion CPU module (Q173DCPU(-S1)/Q172DCPU(-S1))

(a) Rating plate

The rating plate is situated on the side face of the Motion CPU module.

(b) Front of Motion CPU module

The serial number is printed in the projection parts forward of the lower side of Motion CPU module.

Q173DCPU-S1

STOP RUN

EMI

CAUTION

Serial number

CN1

CN2

M16349999

FRONT BAT RIO

MITSUBISHI

MOTION CONTROLLER

MODEL

Q173DCPU-S1

PERIPHERAL I/F

0026924699D0

SERIAL

M16349999

80M1 IND. CONT. EQ.

US LISTED

MITSUBISHI ELECTRIC CORPORATION

See Q173DCPU-S1 Instruction manual.

KCC-REI-MEK-TC5 10A692051

PASSED

5VDC 1.30 A

MADE IN JAPAN

DATE:2011-06

Rating plate

Serial number

The serial number can be checked on the system monitor screen in GX Works2/GX Developer. (Refer to Section 1.4.2.)

REMARK

The serial number display was corresponded from the Motion CPU modules manufactured in early October 2007.

1 - 24

1 OVERVIEW

(3) Motion module (Q172DLX/Q172DEX/Q173DPX/Q173DSXY)

(a) Rating plate

The rating plate is situated on the side face of the Motion module.

(b) Front of Motion module

The serial No. is printed in the projection parts forward of the lower side of Motion module.

Q172DLX

Serial number

Q172DLX

CTRL

C16054999

MITSUBISHI

MOTION I/F UNIT

MODEL

Q172DLX

SERIAL DATE

2011-06

80M1 IND. CONT. EQ.

US LISTED

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN B C370C224H01

See Q17 2DL X In str uct ion man ual .

KCC-REI-MEK-

TC510A646G51

C16054999

PASSED

5VDC 0.06A24VDC 0.16A

Rating plate

Serial numbe

REMARK

The serial number display was corresponded from the Motion modules manufactured in early April 2008.

1 - 25

1 OVERVIEW

1.4.2 Checking operating system software version

The operating system software version can be checked on the system monitor screen in GX Works2/GX Developer. Select [Product Information List] button on the system monitor screen displayed on [Diagnostics] – [System monitor] of GX Works2/GX Developer.

Ver.!

Serial number of Motion CPU module

Operating system software version

<Screen: GX Works2>

Ver.!

: Refer to Section 1.5 for the software version that supports this function.

1 - 26

1 OVERVIEW

REMARK

(1) "Serial number of Motion CPU module" and "Operating system software

version" on the system monitor (Product Information List) screen of GX Works2/GX Developer was corresponded from the Motion CPU modules manufactured in early October 2007.

(2) The operating system software version can also be checked on the system

monitor screen in CD-ROM of operating system software or MT Developer2. (Refer to Section 1.3.4.)

1 - 27

1 OVERVIEW

1.5 Restrictions by the Software's Version

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

Table 1.1 Restrictions by the Software's Version

Operating system software version

Function

Checking Motion controller's serial number and operating system software version in GX Developer

Advanced S-curve acceleration/deceleration (Except constant-speed control (CPSTART) of servo program.)

Direct drive servo MR-J3-

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

0.44ms fixed-cycle event task — 00H

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

Synchronous encoder current value monitor in real mode — 00H

Display of the past ten times history in current value history monitor

Amplifier-less operation — 00H

Servo instruction (Home position return (ZERO), high speed oscillation (OSC)) and manual pulse generator operation in mixed function of virtual mode/real mode

Advanced S-curve acceleration/deceleration in constantspeed control (CPSTART) of servo program.

External input signal (DOG) of servo amplifier in home position return of count type and speed/position switching control

Communication via PERIPHERAL I/F

Motion SFC operation control instruction Type conversion (DFLT, SFLT)

Vision system dedicated function (MVOPEN, MVLOAD, MVTRG, MVPST, MVIN, MVFIN, MVCLOSE, MVCOM)

Home position return of scale home position signal detection type

Real time display function in digital oscilloscope function

B-RJ080W

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

SV13/SV22 SV13/SV22 SV43

— 00D —

— 00H

— 00H 00B

— 00H 00C

— 00H

— 00K

—

(Note-1), (Note-2)

00G

00H

00L

00N

00B

00C

—

00C

Not support

1 - 28

1 OVERVIEW

Programming software version

MELSOFT MT Works2 (MT Developer2)

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

SV13/SV22 SV13/SV22 SV43

— — — — — (Note-4), (Note-5)

1.39R 1.06G — — (Note-3)

— — — — — APPENDIX 1.2

— — — — (Note-5)

— — — — Section 4.11

1.39R

(Note-1): SV13/SV22 is the completely same version. (Note-2): The operating system software version can be confirmed in the operating system software (CD-ROM), MT Developer2 or

(Note-3): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (Motion SFC) (Note-4): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE) (Note-5): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV22) Programming Manual (VIRTUAL MODE) (Note-6): Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (Safety Observation) (Note-7): Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual (Advanced Synchronous Control)

— — — — — Section 1.4

1.39R 1.06G — — (Note-4)

1.39R 1.06G 1.06G 1.01B C2

1.39R 1.06G Not support — — Section 4.2

1.39R 1.09K — — (Note-5)

1.39R 1.09K — — (Note-4)

1.39R

GX Works2/GX Developer. (Refer to Section 1.3, 1.4.)

1.15R

1.17T

Not support — —

Not support — — Section 4.13

— — — (Note-3)

— — (Note-3)

Not support — — (Note-4)

Not support — —

MR Configurator2 MR Configurator

—: There is no restriction by the version.

Section of reference

1 - 29

1 OVERVIEW

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

Operating system software version

Function

Rapid stop deceleration time setting error invalid function

Vision system dedicated function (MVOUT)

Motion SFC operation control instruction Program control (IF - ELSE - IEND, SELECT -CASE SEND, FOR -NEXT, BREAK) Display format depending on the error setting data information of motion error history device (#8640 to #8735)

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

Safety observation function — 00S

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

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

Operation method (SD560) 00B Not support

Advanced synchronous control 00B Not support

Limit switch output function expansion 00B Not support

Driver communication function (SSCNET )

Intelligent function module support

SSCNET /H head module connection

Cam auto-generation (CAMMK) easy stroke ratio cam

Acceleration/deceleration time change function

Home position return of dogless home position signal reference type

Setting range expansion of backlash compensation amount

Multiple CPU synchronous control

Cam axis length per cycle change during synchronous control

Servo driver VC series manufactured by Nikki Denso Co., Ltd.

Inverter FR-A700 series — —

Synchronous encoder via servo amplifier 00D Not support

Driver communication function (SSCNET /H) 00D Not support

)

SSCNET

SSCNET /H 00D Not support

— 00L

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

SV13/SV22 SV13/SV22 SV43

— 00S

— 00R

— 00S

00B Not support

00C Not support

(Note-1), (Note-2)

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1 OVERVIEW

Programming software version

MELSOFT MT Works2 (MT Developer2)

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

SV13/SV22 SV13/SV22 SV43

— — — — (Note-4)

1.39R

— — — — (Note-4), (Note-5)

1.39R

—

1.47Z

— Not support — — Section 4.16

1.56J Not support — — Section 4.17

1.56J Not support — — Section 4.18

1.56J Not support — — (Note-3)

1.56J Not support — — (Note-4)

1.56J Not support — — (Note-7)

1.34L 1.15R — — (Note-4)

1.56J Not support — — (Note-4)

1.34L 1.15R — — (Note-4)

1.68W Not support — Not support (Note-7)

1.68W Not support — Not support Section 4.16

(Note-1): SV13/SV22 is the completely same version. (Note-2): The operating system software version can be confirmed in the operating system software (CD-ROM), MT Developer2 or

1.39R

— — — — (Note-3)

—

1.47Z

1.56J Not support — — (Note-4)

1.56J Not support — — (Note-7)

GX Works2/GX Developer. (Refer to Section 1.3, 1.4.)

1.39R

Not support

—

Not support

— — (Note-3)

— — (Note-6)

— — (Note-4)

— — APPENDIX 1.1

— — APPENDIX 1.2

— — (Note-7)

— —

MR Configurator2 MR Configurator

—: There is no restriction by the version.

Section of reference

Section 4.1.3 Section 4.1.4

1 - 31

1 OVERVIEW

1.6 Programming Software Version

Motion CPU

Q173DSCPU

Q172DSCPU

Q173DCPU-S1

Q172DCPU-S1

Q173DCPU 1.00A 1.03D 1.00A

Q172DCPU 1.00A 1.03D 1.00A

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

MELSOFT MT Works2 (MT Developer2)

SV13/SV22 SV43

(Note-1)

1.39R

1.00A

(Note-1)

(Note-2)

1.03D

(Note-2)

1.03D

(Note-1): Use version 1.47Z or later to use advanced synchronous control method. (Note-2): Use version 1.12N or later to communicate via PERIPHERAL I/F. (Note-3): Use version 1.23Z or later to communicate via PERIPHERAL I/F. (Note-4): Use version C1 or later to use MR Configurator combination with MT Developer2.

1.10L Not support

(Note-3)

MR Configurator2 MR Configurator

1.00A

(Note-4)

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2 MULTIPLE CPU SYSTEM

2. MULTIPLE CPU SYSTEM

2.1 Multiple CPU System

2.1.1 Overview

(1) What is Multiple CPU system ?

(2) System configuration based on load distribution

(3) Communication between CPUs in the 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

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

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

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

CPU modules. It is possible to control up to 96 axes by using the three CPU modules (Q173DSCPU/Q173DCPU(-S1)).

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

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

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.

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

the PLC CPU to Motion CPU and start Motion SFC program (SV13/SV22)/ Motion program (SV43).

cable.

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). The combination of Q173DSCPU/Q172DSCPU and Q173DCPU(-S1)/ Q172DCPU(-S1) can be used. (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

QnUD

supply

CPU

Power

QnUD

supply

CPU

QnUD

Power

CPU

supply

CPU 0 1 2

Power

QnUD

supply

CPU

empty

Installation position of CPU module

CPU 0 1 2

Q17 D(S)

CPU

—— ——

CPU

CPU No.1

CPU 0 1 2

Q17 D(S)

No.2

CPU

CPU No.3

QnUD CPU

CPU No.4

CPU 0 1 2

Q17 D(S)

QnUD CPU

Q17 D(S)

CPU

Power supply

——

CPU

CPU No.1

CPU 0 1 2

Q17 D(S)

CPU No.1

No.2

CPU

CPU No.2

CPU No.3

QnUD CPU

CPU No.3

CPU No.4

CPU

empty

CPU No.4

CPU

CPU No.1

CPU 0 1 2

QnUD CPU

CPU No.1

Q17 D(S)

Power supply

No.2

CPU

CPU No.2

CPU No.3

Q17 D(S)

CPU

CPU No.3

CPU No.4

QnUD CPU

CPU No.4

CPU 0 1 2

QnUD

CPU

CPU No.1

Q17 D(S)

CPU

CPU No.2

Power supply

CPU 0 1 2

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

Q17 D(S)

CPU

(Example 2)

Power supply

CPU

CPU 0 1 2

CPU

QnUD

empty

Q17 D(S)

CPU

empty

(Example 3)

Power supply

CPU

CPU 0 1 2

QnUD

CPU

empty

Q17 D(S)

CPU

CPU No.3

CPU

Q17 D(S)

: Slot numb e

Q17 D(S)

CPU

CPU No.4

CPU

CPU No.1

No.2

CPU No.3

CPU No.4

CPU No.1

CPU No.2

CPU No.3

CPU No.4

CPU No.1

CPU No.2

CPU No.3

CPU No.4

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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

• Intelligent function module

• Interrupt module (QI60)

(Note-1): Refer to Section 4.17 for corresponding intelligent function module.

, QX - , QY , QY - , QH , QX Y )

(Note-1)

(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 for the intelligent function modules (network modules etc.) that 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

Access target

Input (X)

Output (Y)

Buffer memory

Read

Write

I/O setting outside of the group (Set by PLC CPU)

Disabled (Not checked) Enabled (Checked)

: 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 Works2/GX Developer system monitor product information list.

• Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller 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

within the restrictions listed below.

Description Model name

Servo external signals interface module

Serial absolute synchronous interface module

Manual pulse generator interface module

Input module

Output module

Input/output composite module

Intelligent function module

(Note-3)

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

(Note-2): SV22 only. (Note-3): A maximum of 4 intelligent function modules can be used. (Note-4): Refer to Section 4.17 for corresponding intelligent function module. (Note-5): Number of I/O points is total of "Built-in interface in Motion CPU (Input 4 points) + I/O module + intelligent function module".

Analogue input module

Analogue output module

General (Note-4) —

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

(a) SV13/SV22

Maximum installable modules per CPU

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

Q172DLX 4 modules 2 modules 4 modules 1 module

(Note-2)

Q172DEX

Q173DPX

(Note-1)

QX QX

QY QY

QH QX

AD-

Q6 DA Q6

DA-

Incremental serial encoder use

(Note-2)

Manual pulse generator only use

Total 256 points

6 modules 4 modules

4 modules 3 modules

1 module

(Note-5)

Total 256 points

2 - 4

2 MULTIPLE CPU SYSTEM

Description Model name

Servo external signals interface module

Manual pulse generator interface module

Input module

Output module

Input/output composite module

Intelligent function module

(Note-1)

(Note-1): A maximum of 4 intelligent function modules can be used.

Analogue input module

Analogue output module

(b) SV43

Q172DLX 4 modules 1 module

Q173DPX

QX QX

QY QY

QH QX

Q6 Q6

Q6 DA Q6

Manual pulse generator only use

AD AD-

DA-

(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.

Maximum installable modules per CPU

Q173DCPU(-S1) Q172DCPU(-S1)

1 module 1 module

Total 256 points

2 - 5

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 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 recovery.

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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 Works2/ 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 - 7

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)" will

stop error of CPU 'n' " has not been set, a "MULTI EXE. ERROR (error code: 7020)" error occurs in all other CPUs but operations will continue.

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. The stop error can be checked on the PLC diagnostics screen in GX Works2/GX Developer.

1) Confirm the error-detected CPU No. and error cause with the PLC diagnostics on GX Works2/GX Developer.

2) If the error code occurred in Motion CPU 10000 to 10999, confirm the error cause with monitor of MT Developer2.

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 - 8

<Screen: GX Works2>

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. • All actual output PY points turn OFF.

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

(Note-1)

error

Motion program setting

(Note-2)

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

(Note-1)

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.

• Only the applicable program stops (the

• Actual output PY retains output.

• No effect on other CPUs.

No effect on other CPUs.

Other CPUs may also stop depending on the parameter setting.

program may continue depending on the type of error).

(Note-1): SV13/SV22 use. (Note-2): SV43 use.

2 - 9

(

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 Works2/GX Developer

Start-up GX Works2 (Ver.1.15R or later) /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 sequence program.

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

Connect the PC that started GX Works2 /GX Developer to the PLC CPU module of CPU No. 1 with the RS-232/USB/ Ethernet cable.

Refer to Section 2.3

Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller User's Manual"

Refer to the GX Works2/GX Developer Manual.

Create the parameters for CPU No. 1 to 4 and sequence programs. Refer to the "QnUCPU User's Manual" Explanation/Program Fundamentals)".

Functio

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 sequence 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.

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2 MULTIPLE CPU SYSTEM

Start-up of MT Developer2 Refer to the help for operation of MT Developer2.

Start-up MT Developer2.

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 (SV13/SV22) /Motion program (SV43).

Write to the Motion CPU

Write the system settings, servo data and Motion SFC program (SV13/SV22) /Motion program (SV43).

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 operating system software for details of program.

Check and correction of errors

An error is checked with the PC diagnosis function of GX Works2/

PLC CPU Motion CPU

GX Developer and monitor of MT Developer2 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 "Q173D(S)CPU/Q172D(S)CPU Motion controller User's Manual" for installation of the Motion CPU operating system software.

2 - 11

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 and by which data are written or read between CPU modules of the 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

User setting area

System 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 - 12

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 number 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 - 13

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 (Q3

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

system controllers including PLC 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 every 0.88ms.

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)

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 - 14

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 0.88[ms].). Secure data transmission is possible without effecting the PLC CPU scan time or Motion CPU main cycle because the data transmission and execution of sequence program and Motion SFC program/Motion 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.

• Use the Multiple CPU area device Set the Multiple CPU high speed transmission area by setting the 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)

Sequence 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\G10000

U3E0\G10110.5

W1=U3E0\G10100

Multiple CPU high speed transmission in 0.88ms cycle

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".)

(Note-1)

by the instruction that us es 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 - 15

2 MULTIPLE CPU SYSTEM

Word device

1) Access to Multiple CPU high speed transmission area a) SV13/SV22

• 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 3E0(H)

CPU No.1

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

• Example of access in the program <Motion SFC 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 transmission memory 10404 of CPU No.1 as a cancel signal.

ABS-1 Axis 1, U3E0\G10400 Speed U3E0\G10402 Cancel U3E0\G10404.1

2 - 16

2 MULTIPLE CPU SYSTEM

Word device : # Q \

b) SV43

• Description of Multiple CPU area device

CPU shared memory address (Decimal) (0 to up to 14335)

CPU No.

Set value

CPU No.11CPU No.22CPU No.33CPU No.4

(Note)

Bit device

: # Q \ .

Bit specification (0 to F : Hexadecimal)

CPU shared memory address (Decimal) (0 to up to 14335)

CPU No.

Set value

(Note): Write the value that attracted 10000 from specified CPU shared memory address. (Accessible memory address : 10000 to 24335)

CPU No.11CPU No.22CPU No.33CPU No.4

(Note)

(Example)

• Multiple CPU high speed transmission memory address of CPU

No.2: 10002 #Q1\2

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

memory address 10200 #Q2\200.E

• Example of access in the program <Motion program>

• Store K12345678 to the Multiple CPU high speed transmission

memory 10200,10201 of self CPU (CPU No.2). #Q1\200:L = K12345678;

• Turn on bit 12 of the Multiple CPU high speed transmission

memory 10301 of self CPU (CPU No.3) SET #Q2\301.C;

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

POINT

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 - 17

2 MULTIPLE CPU SYSTEM

CPU No.1 (PLC CPU)

Sequence program

SM400

INC

END

(b) Example of using automatic refresh method

Device memory

Parameter

CPU No.1 to CPU No.2

Transmit D0

CPU shared memory

(Automatic refresh area

Refresh at the timing of END processing

CPU No.1

transmitting

data

CPU No.2 (Motion CPU)

(Note-1)

)

Multiple CPU high speed transmission in 0.88ms cycle

CPU shared memory

(Automatic refresh area

CPU No.1

transmitting

data

(Note-1)

)

D2000

Refresh at the timing of Motion CPU main cycle

Parameter

CPU No.1 to CPU No.2

Device memory

Receive D2000

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".)

(Note-1)

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

at the time of END processing by parameter setting.

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

(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

DB).

The system configuration specification is shown in Table 2.4.

Table 2.4 System configuration to use Multiple CPU high speed

transmission

Object Restrictions

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

QnUD(E)(H)CPU/QnUDVCPU is used for CPU No.1.

CPU module

"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.

Q173D(S)CPU/Q172D(S)CPU and QnUD(E) (H)CPU/QnUDVCPU are used for CPU No.2 to CPU No.4

2 - 18

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 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 - 19

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 - 20

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

Used when communicating with the other CPU using the automatic refresh. Number of points that is set by the "automatic refresh setting" is displayed.

Used when communicating with the other CPU using the program. 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]

• 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 number of points of the CPU specific send range.

— —

Consistency

check

Provided

—

2 - 21

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 "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for the Motion dedicated PLC instruction.

System area is displayed by selecting "Advanced settings".

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

16.0k points or lower.

Data size

consistency

check

Provided

—

2 - 22

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 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 - 23

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.

1) Operation example of automatic refresh a) 2 CPU modules (1 PLC CPU, 1 Motion CPU) use

• Parameter setting

• CPU No.1 (PLC CPU) (GX Works2/GX Developer) <Screen: GX W orks2> Set the device transmitted to CPU No.2.

The setting example of automatic refresh is shown below.

• CPU No.2 (Motion CPU) (MT Developer2) 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 - 24

2 MULTIPLE CPU SYSTEM

Internal relay

M2399

M2400

M3039

M3040

M3199

M3200

M3839

M3840

Data register

D639

D640

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

Multiple CPU high speed

U3E0\G10000

U3E1\G10000

• Operation example The example of operating automatic refresh is shown below.

transmission area

CPU No.1

transmitting data

Automatic

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

Axis status

M3039

M3040

M3199

M3200

Axis command

M3839

M3840

M8191

signal

Data register

D639

D640

D703

D704

Axis monitor

device

Control change

D8191

2 - 25

2 MULTIPLE CPU SYSTEM

b) 3 CPU modules (1 PLC CPU, 2 Motion CPUs) use

• Parameter setting

• CPU No.1 (PLC CPU) (GX Works2/GX Developer) <Screen: GX W orks2> Set the device transmitted to CPU No.2 and No.3.

The setting example of automatic refresh is shown below.

Set the device received from CPU No.2.

Set the device received from CPU No.3.

• CPU No.2 (Motion CPU) (MT Developer2) Set the device received from CPU No.1.

Set the device transmitted to CPU No.1 and No.3.

Set the device received from CPU No.3.

Set "blank" not to refresh the device of CPU No.3.

2 - 26

2 MULTIPLE CPU SYSTEM

• CPU No.3 (Motion CPU) (MT Developer2) Set the device received from CPU No.1.

Set the device received from CPU No.2.

Set the device transmitted to CPU No.1 and No.2.

Set "blank" not to refresh the device of CPU No.2.

(Note): The operation example of automatic refresh is

shown on the next page.

2 - 27

2 MULTIPLE CPU SYSTEM

Internal relay

M1999

M2000

M3055

M3056

M3071

M3072

M3839

M3840

M5999

M6000

M7055

M7056

M7071

M7072

M7839

M7840

Data register

D639

D640

D757

D758

D999

D1000

D1639

D1640

D1757

D1758

(Note-1) : Internal relay of CPU No.3; When 4000 is allocated in the Motion device as offset. (Note-2) : Data register of CPU No.3; When 1000 is allocated in the Motion device as offset.

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

Multiple CPU high speed

transmission area

U3E0\G10000

CPU No.1

transmitting data

END proseccng

Automatic

s e

e c

i s

r p

refresh area

U3E1\G10000

CPU No.2

receiving data

Automatic

refresh area

U3E2\G10000

CPU No.3

receiving data

END processing

Automatic

refresh area

• Operation example The example of operating automatic refresh is shown below.

Transfer

in 0.88ms

cycle

Transfer

in 0.88ms

cycle

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

U3E2\G10000

CPU No.3

receiving data

Automatic

refresh area

Motion CPU (CPU No.3)

Multiple CPU high speed

transmission area

U3E0\G10000

CPU No.1

receiving data

Automatic

refresh area

U3E1\G10000

CPU No.2

receiving data

Automatic

refresh area

U3E2\G10000

CPU No.3

transmitting data

Automatic

refresh area

ycl

Internal relay

M1999

M2000

M3055

M3056

M3071

M3072

M3839

M3840

M8191

Data register

D639

D640

D757

D758

D8191

Internal relay

M1999

M2000

M3055

M3056

M3071

M3072

M3839

M3840

M8191

Data register

D639

D640

D757

D758

D8191

Monitor

device

Command

device

Monitor

device

Command

device

(Note-1)

Monitor

device

Command

device

(Note-2)

Monitor

device

Command

device

2 - 28

2 MULTIPLE CPU SYSTEM

POINT

Set the following operation for automatic refresh setting using GX Works2/ GX Developer.

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

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

<Screen: GX Works2>

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.

(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 - 29

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 - 30

2 MULTIPLE CPU SYSTEM

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

(a) Parameter setting

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

• CPU No.1 (PLC CPU) (GX Works2/GX Developer) <Screen: GX Works2> Set the device transmitted to CPU No.2.

below.

• CPU No.2 (Motion CPU) (MT Developer2) Set the device received from CPU No.1.

Set the device received from CPU No.2.

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

Set the device transmitted to CPU No.1.

(Note) : The operating example of Multiple CPU high speed refresh function is shown in "(b) Operation example".

2 - 31

2 MULTIPLE CPU SYSTEM

POINT

Set the following operation for automatic refresh setting using GX Works2/

GX Developer.

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

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

<Screen: GX Works2>

2 - 32

2 MULTIPLE CPU SYSTEM

(b) Operation example

Internal relay

M2399

M2400

M3039

M3040

M3199

M3200

M3839

M3840

PLC CPU (CPU No.1)

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

• The statuses of M2400 to M2495 for 1 axis to 4 axes among each axis status M2400 to M3039 in automatic refresh are updated to Multiple CPU high speed transmission area every operation cycle.

• The command signals of M3200 to M3295 for 1 axis to 4 axes among each axis command signals M3200 to M3839 in automatic refresh are updated from Multiple CPU high speed transmission area to positioning dedicated device every operation cycle.

• The real current value for 1 axis to 4 axes and M-code among each axis monitor devices D0 to D639 in automatic refresh are updated to Multiple CPU high speed transmission area every operation cycle.

2 - 33

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 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 - 34

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 Developer2. (Set it in the Multiple CPU setting of PLC parameter setting of GX Works2/ GX Developer for PLC 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 - 35

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

Start request of the Motion SFC

D(P).SFCS

D(P).SVST

D(P).CHGA

D(P).CHGAS

Ver.!

QDS

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

D(P).CHGVS

Ver.!

QDS

D(P).CHGT Torque control value change request of the specified axis D(P).CHGT2

QDS

D(P).GINT

D(P).DDWR

D(P).DDRD

program (Program No. may be specified.)

Start request of the specified servo program

Current value change request of the specified axis

Current value change request of the specified command generation axis

Speed change request of the specified command generation axis

Torque control value individual change request of the specified axis

Execute request of an event task to the other CPU (Motion CPU)

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)

SV13/SV22 SV43

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

Description

Start request of the Motion program (Control program)

Start request of the specified Motion program (Axis designation program)

Home position return request of the specified axis

Unusable

Motion SFC

D(P). SFCS instruction

Ver.!

: Refer to Section 1.5 for the software version that supports this function.

2 - 36

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 following are set in the individual parameter setting.

• System basic setting

• SSCNET setting

• CPU name setting

• Built-in Ethernet port setting

• CPU setting

• Manual pulse generator/synchronous encoder setting

• Servo amplifier setting

• High-speed read setting

• Optional data monitor setting

• Mark detection setting

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

MT Developer2.

QDS

3 - 1

3 COMMON PARAMETERS

3.1.1 System data settings

Table 3.1 lists the system data items to be set.

Table 3.1 System data setting list

Item Setting range Initial value Remark

Base setting

Multiple CPU setting

Common system parameters

Motion slot setting

System basic setting

SSCNET

Individual parameters

QDS

setting

CPU name setting

Built-in Ethernet port setting

Main base 5/8/12 slots Main base: 8 slots Extension base Stage 1 to 7: Nothing/2/3/5/8/10/12 slots Stage 1 to 7:Nothing

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

Error setting on servo warning

Error check

Forced stop

Latch range

Communication type SSCNET

Label Up to 10 characters None Comment Up to 64 characters None

IP address setting

Communication data code Binary code/ASCII code Binary code Enable online change (MC protocol) Open setting — None

send range

System area 1 to 2k points 1

Automatic

refresh

setting

QDS

(Note-1)

Input format Decimal/Hexadecimal Decimal

IP address

Subnet mask pattern Default router IP address

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

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

QDS

0.2ms

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

14.2ms 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.

Output error/Not output error Output error

Perform battery check/Not perform battery check

Nothing/X (PX) (0 to 1FFF)/M (0 to 8191) Nothing

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

Decimal : 0.0.0.1 to 223.255.255.254 Hexadecimal : 00.00.00.01 to DF.FF.FF.FE Decimal : 192.0.0.0 to 255.255.255.252 Hexadecimal : C0.00.00.01 to FF.FF.FF.FC Decimal : 0.0.0.1 to 223.255.255.254 Hexadecimal : 00.00.00.01 to DF.FF.FF.FE

Enable online change/Disable online change Disable online change

/Default setting

/H / SSCNET SSCNET /H

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.

Default setting

M2000 is turned on by switching from STOP to RUN.

Perform battery check

None

192.168.3.39

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 whether or not to output error to motion error history or self-diagnosis error on servo warning. Set whether or not to check the battery of Motion CPU. 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 communication type for every line.

Set the label (name application) and comment of Motion CPU.

Refer to Section 4.13.

3 - 2

(Note-4)

3 COMMON PARAMETERS

Table 3.1 System data setting list (Continued)

Item Setting range Initial value Remark

Set self CPU/other CPU/CPU (empty) for

CPU setting

Manual pulse generator/ incremental synchronous encoder setting

Individual parameters

Amplifier setting

QDS

Self CPU installation position setting

Input setting First input No. 0000 to 0FF0 (in units 16 points) 0000

Input signal detection direction Multiple CPU synchronous control setting

QDS

Status device setting

CPU built-in Manual pulse generator/incremental synchronous encoder (INC)

Input type setting

QDS

Amplifier information

Axis information

External synchronous encoder input

Input filter setting Nothing/0.8ms/1.7ms/2.6ms/3.5ms 3.5ms Allowable travel during Power-Off ABS/INC setting

Amplifier type

Axis No.

Axis name (SV43)

External signal input setting Amplifier input invalid/Amplifier input valid Amplifier input invalid Input filter setting Nothing/0.8ms/1.7ms/2.6ms/3.5ms 3.5ms Allowable travel during Power-Off ABS/INC setting

QDS

Used/Unused Unused

High-speed read setting

(Note-2)

QDS

(Note-3)

Ver.!

Amplifier model

Amplifier operation mode

Axis No.

Axis label Up to 32 characters None

(Note-3)

slots 0/1/2. (The setting range varies depending on the number of Multiple CPUs installed.)

Used/Unused Unused

Valid on leading edge (Normal open)/ Valid on trailing edge (Normal close)

Independent CPU/master CPU/slave CPU for self CPU.

Set device to "Synchronous controlling", "Status for each CPU", and "Error status for each CPU and axis". Bit device : X, Y, M, B, F Word device : D, W, #, U

Used/Not used Not used

Differential output type/ Voltage output/open collector type

<Communication type "SSCNET

MR-J4(W)-B(-RJ)/VC

MR-J3(W)-B/MR-J3-B(S) Fully closed/ MR-J3(W)-B Linear/MR-J3(W)-B DD motor/ FR-A700/VC

<Communication type "SSCNET

Standard/Fully closed/Linear/DD motor

Q173DSCPU: Up to 2 lines, 32 axes Q172DSCPU: Up to 1 line, 16 axes

Invalid/ABS/INC Invalid

Ver.!

0 to 8191 revolution

Ver.!

INC/ABS INC

MR-J3(W)-B/MR-J3-B(S) Fully closed/ MR-J3(W)-B Linear/MR-J3(W)-B DD motor/ FR-A700/VC Q173DCPU(-S1): Up to 2 lines, 32 axes Q172DCPU(-S1): Up to 1 line, 8 axes Q173DCPU(-S1): X/Y/Z/U/V/W/A/B/CX/CY/

Q172DCPU(-S1): X/Y/Z/U/V/W/A/B/C

0 to 8191 revolution 10

Ver.!

INC/ABS INC

(Nikki Denso)

/H" use>

(Nikki Denso)

/H" use>

CZ/CU/CV/CW/CA/CB/DX/ DY/DZ/DU/DV/DW/DA/DB/ EX/EY/EZ/EU/EV/EW/EA/ EB

None

Valid on leading edge (Normal open)

Independent CPU

None

Differential output type

MR-J4(W)-B(-RJ)

MR-J3(W)-B

Standard

None

MR-J3(W)-B

None

Ver.!

: Refer to Section 1.5 for the software version that supports this function.

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

Set the input signal of built-in interface in Motion CPU (DI)/mark detection input signal.

Set the Multiple CPU synchronous control setting in each CPU.

Set the manual pulse generator/ synchronous encoder of built-in interface in Motion CPU.

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

3 - 3

(Note-3)

3 COMMON PARAMETERS

Table 3.1 System data setting list (Continued)

Item Setting range Initial value Remark

Pulse/synchronous encoder I/F module

High-speed reading data

(Note-2)

PLC input module

Optional data monitor setting

QDS

Individual parameters

Optional data monitor setting

Mark detection setting High-speed input request signal

Ver.!

QDS

Head module

Ver.!

QDS

Set 1 to 32. None Refer to Section 4.14.

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

(Note-2): This cannot be set in SV22 advanced synchronous control. (Note-3): This can be set only in SV22 advanced synchronous control. (Note-4): This can be set only when "VC

Ver.!

Either of Q172DEX and Q173DPX. Q172DEX: Up to 2 points Q173DPX: Up to 3 points

Either of one input module and built-in interface in Motion CPU Input module: Up to 8 points Built-in interface in Motion CPU (DI):

<Communication type "SSCNET

Set 1 to 6 for each axis.

Set 1 to 3 for each axis. Q173DSCPU: Up to 32 axes Q172DSCPU: Up to 16 axes Set 1 to 3 for each axis. Q173DCPU(-S1): Up to 32 axes Q172DCPU(-S1): Up to 8 axes

Set 1 to 32. None Refer to Section 4.15.

Set module 1 to 4 for each line. Q173DSCPU: 2 lines (Up to 8 modules) Q172DSCPU: 1 line (Up to 4 modules)

servo amplifier besides the forced stop input setting.

QDS

Up to 4 points

/H" use>

(Nikki Denso)" is selected in amplifier model.

None Refer to Section 4.3.

None Refer to Section 4.10.

None Refer to Section 4.18

QDS

: Refer to Section 1.5 for the software version that supports this function.

3 - 4

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 CPU

Power supply

QnUD CPU

Common system parameters

Individual parameter

Q173D(S) CPU

Q172D(S) CPU

Common system parameters

Individual parameter

Parameter write

3 - 5

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. The parameters of the other CPUs via "Multiple CPU parameter utilization" can be used in MT Developer2/GX Works2/GX Developer. The common parameters must be set for each Motion CPU.

Table of Parameters cross-Multiple CPU system

Type of parameter

Name in Motion CPU Name in PLC CPU

No. of CPU

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

Verification item

No. of PLC Number of CPUs 0E00H

Operation mode for CPU stop error

CPU specific send range

Multiple CPU high speed transmission area setting

Automatic refresh setting

Multiple CPU synchronous startup setting

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

I/O assignment

Base setting Basic setting Slots

Detailed settings Control PLC Control CPU No. 0406H

3 - 6

Total number of bases

Base No.

Base

Number of base slots

0401H

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 Developer2 and in Multiple CPU Settings (PLC CPU) in GX Works2/ 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 Developer2

Number of CPU modules

Error operation mode at the stop of CPU

Multiple PLC Setting (PLC CPU setting) in GX Works2/GX Developer

<Screen: GX Works2>

Multiple CPU high speed transmission area setting

Multiple CPU synchronous startup setting

Select tab "Multiple CPU high speed transmission area setting"

Set "Use multiple CPU high speed transmission".

3 - 7

3 COMMON PARAMETERS

(b) Motion slot settings

Set the modules controlled by the self CPU by the Motion Slot Settings (Motion CPU) in MT Developer2. In GX Works2/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 Developer2

Control CPU No.

I/O Assignment Setting (PLC CPU setting) in GX Works2/GX Developer

<Screen: GX Works2>

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

3 - 8

3 COMMON PARAMETERS

Set the total number of bases and number of slots in each base identically between Base Settings (Motion CPU) in MT Developer2 and I/O Assignment Settings (PLC CPU) in GX Works2/GX Developer. In GX Works2/ GX Developer, the detailed settings may be omitted by setting the base mode "Auto".

Base Settings (Motion CPU) in MT Developer2

Total number of bases and number of slots in each base

I/O Assignment Settings (PLC CPU setting) in GX Works2/GX Developer

<Screen: GX Works2>

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

3 - 9

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 Basic Setting (base setting) of MT Developer2.

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

10 slots) for connection with GOT, then set

3 - 10

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 0.2ms

14.2ms

/Default setting.

QDS

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

2) The default value is "Default Setting". When "Default Setting" is selected,

the operation cycle is set according to the table below based on the

Operating

system

SV13

SV22

SV43

number of axes for servo amplifier set in the System Settings.

Number of axes

Q173DSCPU/

Q172DSCPU

1 to 4 axes — 0.2 ms 0.222...ms

5 to 10 axes 1 to 6 axes 0.4 ms 0.444...ms

11 to 24 axes 7 to 18 axes 0.8 ms 0.888...ms

25 to 32 axes 19 to 32 axes 1.7 ms 1.777...ms

1 to 6 axes 1 to 4 axes 0.4 ms 0.444...ms

7 to 16 axes 5 to 12 axes 0.8 ms 0.888...ms

17 to 32 axes 13 to 28 axes 1.7 ms 1.777...ms

— 29 to 32 axes 3.5 ms 3.555...ms

— 1 to 4 axes 0.4 ms 0.444...ms

— 5 to 12 axes 0.8 ms 0.888...ms

— 13 to 28 axes 1.7 ms 1.777...ms

— 29 to 32 axes 3.5 ms 3.555...ms

Q173DCPU(-S1)/ Q172DCPU(-S1)/

Operation cycle

setting

Actual operation

cycle

3 - 11

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 the following either.

1) M2000 turns ON by switching from STOP to RUN. (Default)

2) M2000 turns ON by switching from STOP to RUN and by setting "1" in

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: s) is stored in SD522, and the current setting of operation cycle (unit: s) 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.

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

• Turn ON the Multiple CPU system's power supply with the RUN/STOP switch set to RUN.

Condition in which the M2000 turns from ON to OFF

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

the setting register. Condition in which the M2000 turns from OFF to ON

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

Condition in which the M2000 turns from ON to OFF

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

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

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

3 - 12

3 COMMON PARAMETERS

(d) Error setting on servo warning

M2039 Motion error detection flag D8+20n

#8008+20n

#8640+12n

#8641+12n

#8642+12n

#8643+12n

#8644+12n

#8645+12n

#8646+12n

#8647+12n

#8648+12n

#8650+12n #8651+12n

SM0 Diagnostic error

SM1 Self-diagnostic error

SD0 Diagnostic errors

SD1

SD2

SD3

SD4 Error information categories

SD5 to SD15 Error common information

SD16 to SD26 Error individual information

(Note-1): "n" in the device No. indicates the numerical value (axis No.1 to 32 : n= 0 to 31) which correspond

(Note-2): "n" in the device No. indicates the numerical value (n=0 to 7) which correspond to motion error

Set whether or not to output error on servo warning.

Device No. Signal name

(Note-1)

(Note-2)

to axis No.

history.

(e) Error check

Set whether or not to check the battery of Motion CPU. The default value is set to "Perform battery check". If "Perform battery check" is not set, a selfdiagnosis error (error code: 1600) will not occur and the 7-segment LED "BT1" or "BT2" is not also displayed. And, a detection of motion error detection flag (M2039) and update of motion error history are restricted. However, the devices (SM51, SM52, SM58, SM59) for detection of battery level turn ON/OFF.

Servo error code

Servo amplifier display servo error code

Motion error history

Clock time for diagnostic error occurrence

Error Motion SFC program No.

Error type

Error program No.

Error block No./Motion SFC list/ Line No./Axis No.

Error code

Error occurrence time (Year/month)

Error occurrence time (Day/hour)

Error occurrence time (Minute/second)

Error setting data information

Error setting data

QDS

Error setting on servo warning

Output error Not output error

: Device is updated on servo warning.

: Device is not updated on servo warning.

3 - 13

Mitsubishi Electric Q, Q173DC-S1, Q173DSC, Q172DC-S1, Q172DSC Programming Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY PRECAUTIONS

REVISIONS

INTRODUCTION

CONTENTS

About Manuals

Manual Page Organization

1. OVERVIEW

1.1 Overview

1.2 Features

1.2.1 Features of Motion CPU

1.2.2 Basic specifications of Q173D(S)CPU/Q172D(S)CPU

1.3 Hardware Configuration

1.3.1 Motion system configuration

1.3.2 Q173DSCPU/Q172DSCPU System overall configuration

1.3.3 Q173DCPU(-S1)/Q172DCPU(-S1) System overall configuration

1.3.4 Software packages

1.3.5 Restrictions on motion systems

1.4 Checking Serial Number and Operating System Software Version

1.4.1 Checking serial number

1.4.2 Checking operating system software version

1.5 Restrictions by the Software's Version

1.6 Programming Software Version

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