Mitsubishi Electric Q172CPU, MELSEC Q, SV22, Q173CPU, Q172CPUN Programming Manual
...
Q173CPU(N)/Q172CPU(N)
Motion Controller (SV22)
Programming Manual (VIRTUAL MODE)
-Q172CPU
-Q173CPU
-Q172CPUN
-Q173CPUN
SAFETY PRECAUTIONS
(Read these precautions before using.)
When using this equipment, thoroughly read this manual and the associated manuals introduced in this
manual. Also pay careful attention to safety and handle the module properly.
These precautions apply only to this equipment. Refer to the Q173CPU(N)/Q172CPU(N) Users manual
for a description of the Motion controller safety precautions.
These SAFETY PRECAUTIONS classify the safety precautions into two categories: "DANGER" and
"CAUTION".
DANGER
!
CAUTION
!
Depending on circumstances, procedures indicated by ! CAUTION may also be linked to serious
results.
In any case, it is important to follow the directions for usage.
Store this manual in a safe place so that you can take it out and read it whenever necessary. Always
forward it to the end user.
Indicates that incorrect handling may cause hazardous 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.
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.
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
inflammable material. Direct installation on flammable material or near flammable material may
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.
A - 2
3. For injury prevention
!
CAUTION
Do not apply a voltage other than that specified in the instruction manual on any terminal.
Doing so may lead to destruction or damage.
Do not mistake the terminal connections, as this may lead to destruction or damage.
Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
Do not touch the servo amplifier's heat radiating fins, 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 combi-
nations listed in the instruction manual. Other combinations may lead to fire or 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.
A - 3
!
CAUTION
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.
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.
A - 4
!
CAUTION
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.
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 special function module's instruction manual for the
program corresponding to the special 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.
A - 5
!
CAUTION
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 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 and servo amplifier to the machine according to the instruction
manual. If the fixing is insufficient, these may come off during operation.
Always install the servomotor with reduction gears in the designated direction. Failing to do so
may lead to oil leaks.
Store and use the unit in the following environmental conditions.
Environment
Ambient
temperature
Ambient humidity
Storage
temperature
Atmosphere
Altitude
Vibration
Motion controller/Servo amplifier Servomotor
According to each instruction manual.
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
1000m (3280.84ft.) or less above sea level
According to each instruction manual
Conditions
0°C to +40°C (With no freezing)
(32°F to +104°F)
80% RH or less
(With no dew condensation)
-20°C to +65°C
(-4°F to +149°F)
When coupling with the synchronization 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 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.
A - 6
(4) Wiring
!
CAUTION
Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal
screws for tightness after wiring. Failing to do so may lead to run away of the
servomotor.
After wiring, install the protective covers such as the terminal covers to the original positions.
Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF)
on the output side of the servo amplifier.
Correctly connect the output side (terminals U, V, W). Incorrect connections will lead the
servomotor to operate abnormally.
Do not connect a commercial power supply to the servomotor, as this may lead to trouble.
Do not mistake the direction of the surge absorbing diode
installed on the DC relay for the control signal output of
brake signals, etc. Incorrect installation may lead to signals
not being output when trouble occurs or the protective
functions not functioning.
Do not connect or disconnect the connection cables between
each unit, the encoder cable or PLC expansion cable while the
power is ON.
Servo amplifier
VIN
(24VDC)
Control output
signal
RA
Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing
may lead to the cables combing off during operation.
Do not bundle the power line or cables.
(5) Trial operation and adjustment
!
CAUTION
Confirm and adjust the program and each parameter before operation. Unpredictable
movements may occur depending on the machine.
Extreme adjustments and changes may lead to unstable operation, so never make them.
When using the absolute position system function, on starting up, and when the Motion
controller or absolute value motor has been replaced, always perform a home position return.
A - 7
(6) Usge 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.
The units must be disassembled and repaired by a qualified technician.
Do not make any modifications to the unit.
Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using
wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the
Motion controller or servo amplifier.
When using the CE Mark-compliant equipment, refer to the "EMC Installation Guidelines"
(data number IB(NA)-67339) for the Motion controllers and refer to the corresponding EMC
guideline information for the servo amplifiers, inverters and other equipment.
Use the units with the following conditions.
Item
Input power
Input frequency 50/60Hz ±5%
Tolerable
momentary
power failure
Q61P-A1 Q61P-A2 Q62P Q63P Q64P
100 to 120VAC
(85 to 132VAC) (170 to 264VAC) (85 to 264VAC) (15.6 to 31.2VDC)
+10% +10% +10% +30% +10%
200 to 240VAC
-15%
200 to 240VAC
-15%
Conditions
100 to 240VAC
20ms or less
-15%
24VDC
-35%
100 to 120VAC
(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, magnetic brake signal.
Servomotor
RA1
Shut off with the
emergency stop
signal(EMG).
EMG
-15%
+10%
-15%
(85 to 132VAC/
170 to 264VAC)
/
Electromagnetic
brakes
24VDC
A - 8
!
CAUTION
If an error occurs, remove the cause, secure the safety and then resume operation after alarm
release.
The unit may suddenly resume operation after a power failure is restored, so do not go near the
machine. (Design the machine so that personal safety can be ensured even if the machine
restarts suddenly.)
(8) Maintenance, inspection and part replacement
!
CAUTION
Perform the daily and periodic inspections according to the instruction manual.
Perform maintenance and inspection after backing up the program and parameters for the
Motion controller and servo amplifier.
Do not place fingers or hands in the clearance when opening or closing any opening.
Periodically replace consumable parts such as batteries according to the instruction manual.
Do not touch the lead sections such as ICs or the connector contacts.
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 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.
A - 9
(9) About processing of waste
When you discard Motion controller, servo amplifier, a battery (primary battery) and other option articles,
please follow the law of each country (area).
!
CAUTION
This product is not designed or manufactured to be used in equipment or systems in situations
that can affect or endanger human life.
When considering this product for operation in special applications such as machinery or
systems used in passenger transportation, medical, aerospace, atomic power, electric power, or
submarine repeating applications, please contact your nearest Mitsubishi sales representative.
Although this product was manufactured under conditions of strict quality control, you are
strongly advised to install safety devices to forestall serious accidents when it is used in facilities
where a breakdown in the product is likely to cause a serious accident.
(10) General cautions
!
CAUTION
All drawings provided in the instruction manual show the state with the covers and safety
partitions removed to explain detailed sections. When operating the product, always return the
covers and partitions to the designated positions, and operate according to the instruction
manual.
A - 10
REVISIONS
The manual number is given on the bottom left of the back cover.
Print Date Manual Number Revision
Mar., 2003 IB(NA)-0300044-A First edition
Jun., 2004 IB(NA)-0300044-B [Addition model]
Q172EX-S1, Q173PX-S1, FR-V5
[Addition function]
For Home position return function
[Additional correction/partial correction]
Safety precautions, About processing of waste, Error code list, etc.
Mar., 2006 IB(NA)-0300044-C [Addition model]
Q62P, Q172EX-S2, Q172EX-S3, Q170ENC
[Addition function]
Cam axis command signal, Smoothing clutch complete signal, Gain
changing signal, Real mode axis information register, Mechanical
system program - Clutch for slippage system (linear
acceleration/deceleration system), Mixed function of virtual mode with
real mode
[Additional correction/partial correction]
Safety precautions, Error code list, Warranty, Manual model code
(1CT783
1XB783), etc.
0-
Japanese Manual Version IB(NA)-0300025
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.
© 2003 MITSUBISHI ELECTRIC CORPORATION
A - 11
INTRODUCTION
Thank you for choosing the Q173CPU(N)/Q172CPU(N) Motion Controller.
Please read this manual carefully so that equipment is used to its optimum.
CONTENTS
Safety Precautions .........................................................................................................................................A- 1
Revisions ........................................................................................................................................................A-11
Contents .........................................................................................................................................................A-12
About Manuals ...............................................................................................................................................A-15
1. OVERVIEW 1- 1 to 1- 4
1.1 Overview................................................................................................................................................... 1- 1
1.2 Motion Control in SV13/SV22 Real Mode ............................................................................................... 1- 3
1.3 Motion Control in SV22 Virtual Mode ......................................................................................................1- 4
2. STARTING UP THE MULTIPLE CPU SYSTEM 2- 1 to 2- 8
2.1 Starting Up the System ............................................................................................................................ 2- 1
2.2 Differences Between Incremental System and Absolute System .......................................................... 2 - 3
2.2.1 Operation for incremental system..................................................................................................... 2 - 3
2.2.2 Operation for absolute (absolute position) system........................................................................... 2 - 4
2.3 Differences Between Real Mode and Virtual Mode ................................................................................ 2 - 5
2.3.1 Positioning data ................................................................................................................................. 2 - 5
2.3.2 Positioning devices............................................................................................................................ 2 - 5
2.3.3 Servo programs................................................................................................................................. 2 - 6
2.3.4 Control change (Current value change/speed change) ................................................................... 2 - 7
3. PERFORMANCE SPECIFICATIONS 3- 1 to 3- 2
4. POSITIONING DEDICATED SIGNALS 4- 1 to 4-88
4.1 Internal Relays ......................................................................................................................................... 4- 2
4.1.1 Axis statuses ..................................................................................................................................... 4-17
4.1.2 Axis command signals ...................................................................................................................... 4-23
4.1.3 Virtual servomotor axis statuses....................................................................................................... 4-27
4.1.4 Virtual servomotor axis command signals ......................................................................................4-32
4.1.5 Synchronous encoder axis statuses ............................................................................................... 4-37
4.1.6 Synchronous encoder axis command signals..................................................................................4-39
4.1.7 Cam axis command signals.............................................................................................................. 4-40
4.1.8 Smoothing clutch complete signals ..................................................................................................4-41
4.1.9 Common devices .............................................................................................................................. 4-43
4.2 Data Registers.......................................................................................................................................... 4-57
4.2.1 Axis monitor devices ......................................................................................................................... 4-65
4.2.2 Control change registers ................................................................................................................... 4-67
4.2.3 Virtual servomotor axis monitor devices........................................................................................... 4-68
A - 12
4.2.4 Current value after virtual servomotor axis main shaft's differential gear ....................................... 4-70
4.2.5 Synchronous encoder axis monitor devices..................................................................................... 4-72
4.2.6 Current value after synchronous encoder axis main shaft's differential gear .................................4-73
4.2.7 Cam axis monitor devices .................................................................................................................4-75
4.2.8 Common devices .............................................................................................................................. 4-76
4.3 Motion registers (#) ..................................................................................................................................4-80
4.4 Special relays (SP.M) ..............................................................................................................................4-81
4.5 Special registers (SP.D)........................................................................................................................... 4-83
5. MECHANICAL SYSTEM PROGRAM 5- 1 to 5- 6
5.1 Mechanical Module Connection Diagram ............................................................................................... 5- 2
5.2 Mechanical Module List ........................................................................................................................... 5- 5
6. DRIVE MODULE 6- 1 to 6-24
6.1 Virtual Servomotor ................................................................................................................................... 6- 1
6.1.1 Operation description ........................................................................................................................ 6- 1
6.1.2 Parameter list .................................................................................................................................... 6-11
6.1.3 Virtual servomotor axis devices (Internal relays, data registers)..................................................... 6-15
6.2 Synchronous Encoder.............................................................................................................................. 6-16
6.2.1 Operation description ........................................................................................................................ 6-16
6.2.2 Parameter list .................................................................................................................................... 6-20
6.2.3 Synchronous encoder axis devices (Internal relays, data registers) ............................................... 6-21
6.3 Virtual Servomotor/Synchronous Encoder Control Change................................................................... 6-22
6.3.1 Virtual servomotor control change ....................................................................................................6-22
6.3.2 Synchronous encoder control change.............................................................................................. 6-24
7. TRANSMISSION MODULE 7- 1 to 7-38
7.1 Gear .......................................................................................................................................................... 7- 3
7.1.1 Operation........................................................................................................................................... 7- 3
7.1.2 Parameters ........................................................................................................................................ 7- 3
7.2 Clutch........................................................................................................................................................ 7- 5
7.2.1 Operation........................................................................................................................................... 7-11
7.2.2 Parameters ........................................................................................................................................ 7-28
7.3 Speed Change Gear ................................................................................................................................ 7-34
7.3.1 Operation........................................................................................................................................... 7-34
7.3.2 Parameters ........................................................................................................................................ 7-35
7.4 Differential Gear .......................................................................................................................................7-37
7.4.1 Operation........................................................................................................................................... 7-37
7.4.2 Parameters (Must be not set) ........................................................................................................... 7-37
8. OUTPUT MODULE 8- 1 to 8-38
8.1 Rollers....................................................................................................................................................... 8- 4
8.1.1 Operation........................................................................................................................................... 8- 4
8.1.2 Parameter list .................................................................................................................................... 8- 5
8.2 Ball Screw................................................................................................................................................. 8- 9
8.2.1 Operation........................................................................................................................................... 8- 9
A - 13
8.2.2 Parameter list .................................................................................................................................... 8-10
8.3 Rotary Tables ...........................................................................................................................................8-13
8.3.1 Operation........................................................................................................................................... 8-13
8.3.2 Parameter list .................................................................................................................................... 8-14
8.4 Cam .......................................................................................................................................................... 8-21
8.4.1 Operation........................................................................................................................................... 8-22
8.4.2 Settings items at cam data creating ................................................................................................. 8-25
8.4.3 Parameter list .................................................................................................................................... 8-29
8.4.4 Cam curve list.................................................................................................................................... 8-37
9. REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START 9- 1 to 9-12
9.1 Switching from the Real to Virtual Mode .................................................................................................9- 1
9.2 Switching from the Virtual to Real Mode .................................................................................................9- 5
9.2.1 Switching from the virtual to real mode by user side ....................................................................... 9- 5
9.2.2 Switching from the virtual to real mode by operating system software ........................................... 9- 5
9.2.3 Continuous operation on servo error in virtual mode .......................................................................9- 6
9.3 Precautions at Real/Virtual Mode Switching ........................................................................................... 9- 7
9.4 Stop and re-start....................................................................................................................................... 9- 9
9.4.1 Stop operation/stop causes during operation and re-starting operation list.................................... 9-10
10. AUXILIARY AND APPLIED FUNCTIONS 10- 1 to 10- 8
10.1 Mixed Function of Virtual Mode with Real Mode ................................................................................ 10- 1
10.2 Cam/Ball Screw Switching Function.................................................................................................... 10- 7
APPENDICES APP- 1 to APP-75
APPENDIX 1 Cam Curves........................................................................................................................APP- 1
APPENDIX 2 Error Codes Stored Using The Motion CPU ...................................................................APP- 5
APPENDIX 2.1 Expression Method for Word Data Axis No. ............................................................... APP- 8
APPENDIX 2.2 Related Systems and Error Processing......................................................................APP- 9
APPENDIX 2.3 Servo program setting errors (Stored in D9190) ........................................................APP-10
APPENDIX 2.4 Drive module errors.....................................................................................................APP-15
APPENDIX 2.5 Servo errors.................................................................................................................APP-20
APPENDIX 2.6 PC link communication errors .....................................................................................APP-36
APPENDIX 2.7 Output Module Errors ..................................................................................................APP-37
APPENDIX 2.8 Errors at Real/Virtual Mode Switching ........................................................................APP-43
APPENDIX 3 Special Relays/special registers ........................................................................................APP-45
APPENDIX 3.1 Special relays ..............................................................................................................APP-45
APPENDIX 3.2 Special registers ..........................................................................................................APP-49
APPENDIX 4 Setting Range for Indirect Setting Devices........................................................................APP-53
APPENDIX 5 Processing Times of the Motion CPU ...............................................................................APP-55
A - 14
About Manuals
This manual is only to explain hardware of the Motion controller.
The following manuals are related to this product.
Referring to this list, please request the necessary manuals.
This User's Manual do not describes hardware specification and handling methods of the PLC CPU
modules, power supply modules, base unit and I/O module in details.
The above contents, refer to the QCPU User's Manual and Building Block I/O Module User's Manual.
Related Manuals
(1) Motion controller
Q173CPU(N)/Q172CPU(N) Motion controller User's Manual
This manual explains specifications of the Motion CPU modules, Q172LX Servo external signal interface
module, Q172EX Serial absolute synchronous encoder interface module, Q173PX Manual pulse
generator interface module, Teaching units, Power supply modules, Servo amplifiers, SSCNET cables,
synchronous encoder cables and others.
(Optional)
Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual
(Motion SFC)
This manual explains the Multiple CPU system configuration, performance specifications, functions,
programming, error codes and others of the Motion SFC.
(Optional)
Manual Name
Manual Number
(Model Code)
IB-0300040
(1XB780)
IB-0300042
(1XB781)
Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual
(REAL MODE)
This manual explains the servo parameters, positioning instructions, device list, error list and others.
(Optional)
Q173CPU(N)/Q172CPU(N) Motion controller (SV43) Programming Manual
This manual describes the dedicated instructions to execute the positioning control by Motion program of
EIA language (G-code).
This manual explains the Multiple CPU system configuration, performance specifications, functions,
programming, debugging, servo parameters, positioning instructions device list and error list and others.
(Optional)
IB-0300043
(1XB782)
IB-0300070
(1CT784)
A - 15
(2) PLC
QCPU User's Manual (Hardware Design, Maintenance and Inspection)
This manual explains the specifications of the QCPU modules, power supply modules, base modules,
extension cables, memory card battery and others.
(Optional)
QCPU User's Manual (Function Explanation, Program Fundamentals)
This manual explains the functions, programming methods and devices and others to create programs
with the QCPU.
(Optional)
QCPU User's Manual (Multiple CPU System)
This manual explains the functions, programming methods and cautions and others to construct the
Multiple CPU system with the QCPU.
(Optional)
QCPU (Q Mode)/QnACPU Programming Manual (Common Instructions)
This manual explains how to use the sequence instructions, basic instructions, application instructions and
micro computer program.
(Optional)
QCPU (Q Mode)/QnACPU Programming Manual (PID Control Instructions)
This manual explains the dedicated instructions used to exercise PID control.
(Optional)
QCPU (Q Mode)/QnACPU Programming Manual (SFC)
This manual explains the system configuration, performance specifications, functions, programming,
debugging, error codes and others of MELSAP3.
(Optional)
I/O Module Type Building Block User's Manual
This manual explains the specifications of the I/O modules, connector, connector/terminal block
conversion modules and others.
(Optional)
Manual Name
Manual Number
(Model Code)
SH-080483ENG
(13JR73)
SH-080484ENG
(13JR74)
SH-080485ENG
(13JR75)
SH-080039
(13JF58)
SH-080040
(13JF59)
SH-080041
(13JF60)
SH-080042
(13JL99)
A - 16
1 OVERVIEW
1. OVERVIEW
1.1 Overview
This programming manual describes the dedicated instructions, positioning control
parameters and positioning dedicated devices for mechanical system program
comprised of a virtual main shaft or mechanical module required to execute the
synchronous control in the Motion controller (SV22 virtual mode).
The following positioning control is possible in the Motion controller (SV22 virtual
Generic term/abbreviation Description
Q173CPU(N)/Q172CPU(N),
Motion CPU or Motion CPU module
Q172LX/Q172EX/Q173PX
or Motion module
MR-H-BN Servo amplifier model MR-H BN
MR-J2 -B Servo amplifier model MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-03B5
AMP or Servo amplifier
QCPU, PLC CPU
or PLC CPU module
Multiple CPU system
or Motion system
CPUn
Programming software package General name for "MT Developer" and "GX Developer"
Operating system software General name for "SW RN-SV Q "
SV13
SV22
MT Developer Abbreviation for Integrated start-up support software package "MT Developer"
GX Developer
Manual pulse generator
or MR-HDP01
Serial absolute synchronous encoder
or MR-HENC/Q170ENC
SSCNET
(Note-2)
mode).
Applicable CPU Number of positioning control axes
Q173CPU(N) (32 axes) Up to 32 axes
Q172CPU(N) (8 axes) Up to 8 axes
In this manual, the following abbreviations are used.
Q173CPUN/Q172CPUN/Q173CPUN-T/Q172CPUN-T/Q173CPU/Q172CPU
Motion CPU module
Q172LX Servo external signals interface module/
Q172EX(-S1/-S2/-S3) Serial absolute synchronous encoder interface module
Q173PX(-S1) Manual pulse generator interface module
General name for "Servo amplifier model MR-H
MR-J2-
Qn(H)CPU
Abbreviation for "Multiple PLC system of the Q series"
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) :
SW6RN-SV13Q
Operating system software for automatic machinery use (Motion SFC) :
SW6RN-SV22Q
Abbreviation for MELSEC PLC programming software package "GX Developer
(Version 6 or later)"
Abbreviation for "Manual pulse generator (MR-HDP01)"
Abbreviation for "Serial absolute synchronous encoder (MR-HENC/Q170ENC)"
High speed serial communication between Motion controller and servo amplifier
B/MR-J2-03B5, Vector inverter FREQROL-V500 series"
BN/MR-J2S- B/MR-J2M-B/
(Note-1)
1
/
1 - 1
1 OVERVIEW
Generic term/abbreviation Description
Absolute position system
Cooling fan unit Cooling fan unit (Q170FAN)
Dividing unit Dividing unit (Q173DV)
Battery unit Battery unit (Q170BAT)
A 0BD-PCF A10BD-PCF/A30BD-PCF SSC I/F board
SSC I/F communication cable Abbreviation for "Cable for SSC I/F board/card"
Intelligent function module
Vector inverter (FR-V500) Vector inverter FREQROL-V500 series
General name for "System using the servomotor and servo amplifier for
absolute position"
Abbreviation for "MELSECNET/H module/Ethernet module/CC-Link
module/Serial communication module"
(Note-1) : Q172EX can be used in SV22.
(Note-2) : SSCNET: S
REMARK
ervo System Controller NETwork
For information about the each module, design method for program and parameter,
Motion CPU module/Motion unit Q173CPU(N)/Q172CPU(N) User’s Manual
PLC CPU, peripheral devices for PLC program design, I/O
modules and intelligent function module
Operation method for MT Developer Help of each software
• Multiple CPU system configuration
• Performance specification
• Design method for common parameter
SV13/SV22
• Auxiliary and applied functions
• Design method for positioning control program in
the real mode
• Design method for positioning control parameter
refer to the following manuals relevant to each module.
Item Reference Manual
Manual relevant to each module
Q173CPU(N)/Q172CPU(N) Motion controller
(SV13/SV22) Programming Manual (Motion SFC)
Q173CPU(N)/Q172CPU(N) Motion controller
(SV13/SV22) Programming Manual (REAL MODE)
!
CAUTION
When designing the system, provide external protective and safety circuits to ensure safety in
the event of trouble with the Motion controller.
There are electronic components which are susceptible to the effects of static electricity
mounted on the printed circuit board. When handling printed circuit boards with bare hands you
must ground your body or the work bench.
Do not touch current-carrying or electric parts of the equipment with bare hands.
Make parameter settings within the ranges stated in this manual.
Use the program instructions that are used in programs in accordance with the conditions
stipulated in this manual.
Some devices for use in programs have fixed applications: they must be used in accordance
with the conditions stipulated in this manual.
1 - 2
1 OVERVIEW
1.2 Motion Control in SV13/SV22 Real Mode
(1) System with servomotor is controlled directly using the servo program in
(SV13/SV22) real mode.
(2) Setting of the positioning parameter and creation of the servo program/Motion
SFC program are required.
(3) The procedure of positioning control is shown below:
1) Motion SFC program is requested to start using the S(P). SFCS instruction of
the PLC program.
(Motion SFC program can also be started automatically by parameter setting.)
2) Execute the positioning control using the specified Motion SFC program.
(Output to the servo amplifier)
3) The servomotor is controlled.
Program structure in SV13/SV22 real mode
<PLC CPU>
PLC program
SP.SFCS
Motion SFC
program start
request instruction
(Note) : Motion SFC program can also be started automatically
by parameter setting.
K0
••••
•••• ••••
Specification of starting
program No.
<Motion CPU>
Motion SFC program
1)
[G100]
M2049//servo ON accept ?
Servo program
[K10: real]
1 INC-2
Axis 1, 10000 PLS
Axis 2, 20000 PLS
Combined-speed 30000 PLS/s
Positioning control parameters
System settings
Fixed parameters
Servo parameters
Parameter blocks
Home position return data
JOG operation data
Limit switch output data
Transfer
END
2)
3)
Servo amplifier
Servomotor
1 - 3
1 OVERVIEW
1.3 Motion Control in SV22 Virtual Mode
(1) Synchronous control with software is performed using the mechanical system
program comprised by virtual main shaft and mechanical module in (SV22) virtual
mode.
(2) Mechanical system programs is required in addition to the positioning parameter,
servo program/Motion SFC program used in real mode.
(3) The procedure of positioning control in virtual model is shown below:
1) Motion SFC program for virtual mode is requested to start using the S(P).
SFCS instruction of the PLC program.
(Motion SFC program can also be started automatically by parameter setting.)
2) The virtual servomotor of the mechanical system program is started.
3) Output the operation result obtained through the transmission module to the
servo amplifier set as the output module.
4) The servomotor is controlled.
Program structure in SV22 virtual mode
<PLC CPU>
PLC program
SP.SFCS
Motion SFC
program star t
request inst ruction
(Note) : Motion SFC program can also be started automatically
by parameter setting.
• Home position return data is not used, since home position return cannot be executed in virtual mode.
(Home position return is executed in real mode.)
• JOG operation in virtual mode is controlled using the JOG operation data set by drive module parameters.
K0
••••
•••• ••••
Specification of starting
program No.
<Motion CPU>
Motion SFC program
1)
[G200]
M2044//on virtual mode?
Servo program
[K100: virtual]
1 VF
Axis 1,
Speed # 0 PLS/s
Positioning control parameters
Transfer
END
System settings
Fixed parameters
Servo parameters
Parameter blocks
Limit switch output data
Mechanical system program
Drive module
(Virtual servomotor)
Transmission module
2)
(Axis 1)
Output module
3)
Servo amplifier
3)
Servo amplifier
4)
Servomotor
4)
Servomotor
1 - 4
2 STARTING UP THE MULTIPLE CPU SYSTEM
2. STARTING UP THE MULTIPLE CPU SYSTEM
The procedure for virtual mode positioning control is shown below.
2.1 Starting Up the System
Install SW6RN-GSV22P,
SW3RN-CAMP(When cam is
used)
Starting up SW6RN-GSV22P
System settings
Set the following positioning
parameters
Fixed parameters
Servo parameters
Parameter blocks
The procedure to start up for virtual mode system is shown below.
START
2
Refer to Section "1.5 System Settings" of the
Q173CPU(N)/Q172CPU(N) Motion controller
(SV13/SV22) Programming Manual (Motion SFC).
Refer to Chapter "4 PARAMETERS FOR POSITIONING
CONTROL" of the Q173CPU(N)/Q172CPU(N) Motion
controller (SV13/SV22) Programming Manual (REAL MODE).
Execute the relative check, and
correct the setting errors
Will cam be used ?
YES
Starting up SW3RN-CAMP
Cam data settings
Create the mechanical system
program
Check the mechanical system
program, and correct the setting
errors
1)
NO
Refer to Section "1.5 System Settings" of the
Q173CPU(N)/Q172CPU(N) Motion controller
(SV13/SV22) Programming Manual (Motion SFC).
2 - 1
2 STARTING UP THE MULTIPLE CPU SYSTEM
1)
Create the Motion SFC program
and servo program
Turn the power supply of
Multiple CPU system ON
Write the following data to the
Motion CPU using a peripheral
device
System setting data
Servo setting data
Motion SFC parameter
Motion SFC program
Servo program
Mechanical system program
Cam data(When cam is used)
Starting up the servo amplifier
using a peripheral device
Execute the JOG operation,
manual pulse generator
operation and home position
return test
Adjust cam setting axis (When
cam is used)
(Bottom dead point, stroke value,
etc.)
Align the virtual mode operation
start position
Set data in the parameter
setting device
Switch from real mode to virtual
mode
Refer to Section "1.5 System Settings" of the
Q173CPU(N)/Q172CPU(N) Motion controller
(SV13/SV22) Programming Manual (Motion SFC).
Real mode
Start drive module operation
Check operation state with the
servo monitor or mechanical
system monitor
END
Virtual mode
2 - 2
2 STARTING UP THE MULTIPLE CPU SYSTEM
2.2 Differences Between Incremental System and Absolute System
The procedure for virtual mode operation is shown below.
2.2.1 Operation for incremental system
The operation procedure for incremental system is shown below.
START
Turn the power supply of
Multiple CPU system ON
Execute the all axes servo
start request (Turn M2042 on)
Execute the home position
return
Align the virtual mode
operation start position
Set data in the parameter
setting device
Switch from real mode to
virtual mode
Set the operation start address
by the current value change
Refer to Section "1.5 System Settings" of the
Q173CPU(N)/Q172CPU(N) Motion controller
(SV13/SV22) Programming Manual (Motion SFC).
Real mode
Virtual mode
Execute virtual mode operation
2 - 3
2 STARTING UP THE MULTIPLE CPU SYSTEM
2.2.2 Operation for absolute (absolute position) system
START
Turn the power supply of
Multiple CPU system ON
Execute the all axes servo
start request (Turn M2042 on)
Is the home
position return request
signal ON ?
Execute the home position
return
Align the virtual mode
operation start position
Set data in the parameter
setting device
The operation procedure for absolute system is shown below.
Refer to Section "1.5 System Settings"
of the Q173CPU(N)/Q172CPU(N) Motion
controller (SV13/SV22) Programming
Manual (Motion SFC).
NO
YES
NO
Is the continuation disabled warning
signal ON ?
YES
Real mode
Switch from real mode to
virtual mode
Set the operation start address
by the current value change
Execute virtual mode operation
Virtual mode
2 - 4
2 STARTING UP THE MULTIPLE CPU SYSTEM
2.3 Differences Between Real Mode and Virtual Mode
Specifications of the positioning data, positioning devices and servo programs, etc.
used in the real mode differ in part in the virtual mode.
When using them in the virtual mode, refer to the "Q173CPU(N)/Q172CPU(N) Motion
controller (SV13/SV22) Programming Manual (REAL MODE)" after checking about a
different point in the real mode.
2.3.1 Positioning data
Positioning data used in the virtual mode are shown in Table 2.1 below.
Table 2.1 Positioning Data List
Item Real mode Virtual mode Remark
System settings
Fixed parameters
Servo parameters
Parameter blocks
Home position return data
JOG operation data
Limit switch output data
2.3.2 Positioning devices
The operating ranges of positioning devices used in virtual mode are shown in Table
2.2 below.
Usable units differ according to
the output module.
Only [PLS] usable.
: Used
: Used (Restrictions in part)
: Not used
Table 2.2 Operating Range of Positioning Devices
Device name Real mode Virtual mode
M2000 to M3839
Internal relays
Special relays M9073 to M9079
Data registers
Special registers D9180 to D9201
M4640 to M4687
M5440 to M5487
D0 to D799
D1120 to D1239
M2000 to M5599
D0 to D1559
2 - 5
2 STARTING UP THE MULTIPLE CPU SYSTEM
2.3.3 Servo programs
(1) Servo program area
(a) The same servo program (Kn) No. cannot be used in both the real and virtual
modes. The range of the servo program (Kn) used in the virtual mode must
be set in advance.
(The range is set using a peripheral device which started SW6RN-GSV22P.)
(2) Servo instructions
(a) The home position return, speed control (
and high-speed oscillation control among the controls which can be used in
the real mode cannot be used in the virtual mode.
(b) Control units of the parameter block and the torque limit value among the
positioning data which can be set using the servo program are not used.
(3) Differences of the servo instruction between real mode and virtual mode are
shown in Table 2.3 below.
Table 2.3 Differences of Servo Instruction List
), speed/position switching control
Item
VPF
Speed/position
control
Servo
instruction
Positioning
data
(Note) : It is common in the real mode and virtual mode about instructions except for the above
Speed control ( )
Home position
return
High-speed
oscillation
Control units
Parameter block
Torque limit value
table.
VPR
VPSTART
ZERO
VVF
VVR
OSC
Real
mode
Virtual
mode
Fixed
as
"PLS"
Remark
Switch to virtual
mode after home
position return in the
real mode.
The torque limit
value is set with the
"drive module
parameter".
: Used
: Unusable
: Not used
2 - 6
2 STARTING UP THE MULTIPLE CPU SYSTEM
2.3.4 Control change (Current value change/speed change)
When a control change is executed in the virtual mode, the feed current value/speed of
the drive module is changed.
Control changes are not possible for the output module (except for cam).
Differences between control changes in the real and virtual modes are shown in Table
2.4 below.
Table 2.4 Differences List of Control Change
Item
Current value
change
Speed change
(Note-1) : If the output module is a roller which uses a speed change gear, a speed change can
be executed by changing the speed change gear ratio.
Real
mode
Drive module Output module
Virtual
servomotor
Synchronous
encoder
Virtual mode
Roller
Ball
screw
Rotary
(Note-1)
table
: Used
: Unusable
Cam
REMARK
1) Refer to the following Chapters for details of the drive and output modules.
• Drive module : Chapter 5 and 6
• Output module : Chapter 5 and 8
2 - 7
2 STARTING UP THE MULTIPLE CPU SYSTEM
MEMO
2 - 8
3 PERFORMANCE SPECIFICATIONS
3. PERFORMANCE SPECIFICATIONS
Performance specifications of the Motion CPU are shown in Table 3.1 below.
Table 3.1 Motion CPU Performance Specifications (Virtual Mode)
Item Q173CPUN(-T)/Q173CPU Q172CPUN(-T)/Q172CPU
Up to 32 axes
Number of control axes
Control method
Drive module
Control units
Program language Dedicated instructions (Servo program + mechanical system program)
Servo program
Number of modules which can be set per CPU
Drive
modules
Virtual
axes
Transmis-
sion
modules
Mechanical system program
Output
modules
Program setting method WindowsNTR4.0/ WindowsR98/ WindowsR2000/ Windows RXP which started SW6RN-GSV22P
Types
Resolution per cycle
Memory capacity 132k bytes
Storage memory for cam data CPU internal RAM memory
Cam
Stroke resolution 32767
Control mode Two-way cam/feed cam
Cam data setting method WindowsNTR4.0/ WindowsR98/ WindowsR2000/ Windows RXP which started SW3RN-CAMP
Output module
Capacity
Number of
positioning points
Virtual module 32 axes 8 axes
Synchronous
encoder
Main shaft 32 8
Auxiliary input
axis
Gear 64 16
Clutch 64 16
Speed change
gear
Differential gear 32 8
Differential gear
to main shaft
Roller 32 8
Ball screw 32 8
Rotary table 32 8
Cam 32
Synchronous control, PTP (Point to Point), speed control, fixed-pitch feed, constant-speed control,
Virtual servomotor
Synchronous encoder
Roller
Ball screw
Rotary table Fixed as "degree"
Cam mm, inch, PLS
(Simultaneous : 2 to 4 axes)
(Independent : 32 axes)
position follow-up control, speed-switching control
mm, inch
(Note-3)
(Note-2)
(Note-3)
14k steps (14334 steps)
Total of 3200 points (It changes with programs, indirect specification is possible.)
12 axes 8 axes
32 8
64 16
32 8
Total of 32
Up to 256
256 • 512 • 1024 • 2048
Up to 8 axes
(Simultaneous : 2 to 4 axes)
(Independent : 8 axes)
PLS
Total of 8
8
3
3 - 1
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