Mitsubishi Electric Q172CPU, MELSEC Q, SV22, Q173CPU, Q172CPUN Programming Manual

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Q173CPU(N)/Q172CPU(N) Motion Controller (SV22) Programming Manual (VIRTUAL MODE)

-Q172CPU

-Q173CPU

-Q172CPUN

-Q173CPUN

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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.

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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.

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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 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.

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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.

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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.

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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.

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.

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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 (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

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.

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(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

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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.

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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

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.

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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.

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.

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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.

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

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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

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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

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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)

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Page 17

(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

Page 18

1 OVERVIEW

1. OVERVIEW

1.1 Overview

This programming manual describes the dedicated instructions, positioning control parameters and positioning dedicated devices for mechanical system program comprised of a virtual main shaft or mechanical module required to execute the synchronous control in the Motion controller (SV22 virtual mode). The following positioning control is possible in the Motion controller (SV22 virtual

Generic term/abbreviation Description

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

Page 19

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

Page 20

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 program

SP.SFCS

Motion SFC program start request instruction

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

••••

•••• ••••

Specification of starting program No.

Motion SFC program

[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

Servo amplifier

Servomotor

1 - 3

Page 21

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 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.

••••

•••• ••••

Specification of starting program No.

Motion SFC program

[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

(Axis 1)

Output module

Servo amplifier

Servomotor

1 - 4

Page 22

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

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

Refer to Section "1.5 System Settings" of the Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC).

2 - 1

Page 23

2 STARTING UP THE MULTIPLE CPU SYSTEM

Create the Motion SFC program and servo program

Turn the power supply of Multiple CPU system ON

Write the following data to the Motion CPU using 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

Page 24

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

Page 25

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).

YES

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

Page 26

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

Page 27

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

"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

Page 28

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

Page 29

2 STARTING UP THE MULTIPLE CPU SYSTEM

MEMO

2 - 8

Page 30

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

3 - 1

Page 31

3 PERFORMANCE SPECIFICATIONS

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

Item Q173CPUN(-T)/Q173CPU Q172CPUN(-T)/Q172CPU

Interpolation functions Linear interpolation (2 to 4 axes), circular interpolation (2 axes)

Control methods

Method

Positioning

Position command Address setting range : –2147483648 to 2147483647 [PLS]

Acceleration/

deceleration

Virtual servomoto

control

JOG operation function Provided

M-function (with mode) M-code output function provided, M-code complete wait function provided

Manual pulse generator operation

function

(Test mode only)

Speed command Speed setting range : 1 to 10000000 [PLS/s]

Automatic

trapezoidal

acceleration/

deceleration

S-curve

acceleration/

deceleration

(Note-1) : When the TREN input signal is used as "external input mode clutch", the high speed reading function cannot be used.

(Note-2) : Capacity matching the servo program for real mode.

(Note-3) : Relation between a resolution per cycle of cam and type are shown below.

Resolution per cycle 256 512 1024 2048

Type 256 128 64 32

(Note-4) : The setting range of 1 to 100 is valid in the SW6RN-SV22Q (Ver. 00B or before).

PTP (Point to Point), speed control, fixed-pitch feed, constant-speed control,

position follow-up control

PTP : Selection of absolute or incremental data method

Fixed-pitch feed : Incremental data method

Constant-speed control : Both absolute and incremental data method can be used together

Position follow-up control : Absolute data method

Acceleration-fixed acceleration/deceleration Time-fixed acceleration/deceleration

Acceleration time : 1 to 65535 [ms]

Deceleration time : 1 to 65535 [ms]

S-curve ratio : 0 to 100[%]

Up to 3 units can be connected.

Up to 3 axes can be operated simultaneously.

Setting of magnification : 1 to 10000

Setting of smoothing magnification provided.

Acceleration/deceleration time:1 to 5000 [ms]

(Only constant-speed control is possible.)

(Note-4)

3 - 2

Page 32

4 POSITIONING DEDICATED SIGNALS

4. POSITIONING DEDICATED SIGNALS

The internal signals of the Motion CPU and the external signals to the Motion CPU are used as positioning signals.

(1) Internal signals

The following five devices of the Motion CPU are used as the internal signals of the Motion CPU.

• Internal relay (M) .............................. M2000 to M5599 (3600 points)

• Special relay (SP.M) ........................ M9073 to M9079 (7 points)

• Data register (D) .............................. D0 to D1599 (1600 points)

• Motion register (#) ........................... #8000 to #8191 (192 points)

• Special register (SP.D) .................... D9180 to D9201 (22 points)

(2) External signals

The external input signals to the Motion CPU are shown below.

• Upper/lower limit switch input.......... The upper/lower limit of the positioning

range is controlled.

• Stop signal ....................................... Stop signal for speed control.

• Proximity dog signal......................... ON/OFF signal from the proximity dog.

• Speed/position switching signal ...... Signal for switching from speed to position.

• Manual pulse generator input .......... Signal from the manual pulse generator.

Configuration between modules

Motion CPU

Motion control processor

SSCNET

Servo amplifie

PLC control processor

PLC CPU

Device memory

Shared CPU memory

PLC bus

Device memory

Shared CPU memory

Sensor, solenoid, etc. (DI/O)

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

Motion control dedicated I/F (DOG signal, manual pulse generator)

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

Servomotor

Fig.4.1 Flow of the internal signals/external signals

4 - 1

Page 33

4 POSITIONING DEDICATED SIGNALS

The positioning dedicated devices are shown below. It indicates the device refresh cycle of the Motion CPU for status signal with the positioning control, and the device fetch cycle of the Motion CPU for command signal with the positioning control. The operation cycle and main cycle of the Motion CPU are shown below. (a) Operation cycle

Item

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

Operation cycle (Default)

SV22

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

hundreds[ms].

4.1 Internal Relays

Q173CPU(N)

0.88[ms] / 1 to 4 axes

1.77[ms] / 5 to 12 axes

3.55[ms] / 13 to 24 axes

7.11[ms] / 25 to 32 axes

Q172CPU(N)

0.88[ms] / 1 to 4 axes

1.77[ms] / 5 to 8 axes

Device No. Purpose Real Virtual Device No. Purpose Real Virtual

M0 M0

M2000 M2000

M2400 M2400

M3040 M2560

M3072 M3072

M3136 M3136

M3200 M3200

M3840 M3360

User device

(2000 points)

Common device

(320 points)

Special relay allocated device

(Status)

(80 points)

Axis status

(20 points

Real mode …... Each axis

Virtual mode … Output module

Unusable

Common device

(Command signal)

(64 points)

Special relay allocated device

(Command signal)

(64 points)

Axis command signal

(20 points

Real mode …... Each axis

Virtual mode … Output module

Unusable

(1) Internal relay list

Q173CPU(N) Q172CPU(N)

32 axes)

M2320 M2320

User device

(2000 points)

Common device

(320 points)

Special relay allocated device

(Status)

(80 points)

Axis status (20 points

Real mode …... Each axis

Virtual mode … Output module

Unusable

Common device

(Command signal)

(64 points)

Special relay allocated device

(Command signal)

(64 points)

Axis command signal (20 points

Real mode …... Each axis

Virtual mode … Output module

Unusable

8 axes)

axes)

Real/

virtual

community

4 - 2

Page 34

4 POSITIONING DEDICATED SIGNALS

Internal relay list (Continued)

Q173CPU(N) Q172CPU(N)

Device No. Purpose Real Virtual Device No. Purpose Real Virtual

(Note-1)

M4000

M4640

M4688

M4800

M5440

M5488

M5520

M5584

M5600 M5600

to to

M8191

M4000

Virtual servomotor axis status

(20 points

(Note-

Synchronous encoder axis

status

(4 points

(Note-1)

M4672

Unusable

(Note-1)

Virtual servomotor axis

command signal

(20 points

(Note-1)

M5440

Synchronous encoder axis

command signal

(4 points

(Note-1)

M5488

Cam axis command signal

(1 point

Smoothing clutch complete

signal

(2 points

Unusable

User device

(2592 points)

32 axes)

12 axes)

32 axes)

12 axes)

32 axes)

(Note-2)

(Note-3)

Back

POINT

• Total number of user device points 4592 points

(Note-1) : Do not set M4000 to M5599 as the latch range in virtual mode. (Note-2) : "Virtual servomotor axis status/command signal" occupy only the area of

the axis set in the mechanical system program. The unused axis areas in

the mechanical system program can be used as an user device. (Note-3) : Unused axis of cam axis command signal can be used as an user device. (Note-4) : As for "axis status (M2400 to)" and "axis command signal (M3200 to)",

only details for internal relays used in the virtual mode are described in

this manual. If it is required, refer to the "Q173CPU(N)/Q172CPU(N)

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

M4160

M4640

M4800

M4960

M5472

M5496

M5520

M5536

M8191

(Note-1)

Virtual servomotor axis status

(20 points

(Note-1)

Unusable

(Note-1)

Synchronous encoder axis

status

(4 points

(Note-1)

Unusable

(Note-1)

Virtual servomotor axis

command signal

(20 points

(Note-1)

Unusable

(Note-1)

Synchronous encoder axis

command signal

(4 points

(Note-1)

Unusable

(Note-1)

Cam axis command signal

(1 point

Unusable

Smoothing clutch complete

signal

(2 points

Unusable

User device

(2592 points)

8 axes)

(Note-2)

(Note-3)

It can be used as an user device.

Back

: Valid, : Invalid

Virtual

4 - 3

Page 35

4 POSITIONING DEDICATED SIGNALS

Axis No. Device No. Signal name

1 M2400 to M2419

2 M2420 to M2439 Virtual

3 M2440 to M2459

4 M2460 to M2479

5 M2480 to M2499

6 M2500 to M2519 0 Positioning start complete

7 M2520 to M2539 1 Positioning complete

8 M2540 to M2559

9 M2560 to M2579

10 M2580 to M2599 3 Command in-position

11 M2600 to M2619 4 Speed controlling

12 M2620 to M2639

13 M2640 to M2659

14 M2660 to M2679 6 Zero pass

15 M2680 to M2699 7 Error detection Immediately

16 M2700 to M2719

17 M2720 to M2739

18 M2740 to M2759

19 M2760 to M2779

20 M2780 to M2799

21 M2800 to M2819

22 M2820 to M2839 11 FLS

23 M2840 to M2859 12 RLS

24 M2860 to M2879 13 STOP

25 M2880 to M2899 14

26 M2900 to M2919 15 Servo ready

27 M2920 to M2939 16 Torque limiting

28 M2940 to M2959 17 Unusable

29 M2960 to M2979

30 M2980 to M2999

31 M3000 to M3019

32 M3020 to M3039

: Valid

(2) Axis status list

2 In-position

8 Servo error detection

19 M-code outputting signal

Signal name Real

Speed / position

switching latch

Home position return

request

Home position return

complete

External

signals

DOG/CHANGE

Virtual mode continuation

operation disable warning

(Note-1)

signal

Refresh

cycle

axis

Operation

cycle

Operation

cycle

Main cycle

Operation

cycle

Main cycle

Operation

cycle

At virtual

mode

transition

Operation

cycle

Ball

screw

Rotary

table

OFF

Roller

(Note-1) : It is unusable in the SV22 real mode.

(Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

(Note-3) : Device area of 9 axes or more is unusable in the Q172CPU(N).

Cam

Real

Mode

Fetch

cycle

Signal

direction

Status

signal

REMARK

(Note-1) : Details except for internal relays used in the virtual mode are not

described in this manual. If it is required, refer to Section "3.1.1 Axis statuses" of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)".

4 - 4

Page 36

4 POSITIONING DEDICATED SIGNALS

Axis No. Device No. Signal name

1 M3200 to M3219

2 M3220 to M3239 Virtual

3 M3240 to M3259

4 M3260 to M3279

5 M3280 to M3299

6 M3300 to M3319 0 Stop command

7 M3320 to M3339 1 Rapid stop command

8 M3340 to M3359

9 M3360 to M3379

10 M3380 to M3399

11 M3400 to M3419

12 M3420 to M3439

13 M3440 to M3459

14 M3460 to M3479

15 M3480 to M3499

16 M3500 to M3519 6 Unusable

17 M3520 to M3539 7 Error reset command

18 M3540 to M3559

19 M3560 to M3579

20 M3580 to M3599

21 M3600 to M3619

22 M3620 to M3639 10

23 M3640 to M3659 11

24 M3660 to M3679

25 M3680 to M3699

26 M3700 to M3719

27 M3720 to M3739

28 M3740 to M3759

29 M3760 to M3779

30 M3780 to M3799

31 M3800 to M3819

32 M3820 to M3839

: Valid, : Invalid

(3) Axis command signal list

Refresh

15 Servo OFF command

16 Gain changing command

19 FIN signal

Signal name Real

Forward rotation JOG

start command

Reverse rotation JOG

start command

Complete signal OFF

command

Speed/position switching

enable command

Servo error reset

command

External stop input

disable at start command

Unusable

Feed current value

update request command

Address clutch reference setting command

Cam reference position setting command

Unusable

(Note-1)

Ball

Roller

(Note-1) : It is unusable in the SV22 real mode.

(Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

(Note-3) : Device area of 9 axes or more is unusable in the Q172CPU(N).

(Note-4) : Operation cycle 7.1[ms] or more: Every 3.5[ms]

Rotary

screw

table

Cam

Real

mode

axis

cycle

Fetch

cycle

Operation

cycle

Main

cycle

Operation

cycle

Main

cycle

At start

At virtual

mode

transition

Operation

cycle

Operation

cycle

(Note-4)

Operation

cycle

Signal

direction

Command

signal

Command

signal

Command

signal

Command

signal

REMARK

(Note-1) : Details except for internal relays used in the virtual mode are not

described in this manual. If it is required, refer to Section "3.1.2 Axis command signals" of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)".

4 - 5

Page 37

4 POSITIONING DEDICATED SIGNALS

Axis No. Device No. Signal name

1 M4000 to M4019

2 M4020 to M4039 Virtual

3 M4040 to M4059

4 M4060 to M4079

5 M4080 to M4099

6 M4100 to M4119 0 Positioning start complete

7 M4120 to M4139 1 Positioning complete

8 M4140 to M4159 2 Unusable

9 M4160 to M4179 3 Command in-position

10 M4180 to M4199 4 Speed controlling

11 M4200 to M4219 5

12 M4220 to M4239 6

13 M4240 to M4259

14 M4260 to M4279

15 M4280 to M4299 8

16 M4300 to M4319 9

17 M4320 to M4339 10

18 M4340 to M4359 11

19 M4360 to M4379 12

20 M4380 to M4399 13

21 M4400 to M4419 14

22 M4420 to M4439 15

23 M4440 to M4459 16

24 M4460 to M4479 17

25 M4480 to M4499 18

26 M4500 to M4519

27 M4520 to M4539

28 M4540 to M4559 : Valid, : Invalid

29 M4560 to M4579

30 M4580 to M4599

31 M4600 to M4619

32 M4620 to M4639

(4) Virtual servomotor axis status list

7 Error detection Backup

19 M-code outputting signal Backup

Signal name Real

Backup

Unusable

Unusable — —

Roller

Ball

screw

Rotary

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

(Note-2) : The unused axis areas in the mechanical system program can be used as an user device.

Real

Cam

table

mode

axis

Refresh

cycle

Operation

cycle

Operation

cycle

Immedi-

ately

Operation

cycle

Fetch

cycle

— — —

Signal

direction

Status

signal

Status

signal

Status

signal

Status

signal

4 - 6

Page 38

4 POSITIONING DEDICATED SIGNALS

Axis No. Device No. Signal name

1 M4800 to M4819

2 M4820 to M4839 Virtual

3 M4840 to M4859

4 M4860 to M4879

5 M4880 to M4899

6 M4900 to M4919 0 Stop command

7 M4920 to M4939 1 Rapid stop command

8 M4940 to M4959

9 M4960 to M4979

10 M4980 to M4999

11 M5000 to M5019

12 M5020 to M5039

13 M5040 to M5059

14 M5060 to M5079 5

15 M5080 to M5099

16 M5100 to M5119

17 M5120 to M5139

18 M5140 to M5159 8 Unusable

19 M5160 to M5179

20 M5180 to M5199

21 M5200 to M5219

22 M5220 to M5239 10

23 M5240 to M5259 11

24 M5260 to M5279 12

25 M5280 to M5299 13

26 M5300 to M5319 14

27 M5320 to M5339 15

28 M5340 to M5359 16

29 M5360 to M5379 17

30 M5380 to M5399 18

31 M5400 to M5419

32 M5420 to M5439

: Valid, : Invalid

(5) Virtual servomotor axis command signal list

7 Error reset command

19 FIN signal

Signal name Real

Forward rotation JOG

start command

Reverse rotation JOG

start command

Complete signal OFF

command

Unusable

External stop input

disable at start

command

Unusable

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

(Note-2) : The unused axis areas in the mechanical system program can be used as an user device.

Roller

Ball

screw

Rotary

table

Cam

Real

mode

axis

Refresh

cycle

Fetch

cycle

Operation

cycle

Main

cycle

Main

cycle

At start

Operation

cycle

Signal

direction

Command

signal

Command

signal

Command

signal

4 - 7

Page 39

4 POSITIONING DEDICATED SIGNALS

Axis No. Device No. Signal name

1 M4640 to M4643

2 M4644 to M4647

3 M4648 to M4651

4 M4652 to M4655 0 Error detection Immediately

5 M4656 to M4659 1 External signal TREN

6 M4660 to M4663

7 M4664 to M4667

8 M4668 to M4671 3 Unusable

9 M4672 to M4675 : Valid

10 M4676 to M4679

11 M4680 to M4683

12 M4684 to M4687

(6) Synchronous encoder axis status list

Virtual mode continuation operation

disable warning

Signal name Real Virtual

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

(Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

Refresh

cycle

Main cycle

Fetch cycle

Signal

direction

Status

Axis No. Device No. Signal name

1 M5440 to M5443

2 M5444 to M5447

3 M5448 to M5451

4 M5452 to M5455

5 M5456 to M5459

6 M5460 to M5463 1

7 M5464 to M5467 2

8 M5468 to M5471 3

9 M5472 to M5475 : Valid, : Invalid

10 M5476 to M5479

11 M5480 to M5483

12 M5484 to M5487

(7) Synchronous encoder axis command signal list

0 Error reset

Unusable

Signal name Real Virtual

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

(Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

Refresh

cycle

Fetch cycle

Main cycle

Signal

direction

Status

signal

4 - 8

Page 40

4 POSITIONING DEDICATED SIGNALS

Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark

M5488 Axis-1 cam/ball screw switching

M5489 Axis-2 cam/ball screw switching

M5490 Axis-3 cam/ball screw switching

M5491 Axis-4 cam/ball screw switching

M5492 Axis-5 cam/ball screw switching

M5493 Axis-6 cam/ball screw switching

M5494 Axis-7 cam/ball screw switching

M5495 Axis-8 cam/ball screw switching

M5496 Axis-9 cam/ball screw switching

M5497 Axis-10 cam/ball screw switching

M5498 Axis-11 cam/ball screw switching

M5499 Axis-12 cam/ball screw switching

M5500 Axis-13 cam/ball screw switching

M5501 Axis-14 cam/ball screw switching

M5502 Axis-15 cam/ball screw switching

M5503 Axis-16 cam/ball screw switching

M5504 Axis-17 cam/ball screw switching

M5505 Axis-18 cam/ball screw switching

M5506 Axis-19 cam/ball screw switching

M5507 Axis-20 cam/ball screw switching

M5508 Axis-21 cam/ball screw switching

M5509 Axis-22 cam/ball screw switching

M5510 Axis-23 cam/ball screw switching

M5511 Axis-24 cam/ball screw switching

M5512 Axis-25 cam/ball screw switching

M5513 Axis-26 cam/ball screw switching

M5514 Axis-27 cam/ball screw switching

M5515 Axis-28 cam/ball screw switching

M5516 Axis-29 cam/ball screw switching

M5517 Axis-30 cam/ball screw switching

M5518 Axis-31 cam/ball screw switching

M5519 Axis-32 cam/ball screw switching

(8) Cam axis command signal list

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

(Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

Main cycle Command signal

4 - 9

Page 41

4 POSITIONING DEDICATED SIGNALS

Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark

M5520 Main shaft side M5521

M5522 Main shaft side

M5523

M5524 Main shaft side

M5525

M5526 Main shaft side

M5527

M5528 Main shaft side

M5529

M5530 Main shaft side

M5531

M5532 Main shaft side

M5533

M5534 Main shaft side

M5535

M5536 Main shaft side

M5537

M5538 Main shaft side

M5539

M5540 Main shaft side

M5541

M5542 Main shaft side

M5543

M5544 Main shaft side

M5545

M5546 Main shaft side

M5547

M5548 Main shaft side

M5549

M5550 Main shaft side

M5551

M5552 Main shaft side

M5553

M5554 Main shaft side

M5555

M5556 Main shaft side

M5557

M5558 Main shaft side

M5559

M5560 Main shaft side

M5561

M5562 Main shaft side

M5563

M5564 Main shaft side

M5565

M5566 Main shaft side

M5567

M5568 Main shaft side

M5569

M5570 Main shaft side

M5571

M5572 Main shaft side

M5573

M5574 Main shaft side

M5575

M5576 Main shaft side

M5577

M5578 Main shaft side

M5579

M5580 Main shaft side

M5581

M5582 Main shaft side

M5583

(9) Smoothing clutch complete signal list

Output axis 1

Output axis 2

Output axis 3

Output axis 4

Output axis 5

Output axis 6

Output axis 7

Output axis 8

Output axis 9

Output axis 10

Output axis 11

Output axis 12

Output axis 13

Output axis 14

Output axis 15

Output axis 16

Output axis 17

Output axis 18

Output axis 19

Output axis 20

Output axis 21

Output axis 22

Output axis 23

Output axis 24

Output axis 25

Output axis 26

Output axis 27

Output axis 28

Output axis 29

Output axis 30

Output axis 31

Output axis 32

Auxiliary input side

Operation cycle Status signal

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

(Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

4 - 10

Page 42

4 POSITIONING DEDICATED SIGNALS

Device

No.

M2000 PLC ready flag Main cycle

M2001 Axis 1

M2002 Axis 2

M2003 Axis 3 M2055

M2004 Axis 4 M2056

M2005 Axis 5 M2057

M2006 Axis 6 M2058

M2007 Axis 7 M2059

M2008 Axis 8 M2060

M2009 Axis 9 M2061 Axis 1

M2010 Axis 10 M2062 Axis 2

M2011 Axis 11 M2063 Axis 3

M2012 Axis 12 M2064 Axis 4

M2013 Axis 13 M2065 Axis 5

M2014 Axis 14 M2066 Axis 6

M2015 Axis 15 M2067 Axis 7

M2016 Axis 16 M2068 Axis 8

M2017 Axis 17 M2069 Axis 9

M2018 Axis 18 M2070 Axis 10

M2019 Axis 19 M2071 Axis 11

M2020 Axis 20 M2072 Axis 12

M2021 Axis 21 M2073 Axis 13

M2022 Axis 22 M2074 Axis 14

M2023 Axis 23 M2075 Axis 15

M2024 Axis 24 M2076 Axis 16

M2025 Axis 25 M2077 Axis 17

M2026 Axis 26 M2078 Axis 18

M2027 Axis 27 M2079 Axis 19

M2028 Axis 28 M2080 Axis 20

M2029 Axis 29 M2081 Axis 21

M2030 Axis 30 M2082 Axis 22

M2031 Axis 31 M2083 Axis 23

M2032 Axis 32

M2033 Unusable M2085 Axis 25

M2034

M2035

M2036 M2090 Axis 30

M2037 M2091 Axis 31

M2038

M2039

M2040

M2041 System setting error flag Operation cycle

M2042 All axes servo ON command Operation cycle M3074 M2100

M2043

M2044

M2045

M2046 Out-of-sync warning

M2047 Motion slot fault detection f lag Operation cycle

M2048

M2049 All axes servo ON accept fl ag M2114

M2050 Start buf fer full

M2051

M2052

Signal name Ref resh cycle Fetch cycle

Start accept flag Operation cycle

Personal com puter link

communicati on error flag

Motion SFC error history

clear request flag

Unusable

(3 points)

Motion SFC error detect ion

flag

Speed switching poi nt specified

flag

Real/virtual m ode switching

request (Virtual m ode only)

Real/virtual m ode switching

status (Virtual m ode only)

Real/virtual m ode switching

error detection

(Virtual mode only)

JOG operation sim ultaneous

start command

Manual pulse generator 1

enable flag

Manual pulse generator 2

enable flag

(Note-6)

(10) Common device list

Signal

direction

Command

signal

(Note-4)

Status

signal

(Note-1),

(Note-2)

Operation cycle

At virtual m ode

transition

Main cycle

Operation cycle

Main cycle

Immediate

At start

At virtual m ode

transition

Main cycle

Status

signal

Command

signal

Status

signal

Command

signal

(Note-4)

Status

signal

Command

signal

(Note-4)

Status

signal

Command

signal

(Note-4)

Status

signal

Command

signal

(Note-4)

Remark

Device

(Note-5)

No.

M3072 M2053

M3080

M3073

M3075

M3076

M3077

M3078

Manual pulse generator 3

enable flag

M2054 Operation cycle ov er flag Operation cycle

Unusable

(6 points)

M2084 Axis 24

M2086 Axis 26

M2087 Axis 27

M2088 Axis 28

M2089 Axis 29

M2092 Axis 32

M2093

M2094

M2095

M2096

Unusable

(8 points)

M2097

M2098

M2099

M2101 Axis 1

M2102 Axis 2

M2103 Axis 3

M2104 Axis 4

M2105 Axis 5

M2106 Axis 6

M2107 Axis 7

M2108 Axis 8

M2109 Axis 9

M2110 Axis 10

M2111 Axis 11

M2112 Axis 12

M2113

M2115

Unusable

(6 points)

M2116

M2117

M2118

Signal name Refresh cycle Fetch cycle

Speed changing flag Operati on cycle

Synchronous

encoder current

value changing fl ag

(Note-3)

(12 axes)

Operation cycle

Main cycle

Signal

direction

Command

signal

(Note-4)

Status

signal

Status

signal

(Note-1),

(Note-2)

Status

signal

(Note-1),

(Note-2)

Remark

(Note-5)

M3079

4 - 11

Page 43

4 POSITIONING DEDICATED SIGNALS

Device

No.

M2119 M2180 Main shaft side

M2120

M2121

M2122 M2182 Main shaft side

M2123

M2124

M2125 M2184 Main shaft side

M2126

M2127

M2128 Axis 1 M2186 Main shaft side

M2129 Axis 2

M2130 Axis 3

M2131 Axis 4 M2188 Main shaft side

M2132 Axis 5

M2133 Axis 6

M2134 Axis 7 M2190 Main shaft side

M2135 Axis 8

M2136 Axis 9

M2137 Axis 10 M2192 Main shaft side

M2138 Axis 11

M2139 Axis 12

M2140 Axis 13 M2194 Main shaft side

M2141 Axis 14

M2142 Axis 15

M2143 Axis 16 M2196 Main shaft side

M2144 Axis 17

M2145 Axis 18

M2146 Axis 19 M2198 Main shaft side

M2147 Axis 20

M2148 Axis 21

M2149 Axis 22 M2200 Main shaft side

M2150 Axis 23

M2151 Axis 24

M2152 Axis 25 M2202 Main shaft side

M2153 Axis 26

M2154 Axis 27

M2155 Axis 28 M2204 Main shaft side

M2156 Axis 29

M2157 Axis 30

M2158 Axis 31 M2206 Main shaft side

M2159 Axis 32

M2160 Main shaft side

M2161

M2162 Main shaft side

M2163

M2164 Main shaft side

M2165

M2166 Main shaft side

M2167

M2168 Main shaft side

M2169

M2170 Main shaft side

M2171

M2172 Main shaft side

M2173

M2174 Main shaft side

M2175

M2176 Main shaft side

M2177

M2178 Main shaft side M2226

M2179

Signal name Ref resh cycle Fetch cycle

Unusable

(9 points)

Automatic

deceleration fl ag

Output

Auxiliary input

axis 1

side

Output

Auxiliary input

axis 2

side

Output

Auxiliary input

axis 3

side

Output

Auxiliary input

axis 4

side

Output

Auxiliary input

axis 5

side

Output

Auxiliary input

axis 6

side

Output

Auxiliary input

axis 7

side

Output

Auxiliary input

axis 8

side

Output

Auxiliary input

axis 9

side

Output

Auxiliary input

axis 10

side

Common device list (Continued)

Remark

Signal

(Note-5)

direction

Status

Operation cycle

(Note-3)

Clutch status

signal

(Note-1),

(Note-2)

Device

No.

M2181

M2183

M2185

M2187

M2189

M2191

M2193

M2195

M2197

M2199

M2201

M2203

M2205

M2207

M2208 Main shaft side

M2209

M2210 Main shaft side

M2211

M2212 Main shaft side

M2213

M2214 Main shaft side

M2215

M2216 Main shaft side

M2217

M2218 Main shaft side

M2219

M2220 Main shaft side

M2221

M2222 Main shaft side

M2223

M2224

M2225

M2227

M2228

Signal name Refresh cycle Fetch cycle

Output

axis 11

Output

axis 12

Output

axis 13

Output

axis 14

Output

axis 15

Output

axis 16

Output

axis 17

Output

axis 18

Output

axis 19

Output

axis 20

Output

axis 21

Output

axis 22

Output

axis 23

Output

axis 24

Output

axis 25

Output

axis 26

Output

axis 27

Output

axis 28

Output

axis 29

Output

axis 30

Output

axis 31

Output

axis 32

Unusable

(5 points)

Auxiliary input

side

Auxiliary input

side

Auxiliary input

side

Auxiliary input

side

Auxiliary input

side

Auxiliary input

side

Auxiliary input

side

Auxiliary input

side

Auxiliary input

side

Auxiliary input

side

Auxiliary input

side

Auxiliary input

side

Auxiliary input

side

Auxiliary input

side

Auxiliary input

side

Auxiliary input

side

Auxiliary input

side

Auxiliary input

side

Auxiliary input

side

Auxiliary input

side

Auxiliary input

side

Auxiliary input

side

(Note-3)

Operation cycle

Clutch status

Signal

direction

Status

signal

(Note-1),

(Note-2)

Remark

(Note-5)

4 - 12

Page 44

4 POSITIONING DEDICATED SIGNALS

Device

No.

M2229 M2275

M2230 M2276

M2231 M2277

M2232 M2278

M2233 M2279

M2234 M2280

M2235 M2281

M2236 M2282

M2237 M2283

M2238 M2284

M2239

M2240 Axis 1 M2286

M2241 Axis 2 M2287

M2242 Axis 3 M2288

M2243 Axis 4 M2289

M2244 Axis 5 M2290

M2245 Axis 6 M2291

M2246 Axis 7 M2292

M2247 Axis 8 M2293

M2248 Axis 9 M2294

M2249 Axis 10 M2295

M2250 Axis 11 M2296

M2251 Axis 12 M2297

M2252 Axis 13 M2298

M2253 Axis 14 M2299

M2254 Axis 15 M2300

M2255 Axis 16 M2301

M2256 Axis 17 M2302

M2257 Axis 18 M2303

M2258 Axis 19 M2304

M2259 Axis 20 M2305

M2260 Axis 21 M2306

M2261 Axis 22 M2307

M2262 Axis 23 M2308

M2263 Axis 24 M2309

M2264 Axis 25 M2310

M2265 Axis 26 M2311

M2266 Axis 27 M2312

M2267 Axis 28 M2313

M2268 Axis 29 M2314

M2269 Axis 30 M2315

M2270 Axis 31 M2316

M2271 Axis 32

M2272 M2318

M2273 M2319

M2274

Signal name Ref resh cycle Fetch cycle

Unusable

(11 points)

Speed change "0"

accepting flag

Unusable

(3 points)

Common device list (Continued)

Remark

Operation cycle

Signal

direction

Status

signal

(Note-1),

(Note-2)

(Note-5)

Device

M2285

M2317

No.

Signal name Refresh cycle Fetch cycle

Unusable

(45 points)

Signal

direction

Remark

(Note-5)

4 - 13

Page 45

4 POSITIONING DEDICATED SIGNALS

No. Function Bit device Request register

1 PLC ready flag M2000 D704

2 Speed switching point specified flag M2040 D705

3 All axes servo ON command M2042 D706

4 Real/virtual mode switching request (SV22 only) M2043 D707

5 JOG operation simultaneous start command M2048 D708

6 Manual pulse generator 1 enable flag M2051 D755

7 Manual pulse generator 2 enable flag M2052 D756

8 Manual pulse generator 3 enable flag M2053 D757

Explanation of the request register

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N). (Note-3) : This signal is unusable in the SV22 real mode. (Note-4) : Handling of D704 to D708 and D755 to D757 registers

Because cannot be turn ON/OFF for every bit from the PLC CPU, the above bit devices are assigned to D register, and each bit device becomes on with the lowest rank bit 0 with 1

0. Use it when the above functions are requested from the PLC CPU using the S(P).DDRD and S(P).DDWR instruction. Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for the S(P).DDRD and S(P).DDWR instruction. The direct bit device ON/OFF is possible in the Motion SFC program.

(Note-5) : It can also be ordered the device of a remark column. (Note-6) : M3080 does not turn off automatically. Turn it off as an user side.

1 of each register, and each bit device becomes off

CAUTION

The data executed later becomes effective when the same device is executed in the Motion

SFC program and PLC program.

4 - 14

Page 46

4 POSITIONING DEDICATED SIGNALS

Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark

(11) Special relay allocated device list (Status)

(Note-1)

M2320 Fuse blown detection

M2321 AC / DC DOWN detection

M2322 Battery low

M2323 Battery low latch

M2324 Self-diagnostic error

M2325 Diagnostic error

M2326 Always ON

M2327 Always OFF

M2328 Clock data error

M2329 PCPU WDT error flag

M2330 PCPU READY complete flag

M2331 Test mode ON flag

M2332 External forced stop input flag

M2333

Manual pulse generator axis setting

error flag

M2334 TEST mode request error flag

M2335 Servo program setting error flag

Error

occurrence

Main

operation

Error

occurrence

At request

Operation

cycle

Error

occurrence

M9000

M9005

M9006

M9007

M9008

M9010

M9036

M9037

M9026

M9073

M9074

M9075

M9076

M9077

Status signal

M9078

M9079

M2336 CPU No.1 reset flag

M2337 CPU No.2 reset flag

M2338 CPU No.3 reset flag

M2339 CPU No.4 reset flag

M2340 CPU No.1 error flag

At status

change

M2341 CPU No.2 error flag

M2342 CPU No.3 error flag

M2343 CPU No.4 error flag

M2344 Servo parameter reading flag At request

M2345 CPU No.1 MULTR complete flag

M2346 CPU No.2 MULTR complete flag

M2347 CPU No.3 MULTR complete flag

At instruction

completion

M2348 CPU No.4 MULTR complete flag

M9240

M9241

M9242

M9243

M9244

M9245

M9246

M9247

M9105

M9216

M9217

M9218

M9219

M2349

to Unusable

M2399

(Note-1) : The same status as a remark column is output.

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4 POSITIONING DEDICATED SIGNALS

Device No. Signal name Refresh cycle Fetch cycle Signal direction

M3072 PLC ready flag

(12) Common device list (Command signal)

Main cycle

Remark

(Note-1) , (Note-2)

M2000

M3073 Speed switching point specified flag At start

M3074 All axes servo ON command

M3075 Real/virtual mode switching request

M3076

M3077 Manual pulse generator 1 enable flag

M3078 Manual pulse generator 2 enable flag

M3079 Manual pulse generator 3 enable flag

M3080

M3081

M3135

JOG operation simultaneous start

command

Motion SFC error history clear request

(Note-3)

flag

Unusable

Operation

cycle

At virtual mode

transition

Main cycle

Command

signal

M2040

M2042

M2043

M2048

M2051

M2052

M2053

M2035

(Note-1) : The device of a remarks column turns ON by OFF to ON of the above device, and the device of a remarks column turns

OFF by ON to OFF of the above device. The state of a device is not in agreement when the device of a remarks column

is turned on directly. In addition, when the request from a data register and the request from the above device are

performed simultaneously, the request from the above device becomes valid.

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

(Note-3) : M3080 does not turn off automatically. Turn it off as an user side.

Device No. Signal name Refresh cycle Fetch cycle Signal direction

M3136 Clock data set request

(13) Special relay allocated device list (Command signal)

Remark

(Note-1), (Note-2)

M9025

M3137 Clock data read request

M3138 Error reset

M3139 Servo parameter read request flag

M3140

M3199

Unusable

Main cycle

Command

signal

M9028

M9060

M9104

(Note-1) : The device of a remarks column turns ON by OFF to ON of the above device, and the device of a remarks column turns

OFF by ON to OFF of the above device. The state of a device is not in agreement when the device of a remarks column

is turned on directly.

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

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4 POSITIONING DEDICATED SIGNALS

4.1.1 Axis statuses

(1) In-position signal (M2402+20n) ................................... Status signal

(a) This signal turns on when the number of droop pulses in the deviation

counter becomes below the "in-position range" set in the servo parameters. It turns off at the start.

Number of droop pulses

In-position range

In-position signal (M2402+20n)

OFF

(b) An in-position check is performed in the following cases.

• When the servo power supply is turned on.

• After the automatic deceleration is started during positioning control.

• After the deceleration is started with the JOG start signal OFF.

t real mode

• During the manual pulse generator operation.

• After the proximity dog ON during a home position return.

• After the deceleration is started with the stop command.

• When the speed change to a speed "0" is executed.

• Anytime................................................................................ At virtual mode

(2) Zero pass signal (M2406+20n) ................................... Status signal

This signal turns on when the zero point is passed after the power supply on of the servo amplifier. Once the zero point has been passed, it remains on state until the CPU has been reset. However, in the home position return method of proximity dog, count, dog cradle or limit switch combined type, this signal turns off once at the home position return in real mode start and turns on again at the next zero point passage.

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)

4 POSITIONING DEDICATED SIGNALS

(3) Error detection signal (M2407+20n) .......................... Status signal

(a) This signal turns on with detection of a minor error or major error, and it is

used as judgement of the error available/not available. The applicable error code register with detection of a minor error. (Refer to Section 4.2.1 (4)) The applicable error code register with detection of a major error. (Refer to Section 4.2.1 (5))

(b) This signal turns off when the error reset command (M3207+20n) turns on.

Error detection signal (M2407+20n)

Error reset command (M3207+20n)

Error detection

OFF

(Note-1)

is stored in the minor error code storage

(Note-1)

is stored in the major error code storage

REMARK

(Note-1) : Refer to APPENDIX 2 for the error codes with detection of major/minor

errors.

(4) Servo error detection signal (M2408+20n) ................. Status signal

(a) This signal turns on when an error occurs at the servo amplifier side (except

(Note-1)

for errors cause of alarms and emergency stops) judgement of the servo error available/not available. When an error is detected at the servo amplifier side, the applicable error

(Note-1)

code

is stored in the servo error code storage register (Refer to

Section 4.2.1).

(b) This signal turns off when the servo error reset command (M3208+20n)

Servo error detection signal (M2408+20n)

Servo error reset command

turns on or the servo power supply turns on again.

Servo error detection

OFF

M3208+20n

and it is used as

REMARK

(Note-1) : Refer to APPENDIX 2.5 for the error codes on errors detected at the

servo amplifier side.

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4 POSITIONING DEDICATED SIGNALS

(5) Home position return request signal (M2409+20n)

This signal turns on when it is necessary to confirm the home position address at the power supply on or during positioning control. (a) When not using an absolute position system

1) This signal turns on in the following cases:

• Motion CPU power supply on or reset

• During a home position return

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

(b) When using an absolute position system

1) This signal turns on in the following cases:

• During a home position return

• Backup data (reference value) sum check error occurence (power supply on).

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

.........….. Status signal

CAUTION

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

controller or absolute value motor has been replaced, always perform a home position return in real mode. In the case of the absolute position system, use the PLC program to check the home position return request before performing the positioning operation. Failure to observe this could lead to an accident such as a collision.

(6) Home position return complete signal (M2410+20n)

.........….. Status signal

(a) This signal turns on when the home position return operation using the

servo program has been completed normally.

(b) This signal turns off at the positioning start, JOG operation start and manual

pulse generator operation start.

using the servo program is executed during this signal on, the "continuous home position return start error (minor error: 115)" occurs and it cannot be start the home position return.

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4 POSITIONING DEDICATED SIGNALS

(7) FLS signal (M2411+20n) ........................................... Status signal

(a) This signal is controlled by the ON/OFF state for the upper stroke limit

switch input (FLS) of the Q172LX.

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

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

(b) The state for the upper stroke limit switch input (FLS) when the FLS signal

is ON/OFF is shown below.

FLS signal : ON FLS signal : OFF

Q172LX Q172LX

FLS

COM

(8) RLS signal (M2412+20n) ............................................ Status signal

(a) This signal is controlled by the ON/OFF state for the lower stroke limit

switch input (RLS) of the Q172LX.

• Lower stroke limit switch input OFF ...... RLS signal: ON

• Lower stroke limit switch input ON ........ RLS signal: OFF

(b) The state of the lower stroke limit switch input (RLS) when the RLS signal is

ON/OFF is shown below.

RLS signal : ON

Q172LX

RLS

COM

RLS signal : OFF

Q172LX

RLS

COM

(9) STOP signal (M2413+20n) ......................................... Status signal

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

(STOP) of the Q172LX.

• Stop signal input of the Q172LX OFF ..... STOP signal: OFF

• Stop signal input of the Q172LX ON ....... STOP signal: ON

(b) The state of the stop signal input (STOP) of the Q172LX when the STOP

signal input is ON/OFF is shown below.

STOP signal : ON

Q172LX

STOP

STOP signal : OFF

Q172LX

STOP

COM

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4 POSITIONING DEDICATED SIGNALS

(10) DOG / CHANGE signal (M2414+20n) ...................... Status signal

(a) This signal turns on/off by the proximity dog input (DOG) of the Q172LX at

the home position return in the real mode. This signal turns on/off by the speed/position switching input (CHANGE) of the Q172LX at the speed/position switching control in the real mode.

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

system setting can be selected. The state of the speed/position switching input (CHANGE) when the CHANGE signal is ON/OFF is shown below.

DOG/CHANGE signal : ON

Q172LX

DOG/CHANGE

DOG/CHANGE signal : OFF

Q172LX

DOG/CHANGE

COM

(11) Servo ready signal (M2415+20n) .............................. Status signal

(a) This signal turns on when the servo amplifiers connected to each axis are in

the READY state.

(b) This signal turns off in the following cases.

• M2042 is off

• Servo amplifier is not installed

• Servo parameter is not set

• It is received the forced stop input from an external source

• Servo OFF by the servo OFF command (M3215+20n) ON

• Servo error occurs Refer to APPENDIX 2.5 "Servo errors" for details.

CPU

Q172 CPU (N)

Q172

Communication is normal

Q61P Q02H

Q38B

Servo ready signal : ON

AMP

POINT

When the part of multiple servo amplifiers connected to the SSCNET becomes a servo error, only an applicable axis becomes the servo OFF state.

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4 POSITIONING DEDICATED SIGNALS

(12) Torque limiting signal (M2416+20n) ......................... Status signal

This signal turns on while torque limit is executed.

The signal toward the torque limiting axis turns on.

(13) Virtual mode continuation operation disable warning signal

(M2418+20n) ............................................................. Status signal

When the difference between the final servo command value in previous virtual

mode last time and the servo current value at virtual mode switching next time exceeds the "Allowable travel value during power off (× Number of feedback pulses)" set in the "System setting", "Virtual mode continuation operation disable warning signal device" of the applicable axis is turned on as warning of being uncontinuable in virtual mode operation.

It checks for the following cases.

No. Check Remark

Servo amplifier power supply ON for

absolute axis.

2 Anytime during real mode operation.

Reset the "Virtual mode continuation operation disable warning signal device" using the Motion SFC program.

• A minor error [901] (power supply on in

real mode)/[9010] (power supply on in

virtual mode) are also set.

• It also turns on at the following cases.

1) Home position return

2) Current value change

3) Fixed-pitch feed, speed control ( ), ( )

or speed/position switching control.

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4 POSITIONING DEDICATED SIGNALS

4.1.2 Axis command signals

(1) Error reset command (M3207+20n) ..................... Command signal

This command is used to clear the minor/major error code storage register of an axis for which the error detection signal has turn on (M2407+20n: ON), and reset the error detection signal (M2407+20n).

Error detection signal (M2407+20n)

Error reset command (M3207+20n)

Minor error code storage register (D6+20n)

Major error code storage register (D7+20n)

OFF

** : Error code

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

This command is used to clear the servo error code storage register of an axis for which the servo error detection signal has turn on (M2408+20n: ON), and reset the servo error detection signal (M2408+20n).

Servo error detection signal (M2408+20n)

Servo error reset command (M3208+20n)

Servo error code storage register

OFF

** : Error code

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4 POSITIONING DEDICATED SIGNALS

(3) Address clutch reference setting command (M3213+20n)

This signal is only effective when the output module is a cam connected an address mode clutch or a rotary table, and it is used to specify the "0" reference position for the current value within 1 virtual axis revolution. The following processings are executed based on the ON/OFF state of the address clutch reference setting command at the switching request from real to virtual mode. (a) M3213+20n : ON

Virtual mode operation starts as "0" for the current value within 1 virtual axis revolution of the main shaft and auxiliary input axis.

(b) M3213+20n : OFF

• If the drive module is a virtual servomotor or an incremental synchronous encoder, operation will be continued from the current value within 1 virtual axis revolution for the main shaft and auxiliary input axis in the previous virtual mode.

• If the drive module is an absolute synchronous encoder, operation will be continued from the current value within 1 virtual axis revolution for the main shaft and auxiliary input axis calculated from the current value of synchronous encoder.

(4) Cam reference position setting command (M3214+20n)

This signal is only effective when the output module is a cam, and it is used to specify the cam reference position. The following processings are executed based on the ON/OFF state of the cam reference position setting command at the switching request from real to virtual mode. (a) M3214+20n : ON

• The current value is cam reference position.

• The current feed current value is lower stroke limit value (bottom dead

point). Moreover, a cam table search is conducted from the beginning of a cycle, and the bottom dead point (0) is specified as the current value within 1 cam shaft revolution.

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

Stroke amount

Lower stroke limit

Feed current value (bottom dead point) when M3214+20n is ON.

1 cycle

Current value within 1 cam shaft revolution = 0

Number of pulses within 1 cam shaft revolution-1

• After the bottom dead point alignment of cam is completed at the system

start-up, it must be turned on at the first real to virtual mode switching. Once the bottom dead point setting is set, operation will be continued with M3214+20n ON by switching from real to virtual mode. (The bottom dead point position is stored in the backup memory.)

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4 POSITIONING DEDICATED SIGNALS

(b) M3214+20n : OFF

(Final servo command value in previous virtual mode operation

(Current servo current value) (In-position) ……………………….1)

• For formura 1) Operation will be continued by making the lower stroke limit value and current value within 1 cam sfaft revolution into the lower stroke limit value and current value within 1 cam sfaft revolution at the previous virtual mode operation.

(Final servo command value in previous virtual mode operation

(Current servo current value) > (In-position) ……………………….2)

• For formura 2) Current value within 1 cam sfaft revolution for current feed current value is calculated and operation will be continued by making the lower stroke limit value into the lower stroke limit value at the previous virtual mode operation.

[Calculation of current value within 1 cam shaft revolution]

(Feed current value) = (Stroke amount)

The stroke ratio(y) used as above formula is calculated, the cam table of the setting cam No. is searched from the beginning of a cycle, and the current value within 1 cam shaft revolution for applicable point is calculated. Because the current value within 1 cam shaft revolution is serched always from the beginning of a cycle, beware of cases where the same stroke ratio appears more than once in the cycle. (Make the necessary position adjustment at the switching from the real to

virtual mode.)

Stroke amount

Lower stroke limit

32767

Stroke ratio

(Stroke ratio) (Lower stroke limit value)

1 cycle (1 cam shaft revolution)

)

In the figure at left, there are 2 relevant points (A and B) for the calculated stroke ratio "y", but only point "A" is recognized.

Number of pulses within 1 cam shaft revolution-1

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4 POSITIONING DEDICATED SIGNALS

(5) Servo OFF command (M3215+20n) .................... Command signal

This command is used to execute the servo OFF state (free run state).

• M3215+20n : OFF ......... Servo ON

• M3215+20n : ON ........... Servo OFF (free run state)

This command becomes invalid during positioning, and should therefore be executed after completion of positioning. When the servo OFF command is executed in virtual mode, the clutch will be disengaged first. If it is executed while a "clutch ON" state, a minor error occurs and the servo OFF command becomes invalid.

CAUTION

Turn the power supply of the servo amplifier side off before touching a servomotor, such as

machine adjustment.

(6) Gain changing command (M3216+20n) ) ............ Command signal

This signal is used to change gain of servo amplifier in the Motion controller by gain changing command ON/OFF.

• ON ... Gain changing valid (Gain changing value set in the servo parmeter)

• OFF ... Gain changing invalid (Normal gain) The servo amplifier version and software version of servo amplifier which can be used the gain changing function are shown below.

Servo amplifier type Software version of servo amplifier

MR-J2S- B Ver. B2 or later

MR-J2M-B Ver. A0 or later

Refer to the Servo Amplifier Instruction Manual for details of gain changing function. Instruction Manual list is shown below.

Servo amplifier type Instruction manual name

MR-J2S- B MR-J2S- B Servo Amplifier Instruction Manual (SH-030007)

MR-J2M-B MR-J2M-B Servo Amplifier Instruction Manual (SH-030012)

REMARK

It can be used in the SW6RN-SV22Q (Ver.00R or later).

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4.1.3 Virtual servomotor axis statuses

(1) Positioning start complete signal (M4000+20n)

(Note-1)

.........….. Status signal

(a) This signal turns on with the start completion for the positioning control of

the axis specified with the servo program. It does not turn on at the starting using JOG operation or speed control.

(Note-2)

It can be used to read a M-code

(b) This signal turns off at turning the complete signal OFF command

(Note-1)

(M4804+20n)

off to on or positioning completion.

When the complete signal OFF command (M4804+20n) turns off to on.

Servo program start

Start accept flag (M2001 to M2032)

Positioning start complete signal (M4000+20n)

Complete signal OFF command (M4804+20n)

(Note-1)

OFF

When the positioning is completed.

at the positioning start.

Dwell time

Positioning completion

Servo program start

Start accept flag (M2001 to M2032)

Positioning start complete signal (M4000+20n)

(Note-1)

OFF

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4 POSITIONING DEDICATED SIGNALS

REMARK

(Note-1) : In the front page descriptions, "n" in "M4000+20n"or "M4804+20n" etc.

(Note-2) : Refer to Section "7.1 M-code Output Function" of the "Q173CPU(N)/

indicates a value corresponding to axis No. such as the following tables.

Axis No. n Axis No. n Axis No. n Axis No. n

1 0 9 8 17 16 25 24

2 1 10 9 18 17 26 25

3 2 11 10 19 18 27 26

4 3 12 11 20 19 28 27

5 4 13 12 21 20 29 28

6 5 14 13 22 21 30 29

7 6 15 14 23 22 31 30

8 7 16 15 24 23 32 31

• Calculate as follows for the device No. corresponding to

(Example) For axis 32

M4000+20n (Positioning start complete) = M4000+20

M4804+20n (Complete signl OFF command) = M4804+20

• The range (n=0 to 7) of axis No.1 to 8 is valid in the Q172CPU(N).

Q172CPU(N) Motion controller (SV13/SV22) Programming manual (REAL MODE)".

each axis.

31=M4620

31=M5424

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(2) Positioning complete signal (M4001+20n) .................. Status signal

(a) This signal turns on with the completion for the positioning control of the

axis specified with the servo program. It does not turn on at the start or stop on the way using JOG operation or speed control. It does not turn on at the stop on the way during positioning. It can be used to read a M-code at the positioning completion. (Refer to Section 7.1 of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV/13/SV22) Programming Manual (REAL MODE)".)

(b) This signal turns off at turning the complete signal OFF command

When the complete signal OFF command (M4804+20n) turns off to on.

(M4804+20n) off to on or positioning start.

Dwell time

Servo program start

Start accept flag (M2001 to M2032)

Positioning complete signal (M4001+20n)

Complete signal OFF command (M4804+20n)

OFF

When the next positioning starts.

Servo program start

Start accept flag (M2001 to M2032)

Positioning complete signal (M4001+20n)

OFF

Dwell time

Positioning completion

Positioning start

OFF

(3) Command in-positioning signal (M4003+20n) ............ Status signal

(a) This signal turns on when the absolute value of the difference between the

command position and the feed current value becomes below the "command in-position range" set in the parameters of virtual servomotor (Refer to Section 6.1.2). This signal turns off in the following cases.

• Positioning control start

• Speed control

• JOG operation

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4 POSITIONING DEDICATED SIGNALS

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

This check is not executed during speed control.

Position control start

Command in-position setting

Speed control start

Command in-position (M4003+20n)

OFF

Execution of command in-position check

(4) Speed controlling signal (M4004+20n) ....................... Status signal

(a) This signal turns on during speed control, and it is used as judgement of

during the speed control or position control. The speed controlling signal that turned on with speed control turns off at the positioning control start of following figure.

(b) This signal turns off at the power supply on and during position control.

At speed control

Speed control start

Speed controlling signal (M4004+20n)

OFF

Positioning start

At position control

(5) Error detection signal (M4007+20n) ...........…............. Status signal

(a) This signal turns on when a minor error or major error is detected in a virtual

servomotor or output module connected to a virtual servomotor. It is used as judgement of the error available/not available by turning the error detection signal on/off.

(b) When the error detection signal turns on, the applicable error code is stored

in the error code storage register.

(Note-1)

• Minor error code

• Major error code

The judgement of the virtual servomotor/output module for detected error can be confirmed by the error code details or turning the error detection signal of output module on/off.

... Stored in the minor error code storage register

(Note-2)

(Note-1)

... Stored in the major error code storage register

(Note-2)

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4 POSITIONING DEDICATED SIGNALS

the virtual servomotor or output module connected to the virtual servomotor turns on is normal, the error detection signal turns off.

REMARK

(Note-1) : Refer to APPENDIX 2.4 for details of the virtual servomotor minor/major

error codes. Refer to APPENDIX 2.7 for details of the output module minor/major error codes.

(Note-2) : Refer to Section 4.2.3 for details of the minor/major error code storage

(6) M-code outputting signal (M4019+20n) ...................... Status signal

(a) This signal turns during M-code is outputting.

(b) This signal turns off when the stop command, cancel signal, skip signal or

FIN signal are inputted.

M-code

M1 M2 M3

M-code outputting signal (M4019+20n)

FIN signal (M4819+20n)

OFF

POINT

(1) The FIN signal and M-code outputting signal are both signal for the FIN signal

wait function.

(2) The FIN signal and M-code outputting signal are effective only when FIN

acceleration/deceleration is designated in the servo program. Otherwise, the FIN signal wait function is disabled, and the M-code outputting signal does not turn on.

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4.1.4 Virtual servomotor axis command signals

(1) Stop command (M4800+20n)

(Note-1)

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

(a) This command stops a starting axis from an external source and becomes

effective at the turning signal off to on. (An axis for which the stop command

Stop command (M4800+20n)

is turning on cannot be started.)

OFF

Setting speed

Stop command for specified axis

Stop

Deceleration stop processing

Control when stop command turns of

(b) It can also be used as the stop command during the speed control. (Refer

to Section "6.13 Speed Control (

)" of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details of the speed control.

Table 4.1.

Table 4.1 Stop Processing at Stop command ON

Processing at the turning stop command on Control details

during execution

Positioning

control

Speed control

JOG operation

The axis decelerates to a stop in the deceleration time set in the parameter block or servo program.

During control During deceleration stop processing

The stop command is ignored and deceleration stop processing is continued.

(d) The stop command in a dwell time is invalid. (After a dwell time, the start

accept flag (M2001+n) turns OFF, and the positioning complete signal (M4001+20n) turns ON.)

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REMARK

(Note-1) : In the above descriptions, "n" in "M4800+20n", etc. indicates a value

corresponding to axis No. such as the following tables.

Axis No. n Axis No. n Axis No. n Axis No. n

1 0 9 8 17 16 25 24

2 1 10 9 18 17 26 25

3 2 11 10 19 18 27 26

4 3 12 11 20 19 28 27

5 4 13 12 21 20 29 28

6 5 14 13 22 21 30 29

7 6 15 14 23 22 31 30

8 7 16 15 24 23 32 31

• Calculate as follows for the device No. corresponding to each axis.

(Example) For axis 32

M4800+20n (Stop command) = M4800+20

• The range (n=0 to 7) of axis No.1 to 8 is valid in the Q172CPU(N).

(2) Rapid stop command (M4801+20n) ..................... Command signal

(a) This command is a signal which stop a starting axis rapidly from an external

source and becomes effective when the signal turns off to on. (An axis for

Rapid stop command (M4801+20n)

which the rapid stop command turns on cannot be started.)

OFF

Setting speed

(b) The details of stop processing when the rapid stop command turns on are

shown in Table 4.2.

31 = M5420

Rapid stop command for specified axis

Rapid stop processing

Stop

Control when rapid stop command turns of

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4 POSITIONING DEDICATED SIGNALS

Table 4.2 Details of stop processing when the rapid stop command turns on

Processing at the turning rapid stop command on Control details

during execution

Positioning

control

Speed control

JOG operation

Rapid stop processing is executed.

Real deceleration time

Rapid stop deceleration time of the parameter block

start accept flag (M2001+n) turns OFF, and the positioning complete signal (M4001+20n) turns ON.)

During control During deceleration stop processing

Parameter (Speed limit value)

Operation speed

Stop cause

Deceleration processing is stopped and

rapid stop processing is executed.

Setting speed

Deceleration stop processing

Rapid stop cause

Rapid stop deceleration processing

Stop

REMARK

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

the parameter block or servo program.

(3) Forward rotation JOG start command (M4802+20n)/Reverse

rotation JOG start command (M4803+20n) ......... Command signal

(a) JOG operation to the address increase direction is executed while forward

rotation JOG start command (M4802+20n) is turning on. When M4802+20n is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.

(b) JOG operation to the address decrease direction is executed while reverse

rotation JOG start command (M4803+20n) is turning on. When M4803+20n is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.

POINT

Take an interlock so that the forward rotation JOG start command (M4802+20n) and reverse rotation JOG start command (M4803+20n) may not turn on simultaneously.

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4 POSITIONING DEDICATED SIGNALS

(4) Complete signal OFF command (M4804+20n)

(a) This command is used to turn off the positioning start complete signal

Positioning start complete signal (M4000+20n)

Positioning complete signal (M4001+20n)

Complete signal OFF command

Do not turn the complete signal OFF command on with a PLS instruction. If it is turned on with a PLS instruction, it cannot be turned off the positioning start complete signal (M4000+20n) and the positioning complete signal (M4001+20n).

(M4000+20n) and positioning complete signal (M4001+20n).

OFF

M4804+20n

POINT

OFF

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

Dwell timeDwell time

ON ON

(5) Error reset command (M4807+20n) ..................... Command signal

(a) This command is used to clear the minor/major error code storage register

of an axis for which the error detection signal has turn on (M4007+20n : ON), and reset the error detection signal (M4007+20n).

(b) The following processing is executed when the error reset command turns

on.

• If the virtual servomotor and output module are normal, the minor/major error code storage registers are cleared and the error detection signal (M4007+20n) is reset.

• If the virtual servomotor and output module error has not been canceled, the error code is again stored in the minor/major error code storage register. In this case, the error detection signal (M4007+20n) remains on.

(6) External stop input disable at start command (M4809+20n)

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

This command is used to set the external stop signal input valid or invalid.

• ON......... External stop input is set as invalid, and even axes which stop input is

turning on can be started.

• OFF .......External stop input is set as valid, and axes which stop input is

turning on cannot be started.

POINT

When it stops an axis with the external stop input after it starts by turning on the external stop input disable at command (M4809+20n), switch the external stop input from OFF it from ON

ON (If the external stop input is turning on at the starting, switch

OFF ON).

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(7) FIN signal (M4819+20n) ....................................... Command signal

When a M-code is set in a servo program, transit to the next block does not execute until the FIN signal changes as follows: OFF to the next block begins after the FIN signal changes as above. It is effective, only when the FIN accelaration/deceleration is set and FIN signal wait function is selected.

Virtual

Point

ON OFF. Positioning

1WAIT 2

CPSTART2 Axis Axis

Point

Speed FIN acceleration/ deceleration

ABS-2 Axis Axis M-code

ABS-2 Axis Axis M-code ABS-2

Axis Axis CPEND

1 2

10000

1, 2,

100

200000 200000

300000 250000

350000 300000

400000 400000

M-code

M-code outputting signal (M4019+20n)

FIN signal

M4819+20n

10 11

Timing Chart for Operation Description

1. When the positioning of point 1 starts, M-code 10 is output and the M-code outputting signal turns on.

2. FIN signal turns on after performing required processing in the Motion SFC program. Transition to the next point does not execute until the FIN signal turns on.

3. When the FIN signal turns on, the M-code outputting signal turns off.

4. When the FIN signal turns off after the M-code outputting signal turns off, the positioning to the next point 2 starts.

POINT

(1) The FIN signal and M-code outputting signal are both signal for the FIN signal

wait function.

(2) The FIN signal and M-code outputting signal are valid only when FIN

acceleration/deceleration is designated in the servo program. Otherwise, the FIN signal wait function is disabled, and the M-code outputting signal does not turn on.

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4.1.5 Synchronous encoder axis statuses

(1) Error detection signal (M4640+4n)

(Note-1)

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

(a) This signal turns on when a minor error or major error is detected in a

synchronous encoder or output module connected to the synchronous encoder. It is used as judgement of the error available/not available by turning the error detection signal on/off.

(b) When the error detection signal turns on, the applicable error code is stored

in the error code storage register.

(Note-2)

• Minor error code

• Major error code

… Stored in the minor error code storage register

(Note-3)

(Note-2)

… Stored in the major error code storage register

(Note-3)

The judgement of the synchronous encoder/output module for detected error can be confirmed by the error code details or turning the error detection signal of output module on/off.

synchronous encoder or output module connected to the synchronous encoder is normal, the error detection signal turns off.

(2) External signal TREN (M4641+4n)

(Note-1)

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

(a) This signal is used for clutch control in the external input mode. It turns on

by turning on the Q172EX/Q173PX "TREN" input terminal, and indicates the input ON/OFF state of the "TREN" terminal.

(3) Virtual mode continuation operation disabled warning signal

(M4642+4n)

(a) When the inputted current value at the power supply on of the Multiple CPU

system differs from the memorized current value (Final current value in virtual mode operation) at the power supply off of the Multiple CPU system, like the absolute synchronous encoder is moved during the power supply off of the Multiple CPU system, this signal turns on. The validity of continuation operation in virtual mode can be confirmed at the power supply on or resetting of the Multiple CPU system.

(Note-1)

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

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REMARK

(Note-1) : "n" in M4640+4n, M4641+4n and M4642+4n indicates a value corresponding to

Synchronous encoder No. n Synchronous encoder No. n

(Note-2) : Refer to APPENDIX 2.4 for details of the minor/major error code for the

(Note-3) : Refer to Section 4.2.5 for details of the minor/major error code storage register.

the synchronous encoder No. such as the following tables.

P1 / E1 0 P7 / E7 6

P2 / E2 1 P8 / E8 7

P3 / E3 2 P9 / E9 8

P4 / E4 3 P10 / E10 9

P5 / E5 4 P11 / E11 10

P6 / E6 5 P12 / E12 11

• The range of synchronous encoder No. P1/E1 to P8/E8 is valid in the Q172CPU(N).

synchronous encoder.

Refer to APPENDIX 2.7 for details of the minor/major error code for the output

module.

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4.1.6 Synchronous encoder axis command signals

(1) Error reset command (M5440+4n) ....................... Command signal

(a) This command is used to clear the minor/major error code storage register

of synchronous encoder of an axis for which the error detection signal has turn on (M4640+4n : ON), and reset the error detection signal (M4640+4n).

(b) The following processing is executed when the error reset command turns

on.

• If the synchronous encoder and output module are normal, the minor/major error code storage registers are cleared and the error detection signal (M4640+4n) is reset.

• If the synchronous encoder and output module error has not been canceled, the error code is again stored in the minor/major error code storage register. In this case, the error detection signal (M4640+4n) remains on.

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4.1.7 Cam axis command signals

(1) Cam/ball screw switching command (M5488+n)

(a) This command is used when a cam is set as output module in the

mechanical system program. Cam executes the same operation as a ball screw by turning ON the cam/ ball screw switching command corresponding to each output axis No..

……… Specified cam pattern operation

• OFF ……….. Same operaion as ball screw

• ON

(Command to servo amplifier [PLS] = Preset command to

servo amplifier + Drive module travel value [PLS] Electronic gear ratio) Feed current value is calculated based on the travel value per pulse set in the fixed parameter.

Therefore, it is invalid to turn ON the cam/ball screw switching command to axis that except cam axis is set as output module. If the cam/ball screw switching command is turned OFF outside the range of "lower stroke limit value to stroke amount for cam", a minor error (error code: 5000) will occur. The current value within 1 cam shaft revolution is calculated based on the feed current value, lower stroke limit value, stroke amount and cam No. (cam pattern) by turning OFF the cam/ball screw switching command.

..…......... Command signal

REMARK

It can be used in the SW6RN-SV22Q (Ver.00R or later).

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4.1.8 Smoothing clutch complete signals

(1) Smoothing clutch complete signals (M5520+2n, M5521+2n)

(a) ON/OFF state of smoothing clutch is indicated. (Only exponential function

system and linear acceleration/deceleration system

….."(Remainder slippage) < (Slippage in-position range)"

• ON

• OFF…. Smoothing processing start (Clutch ON/OFF)

(b) Set the slippage in-position range setting device

clutch complete signal.

Output module for axis 1

Output module for axis 2

Output module for axis 3

Output module for axis 4

Output module for axis 5

Output module for axis 6

Output module for axis 7

Output module for axis 8

Output module for axis 9

Output module for axis 10

Output module for axis 11

Output module for axis 12

Output module for axis 13

Output module for axis 14

Output module for axis 15

Output module for axis 16

• Smoothing clutch complete signals are shown below.

Connected module Applicable device Connected module Applicable device

Main shaft side

Auxiliary input axis side

Main shaft side

Auxiliary input axis side

Main shaft side

Auxiliary input axis side

Main shaft side

Auxiliary input axis side

Main shaft side

Auxiliary input axis side

Main shaft side

Auxiliary input axis side

Main shaft side

Auxiliary input axis side

Main shaft side

Auxiliary input axis side

Main shaft side

Auxiliary input axis side

Main shaft side

Auxiliary input axis side

Main shaft side

Auxiliary input axis side

Main shaft side M5542 Main shaft side M5574

Auxiliary input axis side M5543

Main shaft side M5544 Main shaft side M5576

Auxiliary input axis side M5545

Main shaft side M5546 Main shaft side M5578

Auxiliary input axis side M5547

Main shaft side M5548 Main shaft side M5580

Auxiliary input axis side M5549

Main shaft side M5550 Main shaft side M5582

Auxiliary input axis side M5551

(Note) : The range of output module for axis No. 1 to 8 is valid in the Q172CPU(N).

.….......... Status signal

(Note-1)

are valid.)

(Note-2)

to use the smoothing

M5520 Main shaft side M5552

M5521

M5522 Main shaft side M5554

M5523

M5524 Main shaft side M5556

M5525

M5526 Main shaft side M5558

M5527

M5528 Main shaft side M5560

M5529

M5530 Main shaft side M5562

M5531

M5532 Main shaft side M5564

M5533

M5534 Main shaft side M5566

M5535

M5536 Main shaft side M5568

M5537

M5538 Main shaft side M5570

M5539

M5540 Main shaft side M5572

M5541

Output module for axis 17

Output module for axis 18

Output module for axis 19

Output module for axis 20

Output module for axis 21

Output module for axis 22

Output module for axis 23

Output module for axis 24

Output module for axis 25

Output module for axis 26

Output module for axis 27

Output module for axis 28

Output module for axis 29

Output module for axis 30

Output module for axis 31

Output module for axis 32

Auxiliary input axis side M5553

Auxiliary input axis side M5555

Auxiliary input axis side M5557

Auxiliary input axis side M5559

Auxiliary input axis side M5561

Auxiliary input axis side M5563

Auxiliary input axis side M5565

Auxiliary input axis side M5567

Auxiliary input axis side M5569

Auxiliary input axis side M5571

Auxiliary input axis side M5573

Auxiliary input axis side M5575

Auxiliary input axis side M5577

Auxiliary input axis side M5579

Auxiliary input axis side M5581

Auxiliary input axis side M5583

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1) Exponential function system

Input to clutch

Travel value after main shaft's differential gear

Internal clutch status

ON by acceleration smoothing completion

Smoothing clutch complete signal

Output of output axis by slippage smoothing clutch

Clutch status signal

2) Linear acceleration/deceleration system

Input to clutch

Travel value after main shaft's differential gear

Internal clutch status

Smoothing clutch complete signal

Output of output axis by slippage smoothing clutch

Clutch status signal

Acceleration smoothing completion

ON by acceleration smoothing completion

Acceleration smoothing completion

OFF by smoothing clutch start

Slippage in-position range

OFF by smoothing clutch start

Slippage in-position range

OFF by ON by deceleration smoothing completion

Deceleration smoothing completion

ON by deceleration smoothing completion

Deceleration smoothing completion

smoothing

clutch start

OFF by smoothing clutch start

ON by acceleration smoothing completion

Slippage in-position range

Acceleration smoothing completion

ON by acceleration smoothing completion

Slippage in-position range

Acceleration smoothing completion

REMARK

(Note-1) : Refer to Section 7.2 for exponential function system/linear acceleration/

deceleration system of smoothing clutch. (Note-2) : Refer to Section 7.2.2 for slippage in-position range setting device. (Note-3) : It can be used in the SW6RN-SV22Q

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4 POSITIONING DEDICATED SIGNALS

4.1.9 Common devices

POINT

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

In this manual, in order to indicate that internal relays for positioning control are not latched, the expression used in this text is "M2000 to M2319".

(2) The range devices allocated as internal relays for positioning control cannot be

used by the user even if their applications have not been set.

(1) PLC ready flag (M2000) ..............…………………. Command signal

(a) This signal informs the Motion CPU that the PLC CPU is normal.

1) The positioning control, home position return or JOG operation using the servo program which performs the Motion SFC program when the M2000 is ON.

2) The above 1) control is not performed even if the M2000 is turned on during the test mode [TEST mode ON flag (M9075) : ON] using a peripheral device.

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

switch output data can be changed using a peripheral device when the M2000 is OFF only. The above data using a peripheral device cannot be written when the M2000 is ON.

ON.

1) Processing details

• Transfer the servo parameters to the servo amplifier.

• Clear the M-code storage area of all axes.

• Turn the PCPU READY complete flag (M9074) on. (Motion SFC program can be executed.)

• Start to execute the Motion SFC program of the automatic starting from the first.

2) If there is a starting axis, an error occurs, and the processing in above (c)

1) is not executed.

3) The processing in above (c) 1) is not executed during the test mode. It is executed when the test mode is cancelled and M2000 is ON.

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PLC ready flag (M2000)

PCPU READY complete flag (M9074)

Positioning start

OFF

Set the servo parameters to the servo amplifiers, clear a M-code.

Deceleration stop

PCPU READY complete flag (M9074) does not turn on because during deceleration.

(d) The following processings are performed when the M2000 turns ON to

OFF.

1) Processing details

• Turn the PCPU READY complete flag (M9074) off.

• Deceleration stop of the starting axis.

• Stop to execute the Motion SFC program.

• Turn all points of the real output PY off.

(e) Operation setting at STOP

RUN The condition which the PLC ready flag (M2000) turns on is set in the sysytem setting. Select the following either.

1) M2000 turns on by the switch (STOP

RUN). (Default)

The condition which M2000 turns OFF to ON.

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

• Turn the power supply on or release to reset where the RUN/STOP switch is moved to RUN.

The condition which M2000 turns ON to OFF.

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

"1"

2) M2000 turns on by set

to the switch (STOP RUN) + setting

"1"

to the switch RUN

setting register.)

The condition which M2000 is turned ON to OFF.

• Set "1" to the setting register (D704) of the PLC ready flag where the

RUN/STOP switch is moved to RUN. (The Motion CPU detects the change of the lowest rank bit 0

1 in D704.)

The condition which M2000 is turned on to off.

• Set "0" to the setting register (D704) of the PLC ready flag where the RUN/STOP switch is moved to RUN. (The Motion CPU detects the change of the lowest rank bit 1

0 in D704.)

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

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(2) Virtual servo start accept flag (M2001 to M2032)

(a) This flag turns on when the servo program is started. The start accept flag

corresponding to an axis specified with the servo program turns on.

(b) The ON/OFF processing of the start accept flag is shown below.

1) When the servo program is started using the Motion SFC program or Motion dedicated PLC instruction (S(P).SVST), the start accept flag corresponding to an axis specified with the servo program turns on and it turns off at the positioning completion. This flag also turns off when it is made to stopping on the way. (When it is made to stop on the way by the speed change to speed "0",

Servo program start

Start accept flag (M2001+n)

Normal positioning completion

OFF

this flag remains on.)

Dwell time

Positioning completion

.........….. Status signal

Servo program start

Start accept flag (M2001+n)

Positioning stop during control

Positioning start

OFF

Positioning stop completion

Positioning complete signal (M4001+20n)

Positioning start complete signal (M4000+20n)

OFF

Positioning complete

signal (M4001+20n)

Positioning start complete signal

M4000+20n

OFF

2) This flag turns on at the positioning control by turning on the JOG start

command (M4802+20n or M4803+20n), and turns off at the positioning stop by turning off the JOG start command.

3) This flag turns on during the manual pulse generator enable (M2051 to

M2053: ON), and turns off at the manual pulse generator disable (M2051 to M2053: OFF).

4) This flag turns on during a current value change by the CHGA

instruction of servo program or Motion dedicated PLC instruction (S(P).CHGA), and turns off at the completion of the current value change.

CHGA instruction

Start accept flag (M2001 to M2032)

OFF

Current value changing processing

Turns off at the completion o current value change.

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CAUTION

Do not turn the start accept flags ON/OFF in the user side.

• If the start accept flag is turned off using the Motion SFC program or peripheral devices while this flag is on, no error will occur but the positioning operation will not be reliable. Depending on the type of machine, it might operate in an unanticipated operation.

• If the start accept flag is turned on using the Motion SFC program or peripheral devices while this flag is off, no error will occur but the "start accept on error" will occur at the next starting and cannot be started.

(3) Personal computer link communication error flag (M2034)

.........….. Status signal

This flag turns on when the communication error occurs in the personal computer link communication.

• ON : Personal computer link communication error occurs

• OFF: No personal computer link communication error (It turns off if normal communication is resumed.)

Refer to APPENDIX 2.6 for details on the PC link communication errors.

(4) Motion SFC error history clear request flag (M2035)

.……. Command signal

This flag is used to clear the backed-up Motion SFC error history (#8000 to #8063). The Motion SFC error history is cleared at the turning M2035 OFF to ON. After detection of the turning M2035 OFF to ON, the Motion SFC error history is cleared, and then the M2035 is automatically turned OFF.

REMARK

It can be used in the SW6RN-SV22Q (Ver.00N or later).

(5) Motion SFC error detection flag (M2039) .....…..……. Status signal

This flag turns on with error occurrence at the execution of the Motion SFC program. When turned off this flag, execute it by the user side after checking the error contents.

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(6) Speed switching point specified flag (M2040) ...... Command signal

This flag is used when the speed change is specified at the pass point of the constant speed control. (a) By turning M2040 on before the starting of the constant speed control

(before the servo program is started), control with the change speed can be executed from the first of pass point.

• OFF .......... Speed is changed to the specified speed from the pass point

of the constant speed control.

• ON .......... Speed has been changed to the specified speed at the pass

point of the constant speed control.

M2040 OFF

M2040 ON

Pass points of the constant speed control (When the speed change

is specified with P3.)

Speed switching point specified flag (M2040)

Servo program start

Start accept flag (M2001+n)

P1 P2 P3 P4

OFF

Pass points of the constant speed control (When the speed change is specified with P3.)

Speed switching point specified flag (M2040)

Servo program start

Start accept flag

M2001+n

P1 P2 P3 P4

OFF

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

This flag set the "system setting data" and performs an adjustment check with a real installation state (CPU base unit/extension base units) at the power supply on or resetting of the Motion CPU.

• ON ........... Error

• OFF ......... Normal

(a) When an error occurs, the ERR.LED at the front of the CPU turns on.

The error contents can be confirmed using the error list monitor of a peripheral device started by SW6RN-GSV

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

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

REMARK

Even if the module which is not set as the system setting with the peripheral device is installed in the slot, it is not set as the object of an adjustment check. And the module which is not set as the system setting cannot be used in the Motion CPU.

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(8) All axes servo ON command (M2042) .................. Command signal

This command is used to enable servo operation. (a) Servo operation enabled ……M2042 turns on while the servo OFF command

(b) Servo operation disable .........• M2042 is off

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

• Servo error state

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

(Note)

OFF

All axes servo ON command (M2042)

All axes servo ON accept flag (M2049)

Each axis servo ready state

(Note): Refer to Section "3.1.1 Axis statuses "Servo ready signal"" of the Q173CPU(N)/Q172CPU(N) Motion controller

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

POINT

When M2042 turns on, it is not turned off even if the CPU is set in the STOP state.

(9) Real/virtual mode switching request flag (M2043)

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

This flag is used for switching between the real and virtual modes. (a) Turn the M2043 on after the PCPU READY flag has turn on for switching

from the real to virtual mode.

• An error check is executed when the M2043 is switched from off to on. If no error is detected, switch to the virtual mode, and the real/virtual mode status switching status flag (M2044) turns on.

• If an error is detected, not switch to the virtual mode. In this case, the

real/virtual mode switching error detection flag (M2045) turns on, and the error code is stored in the real/virtual mode switching error code storage register (D9193).

(b) Turn the M2043 off for switching from the virtual to real mode.

• If all axes of the virtual servomotors stopped, switch to the real mode, and

M2044 turns off.

• If the virtual servomotor is operating also with 1 axis, not switch to the real mode. In this case, the M2045 turns on, and the error code is stored in the D9193.

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(10) Real/virtual mode switching status flag (M2044)

This flag checks the switching competion between the real and virtual modes, and the current mode.

• This flag turns off with during the real mode or switching completion from the virtual to real mode.

• This flag turns on with switching completion from the real to virtual mode.

It can be used as an interlock for the servo program start or control change

(speed change, current value change).

(11) Real/virtual mode switching error detection flag (M2045)

This flag is used as judgement of the error available/not available at the mode switching (between the real and virtual modes).

• This flag remains off if no error was detected at mode switching.

• This flag turns on if an error was detected at mode switching.

In this case, the error code is stored in the D9193.

(12) Out-of-sync warning flag (M2046) ............................. Status signal

(a) This signal turns on mode when a discrepancy of synchronized positions

between the drive module and output module occurs during the virtual mode. It is used as judgement for validity of the continuation operation when the drive module has stopped.

• M2046 : ON...............Continuation operation disabled

• M2046 : OFF .............Continuation operation enabled

(b) This flag turns on the following cases.

• Stop by the forced stop.

• The servo error in the output module.

following procedure.

1) Return to the real mode and eliminate the error cause.

2) Synchronize the axes.

3) Turn the out-of-sync warning flag (M2046) off.

4) Switch to the virtual mode.

5) Resume operation.

.........….. Status signal

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

This flag is used as judgement which modules installed in the motion slot of the CPU base unit is "normal" or "abnormal".

• ON................Installing module is abnormal

• OFF .............Installing module is normal

The module information at the power supply on and after the power supply injection are always checked, and errors are detected. (a) Perform the disposal (stop the starting axis, servo OFF, etc.) of error

detection using the Motion SFC program.

(14) JOG operation simultaneous start command (M2048)

(a) When M2048 turns on, JOG operation simultaneous start based on the

JOG operation execution axis set in the JOG operation simultaneous start axis setting register (D710 to D713).

(b) When M2048 turns off, the axis during operation decelerates to a stop.

(15) All axes servo ON accept flag (M2049) .................... Status signal

This flag turns on when the Motion CPU accepts the all axes servo ON command (M2042). Since the servo ready state of each axis is not checked, confirm it in the servo ready signal (M2415+20n).

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

(Note)

OFF

ll axes servo ON command

(M2042)

ll axes servo ON accept flag

(M2049)

Each axis servo ready state

(Note) : Refer to Section "3.1.1 Axis statuses "Servo ready signal"" of the Q173CPU(N)/Q172CPU(N) Motion controller

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

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

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

This flag set the enabled or disabled state for positioning with the pulse input

(Note)

from the manual pulse generators connected to P1 to P3

of the Q173PX.

• ON ........ Positioning control is executed by the input from the manual pulse

generators.

• OFF ...... Positioning control cannot be executed by the manual pulse

generators because of the input from the manual pulse generators is ignored.

Default value is invalid (OFF).

REMARK

(Note) : Refer to the "Q173CPU(N)/Q172CPU(N) User's Manual" for P1 to P3

connector of the Q173PX.

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(17) Operation cycle over flag (M2054) ............................ Status signal

This flag turns on when the time concerning motion operation exceeds the operation cycle of the Motion CPU setting. Perform the following operation, in making it turn off.

• Turn the power supply of the Multiple CPU system on to off

• Reset the Multiple CPU system

• Reset using the user program [Error measures]

1) Change the operation cycle into a large value in the system setting.

2) The number of instruction completions of an event task or NMI task in the Motion SFC program.

(18) Speed changing flag (M2061 to M2092) .................... Status signal

This flag turns on during speed change by the control change (CHGV) instruction (or Motion dedicated PLC instruction (S(P).CHGV)) of the Motion SFC program.

CHGV instruction

Speed changing flag

Setting speed

OFF

0 to 4ms

Speed change completion

Speed change

Speed after speed change

The speed changing flag list is shown below.

Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No.

1 M2061 9 M2069 17 M2077 25 M2085

2 M2062 10 M2070 18 M2078 26 M2086

3 M2063 11 M2071 19 M2079 27 M2087

4 M2064 12 M2072 20 M2080 28 M2088

5 M2065 13 M2073 21 M2081 29 M2089

6 M2066 14 M2074 22 M2082 30 M2090

7 M2067 15 M2075 23 M2083 31 M2091

8 M2068 16 M2076 24 M2084 32 M2092

(Note) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

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(19) Automatic decelerating flag (M2128 to M2159) ... Status signal

This signal turns on while automatic deceleration processing is performed at the positioning control or position follow-up control. (a) This flag turns on during automatic deceleration processing to the

command address at the position follow-up control, but it turns off if the command address is changed.

(b) When the normal start is completed at the control in all control system, it

turns off.

• During deceleration by the JOG signal off

• During manual pulse generator operation

• At deceleration on the way due to stop command or stop cause occurrence

• When travel value is 0

Automatic deceleration flag

The automatic deceleration flag list is shown below.

Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No.

1 M2128 9 M2136 17 M2144 25 M2152

2 M2129 10 M2137 18 M2145 26 M2153

3 M2130 11 M2138 19 M2146 27 M2154

4 M2131 12 M2139 20 M2147 28 M2155

5 M2132 13 M2140 21 M2148 29 M2156

6 M2133 14 M2141 22 M2149 30 M2157

7 M2134 15 M2142 23 M2150 31 M2158

8 M2135 16 M2143 24 M2151 32 M2159

(Note)

OFF

(Note) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

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4 POSITIONING DEDICATED SIGNALS

(20) Clutch status (M2160 to M2223) ................................ Status signal

Clutch ON/OFF state is indicated.

ON: Clutch ON state OFF: Clutch OFF state

Output module for axis 1

Output module for axis 2

Output module for axis 3

Output module for axis 4

Output module for axis 5

Output module for axis 6

Output module for axis 7

Output module for axis 8

Output module for axis 9

Output module for axis 10

Output module for axis 11

Output module for axis 12

Output module for axis 13

Output module for axis 14

Output module for axis 15

Output module for axis 16

The clutch status list is shown below.

Connected Module Applicable Device Connected Module Applicable Device

Main shaft side

Auxiliary input axis side

Main shaft side

Auxiliary input axis side

Main shaft side

Auxiliary input axis side

Main shaft side

Auxiliary input axis side

Main shaft side

Auxiliary input axis side

Main shaft side

Auxiliary input axis side

Main shaft side

Auxiliary input axis side

Main shaft side

Auxiliary input axis side

Main shaft side

Auxiliary input axis side

Main shaft side

Auxiliary input axis side

Main shaft side

Auxiliary input axis side

Main shaft side M2182 Main shaft side M2214

Auxiliary input axis side M2183

Main shaft side M2184 Main shaft side M2216

Auxiliary input axis side M2185

Main shaft side M2186 Main shaft side M2218

Auxiliary input axis side M2187

Main shaft side M2188 Main shaft side M2220

Auxiliary input axis side M2189

Main shaft side M2190 Main shaft side M2222

Auxiliary input axis side M2191

(Note) : The range of output module for axis No.1 to 8 is valid in the Q172CPU(N).

M2160 Main shaft side M2192

M2161

M2162 Main shaft side M2194

M2163

M2164 Main shaft side M2196

M2165

M2166 Main shaft side M2198

M2167

M2168 Main shaft side M2200

M2169

M2170 Main shaft side M2202

M2171

M2172 Main shaft side M2204

M2173

M2174 Main shaft side M2206

M2175

M2176 Main shaft side M2208

M2177

M2178 Main shaft side M2210

M2179

M2180 Main shaft side M2212

M2181

Output module for axis 17

Output module for axis 18

Output module for axis 19

Output module for axis 20

Output module for axis 21

Output module for axis 22

Output module for axis 23

Output module for axis 24

Output module for axis 25

Output module for axis 26

Output module for axis 27

Output module for axis 28

Output module for axis 29

Output module for axis 30

Output module for axis 31

Output module for axis 32

Auxiliary input axis side M2193

Auxiliary input axis side M2195

Auxiliary input axis side M2197

Auxiliary input axis side M2199

Auxiliary input axis side M2201

Auxiliary input axis side M2203

Auxiliary input axis side M2205

Auxiliary input axis side M2207

Auxiliary input axis side M2209

Auxiliary input axis side M2211

Auxiliary input axis side M2213

Auxiliary input axis side M2215

Auxiliary input axis side M2217

Auxiliary input axis side M2219

Auxiliary input axis side M2221

Auxiliary input axis side M2223

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(21) Speed change "0" accepting flag (M2240 to M2271)

This flag turns on while a speed change request to speed "0" or negative speed change is being accepted. It turns on when the speed change request to speed "0" or negative speed change is accepted during a start. After that, this signal turns off when a speed change is accepted or on completion of a stop due to a stop cause.

Speed change "0"

.........….. Status signal

Deceleration stop at the speed change "0" accept.

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

Speed change V

Start accept flag

Speed change "0" accepting flag

Positioning complete signal

OFF

The speed change "0" accepting flag list is shown below.

Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No.

1 M2240 9 M2248 17 M2256 25 M2264

2 M2241 10 M2249 18 M2257 26 M2265

3 M2242 11 M2250 19 M2258 27 M2266

4 M2243 12 M2251 20 M2259 28 M2267

5 M2244 13 M2252 21 M2260 29 M2268

6 M2245 14 M2253 22 M2261 30 M2269

7 M2246 15 M2254 23 M2262 31 M2270

8 M2247 16 M2255 24 M2263 32 M2271

(Note) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

REMARK

(1) Even if it has stopped, when the start accept flag (M2001 to M2032) is ON

state, the state where the request of speed change "0" is accepted is indicated.

Confirm by this speed change "0" accepting flag. (2) During interpolation, the flags corresponding to the interpolation axes are set. (3) In any of the following cases, the speed change "0" request is invalid.

• After deceleration by the JOG signal off

• After positioning automatic deceleration start

• After deceleration due to stop cause

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4 POSITIONING DEDICATED SIGNALS

(a) The flag turns off if a speed change request occurs during deceleration to a

stop due to speed change "0".

Start accept flag

Speed change "0" accepting flag

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

Speed change "0"

Speed change V

OFF

Stop cause

Start accept flag

Speed change "0" accepting flag

OFF

occurs after an automatic deceleration start.

Start accept flag

Speed change "0"

ting fla

acce

Automatic deceleration start

Speed change "0"

(OFF)

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4 POSITIONING DEDICATED SIGNALS

(d) Even if it is speed change "0" after the automatic deceleration start to the

"command address", speed change "0" accepting flag turns on.

Command address P1

Start accept flag

Speed change "0" accepting flag

Automatic deceleration start

Speed change "0"

OFF

Speed change V

V Command address P2

P1 P2

REMARK

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

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4 POSITIONING DEDICATED SIGNALS

4.2 Data Registers

Device No. Purpose Real Virtual Device No. Purpose Real

D0 D0

D640 D640

D704 D704

D758 D758

D800 D800

D1120 D1120

D1240 D1240

D1560 D1560

to to

D8191

Axis monitor device

(20 points

Real mode ........... Each axis

Virtual mode ........ Output module

Control change register

(2 points

Common device

(Command signal)

(54 points)

Common device (Monitor)

(42 points)

Virtual servomotor axis monitor

device

(6 points

Current value after virtual

servomotor axis main shaft's

differential gear

(4 points

Synchronous encoder axis

monitor device

(6 points

Current value after synchronous

encoder axis main shaft's

differential gear

(4 points

Cam axis monitor device

(10 points

User device

(6632 points)

(1) Data register list

Q173CPU(N) Q172CPU(N)

Virtual

Axis monitor device

32 axes)

12 axes)

32 axes)

(Note-1)

(Note)

Back

D160

D656

D880

D1200

D1320

D8191

(20 points

Real mode ........... Each axis

Virtual mode ........ Output module

Unusable

(480 points)

Control change register

(2 points

Unusable

(48 points)

Common device

(Command signal)

(54 points)

Common device (Monitor)

(42 points)

Virtual servomotor axis monitor

device

(6 points

Current value after virtual

servomotor axis main shaft's

differential gear

(4 points

Unusable

(240 points)

Synchronous encoder axis

monitor device (6 points

Current value after synchronous

encoder axis main shaft's

differential gear

(4 points

Unusable

(40 points)

Cam axis monitor device

(10 points

Unusable

(6872 points)

User device

(6632 points)

8 axes)

(Note-1)

Usable in the user device.

: Valid

Back

Real/

virtual

community

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4 POSITIONING DEDICATED SIGNALS

POINT

• Total number of points for the user devices 6632 points

(Note-1) : "The virtual servomotor axis/cam axis monitor device" occupy only

(Note-2) : Only details for data registers used in the virtual mode are described in this

the areas of the axes set in the mechanical system program. The unused axis areas in the mechanical system program can be used as an user side.

manual. If it is required, refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)".

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4 POSITIONING DEDICATED SIGNALS

Axis No. Device No. Signal name

1 D0 to D19

2 D20 to D39 Virtual

3 D40 to D59

4 D60 to D79

5 D80 to D99

6 D100 to D119 0

7 D120 to D139 1

8 D140 to D159 2

9 D160 to D179 3

10 D180 to D199 4

11 D200 to D219 5

12 D220 to D239 6 Minor error code

13 D240 to D259 7 Major error code

14 D260 to D279 8 Servo error code

15 D280 to D299

D300 to D319

17 D320 to D339 10

18 D340 to D359 11

19 D360 to D379 12 Execute program No. At start

20 D380 to D399 13 M-code

21 D400 to D419 14 Torque limit value

22 D420 to D439

23 D440 to D459

24 D460 to D479 16

25 D480 to D499 17

26 D500 to D519 18

27 D520 to D539 19

28 D540 to D559 : Valid, : Invalid

29 D560 to D579

30 D580 to D599

31 D600 to D619

32 D620 to D639

(2) Axis monitor device list

Signal name Real

Feed current

value/roller cycle speed

Real current value

Deviation counter value

Home position return

re-travel value

Travel value after

proximity dog ON

Data set pointer for

constant-speed control

Travel value change

Real current value at

stop input

Ball

Roller

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

(Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

Rotary

screw

table

Backup

Cam

Real

mode

axis

Backup

Refresh

Operation

Immediately

Main cycle

Operation

At start/

during start

Operation

cycle

Fetch

cycle

Operation

cycle

Signal

direction

Monitor

device

Command

device

Monitor

device

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Axis No. Device No. Signal name

1 D640, D641

2 D642, D643

3 D644, D645

4 D646, D647 0

5 D648, D649 1

6 D650, D651 : Valid

7 D652, D653

8 D654, D655

9 D656, D657

10 D658, D659

11 D660, D661

12 D662, D663

13 D664, D665

14 D666, D667

15 D668, D669

16 D670, D671

17 D672, D673

18 D674, D675

19 D676, D677

20 D678, D679

21 D680, D681

22 D682, D683

23 D684, D685

24 D686, D687

25 D688, D689

26 D690, D691

27 D692, D693

28 D694, D695

29 D696, D697

30 D698, D699

31 D700, D701

32 D702, D703

(3) Control change register list

JOG speed setting

Signal name Real Virtual

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

(Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

Refresh

cycle

Fetch cycle

At start

Signal

direction

Command

device

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Axis No. Device No. Signal name

1 D800 to D809

2 D810 to D819 Virtual

3 D820 to D829

4 D830 to D839

5 D840 to D849

6 D850 to D859 0

7 D860 to D869 1

8 D870 to D879 2 Minor error code

9 D880 to D889 3 Major error code

10 D890 to D899 4 Execute program No. At start

11 D900 to D909

12 D910 to D919

13 D920 to D929 6

14 D930 to D939

15 D940 to D949

16 D950 to D959 8 Error search output axis No.

D960 to D969

18 D970 to D979

19 D980 to D989 : Valid, : Invalid

20 D990 to D999

21 D1000 to D1009

22 D1010 to D1019

23 D1020 to D1029

24 D1030 to D1039

25 D1040 to D1049

26 D1050 to D1059

27 D1060 to D1069

28 D1070 to D1079

D1080 to D1089

30 D1090 to D1099

31 D1100 to D1109

32 D1100 to D1119

(4) Virtual servomotor axis monitor device list

Refresh

5 M-code

Signal name Real

Feed current value

Backup

Current value after virtual

servomotor axis main

shaft's differential gear

Data set pointer for

constant-speed control

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

(Note-2) : The unused axis areas in the mechanical system program can be used as an user side.

Roller

Ball

screw

Rotary

table

Cam

Real

mode

axis

cycle

Operation

cycle

Immediately

Operation

cycle

Fetch

cycle

Signal

direction

Monitor

device

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Axis No. Device No. Signal name

1 D1120 to D1129

2 D1130 to D1139

3 D1140 to D1149

4 D1150 to D1159 0

5 D1160 to D1169 1

6 D1170 to D1179 2 Minor error code

7 D1180 to D1189 3 Major error code

8 D1190 to D1199 4

9 D1200 to D1209 5

10 D1210 to D1219 6

11 D1220 to D1229 7

12 D1230 to D1239 8 Error search output axis No.

(5) Synchronous encoder axis monitor device list

Current value

Unusable

Current value after synchronous encoder

axis main shaft's differential gear

Unusable

: Valid

Signal name Real Virtual

Backup

(Note-1) : It is unusable in the SV22 real mode.

(Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

(Note-3) : Device area of 9 axes or more is unusable in the Q172CPU(N).

Refresh

Operation

Immediately

Operation

cycle

Fetch cycle

Signal

direction

Monitor

device

Monitor

device

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4 POSITIONING DEDICATED SIGNALS

Axis No. Device No. Signal name

1 D1240 to D1249

2 D1250 to D1259

D1260 to D1269

4 D1270 to D1279 0 Unusable

5 D1280 to D1289

6 D1290 to D1299 2

7 D1300 to D1309 3

8 D1310 to D1319 4

9 D1320 to D1329 5

10 D1330 to D1339 6

11 D1340 to D1349

12 D1350 to D1359 8

13 D1360 to D1369

14 D1370 to D1379 : Valid

15 D1380 to D1389

16 D1390 to D1399

17 D1400 to D1409

18 D1410 to D1419

19 D1420 to D1429

20 D1430 to D1439

21 D1440 to D1449

22 D1450 to D1459

23 D1460 to D1469

24 D1470 to D1479

25 D1480 to D1489

26 D1490 to D1499

27 D1500 to D1509

28 D1510 to D1519

29 D1520 to D1529

30 D1530 to D1539

31 D1540 to D1549

32 D1550 to D1559

(6) Cam axis monitor device list

Refresh

cycle

Operation

cycle

Fetch cycle

1 Execute cam No.

Execute stroke amount

Current value within 1 cam shaft

revolution

Unusable

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

(Note-2) : The unused axis areas in the mechanical system program can be used as an user side.

Signal name Real Virtual

Backup

Signal

direction

Monitor

device

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4 POSITIONING DEDICATED SIGNALS

Device

No.

D704 PLC ready flag request

D705

D706

D707

D708

D709 Unusable

D710 D758 Unusable

D711

D712

D713

D714 D761

D715

D716 D763

D717

D718 D765

D719

D720 Axis 1 D767

D721 Axis 2 D768

D722 Axis 3 D769

D723 Axis 4 D770

D724 Axis 5 D771

D725 Axis 6 D772

D726 Axis 7

D727 Axis 8 D774

D728 Axis 9 D775

D729 Axis 10 D776

D730 Axis 11 D777

D731 Axis 12 D778

D732 Axis 13 D779

D733 Axis 14 D780

D734 Axis 15 D781

D735 Axis 16 D782

D736 Axis 17 D783

D737 Axis 18 D784

D738 Axis 19 D785

D739 Axis 20 D786

D740 Axis 21 D787

D741 Axis 22 D788

D742 Axis 23 D789

D743 Axis 24 D790

D744 Axis 25 D791

D745 Axis 26 D792

D746 Axis 27 D793

D747 Axis 28 D794

D748 Axis 29 D795

D749 Axis 30 D796

D750 Axis 31 D797

D751 Axis 32

D752

Signal name

Speed switching point specified flag request

All axes servo ON command request

Real/virtual mode switching request

(SV22)

JOG operation simultaneous start command request

JOG operation simultaneous start axis setting register

Manual pulse generator axis 1 No. setting register

Manual pulse generator axis 2 No. setting register

Manual pulse generator axis 3 No. setting register

Manual pulse generators 1-pulse input magnification setting register (Note-2),(Note-3)

Manual pulse generator 1 smoothing magnification setting register

(7) Common device list

(Note-1)

Refresh

cycle

Fetch cycle

Main cycle

At start

At the

manual

pulse

generator

enable flag

Signal

direction

Command

device

Command

device

Device

No.

Manual pulse generator 2

D753

smoothing magnification

D762

D764

D766

D798

setting register

Manual pulse generator 3 smoothing magnification

D754

setting register

Manual pulse generator 1

D755

enable flag request

Manual pulse generator 2

D756

enable flag request

Manual pulse generator 3

D757

enable flag request

PCPU ready complete flag

D759

status

D760

D773

Unusable (30 points)

Real mode axis information register (SV22) (Note-1)

Servo amplifier type

D799

(Note-1) : It is unusable in the SV22 real mode. (Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

(Note-3) : Device area of 9 axes or more is unusable in the Q172CPU(N).

Signal name

Refresh

cycle

Main cycle

Fetch cycle

At the manual

pulse generator

enable flag

Main cycle

power-on

Signal

direction

Command

device

Monitor

device

Monitor

device

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4.2.1 Axis monitor devices

The monitoring data area is used by the Motion CPU to store data such as the feed current value during positioning control, the real current value and the number of droop pulses in the deviation counter. It can be used to check the positioning control state using the Motion SFC program. The user cannot write data to the monitoring data area (except the travel value change register). Refer to APPENDIX 5 "Processing Times of the Motion CPU" for the delay time between a positioning device (input, internal relay and special relay) turning on/off and storage of data in the monitor data area.

(1) Feed current value/roller cycle speed storage register

(D0+20n, D1+20n) ................................................... Monitor device

(a) The target address which is output to the servo amplifier is stored in this

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

The storage range for cycle speed the roller cycle speed storage register is shown below.

Setting Units Storage Range Real Roller Cycle Speed

mm 0.01 to 6000000.00

inch

(2) Real current value storage register (D2+20n, D3+20n)

(a) This register stores the real current value which took the droop pulses of the

servo amplifier into consideration to the feed current value.

(b) The "feed current value" is equal to the "real current value" in the stopped

state.

(3) Deviation counter value storage register (D4+20n, D5+20n)

This register stores the droop pulses read from the servo amplifier.

(4) Minor error code storage register (D6+20n) .…….... Monitor device

(a) This register stores the corresponding error code (Refer to APPENDIX 2.4

and 2.7) at the minor error occurrence. If another minor error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Minor error codes can be cleared by an error reset command (M3207+20n).

1 to 600000000

[mm/min]

0.001 to 600000.000

[inch/min]

.........….. Monitor device

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4 POSITIONING DEDICATED SIGNALS

(5) Major error code storage register (D7+20n) ...….... Monitor device

(a) This register stores the corresponding error code (Refer to APPENDIX 2.4

and 2.7) at the major error occurrence. If another major error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Major error codes can be cleared by an error reset command (M3207+20n).

(6) Servo error code storage register (D8+20n) ......... Monitor device

(a) This register stores the corresponding error code (Refer to APPENDIX 2.5)

at the servo error occurrence. If another servo error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) It returuns to the real mode by the servo error.

(7) Torqrue limit value storage register (D14+20n) ....... Monitor device

This register stores the torque limit value imposed on the servo amplifier. The default value "300[%]" is stored at the power supply of servo amplifier ON.

POINT

When the vector inverter is used, set the suitable torque limit value for each vector inverter in the following methods.

• Set the suitable torque limit value to the torque limit value setting device of output module.

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4.2.2 Control change registers

This area stores the JOG operation speed data of the virtual servomotor axis.

Table 4.3 Data storage area for control change list

Name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

D641, D640 D643, D642 D645, D644 D647, D646 D649, D648 D651, D650 D653, D652 D655, D654

Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16

JOG speed

setting

D657, D656 D659, D658 D661, D660 D663, D662 D665, D664 D667, D666 D669, D668 D671, D670

Axis 17 Axis 18 Axis 19 Axis 20 Axis 21 Axis 22 Axis 23 Axis 24

D673, D672 D675, D674 D677, D676 D679, D678 D681, D680 D683, D682 D685, D684 D687, D686

Axis 25 Axis 26 Axis 27 Axis 28 Axis 29 Axis 30 Axis 31 Axis 32

D689, D688 D691, D690 D693, D692 D695, D694 D697, D696 D699, D698 D701, D700 D703, D702

(Note): The range of axis No.1 to 8 is valid in the Q172CPU(N).

(1) JOG speed setting registers (D640+2n) ....…….. Command device

(a) This register stores the JOG speed at the JOG operation.

(b) Setting range of the JOG speed is shown below.

Unit

Item

JOG speed 1 to 10000000 [PLS/s]

Setting Range Unit

PLS

the JOG start signal turns off to on. Even if data is changed during JOG operation, JOG speed cannot be changed.

(d) Refer to Section 6.20 of the "Q173CPU(N)/Q172CPU(N) Motion controller

(SV13/SV22) Programming Manual (REAL MODE) "

for details of the JOG

operation.

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4.2.3 Virtual servomotor axis monitor devices

(1) Feed current value storage register (D800+10n)

(Note-1)

.........….. Monitor device

(a) This register stores the target address output to the servo amplifier based

on the positioning address/travel value specified with the servo program.

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

the infinite operation.

(231-1)

Feed current value

-2

) [PLS] to 2147483647 (231-1) [PLS] in

(d) The date of feed current value storage register is also stored in a backup

memory at the power supply off or resetting of the Multiple CPU system.

(2) Minor error code storage register (D802+10n)

.........….. Monitor device

(a) This register stores the corresponding error code (refer to APPENDIX 2.4,

2.7) at the minor error occurrence in the virtual servomotor or output module. If another minor error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Minor error codes in the virtual servomotor can be cleared by an error reset

(Note-2)

command Minor error codes in the output module can be cleared by an error reset command

of the drive module.

(Note-3)

of the output module.

REMARK

(Note-1) : In the above descriptions, "n" in "D800+10n", etc. indicates a value

corresponding to axis No. such as the following tables.

Axis No. n Axis No. n Axis No. n Axis No. n

1 0 9 8 17 16 25 24

2 1 10 9 18 17 26 25

3 2 11 10 19 18 27 26

4 3 12 11 20 19 28 27

5 4 13 12 21 20 29 28

6 5 14 13 22 21 30 29

7 6 15 14 23 22 31 30

8 7 16 15 24 23 32 31

• Calculate as follows for the device No. corresponding to each axis.

(Example) For axis 32

D800+10n (Feed current value storage register) = D800+10

• The range (n = 0 to 7) of axis No.1 to 8 is valid in the Q172CPU(N).

31 = D1110

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4 POSITIONING DEDICATED SIGNALS

(Note-2) : Refer to Section 4.1.4 for details of the error reset command for the virtual

servomotor axis.

(Note-3) : Refer to Section 4.1.2 for details of the error reset command for the

output module.

(3) Major error code storage register (D803+10n)

(a) This register stores the corresponding error code (refer to APPENDIX 2.4,

2.7) at the major error occurrence in the virtual servomotor or output module. If another major error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Major error codes in the virtual servomotor can be cleared by an error reset

command Major error codes in the output module can be cleared by an error reset command

(Note-1)

(Note-2)

of the drive module.

of the output module.

.........….. Monitor device

REMARK

(Note-1) : Refer to Section 4.1.4 for details of the error reset command for the virtual

servomotor axis.

(Note-2) : Refer to Section 4.1.2 for details of the error reset command for the

output module.

4 - 69

Mitsubishi Electric Q172CPU, MELSEC Q, SV22, Q173CPU, Q172CPUN Programming Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY PRECAUTIONS

REVISIONS

INTRODUCTION

CONTENTS

About Manuals

1. OVERVIEW

1.1 Overview

1.2 Motion Control in SV13/SV22 Real Mode

1.3 Motion Control in SV22 Virtual Mode

2. STARTING UP THE MULTIPLE CPU SYSTEM

2.1 Starting Up the System

2.2 Differences Between Incremental System and Absolute System

2.2.1 Operation for incremental system

2.2.2 Operation for absolute (absolute position) system

2.3 Differences Between Real Mode and Virtual Mode

2.3.1 Positioning data

2.3.2 Positioning devices

2.3.3 Servo programs

2.3.4 Control change (Current value change/speed change)

3. PERFORMANCE SPECIFICATIONS

4. POSITIONING DEDICATED SIGNALS

4.1 Internal Relays

4.1.1 Axis statuses

4.1.2 Axis command signals

4.1.3 Virtual servomotor axis statuses

4.1.4 Virtual servomotor axis command signals

4.1.5 Synchronous encoder axis statuses

4.1.6 Synchronous encoder axis command signals

4.1.7 Cam axis command signals

4.1.8 Smoothing clutch complete signals

4.1.9 Common devices

4.2 Data Registers

4.2.1 Axis monitor devices

4.2.2 Control change registers

4.2.3 Virtual servomotor axis monitor devices