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Mitsubishi Electric MOTION CONTROLLERS Q172DCPU Programming Manual

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01 01 2008
B(NA)-0300134
Version A
Motion Controllers
Programming Manual
Common
Q173DCPU
Q172DCPU
MITSUBISHI ELECTRIC
MITSUBISHI ELECTRIC
INDUSTRIAL AUTOMATION

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Table of Contents

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   Summary of Contents for Mitsubishi Electric MOTION CONTROLLERS Q172DCPU

  • Page 1 01 01 2008 MITSUBISHI ELECTRIC B(NA)-0300134 Version A Motion Controllers Programming Manual Common Q173DCPU Q172DCPU INDUSTRIAL AUTOMATION MITSUBISHI ELECTRIC...
  • Page 2: Safety Precautions

    (Please read these instructions before using this equipment.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. These precautions apply only to this product. Refer to the Q173DCPU/Q172DCPU Users manual for a description of the Motion controller safety precautions.
  • Page 3 For Safe Operations 1. Prevention of electric shocks 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.
  • Page 4 3. For injury prevention 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.
  • Page 5 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.
  • Page 6 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.
  • Page 7 The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or apply strong impacts on them. Securely fix the Motion controller, servo amplifier and servomotor to the machine according to the instruction manual. If the fixing is insufficient, these may come off during operation. Always install the servomotor with reduction gears in the designated direction.
  • Page 8 (4) Wiring 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.
  • Page 9 (6) Usage methods Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized.
  • Page 10 (7) Corrective actions for errors 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.
  • Page 11 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.
  • Page 12: Revisions

    REVISIONS The manual number is given on the bottom left of the back cover. Print Date Manual Number Revision Jan., 2008 IB(NA)-0300134-A First edition Japanese Manual Number IB(NA)-0300126 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.
  • Page 13: Table Of Contents

    Thank you for choosing the Mitsubishi Motion controller Q173DCPU/Q172DCPU. Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the Motion controller you have purchased, so as to ensure correct use. Safety Precautions ...
  • Page 14 3.1.3 Individual parameters... 3-10 3.2 I/O number assignment... 3-15 3.2.1 I/O number assignment of each module ... 3-15 3.2.2 I/O number of each CPU modules ... 3-17 3.2.3 I/O number setting... 3-18 3.3 Servo Parameters ... 3-19 4. AUXILIARY AND APPLIED FUNCTIONS 4.1 Limit Switch Output Function ...
  • Page 15: About Manuals

    About Manuals The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below. Related Manuals (1) Motion controller Q173DCPU/Q172DCPU Motion controller User's Manual This manual explains specifications of the Motion CPU modules, Q172DLX Servo external signal interface module, Q172DEX Synchronous encoder interface module, Q173DPX Manual pulse generator interface module, Power supply modules, Servo amplifiers, SSCNET others.
  • Page 16 (2) PLC QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains the specifications of the QCPU modules, power supply modules, base modules, extension cables, memory card battery and others. 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.
  • Page 17 MEMO A - 16...
  • Page 18: Overview

    1 OVERVIEW 1. OVERVIEW 1.1 Overview This programming manual describes the common items of each operating system software, such as the Multiple CPU system of the operating system software packages "SW8DNC-SV Q " for Motion CPU module (Q173DCPU/Q172DCPU). In this manual, the following abbreviations are used. Generic term/Abbreviation Q173DCPU/Q172DCPU or Motion CPU (module)
  • Page 19 1 OVERVIEW REMARK For information about the each module, design method for program and parameter, refer to the following manuals relevant to each module. Item Motion CPU module/Motion unit PLC CPU, peripheral devices for PLC program design, I/O modules and intelligent function module Operation method for MT Developer •...
  • Page 20: Features

    1 OVERVIEW 1.2 Features The Motion CPU and Multiple CPU system have the following features. 1.2.1 Features of Motion CPU (1) Q series PLC Multiple CPU system (a) Load distribution of processing can be performed by controlling the (b) The Motion CPU and PLC CPU are selected flexibly, and the Multiple CPU (c) The device data access of the Motion CPU and the Motion SFC program (2) High speed operation processing (a) The minimum operation cycle of the Motion CPU is made 0.44[ms], and it...
  • Page 21 1 OVERVIEW (3) Connection between the Motion controller and servo amplifier with high speed synchronous network by SSCNET (a) High speed synchronous network by SSCNET connect between the (b) The maximum distance between the Motion CPU and servo amplifier, servo (4) The operating system software package for your application needs By installing the operating system software for applications in the internal flash memory of the Motion CPU, the Motion controller suitable for the machine can be...
  • Page 22: Basic Specifications Of Q173dcpu/q172dcpu

    1 OVERVIEW 1.2.2 Basic specifications of Q173DCPU/Q172DCPU (1) Module specifications (2) SV13/SV22 Motion control specifications/performance specifications (a) Motion control specifications Item Number of control axes SV13 Operation cycle (default) SV22 Interpolation functions PTP(Point to Point) control, Speed control, Speed-position control, Fixed-pitch feed, Control modes Constant speed control, Position follow-up control, Speed control with fixed position stop, Speed switching control, High-speed oscillation control, Synchronous control (SV22)
  • Page 23 1 OVERVIEW Motion control specifications (continued) Item Absolute position system Number of SSCNET (Note-1) systems Motion related interface module (Note-1) : The servo amplifiers for SSCNET cannot be used. (Note-2) : When using the incremental synchronous encoder (SV22 use), you can use above number of modules. When connecting the manual pulse generator, you can use only 1 module.
  • Page 24 1 OVERVIEW (b) Motion SFC Performance Specifications Item Code total (Motion SFC chart + Operation control Motion SFC program capacity + Transition) Text total (Operation control + Transition) Number of Motion SFC programs Motion SFC chart size/program Number of Motion SFC steps/program Motion SFC program Number of selective branches/branch Number of parallel branches/branch...
  • Page 25: Hardware Configuration

    1 OVERVIEW 1.3 Hardware Configuration This section describes the Q173DCPU/Q172DCPU system configuration, precautions on use of system, and configured equipments. 1.3.1 Motion system configuration This section describes the equipment configuration, configuration with peripheral devices and system configuration in the Q173DCPU/Q172DCPU system. (1) Equipment configuration in Q173DCPU/Q172DCPU system Motion module (Q172DLX, Q172DEX, Q173DPX)
  • Page 26 1 OVERVIEW (2) Peripheral device configuration for the Q173DCPU/Q172DCPU The following (a)(b) can be used. (a) USB configuration (b) RS-232 configuration PLC CPU module PLC CPU module (QnUD(H)CPU) RS-232 communication cable USB cable Personal computer Personal computer 1 - 9 ( QnUD(H)CPU ) (QC30R2)
  • Page 27: Q173dcpu System Overall Configuration

    1 OVERVIEW 1.3.2 Q173DCPU System overall configuration Main base unit (Q3 DB) Q61P 100/200VAC USB/RS-232 Personal Computer IBM PC/AT Battery holder unit Q170DBATC Extension base unit (Q6 B) Extension cable (QC B) UP to 7 extensions Motion CPU control module PLC CPU/ Motion CPU QnUD(H)
  • Page 28 1 OVERVIEW Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system. The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor.
  • Page 29: Q172dcpu System Overall Configuration

    1 OVERVIEW 1.3.3 Q172DCPU System overall configuration Main base unit (Q3 DB) Q61P 100/200VAC USB/RS-232 Personal Computer IBM PC/AT Battery holder unit Q170DBATC Extension base unit (Q6 B) Extension cable (QC B) UP to 7 extensions Motion CPU control module PLC CPU/ Motion CPU QnUD(H)
  • Page 30 1 OVERVIEW Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system. The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor.
  • Page 31: Software Packages

    1 OVERVIEW 1.3.4 Software packages (1) Software packages (a) Operating system software For conveyor assembly SV13 For automatic machinery SV22 (b) Motion controller programming software Part name MT Developer2 (Note) : Operating environment to use MT Developer is Windows (2) Operating environment of personal computer Operating environment is shown below.
  • Page 32 1 OVERVIEW (3) Operating system type/version (4) Relevant software packages (a) PLC software package (b) Servo set up software package (a) Confirmation method in the operating system (CD) Example) When using Q173DCPU, SV22 and version 00A. 1) SW8DNC-SV22QA 2) 00A (b) Confirmation method in MT Debeloper The operating system(OS) type/version of connected CPU is displayed on the installation screen of MT Developer.
  • Page 33 1 OVERVIEW POINTS (1) When the operation of Windows is not unclear in the operation of this software, refer to the manual of Windows or guide-book from the other supplier. (2) The following functions cannot be used when the computer is running under Windows This product may not perform properly, when these functions are used.
  • Page 34: Restrictions On Motion Systems

    1 OVERVIEW 1.3.5 Restrictions on motion systems (1) Combination of Multiple CPU system (a) Motion CPU module cannot be used as standalone module. (b) Only Multiple CPU high speed main base unit (Q38DB/Q312DB) can be (c) The combination of Q173DCPU/Q172DCPU and Q173HCPU(-T)/ (d) Up to four modules of PLC CPU modules (Q03UDCPU/Q04UDHCPU/ (e) It takes about 10 seconds to startup (state that can be controlled) of Motion (f) Execute the automatic refresh of the Motion CPU modules and PLC CPU...
  • Page 35 1 OVERVIEW (2) Motion modules (a) Installation position of Q172DEX (b) Q172DLX/Q173DPX can be installed on any of the main base unit/ (c) Q172DLX/Q172DEX (d) Q172EX(-S1/-S2/-S3)/Q172LX/Q173PX(-S1) for Q173HCPU(-T)/ (e) Be sure to use the Motion CPU as the control CPU of Motion modules (Note-1) : Q172DEX can be used in SV22.
  • Page 36 1 OVERVIEW (3) Other restrictions (a) Motion CPU module cannot be set as the control CPU of intelligent function (b) Be sure to use the external battery. (c) There are following methods to execute the forced stop input. (d) Forced stop input for EMI terminal of Motion CPU module cannot be (e) Be sure to use the cable for forced stop input (sold separately).
  • Page 37 1 OVERVIEW MEMO 1 - 20...
  • Page 38: Multiple Cpu System

    2 MULTIPLE CPU SYSTEM 2. MULTIPLE CPU SYSTEM 2.1 Multiple CPU System 2.1.1 Overview (1) What is Multiple CPU system ? A Multiple CPU system is a system in which more than one PLC CPU module and Motion CPU module (up to 4 modules) are mounted on several main base unit in order to control the I/O modules and intelligent function modules.
  • Page 39: Installation Position Of Cpu Module

    2 MULTIPLE CPU SYSTEM 2.1.2 Installation position of CPU module Up to four PLC CPUs and Motion CPUs can be installed from the CPU slot (the right side slot of the power supply module) to slots 2 of the main base unit. The Motion CPU module cannot be installed in the CPU slot.
  • Page 40: Precautions For Using I/o Modules And Intelligent Function Modules

    2 MULTIPLE CPU SYSTEM 2.1.3 Precautions for using I/O modules and intelligent function modules (1) Modules controllable by the Motion CPU Modules controllable by the Motion CPU are shown below. • Motion modules (Q172DLX, Q172DEX, Q173DPX) • I/O modules (QX , QY , QH , QX Y ) •...
  • Page 41: Modules Subject To Installation Restrictions

    2 MULTIPLE CPU SYSTEM 2.1.4 Modules subject to installation restrictions (1) Modules subject to install restrictions for the Motion CPU are sown below. Use within the restrictions listed below. Description Servo external signals interface module Serial absolute synchronous interface module Manual pulse generator interface module Input module...
  • Page 42: How To Reset The Multiple Cpu System

    2 MULTIPLE CPU SYSTEM 2.1.5 How to reset the Multiple CPU system The entire Multiple CPU system can be reset by resetting CPU No.1. The CPU modules of No.2 to No.4, I/O modules and intelligent function modules will be reset when PLC CPU No.1 is reset. If a stop error occurs in any of the CPUs on the Multiple CPU system, either reset CPU No.1 or restart the Multiple CPU system (power supply ON recovery.
  • Page 43: Operation For Cpu Module Stop Error

    2 MULTIPLE CPU SYSTEM 2.1.6 Operation for CPU module stop error The entire system will behaves differently depending whether a stop error occurs in CPU No.1 or any of CPU No.2 to No.4 in the Multiple CPU system. (1) When a stop error occurs at CPU No.1 (a) A "MULTI CPU DOWN (error code: 7000)"...
  • Page 44 2 MULTIPLE CPU SYSTEM (b) When a stop error occurs in the CPU module for which " All station stop by POINT (Note-1) : When a stop error occurs, a "MULTI CPU DOWN (error code : 7000)" (c) Observe the following procedures to restore the system. stop error of CPU 'n' "...
  • Page 45 2 MULTIPLE CPU SYSTEM (3) Operation at a Motion CPU error Operations at a Motion CPU error are shown below. Category Type of error System setting error WDT error Operation Self-diagnosis error disable errors Other CPU DOWN error Self-diagnosis error Motion SFC error Operation Minor error...
  • Page 46: Starting Up The Multiple Cpu System

    2 MULTIPLE CPU SYSTEM 2.2 Starting Up the Multiple CPU System This section describes a standard procedure to start up the Multiple CPU system. 2.2.1 Startup Flow of the Multiple CPU System Definition of functions with Multiple CPU system Control and function executed in each CPU module are defined.
  • Page 47 2 MULTIPLE CPU SYSTEM Start-up of MT Developer Start-up MT Developer. Creation of system settings and Motion CPU Create the system settings, servo data and Motion SFC program. Write to the Motion CPU Write the system settings, servo data and Motion SFC program. Switch setting for all CPUs Set RUN/STOP/RESET switch of PLC PLC CPU...
  • Page 48: Communication Between The Plc Cpu And The Motion Cpu In The Multiple Cpu System

    2 MULTIPLE CPU SYSTEM 2.3 Communication between the PLC CPU and the Motion CPU in the Multiple CPU System 2.3.1 CPU shared Memory (1) Structure of CPU shared memory The CPU shared memory is memory provided for each CPU module by which data is written or read between CPU modules of a Multiple CPU system.
  • Page 49 2 MULTIPLE CPU SYSTEM (a) Self CPU operation information area (0H to 1FFH) Table 2.3 Table of self CPU operation information areas CPU shared memory Name address Information availability Information availability flag Diagnostic error Diagnostic error number Time the diagnostic error Time the diagnostic error occurred occurred...
  • Page 50 2 MULTIPLE CPU SYSTEM (d) Multiple CPU high speed transmission area CPU No.1 CPU No.1 U3E0\G10000 Multiple CPU high speed transmission area (Transmission) (Note-1) U3E0\G CPU No.2 U3E1\G10000 Multiple CPU high speed transmission area (Reception) (Note-1) U3E1\G CPU No.3 U3E2\G10000 Multiple CPU high speed transmission area...
  • Page 51: Multiple Cpu High Speed Transmission

    2 MULTIPLE CPU SYSTEM 2.3.2 Multiple CPU high speed transmission (1) Multiple CPU high speed transmission Multiple CPU high speed transmission is a function for fixed cycle data transmission between Multiple CPUs (Multiple CPU high speed transmission cycle is 0.88ms.). Secure data transmission is possible without effecting the PLC CPU scan time or Motion CPU main cycle because the data transmission and execution of PLC program and Motion SFC program can be executed with parallel processing.
  • Page 52 2 MULTIPLE CPU SYSTEM POINT This method can be used to access only the Multiple CPU high speed transmission area of CPU shared memory. It cannot be used to access the CPU shared memory (0 to 4095). 1) Access to Multiple CPU high speed transmission area a) Description of Multiple CPU area device Word device CPU shared memory address (decimal) (10000 to up to 24335)
  • Page 53 2 MULTIPLE CPU SYSTEM (b) Example of using automatic refresh method CPU No.1 (PLC CPU) PLC program SM400 SM400 INC D1 1) Transmit the content of D0 to the automatic refresh area 2) Transmit the content of automatic refresh area 3) Read the content of automatic refresh area .
  • Page 54 2 MULTIPLE CPU SYSTEM (3) Memory configuration of Multiple CPU high speed transmission area Memory configuration of Multiple CPU high speed transmission area is shown below. Multiple CPU high speed transmission area [Variable in 0 to 14k[points] Name Multiple CPU high speed transmission area CPU No.
  • Page 55 2 MULTIPLE CPU SYSTEM (4) Parameter setting The parameter setting list for use with the Multiple CPU high speed transmission is shown in Table 2.6. Table 2.6 Multiple CPU high speed transmission parameter list Multiple CPU high speed transmission area setting Automatic refresh setting (a) Multiple CPU high speed transmission area setting...
  • Page 56 2 MULTIPLE CPU SYSTEM Table 2.7 Parameter setting items of Multiple CPU high speed transmission area setting Item Setting description CPU No. corresponding to displayed parameters. CPU No.1 to No.4 Set the number of points of data that each CPU module sends.
  • Page 57 2 MULTIPLE CPU SYSTEM POINT Selecting "Advanced setting" enables the ability to change the number of points from 1k to 2k in the system area used for Motion dedicated PLC instructions. Changing the number of points in the system area to 2k increases the number of Motion dedicated PLC instructions that can be executed concurrently in a scan.
  • Page 58 2 MULTIPLE CPU SYSTEM (b) Automatic refresh setting Table 2.8 Parameter setting items of automatic refresh setting Item Setting description Select the CPU module for editing of the selection CPU specific send range setting. The setting No. for transmission of each CPU module is displayed.
  • Page 59 2 MULTIPLE CPU SYSTEM POINT The processing performance of automatic refresh improves when devices are transmitted in 2 word sets. Therefore, it is recommended to set the start device as 2 word unit by inputting an even device number. • CPU No.1 (PLC CPU) (GX Developer) Set the device transmitted to CPU No.2.
  • Page 60 2 MULTIPLE CPU SYSTEM POINT Set the following operation for automatic refresh setting using GX Developer. 1) Select tab "Multiple CPU high speed communication area setting". 2) Set "Use Multiple CPU high speed communication ". PLC CPU (CPU No.1) Internal relay M2399 M2400 M3039...
  • Page 61 2 MULTIPLE CPU SYSTEM (5) Precautions (a) Assurance of data sent between CPUs Due to the timing of data sent from the self CPU and automatic refresh in any of the other CPUs, old data and new data may become mixed (data separation).
  • Page 62: Multiple Cpu High Speed Refresh Function

    2 MULTIPLE CPU SYSTEM 2.3.3 Multiple CPU high speed refresh function This function is used to update the data between internal devices of Motion CPU and the Multiple CPU high speed transmission area. This occurs every operation cycle as defined in the device setting of automatic refresh in the self CPU. Classification Item Setting No.
  • Page 63 2 MULTIPLE CPU SYSTEM (2) Operation example of Multiple CPU high speed refresh function (a) Parameter setting • CPU No.1 (PLC CPU) (GX Developer) Set the device transmitted to CPU No.2. Set the device received from CPU No.2. (Note) : The operating example of Multiple CPU high speed refresh function is shown The automatic refresh setting of Multiple CPU high speed refresh is shown below.
  • Page 64 2 MULTIPLE CPU SYSTEM POINT Set the following operation for automatic refresh setting using GX Developer. 1) Select tab "Multiple CPU high speed communication area setting". 2) Set "Use Multiple CPU high speed communication ". 2 - 27...
  • Page 65 2 MULTIPLE CPU SYSTEM (b) Operation example PLC CPU (CPU No.1) Internal relay M2399 M2400 M3039 M3040 M3199 M3200 M3839 M3840 Data register D639 D640 The example of operating Multiple CPU high speed refresh function is shown below. Multiple CPU high speed Multiple CPU high speed transmission area U3E0\G10000...
  • Page 66: Clock Synchronization Between Multiple Cpu

    2 MULTIPLE CPU SYSTEM 2.3.4 Clock synchronization between Multiple CPU The clock of each CPU is synchronized with the clock of CPU No. 1. The clock data used for synchronization in a Multiple CPU system can be edited. (1) Setting of clock data Set the clock of CPU No.1.
  • Page 67: Multiple Cpu Synchronous Startup

    2 MULTIPLE CPU SYSTEM 2.3.5 Multiple CPU synchronous startup Multiple CPU synchronous startup function synchronizes the startups of CPU No.1 to CPU No.4. (It takes about ten seconds to startup for Motion CPU.) Since this function monitors the startup of each CPU module, when other CPU is accessed by a user program, an interlock program which checks the CPU module startup is unnecessary.
  • Page 68: Control Instruction From Plc Cpu To Motion Cpu

    2 MULTIPLE CPU SYSTEM 2.3.6 Control Instruction from PLC CPU to Motion CPU Control can be instructed from the PLC CPU to the Motion CPU using the Motion dedicated PLC instructions listed in the table below. Refer to the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)"...
  • Page 69 2 MULTIPLE CPU SYSTEM MEMO 2 - 32...
  • Page 70: Common Parameters

    3 COMMON PARAMETERS 3. COMMON PARAMETERS 3.1 System Settings In the Multiple CPU system, the common system parameters and individual parameters are set for each CPU and written to each CPU. (1) The base settings, Multiple CPU settings and Motion slot settings are set in the common system parameter setting.
  • Page 71: System Data Settings

    3 COMMON PARAMETERS 3.1.1 System data settings The table below lists the system data items to be set. Item Main base Base setting Extension base No. of CPU Error operation mode at the stop of CPU Multiple CPU Multiple CPU Common setting high speed...
  • Page 72 3 COMMON PARAMETERS Item Amplifier setting Individual parameters High-speed data read setting Optional data monitor setting (Note-1) : The forced stop can also be executed by the EMI forced stop terminal of Motion CPU module or forced stop terminal of servo amplifier besides the forced stop input setting.
  • Page 73: Common System Parameters

    3 COMMON PARAMETERS 3.1.2 Common system parameters (1) Parameters for operating the Multiple CPU system In the Multiple CPU system, the common system parameters and individual parameter for each CPU are set and written into each CPU. Regarding the Motion CPU, the items in System Settings related to the entire Multiple CPU system must be identical to the parameter settings in the PLC CPU.
  • Page 74 3 COMMON PARAMETERS (2) Parameters common throughout the Multiple CPU system In the Motion CPU, during initialization the parameters in the table below are verified against the parameters in the PLC CPU of CPU No. 1. Unmatched parameters generate a PARAMETER ERROR (error code: 3012, 3015), so the parameters show below must be set identically between Motion CPUs and the PLC CPU of CPU No.1.
  • Page 75 3 COMMON PARAMETERS (a) Multiple CPU settings Multiple CPU Settings (Motion CPU) in MT Developer Multiple PLC Setting (PLC CPU setting) in GX Developer Set the following items identically in Multiple CPU Settings (Motion CPU) in MT Developer and in Multiple CPU Settings (PLC CPU) in GX Developer. •...
  • Page 76 3 COMMON PARAMETERS (b) Motion slot settings Motion Slot Setting (Motion CPU) in MT Developer I/O Assignment Setting (PLC CPU setting) in GX Developer (Note): Motion slot setting items are different depending on the operating system software. Set the modules controlled by the self CPU by the Motion Slot Settings (Motion CPU) in MT Developer.
  • Page 77 3 COMMON PARAMETERS (c) Base settings Base Settings (Motion CPU) in MT Developer I/O Assignment Settings (PLC CPU setting) in GX Developer Set the total number of bases and number of slots in each base identically between Base Settings (Motion CPU) in MT Developer and I/O Assignment Settings (PLC CPU) in GX Developer.
  • Page 78 3 COMMON PARAMETERS POINT GOT is recognized as an intelligent function modules "16 points 10 slots" on the base (number of extension bases and slot No. are set in the GOT parameter.) for bus connection with GOT. Set the one extension base (16 points 10 slots) for connection with GOT, then set "10 slots"...
  • Page 79: Individual Parameters

    3 COMMON PARAMETERS 3.1.3 Individual parameters (1) System basic setting The following explains each item to be set in system basic setting. (a) Operation cycle 1) Set the of motion operation cycle (cycles at which a position command is computed and sent to the servo amplifier). The setting range is 0.4ms/0.8ms/1.7ms/3.5ms/7.1ms/14.2ms/Automatic setting.
  • Page 80 3 COMMON PARAMETERS (b) Operation at STOP to RUN (c) Forced stop 3) If the duration of motion operation has exceeded the operation cycle, the operation cycle over flag (M2054) turns ON. Even when "Automatic setting" is selected, the duration of motion operation may exceed the operation cycle depending on the control conditions.
  • Page 81 3 COMMON PARAMETERS (d) Latch range (2) Individual module settings The setting items for each module are shown below. Module name External signal setting Servo external Q172DLX signals input module I/O response time (Operation mode) Synchronous encoder setting Synchronous encoder Synchronous selection Q172DEX...
  • Page 82 3 COMMON PARAMETERS Setting items for each module (Continued) Module name First I/O No. Point High-speed data read Input module setting I/O response time (setting for high-speed input module in parentheses) First I/O No. Output module Point First I/O No. Point Input/Output QH /...
  • Page 83 3 COMMON PARAMETERS (3) External signal input Servo external signal (Upper stroke limit/Lower stroke limit/Stop signal/Proximity dog) can be selected for every axis from the following two methods. (a) Q172DLX Servo external signals interface module use (b) Servo amplifier input device use (MR-J3- B use only) Set the servo external signals interface module, and set axis No.
  • Page 84: I/o Number Assignment

    3 COMMON PARAMETERS 3.2 I/O number assignment In the Multiple CPU system, I/O numbers are used for interactive transmission between the Motion CPU and I/O modules and intelligent function modules, or between PLC CPU and Motion CPU. 3.2.1 I/O number assignment of each module The Multiple CPU system is different from the Single CPU system in the position (slot) of I/O number "0H"...
  • Page 85 3 COMMON PARAMETERS (2) I/O number assignment of Motion CPU control module Mitsubishi recommends that I/O No. assignment be set as common consecutive No. throughout all CPUs. However, the I/O number of the input modules, output modules and input/output composite modules controlled with the Motion CPU can also be set regardless as the I/O number of PLC CPU.
  • Page 86: I/o Number Of Each Cpu Modules

    3 COMMON PARAMETERS 3.2.2 I/O number of each CPU modules In the Multiple CPU system, I/O numbers are assigned to each CPU module to specify installed CPU modules. The I/O number for each CPU module is fixed to the corresponding slot and cannot be changed.
  • Page 87: I/o Number Setting

    3 COMMON PARAMETERS 3.2.3 I/O number setting Set the modules installed in the each slot of the main base or extension base and assign the control CPU of applicable slot as the self CPU in the system setting for Motion CPU. The following modules must be set the I/O No..
  • Page 88: Servo Parameters

    3 COMMON PARAMETERS 3.3 Servo Parameters The servo parameters control the data fixed by the specifications of the servo amplifier and servomotor controlled in the parameter set for each axis and the control of the servomotor. The servo parameters are set by the Setup software (MR Configurator). Refer to the "Servo amplifier Instruction Manual"...
  • Page 89 3 COMMON PARAMETERS (2) Gain/filter parameters Symbol PB01 FILT Adaptive tuning mode (Adaptive filter ) PB02 VRFT Vibration suppression control tuning mode (Advanced vibration suppression control) PB03 — For manufacturer setting PB04 Feed forward gain PB05 — For manufacturer setting PB06 Ratio of load inertia moment to servomotor inertia moment PB07...
  • Page 90 3 COMMON PARAMETERS (3) Extension setting parameters Symbol PC01 Error excessive alarm level PC02 Electromagnetic brake sequence output PC03 ENRS Encoder output pulse selection PC04 COP1 Function selection C-1 PC05 COP2 Function selection C-2 PC06 COP3 Function selection C-3 PC07 Zero speed PC08 —...
  • Page 91 3 COMMON PARAMETERS (4) I/O Setting Parameters Symbol PD01 PD02 PD03 — For manufacturer setting PD04 PD05 PD06 PD07 Output signal device selection 1 (CN3-13) PD08 Output signal device selection 2 (CN3-9) PD09 Output signal device selection 3 (CN3-15) PD10 PD11 —...
  • Page 92: Auxiliary And Applied Functions

    4 AUXILIARY AND APPLIED FUNCTIONS 4. AUXILIARY AND APPLIED FUNCTIONS 4.1 Limit Switch Output Function This function is used to output the ON/OFF signal corresponding to the data range of the watch data set per output device. Motion control data or optional word data can be used as watch data. (Refer to Section "4.1.2 Limit output setting data"...
  • Page 93 4 AUXILIARY AND APPLIED FUNCTIONS (b) The limit switch outputs are controlled based on the each watch data during (c) Multiple outputs (Up to 32 points) can be also set to one watch data. In each (2) Output enable/disable bit can be set and executed enable/disable of the limit switch outputs point-by-point.
  • Page 94 4 AUXILIARY AND APPLIED FUNCTIONS (4) When the multiple watch data, ON region, output enable/disable bit and forced output bit are set to the same output device, the logical add of output results of the settings is output. SM500 1) Without output enable/disable bit/forced output settings Output device ON region setting Watch data value...
  • Page 95: Limit Output Setting Data

    4 AUXILIARY AND APPLIED FUNCTIONS 4.1.2 Limit output setting data Limit output data list are shown below. Up to 32 points of output devices can be set. (The following items of No.1 to No.5 are set together as one point.) Item Output device Bit device (X, Y, M, B, U \G)
  • Page 96 4 AUXILIARY AND APPLIED FUNCTIONS (2) Watch data (a) This data is used to perform the limit switch output function. This data is (b) As the watch data, motion control data or optional word device data can be Item Feed current value Real current value Deviation counter value Motor current...
  • Page 97 4 AUXILIARY AND APPLIED FUNCTIONS (3) ON region setting (a) The data range which makes the output device turn ON/OFF toward the (b) The following devices can be used as the ON Value and OFF Value of the (4) Output enable/disable bit (a) Set the status of output enable/disable bit when the limit switch output is (b) Usable devices watch data.
  • Page 98 4 AUXILIARY AND APPLIED FUNCTIONS (5) Forced output bit (a) Set the "forced output bit" when you want to forcibly provide the limit switch (b) Usable devices POINT Refer to Chapter 2 for the user setting area points of the Multiple CPU high speed transmission area.
  • Page 99: Absolute Position System

    4 AUXILIARY AND APPLIED FUNCTIONS 4.2 Absolute Position System The positioning control for absolute position system can be performed using the absolute-position-compatible servomotors and servo amplifiers. If the machine position is set at the system starting, home position return is not necessary because the absolute position is detected at the power on.
  • Page 100 4 AUXILIARY AND APPLIED FUNCTIONS POINT (1) The address setting range of absolute position system is 2147483648 to 2147483647. It is not possible to restore position commands that exceed this limit, or current values after a power interruption. Correspond by the [degree] setting for an infinite feed operation. (2) Even when the current value address is changed by a current value change instruction, the restored data for the current value after a power interruption is the value based on the status prior to execution of the current value change...
  • Page 101: Current Value Control

    4 AUXILIARY AND APPLIED FUNCTIONS 4.2.1 Current value control The current value when using the ABS encoder is controlled by following functions. (1) The validity of an encoder data during operation is checked. (a) Checks that the amount of change of the encoder in a 3.5[ms] is within 180 (b) Checks that adjustment of the encoder data and feed-back positions (2) The following values can be monitored by the current value history monitor of MT Developer.
  • Page 102: High-speed Reading Of Specified Data

    4 AUXILIARY AND APPLIED FUNCTIONS 4.3 High-Speed Reading of Specified Data This function is used to store the specified positioning data in the specified device (D, W, U \G). The signal from input module controlled in the Motion CPU is used as a trigger.
  • Page 103: Rom Operation Function

    4 AUXILIARY AND APPLIED FUNCTIONS 4.4 ROM Operation Function This function is used to operate based on the data in the FLASH ROM built-in Motion CPU module that the user programs and parameters have been stored. 4.4.1 Specifications of 7-segment LED/Switches Q172DCPU STOP RUN CAUTION...
  • Page 104 4 AUXILIARY AND APPLIED FUNCTIONS (b) Operation mode overview Operation mode 7-segment LED Mode operated by RAM Mode operated by ROM POINT Do not change the rotary switch setting during operation. Be sure to turn OFF the power supply before the rotary switch setting change. Operation overview •...
  • Page 105: Outline Of Rom Operation

    4 AUXILIARY AND APPLIED FUNCTIONS 4.4.2 Outline of ROM operation When the ROM writing is requested to the Motion CPU module using the MT Developer, the programs and parameters stored in the SRAM built-in Motion CPU module are batch-written to the FLASH ROM, after the data of FLASH ROM built-in Motion CPU are erased.
  • Page 106 4 AUXILIARY AND APPLIED FUNCTIONS (1) Write the programs and parameters written in the SRAM built-in Motion CPU module to the FLASH ROM built-in Motion CPU module for the ROM operation. <ROM writing> Mode operated by RAM/Mode operated by ROM <ROM operation>...
  • Page 107 4 AUXILIARY AND APPLIED FUNCTIONS <Operating procedure for ROM writing> Write the data of SRAM built-in Motion CPU module to the ROM. The operating procedure for ROM writing using the MT Developer is shown below. Main Frame screen Export to ROM Format screen Operating procedure 1) Select menu "Online"...
  • Page 108 4 AUXILIARY AND APPLIED FUNCTIONS (2) Write the programs and parameters of the MT Developer to the SRAM built-in Motion CPU module, and then write them to the FLASH ROM built-in Motion CPU module for the ROM operation. <Data writing + ROM writing> Mode operated by RAM/Mode operated by ROM <ROM operation>...
  • Page 109 4 AUXILIARY AND APPLIED FUNCTIONS <Operating procedure for ROM writing> Write the data of MT Developer to the ROM. The operating procedure for ROM writing using the MT Developer is shown below. Main Frame screen Write to CPU screen Operating procedure 1) Select menu "Online"...
  • Page 110: Operating Procedure Of The Rom Operation Function

    4 AUXILIARY AND APPLIED FUNCTIONS 4.4.3 Operating procedure of the ROM operation function The outline procedure of ROM operation function is shown below. 1) Turn on or reset the power supply of Multiple CPU system in the "Mode operated by RAM". 2) Create the system setting, programs and parameters using the MT Developer, and execute a trial run and adjustment.
  • Page 111 4 AUXILIARY AND APPLIED FUNCTIONS (2) Operation at the "Mode operated by ROM" Read the followings of the FLASH ROM built-in Motion CPU module to the SRAM built-in Motion CPU module. System setting data Parameter for servo control Servo program Motion SFC parameter Motion SFC program Mechanical system program (SV22)
  • Page 112: Security Function

    4 AUXILIARY AND APPLIED FUNCTIONS 4.5 Security Function This function is used to protect the user data of Motion CPU by registering a password. The illegal reading or writing of the user data are prevented by setting a password. Registered password can be changed and deleted. [Register/Change Password] or [Delete Password] screen is used to register/ change/delete a password.
  • Page 113 4 AUXILIARY AND APPLIED FUNCTIONS (b) Enter new password in password column, and select registration condition (c) Click on [Execute] button to display [Check Password] screen for old (d) Select menu [Project] POINT (1) If an user has forgotten a registration password, clear a password of Motion CPU by the all clear function.
  • Page 114: Password Delete

    4 AUXILIARY AND APPLIED FUNCTIONS 4.5.2 Password delete Select menu [Online] (1) Procedure for password delete (a) Status of password registered in the Motion CPU are displayed. (b) Enter old password and click on [Execute] button to delete password. It (c) A password will be deleted by success of password check.
  • Page 115: Password Check

    4 AUXILIARY AND APPLIED FUNCTIONS 4.5.3 Password check When operating the user data that sets password, the check password screen is displayed automatically. (1) Procedure for password check (a) Enter old password in password column, and click on [Execute] button. (b) Protection by the password temporarily released by success of password (c) A password is memorized until MT Developer ends.
  • Page 116: Password Save

    4 AUXILIARY AND APPLIED FUNCTIONS 4.5.4 Password save Registered/changed/deleted password or password read with user data from "Read from CPU" screen displayed by menu [Online] project data. A password saved in a project data can be registered with user data, when the user data are written in the Motion CPU that does not set password from "Write to CPU"...
  • Page 117: All Clear Function

    4 AUXILIARY AND APPLIED FUNCTIONS 4.6 All clear function This function is used to clear the all user data, password setting, backup area and user data area of FLASH ROM in the Motion CPU module. (1) Procedure for clear all (a) Set the Motion CPU module to installation mode (Set a rotary switch 1 (b) Select [Execute] button of "Clear CPU Memory"...
  • Page 118: Communication Via Network

    4 AUXILIARY AND APPLIED FUNCTIONS 4.7 Communication via Network The communication between the personal computer and the Motion CPU is possible via Q series Network module (MELSECNET/10(H), Ethernet, CC-Link and etc.) in the Motion CPU (Q173DCPU/Q172DCPU). Refer to the PLC manuals for the specifications of each network modules of MELSECNET/10(H), Ethernet, CC-Link and Serial communication, the handling method.
  • Page 119: Access Range Of The Communications Via Network

    4 AUXILIARY AND APPLIED FUNCTIONS 4.7.2 Access range of the communications via network (1) Network configuration via the MELSECNET/10(H) or the Ethernet (a) It can access the other CPU via the network from the programming software (b) It can access the other CPU via the network from the programming software (c) The access range of above (1) and (2) can be accessed to 8 network points <Example>...
  • Page 120 4 AUXILIARY AND APPLIED FUNCTIONS (2) Network configuration via the CC-Link (a) It can access the other CPU via the CC-link from the programming software (b) It can access the other CPU via the CC-Link from the programming software (c) The access range of above (1) is only the CPU on the CC-Link which a (d) The access range of above (2) is only the CPU of the connected the CC- <Example 1>...
  • Page 121 4 AUXILIARY AND APPLIED FUNCTIONS (3) Network configuration via the RS-422/485 (a) It can access the other CPU via the RS-422/485 from the programming (b) The access range of above (1) is only the CPU on the RS-422/485 which a <Example 1>...
  • Page 122 4 AUXILIARY AND APPLIED FUNCTIONS (4) Network configuration which MELSECNET/10(H), Ethernet, CC- Link, RS-422/485 were mixed (a) When the MELSECNET/10(H) or Ethernet is defined as "Network" and CC- Programming software package Programming software package Programming software package Programming software package Programming software package Programming software package Programming software package...
  • Page 123 4 AUXILIARY AND APPLIED FUNCTIONS <Example 2> Personal computer USB/ RS-232 QnUD(H) Q173D QnUD(H) Q173D QnUD(H) Q173D <Example 3> QnUD(H) Q173D QnUD(H) Q173D : Communication is possible : Communication is possible (Setting of the routing parameter is necessary.) : Communication is impossible Personal computer RS-232...
  • Page 124: Monitor Function Of The Main Cycle

    4 AUXILIARY AND APPLIED FUNCTIONS 4.8 Monitor Function of the Main Cycle (1) Information for main cycle of the Motion CPU (process cycle executed at free time except for motion control) is stored to the special register. (2) Since the automatic refresh of CPU shared memory and normal task of Motion SFC program are executed in the main cycle, make it reference for process time, etc.
  • Page 125: Servo Parameter Reading Function

    4 AUXILIARY AND APPLIED FUNCTIONS 4.9 Servo Parameter Reading Function (1) When the servo parameters are changed, the Motion CPU will be automatically read the servo parameters and reflected them to the servo parameter storage area in the Motion CPU. Therefore, an operation to read servo parameters is unnecessary in the following cases.
  • Page 126: Optional Data Monitor Function

    4 AUXILIARY AND APPLIED FUNCTIONS 4.10 Optional Data Monitor Function This function is used to store the data (refer to following table) up to three points per axis to the specified devices (D, W, #, U \G) and monitor them. It can be set by the system setting of MT Developer.
  • Page 127: Connect/disconnect Function

    4 AUXILIARY AND APPLIED FUNCTIONS 4.11 Connect/Disconnect Function This function is used to temporarily suspend SSCNET communication while servo amplifiers and/or SSCNET cables after Axis 1 are exchanged with the power supply ON in a Multiple CPU system. SD803 is required for connect/disconnect and SD508 stores the command status for "accept waiting"...
  • Page 128 4 AUXILIARY AND APPLIED FUNCTIONS POINT (1) After completion of SSCNET communication disconnect processing, be sure to check the LED display of the servo amplifier for "AA" before turning OFF its the power supply. (2) When a "1 to 32 : Disconnect command" and/or "-10 : Connect command" are set to the "Connect/disconnect command device (SD803)", the status of the SD508 changes to the "-1: Connect/disconnect waiting"...
  • Page 129 4 AUXILIARY AND APPLIED FUNCTIONS (b) Operation procedure to connect (4) Flow for device value at connect/disconnect operation is shown below. (a) Disconnect operation Command Monitor (b) Connect operation Command Monitor 1) Turn ON the power supply of the servo amplifier. 2) Set "-10: Connect command"...
  • Page 130 4 AUXILIARY AND APPLIED FUNCTIONS <Program example> (1) Self CPU program which connects/disconnects servo amplifiers from Axis 5 on System configuration Q61P QnUD(H) Q172D QY40 QY40 Axis 1 Axis 2 (a) Motion SFC program Disconnect operation Disconnect processing [G10] SD508==0 [F10] SD803=5 [G20]...
  • Page 131 4 AUXILIARY AND APPLIED FUNCTIONS (2) PLC CPU program which connects/disconnects servo amplifiers from Axis 5 on which is connected to the Motion CPU (CPU No.2). System configuration Q61P QnUD(H) Q172D QY40 Axis 1 PLC program SM400 M100 M102 M101 M100 M101 M102...
  • Page 132: Remote Operation

    4 AUXILIARY AND APPLIED FUNCTIONS 4.12 Remote operation This function is used to control the following operation of Motion CPU using MT Developer. • Remote RUN/STOP • Remote latch clear POINT Latch clear can be executed only using the remote control of MT Developer. 4.12.1 Remote RUN/STOP The PLC ready flag (M2000) is turned ON/OFF by MT Developer with RUN/STOP switch of Motion CPU module set to RUN.
  • Page 133 4 AUXILIARY AND APPLIED FUNCTIONS POINT (1) Remote RUN cannot be executed if RUN/STOP switch sets to STOP. Operation after remote operation by RUN/STOP switch is shown below. Remote operation (2) The following parameters are read by turning on the PLC ready flag (M2000). •...
  • Page 134: Remote Latch Clear

    4 AUXILIARY AND APPLIED FUNCTIONS 4.12.2 Remote latch clear Device data of Motion CPU that latched are cleared by MT Developer at PLC ready flag (M2000) OFF (PCPU READY complete flag (SM500) OFF). Operation for remote latch clear is combined with remote RUN/STOP. (1) Operation procedure (a) Turn OFF the PLC ready flag (M2000) (PCPU READY complete flag (b) Select [Latch clear (1)] or [Latch clear (1)(2)] on "CPU remote operation"...
  • Page 135 4 AUXILIARY AND APPLIED FUNCTIONS MEMO 4 - 44...
  • Page 136: Appendices

    APPENDICES APPENDICES APPENDIX 1 Special relays/Special registers APPENDIX 1.1 Special relays Special relays are internal relays whose applications are fixed in the Motion CPU. For this reason, they cannot be used in the same way as the normal internal relays by the Motion SFC programs.
  • Page 137 APPENDICES Name Meaning OFF : No error Diagnostic error ON : Error OFF : No self-diagnostic error Self-diagnostic error ON : Self-diagnostic error OFF : Normal SM51 Battery low latch ON : Battery low OFF : Normal SM52 Battery low ON : Battery low OFF : AC/DC DOWN AC/DC DOWN...
  • Page 138 APPENDICES Name Meaning OFF : CPU No.4 reset cancel SM243 No.4 CPU resetting ON : CPU No.4 resetting OFF : CPU No.1 normal ON : CPU No.1 during stop SM244 No.1 CPU error error OFF : CPU No.2 normal SM245 No.2 CPU error ON : CPU No.2 during stop error OFF : CPU No.3 normal...
  • Page 139 APPENDICES Name Meaning No.1 CPU MULTR OFF to ON : SM528 complete CPU No.1 read completion No.2 CPU MULTR OFF to ON : SM529 complete CPU No.2 read completion No.3 CPU MULTR OFF to ON : SM530 complete CPU No.3 read completion No.4 CPU MULTR OFF to ON : SM531...
  • Page 140: Appendix 1.2 Special Registers

    APPENDICES APPENDIX 1.2 Special registers Special registers are internal registers whose applications are fixed in the Motion CPU. For this reason, it is not possible to use these registers in Motion SFC programs in the same way that normal registers are used. However, data can be written as needed in order to control the Motion CPU.
  • Page 141 APPENDICES Name Meaning Diagnostic error Diagnostic errors code Clock time for Clock time for diagnostic error diagnostic error occurrence occurrence Error information Error information categories category code SD10 SD11 SD12 Error common Error common SD13 information information SD14 SD15 Table 1.2 Special register list Details •...
  • Page 142 APPENDICES Table 1.2 Special register list (Continued) Name Meaning SD16 SD17 SD18 SD19 SD20 SD21 SD22 SD23 SD24 SD25 Error individual Error individual information information SD26 AC/DC DOWN Number of times SD53 counter No. for AC/DC DOWN Module No. with SD60 Fuse blown No.
  • Page 143 APPENDICES Table 1.2 Special register list (Continued) Name Meaning Clock data SD210 (Year, Month) Clock data SD211 (Day, Hour) Clock data SD212 Clock data (Minute, Second) Clock data SD213 (Day of week) Number of points SD290 assigned for X Number of points SD291 assigned for Y Number of points...
  • Page 144 APPENDICES Table 1.2 Special register list (Continued) Name Meaning SD395 Multiple CPU No. Multiple CPU No. Real mode axis SD500 Real mode axis information SD501 information register register Servo amplifier SD502 Servo amplifier loading SD503 loading information information SD504 Real mode/virtual Real mode /virtual SD505 mode switching...
  • Page 145 APPENDICES Table 1.2 Special register list (Continued) Name Meaning Motion operation Motion operation SD522 cycle cycle Operation cycle Operation cycle SD523 of the Motion of the Motion CPU CPU setting setting Connect/ Connect/ SD803 Disconnect disconnect of (Command) SSCNET Details •...
  • Page 146: Appendix 1.3 Replacement Of Special Relays/special Registers

    APPENDICES APPENDIX 1.3 Replacement of special relays/special registers When a project for Q173HCPU(-T)/Q172HCPU(-T)/Q173CPUN(-T)/Q172CPUN(-T)/ Q173CPU/Q172CPU is converted into a project for Q173DCPU/Q172DCPU using the "Project management - File diversion" in MT Developer, special relays (M9000 to M9255) and special registers (D9000 to D9255) are automatically converted into new special relays (SM2000 to SM2255) and special registers (SD2000 to SD2255) respectively.
  • Page 147 APPENDICES Table 1.4 Replacement of special registers Device No. Special relays for Automatically Q173HCPU(-T)/Q172HCPU(-T)/ converted to Q173CPUN(-T)/Q172CPUN(-T) special relays Q173CPU/Q172CPU D9000 D9005 D9008 D9010 D9011 D9012 D9013 D9014 D9015 D9017 D9019 D9025 D9026 D9027 D9028 D9060 D9061 D9112 D9182 D9183 D9184 D9185 D9186...
  • Page 148: Appendix 2 System Setting Errors

    APPENDICES APPENDIX 2 System Setting Errors Motion CPUs generate a system configuration error under the following conditions. 7-segment LED Error name (Note-1) LAY ERROR AXIS No. MULTIDEF AMP No. SETTING SYS.SET DATA ERR AXIS No. ERROR I/O POINTS OVER ROM ERROR1 ROM ERROR2 "AL"...
  • Page 149 APPENDICES MEMO APP - 14...
  • Page 150: Appendix 3 Self-diagnosis Error Code

    APPENDICES APPENDIX 3 Self-diagnosis error code Multiple CPU related errors are stored in the CPU shared memory "self CPU operation information area (1H to 1CH)" of each module and self diagnostic error information (SD0 to SD26) of the special register (SD) as the self diagnostic errors. Error codes (1000 to 9999) of Multiple CPU related errors are common to each CPU module.
  • Page 151 APPENDICES (1) Multiple CPU related errors which occurs in Motion CPU Each digit of error code has been described as follows. Table 3.1 Multiple CPU related errors which occurs in Motion CPU (1000 to 9999) Error code Item Error message (SD0) 1000 1001...
  • Page 152 APPENDICES Error code Error contents and cause (SD0) 1000 1001 1002 1003 Runaway or failure of CPU module. 1004 (1) Malfunctioning due to noise or other reason 1005 (2) Hardware fault 1006 1007 1008 1009 1105 The CPU shared memory in the CPU module is faulty. The memory of the CPU module in the Multiple CPU high speed 1150 transmission area is faulty.
  • Page 153 APPENDICES Table 3.1 Multiple CPU related errors which occurs in Motion CPU (1000 to 9999) (Continued) Error code Item Error message (SD0) 1430 1431 Multiple CPU high speed MULTI-C.BUS ERR. 1432 1433 1434 1435 Power supply 1500 AC/DC DOWN Battery 1600 BATTERY ERROR 2100...
  • Page 154 APPENDICES Error code Error contents and cause (SD0) 1430 The error of self CPU is detected in the Multiple CPU high speed bus. The communication error with other CPU is detected in the Multiple 1431 CPU high speed bus. The communication time out with other CPU is detected in the 1432 Multiple CPU high speed bus.
  • Page 155 APPENDICES Table 3.1 Multiple CPU related errors which occurs in Motion CPU (1000 to 9999) (Continued) Error code Item Error message (SD0) 3001 3012 Parameter PARAMETER ERROR 3013 3015 7000 MULTI CPU DOWN 7002 7010 7011 MULTI EXE. ERROR Multiple CPU 7013 7020 MULTI CPU ERROR...
  • Page 156 APPENDICES Error code Error contents and cause (SD0) 3001 The parameter settings are corrupted. Multiple CPU setting of Multiple CPU setting parameter or control 3012 CPU setting of system setting differs from that of the reference CPU settings. Multiple CPU automatic refresh setting is any of the following. (1) When a bit device is specified as a refresh device, a number other than a multiple of 16 is specified for the refresh start device.
  • Page 157 APPENDICES (2) Motion CPU-specific errors Each digit of error code has been described as follows. Refer to programming manuals for error details. Digit Tens digit Hundreds digit Thousands digit Ten thousands digit : Except PLC CPU Table 3.2 Motion CPU-specific errors (10000 to 10999) Error code Common information Error messages...
  • Page 158 APPENDICES Error code Error contents and cause (SD0) 10003 Minor/major errors had occurred. Minor/major errors had occurred in virtual servomotor axis. 10004 (SV22) Minor/major errors had occurred in synchronous encoder axis. 10005 (SV22) The servo errors had occurred in the servo amplifier connected to 10006 the Motion CPU.
  • Page 159 APPENDICES (3) Self-diagnostic error information Name Meaning Diagnostic error Diagnostic errors code Clock time for Clock time for diagnostic error diagnostic error occurrence occurrence Error information Error information categories category code Error common Error common information information SD15 SD16 Error individual Error individual information information...
  • Page 160 APPENDICES (4) Release of Multiple CPU related error The release operation of errors that continues operation for CPU can be executed. Release the errors in the following procedure. 1) Remove the error cause. 2) Turn off the Motion error detection flag (M2039). The special relays, special registers and 7-segment LED for the errors are returned to the status before error occurs after release of errors.
  • Page 161: Appendix 4 Differences Between Q173dcpu/q172dcpu And Q173hcpu/q172hcpu

    APPENDICES APPENDIX 4 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU APPENDIX 4.1 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU Common differences to each mode are shown in Table 4.1. Refer to "APPENDIX 4.3 Differences of each mode" for characteristic differences to each mode. And, refer to "APPENDIX 4.2 Comparison of devices " for detailed differences of devices.
  • Page 162 APPENDICES Table 4.1 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU (Continued) Item Medium of operating system software Model of operating system software CPU module No.1 Installation orders CPU No.2 or later Combination of Motion CPU modules CPU empty slot Multiple CPU high speed transmission CPU shared area...
  • Page 163: Appendix 4.2 Comparison Of Devices

    APPENDICES APPENDIX 4.2 Comparison of devices (1) Motion registers (a) Monitor devices Table 4.2 Motion registers (Monitor devices) list Device No. Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU #8000 to #8019 #8064 to #8067 #8020 to #8039 #8068 to #8071 #8040 to #8059 #8072 to #8075 #8060 to #8079 #8076 to #8079 #8080 to #8099...
  • Page 164 APPENDICES Device No. Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU #8000 + 20n #8064 + 4n #8001 + 20n #8065 + 4n #8002 + 20n #8066 + 4n #8003 + 20n #8067 + 4n #8004 + 20n #8005 + 20n #8006 + 20n #8007 + 20n (b) Motion error history Table 4.4 Motion registers (Motion error history) list Device No.
  • Page 165 APPENDICES (2) Special relays Device No. Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU SM60 M9000/M2320 SM53 M9005/M2321 SM52 M9006/M2322 SM51 M9007/M2323 M9008/M2324 M9010/M2325 — M9025/M3136 SM211 M9026/M2338 SM801 M9028/M3137 SM400 M9036/M2326 SM401 M9037/M2327 — M9060/M3138 SM512 M9073/M2329 SM500 M9074/M2330 SM501 M9075/M2331 SM502 M9076/M2332 SM513 M9077/M2333 SM510 M9078/M2334 SM516...
  • Page 166 APPENDICES (3) Special registers Device No. Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU SD60 SD53 SD10 SD11 SD12 SD13 SD14 SD15 SD16 SD17 SD18 SD19 SD20 SD21 SD22 SD23 SD24 SD25 SD26 SD203 SD520 SD521 SD210 SD211 SD212 SD213 — SD395 SD508 SD803 SD510 SD511 Table 4.7 Special registers list D9000 Fuse blown No.
  • Page 167 APPENDICES Table 4.7 Special registers list (Continued) Device No. Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU SD512 SD513 SD514 SD515 SD522 SD516 SD517 SD502 SD503 SD504 SD505 SD506 — SD523 SD200 — D9184 Motion CPU WDT error cause D9185 Manual pulse generator axis setting error D9186 D9187 D9188...
  • Page 168 APPENDICES (4) Other devices Item M2320 to M2399 Device area of 9 axes or more is usable as user M2400 to M3039 devices in Q172DCPU. Internal relays/ M3136 to M3199 Data registers M3200 to M3839 Device area of 9 axes or more is usable as user D0 to D639 devices in Q172DCPU.
  • Page 169 APPENDICES Item Output device Watch data ON region setting Output enable/disable bit Forced output bit U \G10000.0 to U \G(10000 + p – 1).F (Note-2) : "p" indicates the user setting area points of Multiple CPU high speed transmission area in each CPU. (Note-3) : Setting range varies depending on the setting units.
  • Page 170: Appendix 4.3 Differences Of Each Mode

    APPENDICES APPENDIX 4.3 Differences of each mode (1) Motion SFC Table 4.9 Differences in Motion SFC mode Item Motion SFC program executing flag Operation control/transition control usable device (Word device) Operation control/transition control usable device (Bit device) (2) Virtual mode Item M4640 to M4687 Internal relay/...
  • Page 171 WARRANTY Please confirm the following product warranty details before using this product. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
  • Page 172 MOTION CONTROLLER Qseries Programming Manual (COMMON) (Q173DCPU/Q172DCPU) HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN Q173D-P-COM-E MODEL MODEL 1XB928 CODE IB(NA)-0300134-A(0801)MEE IB(NA)-0300134-A(0801)MEE When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.
  • Page 174 HEADQUARTERS EUROPEAN REPRESENTATIVES MITSUBISHI ELECTRIC EUROPE B.V. EUROPE GEVA German Branch Wiener Straße 89 Gothaer Straße 8 AT-2500 Baden D-40880 Ratingen Phone: +43 (0)2252 / 85 55 20 Phone: +49 (0)2102 / 486-0 Fax: +43 (0)2252 / 488 60 Fax: +49 (0)2102 / 486-1120 TEHNIKON MITSUBISHI ELECTRIC EUROPE B.V.

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