Page 1 Q173CPU(N)/Q172CPU(N) Motion Controller (SV43) Programming Manual -Q172CPU -Q173CPU -Q172CPUN -Q173CPUN...
Page 2: Safety Precautions
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.
Page 3 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.
Page 4 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.
Page 5 CAUTION 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.
Page 6 CAUTION Set the sequence function program capacity setting, device capacity, latch validity range, I/O assignment setting, and validity of continuous operation during error detection to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.
Page 7 CAUTION 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.
Page 8 (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.
Page 9 (6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. The units must be disassembled and repaired by a qualified technician.
Page 10 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...
Page 11 (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.
Page 12: Revisions
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.
Page 13: Table Of Contents
1.4.5 Processing time of the Multiple CPU system ................... 1-35 1.4.6 How to reset the Multiple CPU system..................... 1-36 1.4.7 Processing at a CPU DOWN error occurrence by a PLC CPU or Q173CPU(N)/Q172CPU(N)..1-37 1.5 System Settings ............................1-40 1.5.1 System data settings......................... 1-40 1.5.2 Common system parameters ......................
Page 14 3. COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 3- 1 to 3-22 3.1 Automatic Refresh Function of The Shared CPU Memory ..............3- 1 3.2 Shared CPU Memory..........................3-19 4. MOTION DEDICATED PLC INSTRUCTION 4- 1 to 4-42 4.1 Motion Dedicated PLC Instruction......................
Page 15 6.2.4 Command in-position range......................6- 6 6.2.5 High-speed feed rate setting......................6- 7 6.3 Servo Parameters/Vector Inverter Parameters..................6- 8 6.3.1 Servo parameters of servo amplifier....................6- 8 6.3.2 Position control gain 1, 2........................6-16 6.3.3 Speed control gain 1, 2 ........................6-17 6.3.4 Speed integral compensation ......................
Page 16 7.11.4 Setting range of instruction symbols list ..................7-41 7.11.5 Positioning control unit for 1 axis ....................7-43 7.11.6 Control units for interpolation control....................7-44 7.11.7 Control in the control unit "degree"....................7-46 7.12 About Coordinate Systems........................7-48 7.13 G-code..............................7-49 7.13.1 G00 Point-to-point positioning at the high-speed feed rate ............
Page 17 7.16.3 Program control function (WHILE, DO, END statements)............7-134 7.16.4 Four fundamental operators, assignment operator (+, -, *, /, MOD, =)........7-136 7.16.5 Trigonometric functions (SIN, COS, TAN, ASIN, ACOS, ATAN)..........7-138 7.16.6 Real number to BIN value conversion (INT)................7-139 7.16.7 BIN value to real number conversion (FLT)................
Page 18 8.5.9 Home position return by the dog cradle type ................... 8-35 8.5.10 Home position return by the stopper type 1 ................... 8-39 8.5.11 Home position return by the stopper type 2 ................... 8-41 8.5.12 Home position return by the limit switch combined type..............8-43 8.5.13 Home position return retry function ....................
Page 19 13. SERVO PARAMETER READING FUNCTION 13- 1 to 13- 2 13.1 About The Servo Parameter Read Request Devices................. 13- 1 13.2 Operating Procedure of The Servo Parameter Reading Function............. 13- 2 APPENDICES APP- 1 to APP-71 APPENDIX 1 Multiple CPU Error Codes....................APP- 1 APPENDIX 1.1 Self-diagnosis error code ....................APP- 1 APPENDIX 1.2 Release of self-diagnosis error ...................APP- 6 APPENDIX 2 Error Codes Stored Using The Motion CPU..............APP- 7...
Page 20: About Manuals
(1XB780) 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) IB-0300042 This manual explains the Multiple CPU system configuration, performance specifications, functions, (1XB781) programming, error codes and others of the Motion SFC.
Page 21 (2) PLC Manual Number Manual Name (Model Code) QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains the specifications of the QCPU modules, power supply modules, base modules, SH-080483ENG (13JR73) 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 SH-080484ENG...
Page 22: Overview
"SW5RN-SV43Q " for Motion CPU module(Q173CPU(N)/Q172CPU(N)). In this manual, the following abbreviations are used. Generic term/Abbreviation Description Q173CPU(N)/Q172CPU(N) or Q173CPUN/Q172CPUN/Q173CPU/Q172CPU Motion CPU module Motion CPU (module) Motion CPU (A series) A273UHCPU/A173UHCPU/A172SHCPU Motion CPU module Q172LX Servo external signals interface module/ Q172LX/Q172EX/Q173PX...
Page 23 Item Reference Manual Motion CPU module/Motion unit Q173CPU(N)/Q172CPU(N) User’s Manual PLC CPU, peripheral devices for PLC program design, I/O Manual relevant to each module modules and intelligent function module Operation method for MT Developer...
Page 24: Features
The Motion CPU module for the number of axis to be used can be selected. Q173CPU(N) : Up to 32 axes Q172CPU(N) : Up to 8 axes The PLC CPU module for the program capacity to be used can be selected.
Page 25 1 OVERVIEW (3) Connection between the Motion controller and servo amplifier with high speed serial communication by SSCNET High speed serial communication by SSCNET connect between the Motion controller and servo amplifier, and batch control the charge of servo parameter, servo monitor and test operation, etc.
Page 26: Positioning Control By The Motion Cpu
1.2.2 Positioning control by the Motion CPU The positioning control of up to 32 axes in Q173CPU(N) and up to 8 axes in Q172CPU(N) is possible in the Motion CPU. There are following four functions as controls toward the servo amplifier/servomotor.
Page 27 1 OVERVIEW [Execution of the Motion program start (S(P).SVST instruction)] Positioning control is executed by starting the Motion program (axis designation program) specified with S(P).SVST instruction of the PLC CPU in the Motion CPU. An overview of the starting method using the Motion program is shown below. Multiple CPU control system PLC CPU PLC program .
Page 28 1 OVERVIEW Motion CPU Create and correct using a peripheral Motion program ..device (Note-1) Motion program No.15 O0015; (Program No. specified with the S(P).SVST instruction.) SET #M2042 All axes servo ON command turns on. PTP positioning instruction by high-speed feed speed N10 G00 X100.
Page 29 1 OVERVIEW [Execution of the JOG operation] JOG operation of specified axis is executed using the Motion program in the Motion CPU. JOG operation can also be executed by controlling the JOG dedicated device of specified axis. An overview of JOG operation is shown below. Motion CPU control system Motion program .
Page 30 1 OVERVIEW Positioning control parameter ..Set and correct using a peripheral device (Note-1) System settings System data such as axis allocations Fixed data by the mechanical system, etc. Fixed parameters Data by the specifications of the connected Servo parameters servo amplifier Data required for the acceleration, deceleration...
Page 31 1 OVERVIEW [Executing Manual Pulse Generator Operation] When the positioning control is executed by the manual pulse generator connected to the Q173PX, manual pulse generator operation must be enabled using the Motion program. An overview of manual pulse generator operation is shown below. Motion CPU control system Motion program No.
Page 32 1 OVERVIEW Positioning control parameter ..Set and correct using a peripheral device (Note-1) System settings System data such as axis allocations Fixed data by the mechanical system, etc. Fixed parameters Data by the specifications of the connected Servo parameters servo amplifier Data required for the acceleration, deceleration...
Page 33 1 OVERVIEW (1) Positioning control parameters There are following seven types as positioning control parameters. Parameter data can be set and corrected interactively using a peripheral device. Item Description Reference System Multiple system settings, Motion modules and axis No., etc. Section settings are set.
Page 34: Basic Specifications Of Q173Cpu(N)/Q172Cpu(N)
1 OVERVIEW 1.2.3 Basic specifications of Q173CPU(N)/Q172CPU(N) (1) Module specifications Item Q173CPUN Q173CPU Q172CPUN Q172CPU Internal current consumption 1.25 1.75 1.14 1.62 (5VDC) [A] 98(3.86)(H) 118(4.65)(H) 98(3.86)(H) 118(4.65)(H) Exterior dimensions 27.4(1.08)(W) 27.4(1.08)(W) 27.4(1.08)(W) 27.4(1.08)(W) [mm (inch)] 114.3(4.50)(D) 89.3(3.52)(D) 114.3(4.50)(D) 89.3(3.52)(D) Mass [kg] 0.23...
Page 35 1 OVERVIEW Motion control specifications (continued) Item Q173CPUN Q173CPU Q172CPUN Q172CPU Programming language Dedicated instruction (EIA language) Motion program capacity 248k bytes Number of programs 1024 Number of simultaneous Axis designation program : 32 Axis designation program : 8 start programs...
Page 36 1 OVERVIEW (b) Motion program performance specifications Item Q173CPU(N)/Q172CPU(N) Total of program files 248k bytes Program capacity Number of programs Up to 1024 (No. 1 to 1024) Unary operation, Addition and subtraction operation, Arithmetic operation Multiplication and division operation, Remainder operation...
Page 37: Differences Between Q173Cpu(N)/Q172Cpu(N) And A173Uhcpu/A172Shcpun
1 OVERVIEW 1.2.4 Differences between Q173CPU(N)/Q172CPU(N) and A173UHCPU/A172SHCPUN (1) Differences between Q173CPU(N)/Q172CPU(N) and A173UHCPU/A172SHCPUN Item Q173CPU(N) Q172CPU(N) A173UHCPU A172SHCPUN Number of control axes Up to 32 axes Up to 8 axes Up to 32 axes Up to 8 axes 0.88ms/1 to 4 axes 1.77ms/5 to 12 axes...
Page 38 1 OVERVIEW Differences Between Q173CPU(N)/Q172CPU(N) and A173UHCPU/A172SHCPUN (continued) Item Q173CPU(N) Q172CPU(N) A173UHCPU A172SHCPUN Internal relays (M) Total M+L(S) : Total M+L(S) : Total M+L : 8192 points 8192 points 2048 points Latch relays (L) Link relays (B) 8192 points 1024 points...
Page 39: Precautions At The Program Appropriation (Motion Cpu A Series Q173Cpu(N)/Q172Cpu(N))
(Note) : The devices of "D, W, M, Y, B, #" can be used for automatic refresh. (b) The motion register "#" is added newly in Q173CPU(N)/Q172CPU(N). The motion register is usually shown by "#", however, it is shown "#@" in the Motion program.
Page 40 Although the emergency stop input is executed with the CPU module or PLC base unit of the terminal, there is not this terminal input in Q173CPU(N)/Q172CPU(N) and the forced stop signal is used as the same function. The forced stop signal can set an optional bit device with the parameter.
Page 41: Hardware Configuration
1 OVERVIEW 1.3 Hardware Configuration This section describes the system configuration of the Q173CPU(N)/Q172CPU(N), cautions on use of the system, and configured equipment. 1.3.1 Motion system configuration The outline of the equipment configuration, configuration with peripheral devices, and system configuration in the Q173CPU(N)/Q172CPU(N) system is described below.
Page 42 1 OVERVIEW (2) Equipment configuration in Q172CPU(N) system Extension of the Q series module (Note-2) Power supply module/ Motion module Q CPU/I/O module/Intelligent (Q172LX, Q172EX, Q173PX) function module of the Q series (Note-2) Motion module CPU base unit Extension cable...
Page 43 1 OVERVIEW (3) Peripheral device configuration for the Q173CPU(N)/Q172CPU(N) The following (a)(b)(c) can be used. (a) RS-232 configuration (b) USB configuration (c) SSCNET configuration Motion CPU module Motion CPU module Motion CPU module (Q173CPU(N), Q172CPU(N)) (Q173CPU(N), Q172CPU(N)) (Q173CPU(N), Q172CPU(N)) SSC I/F communication cable...
Page 44: Q173Cpu(N) System Overall Configuration
1 OVERVIEW 1.3.2 Q173CPU(N) System overall configuration Motion CPU control module CPU base PLC CPU/ unit Motion CPU (Q3 B) Q173 Q6 AD Qn(H) Q172LX Q172EX Q172PX QI60 Q61P-A CPU(N) Q6 DA I/O module of the Q Series or Special function module 100/200VAC (Note-1) (Note-2)
Page 45 1 OVERVIEW CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system. The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor.
Page 46: Q172Cpu(N) System Overall Configuration
1 OVERVIEW 1.3.3 Q172CPU(N) System overall configuration Motion CPU control module CPU base PLC CPU/ unit Motion CPU (Q3 B) Q172 Q6 AD Qn(H) Q172LX Q172EX Q172PX QI60 Q61P-A CPU(N) Q6 DA I/O module of the Q Series or Special function module...
Page 47 1 OVERVIEW CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system. The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor.
Page 48: Software Packages
1 OVERVIEW 1.3.4 Software packages (1) Software packages (a) Operating system software packages Software package Application Q173CPU(N) Q172CPU(N) For machine tool peripheral SV43 SW5RN-SV43QA SW5RN-SV43QC (b) Integrated start-up support software package Part name Model name Details Conveyor assembly software : SW6RN-GSV13P...
Page 49 (a) Confirmation method in the operating system SOFTWARE inch PACKAGE 1) OS software TYPE 2) Software version MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED 3) OS software version 4) Serial number 5) Number of FD Example) When using the Q173CPU(N), SV43 and version A.
Page 50 The combination of each version and a function is shown blow. Operating CPU module version Programming Section system Function software software Q173CPU Q173CPUN Q172CPU Q172CPUN version version Chapter ROM operation — — ROM operation (For additional parameter — (Home position return parameter, etc.)) Vector inverter connectable —...
Page 51: Restrictions On Motion Systems
5 VDC output capacity of power supply module. (11) Motion modules (Q172LX, Q173PX) is to do selection whether to be necessary referring to the "3. DESIGN" of the "Q173CPU(N)/Q172CPU(N) User's Manual" for the system design. 1 - 30...
Page 52: Multiple Cpu System
1 OVERVIEW 1.4 Multiple CPU System 1.4.1 Overview (1) Multiple CPU System Multiple (up to 4 modules) PLC CPUs and Motion CPUs are installed to the CPU base unit, and each CPU controls the I/O modules and intelligent function modules of the CPU base unit/extension base unit slot by slot in the Multiple CPU system.
Page 53: Installation Of Plc Cpu And Motion Cpu
1 OVERVIEW 1.4.2 Installation of PLC CPU and Motion CPU Up to a total 4 PLC CPUs and Motion CPUs can be installed in the CPU base unit, in the four slots starting from the CPU slot (the slot located to the immediate right of the power supply module) to slot 2 in series.
Page 54: Precautions For Using Q Series I/O Modules And Intelligent Function Modules
• The function version of an intelligent function module can be checked on the rated plate of the intelligent function module or in the GX Developer's system monitor product information list. • Refer to the "Q173CPU(N)/Q172CPU(N) User's Manual" for the model name which can be controlled by Motion CPU. 1 - 33...
Page 55: Modules Subject To Installation Restrictions
(1) Modules subject to installation restrictions in the Motion CPU are shown below. Use within the limitations listed below. Model Maximum installable modules per CPU Description name Q173CPU(N) Q172CPU(N) Servo external signals Q172LX 4 modules 1 module interface module Manual pulse generator...
Page 56: Processing Time Of The Multiple Cpu System
1 OVERVIEW 1.4.5 Processing time of the Multiple CPU system (1) Processing of the Multiple CPU system Each CPU module of the Multiple CPU system accesses to the modules controlled by self CPU with which the CPU base unit or extension base unit is installed and the other CPU through the bus (base unit patterns and extension cables).
Page 57: How To Reset The Multiple Cpu System
1 OVERVIEW 1.4.6 How to reset the Multiple CPU system With the Multiple CPU system, resetting the PLC CPU of CPU No.1 resets the entire system. When the PLC CPU of CPU No.1 is reset, the CPUs, I/O modules and intelligent function modules of all CPUs will be reset.
Page 58: Processing At A Cpu Down Error Occurrence By A Plc Cpu Or Q173Cpu(N)/Q172Cpu(N)
(2) When CPU No.2 to 4 generated a CPU DOWN error If the PLC CPU, Q173CPU(N) or Q172CPU(N) of CPU No. 2 to 4 generated a CPU DOWN error, the entire system may or may not stop depending on the setting of "Operation Mode"...
Page 59 (a) When a CPU DOWN error occurs in the CPU of the CPU in a checked "Stop all CPUs upon error in CPU No. n" item, all PLC CPU/Q173CPU(N)/ Q172CPU(N) of the other CPUs will generate a MULTI CPU DOWN error (error code: 7000) and the Multiple CPU system will stop.
Page 60 1) Check the CPU generating the error and cause of the error using the PC diagnostic function of GX Developer. 2) If the error occurred in a Q173CPU(N)/Q172CPU(N) and the error code is 10000, check the cause of the error using error list of SW6RN- GSV43P.
Page 61: System Settings
External battery used unused. backed up with an external battery. Refer to "Q173CPU(N)/Q172CPU(N) User’s Manual" for external battery. (Note) : The forced stop can also be executed by the forced stop terminal of the servo amplifier besides the forced stop input setting.
Page 62: Common System Parameters
1 OVERVIEW 1.5.2 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 onto 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 63 1 OVERVIEW (2) Parameters common throughout the Multiple CPU system In the Motion CPU, at the initial setting 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), so the parameters show below must be set identically between Motion CPUs and the PLC CPU of CPU No.1.
Page 64 1 OVERVIEW (a) Multiple CPU settings Set the following items identically in Multiple CPU Settings (Motion CPU setting) in SW6RN-GSV43P and in Multiple CPU Settings (PLC CPU setting) in GX Developer. • Number of CPU modules • Operation mode when a CPU stop error occurred •...
Page 65 1 OVERVIEW (b) Motion slot settings Set the modules controlled by the self CPU by the Motion Slot Settings (Motion CPU setting) in SW6RN-GSV43P. In GX Developer, set the slot for Motion CPU control as the CPU number of the Motion CPU in I/O Assignment Settings (PLC CPU setting).
Page 66 1 OVERVIEW (c) Base settings Set the total number of bases and number of slots in each base identically between Base Settings (Motion CPU setting) in SW6RN-GSV43P and I/O Assignment Settings (PLC CPU setting) in GX Developer. In GX Developer, the detailed settings may be omitted by setting the base mode "Automatic".
Page 67 1 OVERVIEW 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 68: Individual Parameters
1 OVERVIEW 1.5.3 Individual parameters (1) Basic system settings The following explains each item to be set in Basic System Settings. (a) Operation cycle setting 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 0.8[ms]/1.7[ms]/3.5[ms]/7.1[ms]/14.2[ms]/Automatic setting.
Page 69 1 OVERVIEW (b) Operation setting upon STOP Set the condition in which the "PLC ready" flag (M2000) turns ON. Select one of the following: 1) M2000 ON upon switching (STOP RUN) (default) Condition in which the M2000 turns from OFF to ON •...
Page 70 The setting items for each module are shown below. Initial Number of usable modules Module name Item Setting range value Q173CPU(N) Q172CPU(N) Set the number of axes for which 1 to 8 External signal setting the 8 axes input is used. axes Servo...
Page 71 1 OVERVIEW (3) System setting errors Motion CPUs generate a system configuration error under the following conditions: Error code Operation at Error name Error cause Check timing error occurrence (Note-1) • The slot set in system settings is vacant or a different LAY ERROR (SL module is installed.
Page 72: Assignment Of I/O No
1 OVERVIEW 1.6 Assignment of I/O No. I/O No. used in the Multiple CPU system include those used by the Motion CPU to communicate with I/O modules/intelligent function modules and those used in the communication between the PLC CPU and the Motion CPU. The following explains each I/O No.
Page 73 1 OVERVIEW (2) Assignment of I/O No. to the Motion CPU control module Mitsubishi recommends that I/O No. assignment be set as common consecutive No. throughout all CPUs. However, the I/O No. of the Motion CPUs control input modules, output modules and input/output composite modules may also be set independently of the I/O No.
Page 74: I/O No. Of Plc Cpu And Q173Cpu(N)/Q172Cpu(N)
1 OVERVIEW 1.6.2 I/O No. of PLC CPU and Q173CPU(N)/Q172CPU(N) In the Multiple CPU system, I/O No. is assigned to the PLC CPU/Motion CPU to enable communication between the PLC CPU and Motion CPU using the following instructions: • Multiple CPU dedicated instructions •...
Page 75: Setting I/O No
1 OVERVIEW 1.6.3 Setting I/O No. The procedure for the I/O No. setting of the Motion CPU in system settings of SW6RN- GSV43P is shown below. In the Motion CPU, by setting a module used in each CPU base or extension base slot in system settings, the control CPU of the applicable slot is assigned as the self CPU.
Page 76: Starting Up The Multiple Cpu System
• Refer to Section 3.1 for automatic refresh function of device data. Secure the refresh points continuously for automatic refresh of device data. Module select • Refer to the "Q173CPU(N)/Q172CPU(N) User's Manual" for module select. Select modules to be used in the Multiple CPU system. PLC CPU Motion CPU •...
Page 77 (Note) : Installation of the operating system software is required to the Motion CPU module before start of the Multiple CPU system. Refer to Chapter 5 of the "Q173CPU(N)/Q172CPU(N) User's Manual" for installation of the Motion CPU operating system software.
Page 78: Communication Between The Plc Cpu And The Motion Cpu In The Multiple Cpu System
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 3. COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM The following tasks can be performed between the PLC CPU and the Motion CPU in the Multiple CPU system.
Page 79 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM Processing details of CPU No.2 (Motion CPU) at main cycle processing. 2) : Data of transmitting devices B20 to B3F for CPU No.2 is transferred to the automatic refresh area of shared memory in the self CPU.
Page 80 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM (2) Automatic refresh settings 1 (Automatic setting) (a) When executing the automatic refresh function of shared CPU memory, set the number of each CPU's transmitting points and devices in which data is to be stored using Multiple CPU Settings of System Settings.
Page 81 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 4) The shared CPU memory to be occupied during execution of the automatic refresh function covers all areas corresponding to settings 1 to 4. When the number of transmitting points is set, the first and last addresses of the shared CPU memory to be used are indicated in hexadecimals.
Page 82 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 2) Set the CPU-side device as follows. • Settings 1 to 4 may use different devices. If the device ranges do not overlap, the same device may be used for settings 1 to 4.
Page 83 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM • The devices in settings 1 to 4 can be set individually for each CPU. For example, you may set link relay for CPU No.1 and internal relay for CPU No.2.
Page 84 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 3) The block diagram below illustrates the automatic refresh operation over four ranges of setting 1: link relay (B), setting 2: link register (W), setting 3: data register (D), and setting 4: internal relay (M).
Page 85 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM (3) Automatic refresh settings 2 (Manual setting) Refer to Section 1.3.4(4) for the applicable version of Motion CPU and the software. (a) When the automatic refresh setting (Manual setting) of Motion CPU is used, there are the following advantages.
Page 86 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 5) "DUMMY" setting can be set to the first device column B of the automatic refresh setting. ("DUMMY" setting cannot be set to the self CPU.) "DUMMY"...
Page 87 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM (c) CPU-side device The following devices can be used for automatic refresh. (Other devices cannot be set in SW6RN-GSV43P.) Settable device Restriction Data resister (D) Link resister (W) None Motion resister (#)
Page 88 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM [Dummy setting] Usually, the automatic refresh setting is executed between PLC CPU and Motion CPU for the instructions to each Motion CPU and the monitor of a state by the PLC CPU at the time of operation.
Page 89 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM (4) The layout example of automatic refresh setting The layout example of automatic refresh when Read/Write does a Motion dedicated device in the Motion CPU with PLC CPU is shown below. •...
Page 90 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 1) PLC CPU (1 module) + Motion CPU (1 module) The outline operation and the automatic refresh setting are shown below. CPU No.1 (PLC CPU) CPU No.2 (Motion CPU) Internal relays Internal relays...
Page 91 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM Automatic refresh setting 3 • PLC CPU (CPU No.1) Motion CPU (CPU No.2) Send range for each CPU CPU side device Send range for each CPU CPU side device CPU share memory G Dev.
Page 92 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 1) PLC CPU (1 module) + Motion CPU (2 modules) The outline operation and the automatic refresh setting are as follows. CPU No.1 (PLC CPU) CPU No.2 (Motion CPU) Internal relays Internal relays...
Page 93 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM Automatic refresh setting 1 • PLC CPU (CPU No.1) Motion CPU (CPU No.2) Send range for each CPU CPU side device Send range for each CPU CPU side device CPU share memory G Dev.
Page 94 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM Automatic refresh setting 1 • Motion CPU (CPU No.3) Send range for each CPU CPU side device CPU share memory G Dev. starting Point Start Start No.1 No.2...
Page 95 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM POINT In the case of the combination "PLC CPU (1 module) + Motion CPU (3 modules)" with SV43, make all the devices of all the CPUs refresh as mentioned above because the setting that Read/Write is made of the PLC CPU can not be executed.
Page 96: Shared Cpu Memory
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 3.2 Shared CPU Memory Shared CPU memory is used to transfer data between the CPUs in the Multiple CPU system and has a capacity of 4096 words from 0H to FFFH. Shared CPU memory has four areas: "self CPU operation data area", "system area", "automatic refresh area"...
Page 97 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM (1) Self CPU operation data area (0H to 1FFH) (a) The following data of the self CPU are stored in the Multiple CPU system, Table 3.1 Table of Contents Stored in the Self CPU Operation Data Area Shared Corresponding Detailed explanation...
Page 98 The start accept flag is stored by the 1 to 32 axis, each bit. (As for a bit's actually being set Q173CPU(N) : J1 to J32/ 204H(516) Start accept flag (Axis1 to 16) Q172CPU(N) : J1 to J8.) OFF : Start accept flag usable ON : Start accept flag disable J2 J1...
Page 99 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM (3) Automatic refresh area This area is used at the automatic refresh of the Multiple CPU system. This area cannot be written using S. TO instruction/read using FROM instruction of the PLC CPU and written using MULTW instruction/read using MULTR instruction of the Motion CPU.
Page 100: Motion Dedicated Plc Instruction
4 MOTION DEDICATED PLC INSTRUCTION 4. MOTION DEDICATED PLC INSTRUCTION 4.1 Motion Dedicated PLC Instruction (1) The Motion dedicated PLC instruction which can be executed toward the Motion CPU which installed a SV43 operating system software is shown below. Instruction Description S(P).SFCS Start request of the specified Motion program (Control program)
Page 101 4 MOTION DEDICATED PLC INSTRUCTION Shared CPU memory address Example of the reading Description ( ) is decimal (When target is the CPU No.2) address The lowest rank bit (30H(48)) toward executing instruction 30H(48) U3E1/G48.0 from CPU No.1. The lowest rank bit (31H(49)) toward executing instruction 31H(49) U3E1/G49.0 from CPU No.2.
Page 102 4 MOTION DEDICATED PLC INSTRUCTION (d) Use a flag in the shared CPU memory which correspond with each instruction not to execute multiple instructions to the same shaft of the Motion CPU of same CPU No. for the interlock condition. (Program example 1) (e) S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGVS(P).CHGT/S(P).DDWR/ S(P).DDRD instructions cannot be executed simultaneously.
Page 103 4 MOTION DEDICATED PLC INSTRUCTION <Program example 2> Program which executes directly multiple Motion dedicated PLC instructions because one contact-point turns on. M1001 M1001 To self CPU high Start accept speed interrupt flag of the Axis 1 accept flag from (CPU No.2) CPU1 U3E1\G516.0...
Page 104 4 MOTION DEDICATED PLC INSTRUCTION POINT Access from the PLC CPU is processed before the communication processing of the Motion CPU. Therefore, if the Motion dedicated PLC instruction is frequently performed from the PLC CPU, the scan time of the PLC CPU is not only prolonged, but delay will arise in the communication processing of the Motion CPU.
Page 105 4 MOTION DEDICATED PLC INSTRUCTION (3) Complete status The error code is stored in the complete status at abnormal completion of the Multiple CPU dedicated instruction. The error code which is stored is shown below. (The error code marked " * " is dedicated with the Motion CPU.) Complete status Corrective Error factor...
Page 106 The start accept flag is stored by the 1 to 32 axis, each bit. (As for a bit's actually being set Q173CPU(N) : J1 to J32/ 204H(516) Start accept flag (Axis1 to 16) Q172CPU(N) : J1 to J8.) OFF : Start accept flag usable ON : Start accept flag disable 204H(516) address...
Page 107: Motion Program (Control Program) Start Request From The Plc Cpu To The Motion Cpu:s(P).Sfcs (Plc Instruction: S(P).Sfcs )
4 MOTION DEDICATED PLC INSTRUCTION 4.2 Motion program (Control program) Start Request from The PLC CPU to The Motion CPU:S(P).SFCS (PLC instruction: S(P).SFCS ) • Motion program (Control program) start request instruction from the PLC CPU to the Motion CPU (S(P).SFCS) Usable devices Internal devices MELSECNET/10...
Page 108 4 MOTION DEDICATED PLC INSTRUCTION Set the control program No. to start in (n2). Usable range is shown below. (1) The control program No. is set The specified control program No. is started. In this case, control program is executed from the first block. (n2) usable range 1 to 1024 (2) The sequence No.
Page 109 4 MOTION DEDICATED PLC INSTRUCTION [Operation of the self CPU at execution of S(P).SFCS instruction] PLC program S(P).SFCS execution S(P) . SFCS instruction To self CPU high speed interrupt accept flag from CPUn Motion program Motion program execution (Control program) Instruction start accept complete device (D1+0)
Page 110 4 MOTION DEDICATED PLC INSTRUCTION [Errors] The abnormal completion in the case shown below, and the error code is stored in the device specified with the complete status storing device (D2). (Note) Complete status Corrective Error factor (Error code)(H) action The specified device cannot be used ih the Motion CPU.
Page 111 4 MOTION DEDICATED PLC INSTRUCTION [Program example] (1) This program starts the Motion program (Control program) No.10 of the Motion CPU No.4. SP.SFCS H3E3 Normal complete program Abnormal complete program (2) This program starts the Motion program (Control program) No.30 and sequence No.200 of the Motion CPU No.4 by indirect setting.
Page 112: Motion Program (Axis Designation Program) Start Request From The Plc Cpu To The Motion Cpu:s(P).Svst (Plc Instruction: S(P).Svst )
(Note-1) : Motion CPU cannot used CPU No.1 in the Multiple CPU configuration. (Note-2) : "n" shows the numerical value correspond to axis No.. Q173CPU(N) : Axis No.1 to No.32 (n=1 to 32) / Q172CPU(N) : Axis No.1 to No.8 (n=1 to 8) 4 - 13...
Page 113 4 MOTION DEDICATED PLC INSTRUCTION [Description] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU. (2) Request to start the Motion program (Axis designation program) specified with (S2).
Page 114 The starting axis set as (S1) sets J + Axis No. in a character sequence " ". (S1) usable range Q173CPU(N) 1 to 32 Q172CPU(N) 1 to 8 Up to 8 axes can be set. If multiple axes are set, it sets without dividing in a space etc,.
Page 115 ( ) is decimal address The start accept flag is stored by the 1 to 32 axis, each bit. (As for a bit's actually being set Q173CPU(N) : J1 to J32/ Q172CPU(N) : J1 to J8.) OFF : Start accept flag usable 204H(516)
Page 116 4 MOTION DEDICATED PLC INSTRUCTION [Errors] The abnormal completion in the case shown below, and the error code is stored in the device specified with the complete status storing device (D2). Complete status (Note) Error factor Corrective action (Error code)(H) The specified device cannot be used in the Motion 4C00 CPU.
Page 117 4 MOTION DEDICATED PLC INSTRUCTION [Program example] (1) Program which requests to start the Motion program (Axis designation program) No.10 toward axis No.1 and No.2 of the Motion CPU No.4. from the PLC CPU No.1. To self CPU Start accept flag Start accept flag high speed of the axis No.1...
Page 118: Home Position Return Instruction From The Plc Cpu To The Motion Cpu: S(P).Chga (Plc Instruction: S(P).Chga )
(Note-1) : Motion CPU cannot used CPU No.1 in the Multiple CPU configuration. (Note-2) : "n" shows the numerical value which correspond to axis No.. Q173CPU(N) : Axis No.1 to No.32 (n=1 to 32) / Q172CPU(N) : Axis No.1 to No.8 (n=1 to 8) 4 - 19...
Page 119 4 MOTION DEDICATED PLC INSTRUCTION [Description] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU. (2) Execute the home position return of axis (stopped axis) No. specified with (S1) . (3) S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGV/S(P).CHGT/S(P).DDRD/ S(P).DDWR cannot be executed simultaneously toward the CPU executing S(P).CHGA instruction.
Page 120 ( ) is decimal address The start accept flag is stored by the 1 to 32 axis, each bit. (As for a bit's actually being set Q173CPU(N) : J1 to J32/ Q172CPU(N) : J1 to J8.) OFF : Start accept flag usable 204H(516)
Page 121 4 MOTION DEDICATED PLC INSTRUCTION [Errors] The abnormal completion in the case shown below, and the error code is stored in the device specified with the complete status storing device (D2). Complete status (Note) Error factor Corrective action (Error code)(H) The specified device cannot be used in the Motion 4C00 CPU.
Page 122 4 MOTION DEDICATED PLC INSTRUCTION [Program example] Program which execute the home position return of the axis No.1 of the Motion CPU (CPU No.4) from PLC CPU (CPU No.1). To self CPU Start accept flag of the axis No.1 high speed (CPU No.4) interrupt accept dummy...
Page 123: Speed Change Instruction From The Plc Cpu To The Motion Cpu: S(P).Chgv (Plc Instruction: S(P).Chgv )
(Note-1) : Motion CPU cannot used CPU No.1 in the Multiple CPU configuration. (Note-2) : "n" shows the numerical value which correspond to axis No.. Q173CPU(N) : Axis No.1 to No.32 (n=1 to 32) / Q172CPU(N) : Axis No.1 to No.8 (n=1 to 8) 4 - 24...
Page 124 4 MOTION DEDICATED PLC INSTRUCTION [Description] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU. (2) The speed change is executed of the axis specified with (S1) during positioning or JOG operating.
Page 125 ( ) is decimal address The start accept flag is stored by the 1 to 32 axis, each bit. (As for a bit's actually being set Q173CPU(N) : J1 to J32/ Q172CPU(N) : J1 to J8.) OFF : Start accept usable 206H(518)
Page 126 4 MOTION DEDICATED PLC INSTRUCTION [Errors] The abnormal completion in the case shown below, and the error code is stored in the device specified with the complete status storing device (D2). Complete status (Note) Error factor Corrective action (Error code)(H) The specified device cannot be used in the Motion 4C00 CPU.
Page 127 4 MOTION DEDICATED PLC INSTRUCTION Moving Backward during Positioning When a speed change is made to a negative speed by the CHGV instruction, the travel direction can be changed to the direction opposite to the intended positioning direction. Operation for each instruction is as follows. G-code Instruction Operation G28 (High-speed home position return)
Page 128 4 MOTION DEDICATED PLC INSTRUCTION (3) When the axis is standing by at the return position (a) Signal states • Start accept (M2001 + 20n) (Remains unchanged from before execution of CHGV) • Positioning start completion (M2400 + 20n) (Remains unchanged from before execution of CHGV) •...
Page 129 4 MOTION DEDICATED PLC INSTRUCTION [Operation Example under G01] [ Motion program ] Locus O10; Y-axis G90; N1 G01 X10000. Y0 F1000. ; N2 Y10000. ; N3 X10000. ; M02; Negative speed change Starting point X-axis Stat request SVST Start accept M2001+n Speed change request CHGV -1000...
Page 130 4 MOTION DEDICATED PLC INSTRUCTION (4) In the above example, the axis returns to P2 even if the axis passes through P2 during a speed change made to negative speed immediately before P2. Y-axis Start point X-axis [Program example] Program which changes the positioning speed of the axis No.1 of the Motion CPU (CPU No.4) from PLC CPU (CPU No.1) to 1000.
Page 131: Torque Limit Value Change Request Instruction From The Plc Cpu To The Motion Cpu
(Note-1) : Motion CPU cannot used CPU No.1 in the Multiple CPU configuration. (Note-2) : "n" shows the numerical value which correspond to axis No.. Q173CPU(N) : Axis No.1 to No.32 (n=1 to 32) / Q172CPU(N) : Axis No.1 to No.8 (n=1 to 8) 4 - 32...
Page 132 " ". (S1) usable range Q173CPU(N) 1 to 32 Q172CPU(N) 1 to 8 The number of axes which can set are only 1 axis. The axis No. set in the system setting (Refer to Section 6.1) is used as the axis No.
Page 133 4 MOTION DEDICATED PLC INSTRUCTION [Errors] The abnormal completion in the case shown below, and the error code is stored in the device specified with the complete status storing device (D2). Complete status (Note) Error factor Corrective action (Error code)(H) The specified device cannot be used in the Motion 4C00 CPU.
Page 134: Write From The Plc Cpu To The Motion Cpu: S(P).Ddwr (Plc Instruction: S(P).Ddwr )
4 MOTION DEDICATED PLC INSTRUCTION 4.7 Write from The PLC CPU to The Motion CPU: S(P).DDWR (PLC instruction: S(P) .DDWR • Write instruction from the PLC CPU to the Motion CPU (S(P).DDWR) Usable devices Internal devices MELSECNET/10 Special Indirectly Index File Constant (System, User)
Page 135 4 MOTION DEDICATED PLC INSTRUCTION [Controls] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU. A part for the number of writing data of the control data specified with (S1) of data since the device specified with (S2) of the self CPU are stored to since the word device specified with (D1) of the target CPU (n1) in the Multiple CPU system.
Page 136 4 MOTION DEDICATED PLC INSTRUCTION [Operation of the self CPU at execution of S(P).DDWR instruction] First S(P).DDWR Second S(P).DDWR instruction accept instruction accept To self CPU high speed interrupt accept flag from CPUn (Instruction accept destination buffer memory) S(P).DDWR instruction (First) First S(P).DDWR instruction complete device...
Page 137 4 MOTION DEDICATED PLC INSTRUCTION The error flag (SM0) is turned on an operation error in the case shown below, and an error code is stored in SD0. Error code (Note) Error factor Corrective action The CPU No. to be set by "(First I/O NO. of the target 2110 CPU)/16"...
Page 138: Read From The Devices Of The Motion Cpu: S(P).Ddrd (Plc Instruction: S(P).Ddrd )
4 MOTION DEDICATED PLC INSTRUCTION 4.8 Read from The Devices of The Motion CPU: S(P).DDRD (PLC instruction: S(P).DDRD ) • Read instruction from the devices of the Motion CPU : S(P).DDRD Usable devices Internal devices MELSECNET/10 Special Indirectly Index File Constant (System, User) direct J \...
Page 139 4 MOTION DEDICATED PLC INSTRUCTION [Control] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU. A part for the number of reading data of the control data specified with (S1) of data since the device specified with (S2) in the target CPU (n1) is stored to since the word device specified with (D1) of the self CPU in the Multiple CPU system.
Page 140 4 MOTION DEDICATED PLC INSTRUCTION [Operation of the self CPU at execution of S(P).DDRD instruction] First S(P).DDRD Second S(P).DDRD instruction accept instruction accept To self CPU high speed interrupt accept flag from CPUn (Instruction accept destination buffer memory) S(P).DDRD instruction (First) First S(P).DDRD instruction complete device...
Page 141 4 MOTION DEDICATED PLC INSTRUCTION The error flag (SM0) is turned on an operation error in the case shown below, and an error code is stored in SD0. (Note) Error code Error factor Corrective action The CPU No. to be set by "(First I/O NO. of the target 2110 CPU)/16"...
Page 142: Positioning Dedicated Signals
5 POSITIONING DEDICATED SIGNALS 5. 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.
Page 143: Internal Relays
Motion CPU for command signal with the positioning control. The operation cycle of the Motion CPU is shown below. Item Q173CPU(N) Q172CPU(N) Number of control axes Up to 32 axes Up to 8 axes 0.88[ms] / 1 to 4 axes Operation cycle 1.77[ms] / 5 to 12 axes...
Page 144 M2960 to M2979 M2980 to M2999 M3000 to M3019 M3020 to M3039 (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). 5 - 3...
Page 145 M3760 to M3779 M3780 to M3799 M3800 to M3819 M3820 to M3839 (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). 5 - 4...
Page 146 M4310 to M4319 (Note-1): At single block mode, only M4009 is used single block processing signal. (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).
Page 147 (Note-1): M4408 (single block mode signal) and M4409 (single block start signal) are used in the single block operation. M4418 (axis interlock valid/invalid) is used in the axis interlock (forward)/(reverse). (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).
Page 148 5 POSITIONING DEDICATED SIGNALS (6) Common device list Device Signal Remark Device Signal Remark Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle direction (Note-4) direction (Note-4) Command Status M2054 Operation cycle over flag Operation cycle M2000 PLC ready flag Main cycle signal M3072...
Page 149 5 POSITIONING DEDICATED SIGNALS Common device list (Continued) Remark Remark Device Signal Device Signal Fetch cycle Fetch cycle Signal name Refresh cycle Signal name Refresh cycle (Note-4) (Note-4) direction direction M2119 M2180 M2120 M2181 M2121 M2182 M2122 M2183 Unusable — —...
Page 150 5 POSITIONING DEDICATED SIGNALS Common device list (Continued) Remark Remark Device Signal Device Signal Fetch cycle Fetch cycle Signal name Refresh cycle Signal name Refresh cycle (Note-4) (Note-4) direction direction M2240 Axis 1 M2280 M2241 Axis 2 M2281 M2242 Axis 3 M2282 M2243 Axis 4 M2283...
Page 151 Manual pulse generator 3 enable flag M2053 D757 (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): Handling of D704 to D708 and D755 to D757 registers...
Page 152 5 POSITIONING DEDICATED SIGNALS (7) Special relay allocated device list (Status) (Note) Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark M2320 Fuse blown detection M9000 M2321 AC/DC DOWN detection M9005 M2322 Battery low M9006 Error occurrence M2323 Battery low latch M9007 M2324...
Page 153 5 POSITIONING DEDICATED SIGNALS (8) Common device list (Command signal) Remark Device No. Signal name Refresh cycle Fetch cycle Signal direction (Note-1) , (Note-2) Command Main cycle M3072 PLC ready flag M2000 signal M3073 Unusable — — — — Operation M3074 All axes servo ON command M2042...
Page 154: Axis Statuses
5 POSITIONING DEDICATED SIGNALS 5.1.1 Axis statuses (1) Positioning start complete signal (M2400+20n) (a) This signal turns on with the start completion for the positioning control of the axis specified with the Motion program (Axis designation program). The Motion program (Axis designation program) is started by the following instructions.
Page 155 • Calculate as follows for the device No. corresponding to each axis. (Example) M3200+20n (Stop command)=M3200+20 31=M3820 M3215+20n (Servo OFF) =M3215+20 31=M3835 • The range (n=0 to 7) of axis No.1 to 8 is valid in the Q172CPU(N). 5 - 14...
Page 156 5 POSITIONING DEDICATED SIGNALS (2) Positioning complete signal (M2401+20n) (a) This signal turns on with the completion for the positioning control of the axis specified with the Motion program (Axis designation program). The Motion program (Axis designation program) is started by the following instructions.
Page 157 5 POSITIONING DEDICATED SIGNALS (3) In-position signal (M2402+20n) (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. [Motion program exapmle] O0001;...
Page 158 5 POSITIONING DEDICATED SIGNALS (4) Command in-position signal (M2403+20n) (a) This signal turns on when the absolute value of difference between the command position and machine value becomes below the "command in- position range" set in the fixed parameters. This signal turns off in the following cases. •...
Page 159 5 POSITIONING DEDICATED SIGNALS POINTS Example 1, 2 are shown below about in-position signal and command in-position signal of the interpolation axis. [Example1] Start accept flag PLC program of the axis No.2 To self CPU Start accept flag Start accept flag (CPU No.2) high sped of the axis No.1...
Page 160 5 POSITIONING DEDICATED SIGNALS POINTS [Example2] Start accept flag PLC program of the axis No.2 To self CPU Start accept flag Start accept flag (CPU No.2) high sped of the axis No.1 of the axis No.3 U3D1\G516.1 interrupt accept (CPU No.2) (CPU No.2) Start flag from CPU...
Page 161 5 POSITIONING DEDICATED SIGNALS (5) Zero pass signal (M2406+20n) 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.
Page 162 5 POSITIONING DEDICATED SIGNALS (b) This signal turns off when the servo error reset command (M3208+20n) turns on or the servo power supply turns on again. Servo error detection Servo error detection signal (M2408+20n) Servo error reset command (M3208+20n) REMARK (Note-1): Refer to APPENDIX 2.4 for the error codes on errors detected at the servo amplifier side.
Page 163 5 POSITIONING DEDICATED SIGNALS (9) Home position return complete signal (M2410+20n) (a) This signal turns on when the home position return operation has been completed normally. (b) This signal turns off at the positioning start, JOG operation start and manual pulse generator operation start.
Page 164 5 POSITIONING DEDICATED SIGNALS (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 STOP signal : OFF Q172LX Q172LX STOP STOP STOP STOP (13) DOG/CHANGE signal (M2414+20n) (a) This signal turns on/off by the proximity dog input (DOG) of the Q172LX at the home position return.
Page 165 5 POSITIONING DEDICATED SIGNALS (15) Torque limiting signal (M2416+20n) This signal turns on while torque limit is executed. The signal toward the torque limiting axis turns on. (16) M-code outputting signal (M2419+20n) (a) This signal turns on when M** in the Motion program is exexuted. This signal turns off when FIN signal (M3219+20n) turns on.
Page 166: Axis Command Signals
5 POSITIONING DEDICATED SIGNALS 5.1.2 Axis command signals (1) Stop command (M3200+20n) (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 is turning on cannot be started.) Stop command (M3200+20n)
Page 167 5 POSITIONING DEDICATED SIGNALS (2) Rapid stop command (M3201+20n) (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 which the rapid stop command turns on cannot be started.) Rapid stop command (M3201+20n) Rapid stop command...
Page 168 5 POSITIONING DEDICATED SIGNALS (3) Forward rotation JOG start command (M3202+20n)/Reverse rotation JOG start command (M3203+20n) (a) JOG operation to the address increase direction is executed while forward rotation JOG start command (M3202+20n) is turning on. When M3202+20n is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.
Page 169 5 POSITIONING DEDICATED SIGNALS (5) Error reset command (M3207+20n) (a) This command is used to clear the minor error code or 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...
Page 170 5 POSITIONING DEDICATED SIGNALS (6) Servo error reset command (M3208+20n) (a) 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...
Page 171 5 POSITIONING DEDICATED SIGNALS (7) External stop input disable at start command (M3209+20n) This signal 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.
Page 172 5 POSITIONING DEDICATED SIGNALS (9) FIN signal (M3219+20n) When an M-code is set in a point during positioning, transit to the next block does not execute until the FIN signal changes as follows: OFF OFF. Positioning to the next block begins after the FIN signal changes as above. [Motion program example] O0001;...
Page 173: Axis Statuses 2
5 POSITIONING DEDICATED SIGNALS 5.1.3 Axis statuses 2 (1) Automatic start signal (M4002+10n) When the axis used is specified in the SVST instruction, this signal turns on while the block of the specified Motion program is being executed. This signal turns off in the following cases.
Page 174 5 POSITIONING DEDICATED SIGNALS (2) Temporary stop signal (M4003+10n) (a) This signal turns on by the temporary stop command when the automatic start signal (M4002+10n) is turning on. When the re-start command (M4404+10n) is turned on during a temporary stop, it is resumed from the block where it had stopped. There is the following temporary stop command.
Page 175 5 POSITIONING DEDICATED SIGNALS (c) This signal turns on in the following case. • When the single block mode signal (M4408) is turned on. (d) This signal turns off in the following case. • When the single block start signal (M4409) is turned from off to on after the single block mode signal (M4408) is turned off.
Page 176: Axis Command Signals 2
5 POSITIONING DEDICATED SIGNALS 5.1.4 Axis command signals 2 (1) Temporary stop command (M4400+10n) (a) The Motion program at the positioning start (G00, G01, etc.) with the SVST instruction is stopped temporarily by the temporary stop command. (The Motion program is stopped temporarily if any of the temporary stop commands for the axis No.
Page 177 5 POSITIONING DEDICATED SIGNALS (2) Optional program stop command (M4401+10n) This signal is used to select whether a block stop is made in a block where "M01" exists. • ON..The block stop is made as the end of that block. •...
Page 178 5 POSITIONING DEDICATED SIGNALS (3) Optional block skip command (M4402+10n) This signal is used to select whether a block is executed or not in the first of block where "/" exists. • ON..The block is not executed and execution shifts to the next block. •...
Page 179 5 POSITIONING DEDICATED SIGNALS (4) Single block command (M4403+10n) This single block is ;used to set a single block before a program start. Refer to the single block mode signal (M4408) for the mode which executes a single block at any point during execution of program. By turning on the single block command before a program start, commands in program operation can be executed block by block.
Page 180 5 POSITIONING DEDICATED SIGNALS (5) Re-start command (M4404+10n) This command resumes block execution when it is turned on during a block stop by the M00, M01 or single block command or during a temporary stop during the temporary stop command. (This signal is valid for the Motion program only. It is invalid for a home position return, etc.) [Motion program example] O0001;...
Page 181 5 POSITIONING DEDICATED SIGNALS (7) Axis interlock (Forward)/(Reverse) (M4406+10n/M4407+10n) This signal is used to select whether an axis is made deceleration stop during positioning control. (a) The axis interlock (forward)/(reverse) command turns on while the axis interlock valid/invalid (M4418+10n) is turning on, a deceleration stop is executed in the applicable axis.
Page 182 5 POSITIONING DEDICATED SIGNALS [Motion program example] O0001; Program No. G90 G00 X200. ; Absolute value command PTP positioning (X200.) G01 X300. F-100. ; Constant-speed positioning (X300.) M02; Reset Motion program (Axis designation program) start Start accept flag (M2001+n) Temporary stop Axis interlock (forward) (M4406+10n) Temporary stop...
Page 183 5 POSITIONING DEDICATED SIGNALS POINTS [The reasons for the servomotor travels minutely when the axis interlock signal turns on at a Motion program start.] Since the travel direction is judged at the positioning control in the Motion CPU, only the first interpolation processing is executed. Therefore, the servomotor travels minutely.
Page 184 5 POSITIONING DEDICATED SIGNALS (8) Single block mode signal (M4408) (a) This signal validates a single block valid in the mode which executes a single block during execution of program. (b) The single block processing (M4009) turns on by turning on the single block mode.
Page 185: Common Devices
5 POSITIONING DEDICATED SIGNALS 5.1.5 Common devices POINTS (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.
Page 186 5 POSITIONING DEDICATED SIGNALS 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. Deceleration stop Positioning start PLC ready flag (M2000) PCPU READY complete flag PCPU READY complete flag (M9074)
Page 187 5 POSITIONING DEDICATED SIGNALS 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.) •...
Page 188 M2008 M2016 M2024 M2032 (Note): The range of axis No.1 to 8 is valid in the Q172CPU(N). (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.
Page 189 5 POSITIONING DEDICATED SIGNALS (5) 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 (M3215+20n) is off and there is no servo error. (b) Servo operation disable ..
Page 190 Defalut value is invalid(OFF). REMARK (Note): Refer to the "Q173CPU(N)/Q172CPU(N) User's Manual" for P1 to P3 connector of the Q173PX. (11) 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.
Page 191 M2063 M2071 M2079 M2087 M2064 M2072 M2080 M2088 M2065 M2073 M2081 M2089 M2066 M2074 M2082 M2090 M2067 M2075 M2083 M2091 M2068 M2076 M2084 M2092 (Note): The range of axis No.1 to 8 is valid in the Q172CPU(N). 5 - 50...
Page 192 M2130 M2138 M2146 M2154 M2131 M2139 M2147 M2155 M2132 M2140 M2148 M2156 M2133 M2141 M2149 M2157 M2134 M2142 M2150 M2158 M2135 M2143 M2151 M2159 (Note): The range of axis No.1 to 8 is valid in the Q172CPU(N). 5 - 51...
Page 193 M2242 M2250 M2258 M2266 M2243 M2251 M2259 M2267 M2244 M2252 M2260 M2268 M2245 M2253 M2261 M2269 M2246 M2254 M2262 M2270 M2247 M2255 M2263 M2271 (Note): The range of axis No.1 to 8 is valid in the Q172CPU(N). 5 - 52...
Page 194 5 POSITIONING DEDICATED SIGNALS 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.
Page 195 5 POSITIONING DEDICATED SIGNALS (a) The flag turns off if a speed change request occurs during deceleration to a stop due to speed change "0". Speed change "0" Speed change V 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"...
Page 196: Data Registers
5 POSITIONING DEDICATED SIGNALS 5.2 Data Registers (1) Data register list Device No. Application Axis monitor device (20 points 32 axes) D640 Control change register (2 points 32 axes) D704 Common device (Command signal) (54 points) D758 Common device (Monitor) (42 points) D800 Axis monitor device 2...
Page 197 D560 to D579 D580 to D599 D600 to D619 D620 to D639 (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). 5 - 56...
Page 198 D692, D693 D694, D695 D696, D697 D698, D699 D700, D701 D702, D703 (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). 5 - 57...
Page 199 D1360 to D1379 D1380 to D1399 D1400 to D1419 D1420 to D1439 (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). 5 - 58...
Page 200 5 POSITIONING DEDICATED SIGNALS (5) Control program monitor device list Device No. Signal name D1440 to D1445 Signal D1446 to D1451 Signal name Refresh cycle Fetch cycle Unit direction D1452 to D1457 0 Program No. D1458 to D1463 1 Sequence No. D1464 to D1469 Monitor 2 Block No.
Page 201 D1620 to D1622 D1623 to D1625 D1626 to D1628 D1629 to D1631 (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). 5 - 60...
Page 202 5 POSITIONING DEDICATED SIGNALS (7) Tool length offset data setting register list (Higher rank, lower rank) Device No. Signal name D1651, D1650 Tool length offset data 1 D1653, D1652 Tool length offset data 2 D1655, D1654 Tool length offset data 3 D1657, D1656 Tool length offset data 4 D1659, D1658...
Page 203 Axis 30 D797 D750 Axis 31 D798 D751 Axis 32 D799 (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). 5 - 62...
Page 204: Axis Monitor Devices
5 POSITIONING DEDICATED SIGNALS 5.2.1 Axis monitor devices The monitoring data area is used by the Motion CPU to store data such as the machine value during positioning control, the real machine value and the number of droop pulses in the deviation counter. It can be used to check the positioning control state using the Motion program.
Page 205 5 POSITIONING DEDICATED SIGNALS (6) Servo error code storage register (D8+20n) …..Monitor device (a) This register stores the corresponding error code (Refer to APPENDIX 2.4) 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) Servo error codes can be cleared by an error reset command (M3208+20n).
Page 206 5 POSITIONING DEDICATED SIGNALS (10) M-code storage register (D13+20n) ..……….. Monitor device (a) This register stores the M-code set to the Motion program at the block execute start. If M-code is not set in the Motion program, the value "0" is stored. (b) The preceding value remains until the M-code is executed next.
Page 207: Control Change Registers
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.
Page 208: Axis Monitor Devices 2
5 POSITIONING DEDICATED SIGNALS 5.2.3 Axis monitor devices 2 (1) Current value (D800+20n, D801+20n) ..………….. Monitor device (a) This register stores the address in the work coordinate system (G54 to G59) specified with the Motion program. This value is stored on the assumption that 0.0001mm is equal to 1. (1mm=10000) Example that the setting using the peripheral device is G54=1000 is shown below.
Page 209 5 POSITIONING DEDICATED SIGNALS (2) Execute sequence No. (main) storage register (D802+20n) ..………... Monitor device This register stores the N No. (sequence No.) of the executing main sequence. This number changes to "0" using the Motion dedicated PLC instruction (S(P).SVST) at the Motion program start. The changes of the execute Motion program No., execute sequence No.
Page 210 5 POSITIONING DEDICATED SIGNALS (5) Execute sequence No. (sub) storage register (D805+20n) ..…..…….. Monitor device (a) This register sotres the N No. of the subprogram started by "M98" (subprogram call). (b) When a subprogram is called from a subprogram, this number changes to the N No.
Page 211 5 POSITIONING DEDICATED SIGNALS (9) Tool length offset data storage register (D810+20n, D811+20n) ...…….…….. Monitor device (a) This register stores the offset value specified in the tool length offset data No.. Tool length offset data storage register is shown bellow. Applicable registers Higher rank Lower rank...
Page 212: Control Program Monitor Devices
5 POSITIONING DEDICATED SIGNALS 5.2.4 Control program monitor devices Up to 16 control programs can be executed simultaneously. When new control program is executed in this monitor area, the vacant area is secured suitably and the monitor information on the executed program. (1) Program No.
Page 213 5 POSITIONING DEDICATED SIGNALS (6) CLEAR request status storage register (D1445) ... Monitor device (a) When the control program specified in the CLEAR request control program No. setting register (D707) is cleared normally, "1" is set. (b) If an error occurs in CLEAR of the clear control program specified in the CLEAR request control program No.
Page 214: Control Change Registers 2
5 POSITIONING DEDICATED SIGNALS 5.2.5 Control change registers 2 This area stores the override ratio setting data. Table 5.1 Control change register 2 list Name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Override ratio setting D1536...
Page 215: Tool Length Offset Data Setting Registers
5 POSITIONING DEDICATED SIGNALS 5.2.6 Tool length offset data setting registers (1) Tool length offset data setting registers (D1650+2n) ..…….. Command device (a) This register is used to set the tool length offset values. (b) The tool length offset data No. can be set within the range of H1 to H20. Tool length offset data setting registers are shown below.
Page 216: Common Devices
1 : Simultaneous start execution 0 : Simultaneous start not execution (Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (b) Refer to Section 8.7.3 for details of the JOG operation simultaneous start. 5 - 75...
Page 217 1 : Specified axis 0 : Unspecified axis (Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (b) Refer to Section 8.8 for details of the manual pulse generator operation. (4) Manual pulse generator 1-pulse input magnification setting registers (D720 to D751) ........
Page 218 5 POSITIONING DEDICATED SIGNALS (5) Manual pulse generator smoothing magnification setting registers (D752 to D754) ............ Command device (a) These registers set the smoothing time constants of manual pulse generators. Manual pulse generator smoothing Setting range magnification setting register Manual pulse generator 1 (P1): D752 0 to 59 Manual pulse generator 2 (P1): D753 Manual pulse generator 3 (P1): D754...
Page 219 5 POSITIONING DEDICATED SIGNALS (6) Servo amplifier type storage register (D792 to D799) ......Monitor device The servo amplifier type set in the system settings is stored at the power supply on or resetting of the Motion CPU. b15 to b12 b11 to b8 b7 to b4 b3 to b0...
Page 220: Motion Registers (#)
5 POSITIONING DEDICATED SIGNALS 5.3 Motion Registers (#) There are motion registers (#0 to #8191) in the Motion CPU. #8000 to #8063 are used as SV43 dedicated device and #8064 to #8191 are used as the servo monitor device. (1) SV43 dedicated device (#8000 to #8063) These devices are reserved by the system.
Page 221: Special Relays (Sp.m)
5 POSITIONING DEDICATED SIGNALS 5.4 Special Relays (SP.M) There are 256 special relay points of M9000 to M9255 in the Motion CPU. Of these, 7 points of the M9073 to M9079 are used for the positioning control, and their applications are indicated in Table 5.2. (Refer to APPENDIX 3.4 "Special Relays" for the applications of the special relays except for M9073 to M9079.) Table 5.2 Special relay list Device No.
Page 222 5 POSITIONING DEDICATED SIGNALS (3) TEST mode ON flag (M9075) ..……...... Status signal (a) This flag is used as judgement of during the test mode or not using a peripheral Use it for an interlock, etc. at the starting of the Motion program using the SVST instruction of the PLC program.
Page 223 5 POSITIONING DEDICATED SIGNALS (7) Motion program setting error flag (M9079) ...…... Status signal This flag is used as judgement of normal or abnormal for the Motion program positioning data. • OFF ..Normal • ON ..Abnormal 5 - 82...
Page 224: Special Registers (Sp.d)
Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17 Stores the during operation/stop data of each axis 0 : During stop (Note): The range of axis No.1 to 8 is valid in the Q172CPU(N). 1 : During operation 5 - 83...
Page 225 5 POSITIONING DEDICATED SIGNALS (2) Motion CPU WDT error cause (D9184) ………..Monitor device This register is used as judgement of the error contents in the Motion CPU. Operation when error Error code Error cause Action to take occurs S/W falut 1 •...
Page 226 (Input magnification of each axis is except for 1 to 10000) (Note) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (4) Motion operation cycle (D9188) ….……..…………. Monitor device The time which motion operation took for every motion operation cycle is stored in [ µs ] unit.
Page 227: System Settings
Servo amplifier installation state Installation ..1 ..0 (Note): The range of axis No.1 to 8 is valid in the Q172CPU(N). Non-installation (a) Servo amplifier installation state 1) Installation/non-installation state •...
Page 228 5 POSITIONING DEDICATED SIGNALS (9) Operation cycle of the Motion CPU setting (D9197) ... Monitor device The setting operation cycle is stored in [ µs ] unit. When the "Automatic setting" is set in the system setting, the operation cycle corresponding to the number of setting axes.
Page 229 5 POSITIONING DEDICATED SIGNALS MEMO 5 - 88...
Page 230: System Settings
6 PARAMETERS FOR POSITIONING CONTROL 6. PARAMETERS FOR POSITIONING CONTROL 6.1 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 231: Fixed Parameters
6 PARAMETERS FOR POSITIONING CONTROL 6.2 Fixed Parameters (1) The fixed parameters are set for each axis and their data is fixed based on the mechanical system, etc. (2) The fixed parameters are set using a peripheral device. (3) The fixed parameters to be set are shown in Table 6.1. Table 6.1 Fixed parameter list Setting range Item...
Page 232: Number Of Pulses/Travel Value Per Rotation
6.2.1 Number of pulses/travel value per rotation The "Electronic gear function" adjusts the pulse calculated and output by the parameter set in the Q173CPU(N)/Q172CPU(N) and the real travel value of machine. It is defined by the "Number of pulses per rotation" and "Travel value per revolution".
Page 233 6 PARAMETERS FOR POSITIONING CONTROL Therefore, AP/AL is set so that the following expression of relations may be materialized in order to convert the travel value of [mm] / [inch] unit set in the program into a pulse. Number of pulses per motor rotation = AP Travel value of machine per motor rotation = AL Electronic .
Page 234: Backlash Compensation Amount
6 PARAMETERS FOR POSITIONING CONTROL 6.2.2 Backlash compensation amount (1) Backlash compensation amount can be set within the following range. (Refer to Section "8.2 Backlash Compensation Function" for details.) Backlash compensation amount (=A) 65535[PLS] Travel value per rotation (2) The servo error may occur depending on the type of the servo amplifier (servomotor) or operation cycle even if the backlash compensation amount which fulfill the above condition.
Page 235: Command In-Position Range
6 PARAMETERS FOR POSITIONING CONTROL POINTS (1) Besides setting the upper/lower stroke limit value in the fixed parameters, the stroke limit range can also be set by using the external limit signals (FLS, RLS). (2) Positioning from outside the stroke limit range cannot be executed. After returning the axis to within the stroke limit range by the JOG operation or manual pulse generator operation, execute the positioning control.
Page 236: High-Speed Feed Rate Setting
6 PARAMETERS FOR POSITIONING CONTROL 6.2.5 High-speed feed rate setting The high-speed feed rate is the positioning speed used to perform positioning with G00 or to make a home position return with G28, and this data is needed to execute G00 or G28.
Page 237: Servo Parameters/Vector Inverter Parameters
6 PARAMETERS FOR POSITIONING CONTROL 6.3 Servo Parameters/Vector Inverter Parameters (1) 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. (2) The servo parameters/vector inverter parameters are set by peripheral device.
Page 238 6 PARAMETERS FOR POSITIONING CONTROL Table 6.2 Servo parameter (Basic parameter) list (Continued) Setting value/setting range (Setting by peripheral device) Servo amplifier setting valid Item Setting details Section :Valid) Setting value H-BN H-BN4 J2-B J2S-B J2-Jr Motor type Motor capacity •...
Page 239: Position Control Gain 1, 2
The result of automatic tuning is reflected to Q173CPU(N)/Q172CPU(N) at this time. • Set the gain of position loop 1. 4 to 1000[rad/s] • If the position control gain 1 increases, Position control 6.3.2...
Page 240 6 PARAMETERS FOR POSITIONING CONTROL Table 6.3 Servo parameter (Adjustment parameter) list (Continued) Setting value/setting range (Setting by peripheral device) Servo amplifier setting valid Item Setting details Section :Valid) Setting value H-BN H-BN4 J2-B J2S-B J2-Jr 00: Not used 10: 281.3[H 01: 4500[H 11: 264.7[H 02: 2250[H...
Page 241 6 PARAMETERS FOR POSITIONING CONTROL Table 6.3 Servo parameter (Adjustment parameter) list (Continued) Setting value/setting range (Setting by peripheral device) Servo amplifier setting valid Item Setting details Section :Valid) Setting value H-BN H-BN4 J2-B J2S-B J2-Jr 0: Servo motor speed (± output) 1: Torque (±...
Page 242 6 PARAMETERS FOR POSITIONING CONTROL Table 6.3 Servo parameter (Adjustment parameter) list (Continued) Setting value/setting range (Setting by peripheral device) Servo amplifier setting valid Item Setting details Section :Valid) Setting value H-BN H-BN4 J2-B J2S-B J2-Jr Optional • Set the optional function 1 (Carrier 0: Valid (Use the forced stop signal.) function 1 frequency (Low acoustic noise mode)
Page 243 6 PARAMETERS FOR POSITIONING CONTROL (3) Expansion parameters Table 6.4 Servo parameter (Expansion parameter) list Setting value/setting range (Setting by peripheral device) Servo amplifier setting valid :Valid) Item Setting details Section Setting value H-BN H-BN4 J2-B J2S-B J2-Jr Monitor output 1 -9999 to 9999 •...
Page 244 6 PARAMETERS FOR POSITIONING CONTROL Table 6.4 Servo parameter (Expansion parameter) list (Continued) Setting value/setting range (Setting by peripheral device) Servo amplifier setting valid Item Setting details Section :Valid) Setting value H-BN H-BN4 J2-B J2S-B J2-Jr • Set the position droop value (Number of pulses) which PI control is switched over PI-PID control to PID control.
Page 245 6 PARAMETERS FOR POSITIONING CONTROL 6.3.2 Position control gain 1, 2 (1) Position control gain 1 (a) This gain is set in order to make the stabilization time shorter. (b) If this gain is too high, it could cause overshoot and the value must therefore be adjusted so that it will not cause overshoot or undershoot.
Page 246 6 PARAMETERS FOR POSITIONING CONTROL 6.3.3 Speed control gain 1, 2 (1) Speed control gain 1 (a) For speed control mode Normally, it is not necessary to change. (b) For position control mode Set to increase the follow-up for commands. (2) Speed control gain 2 (a) This gain is set when vibration occurs, for example in low-rigidity machines or machines with a large backlash.
Page 247: In-Position Range
6 PARAMETERS FOR POSITIONING CONTROL 6.3.5 In-position range (1) "In-position" is the droop pulses in the deviation counter. (2) If an in-position value is set, the in-position signal (M2402 + 20n) turns on when the difference between the position command and position feedback from the servomotor becomes within the setting range.
Page 248: Notch Filter
6 PARAMETERS FOR POSITIONING CONTROL Response settings Low-speed response Normal machine Standard mode (All servo amplifiers valid) High-speed response Low-speed response Machines with high friction High frictional load mode (MR -H BN only valid) High-speed response (2) Increase the response setting step by step starting from the low-speed response setting, observing the vibration and stop stabilization of the motor and machine immediately before stopping as you do so.
Page 249: Electromagnetic Brake Sequence
6 PARAMETERS FOR POSITIONING CONTROL 6.3.11 Electromagnetic brake sequence This parameter sets the delay time between the electromagnetic brake operation and base disconnection. 6.3.12 Monitor output mode This parameter is set to output the operation status of the servo amplifier in real time as analog data.
Page 250 6 PARAMETERS FOR POSITIONING CONTROL 6.3.14 Optional function 2 (1) Selection of no-motor operation 0: Invalid 1: Valid If no-motor operation is valid, the output signals that would be output if the motor were actually running can be output and statuses indicated without connecting a servomotor.
Page 251: Optional Function 2
6 PARAMETERS FOR POSITIONING CONTROL POINT Optional function 2 (no-motor operation selection) No-motor operation differs from operation in which an actual motor is run in that, in response to signals input in no-motor operation, motor operation is simulated and output signals and status display data are created under the condition that the load torque zero and moment of load inertia are the same as the motor's moment of inertia.
Page 252: Zero Speed
6 PARAMETERS FOR POSITIONING CONTROL 6.3.17 Zero speed This parameter sets the speed at which the motor speed is judged as "0". 6.3.18 Error excessive alarm level This parameter sets the range in which the alarm for excessive droop pulses is output. 6.3.19 Optional function 5 (1) PI-PID control switching This parameter sets the condition under which switching from PI to PID control, or...
Page 253: Servo Parameters Of Vector Inverter (Fr-V500)
6 PARAMETERS FOR POSITIONING CONTROL 6.3.23 Servo parameters of vector inverter (FR-V500) The servo parameters to be set are shown in Tables 6.7. Refer to the "Vector inverter Instruction Manual" for details of the vector inverter. Instruction Manual list is shown below. Vector inverter type Instruction manual name FR-V500 Instruction Manual [Basic] (IB-0600064)
Page 254: Parameter Block
6 PARAMETERS FOR POSITIONING CONTROL 6.4 Parameter Block (1) The parameter blocks serve to make setting changes easy by allowing data such as the acceleration/deceleration control to be set for each positioning processing. (2) A maximum 64 blocks can be set as parameter blocks. (3) Parameter blocks can be set using a peripheral device.
Page 255 6 PARAMETERS FOR POSITIONING CONTROL Table 6.8 Parameter Block List Setting range Initial Item Units Remarks Section inch degree value Setting range Units Setting range Units Setting range Units • Set the units for compensation control. • It can be also used as the units for Interpolation 7.11.6 the command speed and allowable...
Page 256 6 PARAMETERS FOR POSITIONING CONTROL POINTS The data set in the parameter block is used in the positioning control, home position return and JOG operation. (1) The parameter block No. used in the positioning control is set indirectly in the following case.
Page 257: Relationships Between The Speed Limit Value, Acceleration Time, Deceleration Time And Rapid Stop Deceleration Time
6 PARAMETERS FOR POSITIONING CONTROL 6.4.1 Relationships between the speed limit value, acceleration time, deceleration time and rapid stop deceleration time According to the G-code instructions, there are two different acceleration/deceleration modes, acceleration-fixed acceleration/deceleration and time-fixed acceleration/deceleration. (1) Acceleration-fixed acceleration/deceleration system (a) G01, G02, G03, G12, G13 or G32 during G101 execution The acceleration/deceleration mode of acceleration-fixed acceleration/deceleration is used.
Page 258 6 PARAMETERS FOR POSITIONING CONTROL (1) Acceleration-fixed acceleration/deceleration system (a) G01, G02, G03, G12, G13 or G32 during G101 execution Speed limit value Speed Rapid stop cause occurrence Real acceleration time Time take to reach the positioning speed set in the Motion program. Positioning speed set in Real rapid stop deceleration time...
Page 259: S-Curve Ratio
6 PARAMETERS FOR POSITIONING CONTROL 6.4.2 S-curve ratio S-curve ratio can be set as the acceleration and deceleration processing method for S- pattern processing. Setting range of the S-curve ratio is 0 to 100[%]. If it is set outside the range, an error occurs at the start and control is executed with the S-curve ratio set as 100[%].
Page 260: Allowable Error Range For Circular Interpolation
6 PARAMETERS FOR POSITIONING CONTROL 6.4.3 Allowable error range for circular interpolation The locus of the arc calculated from the start point address and central point address may not coincide with the set end point address for the central-specified control. The allowable error range for circular interpolation sets the allowable range for the error between the locus of the arc determined by calculation and the end point address.
Page 261: Work Coordinate Data
6 PARAMETERS FOR POSITIONING CONTROL 6.5 Work Coordinate Data (1) The work coordinate data is used to set the work coordinates and six different work coordinates can be set (G54 to G59) for every axis. (Refer to Section 7.12 for details.) (2) The position is set with the offset from the mechanical coordinate system home position for the work coordinate system.
Page 262: Motion Programs For Positioning Control
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7. MOTION PROGRAMS FOR POSITIONING CONTROL Motion program in the EIA language format is used as a programming language in the Motion controller (SV43). A Motion program is used to specify the positioning control type and positioning data required to execute the positioning control in the Motion CPU.
Page 263 7 MOTION PROGRAMS FOR POSITIONING CONTROL (2) Block A block is a collection of several words. It includes information necessary to perform a single specific operation of a machine and acts as a complete command on a block basis. A block is ended by the EOB (End of Block) code to indicate separation. <Block composition>...
Page 264: Motion Program Composition
7 MOTION PROGRAMS FOR POSITIONING CONTROL (3) Motion program A machine operation is commanded by several collection of blocks in the Motion program. <Motion program composition> 00001 O100; 1) Motion program No. 00002 N10 G91 G00; 00003 G28 X0. Y0. ; 00004 X250.
Page 265: Type Of The Motion Program
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.2 Type of The Motion Program There are following two types in the Motion program. Type of Motion program is set for every program by the motion parameter. Type of the Motion program Name Description This program is described by the control instructions only.
Page 266: G-Code List
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.3 G-code List G-codes used in the Motion program are shown below. G-code List Axis Control Type Instruction (Group) Description designation Remark program program (Note) Point-to-point positioning at the high-speed feed-rate Constant-speed positioning at the speed specified in F Circular interpolation (CW) Circular interpolation (CCW) 00 Dwell...
Page 267 7 MOTION PROGRAMS FOR POSITIONING CONTROL Class and group of G-code are shown below. Class Description Once any G-code is commanded, it is valid until another G-code in the same group is commanded. Initial status (at the power-on) is as follows. Group 01 ··········...
Page 268: M-Code List
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.4 M-code List M-codes used in the Motion program are shown below. M-code List Axis Control Type Instruction Description designation Remark program program Program stop Optional program stop Program end Special M-code Program end M98, M99 Subprogram call, end M100...
Page 269: Control Instruction List
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.5 Control Instruction List Control instructions used in the Motion program are shown below. Control instruction list Axis Control Type Instruction Description designation program program IF, GOTO Program control function IF, THEN, ELSE, END Program control function WHILE, DO Program control function Control function...
Page 270 7 MOTION PROGRAMS FOR POSITIONING CONTROL Control instruction list (Continued) Axis Control Type Instruction Instruction description designation program program MULTW Write device data to shared CPU memory Read device data from shared CPU memory of the MULTR other CPU Multiple CPU Write words data to intelligent function instruction module/special function module...
Page 271: Start/End Method
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.6 Start/End Method Start/end methods of the Motion program are shown below. Type Start/end method Start method (1) Start by the SFCS instruction from the PLC CPU. (2) Start by the CALL instruction (start) or the GOSUB/GOSUBE instruction (call) in the control program.
Page 272 7 MOTION PROGRAMS FOR POSITIONING CONTROL Example for structure of program start/end O10; O20; CALL P20; M02; CALL P10; GOSUB P21; O21; M02; M02; Return GOSUB P11; O22; O11; M02; CALL P22; GOSUB P23; O23; M02; Return M02; Return CALL JXJY P12; O12;...
Page 273: Number Of Maximum Nesting For Program Call And Multi Startable Program
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.7 Number of Maximum Nesting for Program Call and Multi Startable Program (1) The number of maximum nesting of the GOSUB/GOSUBE is 8 levels in the control program. (2) The number of maximum nesting of M98 is 8 levels in the designation program.
Page 274: Motion Parameter
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.8 Motion parameter Set the following parameters for every Motion program. Item Setting range Initial value Remark 1. Control program This parameter is input at the Program type Control program 2. Axis designation program turning M2000 off to on after Select the automatic start.
Page 275: Caution At The Axis Designation Program Creation
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.9 Caution at The Axis Designation Program Creation (1) A subprogram call from another subprogram (nesting) is maximum 8 levels. (2) In one block, one G-code can be selected from each modal group. Up to two G- codes can be commanded.
Page 276 7 MOTION PROGRAMS FOR POSITIONING CONTROL IMPORTANT The Motion program which an axis overlapped cannot be started simultaneously. If it is executed, we cannot guarantee their operations. (3) The M-codes except the M00, M01, M02, M30, M98, M99 and M100 can be specified in the same block with another command.
Page 277 7 MOTION PROGRAMS FOR POSITIONING CONTROL (b) Constant-speed operation 100. 200. M-code M-code outputting (M2419+20n) FIN signal (M3219+20n) When the FIN signal (M3219+20n) is turned from OFF to ON to OFF during positioning in block 2), the axis performs constant-speed operation without decelerating stop in the block of M-code.
Page 278 7 MOTION PROGRAMS FOR POSITIONING CONTROL (7) Acceleration/deceleration processing for G01 G91 G01 X100. Y100. F100. ; Constant-speed positioning of X, Y..Block 1 Y100. ; Constant-speed positioning of Y .....Block 2 X100. ; Constant-speed positioning of X .....Block 3 The acceleration/deceleration processing of the X-axis and Y-axis in the above program are as follows.
Page 279 7 MOTION PROGRAMS FOR POSITIONING CONTROL (11) Variable preread Variables in up to eight blocks including the one currently executed are preread. Set variables before starting of the program. (12) Motion program including the high-speed oscillation Be careful the following when the high-speed oscillation (G25) is performed for all axes specified in the SVST.
Page 280: Instruction Symbols/Characters List
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.10 Instruction Symbols/Characters List Instruction symbols and characters used in Motion programs are shown below. Table 7.1 Instruction Symbol/Character List Symbol/character Function Description Coordinate position data Coordinate position data Coordinate position data Coordinate position data Coordinate position data Coordinate position data Coordinate position data...
Page 281 7 MOTION PROGRAMS FOR POSITIONING CONTROL Table 7.1 Instruction Symbol/Character List (Continued) Symbol/character Function Description Preparatory function (G-code) Refer to Section "7.3 G-code List". Subprogram repeat count Used in M98 Auxiliary function (M-code) Refer to Section "7.4 M-code List". Sequence No. Indicates a sequence No.
Page 282 7 MOTION PROGRAMS FOR POSITIONING CONTROL Table 7.1 Instruction Symbol/Characters List (Continued) Symbol/character Function Description Trigonometric function (sine) Trigonometric function (cosine) Trigonometric function (tangent) ASIN Trigonometric function (arcsine) ACOS Trigonometric function (arccosine) Used in arithmetic operation commands. ATAN Trigonometric function (arctangent) Numerical conversion (real number to integer) Numerical conversion (integer to real...
Page 283 7 MOTION PROGRAMS FOR POSITIONING CONTROL Table 7.1 Instruction Symbol/Characters List (Continued) Symbol/character Function Description Subprogram call sequence No. Used in M98. Tool length offset data No. Used in G43, G44. Used in BMOV, BDMOV, MULTW, MULTR, TO or Indicates hexadecimal number constant. FROM.
Page 284: Setting Method For Command Data
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.11 Setting Method for Command Data This section describes the setting method for command data (addresses, speeds, operational expressions) used in the Motion programs. There are following two setting method for command data. • Direct setting (using numerical values entering) ............
Page 285: Indirect Setting
#nF, #DnF, #n:F, precision real #Wn:F #@nF, #@n:F — #Dn:F number n : Variable or device number (2) Usable device range (a) Word device Q173CPU(N)/Q172CPU(N) Item Accessibility Points Read Write Data register (D) 8192 points Link register (W) 8192 points...
Page 286 7 MOTION PROGRAMS FOR POSITIONING CONTROL POINT (1) The data register is shown as "#D" or "#" in the Motion program. Describe it as "#@" to indicate a motion register. (2) The mark of the I/O modules is X and Y in the Motion program regardless of installation/non-installation.
Page 287 7 MOTION PROGRAMS FOR POSITIONING CONTROL Conversion format Description The 64-bit double precision real number is converted to 32-bit integer type. Note that any value other than -2147483648 to 2147483647 results in an error. (Error : 531) Bits 0 to 51: Significant digit part 64 bit to 32 bit Fractional portion is dropped.
Page 288 7 MOTION PROGRAMS FOR POSITIONING CONTROL (c) How to handle variable as 64-bit double precision real number By handling a variable as a 64-bit double precision real number, arithmetic operation spanning multiple blocks can be performed without reduction in precision. Describe a capital letter ":F"...
Page 289 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Example] <Command address 1> G91; #@10:L=1.; G0 X#@10:L ; The travel value of X is any of the following values. inch degree 1 mm 0.1 inch 0.1 degree <Command address 2> G91; #@10:F=1.; G0 X#@10:F ; The travel value of X is equivalent to any of the following values if it is "#@10F=1.;"...
Page 290 7 MOTION PROGRAMS FOR POSITIONING CONTROL (6) Device setting (#Xx : Xx is device) The word device (D, W, #) and bit device (X, Y, M, B, F) can be referred to by device setting. Because the word device (D, W, #) is handled as 32 bits (2 word data), only an even number can be used.
Page 291 7 MOTION PROGRAMS FOR POSITIONING CONTROL POINTS (1) The Motion program No. (O) cannot be set indirectly. (2) When the Motion program is executed in the Motion CPU, the data of specified devices (2-word or 4-word) are input in the variable setting or device setting using word devices.
Page 292: Operational Data
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.11.3 Operational data (1) Four fundamental operations (+, -, *, /, MOD) The data type combinations and conversion methods for four fundamental operations (+, -, *, /, MOD) are shown below. Operation result = [Data 1] operator [Data 2] Operator indicates +, -, *, / or MOD Internal operation is performed after conversion into the type of the operation result.
Page 293 7 MOTION PROGRAMS FOR POSITIONING CONTROL Operation result Data 1 Data 2 (16 bit) 16-bit data is converted into 32-bit data. #nL, #n:L (32 bit) #n (16 bit) No conversion 16-bit data is converted into 32-bit #nF, #n:F (64 bit) data.
Page 294 7 MOTION PROGRAMS FOR POSITIONING CONTROL • For MOD Operation result Data 1 Data 2 (16 bit) 16-bit data is converted into 32-bit data. #nL, #n:L (32 bit) (16 bit) No conversion 16-bit data is converted into 32-bit #nF, #n: F (64 bit) data.
Page 295 7 MOTION PROGRAMS FOR POSITIONING CONTROL (2) Logical operations (AND, OR, XOR, NOT), shift operators (<<, >>) • For AND, OR, XOR, <<, >> The data type combinations and conversion methods for logical operations (AND, OR, XOR) and shift operators (<<, >>) are shown below. Operation result = [Data 1] operator [Data 2] Operator indicates AND, OR, XOR, <<...
Page 296 7 MOTION PROGRAMS FOR POSITIONING CONTROL • For NOT The following table indicates the data type combinations and conversion methods for NOT. Operation result = operator [Data 1] Operator denotes NOT. For logical and shift operations, operation including the 64-bit floating-point type cannot be performed.
Page 297 7 MOTION PROGRAMS FOR POSITIONING CONTROL (3) Trigonometric functions (SIN, COS, TAN, ASIN, ACOS, ATAN) The data type combinations and conversion methods for trigonometric functions (SIN, COS, TAN, ASIN, ACOS, ATAN) are shown below. Operation result = trigonometric function [Data 1] Trigonometric function indicates SIN, COS, TAN, ASIN, ACOS or ATAN Internal operation is performed with the 64-bit floating-point type.
Page 298 7 MOTION PROGRAMS FOR POSITIONING CONTROL (4) Floating-point type real number processing instructions (INT, FLT) The data type combination and conversion method for floating-point type real number processing instructions (INT, FLT)are shown below. Operation result = function [Data 1] Function indicates INT or FLT. The floating-point type real number processing instructions (INT, FLT) can operate the 32-bit type only.
Page 299 7 MOTION PROGRAMS FOR POSITIONING CONTROL (5) Functions (SQRT, ABS, LN, EXP) The data type combinations and conversion methods for functions (SQRT, ABS, LN, EXP) are shown below. Operation result = function [Data 1] Function indicates SQRT, ABS, LN or EXP Internal operation of SQRT, LN or EXP is performed with the 64-bit floating-point type.
Page 300 7 MOTION PROGRAMS FOR POSITIONING CONTROL • For ABS Operation result Data 1 (16 bit) No conversion (16 bit) #nL, #n:L (32 bit) No conversion 32-bit data is converted into 16-bit data. #nF, #n:F (64 bit) 64-bit data is converted into 16-bit data. (16 bit) 16-bit data is converted into 32-bit data.
Page 301 7 MOTION PROGRAMS FOR POSITIONING CONTROL (7) Functions (round-off (RND), round-down (FIX), round-up (FUP)) The data type combinations and conversion methods for round-off (RND), round- down (FIX) and round-up (FUP) are shown below. Operation result = function [Data 1] Function denotes RND, FIX or FUP. Round-off (RND), round-down (FIX) and round-up (FUP) cannot perform operation of other than the 64-bit floating-point type.
Page 302: Setting Range Of Instruction Symbols List
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.11.4 Setting range of instruction symbols list Setting range of instruction symbols used in the Motion programs are shown below. Table 7.2 Setting Range of Instruction Symbol List Setting range Symbol Function Indirect setting value by Motion program description variable Coordinate position data...
Page 303 7 MOTION PROGRAMS FOR POSITIONING CONTROL Table 7.2 Setting Range of Instruction Symbol List (Continued) Setting range Symbol Function Indirect setting value by Motion program description variable 0 to 214748.3647 [mm] Radius of R point specified 0 to 2147483647 Address 0 to 21474.83647 [inch] circular arc 0 to 35999999...
Page 304: Positioning Control Unit For 1 Axis
7 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK (1) Command unit A decimal point can be entered in the Motion program input information which defines the command address or speed, etc. [Example] 123456.7890 A decimal point may also be omitted. When a decimal point is omitted, a command address is represented in 0.0001[mm], 0.00001[inch] or 0.00001[degree] increments, for example.
Page 305: Control Units For Interpolation Control
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.11.6 Control units for interpolation control (1) The interpolation control units specified with the parameter block and the control units of the fixed parameter are checked. If the interpolation control units specified with the parameter block differ from the control units of the each axis fixed parameter for the interpolation control, it shown below.
Page 306 7 MOTION PROGRAMS FOR POSITIONING CONTROL (b) Unit mismatch ( 2) ) he travel value and positioning speed are calculated for each axis. • T a) The travel value is converted into the [PLS] unit using the electronic gear of its own axis. b) The positioning speed is converted into the [PLS/s] unit using the electronic gear of the axis whose control unit matches the interpolation control unit.
Page 307: Control In The Control Unit "Degree
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.11.7 Control in the control unit "degree" If the control units are "degree", the following items differ from other control units. (1) Current value address The current addresses in the control units "degree" are ring addresses from 0° to 360°.
Page 308 7 MOTION PROGRAMS FOR POSITIONING CONTROL (3) Positioning control Positioning control method in the control unit "degree" is shown below. (a) Absolute data method Positioning in a near direction to the specified address is performed based on the current value. Examples (1) Positioning is executed in a clockwise direction to travel from the current value of 315.00000°...
Page 309: About Coordinate Systems
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.12 About Coordinate Systems This section describes coordinate systems. There are two coordinate systems : basic mechanical coordinate system and work coordinate system. (1) Basic mechanical coordinate system ......A coordinate system specific to a machine and indicates the position determined specifically for the machine.
Page 310: G-Code
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13 G-code This section describes instruction codes to use in the Motion program. Each instruction is described in the following format. Functional outline of instruction explained easily. The method of the input and description are shown. "...
Page 311 7 MOTION PROGRAMS FOR POSITIONING CONTROL The arguments of G-code are shown in Table 7.3. Table 7.3 G-code arguments Remarks (Note-1) Only G-codes of G04, G43, G44 and G49 are available. (Note-1) Only G-codes of G04, G43, G44 and G49 are available. Only G-codes of G04 is available.
Page 312 7 MOTION PROGRAMS FOR POSITIONING CONTROL Table 7.3 G-code arguments (Continued) Remarks Only G-codes of G00, G01, G02, G03, G12, G13 and G92 are (Note-1) available. Only G-codes of G00, G01, G02, G03, G12, G13 and G92 are (Note-1) available. Only G-codes of G00, G01, G02, G03, G12, G13 and G92 are (Note-1) available.
Page 313: G00 Point-To-Point Positioning At The High-Speed Feed Rate
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.1 G00 Point-to-point positioning at the high-speed feed rate Code The positions of the specified axes are executed. (PTP) Point-to-point positioning at Function the high-speed feed rate 0 X x Y y Z z Format Positioning address Axis name...
Page 314 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Related Parameters] High-speed feed rate: The maximum feed rate of each axis is set. (Refer to Section 6.2.5 for the high-speed feed rate setting of the fixed parameter.) The positioning is executed in the shortest path which connects the start and end point at the execution of G00.
Page 315: G01 Constant-Speed Positioning At The Speed Specified In F
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.2 G01 Constant-speed positioning at the speed specified in F Code Linear interpolation is executed from the current position to the specified end point at the specified feed rate. (Constant-speed) Constant-speed positioning at the speed The feed rate is specified at the linear speed (combined-speed) to the Function specified in F...
Page 316 7 MOTION PROGRAMS FOR POSITIONING CONTROL (8) If the G02 or G03 command is executed during the G01 command (Constant- speed positioning), a deceleration stop is not made. [Example] G01 X100. Y100. Z100. ; Constant-speed control is G02 X0. Y0. I0. J50. F500. ; executed in this area.
Page 317: G02 Circular Interpolation Cw (Central Coordinates-Specified)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.3 G02 Circular interpolation CW (Central coordinates-specified) Code The axes travel from the current position (start point) to the specified Circular interpolation (CW) coordinate position (end point) with a circular arc (CW). Function Circular arc central The travel speed is the specified feed rate.
Page 318 7 MOTION PROGRAMS FOR POSITIONING CONTROL (5) When this command is executed continuously, the acceleration or deceleration is not made at the start or end point of a block because the status is not the exact stop check mode. (6) When the circular arc central coordinates and radius are specified simultaneously for G02 (CW), the central coordinates-specified circular interpolation has priority.
Page 319 7 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK (1) The end point and circular arc central coordinates cannot be omitted. Always specify them for two axes. (2) Circular interpolation includes the [degree] axis whose stroke limit is set to be invalid cannot be executed. (3) Circular interpolation cannot be executed the combination of [mm] and [degree] or [inch] and [degree].
Page 320: G03 Circular Interpolation Ccw (Central Coordinates-Specified)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.4 G03 Circular interpolation CCW (Central coordinates-specified) Code The axes travel from the current position (start point) to the specified Circular interpolation (CCW) coordinate position (end point) with a circular arc (CCW). Function Circular arc central The travel speed is the specified feed rate.
Page 321 7 MOTION PROGRAMS FOR POSITIONING CONTROL (5) When this command is executed continuously, the acceleration or deceleration is not made at the start or end point of a block because the status is not the exact stop check mode. (6) When the circular arc central coordinates and radius are specified simultaneously for G03 (CCW), the radius-specified circular interpolation has priority.
Page 322 7 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK (1) The end point and circular arc central coordinates cannot be omitted. Always specify them for two axes. (2) Circular interpolation includes the [degree] axis whose stroke limit is set to be invalid cannot be executed. (3) Circular interpolation in the unit combination of [mm] and [degree] or [inch] and [degree] cannot be executed.
Page 323: G02 Circular Interpolation Cw (Radius-Specified)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.5 G02 Circular interpolation CW (Radius-specified) Code The axes travel from the current position (start point) to the specified coordinate position (end point) with a circular arc of the specified radius Circular interpolation (CW) (CW).
Page 324 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Related Parameters] Speed limit value : The maximum feed rate of each axis is set. (Refer to Section 6.4.1 for the speed limit value of the parameter block.) Circular interpolation arc error : The allowable error range for circular interpolation is set.
Page 325: G03 Circular Interpolation Ccw (Radius-Specified)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.6 G03 Circular interpolation CCW (Radius-specified) Code The axes travel from the current position (start point) to the specified coordinate position (end point) with a circular arc of the specified radius Circular interpolation (CCW) (CCW).
Page 326 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Related Parameters] Speed limit value : The maximum feed rate of each axis is set. (Refer to Section 6.4.1 for the speed limit value of the parameter block.) Circular interpolation arc error : The allowable error range for circular interpolation is set.
Page 327: G04 Dwell
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.7 G04 Dwell Code Execution of next block is waited for the specified period of time. Function Dwell 4 P p Format Dwell time (1 to 65535) [Explanation] (1) The time from after deceleration stop of the preceding travel command until the next block start is specified.
Page 328 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program in which dwell time is placed between positioning operation instructions. 1) G01 X100. F10. ; (Positioning) 2) G04 P2000 ; (Dwell time set to 2[s]) 3) G01 X200. ; (Positioning) X-axis Dwell time 2000 0.001=2[s]...
Page 329: G09 Exact Stop Check
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.8 G09 Exact stop check Code The axes travel in the specified block point-to-point positioning. Function Exact stop check X x F Format May be used only in the G01, G02, G03, G12 or G13 program [Explanation] (1) This command is used with the interpolation command.
Page 330 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program which uses the exact stop check for positioning. 1) G09 G01 X100. F500. ; (Positioning by an exact stop check) 2) X200. ; (Positioning) 3) X300. ; (Positioning) 4) G09 G01 X400. ; (Positioning by an exact stop check) X-axis 7 - 69...
Page 331: G12 Helical Interpolation Cw (Helical Central Coordinates-Specified)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.9 G12 Helical interpolation CW (Helical central coordinates-specified) Code The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from the current position (start point) to circular end address or linear axis end point address, and the helical Helical interpolation (CW) interpolation (CW) is executed so that it may become a spiral course.
Page 332 7 MOTION PROGRAMS FOR POSITIONING CONTROL (7) The travel speed is the specified combined-speed for 2 axes circular interpolation axis. (8) When this command is executed continuously, the acceleration or deceleration is not made at the start or end point of a block because the status is not the exact stop check mode.
Page 333 7 MOTION PROGRAMS FOR POSITIONING CONTROL The example of the direction of the nozzle of controlling the normal for circular arc curve. Start point Nozzle 150.0 100.0 R=50 R=100 50.0 150.0 100.0 50.0 100.0 150.0 100.0 150.0 Z-axis (Rotation angle) X, Y-axis The program to start as the upper figure from start point and witch keeps a nozzle at right angles toward the contour of line and that it goes around the contour and witch...
Page 334: G13 Helical Interpolation Ccw (Helical Central Coordinates-Specified)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.10 G13 Helical interpolation CCW (Helical central coordinates-specified) Code The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from the current position (start point) to circular interpolation axis end point address or linear axis end point Helical interpolation (CCW) address, and the helical interpolation (CCW) is executed so that it may Function...
Page 335 7 MOTION PROGRAMS FOR POSITIONING CONTROL (7) The travel speed is the specified combined-speed for 2 axes circular interpolation axis. (8) When this command is executed continuously, the acceleration or deceleration is not made at the start or end point of a block because the status is not the exact stop check mode.
Page 336: G12 Helical Interpolation Cw (Helical Radius-Specified)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.11 G12 Helical interpolation CW (Helical radius-specified) Code The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from the current position (start point) to circular interpolation axis end point address or linear axis end point Helical interpolation (CW) address, and the helical interpolation (CW) is executed so that it may Function...
Page 337 7 MOTION PROGRAMS FOR POSITIONING CONTROL (7) When this command is executed continuously, the acceleration or deceleration is not made at the start or end point of a block because the status is not the exact stop check mode. (8) The positioning data can be set by direct setting (numerical value) or indirect setting (variable : # (9) If start point = end point, number of pitches = 1 and travel value of linear axis = 0, at the only center coordinates-specified helical interpolation, complete round can...
Page 338: G13 Helical Interpolation Ccw (Helical Radius-Specified)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.12 G13 Helical interpolation CCW (Helical radius-specified) Code The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from the current position (start point) to circular interpolation axis end point address or linear axis end point Helical interpolation (CCW) address, and the helical interpolation (CW) is executed so that it may Function...
Page 339 7 MOTION PROGRAMS FOR POSITIONING CONTROL (6) If a complete round command (the starting point is the same as the end point) is specified in R-specified helical interpolation, a minor error will (error code : 108) occur and no operation is performed. Therefore, specify the helical circular arc central coordinates for the complete round command.
Page 340: G23 Cancel, Cancel Start Invalid
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.13 G23 Cancel, cancel start invalid Code G24 (cancel function, cancel start function) which has already been made valid is invalidated. Function Cancel, cancel start invalid Valid until G24 (cancel function, cancel start function) is executed. Format [Explanation] (1) This command makes invalid the cancel or cancel start function which has already...
Page 341: G24 Cancel, Cancel Start
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.14 G24 Cancel, cancel start Code The executing program is cancel and the specified start program automatically starts. This function is valid until cancel or cancel start function invalid (G23) is Function Cancel, cancel start executed.
Page 342 7 MOTION PROGRAMS FOR POSITIONING CONTROL (9) When G24 exists at any point between continuous constant-speed positioning blocks, a deceleration stop is made once. N1 G24 CAN #X100 ; Cancel function for N1 is valid N2 G01 X200. F2000. ; until G24 or G23 is specified.
Page 343 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program which cancels program operation during execution of "O0010" program and starts "O0100" program. (Command unit is [mm].) O0010 ; 1) G24 CAN #X100 P100 PB1 ; Execution of cancel start function 2) G90 G01 X200.
Page 344: G25 High-Speed Oscillation
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.15 G25 High-speed oscillation Code The specified axis oscillates in a Sine curve. Function High-speed oscillation 5 X S A T s S RK a F f ; Frequency (Indirect setting is possible) Frequency designation (Indirect setting is possible) Format Amplitude (Indirect setting is possible)
Page 345 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program in which the X-axis oscillates in the Sine curve of 10[mm] amplitude, 90 [degree] starting angle and 30[CPM] frequency. (Command unit is [mm].) G25 X START 90. STRK 10. F30 ; (Note) : The starting angle (START) is valid to the first decimal place.
Page 346: G26 High-Speed Oscillation Stop
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.16 G26 High-speed oscillation stop Code The high-speed oscillation of the axis which is performing high-speed High-speed oscillation stop oscillation is stopped. Function function 6 X; Format Axis name [Explanation] (1) Stops the high-speed oscillation of the axis which is performing high-speed oscillation.
Page 347: G28 Home Position Return
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.17 G28 Home position return Code When the home position return request is ON, the mid point designation is ignored and a proximity dog, count, data set, dog cradle, stopper or limit switch combined type home position return. When the home position return request is OFF, the axis returns from Function Home position return...
Page 348 7 MOTION PROGRAMS FOR POSITIONING CONTROL (7) When the control unit is [degree], operation from the mid point to the home position differs between the absolute value command (G90) and incremental value command (G91). The axis travels in the nearest path under the absolute value command (G90), or in the direction specified in the home position return direction parameter under the incremental value command (G91).
Page 349: G30 Second Home Position Return
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.18 G30 Second home position return Code The axis returns from the current position to the second home position through the specified mid point at the high-speed feed rate. Function Second home position return 0 X x Y y Z z ;...
Page 350 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program which executes the second home position return from the current position through the A point (mid point). G90 ; G30 X200. Y200. ; (Second home position return) A point (mid point coordinates X200, Y200) Current value Second home position REMARK...
Page 351: G32 Skip
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.19 G32 Skip Code The axis travels at the specified feed rate, the remaining command is suspended at the input of an external signal, and the next block is executed. Function Skip Dwell is skipped for the dwell command. <When axis specified>...
Page 352 7 MOTION PROGRAMS FOR POSITIONING CONTROL (9) The absolute circular interpolation or the absolute helical interpolation of the next block cannot be executed. (10) The F command is handled like G01. (11) The coasting value between skip signal detection and a stop is represented by the following expression.
Page 353 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] (1) The program designed to make multiple skips under the control of external skip signals specified from the program midway through positioning. (Under incremental value command) • G91 ; • G32 X100. F2000 SKIP #X180 ; Turns ON the X180 signal midway.
Page 354 7 MOTION PROGRAMS FOR POSITIONING CONTROL CAUTION The following operation assumes that a skip (G32) is specified during constant-speed control (G01) and the [degree] axis without a stroke range is included. When an absolute value command exists after a skip under this condition, the last positioning point and the travel distance in the whole program are the same independently of whether a skip is executed or not.
Page 355: G43 Tool Length Offset (+)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.20 G43 Tool length offset (+) Code The axis travels with the preset offset value added to the travel command. By setting a difference between the tool length value and actual tool Function Tool length offset (+) length as the offset value, a program can be created without being aware of the tool length.
Page 356 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program for which executes the positioning added the offset value to the command position. (For absolute value command) (Data of the tool length offset data setting registers are as follows : H1 = 5[mm] (D1650, 1651 = 50000), H2 = 10[mm] (D1652, 1653 = 100000)) G90 ;...
Page 357: G44 Tool Length Offset
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.21 G44 Tool length offset (-) Code The axis travels with the preset offset value subtracted from the travel command. By setting a difference between the tool length value and actual tool Function Tool length offset (-) length as the offset value, a program can be created without being aware of the tool length.
Page 358 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program for which executes the positioning subtracted the offset value from the command position. (For absolute value command) (Data of the tool length offset data setting registers are as follows : H1 = 5[mm] (D1650, 1651 = 50000), H2 = 10[mm] (D1652, 1653 = 100000)) G90 ;...
Page 359: G49 Tool Length Offset Cancel
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.22 G49 Tool length offset cancel Code The preset tool length offset value (G43, G44) is cancel. Function Tool length offset cancel 49 X x ; Format Positioning address Axis name [Explanation] (1) This command cancels the preset tool length offset value (G43, G44) and performs the specified positioning.
Page 360: G53 Mechanical Coordinate System Selection
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.23 G53 Mechanical coordinate system selection Code The axis travels to the command position of basic mechanical Mechanical coordinate coordinate system at the high speed feed rate. Function system selection Y y Z z 3 X x Format Coordinates in basic mechanical...
Page 361 7 MOTION PROGRAMS FOR POSITIONING CONTROL (7) Under the incremental value command (G91), the axes travel at the incremental value of the mechanical coordinate system, and under the absolute value command (G90), the axes travel at the absolute value of the mechanical coordinate system.
Page 362: G54 To G59 Work Coordinate System Selection
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.24 G54 to G59 Work coordinate system selection G54, G55, G56, G57, Code The work coordinate system is selected and the axes travel to the G58, G59 specified position in the work coordinates system at the speed specified Work coordinate system 1 to in the feed rate.
Page 363 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Related Parameters] Work coordinates system offset value : Specify the offset in the work coordinates system using the distance from the basic mechanical coordinates. (Refer to Section 6.5 for the work coordinate data.) Up to six work coordinates systems can be set. (Work coordinates systems 1 to 6) [Program Example] <Work coordinates system selection>...
Page 364 7 MOTION PROGRAMS FOR POSITIONING CONTROL <Work coordinates system change> The program for which set the offset of the work coordinates system 1 to X500, Y500 in the parameter setting of work coordinates data, then change the work coordinates system to new work coordinates system 1. 1) G54 G92 X-200.
Page 365: G61 Exact Stop Check Mode
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.25 G61 Exact stop check mode Code It travels in the point-to-point positioning (PTP). Function Exact stop check mode 61 ; Format [Explanation] (1) This command is used with the interpolation command. Executing this command travels in the point-to-point positioning.
Page 366 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program for which executes the positioning in the exact stop check mode. 1) G61 G01 X100. F500. ; (Positioning in the exact stop check mode) 2) X200. ; (Positioning in the exact stop check mode) 3) X300.
Page 367: G64 Cutting Mode
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.26 G64 Cutting mode Code The next block continuously executes without deceleration stop between cutting feed blocks. Function Cutting mode 64 ; Format [Explanation] (1) This command is used to execute the positioning to the specified coordinates position approximately.
Page 368 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program for which executes the positioning in the cutting mode. 1) G64 G01 X100. F500. ; (Positioning in the cutting mode) 2) X200. ; (Positioning in the cutting mode) 3) X300. ; (Positioning in the cutting mode) X-axis 7 - 107...
Page 369: G90 Absolute Value Command
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.27 G90 Absolute value command Code The coordinates command is set as an absolute value command. Function Absolute value command 0 X x Y y Z z Format Locating position [Explanation] (1) In the absolute value command mode, the axes travel to the specified coordinates position regardless of the current position.
Page 370 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] Example of comparison between the absolute value command and incremental value command <Incremental value command> G91 X70. Y70. ; (100, 100) Incremental value command <Absolute value command> (70, 70) G90 X70. Y70. ; Absolute value command Current position (30, 30)
Page 371: G91 Incremental Value Command
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.28 G91 Incremental value command Code The coordinates command is set as an incremental value command. Function Incremental value command 1 X x Y y Z z Format Locating position [Explanation] (1) In the incremental value command mode, the axes travel the distance of the specified relative value from the start point (0) of the current position.
Page 372 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] Example of comparison between the incremental value command and absolute value command <Incremental value command> G91 X70. Y70. ; (100, 100) Incremental value command <Absolute value command> (70, 70) G90 X70. Y70. ; Absolute value command Current value (30, 30)
Page 373: G92 Coordinates System Setting
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.29 G92 Coordinates system setting Code The mechanical coordinates (virtual mechanical coordinates) is set simulatively. Setting the virtual mechanical coordinate system also changes the work Function Coordinates system setting coordinates systems 1 to 6. 2 X x Y y Z z Format...
Page 374 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program for which set the work coordinate system to the specified position. G92 X20. Y30. ; Current position Current position New work coordinates Work coordinates Old work coordinates Virtual mechanical coordinates Mechanical coordinates Mechanical coordinates (Unit: mm)
Page 375: G98, G99 Preread Disable/Enable
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.30 G98, G99 Preread disable/enable Code G98, G99 Preread disable (G98) Preread enable (G99) Function Preread disable/enable 98 ; Format 99 ; [Explanation] (1) The preread disable mode after that when G98 is executed. As this command is a modal instruction, it is valid until the preread enable (G99) being commanded.
Page 376 7 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK (1) Preread is disabled until G99 is executed after it blocks it modal G98, and being specified only though preread is stopped in the block that M100 (preread dis- able) was not modal, and specified once. (2) There is no described meaning as a program thought the problem is not in modal G98 even if M100 is executed.
Page 377: G100, G101 Time-Fixed Acceleration/Deceleration, Acceleration-Fixed Acceleration/Deceleration Switching Command
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.13.31 G100, G101 Time-fixed acceleration/deceleration, acceleration-fixed acceleration/ deceleration switching command Code G100, G101 The acceleration/deceleration method is switched to time-fixed Time-fixed acceleration/ acceleration/deceleration or acceleration-fixed acceleration/ deceleration, acceleration- Function deceleration. fixed acceleration/decel- eration switching command 10 ;...
Page 378 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program designed to make the acceleration-fixed acceleration/deceleration mode of the acceleration/deceleration system valid, then invalid midway through the program. (Command unit : [mm]) O10 ; G91 ; N1 G28 X0. Y0. ; Time-fixed acceleration/deceleration(Operation is N2 G01 X100.
Page 379 7 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK About locus of G100/G101 Locus commanded from the Motion controller is different by setting of the G100/G101. (1) Locus of G100 Time-fixed acceleration/deceleration method is used to enable the smooth operation between positioning points for CP operation. In the case of a continuous point of G01 (CP Linear interpolation), it passes roundly inside in a point during positioning.
Page 380 7 MOTION PROGRAMS FOR POSITIONING CONTROL (2) Locus of G101 Acceleration-fixed acceleration/deceleration method is used to enable the correct locus control between positioning points for CP operation. Set a G101 to execute the correct locus control. However, be careful that the speed fluctuation increases at a pass point and the vibration may be occurred in the machine.
Page 381: M-Code
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.14 M-Code This section explains the M-codes used in the Motion programs. (1) M-codes When a Motion program is executed, the 4-digit code data following M is output to the data register (D) in the M command block. The processing of the next block is not executed until the FIN signal (M3219+20n) is input.
Page 382: Special M-Code
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.15 Special M-Code The arguments of the special M-codes are shown in Table 7.4 below. Table 7.4 Special M-Code argument list Axis command Radius Central Point M-code Feed G-code Remark command (R) command (I, J) (Note-1) (Note-2) M100...
Page 383: M00 Program Stop
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.15.1 M00 Program stop Code Execution of program is stopped. Function Program stop Format [Explanation] Executing this command stops the program without execution of the next block. By turning ON the re-start command (M4404+10n) after a stop, execution resumes from the next block.
Page 384: M01 Optional Program Stop
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.15.2 M01 Optional program stop Code When the optional program stop is ON, executing M01 stops an execution of program. Function Optional program stop Format [Explanation] When the optional program stop command (M4401+10n) is ON, executing this command stops the program without execution of the next block.
Page 385: M02 Program End
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.15.3 M02 Program end Code Program is ended. Function Program end Format [Explanation] Executing this command ends an execution of program. This command is required at the end of a program. [Program Example] The program which ends a program after positioning control. G90 ;...
Page 386: M30 Program End
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.15.4 M30 Program end Code Program is ended. Function Program end Format [Explanation] Executing this command ends an execution of program. This command is required at the end of a program. [Program Example] The program which is ends a program after positioning control. G90 ;...
Page 387: M98, M99 Subprogram Call, Subprogram End
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.15.5 M98, M99 Subprogram call, subprogram end Code M98, M99 Subprogram call (M98) and subprogram end (M99) are executed. Subprogram call, Function subprogram end H h L l Subprogram repetition count (1 to 9999) Format Subprogram call sequence No.
Page 388 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program designed to run the specified subprogram twice repeatedly, return to the main program, and complete operation. Main program Subprogram O0110 ; O0120 ; M98 P120 H20 L2 ; N20 ; M02 ;...
Page 389: M100 Preread Disable
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.15.6 M100 Preread disable Code M100 Preread is not executed on the G-code (Motion program). Function Preread disable 1 0 ; Format [Explanation] Executing this command does not execute preread on the G-code (Motion programs). After completion of motion up to the preceding block, the next block is processed.
Page 390: Miscellaneous
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16 Miscellaneous The settable arguments in the first character are shown in Table 7.5 below. Table 7.5 Argument List Logical Assignment Operator GOTO Remarks operator GOTO Depends on the data after "/". Refer to Section 7.13. Refer to Section 7.15 for M00, M01, M02, M30, M98, M99 and M100.
Page 391: Program Control Function (If, Goto Statement)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.1 Program control function (IF, GOTO statement) Code IF, GOTO The flow of execution program is controlled based on the condition. Function Program control function [expression ] Format Sequence No. [Explanation] (1) If the specified expression is true (1) (condition is satisfied), execution jumps to the sequence No.
Page 392 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program for which jumps the specified sequence No. if the condition is satisfied. O00201 ; N200 G91 ; N210 G01 X100. Y100. F2000. ; X200. ; Y200. ; IF [#@100] GOTO230 ; (If #@100 is true, execution jumps to N230.) N220 G01 Y300.
Page 393: Program Control Function (If, Then, Else, End Statements)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.2 Program control function (IF, THEN, ELSE, END statements) Code IF, THEN, ELSE, END The flow of execution program is controlled based on the condition. Function Program control function expression T E m IF identification number (1 to 32) Block U group Format...
Page 394 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] O0001 ; G91 ; G01 X100. Y100. F2000 ; X200. ; Y200. ; IF [#@100 EQ0] THEN1 ; When #@100=0, THEN1 to END1 are executed. G01 Y300. F1500 ; X300. ; END1 ; G02 X50.
Page 395: Program Control Function (While, Do, End Statements)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.3 Program control function (WHILE, DO, END statements) Code WHILE, DO, END The flow of execution program is controlled based on the condition. Function Program control function H I LE [ conditional expression ] D m ;...
Page 396 7 MOTION PROGRAMS FOR POSITIONING CONTROL (4) The GOTO statement cannot cause execution to go into or come out of the DO statement. [Program Example] The program for which jumps to the specified line if the condition is satisfied. O0110 ; N1 #@0=0 ;...
Page 397: Four Fundamental Operators, Assignment Operator (+, -, *, /, Mod, =)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.4 Four fundamental operators, assignment operator (+, -, *, /, MOD, =) Code +, -, *, /, MOD, = Addition (+), subtraction (-), multiplication (*), division (/), Four fundamental operators, remainder (MOD) and assignment (=) are executed. Function assignment operator Operator...
Page 398 7 MOTION PROGRAMS FOR POSITIONING CONTROL (5) For MOD, the 16- or 32-bit type is used for operation. If operation data 1, 2 are the 64-bit type, they are converted into the 32-bit type. The operation result can be the 16-, 32- or 64-bit type, but if the operation result is the 64-bit type, the result of operation performed with the 32-bit type is converted into the 64-bit type and the result of conversion is stored.
Page 399: Trigonometric Functions (Sin, Cos, Tan, Asin, Acos, Atan)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.5 Trigonometric functions (SIN, COS, TAN, ASIN, ACOS, ATAN) SIN, COS, TAN, ASIN, Code Operations of SIN (sine), COS (cosine), TAN (tangent), ASIN (arcsine), ACOS, ATAN ACOS (arccosine) and ATAN (arctangent) are executed. Function Trigonometric functions n t o c i n...
Page 400: Real Number To Bin Value Conversion (Int)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.6 Real number to BIN value conversion (INT) Code Floating-point type real A floating-point type real number is converted into a 32-bit integer (BIN number processing value) including four decimal places. Function instruction Real number to BIN value [ ] n Format Indirect setting only...
Page 401: Bin Value To Real Number Conversion (Flt)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.7 BIN value to real number conversion (FLT) Code Floating-point type real A 32-bit integer (BIN value) including four decimal places is converted number processing into a floating-point type real number. Function instruction BIN value to real number conversion [ ] n Format...
Page 402: Bit Real Number And 64-Bit Real Number Data Conversion (Dflt, Sflt)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.8 32-bit real number and 64-bit real number data conversion (DFLT, SFLT) Code DFLT, SFLT The DFLT instruction converts the data from 32-bit real number to 64- bit real number. 32-bit real number and 64-bit The SFLT instruction converts the data from 64-bit real number to 32-bit Function real number data conversion...
Page 403: Functions (Sqrt, Abs, Bin, Bcd, Ln, Exp, Rnd, Fix, Fup)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.9 Functions (SQRT, ABS, BIN, BCD, LN, EXP, RND, FIX, FUP) SQRT, ABS, BIN, BCD, Operations of SQRT (square root), ABS (absolute value), BIN (BCD to Code LN, EXP, RND, FIX, BINARY conversion), BCD (BINARY to BCD conversion), LN (natural logarithm), EXP (base e exponent), RND (round off), FIX (round down) and FUP (round up) are executed.
Page 404: Logical Operators (And, Or, Xor, Not, <<, >>)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.10 Logical operators (AND, OR, XOR, NOT, <<, >>) AND, OR, XOR, NOT, Code Logical product (AND), logical add (OR), exclusive logical add (XOR), <<, >> logical NOT (NOT) and shift operations (<<, >>) are executed. Function Logical operators Format...
Page 405 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] Operator Program example Operation #2010L = 00000000 00000000 00000000 01100100 #2010L = 100 ; = 00000000 00000000 00000000 00001111 #2020L = #2010L AND 15 ; #2020L = 00000000 00000000 00000000 00000100 = 4 #2010L = 00000000 00000000...
Page 406: Move Block Wait Functions (Waiton, Waitoff)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.11 Move block wait functions (WAITON, WAITOFF) Code WAITON, WAITOFF The next travel block is executed at the completion of ON/OFF condition for the specified device. Function Move block wait functions Xx ; Device (X, Y, M, B, F) Format Xx ;...
Page 407 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program which executes the next block at the completion of condition. 1) 00001 WAITON #X10 ; 00002 N1 G01 X100. Y200. F1000. ; 2) 00003 WAITOFF #X11 ; 00004 N2 #2010 = 5 ; 00005 G00 X0.
Page 408: Block Wait Functions (Exeon, Exeoff)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.12 Block wait functions (EXEON, EXEOFF) Code EXEON, EXEOFF The next block is executed at the completion of ON/OFF condition for the specified device. Function Block wait function Xx ; Device (X, Y, M, B, F) Format F Xx ;...
Page 409 7 MOTION PROGRAMS FOR POSITIONING CONTROL (2) Axis designation program (a) Next block is travel block. EXEON/EXEOFF WAITON/WAITOFF SET #M100 ; SET #M100 ; EXEON #M102 ; WAITON #M102 ; G01 X100. F1000. ; G01 X100. F1000. ; Preread of next block is not Preread of next block is executed.
Page 410 7 MOTION PROGRAMS FOR POSITIONING CONTROL (Example1) M100 It does not become valid It is ignored. before preceding block end. (Example2) M100 It stops temporary regardless of G00, G01. REMARK Operation which combined EXEON and WAITON. WAITON #M100 ; EXEON #M101 ; G01 X100.
Page 411: Bit Set And Reset For Word Devices (Bset, Brst)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.13 Bit set and reset for word devices (BSET, BRST) Code BSET, BRST Sets or resets the specifies bit in the word device. Bit operation of the ward Function devices Set bit number (0 to15) Word device which operates bit.
Page 412: Parameter Block Change (Pb)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.14 Parameter block change (PB) Code The parameter block of the specified No. is used. Function Parameter block change pb ; Format Parameter block No. Parameter block change command [Explanation] (1) The numerical value following PB is used as a parameter block No.. (2) The parameter block value may also be specified indirectly by a variable, D, W or # (2-word data).
Page 413 7 MOTION PROGRAMS FOR POSITIONING CONTROL (10) A parameter block change (PB) is valid at the next travel. [Program Example] (1) When a parameter block change is executed during point-to-point positioning N01 G00 X0. ; Uses the parameter block at a program start. N02 G00 X100.
Page 414: Torque Limit Value Change (Tl)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.15 Torque limit value change (TL) Code The torque limit value is changed to the specified value. Function Torque limit value change Format Torque limit value Torque limit value change command [Explanation] (1) The numerical value following TL is commanded as a torque limit value. The torque limit value may also be specified indirectly by a variable, D, W or # (2-word data).
Page 415 7 MOTION PROGRAMS FOR POSITIONING CONTROL (9) If specified in a move block, the torque limit value (TL) is made valid from that motion. When the torque limit value is independent (no block motion specified), it is made valid for the next motion. [Program Example] (1) When torque limit value change is made N01 G00 X0.
Page 416: Home Position Return (Chga)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.16 Home position return (CHGA) Code CHGA A home position return of the specified axis is executed. Function Home position return The "J + Axis name" to return the home Format position is set. It is possible to specify it only by an axis.
Page 417: Speed Change (Chgv)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.17 Speed change (CHGV) Code CHGV A speed change of the specified axis is executed. Function Speed change Speed change value (Indirect setting is possible) Format The "J + Axis name" to change the speed value is set.
Page 418: Torque Limit Value Change (Chgt)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.18 Torque limit value change (CHGT) Code CHGT A torque limit value change of the specified axis is executed. Function Torque limit value change Torque limit change value (Indirect setting is possible) (1 to 500[%]) Format The "J + Axis name"...
Page 419: Bit Device Set, Reset Functions (Set, Rst)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.19 Bit device set, reset functions (SET, RST) Code SET, RST The specified device is turned ON/OFF. Function Bit device set, reset functions ON device (Y, M) Device ON command Format OFF device (Y, M) Device OFF command [Explanation] (1) The specified device in the G-code program can be turned ON/OFF.
Page 420: Bit Device Operation On Condition (If, Then, Set/Rst/Out)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.20 Bit device operation on condition (IF, THEN, SET/RST/OUT) Code IF, THEN, SET/RST/OUT When the condition consists, a specified device is turned on. Bit device operation on Function condition conditional expression SET Y ON device (Y, M, B, F, special M) RST Y conditional expression Format...
Page 421 7 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK (1) The mark of the I/O modules is X and Y in SV43 regardless of installation/non- installation. PX and PY is not used in the Motion program. (2) Writing in the device X is possible only for the range of the input modules non- installation.
Page 422: Program Start (Call)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.21 Program start (CALL) The specified control program or axis Code CALL designation program is started Function Program start JYJZJUJ V J WJAJB P Motion program No. (1 to 1024) Format (Indirect setting is possible) J+starting axis name.
Page 423 7 MOTION PROGRAMS FOR POSITIONING CONTROL Difference point of the program call and program start Program start Program call O0001 ; O0010 ; O0001 ; O0010 ; CALL JXJY P10 ; GOSUB JXJY P10 ; M02 ; M02 ; M02 ; M02 ;...
Page 424: Program Call 1 (Gosub)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.22 Program call 1 (GOSUB) The specified control program or axis Code GOSUB designation program is called Function Program call 1 G S B JYJZJUJ V J WJAJB P Motion program No. (1 to 1024) Format (Indirect setting is possible) J+starting axis name.
Page 425: Program Call 2 (Gosube)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.23 Program call 2 (GOSUBE) The specified control program or axis Code GOSUBE designation program is called Function Program call 2 The call source program is ended at the error occurrence. G S BE JYJZJUJ V J WJAJB P Motion program No.
Page 426 7 MOTION PROGRAMS FOR POSITIONING CONTROL (9) The end of control program by CLEAR instruction in the control program or the CLEAR request control program No. setting register (D707) are normal. Call source program is not ended. Refer to the explanation of "Program start" for the difference between the program start and program call.
Page 427 7 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK Error list which the main program ends by an error occurrence is shown below. Error type Error code Starting 100, 101, 103, 104, 106, 107, 108, 109, 110, errors 115, 140, 142, 160, 161 Positioning 200, 201, 202, 203, 206,207, 208, 209, 211 control errors...
Page 428: Control Program End (Clear)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.24 Control program end (CLEAR) Code CLEAR The specified control program is ended. Function Control program end Format Motion program No. (1 to 1024) (Indirect setting is possible) [Explanation] (1) The CLEAR is ended if it is executing it specifying the number of the control program from the control program.
Page 429 7 MOTION PROGRAMS FOR POSITIONING CONTROL (4) The CLEAR at the program call as the following operation. O100 ; (Control program) O200 ; O100 ; (Control program) O200 ; (Axis designation program) (Control program) GOSUB JXJY P200 ; G01 X100. Y100. ; GOSUB P200 ;...
Page 430: Time To Wait (Time)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.25 Time to wait (TIME) Time from the end of the block to the next block beginning is Code TIME specified at time. waiting Function Time to wait Format Waiting time (1 to 65535) [Explanation] (1) Time from the end of the block to the next block beginning is specified at waiting time.
Page 431: Block Transfers (Bmov : 16-Bit Unit)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.26 Block transfers (BMOV : 16-bit unit) Code BMOV The data of n words from the specified device are batch-transferred to the specified transfer destination. (16-bit unit) Function Block transfers (16-bit unit) D S n Number of transmission words (Constant or indirect setting (1 to 65535)) Format...
Page 432 7 MOTION PROGRAMS FOR POSITIONING CONTROL (2) Program which batch-transfers a contents for 5 words from absolute address (0x06000000) of Motion CPU to all data for 5 words from D2000. BMOV #D2000 H06000000 5 D2000 0x06000000 Batch transfer D2001 0x06000002 (16-bit unit) D2002 0x06000004...
Page 433: Block Transfer (Bdmov : 32-Bit Unit)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.27 Block transfer (BDMOV : 32-bit unit) Code BDMOV The data of n words from the specified word device are batch- transferred to the specified transfer destination. (32-bit unit) Function Block transfer (32-bit unit) D S n Number of transmission words (Constant or indirect setting (1 to 65535))
Page 434 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] (1) Program which batch-transfers a contents for 4 words from D2000 to all data for 4 words from #@10. BDMOV #@10 #D2000 4 #@10 D2000 Batch transfer D2001 #@11 (32-bit unit) #@12 D2002 D2003 #@13...
Page 435: Identical Data Block Transfers (Fmov)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.28 Identical data block transfers (FMOV) Code FMOV The data of n words from the specified device are batch-transferred to the specified transfer destination. (a word [16-bit] unit) Function Identical data block transfers D S n Number of transmission words (Constant or indirect setting (1 to 65535)) Format...
Page 436 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] (1) Program which batch-transfers a contents for from D0 to all data for 5 words from #@10. FMOV #@10 #D0 5 #@10 Batch transfer #@11 (16-bit unit) #@12 #@13 #@14 The motion device is not initialized (0 set) at the power on. Please use it after initializing data by this instruction when it is necessary.
Page 437: Write Device Data To Shared Cpu Memory (Multw)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.29 Write device data to shared CPU memory (MULTW) Code MULTW A part for (n) words of data since the device specified with (S) of the self CPU module are written to since the shared CPU memory Write device data to shared Function address specified with (D) of the self CPU module.
Page 438 7 MOTION PROGRAMS FOR POSITIONING CONTROL An operation error will occur if : (a) Number of words (n) to be written is outside the range of 1 to 256. (b) The shared CPU memory address (D) of self CPU of the writing destination device is outside the range (800H to FFFH) of the shared CPU memory address.
Page 439: Read Device Data From Shared Cpu Memory Of The Other Cpu (Multr)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.30 Read device data from shared CPU memory of the other CPU (MULTR) Code MULTR A part for (n) words of data of the other CPU specified with (S1) are Read device data from read from the address specified with (S2) of the shared CPU memory, Function shared CPU memory of the...
Page 440 7 MOTION PROGRAMS FOR POSITIONING CONTROL (3) When data are read normally from the target CPU specified with (S1), the reading complete flag M9216 to M9219 (CPU No.1:M9216, CPU No.2:M9217, CPU No.3:M9218, CPU No.4:M9219) corresponding to the target CPU turns on. If data cannot be read normally, the reading complete flag of the target CPU specified with (S1) does not turn on.
Page 441: Write Words Data To Intelligent Function Module/Special Function Module (To)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.31 Write words data to intelligent function module/special function module (TO) Code A part for (n) words of data from device specified with (S) are written to Write words data to since address specified with (D2) of the buffer memory in the intelligent intelligent function function module/special function module controlled by the self CPU Function...
Page 442 7 MOTION PROGRAMS FOR POSITIONING CONTROL (4) The following analogue modules can be used as the control module of Motion CPU. • Q62DA • Q64DA • Q68DAV • Q68DAI • Q64AD • Q68ADV • Q68ADI (5) An operation error will occur if : (a) Number of words (n) to be written is outside the range of 1 to 256.
Page 443: Read Words Data From Intelligent Function Module/Special Function Module (From)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.32 Read words data from intelligent function module/special function module (FROM) Code FROM A part for (n) words of data are read from the address specified with Read words data from (S2) of the buffer memory in the intelligent function module/special intelligent function function module controlled by the self CPU specified with (S1), and are Function...
Page 444 7 MOTION PROGRAMS FOR POSITIONING CONTROL (3) The devices that may be set at (D), (S1), (S2) and (n) are shown below. Word devices (Note) Setting Constant Bit devices (Note) (16-bit integer type) data (16-bit integer type) — — — —...
Page 445: Conditional Branch Using Bit Device (On, Off)
7 MOTION PROGRAMS FOR POSITIONING CONTROL 7.16.33 Conditional branch using bit device (ON, OFF) Code ON, OFF By describing this command in the conditional expression of IF or WHILE, branches processing according to the ON/OFF status of Bit device conditional Function the specified bit device.
Page 446 7 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] (1) When M100 is ON, a branch to line N03 is taken. N01 IF [ON #M100] GOTO3 ; Branches to line N03 if M100 is ON. Executes the next line (N02) if M100 is OFF. N02 G01 X100.
Page 447 7 MOTION PROGRAMS FOR POSITIONING CONTROL MEMO 7 - 186...
Page 448: Limit Switch Output Function
8 AUXILIARY AND APPLIED FUNCTIONS 8. AUXILIARY AND APPLIED FUNCTIONS 8.1 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 "8.1.2 Limit Output Setting Data"...
Page 449 8 AUXILIARY AND APPLIED FUNCTIONS 3) (ON Value) = (OFF Value) Output device OFF in whole region ON region setting ON Value OFF Value Watch data value (b) The limit switch outputs are controlled based on thee each watch data during the PCPU ready status (M9074: ON) by the PLC ready flag (M2000) from OFF to ON.
Page 450 8 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. M9074 1) Without output enable/disable bit/forced output settings Output device OFF Value ON region setting...
Page 451: Limit Output Setting Data
8 AUXILIARY AND APPLIED FUNCTIONS 8.1.2 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.) Fetch Refresh Item...
Page 452 (b) As the watch data, motion control data or optional word device data can be used. 1) Motion control data Axis No. setting range Item Unit Data type Q173CPU(N) Q172CPU(N) Machine value Position command 32-bit Real machine value integer type Deviation counter value 1 to 32...
Page 453 8 AUXILIARY AND APPLIED FUNCTIONS (3) ON region setting (a) The data range which makes the output device turn ON/OFF toward the watch data. (b) The following devices can be used as the ON Value and OFF Value of the data range.
Page 454 8 AUXILIARY AND APPLIED FUNCTIONS (5) Forced output bit (a) Set the "forced output bit" when you want to forcibly provide the limit switch outputs during operation. 1) The following control is exercised. Forced output bit Control description Without setting Limit switch outputs are turned ON/OFF on the basis of the "output enable/disable bit"...
Page 455: Backlash Compensation Function
8 AUXILIARY AND APPLIED FUNCTIONS 8.2 Backlash Compensation Function This function compensates for the backlash amount in the machine system. When the backlash compensation amount is set, extra feed pulses equivalent to the backlash compensation amount set up whenever the travel direction is generated at the positioning control, JOG operation or manual pulse generator operation.
Page 456 8 AUXILIARY AND APPLIED FUNCTIONS (2) Backlash compensation processing Details of backlash compensation processing are shown below. Table 8.1 Details of backlash compensation processing Condition Processing • If travel direction is equal to home position return direction, the backlash compensation is not executed. First start after power on •...
Page 457: Torque Limit Function
8 AUXILIARY AND APPLIED FUNCTIONS 8.3 Torque Limit Function This function restricts the generating torque of the servomotor within the setting range. If the torque required for control exceeds the torque limit value during positioning control, it restricts with the setting torque limit value. (1) Setting range of the torque limit value It can be set within the range of 1 to 500[%] of the rated torque.
Page 458 8 AUXILIARY AND APPLIED FUNCTIONS (3) Motion program O10; G90; N1 G00 X100. Y100. ; TL100; N2 G00 X200. Y200. ; N3 G00 X300. Y300. ; M02; Sequence No. (Note-1) Torque limit value[%] (Program command) CHGT Instruction (Note-2) S(P). CHGT Instruction Servo command X-axis CHGT Instruction...
Page 459: Absolute Position System
8 AUXILIARY AND APPLIED FUNCTIONS 8.4 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 460 8 AUXILIARY AND APPLIED FUNCTIONS POINTS (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 461 8 AUXILIARY AND APPLIED FUNCTIONS (e) Alarms When an error for current value restoration occurs at the servo amplifier power on, an error code is indicated. Refer to APPENDIX "2.1 Motion program setting errors" for details of error contents. 8 - 14...
Page 462: Home Position Return
8 AUXILIARY AND APPLIED FUNCTIONS 8.5 Home Position Return (1) Use the home position return at the power supply ON and other times where confirmation of axis is at the machine home position is required. (2) The following six methods for home position return are shown below. •...
Page 463: Home Position Return Data
8 AUXILIARY AND APPLIED FUNCTIONS 8.5.1 Home position return data This data is used to execute the home position return. Set this data using a peripheral device. Table 8.2 Home position return data list Setting range Explan- Default Item Units Remarks atory inch...
Page 464 8 AUXILIARY AND APPLIED FUNCTIONS (1) Travel value after proximity dog ON (a) The travel value after proximity dog ON is set to execute the count type home position return. (b) After the proximity dog ON, the home position is the first zero-point after travel by the setting travel value.
Page 465 8 AUXILIARY AND APPLIED FUNCTIONS (2) Home position return retry function/dwell time at the home position return retry (a) Valid/invalid of home position return retry is set. (b) When the valid of home position return retry function is set, the time to stop at return of travel direction is set with dwell time at the home position return retry.
Page 466 8 AUXILIARY AND APPLIED FUNCTIONS (3) Home position shift amount/speed set at the home position shift (a) The shift (travel) amount from position stopped by home position return is set. (b) If the home position shift amount is positive value, it shifts from detected zero point signal to address increase direction.
Page 467 8 AUXILIARY AND APPLIED FUNCTIONS (d) Valid/invalid of the setting value for home position shift amount by the home position return method is shown below. Valid/invalid Home position return of home position shift methods amount Proximity dog type Count type Data set type Dog cradle type Stopper type...
Page 468 8 AUXILIARY AND APPLIED FUNCTIONS (5) Setting items for home position return data Home position return methods Items Home position return direction Home position address Second home position address Home position return speed Creep speed Travel value after proximity dog ON Home position return data Parameter block setting...
Page 469: Home Position Return By The Proximity Dog Type 1
8 AUXILIARY AND APPLIED FUNCTIONS 8.5.2 Home position return by the proximity dog type 1 [Control details] (1) Proximity dog type 1 Zero point position after proximity dog ON to OFF is home position in this method. When it does not pass (zero pass signal: M2406+20n OFF) the zero point from home position return start to deceleration stop by proximity dog ON to OFF, an error will occur and home position return is not executed.
Page 470 8 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) Keep the proximity dog ON during deceleration from the home position return speed to the creep speed. If the proximity dog turns OFF before deceleration to the creep speed, a deceleration stop is made and the next zero point is set as the home position. Home position return speed The zero point is passed during deceleration stop by the proximity dog OFF.
Page 471 8 AUXILIARY AND APPLIED FUNCTIONS (3) When it does not pass (zero pass signal: M2406+20n ON) the zero point from home position return start to deceleration stop by proximity dog ON to OFF, a minor error "ZCT not set" (error code: 120) will occur, a deceleration stop is made and home position return does not end normally.
Page 472: Home Position Return By The Proximity Dog Type 2
8 AUXILIARY AND APPLIED FUNCTIONS 8.5.3 Home position return by the proximity dog type 2 [Control details] (1) Proximity dog type 2 Zero point position after proximity dog ON to OFF is home position in this method. When it passed (zero pass signal: M2406+20n ON) the zero point from home position return start to deceleration stop by proximity dog ON to OFF, operation for "proximity dog type 2"...
Page 473 8 AUXILIARY AND APPLIED FUNCTIONS (3) Home position return execution Home position return by the proximity dog type 2 is executed using the CHGA instruction in Section 8.5.16. When the home position return request is ON, the proximity dog type 2 home position is also made even G28 of the Motion program.
Page 474: Home Position Return By The Count Type 1
8 AUXILIARY AND APPLIED FUNCTIONS 8.5.4 Home position return by the count type 1 [Control details] (1) Count type 1 After the proximity dog ON, the zero point after the specified distance (travel value after proximity dog ON) is home position in this method. When the zero point is not passed (zero pass signal: M2406+20n OFF) until it travels the distance set in the "travel value after proximity dog ON"...
Page 475 8 AUXILIARY AND APPLIED FUNCTIONS (1) Home position return and continuously start of home position return are also possible in the proximity dog ON in the count type 1. When the home position return or continuously start of home position return are executed in the proximity dog ON, the home position return is executed after return the axis once to position of the proximity dog OFF.
Page 476: Home Position Return By The Count Type 2
8 AUXILIARY AND APPLIED FUNCTIONS 8.5.5 Home position return by the count type 2 [Control details] (1) Count type 2 After the proximity dog ON, the position which traveled the specified distance (travel value after proximity dog ON) is home position in this method. It is not related for zero point pass or not pass.
Page 477 8 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) Home position return and continuously start of home position return are also possible in the proximity dog ON in the count type 2. When the home position return and continuously start of home position return are executed in the proximity dog ON, the home position return is executed after return the axis once to position of the proximity dog OFF.
Page 478: Home Position Return By The Count Type 3
8 AUXILIARY AND APPLIED FUNCTIONS 8.5.6 Home position return by the count type 3 [Control details] (1) Count type 3 After the proximity dog ON, the zero point after the specified distance (travel value after proximity dog ON) is home position in this method. When the zero point is passed (zero pass signal: M2406+20n ON) during travel of specified distance set in the "travel value after proximity dog ON"...
Page 479 8 AUXILIARY AND APPLIED FUNCTIONS (3) Home position return execution Home position return by the count type 3 is executed using the CHGA instruction in Section 8.5.16. When the home position return request is ON, the count type 3 home position return is also made even G28 of the Motion program.
Page 480: Home Position Return By The Data Set Type 1
8 AUXILIARY AND APPLIED FUNCTIONS 8.5.7 Home position return by the data set type 1 [Control details] (1) Data set type 1 The proximity dog is not used in this method for the absolute position system. (2) Home position return by the data set type 1 Home position is the command position at the home position return operation.
Page 481: Home Position Return By The Data Set Type 2
8 AUXILIARY AND APPLIED FUNCTIONS 8.5.8 Home position return by the data set type 2 [Control details] (1) Data set type 2 The proximity dog is not used in this method for the absolute position system. (2) Home position return by the data set type 2 Home position is the real position of servomotor at the home position return operation.
Page 482: Home Position Return By The Dog Cradle Type
8 AUXILIARY AND APPLIED FUNCTIONS 8.5.9 Home position return by the dog cradle type [Control details] (1) Dog cradle type After deceleration stop by the proximity dog ON, if the zero point is passed after traveling to reverse direction and turning the proximity dog OFF, the deceleration stop is made.
Page 483 8 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) When home position return retry function is not set, if home position return is executed again after home position return end, a minor error "home position return completion signal is turning ON at the dog cradle type home position return start" (error code: 115) will occur, the home position return is not executed.
Page 484 8 AUXILIARY AND APPLIED FUNCTIONS (3) When the proximity dog is set in the home position return direction, the proximity dog is turned OFF during travel to reverse direction of home position return, and the zero point is not passed, it continues to travel in the reverse direction of home position return with home position return speed until the zero point is passed.
Page 485 8 AUXILIARY AND APPLIED FUNCTIONS (4) When it starts in the proximity dog, the zero point is not passed at the time of the proximity dog is turned OFF during travel to reverse direction of home position return, it continues to travel with home position return speed until the zero point is passed.
Page 486: Home Position Return By The Stopper Type 1
8 AUXILIARY AND APPLIED FUNCTIONS 8.5.10 Home position return by the stopper type 1 [Control details] (1) Stopper type 1 Position of stopper is home position in this method. It travels to the direction set in the "home position return direction" with the "home position return speed", after a deceleration starts by proximity dog OFF to ON and it presses against the stopper and makes to stop with the torque limit value set in the "torque limit value at the creep speed"...
Page 487 8 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) A zero point does not must be passed (zero pass signal: M2406+20n ON) between turning on the power supply and executing home position return. (2) Home position return retry function cannot be used in the stopper type 1. (3) Set the torque limit value after reaching the creep speed for system.
Page 488: Home Position Return By The Stopper Type 2
8 AUXILIARY AND APPLIED FUNCTIONS 8.5.11 Home position return by the stopper type 2 [Control details] (1) Stopper type 2 Position of stopper is home position in this method. It travels the direction set in the "home position return direction" with the "creep speed", and it presses against the stopper and makes to stop with the "creep speed".
Page 489 8 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) A zero point does not must be passed (zero pass signal: M2406+20n ON) between turning on the power supply and executing home position return. (2) Home position return retry function cannot be used in the stopper type 2. (3) Set the torque limit value at the reaching creep speed for system.
Page 490: Home Position Return By The Limit Switch Combined Type
8 AUXILIARY AND APPLIED FUNCTIONS 8.5.12 Home position return by the limit switch combined type [Control details] (1) Limit switch combined type The proximity dog is not used in this method. Home position return can be executed by using the external upper/lower limit switch. When the home position return is started, it travels to direction of home position return with "home position return speed".
Page 491 8 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) For the axis which executes the home position return by the limit switch combined type, if the external input signal has not set in the system settings, a minor error "the positioning control which use the external input signal was executed for the axis which has not set the external input signal in the system settings"...
Page 492: Home Position Return Retry Function
8 AUXILIARY AND APPLIED FUNCTIONS 8.5.13 Home position return retry function When a work has been exceeded home position during positioning control, etc., even if it executes the home position return, depending on the position of work, a work may not travel to home position direction.
Page 493 8 AUXILIARY AND APPLIED FUNCTIONS (2) Home position return retry operation setting a work outside the range of external limit switch (a) When the direction of "work home position" and home position return is same, normal home position return is operated. Direction of "work home position"...
Page 494 8 AUXILIARY AND APPLIED FUNCTIONS (3) Dwell time setting at the home position return retry Reverse operation by detection of the external upper/lower limit switch and dwell time function at the home position return start after stop by proximity dog OFF are possible with the dwell time at the home position return retry in the home position return retry function.
Page 495 8 AUXILIARY AND APPLIED FUNCTIONS (2) Make a system for which does not execute the servo amplifier power off or servo OFF by the external upper/lower limit switch. Home position return retry cannot be executed only in the state of servo ON. (3) Deceleration is made by detection of the external limit switch and travel to reverse direction of home position return is started.
Page 496: Home Position Shift Function
8 AUXILIARY AND APPLIED FUNCTIONS 8.5.14 Home position shift function Normally, when the machine home position return is executed, a position of home position is set by using the proximity dog or zero point signal. However, by using the home position shift function, the position to which only the specified travel value was travelled from the position which detected the zero point signal can be regarded as home position.
Page 497 8 AUXILIARY AND APPLIED FUNCTIONS [Control details] (1) Home position shift operation Operation for the home position shift function is shown below. Home position shift amount is positive value Address increase Address decrease direction direction Home position Home position Set the operation speed at return direction return speed the home position shift with...
Page 498 8 AUXILIARY AND APPLIED FUNCTIONS (2) Setting range of home position shift amount Set the home position shift amount within the range of from the detected zero signal to external upper/lower limit switch (FLS/RLS). If the range of external upper/lower limit switch is exceeded, a major error "external limit switch detection error"...
Page 499 8 AUXILIARY AND APPLIED FUNCTIONS (b) Home position shift operation with the "creep speed" Home position return direction Home position shift amount is positive Creep speed Home position Home position Home position return start Home position shift Proximity dog amount is negative Zero point Fig.
Page 500: Condition Selection Of Home Position Set
8 AUXILIARY AND APPLIED FUNCTIONS 8.5.15 Condition selection of home position set A home position return must be made after the servomotor has been rotated more than one revolution to pass the axis through the Z-phase (motor reference position signal) and the zero pass signal (M2406+20n) has been turned ON.
Page 501 8 AUXILIARY AND APPLIED FUNCTIONS CAUTION Do not set the "1 : No servomotor Z-phase pass after power ON" for axis which executes the home position return again after it continues traveling the same direction infinitely. 8 - 54...
Page 502: Execution Of Home Position Return
8 AUXILIARY AND APPLIED FUNCTIONS 8.5.16 Execution of home position return The home position return is executed using the CHGA instruction. [Control details] (1) Home position return is executed by the home position return method specified with the home position return data (Refer to Section 8.5.1). Refer to the following sections for details of the home position return methods : •...
Page 503: Speed Change (Chgv Instruction)
8 AUXILIARY AND APPLIED FUNCTIONS 8.6 Speed Change (CHGV instruction) The speed change is executed at the positioning control or JOG operation. S(P).CHGV instruction of PLC program or CHGV instruction of Motion program is used for the speed change. (1) A speed of operating axis is forcibly changed to the speed specified with the speed change registers.
Page 504 8 AUXILIARY AND APPLIED FUNCTIONS Command Speed after Execution of Speed Change Travel mode at speed Command speed at execution of (Note-1) Travel mode after speed change (Note-1) change travel instruction after speed change (Note-2) PTP/OSC (Note-2) (Note-6) Program command speed (Note-3) Constant speed (Note-2)
Page 505 8 AUXILIARY AND APPLIED FUNCTIONS [Data setting] (1) The setting ranges to speed change registers are shown below. Units inch degree Item Setting range Units Setting range Units Setting range Units 0 to 0 to 0 to Speed change value 600000000 mm/min 600000000...
Page 506 8 AUXILIARY AND APPLIED FUNCTIONS (1) If a speed change is executed, the setting speed is ignored in the following cases. (An error will not occur.) (a) During motion program execution (b) During deceleration by the stop command (c) During a stop (d) During manual pulse generator operation [Operation Timing] The operation timing for a speed change is shown in Fig.
Page 507: Jog Operation
8 AUXILIARY AND APPLIED FUNCTIONS 8.7 JOG Operation The setting JOG operation is executed. Individual start or simultaneous start can be used in the JOG operation. JOG operation can be executed using the PLC program, control program or test mode of peripheral device.
Page 508: Individual Start
8 AUXILIARY AND APPLIED FUNCTIONS 8.7.2 Individual start JOG operation for the specified axes is started. JOG operation is executed by the following JOG operation commands : • Forward JOG start command... M3202+20n • Reverse JOG start command... M3203+20n [Control details] (1) JOG operation continues at the JOG speed setting register value while the JOG operation signal turns on, and a deceleration stop is made by the JOG operation signal OFF.
Page 509 M3823 D703 D702 (Note) : The range of axis No.1 to 8 is valid in the Q172CPU(N). POINT When the JOG operation speed is set in the PLC program or control program, stores a value which is 100 times the real speed in units of [mm] or 1000 times the speed in units of [inch] or [degree] in the JOG speed setting register.
Page 510 8 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) If the forward JOG start command (M3202+20n) and reverse JOG start command (M3203+20n) turn on simultaneously for a single axis, the forward JOG operation is executed. When a deceleration stop is made by the forward JOG start command OFF, the reverse JOG operation is not executed even if the reverse JOG start command is ON.
Page 511 8 AUXILIARY AND APPLIED FUNCTIONS (3) JOG operation by the JOG operation command (M3202+20n/M3203+20n) is not executed during the test mode using a peripheral devices. After release of test mode, the JOG operation is executed by turning the JOG operation command OFF to ON. JOG operation is impossible JOG operation without turning JOG operation...
Page 512 8 AUXILIARY AND APPLIED FUNCTIONS (3) Motion program (Control program) O0100; SET #M2042; All axes servo ON command turns on. N10 IF[[ON #M2415] AND [ON #M2435]] GOTO 20; Wait until axis 1 and axis 2 servo ON. GOTO 10; N20 #D640L = 100000; Transfer the JOG operation speed to D640L and D642L. #D642L = 100000;...
Page 513: Simultaneous Start
Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17 (Note-1) Set the JOG operation simultaneous start axis with 1/0. 1:Simultaneous start is executed 0:Simultaneous start is not executed (Note-2) The range of axis No.1 to 8 is valid in the Q172CPU(N). 8 - 66...
Page 514 M3723 D693 D692 M3742 M3743 D695 D694 M3762 M3763 D697 D696 M3782 M3783 D699 D698 M3802 M3803 D701 D700 M3822 M3823 D703 D702 (Note) : The range of axis No.1 to 8 is valid in the Q172CPU(N). 8 - 67...
Page 515 8 AUXILIARY AND APPLIED FUNCTIONS [Program Example] Program for simultaneous start of JOG operations are shown as the following conditions. (1) System configuration JOG operation for Axis 1 and Axis 2. Motion CPU control module Q61P Q02H Q172 Q172 QX41 JOG operation command (PX000) Axis Axis...
Page 516: Manual Pulse Generator Operation
8 AUXILIARY AND APPLIED FUNCTIONS 8.8 Manual Pulse Generator Operation Positioning control based on the number of pulses inputted from the manual pulse generator is executed. Simultaneous operation for 1 to 3 axes is possible with one manual pulse generator, the number of connectable modules are shown below.
Page 517 D751 Axis 32 (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note): The manual pulse generator does not have the speed limit value, so they set the magnification setting within the rated speed of servomotor.
Page 518 8 AUXILIARY AND APPLIED FUNCTIONS (5) The setting manual pulse generator 1-pulse input magnification checks the "1- pulse input magnification setting registers of the manual pulse generator" of the applicable axis at the turning manual pulse generator enable flag turns off to on. If the value is outside of range, the manual pulse generator axis setting error register (D9185 to D9187) and manual pulse generator axis setting error flag (M9077) are set and a value of "1"...
Page 519 8 AUXILIARY AND APPLIED FUNCTIONS (7) Errors details at the data setting for manual pulse generator operation are shown below. Error details Error processing • Duplicated specified axis is ignored. Axis set to manual pulse generator • First setting manual pulse generator operation is operation is specified.
Page 520 8 AUXILIARY AND APPLIED FUNCTIONS (5) If the same manual pulse generator enable flag turns on again for axis during smoothing deceleration after manual pulse generator enable flag turns off, an error [214] is set and manual pulse generator input is not enabled. Turn the manual pulse generator enable flag on after smoothing deceleration stop (after the start accept flag OFF).
Page 521 8 AUXILIARY AND APPLIED FUNCTIONS [Program Example] Program executes manual pulse generator operation is shown as the following conditions. (1) System configuration Manual pulse generator operation of Axis 1. Motion CPU control module Q61P Q02H Q172 Q173 QX41 Manual pulse generator P1 Manual pulse generator enable flag (M2051 : P1, M2052 : P2) Manual pulse generator P2...
Page 522: Override Ratio Setting Function
8 AUXILIARY AND APPLIED FUNCTIONS 8.9 Override Ratio Setting Function The speed change can be executed by setting the override ratio to the command speed of the Motion program in this function. [Control details] (1) The override ratio is set in the range of 0 to 100[%] in 1[%] units to the command speed in the Motion program.
Page 523 8 AUXILIARY AND APPLIED FUNCTIONS (2) When the speed is changed by the override ratio setting function, acceleration/deceleration processing is executed according to the "acceleration time" and "deceleration time" in the parameter block. (3) The override ratio setting is valid for Motion program operation only. (Invalid for JOG operation and so on.) (4) The error contents for override ratio data setting are shown below.
Page 524: Fin Signal Wait Function
8 AUXILIARY AND APPLIED FUNCTIONS 8.10 FIN signal wait function By selecting the FIN signal wait function and setting a M-code at each executing point, a process end of each executing point is synchronized with the FIN signal, the FIN signal turns ON to OFF and then the next positioning is executed.
Page 525 8 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) When the stop command (external, M3200+20n, M3201+20n), cancel signal or skip signal is input, the M-code outputting signal turns OFF. (2) When M-code is set at the end point, positioning ends after the FIN signal has turn OFF to ON to OFF.
Page 526 8 AUXILIARY AND APPLIED FUNCTIONS (6) The command in-position signal for FIN signal wait function is output as below. (a) When the automatic deceleration is started by positioning to the executed point (including the last point) during FIN signal wait. If the difference between the positioning address (command position) of executing point and the machine value reaches within the command in- position range during FIN signal wait deceleration, the command in-position...
Page 527 8 AUXILIARY AND APPLIED FUNCTIONS POINTS (1) The fixed acceleration/deceleration time method is acceleration/deceleration processing that the time which acceleration/deceleration takes is fixed, even if the command differs. Acceleration/deceleration time is fixed (a) The following processing and parameters are invalid in the fixed acceleration/deceleration time method.
Page 528: Single Block Operation
8 AUXILIARY AND APPLIED FUNCTIONS 8.11 Single Block Operation This function is used to execute the program operation block-by-block and check the operation of Motion program. The single block is available in two modes: a mode where a single block is specified before a program start, and a mode where a single block is executed at any point during program execution.
Page 529 8 AUXILIARY AND APPLIED FUNCTIONS (b) Single block mode (M4408) This signal makes a single block valid. (c) Single block start (M4409) This single starts a program in a single block waiting status. (2) How to execute single block from a start When the single block mode signal (M4408) turns ON, the single block processing signal (M4009) turns ON.
Page 530 8 AUXILIARY AND APPLIED FUNCTIONS (4) How to start operation continuously during execution of single block Turn the single block mode signal (M4408) from ON to OFF. When the single block start signal (M4409) turns OFF to ON in this state, the single block processing signal (M4409) turns OFF and the program makes continuous operation.
Page 531 8 AUXILIARY AND APPLIED FUNCTIONS (6) How to execute single block during continuous operation Turn the single block mode signal (M4408) ON during program operation. During move block execution, the program is stopped after termination of that block and execution waits for the single block start signal (M4409) to turn from OFF to ON.
Page 532 8 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) Single block mode signal (M4408) and single block command (M4403+10n) If the single block by single block mode signal (M4408) and the single block by single block command (M4403+10n) are executed simultaneously, the operation by the single block command (M4403+10n) is made invalid.
Page 533: High-Speed Reading Of Specified Data
8 AUXILIARY AND APPLIED FUNCTIONS 8.12 High-Speed Reading of Specified Data This function is used to store the specified positioning data in the specified device (D, W). The signal from input module controlled in the Motion CPU is used as a trigger. It can be set in the system setting of SW6RN-GSV43P.
Page 534: Control Program Stop Function From The Plc Cpu
8 AUXILIARY AND APPLIED FUNCTIONS 8.13 Control Program Stop Function from The PLC CPU The No. of control program during execution is specified to end a program from the PLC CPU. (This function is equivalent to a Motion program (CLEAR) for positioning control.) (1) The control program set as the CLEAR request control program No.
Page 535 8 AUXILIARY AND APPLIED FUNCTIONS MEMO 8 - 88...
Page 536: Projects
9 USER FILES 9. USER FILES A user file list and directory structure are shown below 9.1 Projects User files are managed on a "project" basis. When you set a "project name", a "project name" folder is created as indicated on the next page, and under that, an editing folder (temp) are created.
Page 537: User File List
9 USER FILES 9.2 User File List A user file list is shown below. ( ) : Indicates the file (data) stored in CPU memory. Folder of user-set "project name" Project name folder Sub folders (fixed) Project file Project name.prj Project information file Motion program file svgcode.bin...
Page 538 10 ROM OPERATION FUNCTION 10. ROM OPERATION FUNCTION This function is used to store beforehand the user programs and parameters in the internal FLASH ROM memory built-in the Motion CPU module, and operate it based on the data of internal FLASH ROM memory. Refer to Section 1.3.4 for the correspondence version of the Motion CPU and the software.
Page 539 10 ROM OPERATION FUNCTION Installation mode mode written in ROM Motion CPU module Example) SV43 use Internal SRAM memory System setting data Each parameter for servo control Motion parameter Motion program Personal computer 1) ROM writing request MT Developer Internal FLASH ROM memory System setting data Each parameter for servo control Motion parameter...
Page 540: Specifications Of Led • Switch
10 ROM OPERATION FUNCTION 10.2 Specifications of LED • Switch (1) Name of parts Side face Front face With front cover open Q17 CPU(N) MODE MODE ERR. ERR. M.RUN M.RUN BAT. BAT. BOOT BOOT ON SW FRONT SSCNET STOP RESET L CLR PULL RS-232 Put your finger here to open...
Page 541 10 ROM OPERATION FUNCTION (2) Applications of switches Name Application • Move to RUN/STOP. RUN : Motion program is started. 7) RUN/STOP switch STOP : Motion program is stopped. RESET : Set the switch to the "RESET" position once to reset the hardware. Applies a reset after an operation error and initialized the operation.
Page 542: Rom Operation Function Details
10 ROM OPERATION FUNCTION 10.3 ROM Operation Function Details (1) Operation mode "Operation mode" of CPU is set by the state of DIP switch 2, 3, 5 of Motion CPU module at the power supply on or reset of Multiple CPU system. DIP switch setting, operation mode and operation mode overview are shown below.
Page 543 10 ROM OPERATION FUNCTION POINT Even if a DIP switch setting is changed on the way after the power supply on, "Operation mode" is not changed. Be sure to turn on or reset the power supply of the Multiple CPU system to change a DIP switch setting. (2) Applicable data into ROM The data contents batch written to the internal FLASH ROM by ROM writing are shown below.
Page 544 10 ROM OPERATION FUNCTION (b) Operation at applicable data into ROM When the ROM writing is requested to the Motion CPU module using "ROM writing" menu of SW6RN-GSV43P, the applicable data into ROM stored in the internal SRAM are batch-written to the internal FLASH ROM after erase of an user memory area of internal FLASH ROM built-in Motion CPU module.
Page 545 10 ROM OPERATION FUNCTION (3) ROM operation procedure The flowchart to start the ROM operation is shown below. ROM operation start procedure Set "Installation mode mode written in ROM" as a DIP switch 5 of the Motion CPU module. Turn ON the power supply of Multiple CPU system.
Page 546 10 ROM OPERATION FUNCTION " " (4) Operation at the Mode operated by ROM Operation at the "Mode operated by ROM" is shown below. (Programs and parameters written in the internal FLASH ROM are abnormal.) Mode operated by ROM start (When the additional parameters (for ROM operation function) are wrote in the internal FLASH ROM and a version of operating system...
Page 547: Operating Procedure Of "Rom Writing"
10 ROM OPERATION FUNCTION 10.4 Operating Procedure of "ROM writing" The operating procedure of ROM writing using the SW6RN-GSV43P is shown below. System setting screen Operating procedure 1) Display "ROM/RAM" communication dialog screen after clicking on "Communication" - "Transfer" of the system setting menu screen. (Note) : Select "Transfer"...
Page 548 The communication between the personal computer and the Motion CPU is possible via Q series Network module (MELSECNET/10(H), Ethernet, CC-Link, RS-232 and etc.) in the Motion CPU (Q173CPU(N)/Q172CPU(N)). Refer to the following manuals for the specifications of each network modules of MELSECNET/10(H), Ethernet, CC-Link and Serial communication, the handling method.
Page 549: Specifications Of The Communications Via Network
11 COMMUNICATIONS VIA NETWORK 11.1 Specifications of The Communications via Network (1) Communications via network of the Motion CPU is possible by SW6RN-GSV43P. (2) Access range of the communications via network of the Motion CPU is an access range equivalent to Qn(H)CPU. (Refer to Section "11.2 Access Range of The Communications via Network".) (3) By setting the routing parameter to the control CPU of the network module and the CPU which connected the peripheral devices in the network by...
Page 550: Access Range Of The Communications Via Network
11 COMMUNICATIONS VIA NETWORK 11.2 Access Range of The Communications via Network 11.2.1 Network configuration via the MELSECNET/10(H) or the Ethernet (1) It can access the other CPU via the network from the programming software (GX Developer, SW6RN-GSV43P, etc.) of the personal computer connected with the CPU or serial communication module in USB/RS-232.
Page 551 11 COMMUNICATIONS VIA NETWORK <Example> Personal Personal Personal Personal C24 : Serial communication module computer computer computer computer MNET : MELSECNET/10(H) MNET board or USB/ USB/ RS-232 Ether : Ethernet Ether RS-232 RS-232 Network No.1 Q173 Qn(H) MNET Qn(H) Q173 MNET Qn(H) Q173...
Page 552: Network Configuration Via The Cc-Link
11 COMMUNICATIONS VIA NETWORK 11.2.2 Network configuration via the CC-Link (1) It can access the other CPU via the CC-link from the programming software (GX Developer, SW6RN-GSV43P, etc.) of the personal computer connected with the CPU or serial communication module in USB/RS-232. (2) It can access the other CPU via the CC-Link from the programming software in the personal computer by connecting the personal computer equipped with CC-Link board to the CC-Link.
Page 553: Network Configuration Via The Rs-422/485
11 COMMUNICATIONS VIA NETWORK 11.2.3 Network configuration via the RS-422/485 (1) It can access the other CPU via the RS-422/485 from the programming software (GX Developer, SW6RN-GSV43P, etc.) of the personal computer connected with the CPU or serial communication module in USB/RS-232. (2) The access range of above (1) is only the CPU on the RS-422/485 which a system connects it to, and it can select RS-422/485 network to connect by specifying the I/O No.
Page 554: Network Configuration Which Melsecnet/10 (H), Ethernet, Cc-Link, Rs-422/485 Were Mixed
11 COMMUNICATIONS VIA NETWORK 11.2.4 Network configuration which MELSECNET/10 (H), Ethernet, CC-Link, RS-422/485 were mixed (1) When the MELSECNET/10(H) or Ethernet is defined as "Network" and CC-Link or RS-422/485 is defined as "Link", combination of whether to be able to access from the programming software (GX Developer, SW6RN-GSV43P, etc.) is shown below.
Page 555 11 COMMUNICATIONS VIA NETWORK <Example 1> Personal Personal Personal Personal computer computer computer computer C24 : Serial communication module USB/ USB/ MNET : MELSECNET/10(H) RS-232 MNET board or RS-232 RS-232 Ether : Ethernet Ether Network No.1 MNET Qn(H) Q173 MNET Qn(H) Q173 Q173...
Page 556 11 COMMUNICATIONS VIA NETWORK Personal Personal Personal C24 : Serial communication module <Example 2> computer computer computer MNET : MELSECNET/10(H) Ether : Ethernet USB/ USB/ RS-232 RS-232 RS-232 RS-422/485 Qn(H) Q173 Qn(H) Q173 Qn(H) Q173 MNET Network Link Link Link Link No.1 Ether...
Page 557 11 COMMUNICATIONS VIA NETWORK MEMO 11 - 10...
Page 558 12 MONITOR FUNCTION OF THE MAIN CYCLE 12. MONITOR FUNCTION OF THE MAIN CYCLE (1) Information for main cycle of the Motion CPU processing (process cycle executed at free time except for motion control) is stored to the special register. (2) Since the automatic refresh of shared CPU memory and Motion program are executed in the main cycle, make it reference for process time, etc.
Page 559 12 MONITOR FUNCTION OF THE MAIN CYCLE MEMO 12 - 2...
Page 560: About The Servo Parameter Read Request Devices
13 SERVO PARAMETER READING FUNCTION 13. 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 561 • Setting range axis No. Q173CPU(N) : 1 to 32 (Axis1 to 32) Q172CPU(N) : 1 to 8 (Axis1 to 8) 13.2 Operating Procedure of The Servo Parameter Reading Function An operation procedure which the servo parameter read by the reading function of the servo parameter is reflected on the SW6RN-GSV43P is shown below.
Page 562: Appendix 1 Multiple Cpu Error Codes
APPENDICES APPENDICES APPENDIX 1 Multiple CPU Error Codes APPENDIX 1.1 Self-diagnosis error code This section explains about the self-diagnosis error code. A self-diagnosis error code is stored in D9008. And, it can be confirmed with device monitor of the PC diagnosis/SW6RN-GSV43P of GX Developer.
Page 563 APPENDICES Table 1.1 Multiple CPU errors which occurs in the Motion CPU (1000 to 10000) Occurs CPU LED status Middle Error Error information Operating Diagnostic Error messages Single Multiple classification code status of CPU timing Classification code ERROR composition composition 1000 1001 1002...
Page 564 APPENDICES Error code Error contents and cause Corrective action Remark 1000 1001 (1) Measure noise level. 1002 Run-away or failure of main CPU (2) Reset and establish the RUN status again. If the same error is 1003 (1) Malfunctioning due to noise or other reason displayed again, this suggests a CPU hardware error.
Page 565 APPENDICES Table 1.1 Multiple CPU errors which occurs in the Motion CPU (1000 to 10000) (Continued) Occurs CPU LED status Middle Error Error information Operating Diagnostic Error messages Single Multiple classification code status of CPU timing Classification code ERROR composition composition 3001 At power...
Page 566 APPENDICES Error code Error contents and cause Corrective action Remark (1) Read the error detailed information at the peripheral device, check and correct the parameter items corresponding to the numerical values (parameter No.). 3001 Parameter contents have been destroyed. (2) If the error still occurred after correcting of the parameter settings, it may be an error for internal RAM of CPU or memory.
Page 567: Appendix 1.2 Release Of Self-Diagnosis Error
APPENDICES APPENDIX 1.2 Release of self-diagnosis error The CPU can perform the release operation for errors only when the errors allow the CPU to continue its operation. To release the errors, follow the steps shown below. (1) Eliminate the error cause. (2) Store the error code to be released in the special register D9060.
Page 568: Appendix 2 Error Codes Stored Using The Motion Cpu
APPENDICES APPENDIX 2 Error Codes Stored Using The Motion CPU The Motion program setting errors and positioning errors are detected in the Motion CPU side. (1) Motion program setting errors These are positioning data errors set in the Motion program, at it checks the parameter block No.
Page 569 D328 D348 D368 D388 D408 D428 D448 D468 D488 D508 D528 D548 D568 D588 D608 D628 M2408+20n (Note): The range of axis No.1 to 8 is valid in the Q172CPU(N). (c) If another error occurs after an error code has been stored, the existing error code is overwritten, deleting it.
Page 570: Appendix 2.1 Motion Program Setting Errors (Stored In D9190)
APPENDICES APPENDIX 2.1 Motion program setting errors (Stored in D9190) The error codes, error contents and corrective actions for Motion program setting errors are shown in Table 2.2. Table 2.2 Motion program setting error list Error code Error name Error contents Error processing Corrective action stored in D9190...
Page 571: Appendix 2.2 Minor Errors
APPENDICES APPENDIX 2.2 Minor errors These errors are detected in the PLC program or Motion program, and the error codes of 1 to 999 are used. Minor errors include the setting data errors, starting errors, positioning control errors, speed change/torque control value change errors and Motion program execution errors.
Page 572 APPENDICES Table 2.3 Setting data error (1 to 99) list (Continued) Error Erroneous Error Check timing Error cause Corrective action code data processing The interpolation control Control with Set the same control unit unit of the parameter the control of the fixed parameters Parameter Interpolation control block is different from...
Page 573 APPENDICES (2) Positioning control start errors (100 to 199) These errors are detected at the positioning control start. The error codes, causes, processing, and corrective actions are shown in Table 2.4 below. Table 2.4 Positioning control start error (100 to 199) list Control mode Error Error...
Page 574 APPENDICES Table 2.4 Positioning control start error (100 to 199) list (Continued) Control mode Error Error Error cause Corrective action code processing The address that does not generate an arc is set at • Correct the addresses of the the central point-specified circular interpolation or Motion program.
Page 575 APPENDICES Table 2.4 Positioning control start error (100 to 199) list (Continued) Control mode Error Error Error cause Corrective action code processing The travel value of the reference axis is set at "0" • Do not set axis of travel value in the linear interpolation for reference axis "0"...
Page 576 APPENDICES (3) Positioning control errors (200 to 299) These are errors detected during the positioning control. The error codes, causes, processing and corrective actions are shown in Table 2.5 below. Table 2.5 Positioning control error (200 to 299) list Control mode Error Error Error cause...
Page 577 APPENDICES Table 2.5 Positioning control error (200 to 299) list (Continued) Control mode Error Error Error cause Corrective action code processing All axes rapid stop ([Back Space] key input) is • Return to a point before the executed using the test mode of a peripheral device proximity dog signal ON using during the home position return.
Page 578 APPENDICES Table 2.5 Positioning control error (200 to 299) list (Continued) Control mode Error Error Error cause Corrective action code processing The manual pulse generator was enabled during Manual • Execute the manual pulse the start of the applicable axis, the manual pulse pulse generator operation after the generator operation was executed.
Page 579 APPENDICES (4) Speed change/torque limit value change errors (300 to 399) These are errors detected at speed change or torque limit value change. The error codes, causes, processing and corrective actions are shown in Table 2.6 below. Table 2.6 Speed change/torque limit value change error (300 to 399) list Control mode Error Error...
Page 580 APPENDICES (5) Motion program running errors (500 to 699) These errors are detected during Motion program execution. Check the execute Motion program No., execute sequence No. and execute block No., and correct the Motion program. Table 2.7 lists the processing and corrective actions for Motion program running errors.
Page 581 APPENDICES Table 2.7 Motion program running error (500 to 699) list (Continued) Control mode Error Error Error cause Corrective action code processing [ , ] exceeded 5 levels. • Correct the Motion program. The IF [condition] GOTO statement is in error. •...
Page 582 APPENDICES Table 2.7 Motion program running error (500 to 699) list (Continued) Control mode Error Error Error cause Corrective action code processing Cancel start (G24) program No. error • Correct the Motion program No.. High-speed oscillation (G25) amplitude range error •...
Page 583 APPENDICES Table 2.7 Motion program running error (500 to 699) list (Continued) Control mode Error Error Error cause Corrective action code processing The sequence No. started by CALL, Positioning • Correct the sequence No.. GOSUB/GOSUBE is outside the range of 1 to 9999. control starts from beginning...
Page 584 APPENDICES Table 2.7 Motion program running error (500 to 699) list (Continued) Control mode Error Error Error cause Corrective action code processing Write device data to shared CPU memory • Correct the program so that the (MULTW) execution error number of words (n) to be written is •...
Page 585 APPENDICES Table 2.7 Motion program running error (500 to 699) list (Continued) Control mode Error Error Error cause Corrective action code processing Write device data to intelligent function module/special function module (TO) execution • Correct the program so that the error number of words (n) to be written is •...
Page 586 APPENDICES (6) System errors (900 to 999) Table 2.8 System error (900 to 999) list Control mode Error Error Error cause Corrective action code processing • The motor type set in the "system settings" differs • Correct the motor type setting in from the motor type installed at the turning on the the system settings.
Page 587: Appendix 2.3 Major Errors
APPENDICES APPENDIX 2.3 Major errors These errors occur by control command from the external input signal or Motion program, and the error codes 1000 to 1999 are used. Major errors include the positioning control start errors, positioning control errors, absolute position system errors and system errors. (1) Positioning control start errors (1000 to 1099) These errors are detected at the positioning control start.
Page 588 APPENDICES (2) Positioning control errors (1100 to 1199) These errors are detected at the positioning control. The error codes, causes, processing and corrective actions are shown in Table 2.10. Table 2.10 Positioning control error (1100 to 1199) list Control mode Error Error Error cause...
Page 589 APPENDICES (3) Absolute position system errors (1200 to 1299) These errors are detected at the absolute position system. The error codes, causes, processing and corrective actions are shown in Table 2.11. Table 2.11 Absolute position system error (1200 to 1299) list Control mode Error Error...
Page 590 APPENDICES (4) System errors (1300 to 1399) These errors are detected at the power-on. The error codes, causes, processing and corrective actions are shown in Table 2.12. Table 2.12 System error (1300 to 1399) list Control mode Error Error Error cause Corrective action code processing...
Page 591: Appendix 2.4 Servo Errors
APPENDICES APPENDIX 2.4 Servo errors (1) Servo amplifier errors (2000 to 2799) These errors are detected by the servo amplifier, and the error codes are [2000] to [2799]. The servo error detection signal (M2408+20n) turns on at the servo amplifier error occurrence.
Page 592 APPENDICES Table 2.13 Servo error (2000 to 2799) list Error Error cause Error Error check Corrective action code processing Name Description • The power supply voltage is 160VAC • Measure the input voltage (R, S, or less. (320VAC or less for 400VAC T) with a voltmeter.
Page 593 APPENDICES Table 2.13 Servo error (2000 to 2799) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • Interface unit (MR-J2M-P8B) for servo • Connect the interface unit (MR- amplifier connection fault. J2M-P8B) for servo amplifier to the base unit (MR-J2M-BU ) for servo amplifier correctly.
Page 594 APPENDICES Table 2.13 Servo error (2000 to 2799) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • The frequency of ON/OFF switching of • Reduce the frequency of the power transistor for regeneration acceleration and deceleration or is too high.
Page 595 APPENDICES Table 2.13 Servo error (2000 to 2799) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • U, V, W in the servo amplifier outputs • Check if there is a short circuit have short circuited with each other. between U, V, W of the servo amplifier outputs.
Page 596 APPENDICES Table 2.13 Servo error (2000 to 2799) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • There is excessive variation in the • Check the command speed and position commands and command the number of pulses per speed is too high from the Multiple revolution/travel value per CPU system.
Page 597 APPENDICES Table 2.13 Servo error (2000 to 2799) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • An overload current of about 200[%] • Check if there has been a continuously supplied to the servo collision at the machine.
Page 598 APPENDICES Table 2.13 Servo error (2000 to 2799) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • Servo amplifier having large load is • Change the slot of the servo adjacent. amplifier whose load is large. •...
Page 599 APPENDICES Table 2.13 Servo error (2000 to 2799) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description Home position • After a home position return command, • Execute the home position Operation 2196 setting error the droop pulses did not become within return again.
Page 600 APPENDICES Table 2.13 Servo error (2000 to 2799) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description Parameter error • The vector inverter parameter value is outside the setting range. • The parameter is set during servo ON. •...
Page 601 APPENDICES Table 2.13 Servo error (2000 to 2799) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description 2333 Speed monitoring reference 2334 Current monitoring reference 2335 DA2 terminal function selection Parameter 2333 2336 Overspeed detection level Any time during Operation •...
Page 602 APPENDICES Table 2.13 Servo error (2000 to 2799) list (Continued) Error Error cause Error When error checked Corrective action code processing Name Description • The parameter setting is wrong. • The parameter data was corrupted. 2601 Amplifier setting 2602 Regenerative brake resistor 2603 Motor type 2604 Motor capacity 2605 Motor speed...
Page 603 APPENDICES Table 2.13 Servo error (2000 to 2799) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • The parameter setting is wrong. • The parameter data was corrupted. 2601 Maximum speed 2602 Electronic thermal O/L relay 2603 Regenerative function selection 2604 Special regenerative brake duty 2605 Applied motor...
Page 604 APPENDICES Table 2.13 Servo error (2000 to 2799) list (Continued) Error Description Remark code • Error codes peculiar to vector inverter. (Note-2) : Refer to the Instruction Manuals of the vector inverter FR-V500 and FR-V5NS for a based on Code Error the code address for details.
Page 605 APPENDICES Table 2.13 Servo error (2000 to 2799) list (Continued) Error Description Remark code (Note-2) : Refer to the Instruction Manuals of the vector inverter FR-V500 and FR-V5NS for a based on Code Error the code address for details. address Description code (Note-2)
Page 606: Appendix 2.5 Pc Link Communication Errors
APPENDICES APPENDIX 2.5 PC link communication errors Table 2.14 PC link communication error codes list Error codes stored Error description Corrective action in D9196 • A receiving packet for PC link • Check whether the power of PC has communication does not been turned on.
Page 607: Appendix 3 Motion Dedicated Signal
M2980 to M2999 M3000 to M3019 M3020 to M3039 (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). APP - 46...
Page 608 M3780 to M3799 M3800 to M3819 M3820 to M3839 (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). APP - 47...
Page 609 (Note-1) : At single block mode, only M4009 is used single block processing signal. (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).
Page 610 (Note-1) : M4408 (single block mode signal) and M4409 (single block start signal) are used in the single block operation. M4418 (axis interlock valid/invalid) is used in the axis interlock (forward)/(reverse). (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).
Page 611 APPENDICES (5) Common device list Device Signal Remark Device Signal Remark Signal name Refresh cycle Signal name Refresh cycle Fetch cycle Fetch cycle direction (Note-4) direction (Note-4) Command Status M2054 Operation cycle over flag Operation cycle M2000 PLC ready flag Main cycle signal M3072...
Page 612 APPENDICES Common device list (Continued) Remark Remark Device Signal Device Signal Signal name Refresh cycle Signal name Refresh cycle Fetch cycle Fetch cycle (Note-4) (Note-4) direction direction M2119 M2180 M2120 M2181 M2121 M2182 M2122 M2183 Unusable — — — — M2123 M2184 (9 points)
Page 613 APPENDICES Common device list (Continued) Remark Remark Device Signal Device Signal Signal name Refresh cycle Signal name Refresh cycle Fetch cycle Fetch cycle (Note-4) (Note-4) direction direction M2240 Axis 1 M2280 M2241 Axis 2 M2281 M2242 Axis 3 M2282 M2243 Axis 4 M2283 M2244 Axis 5 M2284...
Page 614 M2053 D757 (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) : Handling of D704 to D708 and D755 to D757 registers...
Page 615 APPENDICES (6) Special relay allocated device list (Status) (Note) Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark M2320 Fuse blown detection M9000 M2321 AC/DC DOWN detection M9005 M2322 Battery low M9006 Error occurrence M2323 Battery low latch M9007 M2324 Self-diagnostic error...
Page 616 APPENDICES (7) Common device list (Command signal) Remark Device No. Signal name Refresh cycle Fetch cycle Signal direction (Note-1) , (Note-2) Command Main cycle M3072 PLC ready flag M2000 signal M3073 Unusable — — — — Operation M3074 All axes servo ON command M2042 cycle JOG operation simultaneous start...
Page 617: Appendix 3.2 Data Registers (D)
D580 to D599 D600 to D619 D620 to D639 (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). APP - 56...
Page 618 D694, D695 D696, D697 D698, D699 D700, D701 D702, D703 (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). APP - 57...
Page 619 D1380 to D1399 D1400 to D1419 D1420 to D1439 (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). APP - 58...
Page 620 APPENDICES (4) Control program monitor device list Device No. Signal name D1440 to D1445 Signal D1446 to D1451 Signal name Refresh cycle Fetch cycle Unit direction D1452 to D1457 0 Program No. D1458 to D1463 1 Sequence No. D1464 to D1469 Monitor 2 Block No.
Page 621 D1623 to D1625 D1626 to D1628 D1629 to D1631 (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). APP - 60...
Page 622 APPENDICES (6) Tool length offset data setting register list (Higher rank, lower rank) Device No. Signal name D1651, D1650 Tool length offset data 1 D1653, D1652 Tool length offset data 2 D1655, D1654 Tool length offset data 3 D1657, D1656 Tool length offset data 4 D1659, D1658 Tool length offset data 5...
Page 623 D797 D750 Axis 31 D798 D751 Axis 32 D799 (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). APP - 62...
Page 624: Appendix 3.3 Motion Registers (#)
APPENDICES APPENDIX 3.3 Motion Registers (#) Motion register list (#) Axis Device No. Signal name #8064 to #8067 #8068 to #8071 (Note-1) Signal name Signal description Refresh cycle Signal direction #8072 to #8075 #8076 to #8079 0 : Unused 4 : MR-J2S-B 1 : MR-H-BN 5 : MR-J2-M When the servo amplifier...
Page 625: Appendix 3.4 Special Relays
APPENDICES APPENDIX 3.4 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 programs. However, they can be turned ON/OFF as needed in order to control the Motion CPU. The headings in the table that follows have the following meanings.
Page 626 APPENDICES Special relay list Set by Name Meaning Details Remark (When set) • OFF : Normal Turn on when there is one or more output modules control M9000 Fuse blown detection : Fuse blown module of self CPU which fuse has been blown. detected Remains on if normal status is restored.
Page 627 APPENDICES Special relay list (continued) Set by Name Meaning Details Remark (When set) • This flag indicates whether the setting designated at the : At least one D714 to manual pulse generator axis setting register (D714 to D719) D719 setting is Manual pulse generator is normal or abnormal.
Page 628 APPENDICES Special relay list (continued) Set by Name Meaning Details Remark (When set) OFF : CPU No.1 normal • Turn off when the CPU No.1 is normal. (It contains at M9244 CPU No.1 error flag : On CPU No.1 stop continuation error.) (Note-2) error...
Page 629: Appendix 3.5 Special Registers
APPENDICES APPENDIX 3.5 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 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 630 APPENDICES Special register list Set by Name Meaning Details Remark (When set) Module No. with • When fuse blown modules are detected, the lowest I/O module No. is stored D9000 Fuse blown No. blown fuse in D9000. • 1 is added to the stored value each time the input voltage becomes AC/DC DOWN Number of times 85[%](AC power supply/65[%] DC power supply) or less of the rating while...
Page 631 Q173CPU(N) : 1 to 32 (Axis1 to 32) read axis No. Q172CPU(N) : 1 to 8 (Axis1 to 8) It is operating in • Each axis is stopping : 0/Operating : 1, information is stored as a bit data.
Page 632 APPENDICES Special register list (continued) Set by Name Meaning Details Remark (When set) Motion operation Motion operation • The time when the motion operation cycle is stored in the [ µ s] unit. D9188 S (Operation cycle) (Note) cycle cycle Error program Error program No.
Page 633 WARRANTY Please confirm the following product warranty details before using this product. 1. 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 634 IB(NA)-0300070-B(0605)MEE MODEL: Q173-P-SV43-E MODEL CODE: 1XB784 HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission.

This manual is also suitable for:

Q173cpu Q172cpun Q173cpun

Mitsubishi Electric Q172CPU Programming Manual

1 Overview

2 Starting up the Multiple Cpu System

3 Communication between the Plc Cpu and the Motion Cpu in the Multiple Cpu System

4 Motion Dedicated Plc Instruction

5 Positioning Dedicated Signals

6 Parameters for Positioning Control

7 Motion Programs for Positioning Control

8 Auxiliary and Applied Functions

9 User Files

11 Communications Via Network

13 Servo Parameter Reading Function

APPENDIX 1 Multiple CPU Error Codes

APPENDIX 1.1 Self-Diagnosis Error Code

APPENDIX 1.2 Release of Self-Diagnosis Error

APPENDIX 2 Error Codes Stored Using the Motion CPU

APPENDIX 2.1 Motion Program Setting Errors (Stored in D9190)

APPENDIX 2.2 Minor Errors

APPENDIX 2.3 Major Errors

APPENDIX 2.4 Servo Errors

APPENDIX 2.5 PC Link Communication Errors

APPENDIX 3 Motion Dedicated Signal

APPENDIX 3.1 Internal Relay (M)

APPENDIX 3.2 Data Registers (D)

APPENDIX 3.3 Motion Registers (#)

APPENDIX 3.4 Special Relays

APPENDIX 3.5 Special Registers

Quick Links

Related Manuals for Mitsubishi Electric Q172CPU

Summary of Contents for Mitsubishi Electric Q172CPU