Page 1 MELSEC iQ-R Motion Controller Programming Manual (Common) -R16MTCPU -R32MTCPU -R64MTCPU...
Page 3: Safety Precautions
SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. Refer to MELSEC iQ-R Module Configuration Manual for a description of the PLC system safety precautions.
Page 4 [Design Precautions] WARNING ● For the operating status of each station after a communication failure, refer to manuals relevant to the network. Incorrect output or malfunction due to a communication failure may result in an accident. ● When connecting an external device with a CPU module or intelligent function module to modify data of a running programmable controller, configure an interlock circuit in the program to ensure that the entire system will always operate safely.
Page 5 [Design Precautions] CAUTION ● Do not install the control lines or communication cables together with the main circuit lines or power cables. Keep a distance of 100mm or more between them. Failure to do so may result in malfunction due to noise. ●...
Page 6 [Installation Precautions] CAUTION ● Use the programmable controller in an environment that meets the general specifications in the Safety Guidelines included with the base unit. Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product. ●...
Page 7 [Wiring Precautions] CAUTION ● Individually ground the FG and LG terminals of the programmable controller with a ground resistance of 100 ohms or less. Failure to do so may result in electric shock or malfunction. ● Use applicable solderless terminals and tighten them within the specified torque range. If any spade solderless terminal is used, it may be disconnected when the terminal screw comes loose, resulting in failure.
Page 8 [Startup and Maintenance Precautions] WARNING ● Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction. ● Correctly connect the battery connector. Do not charge, disassemble, heat, short-circuit, solder, or throw the battery into the fire. Also, do not expose it to liquid or strong shock. Doing so may cause the battery to generate heat, explode, ignite, or leak, resulting in injury or fire.
Page 9 [Startup and Maintenance Precautions] CAUTION ● Startup and maintenance of a control panel must be performed by qualified maintenance personnel with knowledge of protection against electric shock. Lock the control panel so that only qualified maintenance personnel can operate it. ●...
Page 10 [Transportation Precautions] CAUTION ● When transporting lithium batteries, follow the transportation regulations. For details on the regulated models, refer to the MELSEC iQ-R Module Configuration Manual. ● The halogens (such as fluorine, chlorine, bromine, and iodine), which are contained in a fumigant used for disinfection and pest control of wood packaging materials, may cause failure of the product.
Page 11: Conditions Of Use For The Product
PRODUCTs are required. For details, please contact the Mitsubishi representative in your region. INTRODUCTION Thank you for purchasing the Mitsubishi Electric MELSEC iQ-R series programmable controllers. This manual describes the Multiple CPU system, parameters, devices, functions, memory structure etc. of the relevant products listed below.
Page 12: Table Of Contents
CONTENTS SAFETY PRECAUTIONS ..............1 CONDITIONS OF USE FOR THE PRODUCT .
Page 13 Link register (W) ............... . . 79 Motion register (#) .
Page 14 SSCNET Control Function ............. . . 183 Connect/disconnect function of SSCNET communication.
Page 15 Parameters used during test mode ............329 Test mode transition/cancellation .
Page 16 Processing time monitor and check............370 Event History Function .
Page 17: Relevant Manuals
RELEVANT MANUALS Manual Name [Manual Number] Description Available form MELSEC iQ-R Motion Controller Programming Manual This manual explains the Multiple CPU system configuration, Print book (Common) performance specifications, common parameters, auxiliary/applied e-Manual [IB-0300237] (This manual) functions, error lists and others. MELSEC iQ-R Motion Controller User's Manual This manual explains specifications of the Motion CPU modules, Print book...
Page 18: Terms
TERMS Unless otherwise specified, this manual uses the following terms. Term Description R64MTCPU/R32MTCPU/R16MTCPU or Abbreviation for MELSEC iQ-R series Motion controller Motion CPU (module) MR-J4(W)-B Servo amplifier model MR-J4-B/MR-J4W-B MR-J3(W)-B Servo amplifier model MR-J3-B/MR-J3W-B AMP or Servo amplifier General name for "Servo amplifier model MR-J4-B/MR-J4W-B/MR-J3-B/MR-J3W-B" RnCPU, PLC CPU or PLC CPU module Abbreviation for MELSEC iQ-R series CPU module Multiple CPU system or Motion system...
Page 19: Manual Page Organization
MANUAL PAGE ORGANIZATION Representation of numerical values used in this manual ■Axis No. representation In the positioning dedicated signals, "n" in "M3200+20n", etc. indicates a value corresponding to axis No. as shown in the following table. Axis No. Axis No. Axis No.
Page 20 ■Machine No. representation In the positioning dedicated signals, "m" in "M43904+32m", etc. indicates a value corresponding to machine No. as shown in the following table. Machine No. Machine No. • Calculate as follows for the device No. corresponding to each machine. For machine No.8 in MELSEC iQ-R Motion device assignment M43904+32m ([St.2120] Machine error detection) M43904+327=M44128 D53168+128m ([Md.2020] Machine type)=M53168+287=D54064...
Page 21 Representation of device No. used in this manual The "R" and "Q" beside the device No. of positioning dedicated signals such as "[Rq.1140] Stop command (R: M34480+32n/ Q: M3200+20n)" indicate the device No. for the device assignment methods shown below. When "R" and "Q" are not beside the device No., the device No.
Page 22: Chapter 1 Multiple Cpu System
MULTIPLE CPU SYSTEM Multiple CPU System Overview What is Multiple CPU system? A Multiple CPU system is a system in which more than one PLC CPU module and Motion CPU module (up to 4 modules) are mounted on several main base unit in order to control the I/O modules and intelligent function modules. Each Motion CPU controls the servo amplifiers connected by SSCNET...
Page 23: Restrictions On Multiple Cpu Systems Using Motion Cpus
Restrictions on Multiple CPU systems using Motion CPUs Refer to the following for details on the Multiple CPU system concept (system configuration such as CPU module installation positions and combinations, CPU Nos., I/O No. allocation etc.). MELSEC iQ-R Series Module Configuration Manual This section describes restrictions when using Motion CPUs.
Page 24 ■MELSEC Q series modules MELSEC Q series modules cannot be controlled with the Motion CPU. If the Motion CPU is specified as the MELSEC Q series module control CPU, a moderate error (error code: 2020H) is detected when turning ON the Multiple CPU system power supply, and the module cannot be accessed.
Page 25: Module Control With Motion Cpus
Module control with Motion CPUs The settings required to control modules with Motion CPUs are as follows. System configuration settings The system configuration for Multiple CPU systems and common parameters is set in the GX Works3 [Module Configuration] and [System Parameter]. With Motion CPUs, parameters set in GX Works3 are read by MT Developer2, and therefore the system configuration and common parameters are not set in MT Developer2.
Page 26 ■I/O module Item Setting range Default value Input response time setting 0.1ms/0.2ms/0.4ms/0.6ms/1ms/5ms/10ms/20ms/70ms 10ms Interrupt setting Input/interrupt setting Input/interrupt Input  Interrupt condition setting Leading edge/Trailing edge/Leading edge/trailing edge Interrupt pointer I0 to I15  Setting of error-time output mode Clear/Hold Clear ■High-speed counter module Item...
Page 27 ■Analog input module Item Setting range Default value Basic Range switching Input range setting 4 to 20mA/0 to 20mA/1 to 5V/0 to 5V/-10V to 10V/ setting function 0 to 10V/4 to 20mA (Extend)/1 to 5V (Extend)/ User range setting Operation mode Operation mode setting Normal mode(A/D conversion)/Normal mode(low speed: setting function...
Page 28 Item Setting range Default value Application Scaling function Scaling enable/disable setting Enable/Disable Disable setting  Scaling upper limit value -32000 to -1, 1 to 32000 Scaling lower limit value -32000 to -1, 1 to 32000  Shift function Conversion value shift amount -32768 to 32767 Digital clipping Digital clipping enable/disable...
Page 29 Item Setting range Default value Interrupt Condition target setting Disable/Error flag/Warning output flag (Process alarm)/ Disable setting Warning output flag (Rate alarm)/Input signal error detection flag/A/D conversion completed/Logging hold flag/ Logging read/Continuous logging data storage Condition target channel setting All CH specification/CH1/CH2/CH3/CH4/CH5/CH6/CH7/ All CH specification CH8/CH9/CH10/CH11/CH12/CH13/CH14/CH15/CH16 Interrupt factor transaction setting...
Page 30 ■Temperature input module Item Setting range Default value Basic RTD type RTD type setting Pt100(-200 to 850)/Pt100(-20 to 120)/JPt100(-180 to Pt100(-200 to 850) setting selection 600)/JPt100(-20 to 120)/Pt100(0 to 200)/JPt100(0 function to 200)/Ni100(-60 to 250)/Pt50(-200 to 650) Offset/gain setting Factory default setting/User range setting Factory default setting Thermocouple Thermocouple type setting...
Page 31 Item Setting range Default value Application Scaling function Scaling enable/disable setting Enable/Disable Disable setting  Scaling range upper limit value -3276.8 to -0.1, 0.1 to 3276.7  Scaling range lower limit value -3276.8 to -0.1, 0.1 to 3276.7  Scaling width upper limit value -32768 to -1, 1 to 32767 Scaling width lower limit value -32768 to -1, 1 to 32767...
Page 32: Setting Operation For Multiple Cpu System
Setting Operation for Multiple CPU System This section describes all operation settings for Multiple CPU systems. Specify all operation settings for Multiple CPU systems in the GX Works3 [System Parameter]. Refer to the following for details on all operation settings. MELSEC iQ-R CPU Module User's Manual (Application) Setting operation for CPU module stop error If a moderate or major error occurs at any of the CPUs, set whether to stop or continue operation for all CPUs.
Page 33: Data Communication Between Cpu Modules In The Multiple Cpu System
Data Communication Between CPU Modules in the Multiple CPU System Data transfer is performed between CPU modules in the Multiple CPU system. Data can be written and read between CPUs through communication by refreshing or by direct access. Data communication methods are shown below. Refer to the following for details on data communication between CPU modules (data communication via CPU buffer memory/ fixed scan communication area).
Page 34 • The system area is determined by the allocation in the system. Use the user area for communicating user data. • The refresh (END, I45 executing) area is used with the Multiple CPU refresh. Do not directly change this area with a program. Assurance for data communicated between Multiple CPUs ■Assurance of data sent between CPUs Due to the timing of data sent from the self CPU and automatic refresh in any of the other CPUs, old data and new data may...
Page 35: Data Communication By Refreshing At Motion Cpus
Data communication by refreshing at Motion CPUs This section describes data communication by refreshing at Motion CPUs. Refresh timing The refresh timing at Motion CPUs differs from that for PLC CPUs. The refresh types and refresh timing are as follows. Refresh type Memory used Refresh timing...
Page 36 Multiple CPU refresh setting Setting for communicating by refresh. In the refresh settings, up to 32 setting ranges (refresh (END) and refresh (I45 executing)) can be set for each CPU module. [R Series Common Parameter]  [System Parameter]  [Multiple CPU Setting]  "Communication Setting between CPU"...
Page 37 Parameters set at GX Works3 are read at MT Developer2, and therefore there is no need to specify the refresh (END) and refresh (I45 executing) settings, however, they should be set in the following cases. • When a Motion register (#) is set to the transmitting device. •...
Page 38 Multiple CPU refresh setting (Q compatibility high-speed refresh setting) With self Motion CPUs, data between Motion CPU internal devices and the CPU buffer memory is updated every operation cycle in the settings of devices for which refresh (at END) is set. [R Series Common Parameter] ...
Page 39 This refresh method is a setting for compatibility with the Q series Motion CPU with the purpose of making the data refresh timing equivalent to that of "Multiple CPU high speed refresh" of the Q series Motion CPU. When configuring a new system, we recommend using refresh (I45 executing) for communication of data that is synchronized with the control of the Motion CPU.
Page 40: Fixed Scan Data Transmission Section Over Check
Fixed scan data transmission section over check A check is performed to verify whether Motion CPU fixed-cycle processing (Motion SFC event tasks, motion operations, etc.) is completed by the data transmission section of the CPU fixed scan communication. A check can be carried out to detect whether fixed scan transmission data separation has occurred. "Detect/Not detected" and "Stop/Continue"...
Page 41: Inter-Module Synchronization Function
Inter-module synchronization function Inter-module synchronization function overview • By using the inter-module synchronization function, control timing can be synchronized across Motion CPUs, I/O modules, and intelligent function modules. By enabling inter-module synchronization for modules controlled by a Motion CPU, motion control and synchronized I/O control are possible.
Page 42 If setting inter-module synchronization settings at the Motion CPU, set as follows. Operating procedure Set "Use inter-module synchronization function in system" to "Use". Set "Synchronize" from the setting of the selected synchronization target module displayed in "Select the synchronous target unit", for the module to be synchronized.
Page 43 Inter-module synchronization control timing ■Timing of I/O refresh processing When using the inter-module synchronization function, the timing of motion operation cycles with Motion CPUs is linked to inter-module synchronization cycles. Refresh of inter-module synchronization target modules I/O (X/Y) is performed before and after Motion CPU fixed-cycle processing (Motion SFC fixed-cycle event tasks, motion operation processing, etc.) The processing timing is as follows.
Page 44 • When inter-module synchronization cycle > motion operation cycle : Input refresh : Output refresh : Actual input timing : Actual output timing Inter-module synchronization cycle Example 4 Example 5 Operation cycle over Motion operation cycle • Input refresh is performed when processing the first Motion CPU fixed cycle within the inter-module synchronization cycle. Output refresh is performed when processing the last Motion CPU fixed cycle within the inter-module synchronization cycle.
Page 45 Special relay/special register The special relays and special register relating to the inter-module synchronization function are shown below. Refer to the following for details on special relays and special registers. • Special relay(Page 426 Special Relays) • Special register(Page 431 Special Registers) Device Number Name...
Page 46 ■Link between inter-module synchronization function and CPU fixed scan communication When the following are set in GX Works3, CPU fixed scan communication operates based on the fixed scan interval set with the inter-module synchronization function, enabling control with the timing of both inter-module synchronization function and CPU fixed scan communication aligned.
Page 47 • Abnormal stop If a Motion CPU major/moderate error occurs (including cases where settings ensure that Motion CPUs stop at a major/ moderate error at each module), Motion CPU output is turned OFF (there are also cases when output is retained depending on the parameter settings), and a stop command is issued to the control module.
Page 48 Error detection The following error statuses are monitored at the Motion CPU. ■Execution time monitoring of the Motion CPU fixed-cycle processing Regardless of whether the inter-module synchronization function is used, the Motion CPU fixed-cycle processing (inter- module synchronization I/O refresh, Motion SFC fixed-cycle event task, motion operation processing, etc.) execution time is monitored.
Page 49: Relationship Between Fixed Scan Communication And Inter-Module Synchronization
Relationship between fixed scan communication and inter- module synchronization If using fixed scan communication and inter-module synchronization between multiple CPUs, the relationship between motion operations and Motion SFC event task (fixed-cycle tasks) is as follows. Inter-module synchronization function Not used Used Fixed scan Not used...
Page 50: Control Instruction From Plc Cpu To Motion Cpu
Control instruction from PLC CPU to Motion CPU Control can be instructed from the PLC CPU to the Motion CPU using the Motion dedicated PLC instructions listed in the table below. Refer to the following for the details of each instruction. (Control may not be instructed from one Motion CPU to another Motion CPU.) MELSEC iQ-R Motion controller Programming Manual (Program Design) Instruction name...
Page 51: Chapter 2 Common Parameters
COMMON PARAMETERS Parameters Used by the Motion CPU The parameters used by the Motion CPU are as follows. Parameter Details R series common parameters Common parameters for R series CPU modules Motion CPU common parameters Common parameters for Motion CPU modules Motion control parameters Positioning control parameters and synchronous control parameters used by the Motion CPU for Motion control A list of parameters used by the Motion CPU is shown below.
Page 52 Parameter item Parameter input timing Details Reference At ON/reset of At STOP to Multiple CPU RUN/test system power mode request supply   Motion Axis setting Fixed parameter Set the fixed data based on the control parameter mechanical system, etc. of the controlled parameter axis.
Page 53 *2 MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control) *3 MELSEC iQ-R Motion Controller Programming Manual (Machine Control) *4 Not loaded at test mode request. *5 MELSEC iQ-R Motion Controller Programming Manual (G-Code Control) 2 COMMON PARAMETERS 2.1 Parameters Used by the Motion CPU...
Page 54: R Series Common Parameter
R Series Common Parameter Set the MELSEC iQ-R series CPU module common parameters used at the Multiple CPU system for the R series common parameters. PLC CPU parameters Motion CPU parameters (set at GX Works3) (set at MT Developer2) Read by MT Developer2 Common system Common system...
Page 55: System Parameter
System parameter These parameters are used to set the Multiple CPU system module configuration and common system items. The system parameters for each CPU in the Multiple CPU system must be matched. There is no need to set system parameters because the parameters set in the GX Works3 "Module Configuration"...
Page 56 Communication setting between CPU ■Refresh (END) setting Set up to 32 settings for refresh device per CPU. Refer to device list for the range of devices that can be set. (Page 75 Device List) • Q compatibility high-speed refresh setting Set refresh between CPUs with up to of 128 settings for the entire Multiple CPU system.
Page 57: Cpu Parameter
CPU parameter Set the operational details for the Motion CPU's functions. Also, regarding the overall system, settings for which verification between CPUs is not necessary are also stored in these parameters. [R Series Common Parameter]  [Motion CPU Module]  [CPU Parameter] Window Displayed items Item...
Page 58 Name setting ■Title setting Set the Motion CPU title (name, application). Up to 32 characters can be set. ■Comment setting Set a comment for the title. Up to 256 characters can be set. Operation related setting ■RUN contact Set contacts used to control Motion CPU RUN signals. Only inputs (X) can be set. Setting range X0 to X2FFF Refer to remote RUN/STOP for details on operation with RUN contacts.
Page 59 RAS setting ■Error detections setting • Module verify error Set whether to "Detect" or "Not detect" module comparison errors in cases such as when a different module is detected when the Multiple CPU system power supply is ON. • Over execute time of Motion CPU fixed scan process •...
Page 60: Module Parameter
Module Parameter Specify local node settings and security in order to communicate with external devices with the Motion CPU PERIPHERAL I/F. [R Series Common Parameter]  [Motion CPU Module]  [Module Parameter] Window Displayed items Item Setting range Default value Local node IP address IP address...
Page 61: Motion Cpu Common Parameter
Motion CPU Common Parameter The Motion CPU common parameters are used to specify Motion CPU basic settings, the servo network configuration, and all auxiliary functions. A list of Motion CPU common parameter settings is shown in the table below. Item Setting range Default value Remark...
Page 62 Item Setting range Default value Remark Servo Amplifier Sensing Operation 1 station occupied mode/Axis mode (MR-MT2200) No setting Set the model name, axis No. network setting module mode and other details for the setting information servo amplifiers. Extension <Operation mode "1 station occupied mode" use> No setting module 0 to 4...
Page 63: Basic Setting
Basic setting The following explains each item to be set in basic setting. [Motion CPU Common Parameter]  [Basic setting] Window Displayed items Item Setting range Default value Operation cycle 0.222ms/0.444ms/0.888ms/1.777ms/3.555ms/7.111ms/Default setting Default setting Low speed operation cycle Not used/2 times/4 times/8 times Not used magnification setting Forced stop input...
Page 64 Low speed operation cycle magnification setting Set the magnification of the operation cycle for using the mixed operation cycle function. Refer to mixed operation cycle function for details of mixed operation cycle function (Page 160 Mixed Operation Cycle Function) Setting Details Not used Not use the low speed operation cycle.
Page 65 Machine control setting Set when performing machine control. Refer to the following for details on machine control. MELSEC iQ-R Motion Controller Programming Manual (Machine Control). Setting Details Not used • Machine control is disabled. • Machine common parameters, and machine parameters are not read. Used •...
Page 66: Servo Network Setting
Servo network setting The following explains each item to be set in servo network setting. [Motion CPU Common Parameter]  [Servo network setting] Window Displayed items Item Setting range Page 65 SSCNET setting SSCNET setting Page 66 Amplifier setting Amplifier setting 2 COMMON PARAMETERS 2.3 Motion CPU Common Parameter...
Page 67 SSCNET setting [Motion CPU Common Parameter]  [Servo network setting]  [SSCNET Setting] Window Displayed items Item Setting range Default value Communication type SSCNET/H/SSCNET SSCNET/H ■Communication type Set the communication type to communicate with the servo amplifier for every line. •...
Page 68 Amplifier setting [Motion CPU Common Parameter]  [Servo network setting]  [Amplifier Setting] Window Displayed items Item Setting range Default value Amplifier Amplifier model <Communication type "SSCNET/H" use> MR-J4(W)-B(-RJ) information MR-J4(W)-B(-RJ)/MR-J4-B-LL/FR-A800-1/FR-A800-2/MR-MT2010/LJ72MS15/ VC (CKD NIKKI DENSO)/VPH (CKD NIKKI DENSO)/STEP AZ (ORIENTAL MOTOR)/5-Phase ST (ORIENTAL MOTOR)/IAI Driver for Electric Actuator (IAI) <Communication type "SSCNET"...
Page 69 Item Setting range Default value Extension No.1 type to No.4 type <Operation mode "1 station occupied mode" use> No setting module MR-MT2100/MR-MT2200/MR-MT-2300/MR-MT2400 setting information MR-MT2200 Axis No. <Operation mode "Axis mode (MR-MT2200)" use> No setting axis R64MTCPU: Up to 2 lines, 64 axes information R32MTCPU: Up to 2 lines, 32 axes R16MTCPU: Up to 1 line, 16 axes...
Page 70 • RIO Axis No. Set the RIO axis No. used by the Motion CPU to identify the remote I/O only when "LJ72MS15", or "MR-MT2010 (operation mode: 1 station occupied mode)" is selected for the amplifier model. Motion CPU Axis No. setting range R64MTCPU 601 to 608 R32MTCPU...
Page 71 ■Sensing module information Set the sensing module operation mode and extension module connection number when "MR-MT2010" is selected for the amplifier model. • Operation mode Set the sensing module operation mode. Amplifier model Operation mode MR-MT2010 • 1 station occupied mode •...
Page 72: Manual Pulse Generator Connection Setting
Manual pulse generator connection setting This section describes the manual pulse generator connection setting items. [Motion CPU Common Parameter]  [Manual Pulse Generator Connection Setting] Window Displayed items Item Setting range Default value Valid setting 0: Invalid/1: Valid 0: Invalid I/O No.
Page 73: Motion Cpu Operating Status
Motion CPU Operating Status This section describes the Motion CPU operating status and details of all processes. The operation for when the Motion CPU is started with the rotary switch set to "0: Normal mode" are shown below. Refer to each function for details on operation when started with rotary switch set to other than "0: Normal mode".
Page 74 Initial processing item Motion CPU status When Multiple CPU When resetting At STOP to RUN/ system power Multiple CPU When making test supply turned ON system mode request    Cam data reading *1 Shows the timing at which data is read from the settings file. Refer to each function for details on the indirect setting data read cycle and data check timing.
Page 75: Run/Stop Status Control
RUN/STOP status control STOP/RUN/test mode When initial processing is complete, the Motion CPU status will be "STOP status", "RUN status", or "Test mode status" depending on the "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" and existence of a test mode request from MT Developer2, and the respective control will be performed.
Page 76 "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" OFF -> ON (STOP -> RUN) processing ■Processing details The Y device content is initialized based on the "Output mode setting of STOP to RUN" (Refer to Page 55 CPU parameter) operation. All parameters are read from a file. (Refer to Page 71 Initial processing) Clear the M-code storage area of all axes.
Page 77: Chapter 3 Devices
DEVICES This section describes the devices used with the Motion CPU. Device List The following is a list of devices that can be used with the Motion CPU. : Setting possible, : Setting not possible Category Type Device name Device range Word device Bit Latch designation...
Page 78 [Device writing precautions] Do not write to the following devices from the Motion CPU. Writing will be ignored, or a malfunction will occur. • Actual input devices, or I/O number that is not allocated to any module and is within range of the maximum I/O number for the modules being used, from inputs (X).
Page 79: Devices That Can Be Used With Each Function
Devices that can be used with each function The following is a list of word and bit devices that can be used with each Motion CPU function. : Setting possible, : Setting possible (restrictions apply), : Setting not possible Item Device type System device...
Page 80 Item Device type System device Word Word compatibility device device Bit device (SM/SD) designation     Parameter Motion G-code G-code control Bit device setting item control control system parameter     Word device setting item parameter parameter ...
Page 81: User Device
User Device This section describes user devices used with the Motion CPU. Input (X) These are commands or data given to the Motion CPU with external devices such as buttons, switches, limit switches, and digital switches. Output (Y) These are program control results output to external signal lamps, digital displays, electromagnetic contactors, and solenoids, etc.
Page 82: System Device
System Device System devices are devices for the system. Allocation and capacity are fixed, and cannot be changed arbitrarily. Special relay (SM) These are internal relays whose specifications inside the Motion CPU are fixed, and as with standard internal relays, they cannot be used at the program.
Page 83: Module Access Device
Module Access Device These devices are used to directly access the buffer memory in intelligent function modules or I/O modules installed on the main base unit or expansion base unit from the Motion CPU. Specification method Specify with U [Intelligent function module or I/O module I/O No. ]\[Buffer memory address].
Page 84: Device Setting
Device Setting Device assignment method Device assignment methods set the usable range of devices to be used by the Motion CPU. The device assignment methods available are MELSEC iQ-R Motion device assignment, and Q series Motion compatible device assignment. Refer to the following for the devices of MELSEC iQ-R Motion device assignment and Q series Motion compatible device assignment.
Page 85 Selecting device assignment method The device assignment method can be selected in MT Developer2 by the following method. For details on the operation for selecting device assignment method, refer to the following. Help of MT Developer2 ■Selecting at the creation of a new project When creating a new project in MT Developer2, select MELSEC iQ-R Motion device assignment or Q series Motion compatible device assignment.
Page 86: Device Points Setting
Device points setting Device points setting for user devices The number of devices used can be changed with the number of device points/latch setting. [R Series Common Parameter]  [Motion CPU Module]  [CPU Parameter]  "Device Related Setting"  "Device Points/Latch Setting"...
Page 87 • If the number of user devices used is changed, the change will be valid when power supply of the Multiple CPU system is turned ON, or when reset. • If changing the number of user devices used, ensure that the Multiple CPU refresh range and latch range do not lie outside the range for the number of devices.
Page 88: Latch Function
Latch Function The content of each Motion CPU device is cleared in the following cases, and is returned to the respective default value (bit devices: OFF, word devices: 0). • Multiple CPU system power supply OFF to ON • Multiple CPU system reset •...
Page 89 Clearing the latch range The latch (1) and latch (2) ranges are cleared with the following operations. (Page 352 Memory Initialization) Latch range Clear operation Latch (1) • Clearing the MT Developer Motion CPU memory. • Cleaning built-in memory with Motion CPU rotary switch "C". Latch (2) Cleaning built-in memory with Motion CPU rotary switch "C".
Page 90: Chapter 4 Auxiliary And Applied Functions
AUXILIARY AND APPLIED FUNCTIONS 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.(Page 90 Limit output data setting) A maximum output device for 64 points can be set regardless of the number of axes.
Page 91 • The limit switch outputs are controlled based on each watch data during the READY complete status (SM500: ON) by the "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" from OFF to ON. With the setting of "Rq.1120: PLC ready flag keep the output device when turns OFF"...
Page 92: Limit Output Data Setting
Limit output data setting This section describes limit output data setting items. Up to 64 points of output devices can be set. (The items in the table below are set together as one point.) [Motion CPU Common Parameter]  [Limit Output Data] Window Displayed items Item...
Page 93 Rq.1120: PLC ready flag keep the output device when turns OFF With this setting valid for output devices other than Y devices, the output devices do not turn OFF even when the "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" turns from ON to OFF. The setting is valid for all the output devices. Y devices always turn OFF when the "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)"...
Page 94 Watch data This data is used to perform the limit switch output function. This data is comparison data to output the ON/OFF signal. The output device is ON/OFF-controlled according to the ON section setting. As the watch data, motion control data, word device data or word device data (ring counter) can be used. ■Motion control data Settable watch data is shown in the following table.
Page 95 For the word device data updated as ring counter, when the output timing is compensated without setting the correct ring counter value or when the output timing is compensated by setting the ring counter for the word device data that is not updated as ring counter, the output device may not be output at the correct timing. ON section setting •...
Page 96: External Input Signal
External Input Signal External input signals are managed as "external signals" or "high-speed input request signals". External signals are used with control functions such as home position return, speed/position switching control, hardware limits, and stop processing. High-speed input request signals are used with control functions such as mark detection clutch control, and synchronous encoder axis current value changes.
Page 97: High-Speed Input Request Signal
High-speed Input Request Signal Set the allocation of high-speed input request signals. The high-speed input request signals are used for mark detection and to control clutch ON/OFF operations, synchronous control or the counter enable/counter disable/current value change operation of the synchronous encoder axis with high accuracy. An example of current value change of the synchronous encoder axis using input module (X0005) as the high-speed input request signal is shown below.
Page 98 High-speed input request signal setting This section describes the high-speed input request signal setting items. Up to 64 signals can be registered. [Motion CPU Common Parameter]  [High-speed Input Request Signal] Window Displayed items Item Setting range High-speed input request signal Signal type Bit device/Amplifier input/Sensing module input Device...
Page 99 • Sensing module input The external input signal DI of the sensing module is used as the high-speed input request signal. Input module Axis No. Input signal Model Operation R64MTCPU R32MTCPU R16MTCPU mode MR-MT2010 Station mode 601 to 608 601 to 608 601 to 608 DI1 to DI12 Axis mode...
Page 100 ■High-speed input request signal accuracy When bit device or amplifier input is set, set the accuracy of high-speed input request signals. High-speed input request Signal type Setting required on the module Detection accuracy[s] signal accuracy side General Bit device None Amplifier input (DI1 to DI3) None •...
Page 101 ■High-speed input request signal compensation time Compensate the input timing of the high-speed input request signal. Set it to compensate for sensor input delays, etc. Set a positive value to compensate for a delay, and set a negative value to compensate for an advance. However, high-speed input request status outputs the status of the signal with no relation to the set value.
Page 102: Mark Detection Function
Mark Detection Function Any motion control data and all device data can be latched at the input timing of the high-speed input request signal. Also, data within a specific range can be latched by specifying the data detection range. The following three modes are available for execution of mark detection. Continuous Detection mode The latched data is always stored at mark detection.
Page 103: Operations
Operations Operations done at mark detection are shown below. • Calculations for the mark detection data are estimated at leading edge/trailing edge/both directions of the high-speed input request signal. However, when the Specified Number of Detection mode is set, the current mark detection is checked against the counter value for number of mark detections and then it is determined whether or not to latch the current detection data.
Page 104: Mark Detection Setting
Mark detection setting This section describes the mark detection setting items. Up to 64 mark detections setting can be registered. [Motion CPU Common Parameter]  [Mark Detection] Window Displayed items Item Setting range High-speed input request signal 1 to 64 Mark detection process compensation time -5000000 to 5000000[s]/Word device Mark detection...
Page 105 High-speed Input Request Signal Set the high-speed input request signal used for mark detection. Use the high-speed input request signal settings to specify the input signal detection direction and compensation time. Mark detection accuracy is determined by the high-speed input request signal accuracy setting.
Page 106 Mark detection data Set the data to latch at mark detection. ■Motion control data Settable Motion control data is shown in the table below. Setting Data Unit Data type Axis No. setting range R64MTCPU R32MTCPU R16MTCPU Feed current value [m], 10 [inch], 32-bit integer 1 to 64...
Page 107 • Estimate calculation Set the estimate calculation to "Valid/Invalid" at the word device data setting. Estimate calculation Ring counter value  Valid Normal data Ring counter 16-bit integer type K1 to K32767, H0001 to H7FFF 32-bit integer type K1 to K2147483647, H00000001 to H7FFFFFFF 64-bit floating-point type K2.23E-308 to K1.79E+308 Invalid...
Page 108 Mark detection data storage device Set the mark detection data storage device (first device to use in the "Specified Number of Detections mode" or "Ring Buffer mode"). When using the "Specified Number of Detections mode" or "Ring Buffer mode", reserve the device area to accommodate the number of detections.
Page 109 Mark detection mode setting Set the data storage method of mark detection. ■Direct setting Mode Number of Operation for mark detection Mark detection data storage detections method Continuous detection  Always The data is updated in the mark detection mode data storage device.
Page 110: Servo On/Off
Servo ON/OFF Servo ON/OFF This function executes servo ON/OFF of the servo amplifiers connected to the Motion CPU. By establishing the servo ON status with the servo ON command, servo motor operation is enabled. The following two signals can be used to execute servo ON/OFF.
Page 111: Follow Up Function
Monitor devices and the servo amplifier status The relationship between related command devices, monitor devices and the servo amplifier status is shown below. Refer to the following for details on servo amplifier LED display and each status.  Servo amplifier Instruction Manual Status waiting [Ab] Communication error...
Page 112: Absolute Position System
Absolute Position System 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 113 Erasing of absolute position data If a minor error (error code: 197EH) occurs because of a communication error between the servo amplifier and encoder, depending on the servo amplifier software version, "[St.1069] Home position return request (R: M32409+32n/Q: M2409+20n)" may turn ON, and absolute position data is erased. : There is no restriction by the version.
Page 114: Synchronous Control Absolute Position System
Synchronous control absolute position system The status (current value, reference position, etc.) of each module when performing advanced synchronous control is stored in the Motion CPU internal backup memory. (A backup is always taken regardless of the servo amplifier used, or the valid/ invalid status of the servo motor absolute position system.) Resuming synchronous control is easy using an absolute position compatible servo motor and servo amplifier.
Page 115: Clock Function
Clock Function The CPU No.1 PLC CPU clock data is the standard clock information added to event history and all kinds of monitor information. The following is an overview of the clock function. Clock data settings Set the CPU No.1 clock data. Refer to the following for details on the CPU No.1 clock data setting method. MELSEC iQ-R CPU Module User's Manual (Application) The Motion CPU runs automatically based on the CPU No.1 clock data.
Page 116: File Transfer Function
File Transfer Function The file transfer function is capable of reading and writing the following files with a "File transmission request (SD820)". : Possible, : Not possible File Reading from file Writing to file   Servo parameters   Cam file By performing file transfer to the write target file, the existing target file is overwritten.
Page 117 ■File transfer request (command) devices Device No. Content details Set side SD820 Data between the file and built-in memory is synchronized, and a file transfer request is made. The type of data User to be synchronized is set in hexadecimal notation. (During STOP/during RUN) Setting value Command...
Page 118 File transfer operation • Operation when the file transfer target is a servo parameter file is as follows. Request Target axis Operation Built-in Any given 1 axis • The target axis servo parameter open area content is written to the servo parameter file. memory to file •...
Page 119 File transfer procedure The procedures used to transfer servo parameter files and cam files is shown below. ■Transferring servo parameter files from the built-in memory to the SD memory card Operating procedure Set the axis No. to be transferred to "File transmission request (SD820)". (Setting: 2001h to 2040H, 205BH to 2062H) Ensure that the "File transfer status (SD554)"...
Page 120: File Transmission At Boot Function
File Transmission at Boot Function By using the file transmission at boot function, operations such as the following can be performed when Multiple CPU system power supply is turned ON, or reset. • Copy the parameters and programs on the standard ROM to the SD memory card. •...
Page 121 Boot operation file content The boot operation file is written in CSV (comma-separated values) format. Write CSV file records (1 line) as follows. There is no restriction on the number of records. ■Format (1 record) [File name], [Source], [Destination], [Transmit mode] Format Character Details...
Page 122 ■File types that can be specified The files that can be specified to control data are shown below. The maximum number of files that can be specified in control data set (pathset) is 512. However, when using wildcard or specifying a folder, numerous files are selected with one specification. When there is cam data in the folder specified for control data, the folder of the cam data files is switched.
Page 123 Description example • Write all of the data in the "$MMTPRJ$" folder of the standard ROM to the SD memory card. *, /rom, /sdc, copy • Overwrite the standard ROM with the data in the "$MMTPRJ$/motpara" folder of the SD memory card. /motpara/*, /sdc, /rom, move •...
Page 124: File Transmission At Boot Procedure
File transmission at boot procedure The procedure for performing a file transmission at boot from the SD memory card to the standard ROM is shown below. Create boot operation file Using a personal computer, create the boot operation file (boot01.csv), and write the boot operation file (boot01.csv) to the "$MMTPRJ$"...
Page 125: Operation When Security Function Is Set
Operation when security function is set This section shows the operation when security function is set. Refer to security function for the security function. (Page 294 Security Function) File password If a file password is set to a file in the Motion CPU, the file password is authenticated at file transmission at boot. When file passwords are set to files inside the boot operation file, files are transmitted only when all the file passwords of all of the files in the source and destination are matched.
Page 126 Security key When a security key is set to a program file, and the security key of the program file does not match the security key of the Motion CPU, a moderate error (error code: 3072H) occurs, and file transmission is not performed. A moderate error (error code: 3072H) also occurs when a security key is not written to the Motion CPU.
Page 127: File Transmission Via Ftp Server
File Transmission Via FTP Server The parameters and project files in the Motion CPU can be viewed via a module (such as RJ71EN71) that can access other CPUs using the FTP server function. The following operations are possible when using the file transmission via FTP server. •...
Page 128 Writing example ■Getting parameters via the FTP server function Login from an FTP client to a module that can be accessed with the FTP server function. Specify the access target of the module that can be accessed with the FTP server function in the Motion CPU. Example Details Remarks...
Page 129 Precautions • Be sure to implement security such as setting login passwords to modules that have FTP server function. • Operating system software and add-on library cannot be read or written. • When a file that is not supported is transmitted, an error occurs at startup, or an unexpected operation may occur. For files to be transmitted, check that they have been correctly written from MT Developer2 and have had an operation check before transmitting the files.
Page 130: Parameter Change Function
4.10 Parameter Change Function The parameter change function allows the writing, or reading of individual parameters from a specified Motion CPU. To write, or read parameters, use the following special registers. For servo parameters, refer to "servo parameter change function", or "file transfer function". (Page 171 Servo Parameter Read/Change Function, Page 114 File Transfer Function) Devices used for "Motion control parameter write/read request"...
Page 131 Parameter write/read request procedure ■Procedure to write Set the parameter No., axis No., parameter ID, and parameter setting value in SD841, SD842, and SD844 to SD847 (SD844 to SD849 when writing 4 words). Set "1: 2 word write request" or "3: 4 word write request" in SD840. Check that "0"...
Page 132: Parameters Used With Parameter Change
Parameters used with parameter change The list of parameters that are stored in special registers (SD841 to SD845) are shown below. Parameter Parameter No. Axis No.(Line No.) Details (SD841) (SD842) Page 132 Basic setting (parameter No. 1) Motion CPU Basic setting common Servo network setting 1 to 2...
Page 133 Parameter Parameter No. Axis No.(Line No.) Details (SD841) (SD842) Motion Axis setting Fixed parameter 1 to 64 Page 138 Fixed parameter control parameter Page 139 Home position return data Home position return data parameter Page 139 JOG operation data JOG operation data Page 140 Expansion parameter Expansion parameter Page 140 Speed-torque control data...
Page 134 Basic setting (parameter No. 1) The basic setting is shown below. Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)  Operation cycle setting H0000: Default value H0010: 0.222ms H0020: 0.444ms H0040: 0.888ms H0080: 1.777ms H0100: 3.555ms H0200: 7.111ms...
Page 135 High-speed input request signal setting (parameter No. 3) High-speed input request signal setting is shown below. Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)  High-speed input request signal 0: No setting type 1: Bit device 2: Amplifier input...
Page 136 Mark detection setting (parameter No. 4) Mark detection setting is shown below. Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)  High-speed input request signal No setting 1 to 64:High-speed input request signal No. ...
Page 137 Limit output data setting (parameter No. 5) Limit output data setting is shown below. Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)    Output device  Keep output device PLC ready flag keep the output device when turns OFF invalid 1: PLC ready flag keep the output device...
Page 138 Vision system parameter (Ethernet communication line setting)(parameter No. 7) Vision system parameter (Ethernet communication line setting) is shown below. Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)    IP address Telnet port ...
Page 139 Head module setting (parameter No. 9) Head module setting is shown below. Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)   Link device Bit start (input) n-600  ■Using SSCNET/H head module CPU side refresh device bit points (input) 0 to 128: Number of words...
Page 140 Multiple CPU refresh (Main cycle/operating cycle) setting (parameter No. 10) Multiple CPU refresh (Main cycle/operating cycle) setting is shown below. Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)  Points No setting 2 to 256:Points (2 point units) ...
Page 141 ■Home position return data Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)  Home position return direction 0: Reverse direction 1: Forward direction  Home position return method 0: Proximity dog method 1 1: Count method 1 2: Data set method 1 3: Data set method 2...
Page 142 ■Expansion parameter Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844) Positive direction torque limit    value monitor device    Negative direction torque limit value monitor device  ...
Page 143 ■Optional data monitor Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844) *1*2  Setting 1 Data type     Storage device No.  ■Registered monitor device Data address H00000000 to H00007FFE ■Transient command H00000000 to H0000FFFF *1*2...
Page 144 Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844) *1*2  Setting 10 Data type     Storage device No. Data address  ■Registered monitor device H00000000 to H00007FFE ■Transient command H00000000 to H0000FFFF *1*2 ...
Page 145 ■External signal parameter Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)  FLS signal Signal type 0: Invalid 1: Amplifier input 2: Bit device  FLS signal Contact 0: Normally open contact 1: Normally closed contact ...
Page 146 ■Override data Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844) Override ratio setting device     ■Vibration suppression command filter data Item Parameter Parameter ID Size Initial Setting range change (Word) value...
Page 147 Parameter block (parameter No.13) Parameter block is shown below. Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)  Interpolation control unit 1: inch 2: degree 3: pulse Deceleration process on STOP ...
Page 148 Synchronous encoder axis parameter (parameter No.15) Synchronous encoder axis parameter is shown below. Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)  Synchronous encoder axis type Invalid Via module 101 to 164:Via servo amplifier 201: Via device 301 to 364:Master CPU servo input axis 401 to 464:Master CPU command generation...
Page 149 Command generation axis parameter (parameter No.16) Command generation axis parameter is shown below. Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)  Command generation axis valid 0: Command generation axis invalid setting 1: Command generation axis valid 0: 10 ...
Page 150 Synchronous parameter (parameter No.17) Synchronous parameter is shown below. Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)  Main input axis No. Invalid 1 to 64:Servo input axis 201 to 264:Command generation axis 801 to 812:Synchronous encoder axis Sub input axis No.
Page 151 Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)  Auxiliary shaft composite gear 0001H Main shaft 0: No input 1: Input + 2: Input - Auxiliary shaft 0: No input 1: Input + 2: Input - ...
Page 152 Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)  Speed change gear 2 0: No speed change gear arrangement 1: Main shaft side 2: Auxiliary shaft side 3: After auxiliary shaft composite gear ...
Page 153 Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)  Current value per cycle after main 0: Previous value shaft gear setting method 1: Current value per cycle after main shaft gear 2: Calculate from input axis ...
Page 154 Multiple CPU advanced synchronous control setting (parameter No.18) Multiple CPU advanced synchronous control setting is shown below. Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)  Multiple CPU Advanced 0: Independent CPU synchronous control CPU setting 1: Master CPU 2: Slave CPU...
Page 155 Machine parameter (parameter No.20) Machine parameter is shown below. Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)  Machine basic Machine type 0: Independent CPU setting 1: Master CPU 2: Slave CPU Operating range ...
Page 156 Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)  Base Base -2147483648 to 2147483647(10 [m]) transformation transformation X (install coordinate coordinate  Base offset) transformation Y coordinate  Base transformation Z coordinate ...
Page 157 G-code control system parameter (parameter No.21) G-code control system parameter is shown below. Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)  Line basic Number of axes on 1 to 8: Number of axes on line setting line Modal initial...
Page 158 Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)  Normal line Normal line control 0: No normal line control control axis 1: X 2: Y 3: Z 4: A 5: B 6: C 7: U 8: V...
Page 159 G-code control axis parameter (parameter No.22) G-code control axis parameter is shown below. Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)  Line axis Axis No. No setting information 1 to 64:Axis No. Axis name ...
Page 160 Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)  High- Rapid traverse rate 0 to 1000000[mm/min] accuracy during high- control accuracy control mode  Cutting feed clamp 0 to 1000000[mm/min] speed for high- accuracy control mode ...
Page 161 G-code control work parameter (parameter No.23) G-code control work parameter is shown below. Item Parameter Parameter ID Size Initial Setting range change (Word) value Line No. Column No. (SD845) (SD844)  Tool radius Tool radius 0: Type A compensation compensation type 1: Type B Interference check ...
Page 162: Mixed Operation Cycle Function
4.11 Mixed Operation Cycle Function The mixed operation cycle function executes the Motion operation processing of servo amplifier axes and command generation axes by setting the low speed operation cycle magnification setting and dividing the processes into 2 tasks, the operation cycle, and a slower low speed operation cycle.
Page 163 ■Operation cycle selection Set the operation cycle in the operation cycle selection for each servo amplifier axis and command generation axis controlling at the low speed operation cycle. For servo amplifier axes, set the operation cycle by [Servo Network Setting]  [Amplifier Setting] ...
Page 164 Monitor devices The low speed operation cycle settings at system start-up can be monitored with the following special relays and special registers. ■Special relays • Low speed Motion operation cycle over flag (SM490) Refer to special relays for details of special relays. (Page 426 Special Relays) ■Special registers •...
Page 165: Control Details
Control details The internal processes of the Motion CPU are defined by levels of priority. When executing tasks, if the execute conditions of a high priority task are established, the Motion CPU processes the task of high priority. The low speed operation cycle processes have a lower priority than operation cycle processes.
Page 166 Operation cycle counter (SD717) • The operation cycle counter is incremented by 1 at the fixed-cycle system processing every time the operation cycle is completed. When the count exceeds 65535, the operation cycle counter returns to 0. When the low speed operation cycle is enabled, the operation cycle counter returns to 1 when the low speed operation cycle magnification setting is exceeded.
Page 167 Low speed operation cycle over check When "Low speed Motion operation cycle (SD715)" exceeds "Low speed Motion setting operation cycle (SD714)", the "Low speed Motion operation cycle over flag (SM490)" turns ON. Also, when the operation cycle exceeds the operation cycle in the cycle where the low speed operation cycle is executed (the cycle where "Operation cycle counter (SD717)"...
Page 168: Precautions During Control
Precautions during control Refresh cycle The refresh cycle of the status devices and monitors of servo amplifier axes and command generation axes operating at the low speed operation cycle is the low speed operation cycle. However, the following status devices are refreshed at the operation cycle.
Page 169 When advanced synchronous control input axis and output axis have different control operation cycles ■When input axis is operation cycle, and output axis is low speed operation cycle The movement amount sent to the output axis is calculated based on the input axis calculation for the operation cycle at the start of the low speed operation cycle (the cycle when "Operation cycle counter (SD717)"...
Page 170 Restrictions when using each function The restrictions for when the low speed operation cycle magnification setting is used with each function are shown below. Function Restrictions Synchronous encoder axis • The synchronous encoder axis operates at the operation cycle. • When a servo amplifier axis with "[Pr.320] Synchronous encoder axis type" set to "101: Via servo amplifier" has a low speed operation cycle of 1.777[ms] or less, the data refresh cycle of the synchronous encoder is the low speed operation cycle.
Page 171: Chapter 5 Functions Used With Sscnet Communication
FUNCTIONS USED WITH SSCNET COMMUNICATION Servo Parameter Management Transmission of servo parameters The Motion CPU stores servo parameters as a file, extracts them to the internal servo parameter open area (backup memory), and then communicates with the servo amplifier. The servo parameter storage area, and transfer timing is shown below. Motion CPU MR Configurator2 MT Developer2...
Page 172 When parameters are updated at the servo amplifier side When the servo parameters are changed by one of the causes below after communication with the servo amplifier has been established, the Motion CPU will automatically read the servo parameters and reflect them to the servo parameter storage area in the Motion CPU.
Page 173: Servo Parameter Read/Change Function
Servo Parameter Read/Change Function The servo parameters can be changed or displayed individually from Motion CPU. Use the following special registers to change or display the servo parameter. "Servo parameter write/read request" device Name Meaning Details Set by SD552 Servo parameter Servo parameter The read value of servo parameter which executed "2: Read request"...
Page 174 • New servo parameter is reflected to Motion CPU, therefore, the servo parameter of Motion CPU side does not need to change. • When the axis No., servo parameter No. or servo parameter setting value is outside the setting range, "-1: write/read error"...
Page 175: Optional Data Monitor Function
Optional Data Monitor Function The optional data monitor function is used to store data in the servo amplifier to a specified word device and monitor the data. In the optional data monitor, there is registered monitor and transient command. Refer to the following for details of the data types set by registered monitor and transient command. ...
Page 176 ■Send and receive timing The send and receive timing of transient send and receive data is shown below. • Normal timing Send and receive Command send request (Start device+0) of all items Response data (Start device+8 to 11) Data valid bit (bF) Transient request Send start...
Page 177: Optional Data Monitor Setting
Optional data monitor setting This section explains the setting items of the optional data monitor. Data for registered monitor and transient command data types per axis can be set for setting 1 to 14. However, of the 14 settings, set no more than 6 settings of registered monitor data for SSCNET/H lines, and no more than 3 settings of registered monitor data for SSCNET...
Page 178 Data type Unit Number Number of Servo amplifier Address Remark *1*2 communication words data points J3(W)-□B J4(W)-□B   Load side encoder information 1 [pulse] 0110H(lower), Fully closed control or 0112H(upper) synchronous encoder via servo amplifier use Load side encoder information 2 ...
Page 179 ■Transient command : Settable, : Unsettable Data type Unit Number Number of Servo amplifier Transient Storage device Remark communic- (response data words ation data (+8 to 11)) J3(W)-□B J4(W)-□B points content    Servo motor ID 0304H Motor ID (SSCNET)/Encoder ID +10: Encoder ID Servo motor ID...
Page 180 Data type Unit Number Number of Servo amplifier Transient Storage device Remark communic- (response data words ation data (+8 to 11)) J3(W)-□B J4(W)-□B points content   Alarm occurrence time #5, 032BH Alarm occurrence time #5 (2 words) +10: Alarm occurrence time #6 (2 words) ...
Page 181 Data type Unit Number Number of Servo amplifier Transient Storage device Remark communic- (response data words ation data (+8 to 11)) J3(W)-□B J4(W)-□B points content   Friction estimation [0.1%] 0430H +8: Forward rotation torque Coulomb friction [0.1%] +9: Forward rotation torque Friction torque at rated speed [0.1%]...
Page 182: Example Of Using Transient Commands
Example of using transient commands The following explains the operating procedure for setting the transient command data types "Friction estimation", "Vibration estimation", and "Optional transient command". Friction estimation/vibration estimation Setting "Friction estimation" and "Vibration estimation" to the optional monitor data settings does not enable the correct values to be stored.
Page 183 Item Setting value Remarks Setting 2 Data type Friction estimation When friction estimation is completed normally, friction estimation is stored to the following devices. (Settings and operations are not performed in W12 to W19.)  Address/Transient ID • W20: Forward rotation torque Coulomb friction [0.1%] Storage device No.
Page 184 Optional transient command If using optional transient commands, any given data type can be stored in response data devices (+8 to 11) by inputting the transient ID from a GOT etc. to the device set in the transient command (+1) of transient send data. ■Setting example An example for using optional transient commands is shown below.
Page 185: Sscnet Control Function
SSCNET Control Function The following controls are possible in the SSCNET control function. Function Application Connect/disconnect of SSCNET Temporarily connect/disconnect of SSCNET communication is executed during Multiple CPU system's power supply ON. communication This function is used to exchange the servo amplifiers or SSCNET cables. Start/release of amplifier-less Start/release of amplifier-less operation is requested.
Page 186: Connect/Disconnect Function Of Sscnet Communication
Connect/disconnect function of SSCNET communication Temporarily connect/disconnect of SSCNET communication is executed during Multiple CPU system's power supply ON. This function is used to exchange the servo amplifiers or SSCNET cables. Set the request for the connect/disconnect of SSCNET communication in "SSCNET control (command) (SD803)", and the status for the command accept waiting or execute waiting is stored in "SSCNET control (status) (SD508)".
Page 187 ■Procedure to connect Turn ON the servo amplifier's power supply. Set "-10: Connect command of SSCNET communication" in "SSCNET control (command) (SD803)". Check that "-1: Execute waiting" is set in "SSCNET control (status) (SD508)". (Connect execute waiting) Set "-2: Execute command" in "SSCNET control (command) (SD803)". Check that "0: Command accept waiting"...
Page 188 ■Program to connect/disconnect the servo amplifiers after Axis 5 connected to the Motion CPU (CPU No.2) by the PLC CPU (CPU No.1). Procedure Operation Disconnect procedure Turn OFF the servo amplifier's control circuit power supply after checking the LED display "AA" of servo amplifier by turning X0 from OFF to ON.
Page 189: Amplifier-Less Operation Function
Amplifier-less operation function This function is used to confirm for the operation without connecting the servo amplifiers at the starting or debugging. The start/release request of amplifier-less operation is set in "SSCNET control (command) (SD803)", and status of the command accepting waiting or execute waiting is stored in "SSCNET control (status) (SD508)".
Page 190 Control details Operation during amplifier-less operation is shown below. Item Operation Servo amplifier type All axes set in the system setting are connected with the following type regardless of the setting details of system setting. ■For communication type "SSCNET/H" • Servo amplifier: MR-J4-10B •...
Page 191 Procedure to start/release of amplifier-less operation ■Procedure to start Set "-20: Start command of amplifier-less operation" in "SSCNET control (command) (SD803)". Check that "-1: Execute waiting" is set in "SSCNET control (status) (SD508)". (Start processing execute waiting of amplifier-less operation) Set "-2: Execute command"...
Page 192 Program ■Program to start/release of amplifier-less operation for the self CPU Motion SFC program Operation start Operation release Start processing of Release processing of amplifier-less operation amplifier-less operation [G40] [G41] !SM508 Check the normal SM508 Check the amplifier-less operation. operation. [G10] [G10] Check the connect...
Page 193: Virtual Servo Amplifier Function
Virtual Servo Amplifier Function When the virtual servo amplifier function is used, virtual operation (operation as if a servo amplifier is connected) is possible without having a servo amplifier connected. By using the virtual servo amplifier as the servo input axis in synchronous control, synchronous control is possible with a virtual input command.
Page 194 Control details Operation of virtual servo amplifier is shown below. Item Operation Servo amplifier type All axes with a virtual servo amplifier connected are connected with the following type. • Servo amplifier: MR-J4-10B • Servo motor: HG-KR053 Servo amplifier status •...
Page 195: Driver Communication Function
Driver Communication Function This function uses the "Master-slave operation function" of servo amplifier. The Motion CPU controls the master axis and the slave axis is controlled by data communication (driver communication) between servo amplifiers without going through the Motion CPU. This function is used for the case such as to operate the ball screw controlled by multiple axes via the belt. There are restrictions in the function that can be used by the version of the servo amplifier.
Page 196: Precautions During Control
When a servo amplifier fails due to a SSCNET(/H) communication failure, communication with the axes after the failed axis cannot be executed. For this reason, be sure to connect the master axis to the position closest to the Motion CPU. Precautions during control CAUTION •...
Page 197 Positioning dedicated device used for positioning control of slave axis In the slave axis, only the following positioning dedicated devices are valid. Do not use devices other than the following. ■Axis status • [St.1066] Zero pass (R: M32406+32n/Q: M2406+20n) • [St.1068] Servo error detection (R: M32408+32n/Q: M2408+20n) •...
Page 198 Advanced synchronous control • The master axis can be set to the servo input axis, or the output axis. • When the slave axis is set to the servo input axis, set "[Pr.300] Servo input axis type" to "2: Real current value", or "4: Feedback value".
Page 199: Servo Parameter
Servo parameter Set the following parameters for the axes that execute the master-slave operation. (Refer to the following for details.) Servo amplifier Instruction Manual Item Setting details Setting range MR-J3-□B MR-J4-□B PA04 Function selection A-1 Set the forced stop input and forced stop deceleration function. 0000H to 2100H 0000H to 2100H •...
Page 200: Connection Of Sscnetiii/H Head Module
Connection of SSCNETIII/H Head Module The MELSEC-L series SSCNET/H head module (LJ72MS15) can be connected to the Motion CPU module. System configuration A system configuration that uses SSCNET/H head modules is shown below. Motion CPU module R MTCPU I/O module, intelligent function module Servo amplifier...
Page 201: Sscnetiii/H Head Module Parameters
SSCNETIII/H head module parameters Set the parameters used for connecting the SSCNET/H head module. Servo network settings Set "LJ72MS15" for the amplifier setting in the servo network settings, and set the "RIO axis No.", "Station No. d", and "RIO axis label". (Page 66 Amplifier setting) Item Setting range Amplifier setting...
Page 202 ■Refresh device setting (CPU side) Set the device (Input: RX, RWr/Output: RY, RWw) for storage of link data. Motion CPU device is set using automatic refresh by cyclic transmission of the SSCNET/H head module. Link devices (RX, RWr, RY, RWw) of the Motion CPU are automatically assigned in MT Developer2.
Page 203 ■Status device Set the device for storage of the status of the SSCNET/H head module with a bit device or word device. • Refer to device list for the range of bit devices and word devices that can be set. (Page 75 Device List) •...
Page 204 ■Command device Set the device for issuing commands to the SSCNET/H head module with a bit device or word device. • Refer to device list for the range of bit devices and word devices that can be set. (Page 75 Device List) •...
Page 205 Operation example of parameter When setting 2 SSCNET/H head modules (station 17, station 18) to SSCNET line 1. ■Parameter setting The setting example of parameter is shown below. Station Axis Input/ Link device Refresh device (CPU side) Status Monitor Command Output device device...
Page 206: Data Operation Of Intelligent Function Module By Motion Sfc Program
Data operation of intelligent function module by Motion SFC program In addition to refresh of data by device, data read/write operations to the buffer memory of intelligent function modules on the SSCNET/H head module can be executed by the RTO and RFROM instructions of Motion SFC programs. Refer to the following for details.
Page 207: Connection Of Sensing Module
Connection of Sensing Module The SSCNET/H compatible sensing module MR-MT2000 series connects to SSCNET/H sensing extension modules (sensing I/O module, sensing pulse I/O module, sensing analog I/O module, sensing encoder I/F module), and fetches and outputs signals synchronized with SSCNET/H communication. System configuration A system configuration that uses sensing modules is shown below.
Page 208: Sensing Module Parameters
Sensing module parameters Set the parameters for using the sensing module. Servo network settings Set "MR-MT2010" for the amplifier setting in the servo network settings, and set the following according to the operation mode. (Page 66 Amplifier setting) ■Station mode settings Item Setting range Amplifier setting...
Page 209 Parameter setting of sensing module Set the parameters to use the sensing module. [Motion CPU Common Parameter]  [Head Module] Item Setting range Default value Axis No. ■Station mode  601 to 608 ■Axis mode 1 to 64  Refresh device setting (CPU side) Device name Bit device name/Word device name (Input: RX, RWr/Output: RY, RWw)
Page 210 • Points Set the points of the device that stores link data. Set the points of the device in units of words. The total points for input (RX+RWr), and output (RY+RWw) must be 64 bytes or less. Module configuration Operation Device Setting range mode...
Page 211 • When the module configuration of 1 block is "Sensing SSCNET/H head module+sensing extension module", set the total points of the sensing SSCNET/H head module and the sensing extension modules, and start device No. For the link devices of the next station and after, set the sensing extension module points, and start device No.
Page 212 ■Status device Set the device for storage of the status of the sensing module with a bit device or word device. • Refer to device list for the range of bit devices and word devices that can be set. (Page 75 Device List) •...
Page 213 ■Monitor device Set the devices for monitoring the status of sensing module with a word device. • Refer to device list for the range of word devices that can be set. (Page 75 Device List) • The device uses 10 points (word) from the specified device number. The details stored in the status device are shown below.
Page 214 Operation example of parameter (station mode) When setting the sensing module to SSCNET line 1 with the following settings. Station No. Axis No. Operation mode Connected module 1 station occupied mode MR-MT2010+MR-MT2100 MR-MT2200 MR-MT2300 ■Parameter setting The setting example of parameter is shown below. Station Axis Input/...
Page 215 ■Operation example The example of operating parameter is shown below. MR-MT2010 MR-MT2100 MR-MT2200 MR-MT2300 Motion CPU (Station No.17) (Station No.17) (Station No.18) (Station No.19) 0000 0000 0000 0000 0000 001F 001F 001F 001F 001F 0020 003F 0040 005F 0060 M127 007F M128 M159...
Page 216 Operation example of parameter (axis mode) When setting the sensing module to SSCNET line 1 with the following settings. Station No. Axis No. Operation mode Connected module Axis mode (MR-MT2200) MR-MT2010+MR-MT2200 MR-MT2200 MR-MT2200 ■Parameter setting The setting example of parameter is shown below. Station Axis Input/...
Page 217: Data Of Refresh Device
Data of refresh device The refresh of data by device for the status of Motion CPU, or when there is a communication failure with the sensing module are as follows. State Refresh of data Bit device Word device Input(RX) Output(RY) Input(RWr) Output(RWw) At communication failure occurrence...
Page 218: Link Data (Station Mode)
Link data (station mode) The contents of the devices (Input: RX, RWr/Output: RY, RWw) for storage of link data for communicating between the Motion CPU and sensing module (station mode) are different for each module. The contents of the devices for storage of link data for each module are shown below.
Page 219 • Word data area (RWr) Offset Signal name Refresh cycle Description DO output state (DO for each Operation cycle Stores the DO output state of the sensing SSCNET/H head module. signal) Unusable   *1 When the operation cycle is set to 7.111[ms] or more, the operation cycle is 3.555[ms]. 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5.7 Connection of Sensing Module...
Page 220 ■Output device • Bit data area (RY) Offset Signal name Refresh cycle Description External output signal DO1 Operation cycle Sets the command for DO1, DO2 of sensing SSCNET/H head module. 0: OFF External output signal DO2 1: ON   Unusable DO1 output enable Operation cycle...
Page 221 • Word data area (RWw) Offset Signal name Refresh cycle Description   Unusable 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5.7 Connection of Sensing Module...
Page 222 Sensing SSCNETIII/H head module+Sensing extension module The contents of the devices (Input: RX, RWr/Output: RY, RWw) for storage of link data for communicating between the Motion CPU and sensing SSCNET/H head module+sensing extension module are shown below. ■Input device • Bit data area (RX) Offset Signal name Refresh cycle...
Page 223 • Word data area (RWr) Offset Signal name Refresh cycle Description DO output state (DO for each Operation cycle Stores the DO output state of the sensing SSCNET/H head module. signal) Unusable   Sensing extension module word Stores the bit data area (RWr) of the sensing extension module set to first data area station.
Page 224 • Word data area (RWw) Offset Signal name Refresh cycle Description   Unusable Sensing extension module word Sets the word data area (RWw) of the sensing extension module set to first data area station.  Sensing I/O module The contents of the devices (Input: RX, RWr/Output: RY, RWw) for storage of link data for communicating between the Motion CPU and sensing I/O module are shown below.
Page 225 • Word data area (RWr)r Offset Signal name Refresh cycle Description DO output state (for each DO Operation cycle Stores the DO output state of the sensing I/O module. signal) Unusable   *1 When the operation cycle is set to 7.111[ms] or more, the operation cycle is 3.555[ms]. 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5.7 Connection of Sensing Module...
Page 226 ■Output device • Bit data area (RY) Offset Signal name Refresh cycle Description External output signal DO1 Operation cycle Sets the command for DO1 to DO16 of sensing I/O module. 0: OFF External output signal DO2 1: ON External output signal DO3 External output signal DO4 External output signal DO5 External output signal DO6...
Page 227 • Word data area (RWw) Offset Signal name Refresh cycle Description   Unusable 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5.7 Connection of Sensing Module...
Page 228 Sensing pulse I/O module The contents of the devices (Input: RX, RWr/Output: RY, RWw) for storage of link data for communicating between the Motion CPU and sensing pulse I/O module are shown below. ■Input device • Bit data area (RX) Offset Signal name Refresh cycle...
Page 229 • Word data area (RWr) Offset Signal name Refresh cycle Description Pulse accumulated value Operation cycle Stores the pulse accumulated value input to CN1 of sensing pulse I/O module. Latch counter DI4A Stores the pulse count value when the CN1-DI4A of sensing pulse I/O module (pulse counter value) were input.
Page 230 ■Output device • Bit data area (RY) Offset Signal name Refresh cycle Description External output signal Operation cycle Sets the command for CN1-DO1A to CN1-DO5A of sensing pulse I/O module. DO1A 0: OFF 1: ON External output signal DO2A External output signal DO3A External output signal DO4A...
Page 231 • Word data area (RWw) Offset Signal name Refresh cycle Description Pulse command value Operation cycle Sets the accumulated pulses since the power supply ON of the control circuit, output by CN1 of sensing pulse I/O module. ON timing (For pulse Sets the ON timing when counter coincidence DO output is enabled.
Page 232 Sensing analog I/O module The contents of the devices (Input: RX, RWr/Output: RY, RWw) for storage of link data for communicating between the Motion CPU and sensing analog I/O module are shown below. ■Input device • Bit data area (RX) Offset Signal name Refresh cycle...
Page 233 • Word data area (RWr) Offset Signal name Refresh cycle Description Maximum/Minimum value reset Operation cycle Stores the reset state of maximum/minimum value. complete 0: CH1 resetting 1: CH1 reset complete 0: CH2 resetting 1: CH2 reset complete 0: CH3 resetting 1: CH3 reset complete 0: CH4 resetting 1: CH4 reset complete ...
Page 234 ■Output device • Bit data area (RY) Offset Signal name Refresh cycle Description Analog output enable CH1 Operation cycle Enable output of CH1 to CH4 of the sensing analog I/O module 0: Disable Analog output enable CH2 1: Enable Analog output enable CH3 Analog output enable CH4 ...
Page 235 • Word data area (RWw) Offset Signal name Refresh cycle Description Maximum/Minimum value reset Operation cycle Stores the reset state of maximum/minimum value. request 0: CH1 reset command OFF 1: CH1 reset command ON 0: CH2 reset command OFF 1: CH2 reset command ON 0: CH3 reset command OFF 1: CH3 reset command ON 0: CH4 reset command OFF 1: CH4 reset command ON ...
Page 236 Sensing encoder I/F module The contents of the devices (Input: RX, RWr/Output: RY, RWw) for storage of link data for communicating between the Motion CPU and sensing encoder I/F module are shown below. ■Input device • Bit data area (RX) Offset Signal name Refresh cycle...
Page 237 • Word data area (RWr) Offset Signal name Refresh cycle Description CH.A Encoder information 1 Operation cycle Transfers all data acquired from the encoder connected to CH.A of sensing encoder input I/F module. The information that can be acquired differs by encoder. Encoder information 2 Encoder information 3 Encoder current value...
Page 238 ■Output device • Bit data area (RY) Offset Signal name Refresh cycle Description   Unusable 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5.7 Connection of Sensing Module...
Page 239 • Word data area (RWw) Offset Signal name Refresh cycle Description   Unusable 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5.7 Connection of Sensing Module...
Page 240: Link Data (Axis Mode)
Link data (axis mode) The contents of the devices (Input: RX/Output: RY) for storage of link data for communicating between the Motion CPU and sensing module (axis mode) are shown below. Sensing SSCNETIII/H head module The contents of the devices (Input: RX/Output: RY) for storage of link data for communicating between the Motion CPU and sensing SSCNET/H head module are shown below.
Page 241: Sensing Module Functions (Station Mode)
Sensing module functions (station mode) The sensing module functions in station mode are shown below. The functions that can be used for each module when the sensing module is in station mode are shown below. : Available : Not available Function Description Sensing module...
Page 242 Timing-latch input function The timing-latch input function latches the input timing of the external input signal DI in 0.1[s] increments. By using the latched timing in the high-speed input request signal, the counter enable/counter disable/current value change of the synchronous encoder axis, advanced synchronous control clutch ON/OFF, and mark detection can be controlled with high accuracy.
Page 243 ■Example An example for mark detection using the external input signal (DI1) of the sensing I/O module (RIO axis No. 601) is shown below. Set the servo parameters as follows. Servo parameter Setting value DI1(CN1-10) setting 2 (PTB002) Function selection 1: Timing-latch input DI signal edge selection 0: Rising edge, or 1: Falling edge...
Page 244 • Using sensing I/O module Parameter No. Item Setting value Setting details PTB037 DO1(CN2-11) setting 1 Operation selection 0: CLEAR Sets the output state of the DO signal at disconnection at disconnection of 1: HOLD of communication. PTB039 DO2(CN2-1) setting 1 communication PTB041 DO3(CN2-12) setting 1...
Page 245: Sensing Module Functions (Axis Mode)
Sensing module functions (axis mode) Positioning control of pulse command interface stepping motor drivers etc. is possible when using the sensing pulse I/O module in axis mode. When the sensing pulse I/O module is used in axis mode, the functions and operations differ to when a servo amplifier is used.
Page 246 Restrictions when using sensing pulse I/O module (axis mode) The following restrictions apply when using the sensing pulse I/O module in axis mode. ■Absolute position system The axes connected to the sensing pulse I/O module do not support the absolute position system. ■Home position return •...
Page 247 *3 When performing "dogless home position signal reference method" in the sensing pulse I/O module, the home position, home position return operation, and home position return data (home position return retry function, dwell time at the home position return retry) is as follows.
Page 248 • When feedback pulse input is "invalid", if the home position return data "Home position return request setting in pulse conversion unit" is set to "1: Home position return request not ON during servo OFF", follow- up is not performed and "[St.1069] Home position return request (R: M32409+32n/Q: M2409+20n)" does not turn ON, causing a position discrepancy to occur.
Page 249 • Transient command Data type Unit Number of words Number of communication Transient Storage device data points (response data (+8 to 11)) content Encoder resolution [pulse] 0305H Servo amplifier identification [characters] 0310H information (First 8 characters) Servo amplifier identification [characters] 0311H information (Last 8 characters) Servo amplifier S/W No.
Page 250 Vendor ID (R: D32031+48n/Q: #8016+20n)". Vendor ID code Details Mitsubishi Electric Corporation ■Torque limit • The torque limit depends on the specifications of the driver connected to the sensing pulse I/O module. • The torque limit at the axes connected to the sensing pulse I/O module is ignored.
Page 251 ■Sensing SSCNETIII/H head module functions When the sensing pulse I/O module is used in axis mode, only the following functions are valid for the sensing SSCNET/H head module. • Digital input function • Digital output function 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 5.7 Connection of Sensing Module...
Page 252: Errors Detected By Sensing Module
Errors detected by sensing module Errors at station mode When an error occurs in the sensing module, alarm of the status device, or warning signal turns ON, and the error code is stored in the error code of the monitor device. Sensing module errors are treated as servo errors with minor error (error code: 1C80H), or warning (error code: 0C80H) being stored in "Latest self-diagnosis error (SD0)".
Page 253: Compatible Devices With Sscnetiii(/H)
Compatible Devices with SSCNETIII(/H) Servo driver VCII series/VPH series manufactured by CKD Nikki Denso Co., Ltd. The direct drive DISC/iD roll/Servo compass/Linear stage, etc. manufactured by CKD Nikki Denso Co., Ltd. can be controlled by connecting with the servo driver VC series/VPH series manufactured by the same company using the Motion CPU and SSCNET(/H).
Page 254 Control of VCII series/VPH series parameters Parameters set in VC series/VPH series are not controlled by the Motion CPU. They are set directly using VC/VPH data editing software. For details on setting items for VC series/VPH series, refer to the instruction manual of VC series/VPH series.
Page 255 Item VCII series VPH series MR-J4(W)-□B MR-J3(W)-□B Optional data Transient • Encoder resolution • Servo motor ID (SSCNET)/ • Servo motor ID (SSCNET)/ monitor (Data command • Servo amplifier identification information (First 8 Encoder ID Encoder ID type) characters) • Servo motor ID (SSCNET/H) •...
Page 256 Item VCII series VPH series MR-J4(W)-□B MR-J3(W)-□B Home position return method Proximity dog method (1, 2), Count method (1 to Proximity dog method (1, 2), Count method (1 to 3), Data set method 3), Data set method (1), Dog cradle method, Limit (1 to 3), Dog cradle method, Stopper method (1, 2), Limit switch switch combined method, Scale home position combined method, Scale home position signal detection method,...
Page 257 Precautions during control ■Absolute position system(ABS)/Incremental system (INC) ABS/INC setting is set on the VC series/VPH series side. Item Precautions Incremental system (INC) No restrictions. Absolute Operating system software position system version "09" or later (ABS) Operating system software When control units are degree axis and the stroke limit is valid, a minor error (error code: 1A18H) occurs version "08"...
Page 258 • Home position return without passing motor Z phase Servo driver Details VC series When "1" is set in the first digit of the parameter of VC series "Select function for SSCNET on communicate mode (P612)", it is possible to carry out the home position return without passing the zero point. (Return to home position after power is supplied will be executed when passing of motor Z phase is not necessary.) When "0"...
Page 259 • "Servo parameter write/read" device Store the value in the following special registers to change or display the servo parameter. Name Meaning Details Set by SD552 Servo parameter Servo parameter read The read value (low 1 word) of servo parameter which executed "4: 2 word read System (At write/read request value...
Page 260 ■Optional data monitor setting The following table shows data types that can be set. Set the data so that the total number of communication data points per axis is no more than 6 points in a SSCNET/H line, and no more than 3 points in a SSCNET line. •...
Page 261 • Transient command Data type Unit Number of words Number of communication Transient Storage device data points (response data (+8 to 11)) content Encoder resolution [pulse] 0305H Servo amplifier identification [characters] 0310H information (First 8 characters) Servo amplifier identification [characters] 0311H information (Last 8 characters) Servo amplifier S/W No.
Page 262 ■Monitor devices (R: D32020+48n to D32039+48n/Q: #8000 to #8639) This register stores the servo amplifier types and servo amplifier vendor ID below when using VC series/VPH series. • [Md.1014] Servo amplifier type (R: D32030+48n/Q: #8000+20n) Type code Details 258(0102h) VC series (For linear stage) (CKD Nikki Denso Co., Ltd.
Page 263: Inverter Fr-A700 Series
Inverter FR-A700 series FR-A700 series can be connected via SSCNET by using built-in option FR-A7AP and FR-A7NS. FR-A700 series cannot be used on a line where the communication type in SSCNET setting of MT Developer2 is set to "SSCNET/H". System configuration The system configuration using FR-A700 series is shown below.
Page 264 Control of FR-A700 series parameters Parameters set in FR-A700 series are not controlled by Motion CPU. Set the parameters by connecting FR-A700 series directly with the operation panel on the front of inverter (FR-DU07/FR-PU07) or FR Configurator that is inverter setup software.
Page 265 Optional data monitor setting The following table shows data types that can be set. Set the data so that the total number of communication data points per axis is no more than 3 points. ■Registered monitor *1*2 Data type Unit Number of words Number of Address ID...
Page 266 Data type Unit Number of words Number of communication Transient Storage device data points (response data (+8 to 11)) content Alarm occurrence time #1, #2 0329H Alarm occurrence time #1 (2 words) +10: Alarm occurrence time #2 (2 words) Alarm occurrence time #3, #4 032AH Alarm occurrence time #3 (2 words)
Page 267 Comparisons of specifications with MR-J3(W)-B Item FR-A700 series MR-J3(W)-□B Amplifier type FR-A700 MR-J3(W)-B, MR-J3(W)-B Fully closed, MR-J3(W)-B Linear, MR-J3(W)-B DD motor Control of servo amplifier parameters Set directly by inverter. (Not controlled by Motion CPU.) Controlled by Motion CPU. External input signal External input signals of FR-A700 series, and bit devices External input signals of servo amplifier, and bit devices are available.
Page 268 Item FR-A700 series MR-J3(W)-□B PI-PID switching command Valid Valid Control loop changing command Invalid Valid when using servo amplifier for fully closed loop control (MR-J3-B-RJ006) Servo parameter read/write Unusable Usable Amplifier-less operation function Usable Usable Driver communication Unusable Usable Monitoring of servo parameter error No. Unusable Usable Servo error (Motion error history)
Page 269 • [Md.1027] Servo amplifier Vendor ID (R: D32031+48n/Q: #8016+20n) Vendor ID code Details Mitsubishi Electric Corporation ■Operation cycle If "SSCNET" is set as the SSCNET settings communication type, the operation cycle of 0.222[ms] cannot be used. Furthermore, even if the operation cycle is set to 0.222[ms] in the setting for axes 1 to 4 for 1 line, if the servo amplifier is mixed with the FR-A700 series, the servo amplifier operates with an operation cycle of 0.444[ms].
Page 270: Inverter Fr-A800 Series
Inverter FR-A800 series FR-A800 series can be connected via SSCNET/H by using built-in option FR-A8AP and FR-A8NS. System configuration The system configuration using FR-A800 series is shown below. Motion CPU module R MTCPU Inverter Servo amplifier FR-A800 series MR-J4(W)- B SSCNETµcable MR-J3BUS M(-A/-B) SSCNETµ/H(CN1)
Page 271 Control of FR-A800 series parameters Parameters set in FR-A800 series are not controlled by Motion CPU. Set the parameters by connecting FR-A800 series directly with the operation panel on the front of inverter (FR-DU08/FR-LU08/FR-PU07) or FR Configurator2 that is inverter setup software.
Page 272 ■Transient command Data type Unit Number of words Number of communication Transient Storage device data points (response data (+8 to 11)) content Servo amplifier identification [characters] 0310H information (First 8 characters) Servo amplifier identification [characters] 0311H information (Last 8 characters) Servo amplifier S/W No.
Page 273 When FR-A800 series is used, each data is delayed for "update delay time + communication cycle" because of the update cycle of the inverter. The update delay time for each data is shown in the table below. Data type Update delay time of FR-A800 series Motor load ratio 10ms Position F/B...
Page 274 Item FR-A800 series MR-J4(W)-□B Optional data Transient • Servo amplifier identification information (First 8 • Servo motor ID (SSCNET)/Encoder ID monitor (Data command characters) • Servo motor ID (SSCNET/H) type) • Servo amplifier identification information (Last 8 • Encoder resolution characters) •...
Page 275 • [Md.1027] Servo amplifier Vendor ID (R: D32031+48n/Q: #8016+20n) Vendor ID code Details Mitsubishi Electric Corporation ■Command speed If FR-A800 series is operated at a command speed more than the maximum speed, the stop position may be overshoot. FR-A800 series detection error When an error occurs on FR-A800 series, the "[St.1068] Servo error detection (R: M32408+32n/Q: M2408+20n)"...
Page 276: Optical Hub Unit
Optical hub unit The SSCNET/H Compatible Optical Hub Unit (MR-MV200) is a unit that enables the branching of SSCNET/H communication on 1 line (3 branches for 1 input). SSCNET/H communication can be branched by installing an optical hub unit in a SSCNET/H system. The optical hub unit is compatible with all slave equipment (servo amplifiers etc.) that supports SSCNET/H communication.
Page 277 • If the optical hub unit is connected to a sub route, an error occurs, and the optical hub unit does not communicate with the Motion CPU. • A servo amplifier can be connected between two optical hub units, and between a Motion CPU and an optical hub unit.
Page 278 • When using a multi-axis servo amplifier (MR-J4W-B), there is a restriction on the number of connectable units (servo amplifier (MR-J4(W)-B), SSCNET/H head module, other drivers etc.) between the Motion CPU and the multi-axis servo amplifier depending on the number of optical hub units being used. The number of connectable units depending on how many optical hub units are used are shown below.
Page 279 Checking the status of the optical hub unit The connection status of the optical hub unit can be checked with the special registers below. Device No. Name Meaning Details Set by SD504 SSCNET/H SSCNET/H • Checks the connection status (Installed: 1/Not installed: 0) of the optical hub System compatible optical compatible optical...
Page 280 ■Servo amplifier layout for driver communication A connection example showing where driver communication is possible/not possible is shown below. Motion CPU module Driver communication Main route Optical hub Optical hub Axis 1 unit Axis 2 Axis 3 unit Axis 4 Axis 5 Axis 6 OUT1...
Page 281: Alphastep/5-Phase Stepping Motor Driver Manufactured By Oriental Motor Co., Ltd
AlphaStep/5-phase stepping motor driver manufactured by ORIENTAL MOTOR Co., Ltd. The ORIENTAL MOTOR Co., Ltd. made stepping motor driver AlphaStep/5-phase can be connected via SSCNET/ H.Contact ORIENTAL MOTOR Co., Ltd. overseas sales office for details of AlphaStep/5-phase. AlphaStep/5-phase cannot be used on a line where the communication type in SSCNET setting of MT Developer2 is set to "SSCNET".
Page 282 Control of AlphaStep/5-phase parameters Parameters set in AlphaStep/5-phase are not controlled by Motion CPU. They are set directly using AlphaStep/5-phase data editing software. For details on setting items for AlphaStep/5-phase, refer to the instruction manual of the AlphaStep/5-phase. Comparisons of specifications with MR-J4(W)-B Item AlphaStep/5-phase MR-J4(W)-□B...
Page 283 Item AlphaStep/5-phase MR-J4(W)-□B Optional data Transient • Encoder resolution • Servo motor ID (SSCNET)/Encoder ID monitor (Data command • Servo amplifier S/W No. (First 8 characters) • Servo motor ID (SSCNET/H) type) • Servo amplifier S/W No. (Last 8 characters) •...
Page 284 Item AlphaStep/5-phase MR-J4(W)-□B Programming tool MR Configurator2 is not available. MR Configurator2 is available. Use AlphaStep/5-phase editing software. *1 For details of AlphaStep/5-phase, refer to AlphaStep/5-phase instruction manual. *2 Refer to the servo amplifier instruction manual for the servo amplifiers that can be used. Precautions during control ■Absolute position system (ABS)/Incremental system (INC) Set the ABS/INC settings with the AlphaStep/5-phase.
Page 285 ■Control mode Control modes that can be used are shown below. • Position control mode (position control, and speed control including position loop) However, speed-torque control (speed control not including position loop, torque control, continuous operation to torque control) cannot be used. If a control mode switch is performed, a warning (error code: 09EAH) occurs and the current control is stopped.
Page 286 ■Optional data monitor setting The following shows data types that can be set. Set the data so that the total number of communication points per axis is no more than 6 points. • Registered monitor *1*2 Data type Unit Number of words Number of Address ID communication data...
Page 287 ■Monitor devices (R: D32020+48n to D32039+48n/Q: #8000 to #8639) • [Md.1014] Servo amplifier type (R: D32030+48n/Q: #8000+20n) This register stores the servo amplifier types below when using AlphaStep/5-phase. Type code Details 8233(0102H) 5-phase stepping motor driver (ORIENTAL MOTOR Co., Ltd. make) 8234(0107H) Stepping motor driver AlphaStep (AZ series) (ORIENTAL MOTOR Co., Ltd.
Page 288: Iai Electric Actuator Controller Manufactured By Iai Corporation
IAI electric actuator controller manufactured by IAI Corporation The IAI Corporation made IAI electric actuator controller can be connected via SSCNET/H. Contact your nearest IAI sales office for details of IAI electric actuator controller. IAI electric actuator controller cannot be used on a line where the communication type in SSCNET setting of MT Developer2 is set to "SSCNET".
Page 289 Parameter setting To connect IAI electric actuator controller, set the following in the servo network setting of MT Developer2. (Page 64 Servo network setting) • Set "SSCNET/H" for communication type in SSCNET setting. • Set the amplifier model in amplifier setting to "IAI Driver for Electric Actuator (IAI)". Control of IAI electric actuator controller parameters Parameters set in IAI electric actuator controller are not controlled by Motion CPU.
Page 290 Item IAI electric actuator controller MR-J4(W)-□B Optional data Transient • Optional transient command • Servo motor ID (SSCNET)/Encoder ID monitor (Data command • Servo motor ID (SSCNET/H) type) • Encoder resolution • Servo amplifier serial number (First 8 characters) • Servo amplifier serial number (Last 8 characters) •...
Page 291 Item IAI electric actuator controller MR-J4(W)-□B Servo error (Motion error history) Error codes detected by IAI electric actuator controller Error codes detected by servo amplifier are stored. are stored. Programming tool MR Configurator2 is not available. MR Configurator2 is available. Use IAI electric actuator controller editing software.
Page 292 ■Control of servo parameters Parameters of IAI electric actuator controller are not controlled by Motion CPU. Therefore, even though the parameter of IAI electric actuator controller is changed during the communication between Motion CPU and IAI electric actuator controller, it does not process, and is not reflected to the parameter.
Page 293 ■Optional data monitor setting The following shows data types that can be set. Set the data so that the total number of communication points per axis is no more than 6 points. • Registered monitor Data type Unit Number of words Number of Address ID communication data...
Page 294 ■Operation cycle For each operation cycle, the following number of axes per controller can be set. When the number of axes is more than what can be set, and an operation cycle other than those below is set, a minor error (error code: 1C83H) occurs. Operation cycle Number of axes per controller available 0.222[ms]...
Page 295: Chapter 6 Communication Functions
COMMUNICATION FUNCTIONS Communication Function List Motion CPUs are equipped with following list of communication interfaces. Communication type Communication route Reference Via Multiple PERIPHERAL I/F ( ) indicates the Ethernet port number.    MELSOFT communication Via Multiple CPU Direct connection ...
Page 296: Security Function
Security Function The theft, tampering, incorrect operation, and illegal execution of customer assets stored on personal computers, or customer assets inside modules in the MELSEC iQ-R series system due to unauthorized access by a third party is prevented. Use each security function for the purposes below.
Page 297 Operations requiring password authentication with file password Operations requiring password authentication for data for which a file password has been registered are as follows. Online operation Corresponding password type Reading to Motion CPU Read protect password Writing to Motion CPU Write protect password Online change Write protect password...
Page 298: Software Security Key Authentication
Software security key authentication This function is used to protect the user data by setting a common security key to the project and Motion CPU to limit the personal computer which operates the project and Motion CPU which runs the project. The security key is created in MT Developer2 and registered to the personal computer, or Motion CPU.
Page 299 • Personal computer user management (deletion of redundant user accounts, strict control of login information, adoption of fingerprint authentication, etc.) Furthermore, if a personal computer at which security keys are registered malfunctions, locked project data cannot be viewed or edited. Mitsubishi Electric accepts no responsibility for losses to customers, other individuals, or organizations as a result of this.
Page 300 Creating/deleting/copying the software security key The operation of software security key function is executed on the security key management screen of MT Developer2. Refer to the following for details of the operation procedures. Help of MT Developer2 [Project]  [Security]  [Security Key Management] Window ■Security key creation Create a new security key and register it at the personal computer.
Page 301 Registering a software security key to a project file Create a security key at the "Security key management" screen beforehand. Security keys can be registered for each program file, however, the same security key is used for all program files in the project. Refer to following for details on operation.
Page 302 Writing/deleting software security keys to and from the Motion CPU By writing a security key to the Motion CPU, the execution of programs can be prohibited for Motion CPUs in which a different key from that for the program file is written. A single security key can be written to multiple Motion CPUs. If writing a security key, create a key at the "Security key management"...
Page 303: Ip Filter Function
IP filter function By identifying the IP address of the device with which communication is being performed, access by specifying an unauthorized IP address can be prevented. Access is restricted by allowing or blocking access from IP addresses (of external devices) set in the parameters.
Page 304: Remote Operation
Remote Operation Remote operation is used to control operation of Motion CPU from external sources (MT Developer2, RUN contacts, etc.). Remote operations for which Motion CPU operations are controlled are as follows. • Remote RUN/STOP Relationship between Motion CPU status and remote operation The status after the execution of remote operations based on the Motion CPU status is as follows.
Page 305 ■Operation with RUN contact Set the X device to be set as the RUN contact at MT Developer2. [R series common parameters]  [Motion CPU module]  [CPU parameter]  "Operation related setting"  "RUN contact" The settable device range is "X0 to X2FFF". Operations are performed with the set RUN contact ON/OFF and remote RUN/ STOP status.
Page 306: Communication Function Via Peripheral I/F
Communication Function via PERIPHERAL I/F The Motion CPU can communicate data by connecting built-in PERIPHERAL I/F of the Motion CPU with personal computers and/or display devices, etc. using an Ethernet cable. There are following two ways to communicate between the Motion CPU and MT Developer2.
Page 307 Communication setting in MT Developer2 side Set the items on the Transfer Setup screen in MT Developer2 as shown below. [Online]  [Transfer Setup] Operating procedure Select [Ethernet Board] for PC side I/F. Select [PLC Module] for CPU side I/F. Select the "Ethernet Port Direct Connection"...
Page 308 Precautions Precautions for direct connection are shown below. ■Connection to LAN line When the Motion CPU is connected to LAN line, do not perform communication using direct connection. If performed, the communication may put a load to LAN line and adversely affect communications of other devices. ■Connection not connected directly •...
Page 309: Connection Via Hub
Connection via HUB Between the Motion CPU and MT Developer2 can be connected via HUB. Ethernet cable (straight cable) Ethernet cable (straight cable) PERIPHERAL I/F MT Developer2 Panel computer Setting in Motion CPU side Set the items on the IP address setting as shown below. [R Series Common Parameter] ...
Page 310 Communication setting in MT Developer2 side Set the items on the Transfer Setup screen in MT Developer2 as shown below. [Online]  [Transfer Setup] Operating procedure Select [Ethernet Board] for PC side I/F. Select [PLC Module] for CPU side I/F. Select the "Connection via HUB"...
Page 311 The Find CPU function can be used for specifying the IP address for Motion CPU side in the connection via HUB. This function can be activated in [Find CPU (Built-in Ethernet port) on Network] of CPU side I/F Detailed Setting of PLC Module screen, finds the Motion CPU connected to the same HUB as MT Developer2, and displays a list.
Page 312 Precautions Precautions for connection via HUB are shown below. • When the personal computer that can connect to LAN line is used, set the same value for Motion CPU IP address as the following personal computer IP address. Motion CPU IP address Set the same value as the personal computer IP address Personal computer IP address: "192.168.3.1"...
Page 313: Vision System Connection Function
Vision System Connection Function  The Cognex In-Sight vision system can be connected to the PERIPHERAL I/F of the Motion CPU. The vision system dedicated functions have been added to the Motion SFC program making it easy to control the vision system from the Motion SFC program.
Page 314 System configuration This section explains the system configuration and precautions for using the Cognex vision system connection function. Motion CPU Servo amplifier SSCNETµ(/H) Alignment stage etc. ® • In-Sight Explorer • MT Developer2 ® In-Sight series up to 32 modules Ethernet HUB Ethernet cable Dedicated cable...
Page 315 Features of vision system connection function This section explains the features of the Cognex vision system connection function. ■Method of connection with vision system The Motion CPU and vision system are connected with the Motion CPU's PERIPHERAL IF (Ethernet). A dedicated communication module, etc., is not needed.
Page 316 ■Priority of the vision system dedicated function The priority of the vision system dedicated functions in the Motion CPU are shown below. Process Description Priority Motion operation process Servo operation process, Servo data communication process, Event task of Motion SFC, etc. 1 (High) Vision system dedicated Execution of the communication process with the vision system...
Page 317: Vision System Parameter Setting
Vision system parameter setting This section describes the setting items for vision system parameter system. When writing the vision system parameters into the Motion CPU, execute one of the following. • Select the menu bar [Check/Convert]  [Vision System Parameter Check]. •...
Page 318 ■Port No. Set the port number used for communication with the vision system. Set the same number as the port number set for the  vision system with In-Sight Explorer. • For Telnet communication Set the Telnet connection port number used to control the vision system from the Motion CPU. If this number is not set, the Telnet default port number (23) will be used.
Page 319 Both of them are set to 0 at the Multiple CPU system's power supply ON. Refer to error codes for the error code of vision system dedicated function. (Page 376 Error Codes) The vision system status is indicated with the following values. Storage value Status Not connected...
Page 320 Vision Program Operation Setting The job (vision program) set in the vision system is assigned as a program number so that it can be executed from the vision system dedicated functions. [Motion CPU Common Parameter]  [Vision System Parameter]  "Vision Program Operation" Window Displayed items Item...
Page 321 ■Status Storage Device Set the word device that stores the job's load status and the vision system's online/offline status. Refer to device list for the range of word devices that can be set. (Page 75 Device List) Both of them are set to 0 at the Multiple CPU system's power supply ON. The job's load status is indicated with the following values.
Page 322 ■Image Data Storage Device Set the word device for storing the image data obtained when the job was executed. The image data is stored only when the format output string setting of TCP/IP protocol is set in the vision system. (Page 321 Setting batch send (TCP/IP protocol) of multiple data) This does not need to be set if the format output string setting of TCP/IP protocol is not set in the vision system.
Page 323 Setting batch send (TCP/IP protocol) of multiple data By using the format output string setting of TCP/IP protocol, image data after the job is finished can be sent in a batch to the  Motion CPU. Set with the following procedure using In-Sight Explorer.
Page 324 The “TCP/IP” device will be added. Click the [Format String] button to display the FormatString dialog. Set "Use Delimiter", and set the selectable character with "Standard". Click the [Add] button to display the Select Output Data dialog. Select the data to be sent to the Motion CPU as the result of the job execution, and then click the [OK] button. ®...
Page 325 Check the "TCP/IP Settings". Leave the Server Host Name blank. (The vision system acts as the TCP/IP server.) The port number must be the same as the port No. for TCP/IP communication set with the Ethernet communication line setting. (Page 315 Ethernet Communication Line Setting) ®...
Page 326: Flow Of Vision System Control
Flow of vision system control This section explains the basic procedures for controlling the vision system from the Motion CPU. Setting the vision system  Set the vision system network and create a job (vision program) using In-Sight Explorer. Setting the Motion CPU parameters Set the Ethernet communication line setting and the vision program operation setting using MT Developer2.
Page 327: Sample Program
Sample program Explanation of the operations The following section gives an example of a program that executes positioning control using the adjustment data recognized by the vision system as the target data. This program example is explained in the "Q series Motion compatible device assignment" device assignment method. Setting the vision system ...
Page 328 ■Vision program operation setting • Program No.1 Setting item Description Vision system No. Vision program name Worksearch1 Status storage device D3000 Read value cell Not necessary to set Read value storage device Image data storage device D3010F 6 COMMUNICATION FUNCTIONS 6.5 Vision System Connection Function...
Page 329 Motion SFC program Alignment adjustment Log onto vision system of [F0] vision sensor (camera) No. 2. //Log onto vision system MVOPEN K2 Confirm log on completion (20) with vision system status [G0] storage device (D2000). //Confirm log on completion Confirm that there is no error with error flag (M0). (D2000==K20)*!M0 Load job "Worksearch1"...
Page 330: Test Mode
Test Mode In test mode, Motion CPUs are connected to a personal computer, and test operation is performed to verify whether servo motors are operating in accordance with design specifications. By starting the MT Developer2 test, a test mode request is issued to the Motion CPU.
Page 331: Differences Between Normal Operation And Test Operation
Differences between normal operation and test operation The differences between normal operation and multi-axis test operation are shown below. Normal operation Multi-axis test operation JOG operation JOG operation is executed based on the set values of JOG operation is executed based on the set values in JOG operation data and positioning dedicated signals.
Page 332: Test Mode Transition/Cancellation
Test mode transition/cancellation At a test mode transition request, initial processing is performed, and parameters and programs are read. Refer to initial processing for details of initial processing. (Page 71 Initial processing) Test mode transition When transitioning to test mode all axes become servo OFF regardless of the servo ON/OFF status. ("[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)"...
Page 333: Stop Processing Of Axes Operating In Test Mode
Stop processing of axes operating in test mode When the following stop factors occur in an axis in test mode operation, stop processing is performed for all axes performing test operation. When performing test operation for multiple axes and a stop command or stop factor applies to one of the axes in test operation, stop processing is also performed for the axes in test mode operation that the stop command or stop factor does not apply to.
Page 334: Positioning Control Monitor Function
Positioning Control Monitor Function Scroll monitor The scroll monitor is a function used to monitor up to 256 items of positioning start history such as servo programs, JOG start, and Motion dedicated PLC instructions. This function applies to controls for which the start accept flag turns ON. (G-code control is not recorded in the history.) Scroll monitor information is retained even when the Multiple CPU system power supply is turned OFF, or when reset.
Page 335: Current Value History Monitor
Current value history monitor The current value history monitor is a function used to monitor the encoder position data history for each axis. Current position data, home position return data, and Multiple CPU system power supply ON/OFF data (for past 10 times) can be monitored. Current value history monitor information is always stored, regardless of whether the system is absolute or incremental, and is retained even when the Multiple CPU system power supply is turned OFF, or when reset.
Page 336: Speed Monitor
Speed monitor By selecting "Target speed" for the display item at the MT Developer2 axis monitor screen, the command speed (displayed in axis control units) specified with the program currently being used for positioning control can be monitored. Successive command speed [pulse/s] can be monitored with "[Md.28] Command speed (R: D32024+48n, D32025+48n/Q: #8004+20n, #8005+20n)".
Page 337: Label Access From External Devices
Label Access from External Devices Communication from an external device such as a graphic operation terminal (GOT) to the Motion CPU is possible by specifying label names. The external device accesses labels by specifying label names in the label allocation information stored in the Motion CPU. Label allocation information defines the label names and data types, as well as where each label is allocated.
Page 338 Storing label allocation information The label allocation information used when accessing labels from external devices is stored in the standard ROM or the SD memory card. When using label allocation information stored in the SD memory card (storing label allocation information in the SD memory card), set the transfer for "label allocation information"...
Page 339: Chapter 7 Digital Oscilloscope
DIGITAL OSCILLOSCOPE Features Analysis is possible with high-accuracy sampling. Sampling is possible in cycles as short as 0.222ms. Sampling is performed without missing specified control data changes. By reading the sampling result with the MT Developer2 digital oscilloscope and outputting to a waveform, the identification of system startup and the cause of trouble can be analyzed with high accuracy.
Page 340: Digital Oscilloscope Specifications
Digital Oscilloscope Specifications The digital oscilloscope specifications are shown in the following table. Individual sampling setting specifications Function Specification Sampling settings data storage target Standard ROM, SD memory card Sampling type Trigger sampling Sampling start setting User operation Operation cycle, 0.222ms  sampling rate interval Sampling interval No.
Page 341: Digital Oscilloscope Operating Procedure
Digital Oscilloscope Operating Procedure The digital oscilloscope sampling operating procedure is described below. The digital oscilloscope is operated using MT Developer2. Set clock data before using the digital oscilloscope. File name time information is created based on the clock data setting. (Page 113 Clock Function) Furthermore, if using an SD memory card, the card must be formatted.
Page 342: Sampling Functions
Sampling Functions The functions used to perform sampling with the digital oscilloscope are as follows. Sampling type The sampling type sets the sampling method. Trigger sampling Values before and after the trigger (when specified conditions established) are sampled only in the specified range. Sampling is complete when saving to the specified save destination is complete.
Page 343: Sampling Target
Sampling target The probe item to be sampled with the digital oscilloscope is set in the probe settings. 16 channels can be set for probe items in word data, and 16 channels can be set for bit data for each sampling settings file. The following data is set in the probe settings.
Page 344 • Trigger reference value The trigger reference value (trigger value) set with a word trigger sets the range corresponding to the size of each word data. Word size Lower limit Upper limit 2 bytes Without sign 65535 With sign -32768 32767 4 bytes Without sign...
Page 345: Saving Sampling Results
Saving sampling results Data sampled with the digital oscilloscope is stored in the Motion CPU internal memory, and when sampling is complete, sampling results are saved to the standard ROM or to an SD memory card. Buffer capacity Standard ROM/SD memory card Setting data Saved file <Settings>...
Page 346: Digital Oscilloscope Status
Digital Oscilloscope Status The digital oscilloscope status can be checked at the digital oscilloscope monitor. Digital oscilloscope monitor data ■Bit device Monitor item Stored content Monitor value Refresh cycle Device No. Sampling settings RUN Turns ON when sampling is started. OFF: STOP When sampling SM760...
Page 347: Digital Oscilloscope Errors
Digital Oscilloscope Errors When digital oscilloscope errors occur If an error occurs at the digital oscilloscope, the error detection special relay turns ON, the error code is stored in a special register, and this appears in the Motion CPU error batch monitor in MT Developer2. The error is not displayed in the error history.
Page 348: Chapter 8 Motion Cpu Memory Structure
MOTION CPU MEMORY STRUCTURE Programs and parameters used for Motion CPU control are stored as files in a nonvolatile memory "standard ROM" built in to the Motion CPU, or a "SD memory card" installed in the SD memory card slot of the Motion CPU. The SD memory card can be removed from the Motion CPU and used with peripheral equipment such as personal computers, facilitating flexible data management.
Page 349: File Handling Precautions
File handling precautions File reading and file writing processing File reading and writing processes are performed in the Motion CPU main cycle. The read and write time varies depending on the file size and main cycle length. Power supply OFF (including reset) when performing file operations File content is not assured if the Multiple CPU system power supply is turned OFF or the system is reset when performing file operations other than data reading.
Page 350: Stored Files
Stored files Programs and parameters used for Motion CPU control are stored inside a "$MMTPRJ$" folder created in a root folder in the standard ROM or SD memory card. The "$MMTPRJ$" folder is automatically created at the following times. • When the "$MMTPRJ$" folder does not exist when turning ON the Multiple CPU system power supply. •...
Page 351 /gcode/ prog/ O001.gcd to O256.gcd G-code control program file temp/ O001.gcd to O256.gcd G-code control program file (For program file load while running) gcdsys01.csv, gcdsys02.csv G-code control system parameter file gcd1ax1.csv to gcd1ax8.csv G-code control axis parameter file (line 1) gcd2ax1.csv to gcd2ax8.csv G-code control axis parameter file (line 2) gcdproc.csv...
Page 352: Sd Memory Card
SD Memory Card This section describes functions using a SD memory card. SD memory card handling • Formatting is required for all SD memory cards used with the Motion CPU module. Purchased SD memory cards will not have been formatted, and should therefore be used after inserting them in the Motion CPU module and formatting with the MT Developer2 [Online] ...
Page 353 SD memory card forced stop precautions • If use of the SD memory card is forcibly stopped with the SD memory card access control switch and also with the "SD memory card forced disable instruction (SM606)", the operation executed first will be valid, and the subsequent operation will be invalid.
Page 354: Memory Initialization
Memory Initialization The following methods can be used to delete (initialization) data on Motion CPU standard ROM, backup RAM, and SD memory cards. Supported function Initialization target Files Backup data Device Latch (1) Latch (2) Other than latch Standard Backup RAM memory card ...
Page 355: Installing The Operating System Software
Installing the Operating System Software The operating system software is installed in the Motion CPU module when the product is shipped. There is therefore no need to install the operating system software, however, installation is required if upgrading to the latest version or changing the version.
Page 356: Installation Procedure Using Mt Developer2
Installation procedure using MT Developer2 The procedure used to install the operating system software, or add-on library using MT Developer2 is as follows. Start Installation Set to installation mode. Set the rotary switch of Motion Refer to the following for rotary switch. CPU module to "A".
Page 357: Installation Procedure Using Sd Memory Card
Installation procedure using SD memory card The procedure used to install the operating system software, and add-on library using a SD memory card is as follows. Start Installation Using a personal computer, store the Create a "instnew", and "inst" folder in the SD memory operating system file, and add-on card root, and store the files inside this folder.
Page 358 • If the system is unable to recognize the installation target files after turning the Multiple CPU system power supply ON, the dot matrix LED will not display "INC  SDC", and installation with the SD memory card will not start. •...
Page 359: Add-On Function
Add-on Function Functions of the Motion CPU module can be expanded by installing files supplied as add-on libraries to the Motion CPU module. Motion CPU Operating Add-on library system processing Motion SFC Add-on library Add-on module Install with MT Developer2/SD memory card The add-on modules inside the add-on library are executed by the following methods.
Page 360: Add-On Module Structure
Add-on module structure An add-on module comprises of the following units. Name Details Add-on module Module that executes expansion functions. Add-on library A file that encompasses one or more add-on modules. The method for calling each add-on module is defined in the add-on library. When installing to the Motion CPU module, the entire add-on library is installed.
Page 361 ■License key generation The license key to be written to the Motion CPU is generated in MT Developer2. Insert the USB key into the USB port of a personal computer, and generate the license key with "Add-on library management" in MT Developer2. The generated license key is saved in the license key file (license.lky). License key Generate license key...
Page 362 ■Purchasing a license and writing to the Motion CPU after trialing the add-on library The following procedure is for when the add-on library is installed and trialed before purchasing a license, and a license purchased after trialing is written to the Motion CPU. START Install add-on library.
Page 363 ■Installing the add-on library after purchasing a license The procedure for writing the license key at the same time of installing the add-on library, after purchasing a license, is shown below. START License If a license is purchased, a USB license key (USB dongle with Purchase the add-on library license.
Page 364 ■Generating a license key offline (when replacing a CPU remotely etc.) The procedure for generating a license key offline with personal computer A, without connecting a Motion CPU, and writing the license key with personal computer B, is shown below. : Operation on personal computer A (license key generation) START : Operation on personal computer B (license key write)
Page 365 Perform the following in MT License key When writing the license key from the SD memory card, Developer2. writing refer to the procedure for writing the license key using • Set license key. an SD memory card. • Write license key to Motion CPU. Turn OFF the power supply of Multiple CPU system.
Page 366 ■Writing the license key using an SD memory card The procedure for using an SD memory card to write the license key is shown below. START License If a license is purchased, a USB license key (USB dongle with Purchase the add-on library license. purchase license information) is supplied.
Page 367 License authentication error ■Error when loading license key file The license key file is loaded when the Multiple CPU system power supply is turned ON, or the add-on library is loading. A moderate error (error code: 3081H) occurs in the following cases. •...
Page 368: Chapter 9 Ras Functions
RAS FUNCTIONS Self-Diagnostics Function Checks if a problem exists with the Motion CPU. Self-diagnostics timing If an error occurs when the Multiple CPU system power supply is turned ON or while it is in the RUN/STOP state, the Motion CPU detects, and displays the error, and stops operation depending on the error details. However, depending on the error occurrence status or the instruction to execute, the Motion CPU may not be able to detect the error.
Page 369 Checking by MT Developer2 Motion error history is checked at the MT Developer2 Motion CPU error batch monitor. Refer to the following for details of the Motion CPU error batch monitor. Help of MT Developer2 Checking by axis status signals, and axis monitor devices Error details detected for each axis is stored for each axis status signal and each axis monitor device.
Page 370: Operations At Error Detection
Operations at error detection The operations for when an error is detected are shown below. Modes at error detection ■Stop mode In this mode, Motion CPU operation is stopped. All programs are stopped the moment the error is detected, and all external outputs are turned OFF for modules set to "Stop"...
Page 371: Cancelling Errors
Cancelling errors Continue errors (minor errors, or continue mode moderate errors) and warnings can be cancelled. Cancelling errors Use the following method to cancel errors after eliminating the cause. ■Cancelling method with GX Works3 Cancel with GX Works3 "Module diagnostics" ■Cancelling method with MT Developer2 Cancel with MT Developer2 "Motion Monitor"...
Page 372: Safety Functions
Safety Functions Processing time monitor and check The time taken for Motion operation and Motion SFC program execution can be monitored with a special register. The Motion CPU internal processing timing and corresponding processing time monitor devices are shown in the following diagram. : Motion SFC processing Processing priority : System processing...
Page 373 Watchdog timer (WDT) If the "Scan time (SD520)" exceeds 1.0 [s], the "Motion CPU WDT error (SM512)" turns ON, and axes that have started are stopped immediately without reducing speed. If the "Motion CPU WDT error (SM512)" turns ON, reset the Multiple CPU system. If the "Motion CPU WDT error (SM512)" turns ON even after resetting, check the cause of the "Motion CPU WDT error (SM512)", and if the cause is a "Main cycle over"...
Page 374 Devices relating to processing time The Motion CPU main cycle, Motion operation cycle, and Motion SFC program execution time is monitored with the following special registers. (Page 431 Special Registers) Name SD520 Scan time SD521 Maximum scan time SD522 Motion operation cycle SD523 Motion setting operation cycle SD524...
Page 375: Event History Function
Event History Function The Motion CPU stores errors detected by the module, operations done for the module as "event history" in the standard ROM of the Motion CPU, or the SD memory card. Once errors and operations are stored, their occurrence history and other information can be checked chronologically.
Page 376 Event history file The storage memory and file size for event history files can be changed in event history setting. Refer to CPU parameter for details of the event history setting. (Page 55 CPU parameter) ■Storage memory Choose either the standard ROM or SD memory card. If the storage memory is the SD memory card, when the write protect switch of the SD memory card is enabled, an event history will not be stored.
Page 377: Viewing The Event History
■Timing of file creation Event history files are created at the following times. • The Multiple CPU system power supply is turned OFF and ON (if there is no event history file or after the event history settings are changed). •...
Page 378: Appendices
APPENDICES Appendix 1 Error Codes When the Motion CPU detects an error with the self-diagnostic function, the error is displayed on the Motion CPU LED display, and the error code is stored in the relevant device. Use the relevant device in which the error code is stored in the program to enable a machine control interlock.
Page 379: Operations At Error Occurrence
Operations at error occurrence There are two types of errors, stop errors and continue errors. Refer to operations at error detection for details of stop errors and continue errors. (Page 368 Operations at error detection) Cancelling errors Continue errors (minor errors, or continue mode moderate errors) and warnings can be cancelled. Refer to cancelling errors for details of cancelling errors.
Page 380 • Even if "[Rq.1148] Servo error reset command (R: M34488+32n/Q: M3208+20n)" turns ON at the servo error occurrence, the same error code might be stored again. • When a servo error occurs, reset the servo error after removing the error cause on the servo amplifier side. •...
Page 381: Warning (0800H To 0Fffh)
Warning (0800H to 0FFFH) Warning details and causes, and corrective action are shown below. Error Error name Error details and cause Corrective action code 0931H Fixed scan system The fixed scan system process time is error. Please decrease the following settings to make the "fixed process time error scan system process monitor time (SD598)"...
Page 382 Error Error name Error details and cause Corrective action code 099BH Target position change The target position change request (CHGP) was executed Change the target position for the axes operated by the prohibited for the axis that executes the servo instruction which does following servo instructions.
Page 383 Error Error name Error details and cause Corrective action code 0A3EH Dwell time setting outside The dwell time is outside the range of 0 to 5000[ms]. Set the dwell time within the range of 0 to 5000[ms]. range 0A3FH M code setting outside The setting of M code is outside the range of 0 to 32767.
Page 384 Error Error name Error details and cause Corrective action code 0A55H Speed-torque control • Any of the devices set in the speed-torque control • Correct the speed-torque control operation data device. operation data incorrect operation data is outside the range. •...
Page 385 Error Error name Error details and cause Corrective action code 0BE4H Main shaft clutch control • The value of synchronous parameter "[Pr.405] Main • Set within the range. setting outside range shaft clutch control setting" is set outside the range in •...
Page 386 Error Error name Error details and cause Corrective action code 0C85H Sensing module • The connection number in 1 block differs from the • Check the connection status of the sensing module. connection configuration system setting. • Review the connection configuration of the sensing warning •...
Page 387: Minor Error (1000H To 1Fffh)
Minor error (1000H to 1FFFH) Minor error details and causes, and corrective action are shown below. Error Error name Error details and cause Corrective action code 1000H Power shutoff • A momentary power failure has occurred. Check the power supply status. •...
Page 388 Error Error name Error details and cause Corrective action code 192DH Rapid stop signal ON • "[Rq.1141] Rapid stop command" is ON when starting. • Turn OFF the "[Rq.1141] Rapid stop command" and • "[Rq.1141] Rapid stop command" is ON at the timing of then start it.
Page 389 Error Error name Error details and cause Corrective action code 197DH External DOG signal ON The external dog (proximity dog) signal is ON when the Perform the home position return after moving to the during home position home position return starting. proximity dog ON by the JOG operation, etc.
Page 390 Error Error name Error details and cause Corrective action code 19E2H Command speed • The command speed acceleration time of the speed- • Set the command speed acceleration time of the acceleration/deceleration torque control data is outside the range 0 to speed-torque control data within the range 0 to time outside range 8388608 [ms].
Page 391 Error Error name Error details and cause Corrective action code 19FCH Servo program instruction • The device number of the device that is set in the servo • Revise the program so that the device number is code error program is outside the range. correct, or revise the CPU parameter device numbers •...
Page 392 Error Error name Error details and cause Corrective action code 1A31H Address outside range The address is outside the setting range at the positioning Set the address within the range of 0 to 35999999 for the start for absolute data method. axis (unit: degree).
Page 393 Error Error name Error details and cause Corrective action code 1A5BH Command address Servo axis: Servo axis: outside range during fixed • During speed control with fixed position stop, the • Set the command address within the 0 to 35999999 position stop speed control command address for the fixed position stop command range.
Page 394 Error Error name Error details and cause Corrective action code 1BA4H Input axis smoothing time The value of input axis parameter "[Pr.301] Servo input Set the "[Pr.301] Servo input axis type smoothing time constant outside range axis smoothing time constant" and "[Pr.325] Synchronous constant", "[Pr.325] Synchronous encoder axis smoothing encoder axis smoothing time constant"...
Page 395 Error Error name Error details and cause Corrective action code 1BE5H Main shaft clutch A value outside the range of 0 to 1 was set in synchronous Set within the range of 0 to 1. reference address setting parameter "[Pr.406] Main shaft clutch reference address outside range setting".
Page 396 Error Error name Error details and cause Corrective action code 1C05H Speed change ratio 2 Set the value of synchronous parameter "[Pr.493] Speed Set within the range of 1 to 2147483647. denominator outside range change ratio 2 denominator" less than 0. 1C06H Speed change gear 2 A value outside the range of 0 to 5000 was set in...
Page 397 Error Error name Error details and cause Corrective action code 1C29H Cam axis current feed If the synchronous parameter "[Pr.462] Cam axis position • Start the synchronous control after set a current value value cannot be restored recovery target" is "2: Cam axis feed current value that the recovery cam axis feed current value is recovery", the difference (pulse command unit) between calculated in cam position calculation function.
Page 398 Error Error name Error details and cause Corrective action code 1FC2H G-code control stop code • Automatic start cannot be executed. • Confirm the detail code. (For the detail code, refer to MELSEC iQ-R Motion Controller Programming • Stopped in "Feed hold" status during automatic operating.
Page 399 Error Error name Error details and cause Corrective action code 1FF1H Add-on license minor error Minor error occurred in add-on license check. Confirm the detailed code. (For the detailed code, refer to MELSEC iQ-R Motion Controller Programming Manual (Common).) APPENDICES Appendix 1 Error Codes...
Page 400: Minor Error (Sfc) (3100H To 3Bffh)
Minor error (SFC) (3100H to 3BFFH) Minor error (SFC) details and causes, and corrective action are shown below. Error Error name Error details and cause Corrective action code 31F0H No specified program (Kn) Servo program (Kn) specified in motion control step does Create the specified servo program.
Page 401 Error Error name Error details and cause Corrective action code 33F2H Motion SFC program error WAITON/WAITOFF is not followed by a motion control The Motion SFC program code is corrupted. Turn step. (However, this is permitted to a pointer (Pn) or jump "[Rq.1120] PLC ready flag"...
Page 402 Error Error name Error details and cause Corrective action code 38E6H No vision program The specified vision program (job) does not exist in the For the vision program name of the vision program vision system. operation setting, specify the job name existing in the vision system.
Page 403 Error Error name Error details and cause Corrective action code 3903H BMOV execution error • (S) to (S)+(n-1) is outside the device range. • Change (S) or (n) so that the block transfer range is • (S) is a bit device and its device number is not a multiple within the device range.
Page 404 Error Error name Error details and cause Corrective action code 3919H MVPST execution error Internal processing error occurred when MVPST is The Motion SFC program code is corrupted. Turn executing. "[Rq.1120] PLC ready flag" OFF and write the Motion SFC program again.
Page 405 Error Error name Error details and cause Corrective action code 3942H OR execution error Internal processing error occurred when OR is executing. The Motion SFC program code is corrupted. Turn "[Rq.1120] PLC ready flag" OFF and write the Motion SFC program again.
Page 406 Error Error name Error details and cause Corrective action code 3972H CAMRD execution error Error occurred when CAMRD is executing. Confirm and dedicate the error contents in the detail code. (For the detail code, refer to MELSEC iQ-R Motion Controller Programming Manual (Program Design).) 3973H CAMWR execution error Error occurred when CAMWR is executing.
Page 407 Error Error name Error details and cause Corrective action code 3980H Match (==) execution error Internal processing error occurred when match (==) is The Motion SFC program code is corrupted. Turn executing. "[Rq.1120] PLC ready flag" OFF and write the Motion SFC program again.
Page 408 Error Error name Error details and cause Corrective action code 3A09H #n read error The directly specified device No. is outside the range. • Correct the program so that the device No. which directly specifies is proper. • Set the device range according to the device number/ latch setting of relation setting of CPU parameter within the valid range.
Page 409 Error Error name Error details and cause Corrective action code 3A24H #(n) read error The indirectly specified device No. is outside the range. • Correct the program so that the device No. which indirectly specifies is proper. • Set the device range according to the device number/ latch setting of relation setting of CPU parameter within the valid range.
Page 410 Error Error name Error details and cause Corrective action code 3A4AH UGn.m read error The directly specified device No. is outside the range. • Correct the program so that the device No. which directly specifies is proper. 3A4BH U\HGn.m read error The directly specified device No.
Page 411 Error Error name Error details and cause Corrective action code 3A64H 16-bit batch Mn read error The directly specified device No. is outside the range. • Correct the program so that the device No. which directly specifies is proper. • Set the device range according to the device number/ latch setting of relation setting of CPU parameter within the valid range.
Page 412 Error Error name Error details and cause Corrective action code 3A71H 32-bit batch M(n) read The indirectly specified device No. is outside the range or • Correct the program so that the device No. which error is not a multiple of 16. indirectly specifies is proper.
Page 413: Moderate Error (2000H To 3Bffh)
Moderate error (2000H to 3BFFH) Moderate error details and causes, and corrective action are shown below. Error Error name Error details and cause Corrective action code 2000H Module configuration error The module type set in the system parameters (I/O Re-set the module type in the system parameters in assignment setting) differs from that of the module accordance with the CPU module or intelligent function actually mounted.
Page 414 Error Error name Error details and cause Corrective action code 2070H Base unit configuration An unsupported base unit is connected. Disconnect the unsupported base unit. If all the base units error are supported, the possible cause is a hardware failure of the CPU module or base unit.
Page 415 Error Error name Error details and cause Corrective action code 2225H Parameter error The CPU module model set to the project using the Correct the CPU module model set to the project in engineering tool differs from that of the CPU module accordance with the CPU module actually mounted.
Page 416 Error Error name Error details and cause Corrective action code 2440H Module major error An error has been detected in the I/O module or intelligent The possible cause is a hardware failure of the error function module during the initial processing. module.
Page 417 Error Error name Error details and cause Corrective action code 24C2H System bus error An error was detected on the system bus. • Check the connection status of the extension cable. • Take measures to reduce noise. • Reset the CPU module, and run it again. If the same error code is displayed again, the possible cause is a hardware failure of the CPU module, base unit, extension cable, or module (I/O module or intelligent...
Page 418 Error Error name Error details and cause Corrective action code 2520H Invalid interrupt Even though an interrupt was requested, there is no • Take measures to reduce noise. interrupt factor. • Reset the CPU module, and run it again. If the same error code is displayed again, the possible cause is a hardware failure of the CPU module, base unit, or module (I/O module or intelligent function module)
Page 419 Error Error name Error details and cause Corrective action code 2823H Device, label, or buffer • The buffer memory area of the module specified in the • Set the buffer memory within the valid range. memory specification error program or parameter exceeded the specified range. •...
Page 420 Error Error name Error details and cause Corrective action code 30D3H High-speed input request • The corresponding module does not exist. • Set the input module. signal parameter setting • The input module is not the synchronous setting among • Set the input module in the synchronous setting among error the modules.
Page 421 Error Error name Error details and cause Corrective action code 30F9H Operation cycle mixed • The system of SSCNET has already existed in • Change the network setting to SSCNET/H. setting error network setting when setting low-speed operation cycle • Set the operation cycle to 0.444[ms] or more. setting magnificent.
Page 422: Major Error (3C00H To 3Fffh)
Major error (3C00H to 3FFFH) Major error details and causes, and corrective action are shown below. Error Error name Error details and cause Corrective action code 3C00H Hardware failure A hardware failure has been detected. • Take measures to reduce noise. •...
Page 423: Add-On License Error Details Codes
Error Error name Error details and cause Corrective action code 3C30H Memory error An error has been detected in the memory. • Take measures to reduce noise. • Reset the CPU module, and run it again. If the same error code is displayed again, the possible cause is a hardware failure of the CPU module.
Page 424: Appendix 2 Event List
Appendix 2 Event List Information such as errors detected by the Motion CPU, and operations done for the module, are saved as "event history" in the standard ROM of the Motion CPU, or the SD memory card. Refer to event history function for details of the event history function. (Page 373 Event History Function) When an event occurs, its event code and description can be read using MT Developer2.
Page 425: Event History List
Event history list The following table lists events related to the Motion CPU. Event Event Event Detected event Description Detailed information code type category Detailed Detailed Detailed information 1 information 2 information 3  0100 System Information Link-up The Motion CPU has been entered Operation Communication into the link-up state as a result of...
Page 426 Event Event Event Detected event Description Detailed information code type category Detailed Detailed Detailed information 1 information 2 information 3   0907 System Warning Divided message • All the data could not be received Operation reception timeout error within the period specified by the source response monitoring timer value.
Page 427 Event Event Event Detected event Description Detailed information code type category Detailed Detailed Detailed information 1 information 2 information 3  20100 Operation Information Error clear Error clear was performed. Operation Operation target source information information 20200 Event history clear The event history was cleared.
Page 428: Appendix 3 Special Relays
Appendix 3 Special Relays Special relays are internal relays whose applications are fixed in the Motion CPU. For this reason, they cannot be used in the same way as the normal internal relays by the Motion SFC programs. However, they can be turned ON/OFF as needed in order to control the Motion CPU.
Page 429 Name Data stored Details Set by (setting timing) SM213 Clock data read OFF: Non-processing When this relay is ON, clock data is read to SD210 to SD216 as BCD request ON: Read request values. SM220 CPU No.1 READY OFF: CPU No.1 READY Turn ON when access to No.
Page 430 Name Data stored Details Set by (setting timing) SM480 Motion operation OFF: No motion operation • Turn ON when the motion operation process (including inter-module S (Status cycle over flag cycle over occurrence synchronization process) is not completed within the motion operation change) (Normal) cycle.
Page 431 Name Data stored Details Set by (setting timing) SM508 Amplifier-less ON: During amplifier-less Confirm the amplifier-less operation status. S (Main process) operation status operation OFF: During normal operation SM512 Motion CPU WDT ON: Abnormal • Turn ON when a "watchdog timer error" is detected by the Motion CPU S (Error) error OFF: Normal...
Page 432 Name Data stored Details Set by (setting timing) SM760 Sampling settings OFF: STOP Turn ON when sampling is started. Turn OFF when saving of the S (Status RUN status ON: RUN sampling results is complete. change) SM761 Sampling settings OFF: Before trigger Turn ON when trigger conditions are established.
Page 433: Appendix 4 Special Registers
Appendix 4 Special Registers Special registers are internal registers whose applications are fixed in the Motion CPU. For this reason, it is not possible to use these registers in Motion SFC programs in the same way that normal registers are used. However, data can be written as needed in order to control the Motion CPU.
Page 434 Name Data stored Details Set by (setting timing) SD10 Self-diagnostic error Self-diagnostic error code 1 The maximum of 16 types of error codes are stored into SD10 onwards S (Error) code when the diagnostics detects an error. SD11 Self-diagnostic error code 2 (The same error code as one already stored in SD10 onwards is not SD12 Self-diagnostic error code 3...
Page 435 Name Data stored Details Set by (setting timing) SD81 Detailed information Detailed information 1 • Detailed information 1 corresponding to the error code (SD0) is stored. S (Error) • There are eleven types of information to be stored as shown in the SD111 following figures: •...
Page 436 Name Data stored Details Set by (setting timing) SD81 Detailed information Detailed information 1 (4) Parameter information S (Error) 6 5 4 3 2 1 SD111 With or without specification Parameter type SD81 Parameter Parameter Parameter storage SD82 storage target type target ÷...
Page 437 Name Data stored Details Set by (setting timing) SD81 Detailed information Detailed information 1 (5) System configuration information S (Error) 7 6 5 4 3 2 1 With or without SD111 specification SD81 I/O No.÷10 I/O No.÷10 SD82 Slot No. Slot No.
Page 438 Name Data stored Details Set by (setting timing) SD81 Detailed information Detailed information 1 (131) Machine control information S (Error) SD111 SD81 With or without specification SD82 Machine No. SD83 Program No. Machine No. SD84 Point No. Program No. SD85 Detailed code Point No.
Page 439 Name Data stored Details Set by (setting timing) SD81 Detailed information Detailed information 1 (142) Axis control related error S (Error) SD111 With or without specification SD81 Axis type SD82 Axis type Axis No. Axis No. SD83 Program No. Program No. SD84 Detailed code SD85...
Page 440 Name Data stored Details Set by (setting timing) SD113 Detailed information Detailed information 2 • Detailed information 2 corresponding to the error code (SD0) is stored. S (Error) • There are three types of information to be stored as shown in the SD143 following figures: •...
Page 441 Name Data stored Details Set by (setting timing) SD113 Detailed information Detailed information 2 (4) Parameter information S (Error) 6 5 4 3 2 1 SD143 With or without specification Parameter type SD113 Parameter Parameter Parameter storage SD114 storage target type target ÷...
Page 442 Name Data stored Details Set by (setting timing) SD113 Detailed information Detailed information 2 (5) System configuration information S (Error) 7 6 5 4 3 2 1 With or without SD143 specification SD113 I/O No.÷10 SD114 I/O No.÷10 Slot No. SD115 Slot No.
Page 443 Name Data stored Details Set by (setting timing) SD228 Multiple CPU system Number of CPU modules The number of CPU modules which constitute a multiple CPU system is S (Initial process) information stored (one to four, including those reserved). SD229 CPU module number in The number of this CPU No.
Page 444 Name Data stored Details Set by (setting timing) SD280 Word device number D number of points assigned • The number of points of the device D currently set is stored as 32-bit S (Initial process) of points assigned data. • The number of points assigned is stored even when the number of SD281 D number of points assigned points assigned to D is 32K points or less.
Page 445 Name Data stored Details Set by (setting timing) SD504 SSCNET/H SSCNET/H compatible • Checks the connection status (Installed: 1/Not installed: 0) of the S (Operation compatible optical optical hub unit loading optical hub unit and stores as bit data. cycle) hub unit loading information (line 1) SD504: b0 to b15 (Optical hub unit No.
Page 446 Name Data stored Details Set by (setting timing) SD520 Scan time Scan time (unit: ms) Main cycle is stored in the unit 1[ms]. S (Main process) Setting range (0 to 65535[ms]) SD521 Maximum scan time Maximum scan time (1ms The maximum value of the main cycle is stored in the unit 1[ms]. units) Setting range (0 to 65535[ms]) SD522...
Page 447 Name Data stored Details Set by (setting timing) SD544 Motion control Parameter read value • The read value of parameter which executed "2: 2 word read request" S (Request) parameter write/read in "Motion control parameter write/read request flag (SD840)" is SD545 request stored.
Page 448 Name Data stored Details Set by (setting timing) SD562 Scan time Scan time (1s units) The current main cycle is stored in 1[s] units. S (Main process) 1 to 2147483647[s] SD563 SD564 Maximum scan time Maximum scan time (1s • The main cycle maximum value is stored in 1[s] units. units) 1 to 2147483647[s] SD565...
Page 449 Name Data stored Details Set by (setting timing) SD584 Motion SFC event Event task time within • The processing time for each Motion SFC task is stored in [s] units. S (Operation task time within operation cycle (14.222ms) 0 to 65535[s] cycle) operation cycle •...
Page 450 Name Data stored Details Set by (setting timing) SD600 Memory card SD memory card type This register indicates the type of mounted SD memory cards. S (Initial process mounting status or card inserted) Fixed to 0 Fixed to 0 0: Does not exist 4: SD memory card SD604 SD memory card...
Page 451 Name Data stored Details Set by (setting timing) SD715 Low speed Motion Low speed Motion operation The time taken for low speed Motion operation cycle is stored in [s] S (Low speed operation cycle cycle units. operation cycle) 0 to 65535[s] SD716 Low speed Motion Low speed Motion maximum...
Page 452 Name Data stored Details Set by (setting timing) SD732 Low speed operation Low speed operation cycle Stores the servo amplifier axes being controlled at the low speed Motion S (Initial process) cycle control axis control axis information operation cycle as bit data. SD733 information SD734...
Page 453 Name Data stored Details Set by (setting timing) SD804 Servo parameter Servo parameter write/read • The "write/read request" is executed after setting of the axis No. and write/read request request flag servo parameter No. 1: Write request 2: Read request 3: 2 word write request 4: 2 word read request •...
Page 454 Name Data stored Details Set by (setting timing) SD820 File transmission Read/write target data Synchronizes the data in the file and the built-in memory, and requests request (command) specification file transfer. The type of data to be synchronized is set in hexadecimal notation.
Page 455 Name Data stored Details Set by (setting timing) SD840 Motion control Parameter write/read • Requests the write/read of parameter after axis No., parameter No., parameter write/read request flag and parameter ID are set. request 1: 2 word write request 2: 2 word read request 3: 4 word write request 4: 4 word read request •...
Page 456: Revisions
Japanese manual number: IB-0300236-H This manual confers no industrial property 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 457: Warranty
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 458: Trademarks
TRADEMARKS Ethernet is a registered trademark of Fuji Xerox Corporation in Japan. Microsoft, Microsoft Access, Excel, SQL Server, Visual Basic, Visual C++, Visual Studio, Windows, Windows NT, Windows Server, Windows Vista, and Windows XP are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries.
Page 460 IB(NA)-0300237-H(1712)MEE MODEL: RMT-P-COM-E MODEL CODE: 1XB004 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.

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Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Chapter 1 Multiple Cpu System

Setting Operation for Multiple CPU System

Data Communication between CPU Modules in the Multiple CPU System

Chapter 2 Common Parameters

Parameters Used by the Motion CPU

R Series Common Parameter

Motion CPU Common Parameter

Motion CPU Operating Status

Chapter 3 Devices

Device List

User Device

System Device

CPU Buffer Memory Access Device

Module Access Device

Constants

Device Setting

Latch Function

Chapter 4 Auxiliary and Applied Functions

Limit Switch Output Function

External Input Signal

Mark Detection Function

Servo ON/OFF

Absolute Position System

Clock Function

File Transfer Function

File Transmission at Boot Function

File Transmission Via FTP Server

Parameter Change Function

Mixed Operation Cycle Function

Chapter 5 Functions Used with Sscnet Communication

Servo Parameter Management

Optional Data Monitor Function

SSCNET Control Function

Virtual Servo Amplifier Function

Driver Communication Function

Connection of SSCNETIII/H Head Module

Connection of Sensing Module

Compatible Devices with SSCNETIII(/H)

Chapter 6 Communication Functions

Communication Function List

Security Function

Remote Operation

Communication Function Via PERIPHERAL I/F

Vision System Connection Function

Test Mode

Positioning Control Monitor Function

Label Access from External Devices

Chapter 7 Digital Oscilloscope

Features

Function Overview

Digital Oscilloscope Specifications

Digital Oscilloscope Operating Procedure

Sampling Settings File

Sampling Functions

Digital Oscilloscope Status

Digital Oscilloscope Errors

Chapter 8 Motion Cpu Memory Structure

Memory and Files

SD Memory Card

Memory Initialization

Installing the Operating System Software

Add-On Function

Chapter 9 Ras Functions

Self-Diagnostics Function

Safety Functions

Event History Function

Appendices

Appendix 1 Error Codes

Appendix 2 Event List

Appendix 3 Special Relays

Appendix 4 Special Registers

Quick Links

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Summary of Contents for Mitsubishi Electric MELSEC iQ-R16MTCPU