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Mitsubishi Electric Q172CPU Programming Manual

Motion controller, virtual mode.
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Q173CPU(N)/Q172CPU(N)
Motion Controller (SV22)
Programming Manual (VIRTUAL MODE)
-Q172CPU
-Q173CPU
-Q172CPUN
-Q173CPUN

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Table of Contents

   Related Manuals for Mitsubishi Electric Q172CPU

   Summary of Contents for Mitsubishi Electric Q172CPU

  • Page 1 Q173CPU(N)/Q172CPU(N) Motion Controller (SV22) Programming Manual (VIRTUAL MODE) -Q172CPU -Q173CPU -Q172CPUN -Q173CPUN...
  • Page 2: Safety Precautions

    When using this equipment, thoroughly read this manual and the associated manuals introduced in this manual. Also pay careful attention to safety and handle the module properly. These precautions apply only to this equipment. Refer to the Q173CPU(N)/Q172CPU(N) Users manual for a description of the Motion controller safety precautions.
  • Page 3 For Safe Operations 1. Prevention of electric shocks DANGER Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks. Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks.
  • Page 4 3. For injury prevention CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
  • Page 5 CAUTION In systems where perpendicular shaft dropping may be a problem during the forced stop, emergency stop, servo OFF or power supply OFF, use both dynamic brakes and electromagnetic brakes. The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF.
  • Page 6 CAUTION Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect. Set the servomotor capacity and type (standard, low-inertia, flat, etc.) parameter to values that are compatible with the system application.
  • Page 7 CAUTION Do not get on or place heavy objects on the product. Always observe the installation direction. Keep the designated clearance between the Motion controller or servo amplifier and control panel inner surface or the Motion controller and servo amplifier, Motion controller or servo amplifier and other devices.
  • Page 8 (4) Wiring CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier.
  • Page 9 (6) Usge methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. The units must be disassembled and repaired by a qualified technician.
  • Page 10 CAUTION If an error occurs, remove the cause, secure the safety and then resume operation after alarm release. The unit may suddenly resume operation after a power failure is restored, so do not go near the machine. (Design the machine so that personal safety can be ensured even if the machine restarts suddenly.) (8) Maintenance, inspection and part replacement CAUTION...
  • Page 11 (9) About processing of waste When you discard Motion controller, servo amplifier, a battery (primary battery) and other option articles, please follow the law of each country (area). CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life.
  • Page 12: Revisions

    This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
  • Page 13: Table Of Contents

    INTRODUCTION Thank you for choosing the Q173CPU(N)/Q172CPU(N) Motion Controller. Please read this manual carefully so that equipment is used to its optimum. CONTENTS Safety Precautions ............................A- 1 Revisions ................................A-11 Contents .................................A-12 About Manuals ...............................A-15 1. OVERVIEW 1- 1 to 1- 4 1.1 Overview..............................
  • Page 14 4.2.4 Current value after virtual servomotor axis main shaft's differential gear ........4-70 4.2.5 Synchronous encoder axis monitor devices..................4-72 4.2.6 Current value after synchronous encoder axis main shaft's differential gear ......... 4-73 4.2.7 Cam axis monitor devices......................... 4-75 4.2.8 Common devices ..........................4-76 4.3 Motion registers (#) ..........................
  • Page 15 8.2.2 Parameter list ............................ 8-10 8.3 Rotary Tables ............................8-13 8.3.1 Operation ............................8-13 8.3.2 Parameter list ............................ 8-14 8.4 Cam ................................8-21 8.4.1 Operation ............................8-22 8.4.2 Settings items at cam data creating ....................8-25 8.4.3 Parameter list ............................ 8-29 8.4.4 Cam curve list............................
  • Page 16: About Manuals

    (1XB780) generator interface module, Teaching units, Power supply modules, Servo amplifiers, SSCNET cables, synchronous encoder cables and others. (Optional) Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC) IB-0300042 This manual explains the Multiple CPU system configuration, performance specifications, functions, (1XB781) programming, error codes and others of the Motion SFC.
  • Page 17 (2) PLC Manual Number Manual Name (Model Code) QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains the specifications of the QCPU modules, power supply modules, base modules, SH-080483ENG (13JR73) extension cables, memory card battery and others. (Optional) QCPU User's Manual (Function Explanation, Program Fundamentals) This manual explains the functions, programming methods and devices and others to create programs SH-080484ENG...
  • Page 18: Overview

    The following positioning control is possible in the Motion controller (SV22 virtual mode). Applicable CPU Number of positioning control axes Q173CPU(N) (32 axes) Up to 32 axes Q172CPU(N) (8 axes) Up to 8 axes In this manual, the following abbreviations are used. Generic term/abbreviation Description Q173CPU(N)/Q172CPU(N),...
  • Page 19 Item Reference Manual Motion CPU module/Motion unit Q173CPU(N)/Q172CPU(N) User’s Manual PLC CPU, peripheral devices for PLC program design, I/O Manual relevant to each module modules and intelligent function module Operation method for MT Developer Help of each software •...
  • Page 20: Motion Control In Sv13/sv22 Real Mode

    1 OVERVIEW 1.2 Motion Control in SV13/SV22 Real Mode (1) System with servomotor is controlled directly using the servo program in (SV13/SV22) real mode. (2) Setting of the positioning parameter and creation of the servo program/Motion SFC program are required. (3) The procedure of positioning control is shown below: 1) Motion SFC program is requested to start using the S(P).
  • Page 21: Motion Control In Sv22 Virtual Mode

    1 OVERVIEW 1.3 Motion Control in SV22 Virtual Mode (1) Synchronous control with software is performed using the mechanical system program comprised by virtual main shaft and mechanical module in (SV22) virtual mode. (2) Mechanical system programs is required in addition to the positioning parameter, servo program/Motion SFC program used in real mode.
  • Page 22: Starting Up The Multiple Cpu System

    Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC). Set the following positioning Refer to Chapter "4 PARAMETERS FOR POSITIONING parameters CONTROL" of the Q173CPU(N)/Q172CPU(N) Motion Fixed parameters controller (SV13/SV22) Programming Manual (REAL MODE). Servo parameters Parameter blocks Execute the relative check, and...
  • Page 23 Mechanical system program Cam data(When cam is used) Refer to Section "1.5 System Settings" of the Starting up the servo amplifier Q173CPU(N)/Q172CPU(N) Motion controller using a peripheral device (SV13/SV22) Programming Manual (Motion SFC). Execute the JOG operation, manual pulse generator...
  • Page 24: Differences Between Incremental System And Absolute System

    The operation procedure for incremental system is shown below. START Refer to Section "1.5 System Settings" of the Turn the power supply of Q173CPU(N)/Q172CPU(N) Motion controller Multiple CPU system ON (SV13/SV22) Programming Manual (Motion SFC). Execute the all axes servo...
  • Page 25: Operation For Absolute (absolute Position) System

    The operation procedure for absolute system is shown below. START Refer to Section "1.5 System Settings" Turn the power supply of of the Q173CPU(N)/Q172CPU(N) Motion Multiple CPU system ON controller (SV13/SV22) Programming Manual (Motion SFC). Execute the all axes servo...
  • Page 26: Differences Between Real Mode And Virtual Mode

    Specifications of the positioning data, positioning devices and servo programs, etc. used in the real mode differ in part in the virtual mode. When using them in the virtual mode, refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)" after checking about a different point in the real mode.
  • Page 27: Servo Programs

    2 STARTING UP THE MULTIPLE CPU SYSTEM 2.3.3 Servo programs (1) Servo program area (a) The same servo program (Kn) No. cannot be used in both the real and virtual modes. The range of the servo program (Kn) used in the virtual mode must be set in advance.
  • Page 28: Control Change (current Value Change/speed Change)

    2 STARTING UP THE MULTIPLE CPU SYSTEM 2.3.4 Control change (Current value change/speed change) When a control change is executed in the virtual mode, the feed current value/speed of the drive module is changed. Control changes are not possible for the output module (except for cam). Differences between control changes in the real and virtual modes are shown in Table 2.4 below.
  • Page 29 2 STARTING UP THE MULTIPLE CPU SYSTEM MEMO 2 - 8...
  • Page 30: Performance Specifications

    Performance specifications of the Motion CPU are shown in Table 3.1 below. Table 3.1 Motion CPU Performance Specifications (Virtual Mode) Item Q173CPUN(-T)/Q173CPU Q172CPUN(-T)/Q172CPU Up to 32 axes Up to 8 axes (Simultaneous : 2 to 4 axes) Number of control axes...
  • Page 31 3 PERFORMANCE SPECIFICATIONS Table 3.1 Motion CPU Performance Specifications (Virtual Mode) (Continued) Item Q173CPUN(-T)/Q173CPU Q172CPUN(-T)/Q172CPU Interpolation functions Linear interpolation (2 to 4 axes), circular interpolation (2 axes) PTP (Point to Point), speed control, fixed-pitch feed, constant-speed control, Control methods position follow-up control...
  • Page 32: Positioning Dedicated Signals

    4 POSITIONING DEDICATED SIGNALS 4. POSITIONING DEDICATED SIGNALS The internal signals of the Motion CPU and the external signals to the Motion CPU are used as positioning signals. (1) Internal signals The following five devices of the Motion CPU are used as the internal signals of the Motion CPU.
  • Page 33: Internal Relays

    The operation cycle and main cycle of the Motion CPU are shown below. (a) Operation cycle Item Q173CPU(N) Q172CPU(N) Number of control axes Up to 32 axes Up to 8 axes 0.88[ms] / 1 to 4 axes Operation cycle 1.77[ms] / 5 to 12 axes...
  • Page 34 (Note-4) : As for "axis status (M2400 to)" and "axis command signal (M3200 to)", only details for internal relays used in the virtual mode are described in this manual. If it is required, refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)".
  • Page 35 : Valid (Note-1) : It is unusable in the SV22 real mode. (Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-3) : Device area of 9 axes or more is unusable in the Q172CPU(N).
  • Page 36 : Invalid (Note-1) : It is unusable in the SV22 real mode. (Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-3) : Device area of 9 axes or more is unusable in the Q172CPU(N).
  • Page 37 M4600 to M4619 M4620 to M4639 (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : The unused axis areas in the mechanical system program can be used as an user device. 4 - 6...
  • Page 38 M5420 to M5439 : Valid, : Invalid (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : The unused axis areas in the mechanical system program can be used as an user device. 4 - 7...
  • Page 39 M4680 to M4683 M4684 to M4687 (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N). (7) Synchronous encoder axis command signal list Axis No.
  • Page 40 Axis-31 cam/ball screw switching M5519 Axis-32 cam/ball screw switching (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N). 4 - 9...
  • Page 41 Main shaft side Output axis 32 M5583 Auxiliary input side (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N). 4 - 10...
  • Page 42 4 POSITIONING DEDICATED SIGNALS (10) Common device list Device Signal Remark Device Signal Remark Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle direction (Note-5) direction (Note-5) Command Command Manual pulse generator 3 M2000 PLC ready flag Main cycle signal M3072...
  • Page 43 4 POSITIONING DEDICATED SIGNALS Common device list (Continued) Remark Remark Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle (Note-5) (Note-5) direction direction M2119 M2180 Main shaft side Output M2120 Auxiliary input axis 11 M2181 side M2121...
  • Page 44 4 POSITIONING DEDICATED SIGNALS Common device list (Continued) Remark Remark Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle (Note-5) (Note-5) direction direction M2229 M2275 M2230 M2276 M2231 M2277 M2232 M2278 M2233 M2279 Unusable M2234 M2280...
  • Page 45 M2053 D757 (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N). (Note-3) : This signal is unusable in the SV22 real mode.
  • Page 46 4 POSITIONING DEDICATED SIGNALS (11) Special relay allocated device list (Status) (Note-1) Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark M2320 Fuse blown detection M9000 M2321 AC / DC DOWN detection M9005 M2322 Battery low M9006 Error occurrence M2323 Battery low latch...
  • Page 47 4 POSITIONING DEDICATED SIGNALS (12) Common device list (Command signal) Remark Device No. Signal name Refresh cycle Fetch cycle Signal direction (Note-1) , (Note-2) Main cycle M3072 PLC ready flag M2000 M3073 Speed switching point specified flag At start M2040 Operation M3074 All axes servo ON command...
  • Page 48: Axis Statuses

    4 POSITIONING DEDICATED SIGNALS 4.1.1 Axis statuses (1) In-position signal (M2402+20n) ........Status signal (a) This signal turns on when the number of droop pulses in the deviation counter becomes below the "in-position range" set in the servo parameters. It turns off at the start. Number of droop pulses In-position range In-position signal...
  • Page 49 4 POSITIONING DEDICATED SIGNALS (3) Error detection signal (M2407+20n) ......Status signal (a) This signal turns on with detection of a minor error or major error, and it is used as judgement of the error available/not available. The applicable error code (Note-1) is stored in the minor error code storage register with detection of a minor error.
  • Page 50 4 POSITIONING DEDICATED SIGNALS (5) Home position return request signal (M2409+20n) ..….. Status signal This signal turns on when it is necessary to confirm the home position address at the power supply on or during positioning control. (a) When not using an absolute position system 1) This signal turns on in the following cases: •...
  • Page 51 4 POSITIONING DEDICATED SIGNALS (7) FLS signal (M2411+20n) ........... Status signal (a) This signal is controlled by the ON/OFF state for the upper stroke limit switch input (FLS) of the Q172LX. • Upper stroke limit switch input OFF ..FLS signal: ON •...
  • Page 52 4 POSITIONING DEDICATED SIGNALS (10) DOG / CHANGE signal (M2414+20n) ...... Status signal (a) This signal turns on/off by the proximity dog input (DOG) of the Q172LX at the home position return in the real mode. This signal turns on/off by the speed/position switching input (CHANGE) of the Q172LX at the speed/position switching control in the real mode.
  • Page 53 4 POSITIONING DEDICATED SIGNALS (12) Torque limiting signal (M2416+20n) ......Status signal This signal turns on while torque limit is executed. The signal toward the torque limiting axis turns on. (13) Virtual mode continuation operation disable warning signal (M2418+20n) ............. Status signal When the difference between the final servo command value in previous virtual mode last time and the servo current value at virtual mode switching next time exceeds the "Allowable travel value during power off (×...
  • Page 54: Axis Command Signals

    4 POSITIONING DEDICATED SIGNALS 4.1.2 Axis command signals (1) Error reset command (M3207+20n) ..... Command signal This command is used to clear the minor/major error code storage register of an axis for which the error detection signal has turn on (M2407+20n: ON), and reset the error detection signal (M2407+20n).
  • Page 55 4 POSITIONING DEDICATED SIGNALS (3) Address clutch reference setting command (M3213+20n) ..Command signal This signal is only effective when the output module is a cam connected an address mode clutch or a rotary table, and it is used to specify the "0" reference position for the current value within 1 virtual axis revolution.
  • Page 56 4 POSITIONING DEDICATED SIGNALS (b) M3214+20n : OFF (Final servo command value in previous virtual mode operation ) (Current servo current value) (In-position) ……………………….1) • For formura 1) Operation will be continued by making the lower stroke limit value and current value within 1 cam sfaft revolution into the lower stroke limit value and current value within 1 cam sfaft revolution at the previous virtual mode operation.
  • Page 57 4 POSITIONING DEDICATED SIGNALS (5) Servo OFF command (M3215+20n) ....Command signal This command is used to execute the servo OFF state (free run state). • M3215+20n : OFF ..Servo ON • M3215+20n : ON ... Servo OFF (free run state) This command becomes invalid during positioning, and should therefore be executed after completion of positioning.
  • Page 58: Virtual Servomotor Axis Statuses

    4 POSITIONING DEDICATED SIGNALS 4.1.3 Virtual servomotor axis statuses (Note-1) (1) Positioning start complete signal (M4000+20n) ..….. Status signal (a) This signal turns on with the start completion for the positioning control of the axis specified with the servo program. It does not turn on at the starting using JOG operation or speed control.
  • Page 59 M4804+20n (Complete signl OFF command) = M4804+20 31=M5424 • The range (n=0 to 7) of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Refer to Section "7.1 M-code Output Function" of the "Q173CPU(N)/ Q172CPU(N) Motion controller (SV13/SV22) Programming manual (REAL MODE)".
  • Page 60 It does not turn on at the stop on the way during positioning. It can be used to read a M-code at the positioning completion. (Refer to Section 7.1 of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV/13/SV22) Programming Manual (REAL MODE)".) (b) This signal turns off at turning the complete signal OFF command (M4804+20n) off to on or positioning start.
  • Page 61 4 POSITIONING DEDICATED SIGNALS (b) Command in-position check is continually executed during position control. This check is not executed during speed control. Command in-position setting Position Speed control control start start Command in-position (M4003+20n) Execution of command in-position check (4) Speed controlling signal (M4004+20n) ....... Status signal (a) This signal turns on during speed control, and it is used as judgement of during the speed control or position control.
  • Page 62 4 POSITIONING DEDICATED SIGNALS (c) When the error reset command (M4807+20n) turns on in the state where the virtual servomotor or output module connected to the virtual servomotor turns on is normal, the error detection signal turns off. REMARK (Note-1) : Refer to APPENDIX 2.4 for details of the virtual servomotor minor/major error codes.
  • Page 63: Virtual Servomotor Axis Command Signals

    Deceleration stop processing (b) It can also be used as the stop command during the speed control. (Refer to Section "6.13 Speed Control ( )" of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details of the speed control.
  • Page 64 (Example) For axis 32 M4800+20n (Stop command) = M4800+20 31 = M5420 • The range (n=0 to 7) of axis No.1 to 8 is valid in the Q172CPU(N). (2) Rapid stop command (M4801+20n) ..... Command signal (a) This command is a signal which stop a starting axis rapidly from an external source and becomes effective when the signal turns off to on.
  • Page 65 4 POSITIONING DEDICATED SIGNALS Table 4.2 Details of stop processing when the rapid stop command turns on Control details Processing at the turning rapid stop command on during execution During control During deceleration stop processing Positioning Rapid stop processing is executed. Deceleration processing is stopped and control rapid stop processing is executed.
  • Page 66 4 POSITIONING DEDICATED SIGNALS (4) Complete signal OFF command (M4804+20n) ..Command signal (a) This command is used to turn off the positioning start complete signal (M4000+20n) and positioning complete signal (M4001+20n). Dwell time Dwell time Positioning start complete signal (M4000+20n) Positioning complete signal (M4001+20n)
  • Page 67 4 POSITIONING DEDICATED SIGNALS (7) FIN signal (M4819+20n) ........Command signal When a M-code is set in a servo program, transit to the next block does not execute until the FIN signal changes as follows: OFF OFF. Positioning to the next block begins after the FIN signal changes as above. It is effective, only when the FIN accelaration/deceleration is set and FIN signal wait function is selected.
  • Page 68: Synchronous Encoder Axis Statuses

    4 POSITIONING DEDICATED SIGNALS 4.1.5 Synchronous encoder axis statuses (1) Error detection signal (M4640+4n) ....Status signal (Note-1) (a) This signal turns on when a minor error or major error is detected in a synchronous encoder or output module connected to the synchronous encoder.
  • Page 69 P11 / E11 P6 / E6 P12 / E12 • The range of synchronous encoder No. P1/E1 to P8/E8 is valid in the Q172CPU(N). (Note-2) : Refer to APPENDIX 2.4 for details of the minor/major error code for the synchronous encoder.
  • Page 70: Synchronous Encoder Axis Command Signals

    4 POSITIONING DEDICATED SIGNALS 4.1.6 Synchronous encoder axis command signals (1) Error reset command (M5440+4n) ....... Command signal (a) This command is used to clear the minor/major error code storage register of synchronous encoder of an axis for which the error detection signal has turn on (M4640+4n : ON), and reset the error detection signal (M4640+4n).
  • Page 71: Cam Axis Command Signals

    4 POSITIONING DEDICATED SIGNALS 4.1.7 Cam axis command signals (1) Cam/ball screw switching command (M5488+n) ..…..Command signal (a) This command is used when a cam is set as output module in the mechanical system program. Cam executes the same operation as a ball screw by turning ON the cam/ ball screw switching command corresponding to each output axis No..
  • Page 72: Smoothing Clutch Complete Signals

    Output module for axis 16 Output module for axis 32 Auxiliary input axis side M5551 Auxiliary input axis side M5583 (Note) : The range of output module for axis No. 1 to 8 is valid in the Q172CPU(N). 4 - 41...
  • Page 73 4 POSITIONING DEDICATED SIGNALS (c) Operation for smoothing clutch 1) Exponential function system Input to clutch Travel value after main shaft's differential gear Internal clutch status OFF by OFF by smoothing smoothing ON by ON by ON by clutch start clutch start acceleration deceleration...
  • Page 74: Common Devices

    4 POSITIONING DEDICATED SIGNALS 4.1.9 Common devices POINT (1) Internal relays for positioning control are not latched even within the latch range. In this manual, in order to indicate that internal relays for positioning control are not latched, the expression used in this text is "M2000 to M2319". (2) The range devices allocated as internal relays for positioning control cannot be used by the user even if their applications have not been set.
  • Page 75 4 POSITIONING DEDICATED SIGNALS Deceleration stop Positioning start PLC ready flag (M2000) PCPU READY complete flag PCPU READY complete flag (M9074) (M9074) does not turn on because during deceleration. Set the servo parameters to the servo amplifiers, clear a M-code. (d) The following processings are performed when the M2000 turns ON to OFF.
  • Page 76 4 POSITIONING DEDICATED SIGNALS (2) Virtual servo start accept flag (M2001 to M2032) ..….. Status signal (a) This flag turns on when the servo program is started. The start accept flag corresponding to an axis specified with the servo program turns on. (b) The ON/OFF processing of the start accept flag is shown below.
  • Page 77 4 POSITIONING DEDICATED SIGNALS CAUTION Do not turn the start accept flags ON/OFF in the user side. • If the start accept flag is turned off using the Motion SFC program or peripheral devices while this flag is on, no error will occur but the positioning operation will not be reliable. Depending on the type of machine, it might operate in an unanticipated operation.
  • Page 78 4 POSITIONING DEDICATED SIGNALS (6) Speed switching point specified flag (M2040) ..Command signal This flag is used when the speed change is specified at the pass point of the constant speed control. (a) By turning M2040 on before the starting of the constant speed control (before the servo program is started), control with the change speed can be executed from the first of pass point.
  • Page 79 (M2049) (Note) Each axis servo ready state (Note): Refer to Section "3.1.1 Axis statuses "Servo ready signal"" of the Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE) for details. POINT When M2042 turns on, it is not turned off even if the CPU is set in the STOP state.
  • Page 80 4 POSITIONING DEDICATED SIGNALS (10) Real/virtual mode switching status flag (M2044) ..….. Status signal This flag checks the switching competion between the real and virtual modes, and the current mode. • This flag turns off with during the real mode or switching completion from the virtual to real mode.
  • Page 81 (M2049) (Note) Each axis servo ready state (Note) : Refer to Section "3.1.1 Axis statuses "Servo ready signal"" of the Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE) for details. (16) Manual pulse generator enable flag (M2051 to M2053) ..Command signal...
  • Page 82 M2071 M2079 M2087 M2064 M2072 M2080 M2088 M2065 M2073 M2081 M2089 M2066 M2074 M2082 M2090 M2067 M2075 M2083 M2091 M2068 M2076 M2084 M2092 (Note) : The range of axis No.1 to 8 is valid in the Q172CPU(N). 4 - 51...
  • Page 83 M2138 M2146 M2154 M2131 M2139 M2147 M2155 M2132 M2140 M2148 M2156 M2133 M2141 M2149 M2157 M2134 M2142 M2150 M2158 M2135 M2143 M2151 M2159 (Note) : The range of axis No.1 to 8 is valid in the Q172CPU(N). 4 - 52...
  • Page 84 Output module for axis 16 Output module for axis 32 Auxiliary input axis side M2191 Auxiliary input axis side M2223 (Note) : The range of output module for axis No.1 to 8 is valid in the Q172CPU(N). 4 - 53...
  • Page 85 M2255 M2263 M2271 (Note) : The range of axis No.1 to 8 is valid in the Q172CPU(N). REMARK (1) Even if it has stopped, when the start accept flag (M2001 to M2032) is ON state, the state where the request of speed change "0" is accepted is indicated.
  • Page 86 4 POSITIONING DEDICATED SIGNALS (a) The flag turns off if a speed change request occurs during deceleration to a stop due to speed change "0". Speed change "0" Speed change V Start accept flag Speed change "0" accepting flag (b) The flag turns off if a stop cause occurs after speed change "0" accept. Speed change "0"...
  • Page 87 4 POSITIONING DEDICATED SIGNALS (d) Even if it is speed change "0" after the automatic deceleration start to the "command address", speed change "0" accepting flag turns on. Automatic deceleration start Command address P1 Speed change "0" Speed change V Command address P2 Start accept flag...
  • Page 88: Data Registers

    4 POSITIONING DEDICATED SIGNALS 4.2 Data Registers (1) Data register list Q173CPU(N) Q172CPU(N) Virtual Device No. Purpose Real Virtual Device No. Purpose Real Axis monitor device Axis monitor device (20 points 32 axes) (20 points 8 axes) Real mode ... Each axis Real mode ...
  • Page 89 (Note-2) : Only details for data registers used in the virtual mode are described in this manual. If it is required, refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)". 4 - 58...
  • Page 90 D580 to D599 D600 to D619 D620 to D639 (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N). 4 - 59...
  • Page 91 D694, D695 D696, D697 D698, D699 D700, D701 D702, D703 (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N). 4 - 60...
  • Page 92 D1100 to D1109 D1100 to D1119 (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : The unused axis areas in the mechanical system program can be used as an user side. 4 - 61...
  • Page 93 : Valid (Note-1) : It is unusable in the SV22 real mode. (Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-3) : Device area of 9 axes or more is unusable in the Q172CPU(N).
  • Page 94 D1540 to D1549 D1550 to D1559 (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : The unused axis areas in the mechanical system program can be used as an user side. 4 - 63...
  • Page 95 (Note-1) : It is unusable in the SV22 real mode. setting register (Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-3) : Device area of 9 axes or more is unusable in the Q172CPU(N).
  • Page 96: Axis Monitor Devices

    4 POSITIONING DEDICATED SIGNALS 4.2.1 Axis monitor devices The monitoring data area is used by the Motion CPU to store data such as the feed current value during positioning control, the real current value and the number of droop pulses in the deviation counter. It can be used to check the positioning control state using the Motion SFC program.
  • Page 97 4 POSITIONING DEDICATED SIGNALS (5) Major error code storage register (D7+20n) ...…..Monitor device (a) This register stores the corresponding error code (Refer to APPENDIX 2.4 and 2.7) at the major error occurrence. If another major error occurs after error code storing, the previous error code is overwritten by the new error code.
  • Page 98: Control Change Registers

    Axis 32 D689, D688 D691, D690 D693, D692 D695, D694 D697, D696 D699, D698 D701, D700 D703, D702 (Note): The range of axis No.1 to 8 is valid in the Q172CPU(N). (1) JOG speed setting registers (D640+2n) ..…….. Command device (a) This register stores the JOG speed at the JOG operation.
  • Page 99: Virtual Servomotor Axis Monitor Devices

    • Calculate as follows for the device No. corresponding to each axis. (Example) For axis 32 D800+10n (Feed current value storage register) = D800+10 31 = D1110 • The range (n = 0 to 7) of axis No.1 to 8 is valid in the Q172CPU(N). 4 - 68...
  • Page 100 4 POSITIONING DEDICATED SIGNALS (Note-2) : Refer to Section 4.1.4 for details of the error reset command for the virtual servomotor axis. (Note-3) : Refer to Section 4.1.2 for details of the error reset command for the output module. (3) Major error code storage register (D803+10n) ..…..
  • Page 101: Current Value After Virtual Servomotor Axis Main Shaft's Differential Gear

    • Calculate as follows for the device No. corresponding to each axis. (Example) For axis 32 D806+10n = D806+10 31 = D1116 • The range (n = 0 to 7) of axis No.1 to 8 is valid in the Q172CPU(N). 4 - 70...
  • Page 102 4 POSITIONING DEDICATED SIGNALS (2) Error search output axis No. storage register (D808+10n) ..….. Monitor device (a) This register stores the axis No. of the output module in error by the error search function in the virtual mode. (b) If there are no errors at the virtual servomotor axes of the main shaft and auxiliary input axis, the error occurrence output axis No.
  • Page 103: Synchronous Encoder Axis Monitor Devices

    4 POSITIONING DEDICATED SIGNALS 4.2.5 Synchronous encoder axis monitor devices (1) Current value storage register (D1120+10n, D1121+10n) ..….. Monitor device (a) This register stores the synchronous encoder current value of the drive module. (b) Ring address is " - 2147483648 ( - 2 ) to 2147483647 (2 -1)"...
  • Page 104: Current Value After Synchronous Encoder Axis Main Shaft's Differential Gear

    4 POSITIONING DEDICATED SIGNALS 4.2.6 Current value after synchronous encoder axis main shaft's differential gear (1) Current value after synchronous encoder axis main shaft’s differential gear storage registers (D1126+10n, D1127+10n) ..….. Monitor device Differential gear is connected with the main shaft. Synchronous Differential- encoder...
  • Page 105 4 POSITIONING DEDICATED SIGNALS (2) Error search output axis No. storage register (D1128+10n) ..….. Monitor device (a) This register stores the axis No. of the output module in error by the error search function in the virtual mode. (b) If there are no errors at the virtual servomotor axes of the main shaft and auxiliary input axis, the error occurrence output axis No.
  • Page 106: Cam Axis Monitor Devices

    4 POSITIONING DEDICATED SIGNALS 4.2.7 Cam axis monitor devices (1) Execute cam No. storage register (D1241+10n) ... Monitor device (a) This register stores the cam No. currently being controlled. (b) Cam No. of the execute cam No. storage register is held until next cam is executed.
  • Page 107: Common Devices

    1 : Simultaneous start execution 0 : Simultaneous start not execution (Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-3) : Refer to APPENDIX 2.1 for the expression method of axis No. corresponding to the each bit of word data.
  • Page 108 1 : Specified axis 0 : Unspecified axis (Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-3) : Refer to APPENDIX 2.1 for the expression method of axis No. corresponding to the each bit of word data.
  • Page 109 4 POSITIONING DEDICATED SIGNALS (b) Refer to Section 6.21 of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details of the mamual pulse generator operation. (5) Manual pulse generator smoothing magnification setting registers (D752 to D754) ............ Command device (a) These registers set the smoothing time constants of manual pulse generators.
  • Page 110 0 : Real mode axis 1 : Except real mode axis (Note-1): The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2): Refer to APPENDIX 2.1 for the expression method of the axis No. corresponding to each bit of word data.
  • Page 111: Motion Registers (#)

    There are motion registers (#0 to #8191) in the Motion CPU. #8000 to #8063 are used as the Motion SFC dedicated device and #8064 to #8191 are used as the servo monitor device. Refer to the "Q173CPU(N)/Q172CPU(N) Motion Controller (SV13/SV22) Programming Manual (Motion SFC)" for details of the motion registers and Motion SFC dedicated device.
  • Page 112: Special Relays (sp.m)

    4 POSITIONING DEDICATED SIGNALS 4.4 Special relays (SP.M) There are 256 special relay points of M9000 to M9255 in the Motion CPU. Of these, 7 points of the M9073 to M9079 are used for the positioning control, and their applications are indicated in Table 4.4. (Refer to APPENDIX 3.1 "Special relays" for the applications of the special relays except M9073 to M9079.) Table 4.4 Special relay list Device No.
  • Page 113 4 POSITIONING DEDICATED SIGNALS (3) TEST mode ON flag (M9075) ..……...... Status signal (a) This flag is used as judgement of during the test mode or not using a peripheral Use it for an interlock, etc. at the starting of the servo program using the Motion SFC program.
  • Page 114: Special Registers (sp.d)

    0 : During stop (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). 1 : During operation (Note-2) : Refer to APPENDIX 2.1 for the expression method of axis No. corresponding to the each bit of word data.
  • Page 115 4 POSITIONING DEDICATED SIGNALS (2) Motion CPU WDT error cause (D9184) ……..Monitor device This register is used as judgement of the error contents in the Motion CPU. Operation when error Error code Error cause Action to take occurs S/W fault 1 •...
  • Page 116 (Input magnification of each axis is except 1 to 10000) (Note-1) (Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-3) : Refer to APPENDIX 2.1 for the expression method of axis No. corresponding to the each bit of word data.
  • Page 117 Servo amplifier installation state Installation ..1 (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). Non-installation ..0 (Note-2) : Refer to APPENDIX 2.1 for the expression method of axis No. corresponding to the each bit of word data.
  • Page 118 4 POSITIONING DEDICATED SIGNALS (8) Real/virtual mode switching error information (D9193 to D9195) ..….. Monitor device When a mode switching error occurs in real-to-virtual or virtual-to-real mode switching, or a mode continuation error occurs in the virtual mode, its error information is stored.
  • Page 119 4 POSITIONING DEDICATED SIGNALS (11) State of switch (D9200) ………………………….. Monitor device The switch state of CPU is stored in the form of the following. D9200 Switch state of CPU 0 : RUN 1 : STOP 2 : L.CLR Memory card switch Always OFF (All setting of each digit is "0".)
  • Page 120: Mechanical System Program

    5 MECHANICAL SYSTEM PROGRAM 5. MECHANICAL SYSTEM PROGRAM This section describes the mechanical system program in the virtual mode. In the mechanical system program (Mechanical support language), what was performing synchronous control by hardware using the gear, shaft, belt, pulley, cam or infinitely variable speed changer, etc.
  • Page 121: Mechanical Module Connection Diagram

    5 MECHANICAL SYSTEM PROGRAM 5.1 Mechanical Module Connection Diagram The mechanical module connection diagram shows a virtual system diagram which arranged the mechanical modules and was composed. Configuration of the mechanical module connection is shown in Fig. 5.1 below. Indicates rotation direction Virtual axis Drive module Transmission module...
  • Page 122 5 MECHANICAL SYSTEM PROGRAM (1) Block The term "block" is one relation from the virtual transmission module (gear) connected to the virtual main shaft to the output module. Refer to Section 5.2 for the number of mechanical modules which can be connected in one block.
  • Page 123 5 MECHANICAL SYSTEM PROGRAM Transmission modules which can be connected at "A" and "B" above 1) A clutch, speed change gear, and "clutch + speed change gear" can be connected at "A" and "B". 2) If a "clutch + speed change gear" are used, connection constraints have not restrictions.
  • Page 124: Mechanical Module List

    Tables 5.1. Refer to Chapter 6 to 8 for details of the each mechanical module. Table 5.1 Mechanical Module List Maximum Number of Usable Mechanical Module Q173CPU(N) Q172CPU(N) Number Number Classifi- Number Per Block Number Per Block...
  • Page 125 5 MECHANICAL SYSTEM PROGRAM MEMO 5 - 6...
  • Page 126: Drive Module

    6 DRIVE MODULE 6. DRIVE MODULE The drive module is the source of drive for the virtual axis (virtual main shaft, virtual auxiliary input axis). There are following 2 types drive module. • Virtual servomotor ....... Refer to Section 6.1 •...
  • Page 127 6 DRIVE MODULE (b) Start using the JOG operation An individual start and simultaneous start can be executed in the JOG (Note-1). operation 1) Individual start (Note-2) ..It is started by turning on the forward/reverse JOG command of each axis. Motion SFC program for which executes the JOG operation is shown below.
  • Page 128 (Note) : Example of the above Motion SFC program is started using the automatic start or PLC program. REMARK (Note-1) : Refer to Section "6.20 JOG Operation" of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details of the JOG operation.
  • Page 129 (5) Control change The following control changes are possible for the virtual servomotor. • Current value change • Speed change Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for details of the current value change or speed change. REMARK (Note-1) : Refer to Section 4.1.5 (3) for details of the virtual mode continuation...
  • Page 130 6 DRIVE MODULE (6) Error time operation mode The processings are shown below when major errors occurred with the output modules per 1 system. The following control is executed based on the parameter settings (Refer to Section 6.1.2) of the virtual servomotor connected to the virtual main shaft. (a) Continuation Even if a major error occurs with the output module, the output module continues operation.
  • Page 131 6 DRIVE MODULE (7) Virtual servomotor axis infinite operation By setting the upper stroke limit value and lower stroke limit value of the virtual servomotor parameters such that the "upper stroke limit value = lower stroke limit value", the stroke limit becomes invalid and infinite operation becomes possible. When the stroke limit is invalid, it is also possible for the start of the feed current value to take place in a direction that exceeds 32 bits.
  • Page 132 6 DRIVE MODULE (8) Reverse return during positioning By specifying a negative speed and making a speed change request by the CHGV instruction during the start, allow the axis start deceleration at that point and return in the opposite direction upon completion of deceleration. The following operations by the servo instruction are shown below.
  • Page 133 6 DRIVE MODULE [Control contents] (1) If a speed change is made to a negative speed, control is executed with the control mode during the start as indicated in the front page. (2) The returning command speed is the absolute value of the change speed. If it exceeds the speed limit value, the minor error [305] occurs, and it is controlled the speed limit value.
  • Page 134 6 DRIVE MODULE [Operation at the constant-speed control] The operation when a reverse return is requested for the constant-speed control is shown below. [ Servo program ] [Locus] CPSTART2 Axis 2 Axis 1 Axis 2 Speed 1000 ABS-2 Axis 1, 10000 Axis 2, ABS-2 Negative speed change...
  • Page 135 6 DRIVE MODULE POINT • Precautions at the speed change (1) A speed change may be invalid if the speed change is executed until the "positioning start complete signal" status changes to ON at the servo program start request . When making a speed change at almost the same timing as a start, always create a program which will execute the speed change after the "positioning start complete signal"...
  • Page 136: Parameter List

    Table 6.1 Virtual Servomotor Parameter List Setting item Default value Setting range Q173CPU(N) : 1 to 32 1 Virtual axis No. Q172CPU(N) : 1 to 8 2 Upper stroke limit value 2147483647 -2147483648 to 2147483647 3 Lower stroke limit value -2147483648 to 2147483647...
  • Page 137 6 DRIVE MODULE <Error check at start> Error code Contents Operation Command position is outside the stroke limit range at Operation does not start. start. <Error check during start> Error code Contents Operation Feed current value is outside the stroke limit range during start.
  • Page 138 6 DRIVE MODULE (3) Command in-position range The command in-position is the difference between the positioning address (command position) and feed current value. Once the value for the command in-position has been set, the command in- position signal (M2403 + 20n) turns on when the difference between the command position and the feed current value enters the set range [(command position - feed current value) (command in-position range)].
  • Page 139 6 DRIVE MODULE POINT Unit is fixed at [PLS] regardless of the interpolation control unit setting of parameter block in the JOG operation. The parameter block No. for the program operation of virtual servomotor is set in the servo program for virtual mode. (If the parameter block No. setting is omitted, it is controlled with the contents of parameter block No.1.) The valid parameter block data are shown below.
  • Page 140: Virtual Servomotor Axis Devices (internal Relays, Data Registers)

    6 DRIVE MODULE 6.1.3 Virtual servomotor axis devices (Internal relays, data registers) (1) Virtual servomotor axis status Refer to Section 4.1.3 for details of the virtual servomotor axis statuses. (2) Virtual servomotor axis command signal Refer to Section 4.1.4 for details of the virtual servomotor axis command signals. (3) Virtual servomotor axis monitor device Refer to Section 4.2.3 for details of the virtual servomotor axis monitor devices.
  • Page 141: Synchronous Encoder

    6 DRIVE MODULE 6.2 Synchronous Encoder The synchronous encoder is used to operate the virtual axis (virtual main shaft, virtual auxiliary input axis) with the external input pulse. Synchronous encoder operation and parameters are shown below. 6.2.1 Operation description (1) Operations Although a synchronous encoder does not need to start using the servo program etc.
  • Page 142 6 DRIVE MODULE 2) When the input pulse is inputted from an external synchronous encoder. a) The input pulse is started to input from the external synchronous encoder, when the clutch is switched on. Real/virtual mode (Note-1) switching request flag (M2043) Real/virtual mode (Note-1) switching status flag (M2044)
  • Page 143 (Note-2) : The synchronous encoder input start signal is inputted to the Q173PX "TREN" terminal. Refer to the "Q173CPU(N)/Q172CPU(N) User's Manual" for details of the Q173PX "TREN" terminal. (Note-3) : Refer to Section 7.2.1 for details of the clutch control mode.
  • Page 144 6 DRIVE MODULE (f) Error-time operation mode The processings are shown below when major errors occurred with the output modules per 1 system. The following control is executed based on the parameter settings (Refer to Table 6.2) of the synchronous encoder connected to the virtual main shaft. 1) Continuation Even if a major error occurs with the output module, the output module continues operation.
  • Page 145: Parameter List

    E1 to E12: Connect to the Q172EX. This is absolute synchronous encoder. REMARK (Note-1) : The absolute and incremental synchronous encoders can be used (set) together. (Note-2) : The synchronous encoder No.1 to 8 are valid in the Q172CPU(N). 6 - 20...
  • Page 146: Synchronous Encoder Axis Devices (internal Relays, Data Registers)

    6 DRIVE MODULE 6.2.3 Synchronous encoder axis devices (Internal relays, data registers) (1) Synchronous encoder axis status Refer to Section 4.1.5 for details of the synchronous encoder axis statuses. (2) Synchronous encoder axis command signal Refer to Section 4.1.6 for details of the synchronous encoder axis command signals.
  • Page 147: Virtual Servomotor/synchronous Encoder Control Change

    D694, D695 D696, D697 D698, D699 D700, D701 D702, D703 (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N). 6 - 22...
  • Page 148 JOG start signal turns off to on. Even if data is changed during JOG operation, JOG speed cannot be changed. (Note) : Refer to Section 6.20 of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details of the JOG operation.
  • Page 149: Synchronous Encoder Control Change

    6 DRIVE MODULE 6.3.2 Synchronous encoder control change (1) Current value change by the CHGA-E instruction Motion SFC program for which executes the servo program is shown below. Current value change CHGA-E Current value change Wait until PX000, real/virtual mode switching PX000*M2043*M2044*!M2101 request and switching status turn on, and current value changing flag turns off.
  • Page 150: Transmission Module

    7 TRANSMISSION MODULE 7. TRANSMISSION MODULE The transmission module transmits the pulse outputted from the drive module to output module. There are following 4 types transmission modules. • Gear ........Section 7.1 • Clutch ........ Section 7.2 • Speed change gear ..Section 7.3 •...
  • Page 151 (Note) : The operation cycle is set in the "operation cycle setting" of system basic setting. Refer to Section "1.5.3 Individual parameters" of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for details of setting contents. The operation cycle of Motion CPU is shown below.
  • Page 152: Gear

    7 TRANSMISSION MODULE 7.1 Gear This section describes the gear operation and the parameters required to use a gear. 7.1.1 Operation Relation between the number of pulses outputted from the synchronous encoder or virtual servomotor and the output module is adjusted by parameter setting of the encoder resolution of servomotor, the gear ratio in consideration of the deceleration ratio for machine system etc.
  • Page 153 7 TRANSMISSION MODULE (1) Gear ratio (a) The number of pulses transmitted to the output axis through 1 pulse outputted from the drive module by the gear module is set in the gear ratio. (b) The gear ratio is based on the settings for the input axis side tooth count (GI) and output axis side tooth count (GO).
  • Page 154: Clutch

    There are following three systems for smoothing clutch. 1) Time constant system 2) Slippage system • Exponential function system • Linear acceleration/deceleration system (Note): Refer to Section 1.3.4 of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for correspondence software version. 7 - 5...
  • Page 155 7 TRANSMISSION MODULE (b) Direct clutch When the clutch is switched on/off, output to the output axis without the acceleration/deceleration processing. Input to clutch Clutch ON Clutch OFF Acceleration by the smoothing processing Output to output axis by Deceleration by the the smoothing clutch for smoothing processing time constant system...
  • Page 156 7 TRANSMISSION MODULE (2) Smoothing processing (a) Time constant system 1) Since the time constant is fixed, the slippage of clutch changes according to the speed of drive module. : Drive module speed : Slippage [PLS] at V : Slippage [PLS] at V 0.63 0.63 Smoothing time constant...
  • Page 157 7 TRANSMISSION MODULE (b) Slippage system There are following two systems for slippage system. • Exponential function system • Linear acceleration/deceleration system 1) Exponential function system a) Set the slippage indicated by the shaded area in the diagram below. Slippage is recommended to be set greater than input to clutch (travel value after the main shaft's differential gear).
  • Page 158 7 TRANSMISSION MODULE c) If input to clutch (travel value after the main shaft's differential gear) changes after smoothing completion, the smoothing processing is not executed at that point and output directly. Input to clutch Travel value after the main shaft's differential gear Internal clutch status Slippage [PLS]...
  • Page 159 7 TRANSMISSION MODULE c) Since the slippage remains constant even if the drive module speed changes, the clutch ON/OFF position can be controlled without any influence from speed changes. : Drive module speed : Smoothing complete time : Slippage [PLS] at V : Slippage [PLS] at V d) If input to clutch (travel value after the main shaft's differential gear) changes after smoothing completion, the smoothing processing is not...
  • Page 160: Operation

    7 TRANSMISSION MODULE 7.2.1 Operation There are following five clutch operation modes. Operation mode Description Clutch ON/OFF control is executed by turning the clutch ON/OFF ON/OFF mode command device on/off. Clutch ON/OFF control is executed by turning the clutch ON/OFF Address mode command device on/off and an address of clutch ON/OFF address setting device.
  • Page 161 Output module for axis 16 Output module for axis 32 Auxiliary input axis side M2191 Auxiliary input axis side M2223 (Note) : The range of output module for axis No. 1 to 8 is valid in the Q172CPU(N). 7 - 12...
  • Page 162 7 TRANSMISSION MODULE (d) Refer to APPENDIX 5 for the refresh cycle of clutch status signal. Clutch ON/OFF command device (Note) Clutch status signal Maximum Maximum 1 operation cycle Maximum 1 operation cycle 1 operation cycle Current value of virtual axis (input Continuance from axis) current value at...
  • Page 163 Output module for axis 16 Output module for axis 32 Auxiliary input axis side M2191 Auxiliary input axis side M2223 (Note) : The range of output module for axis No. 1 to 8 is valid in the Q172CPU(N). 7 - 14...
  • Page 164 7 TRANSMISSION MODULE The refresh cycle of clutch status signal is an operation cycle. ON/OFF mode Address mode Mode setting device value Clutch ON/OFF command device (Note) 1 operation cycle 1 operation cycle required required Clutch status signal Clutch OFF address (Note) Current value of Clutch ON address...
  • Page 165 7 TRANSMISSION MODULE (c) When the clutch ON/OFF command device is OFF, the clutch is turned off and the above control (b) is not executed. Therefore, the above control is resumed by turning the clutch ON/OFF command device on. Mode setting device value Clutch ON/OFF Clutch ON...
  • Page 166 7 TRANSMISSION MODULE 2) When the clutch status signal is ON and the current value passes through an address set in the clutch ON/OFF address setting device. Clutch ON Clutch OFF address (Note-2) address (Note-2) Drive module current value Clutch status Number of pulses in this area are transmitted.
  • Page 167 7 TRANSMISSION MODULE (4) One-shot mode (a) When the mode setting device is "3: One-shot mode clutch ON command is valid" or "4: One-shot mode clutch ON command is invalid", it switches to one-shot mode control. (b) When the mode setting device is "3", the clutch ON/OFF command device becomes valid, and the following controls are executed based on the clutch ON address setting device (setting travel value after clutch ON)/clutch OFF address setting device (setting travel value before clutch ON) by the clutch...
  • Page 168 7 TRANSMISSION MODULE (c) When the mode setting device is "4", the clutch ON/OFF command device becomes invalid, and the clutch remains OFF. However, when the mode setting device is changed from "3" to "4" during execution of clutch ON/OFF processing by turning the clutch ON/OFF command device on, the clutch ON/OFF processing in execution is executed till the end and the next clutch ON/OFF command or later becomes invalid.
  • Page 169 7 TRANSMISSION MODULE POINT (1) The mode setting device of except for "0 to 4" is regarded as an error, and control is continued at the previous setting value. (2) Clutch control mode changes are valid at any time. (3) Clutch ON/OFF address setting device changes are valid at any time. Since they have 2-word data, set it as 32-bit integer type data.
  • Page 170 7 TRANSMISSION MODULE (g) When the mode setting device becomes "3", the clutch status turns OFF, while the clutch ON/OFF command device is OFF and the clutch status is Mode setting device value Drive module current value Clutch ON/OFF command device (Note) Clutch status (Note) : Refer to Section "7.2.2 Parameters"...
  • Page 171 7 TRANSMISSION MODULE (l) When the travel direction of drive module changes during the clutch ON/OFF processing by turning the clutch ON/OFF command device on, the clutch ON/OFF control is executed at the position in which not the travel value of drive module but the setting travel value before clutch ON/ setting travel value after clutch ON to the position where the clutch ON command is given was added.
  • Page 172 7 TRANSMISSION MODULE (o) When the "Clutch OFF" is set in the parameter "Error-time operation mode" of drive module and a major error occurs in the output module, the operating system software turns off the clutch. The procedure to resume an operation after an error occurrence is shown below.
  • Page 173 Main shaft side M2222 for axis 16 for axis 32 Auxiliary input axis side M2191 Auxiliary input axis side M2223 (Note) : The range of output module for axis No. 1 to 8 is valid in the Q172CPU(N). 7 - 24...
  • Page 174 P9/E9 TREN 9 P4/E4 TREN 4 P10/E10 TREN 10 P5/E5 TREN 5 P11/E11 TREN 11 P6/E6 TREN 6 P12/E12 TREN 12 (Note) : The range of synchronous encoder No. P1/E1 to P8/E8 is valid in the Q172CPU(N). 7 - 25...
  • Page 175 7 TRANSMISSION MODULE (g) Set all clutches connected to the same encoder No. to the external input mode to use the clutch connected to an encoder in the external input mode. However, it is permissible to use a combination of direct clutches and smoothing clutches.
  • Page 176 7 TRANSMISSION MODULE < Example 3 > Same synchronous encoder is connected to a drive axis and auxiliary input axis Set all the connected clutches to the external input mode. (Refer to examples 1 and 2) Synchronous encoder No.1 Set all to external input mode. Synchronous encoder No.1 7 - 27...
  • Page 177: Parameters

    7 TRANSMISSION MODULE 7.2.2 Parameters The clutch parameters are shown in Table 7.2 and the parameters shown in this table are explained in items (1) to (7) below. Refer to the help of SW6RN-GSV22P for the clutch parameter setting. Table 7.2 Clutch Parameter List Setting item Default value Setting range...
  • Page 178 7 TRANSMISSION MODULE (b) If a synchronous encoder is used as the drive module, the operation modes that can be set differ depending on the encoder interface connected to the Q173PX/Q172EX. Clutch operation mode Address mode, Encoder interface External input ON/OFF mode Address mode 2, mode...
  • Page 179 7 TRANSMISSION MODULE (4) Clutch ON/OFF address setting device (only ON/OFF mode, address mode, address mode 2 and one-shot mode combined use; 2 words) (a) This device is used to set an address to turn the clutch on/off in the address mode.
  • Page 180 7 TRANSMISSION MODULE (5) Smoothing method (a) The method for smoothing processing of the clutch is set. The following two methods can be set: • Time constant system • Slippage system Exponential function system Linear acceleration/deceleration system (b) Refer to Section 7.2 for each system operation. (6) Smoothing time constant This is the time taken to reach 63[%] of the output axis speed.
  • Page 181 Auxiliary input axis side M5583 (Note) : The range of output module for axis No. 1 to 8 is valid in the Q172CPU(N). (e) When "0" is set in the slippage in-position range setting device, when a clutch is connected/disconnected completely (Remainder slippage=0), the smoothing clutch complete signal (M5520+2n, M5521+2n) turns on.
  • Page 182 7 TRANSMISSION MODULE (h) When the setting value for slippage in-position range setting device is outside the range, a minor error [5430] of output module will occur at the time of switching from real mode to virtual mode. In this case, it controls as a setting value "0".
  • Page 183: Speed Change Gear

    7 TRANSMISSION MODULE 7.3 Speed Change Gear Speed change gear is used to change the rotation speed to output module and travel value during operation. The operation of speed change gear and parameters required to use it are shown below. 7.3.1 Operation This section describes the operation of speed change gear.
  • Page 184: Parameters

    7 TRANSMISSION MODULE (2) When a speed change ratio changes, the acceleration/deceleration processing is executed by the smoothing time constant (t) set in the speed change gear parameters. Input axis Speed change 10000 2500 8000 ratio Operation Operation cycle cycle Output axis Time until it becomes 100 =...
  • Page 185 7 TRANSMISSION MODULE (b) When the setting value of speed change ratio setting device is greater than the speed change ratio upper limit value, an operation is executed by a speed change ratio clamped at the upper limit value. When the setting value of speed change ratio setting device is smaller than the speed change ratio lower limit value, an operation is executed by a speed change ratio clamped at the lower limit value.
  • Page 186: Differential Gear

    7 TRANSMISSION MODULE 7.4 Differential Gear The differential gear is used for the following purposes; • Output module phase is shifted or alignment of operation start position is executed. • Individual operation separated from the virtual main shaft is executed. 7.4.1 Operation (1) When the output module phase is shifted or alignment of the operation start position is executed.
  • Page 187 7 TRANSMISSION MODULE MEMO 7 - 38...
  • Page 188: Output Module

    8 OUTPUT MODULE 8. OUTPUT MODULE The command pulse output from drive module is input to output module via the transmission module. The travel value of servomotor is controlled by the command pulse from output module. There are following four output modules. The parameters in accordance with that mechanism is set if necessary.
  • Page 189 8 OUTPUT MODULE (2) Device range of output module parameters and device data input The device range and setting method of items set in the indirect setting by devices among the output module parameters are shown below. (a) Device range The number of device words and device range in the indirect setting are shown below.
  • Page 190 (Note) : The operation cycle is set in the "operation cycle setting" of system basic setting. Refer to Section "1.5.3 Individual parameters" of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for details. The operation cycle of Motion CPU is shown below.
  • Page 191: Rollers

    8 OUTPUT MODULE 8.1 Rollers The rollers are used in the following cases. • The machine connected to the servomotor is operated continuously. • The system which does not need position control. (It is used when the speed control (cycle speed/number of rotations) mainly is controlled without the current value and position data.) This section describes the roller operation and parameters required to use a roller.
  • Page 192: Parameter List

    Refer to the help of SW6RN-GSV22P for the roller parameter setting method. Table 8.1 Roller Parameter List Setting item Default Setting range Q173CPU(N) : 1 to 32 Output axis No. Q172CPU(N) : 1 to 8 Output unit inch 0.1 to 214748364.7 0.00001 to 21474.83647 Roller diameter (L) [µm]...
  • Page 193 8 OUTPUT MODULE (2) Roller diameter (L)/Number of pulses per roller revolution (N (a) The roller diameter connected to servomotor and the number of pulses per roller revolution are displayed. Number of pulses per roller revolution (N Roller diameter (L) (b) The roller cycle speed is calculated by the roller diameter and number of pulses per roller revolution as the formula below.
  • Page 194 8 OUTPUT MODULE (4) Speed control limit (V (a) This device is used to set the maximum speed of roller axis. (b) Set the speed limit value within the following range. : [mm/min] or [inch/min] 10000000[PLS/s] L : [mm] or [inch] (c) When the roller axis speed exceeds the speed limit value, the error detection signal (M2407+20n) turns on.
  • Page 195 8 OUTPUT MODULE (6) Comment (a) This device is used to create a comment such as purpose of roller axis. Made comment can be displayed at monitoring using a peripheral device. (b) Comments up to 32 characters long can be created. POINT (1) "Roller diameter"...
  • Page 196: Ball Screw

    8 OUTPUT MODULE 8.2 Ball Screw The ball screw is used to make a machine connected to servomotor operate linearly. This section describes the ball screw operation and parameters required to use ball screws. 8.2.1 Operation (1) Operation (a) The ball screw is controlled with the speed that the speed/travel value of drive module multiplied by a gear ratio of transmission module, and the travel value is output.
  • Page 197: Parameter List

    Refer to the help of SW6RN-GSV22P for the ball screw parameter setting method. Table 8.2 Ball Screw Parameter List Setting Item Default value Setting range Q173CPU(N) : 1 to 32 Output axis No. Q172CPU(N) : 1 to 8 Output unit inch 0.00001 to 0.1 to 214748364.7 21474.83647 Ball screw pith (P) [µm]...
  • Page 198 8 OUTPUT MODULE (3) Permissible droop pulse value (a) This device is used to set the permissible droop pulse value of deviation counter. (b) The deviation counter value is continually checked, and if it becomes larger than the permissible droop pulse value, the error detection signal (M2407+20n) turns on.
  • Page 199 8 OUTPUT MODULE (6) Torque limit value setting device (1 word) (a) This device is used to set the torque limit value of ball screw axis. When the device is set, the torque control is executed with the preset device value.
  • Page 200: Rotary Tables

    8 OUTPUT MODULE 8.3 Rotary Tables The rotary table is used to make a machine connected to servomotor gyrate. This section describes the rotary table operation and parameters required to use rotary table. 8.3.1 Operation (1) Operation (a) The rotary table is controlled with the speed that the speed/travel value of drive module multiplied by a gear ratio of transmission module, and the travel value is output.
  • Page 201: Parameter List

    Default Setting Item Setting range value Q173CPU(N) : 1 to 32 Output axis No. Q172CPU(N) : 1 to 8 Number of pulses per rotary 1 to 1073741824 [PLS] table revolution (N Permissible droop pulse value 65535 1 to 65535 [PLS] Upper stroke limit value 0 to 359.99999 [degree]...
  • Page 202 8 OUTPUT MODULE (b) The deviation counter value is continually checked, and if it becomes larger than the permissible droop pulse value, the error detection signal (M2407+20n) turns on. However, since the rotary table axis operation continues, execute the error processing by user side.
  • Page 203 8 OUTPUT MODULE (5) Torque limit value setting device (1 word) (a) This device is used to set the torque limit value of rotary table axis. When the device is set, the torque control is executed with the preset device value.
  • Page 204 8 OUTPUT MODULE (b) The following devices can be set as the current value within 1 virtual axis revolution storage device. (Note-1) Name Setting range (Note-2) D800 to D3069 Data register D3080 to D8191 Link register W0 to W1FFF (Note-1) : Set an even number at the first device. (Note-2) : D800 to D1559 are dedicated devices of virtual servomotor axis, synchronous encoder axis and output module "Cam"...
  • Page 205 8 OUTPUT MODULE (f) An example of an address mode clutch operation is shown below. Operation example Set the clutch ON/OFF in this current value (Current value within 1 virtual axis revolution). 1 axis Number of pulses per revolution : 20000[PLS] 1 axis Virtual servomotor current value (Synchronous encoder)
  • Page 206 8 OUTPUT MODULE (a) By setting the current value within 1 virtual axis revolution of rotary table auxiliary input axis side for the current value within 1 virtual axis revolution is stored in the preset device. Current value within 1 Drive module travel Gear ratio virtual axis revolution of...
  • Page 207 8 OUTPUT MODULE (f) An example of an address mode clutch operation is shown below. Main shaft side clutch OFF Set the clutch ON/OFF in this current value. (Current value within 1 virtual axis revolution) 1 axis Number of pulses per revolution : 20000[PLS] 1 axis Virtual servomotor current value of auxiliary input axis side...
  • Page 208: Cam

    8 OUTPUT MODULE 8.4 Cam Cam is used to make a machine connected to servomotor operate according to the preset cam pattern. (1) For axes at which the cam is set as the output module, the same operation as a cam is executed using a ball screw as shown in the example below.
  • Page 209: Operation

    8 OUTPUT MODULE 8.4.1 Operation This section describes the cam operation. (1) Procedure for switching from the real to virtual mode Set the devices by the following procedure using the Motion SFC program at the switching from real to virtual mode. (a) Set the following details.
  • Page 210 8 OUTPUT MODULE < Example > Switching between cam No.1 and No.2, and switching timing between stroke amount I and I when the stroke amount/cam No. change point is set as "0". Current value within 1 cam shaft revolution [PLS] Nc-1, 0 Nc-1, 0 Nc-1, 0...
  • Page 211 The current value within 1 cam shaft revolution can be changed to optional value for the cam as the control change during the virtual mode operation. Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for details of current value change.
  • Page 212: Settings Items At Cam Data Creating

    8 OUTPUT MODULE (7) Program example [Switching from real to virtual mode] Motion SFC program for switching from real to virtual mode is shown below. Switching from real to virtual example Switching from real to virtual PX000 turn on, and real/virtual mode switching PX000*!M2043*!M2044 request and switching status turn off.
  • Page 213 8 OUTPUT MODULE (1) Cam No. This device is used to set the No. (1 to 64) of created cam data. A cam No. is used with the number which offset value attached by the machine name sequence registered on mechanical system editing screen in the mechanical system program.
  • Page 214 8 OUTPUT MODULE Cam pattern Operation example 32767 Output value (Address) Stroke amount Lower stroke limit value Resolution-1 1 cycle Stroke amount (1 cam shaft revolution) Lower stroke limit value 2) Feed cam mode .....With the lower stroke limit value (lower dead point) as the operation start position, positioning is executed by feeding one stroke amount per cycle in a fixed direction.
  • Page 215 8 OUTPUT MODULE (5) Cam data table (a) This device is used to set the each point stroke ratio (when the stroke amount is divided into 32767 divisions) in the set resolution. Output value (Address) 32767 Stroke amount Cam curve Lower stroke limit value Stroke ratio...
  • Page 216: Parameter List

    Setting item Default value Setting range Q173CPU(N) : 1 to 32 Output axis No. Q172CPU(N) : 1 to 8 Number of pulses per cam shaft revolution 1 to 1073741824 [PLS] Cam No. setting device (1 word) — Word device (D, W)
  • Page 217 8 OUTPUT MODULE (b) The following devices can be set as the cam No. setting device. Name Setting range (Note-1) D800 to D3069 Data register D3080 to D8191 Link register W0 to W1FFF (Note-1) : D800 to D1559 are dedicated devices of virtual servomotor axis, synchronous encoder axis and output module "Cam"...
  • Page 218 8 OUTPUT MODULE (5) Stroke amount setting device (2 words) (a) This device is used to set the cam stroke amount. (b) The following devices can be set as the stroke amount setting device. (Note-1) Name Setting range (Note-2) D800 to D3069 Data register D3080 to D8191 Link register...
  • Page 219 8 OUTPUT MODULE (7) Comment (a) This device is used to create a comment such as purpose of cam shaft. Made comment can be displayed at monitoring using a peripheral device. (b) Comments up to 32 characters long can be created. (8) Lower stroke limit value storage device (2 words) (a) This device is used to store the cam lower stroke limit value.
  • Page 220 8 OUTPUT MODULE (b) The following devices can be set as the current value within 1 virtual axis revolution storage device. (Note-1) Name Setting range (Note-2) D800 to D3069 Data register D3080 to D8191 Link register W0 to W1FFF (Note-1) : Set an even number at the first device. (Note-2) : D800 to D1559 are dedicated devices of virtual servomotor axis, synchronous encoder axis and output module "Cam"...
  • Page 221 8 OUTPUT MODULE (f) An example of an address mode clutch operation is shown below. Operation example Set the clutch ON/OFF in this current value. (Current value within 1 virtual axis revolution) 1 axis Number of pulses per revolution : 10000[PLS] 1 axis Virtual servomotor current value (Synchronous encoder)
  • Page 222 8 OUTPUT MODULE (a) By setting the current value within 1 virtual axis revolution of auxiliary input axis side, the current value within 1 virtual axis revolution is stored in the preset device. Current value within 1 virtual Gear ratio Drive module travel value axis revolution of auxiliary input Number of pulses per cam revolution...
  • Page 223 8 OUTPUT MODULE (f) An example of an address mode clutch operation is shown below. Operation example Main shaft side clutch OFF Set the clutch ON/OFF in this current value. (Current value within 1 virtual axis revolution) 2 axes Number of pulses per revolution : 20000[PLS] 2 axes Virtual servomotor current value of auxiliary input axis side...
  • Page 224: Cam Curve List

    8 OUTPUT MODULE 8.4.4 Cam curve list This section describes the cam curves which can be used in the virtual mode. (1) Cam curve characteristics comparison The cam curve characteristics comparison is shown below. Table 8.6 Cam Curve Characteristics Comparison Table Cam curve Acceleration Class...
  • Page 225 8 OUTPUT MODULE MEMO 8 - 38...
  • Page 226: Real/virtual Mode Switching And Stop/re-start

    9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START 9. REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START This section describes the check details and switching method for the real/virtual mode switching. (1) Real/virtual mode switching Real/virtual mode switching is executed by turning the real/virtual mode switching request flag (M2043) on/off.
  • Page 227 9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START (1) Check to determine if switching to the virtual mode is possible (a) The items in Table 9.1 are checked to determine if switching to the virtual mode is possible. When all check items of Table 9.1 are normal, switching to the virtual mode is executed.
  • Page 228 9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START (2) Output module check (a) The items in Table 9.2 below are checked to determine the output module state. If an error is detected, it switches to the virtual mode, but the applicable system cannot be started. Correct the error cause in the real mode, and switch to virtual mode again.
  • Page 229 9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START (3) Synchronous encoder axis check (a) The items in Table 9.3 below are checked to determine the synchronous encoder state. If an error is detected, it switches to the virtual mode, but the applicable system cannot be started.
  • Page 230: Switching From The Virtual To Real Mode

    9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START 9.2 Switching from the Virtual to Real Mode Switching from the virtual to real mode is executed by user side or operating system software. • By user side ..Turn the real/virtual mode switching request flag (M2043) off.
  • Page 231: Continuous Operation On Servo Error In Virtual Mode

    9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START 9.2.3 Continuous operation on servo error in virtual mode (1) Processing on servo error in virtual mode can be set by MT Developer (mechanical system editor screen). (Default: "Return to Real Mode") • Mechanical system editor screen [Operation on Servo Error] key •...
  • Page 232: Precautions At Real/virtual Mode Switching

    9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START 9.3 Precautions at Real/Virtual Mode Switching This section describes the precautions at real/virtual mode switching. (1) The motion control step and the torque limit value change instruction/speed change instruction during mode switching processing execution impossible The motion control step and the torque limit value change instruction/speed change instruction during the from real to virtual mode/from virtual to real mode switching processing (part of timing chart (Note-1) cannot execute.
  • Page 233 (Note) : Example of the above Motion SFC program is started using the automatic start or PLC program. REMARK Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details. (2) M2043 processing during the TEST mode using a peripheral device M2043 ON/OFF (Real/virtual mode switching request) is ignored during the test mode using a peripheral device.
  • Page 234: Stop And Re-start

    9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START 9.4 Stop and re-start The basic method for stopping the system (output module) in the virtual mode operation is to stop the main shaft. If an auxiliary input axis is used, also stop the auxiliary input axis.
  • Page 235: Stop Operation/stop Causes During Operation And Re-starting Operation List

    9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START 9.4.1 Stop operation/stop causes during operation and re-starting operation list Table 9.5 Stop Operation/stop Causes during Operation and Re-starting Operation List Affected virtual axis Stop processing Return to Real mode Stop operation or stop Synchronization by operating system Virtual...
  • Page 236 9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START Operation continuation Error set Output module operation enabled ( Re-start operation after stop disabled ( • Deceleration stop based on the • Continuous operation is possible by turning the stop command off (not smoothing time constant. —...
  • Page 237 9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START MEMO 9 - 12...
  • Page 238: Auxiliary And Applied Functions

    10.1 Mixed Function of Virtual Mode with Real Mode Refer to Section 1.3.4 of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for the correspondence software version. When the output axis No. to execute positioning control directly is selected in the...
  • Page 239 10 AUXILIARY AND APPLIED FUNCTIONS (2) Setting method Set the axis to control as real mode axis in the [Option] – [Real Mode Axis Setting] key of mechanical system program editor screen in SW6RN-GSV22P. • Mechanical system editor screen [Real Mode Axis Setting] key •...
  • Page 240 10 AUXILIARY AND APPLIED FUNCTIONS (a) Usable instructions and controls Items Usable/unusable Remarks Linear positioning control Linear interpolation control Circular interpolation control Helical interpolation control Fixed-pitch feed control Positioning control with the Speed control ( ) Servo torque limit value set in the Speed control ( ) instructions servo program (parameter...
  • Page 241 • Turn the stop command (M3200+20n) or rapid stop command (M3201+20n) ON in real mode. Refer to the "Q173CPU(N)/Q172CPU(N) Motion • Turn the external signal (STOP) ON. Stop controller (SV13/SV22) Programming Manual • Use the deceleration stop or all axes (REAL MODE)"...
  • Page 242 10 AUXILIARY AND APPLIED FUNCTIONS (c) Error codes in real mode axis Error codes at positioning control in the mixed function of virtual mode with real mode are shown below. 1) Minor error (1 to 999) 2) Major error (1000 to 1299) Minor error (4000 to 9990)/major error (10000 to 12990) code of output module in virtual mode are not set in minor/major error code storage register (D6+20n/D7+20n).
  • Page 243 10 AUXILIARY AND APPLIED FUNCTIONS Operation for output axis of mechanical Items Operation for real mode axis system program • Major error (error code: 1002) occurs by turning the external lower LS signal • Major error (error code: 11040) (RLS) off at start to reverse direction, External lower LS signal occurs.
  • Page 244: Cam/ball Screw Switching Function

    10 AUXILIARY AND APPLIED FUNCTIONS 10.2 Cam/Ball Screw Switching Function Refer to Section 1.3.4 of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for the correspondence software version. When a cam is set as output module in the mechanical system program, a cam executes the same operation as ball screw by turning the cam/ball screw switching command (M5488+n) on corresponding to each output axis No..
  • Page 245 10 AUXILIARY AND APPLIED FUNCTIONS MEMO 10 - 8...
  • Page 246: Appendices

    APPENDICES APPENDICES APP. APPENDIX 1 Cam Curves The cam acceleration curve formulas used in the virtual mode are shown below. (1) Acceleration curve formula <Symbol explanation> • A : Dimensionless acceleration • Am : Dimensionless maximum acceleration • T : Dimensionless time •...
  • Page 247 APPENDICES 4) Distorted sine curve Am = • Section (0 T Ta) A = Amsin T + C0 • Section (Ta < T 1 A = Amcos + C0 • Section Ta < T 1) 1 + Ta) Amcos + C0 5) Distorted constant-speed curve Am = TaTb + (...
  • Page 248 APPENDICES (c) Two-dwelling asymmetrical curve 1) Trapecloid curve 6Ta + 2Ta + 3 Ta Am = + (1 + TaTb + Tb ) (1 Tc) • Section (0 T Ta) A = Amsin T + C0 • Section (Ta < T Tb) A = Am + C0 •...
  • Page 249 APPENDICES • Section (0 A = Amcos + C0 2 (1 • Section < T 1 Amcos + C0 • Section Tb < T 1 Ta ) Am + C0 • Section < T 1) A = Amsin + C0 (d) One-dwelling curve 1) Double hypotenuse curve (cos...
  • Page 250: Appendix 2 Error Codes Stored Using The Motion Cpu

    • Servo program setting error • Positioning error • Control mode switching error • Motion SFC error Refer to the "Q173CPU(N)/Q172CPU(N) Motion • Motion SFC parameter error controller (SV13/SV22) Programming Manual (Motion • Multiple CPU related error SFC)" for details.
  • Page 251 APPENDICES The error applicable range for each error class are shown below. Error module Error class Erroneous category Drive module Output module Setting data 1 to 99 4000 to 4990 At start 100 to 199 5000 to 5990 Minor error During operation 200 to 299 6000 to 6990...
  • Page 252 APPENDICES (c) If another error occurs after an error code has been stored, the existing error code is overwritten, deleting it. However, the error history can be checked using a peripheral device started with the SW6RN-GSV22P. (d) Error detection signals and error codes are held until the error reset command (M3207+20n) or servo error reset command (M3208+20n) turns on.
  • Page 253: Appendix 2.1 Expression Method For Word Data Axis No

    Stores the during operation/stop data of each axis 0 : During stop (Note) : The range of axis No.1 to 8 is valid in the Q172CPU(N). 1 : During operation (1) Axis 8 : Test mode request error The controlling signal "1" is stored in D9182 "b7 (axis 8)".
  • Page 254: Appendix 2.2 Related Systems And Error Processing

    APPENDICES APPENDIX 2.2 Related Systems and Error Processing There are following 2 types for the related systems of virtual mode. • System consisting of a drive module and output module. • Multiple systems used the same drive module. The following processing occurs, when the error is detected at an output module. •...
  • Page 255: Appendix 2.3 Servo Program Setting Errors (stored In D9190)

    APPENDICES APPENDIX 2.3 Servo program setting errors (Stored in D9190) The error codes, error contents and corrective actions for servo program setting errors are shown in Table 2.1. In the error codes marked with "Note" indicates the axis No. (1 to 32). Table 2.1 Servo program setting error list Error code Error name...
  • Page 256 APPENDICES Table 2.1 Servo program setting error list (Continued) Error code Error name Error contents Error processing Corrective action stored in D9190 Auxiliary point (1) The auxiliary point address is Positioning control does not (1) If the control unit is setting error outside the setting range at the start.
  • Page 257 APPENDICES Table 2.1 Servo program setting error list (Continued) Error code Error name Error contents Error processing Corrective action stored in D9190 Rapid stop The rapid stop deceleration time is Control with the default value Set the rapid stop deceleration deceleration time set to "0".
  • Page 258 APPENDICES Table 2.1 Servo program setting error list (Continued) Error code stored Error name Error contents Error processing Corrective action in D9190 High-Speed Operation cannot be started Positioning control does not Start after set the frequency oscillation because the frequency specified start.
  • Page 259 APPENDICES Table 2.1 Servo program setting error list (Continued) Error code stored Error name Error contents Error processing Corrective action in D9190 Start error It was started during processing Positioning control does not Use M2043 (real/virtual mode for switching from real mode to start.
  • Page 260: Appendix 2.4 Drive Module Errors

    APPENDICES APPENDIX 2.4 Drive module errors Table 2.2 Drive module error (100 to 1199) list Control mode of virtual servo axis Error Error Error Error cause Corrective action class code processing • The PLC ready flag (M2000) or • Set the Motion CPU to RUN. PCPU ready flag (M9074) is OFF.
  • Page 261 APPENDICES Table 2.2 Drive module error (100 to 1199) list (Continued) Control mode of virtual servo axis Error Error Error Error cause Corrective action class code processing • The difference between the end • Correct the addresses of the point address and ideal end point servo program.
  • Page 262 APPENDICES Table 2.2 Drive module error (100 to 1199) list (Continued) Control mode of virtual servo axis Error Error Error Error cause Corrective action class code processing • The feed current value exceeded • Correct the stroke limit range the stroke limit range during or travel value setting so that positioning control.
  • Page 263 APPENDICES Table 2.2 Drive module error (100 to 1199) list (Continued) Control mode of virtual servo axis Error Error Error Error cause Corrective action class code processing • When the skip is executed in the • Execute the absolute linear constant-speed control, the next interpolation after a point which Immediate...
  • Page 264 APPENDICES Table 2.2 Drive module error (100 to 1199) list (Continued) Control mode of virtual servo axis Error Error Error Error cause Corrective action class code processing • Q172EX or encoder hardware error. • Check (replace) the Q172EX or Immediate encoder.
  • Page 265: Appendix 2.5 Servo Errors

    APPENDICES APPENDIX 2.5 Servo errors (1) Servo amplifier errors (2000 to 2799) These errors are detected by the servo amplifier, and the error codes are [2000] to [2799]. The servo error detection signal (M2408+20n) turns on at the servo amplifier error occurrence.
  • Page 266 APPENDICES Table 2.3 Servo error (2000 to 2799) list Error Error cause Error Error check Corrective action code processing Name Description • The power supply voltage is 160VAC • Measure the input voltage (R, S, or less. (320VAC or less for 400VAC T) with a voltmeter.
  • Page 267 APPENDICES Table 2.3 Servo error (2000 to 2799) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • Interface unit (MR-J2M-P8B) for servo • Connect the interface unit (MR- amplifier connection fault. J2M-P8B) for servo amplifier to the base unit (MR-J2M-BU ) for servo amplifier correctly.
  • Page 268 APPENDICES Table 2.3 Servo error (2000 to 2799) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • The frequency of ON/OFF switching • Reduce the frequency of of the power transistor for acceleration and deceleration or regeneration is too high.
  • Page 269 APPENDICES Table 2.3 Servo error (2000 to 2799) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • U, V, W in the servo amplifier outputs • Check if there is a short circuit have short circuited with each other. between U, V, W of the servo amplifier outputs.
  • Page 270 APPENDICES Table 2.3 Servo error (2000 to 2799) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • There is excessive variation in the • Check the command speed and position commands and command the number of pulses per speed is too high from the Multiple revolution/travel value per CPU system.
  • Page 271 APPENDICES Table 2.3 Servo error (2000 to 2799) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • An overload current of about 200[%] • Check if there has been a continuously supplied to the servo collision at the machine.
  • Page 272 APPENDICES Table 2.3 Servo error (2000 to 2799) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • Servo amplifier having large load is • Change the slot of the servo adjacent. amplifier whose load is large. •...
  • Page 273 APPENDICES Table 2.3 Servo error (2000 to 2799) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • The servo ON (SON) signal turned on • Turn on the main circuit Main circuit while the contactor turned off. contactor or circuit power supply.
  • Page 274 APPENDICES Table 2.3 Servo error (2000 to 2799) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description Parameter error • The servo parameter value is outside the setting range. (Any unauthorized parameter is ignored and the value before setting is held.) 2301 Amplifier setting 2302 Regenerative brake resistor...
  • Page 275 APPENDICES Table 2.3 Servo error (2000 to 2799) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description Parameter error • The vector inverter parameter value is outside the setting range. • The parameter is set during servo ON. •...
  • Page 276 APPENDICES Table 2.3 Servo error (2000 to 2799) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description 2333 Speed monitoring reference 2334 Current monitoring reference 2335 DA2 terminal function selection Parameter 2333 2336 Overspeed detection level Any time during Operation •...
  • Page 277 APPENDICES Table 2.3 Servo error (2000 to 2799) list (Continued) Error Error cause Error When error checked Corrective action code processing Name Description • The parameter setting is wrong. • The parameter data was corrupted. 2601 Amplifier setting 2602 Regenerative brake resistor 2603 Motor type 2604 Motor capacity 2605 Motor speed...
  • Page 278 APPENDICES Table 2.3 Servo error (2000 to 2799) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • The parameter setting is wrong. • The parameter data was corrupted. 2601 Maximum speed 2602 Electronic thermal O/L relay 2603 Regenerative function selection 2604 Special regenerative brake duty 2605 Applied motor...
  • Page 279 APPENDICES Table 2.3 Servo error (2000 to 2799) list (Continued) Error Description Remark code • Error codes peculiar to vector inverter. (Note-2): Refer to the Instruction Manuals of the vector inverter FR-V500 and FR-V5NS for a based on Code Error the code address for details.
  • Page 280 APPENDICES Table 2.3 Servo error (2000 to 2799) list (Continued) Error Description Remark code (Note-2): Refer to the Instruction Manuals of the vector inverter FR-V500 and FR-V5NS for a based on Code Error the code address for details. address Description code (Note-2) 2748...
  • Page 281: Appendix 2.6 Pc Link Communication Errors

    APPENDICES APPENDIX 2.6 PC link communication errors Table 2.4 PC link communication error codes list Error codes stored Error description Corrective action in D9196 • A receiving packet for PC link • Check whether the power of PC has communication does not been turned on.
  • Page 282: Appendix 2.7 Output Module Errors

    APPENDICES APPENDIX 2.7 Output Module Errors (1) Output module errors at the real virtual mode switching (4000 to 5990) Table 2.5 Output Module Error List (4000 to 5990) Output module Error Error Error cause Processing Corrective action code Roller Ball Rotary class screw...
  • Page 283 APPENDICES Table 2.5 Output Module Error List (4000 to 5990) (Continued) Output module Error Error Error cause Processing Corrective action code Roller Ball Rotary class screw table • Stroke amount setting device is outside Related system • Set the range of 1 to 5260 the range.
  • Page 284 APPENDICES (2) "No-clutch/clutch ON/clutch status ON" output module errors (6000 to 6990) Table 2.6 Output Module Error List (6000 to 6990) Output module Error Error Error cause Processing Corrective action Ball Rotary class code Roller screw table • The servo OFF command (M3215+20n) Operation •...
  • Page 285 APPENDICES Table 2.6 Output Module Error List (6000 to 6990) (Continued) Output module Error Error Error cause Processing Corrective action Ball Rotary class code Roller screw table • Current value was changed for the axis Do not change • Use the following device as that had not been started.
  • Page 286 APPENDICES (5) Output module errors at virtual servomotor axis start (10000 to 10990) Table 2.9 Output Module Error List (10000 to 10990) Output module Error Error Error cause Processing Corrective action code Roller Ball Rotary class screw table • The home position return request Related system •...
  • Page 287 APPENDICES (7) Errors when using an absolute position system (12000 to 12990) Table 2.11 Output Module Error List (12000 to 12990) Output module Error Error Error cause Processing Corrective action Ball Rotary class code Roller screw table • A sum check error occurred in the Home position return •...
  • Page 288: Appendix 2.8 Errors At Real/virtual Mode Switching

    APPENDICES APPENDIX 2.8 Errors at Real/Virtual Mode Switching Table 2.12 Real/Virtual Mode Switching Error Code List Error codes stored in D9193 Error description Corrective action Decimal Hexadecimal display display • Real/virtual mode switching request flag (M2043) turned • Turn real/virtual mode switching request flag 0001 ON in the state which all axes has not stopped.
  • Page 289 APPENDICES Table 2.12 Real/Virtual Mode Switching Error Code List (Continued) Error codes stored in D9193 Error description Corrective action Decimal Hexadecimal display display • The setting value of cam stroke amount setting device is • Turn real/virtual mode switching request flag outside the range of 1 to (2 -1).
  • Page 290: Appendix 3 Special Relays/special Registers

    APPENDICES APPENDIX 3 Special Relays/special registers APPENDIX 3.1 Special relays Special relays are internal relays whose applications are fixed in the Motion CPU. For this reason, they cannot be used in the same way as the normal internal relays by the Motion SFC programs.
  • Page 291 APPENDICES Table 3.1 Special relay list Set by Name Meaning Details Remark (When set) OFF : Normal • Turn on when there is one or more output modules control M9000 Fuse blown detection : Fuse blown module of self CPU which fuse has been blown. detected Remains on if normal status is restored.
  • Page 292 APPENDICES Table 3.1 Special relay list (continued) Set by Name Meaning Details Remark (When set) • This flag indicates whether the setting designated at the : At least one D714 to manual pulse generator axis setting register (D714 to D719) D719 setting is Manual pulse generator is normal or abnormal.
  • Page 293 APPENDICES Table 3.1 Special relay list (continued) Set by Name Meaning Details Remark (When set) OFF : CPU No.1 normal • Turn off when the CPU No.1 is normal. (It contains at M9244 CPU No.1 error flag : On CPU No.1 stop continuation error.) (Note-2) error...
  • Page 294: Appendix 3.2 Special Registers

    APPENDICES APPENDIX 3.2 Special registers Special registers are internal registers whose applications are fixed in the Motion CPU. For this reason, it is not possible to use these registers in Motion SFC programs in the same way that normal registers are used. However, data can be written as needed in order to control the Motion CPU.
  • Page 295 • When error is found as a result of self-diagnosis, error No. is stored in BIN code. Diagnostic error D9008 Diagnostic error • Refer to "19.4 Multiple CPU Error Codes" of the "Q173CPU(N)/Q172CPU(N) number Motion Controller (SV13/SV22) Programming Manual (Motion SFC) " for details of the error code.
  • Page 296 Q173CPU(N): 1 to 32 (Axis1 to 32) read axis No. Q172CPU(N): 1 to 8 (Axis1 to 8) It is operating in • Each axis is stopping: 0/Operating: 1, information is stored as a bit data. requirement error...
  • Page 297 APPENDICES Table 3.2 Special register list (continued) Set by Name Meaning Details Remark (When set) Motion operation Motion operation • The time when the motion operation cycle is stored in the [ µ s] unit. D9188 S(Operation cycle) (Note) cycle cycle Error program Error program No.
  • Page 298: Appendix 4 Setting Range For Indirect Setting Devices

    APPENDICES APPENDIX 4 Setting Range for Indirect Setting Devices Positioning address, command speed or M-code, etc. (excluding the axis No.) set in the servo program can be set indirectly by the word. (1) Device range The number of device words and device range at indirect setting are shown below.
  • Page 299 APPENDICES (2) Inputting device data Indirect setting device data is inputted by the Motion CPU at the servo program start. Do not change the applicable device before setting to device and start completion. The procedures by start method for setting data to devices and cautions are shown below.
  • Page 300: Appendix 5 Processing Times Of The Motion Cpu

    The processing time of each signal and each instruction for positioning control in the Multiple CPU system is shown below. (1) Motion operation cycle [ms] (Default) Q173CPU(N) Q172CPU(N) Number of setting axes (SV22) 1 to 4 5 to 12 13 to 24...
  • Page 301 : Valid (Note-1) : It is unusable in the SV22 real mode. (Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-3) : Device area of 9 axes or more is unusable in the Q172CPU(N).
  • Page 302 : Invalid (Note-1) : It is unusable in the SV22 real mode. (Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-3) : Device area of 9 axes or more is unusable in the Q172CPU(N).
  • Page 303 M4600 to M4619 M4620 to M4639 (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : The unused axis areas in the mechanical system program can be used as an user device. APP - 58...
  • Page 304 M5420 to M5439 : Valid, : Invalid (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : The unused axis areas in the mechanical system program can be used as an user device. APP - 59...
  • Page 305 M4680 to M4683 M4684 to M4687 (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N). (9) Synchronous encoder axis command signal list Axis No.
  • Page 306 Axis-31 cam/ball screw switching M5519 Axis-32 cam/ball screw switching (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N). APP - 61...
  • Page 307 Main shaft side Output axis 32 M5583 Auxiliary input side (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N). APP - 62...
  • Page 308 APPENDICES (12) Common device list Device Signal Remark Device Signal Remark Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle direction (Note-4) direction (Note-4) Command Command Manual pulse generator 3 M2000 PLC ready flag Main cycle signal M3072 M2053 Main cycle...
  • Page 309 APPENDICES Common device list (Continued) Remark Remark Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle (Note-4) (Note-4) direction direction M2119 M2180 Main shaft side Output M2120 Auxiliary input axis 11 M2181 side M2121 M2122 M2182...
  • Page 310 M2319 (3 points) M2274 (Note-1): The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2): Device area of 9 axes or more is unusable in the Q172CPU(N). (Note-3): This signal is unusable in the SV22 real mode.
  • Page 311 APPENDICES (13) Special relay allocated device list (Status) (Note-1) Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark M2320 Fuse blown detection M9000 M2321 AC / DC DOWN detection M9005 M2322 Battery low M9006 Error occurrence M2323 Battery low latch M9007 M2324 Self-diagnostic error...
  • Page 312 APPENDICES (14) Common device list (Command signal) Remark Device No. Signal name Refresh cycle Fetch cycle Signal direction (Note-1) , (Note-2) Main cycle M3072 PLC ready flag M2000 M3073 Speed switching point specified flag At start M2040 Operation M3074 All axes servo ON command M2042 cycle At virtual mode...
  • Page 313 D580 to D599 D600 to D619 D620 to D639 (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N). APP - 68...
  • Page 314 D694, D695 D696, D697 D698, D699 D700, D701 D702, D703 (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N). APP - 69...
  • Page 315 D1100 to D1109 D1100 to D1119 (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : The unused axis areas in the mechanical system program can be used as an user side. APP - 70...
  • Page 316 : Valid (Note-1) : It is unusable in the SV22 real mode. (Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-3) : Device area of 9 axes or more is unusable in the Q172CPU(N).
  • Page 317 D1540 to D1549 D1550 to D1559 (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : The unused axis areas in the mechanical system program can be used as an user side. APP - 72...
  • Page 318 (Note-1) : It is unusable in the SV22 real mode. setting register (Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-3) : Device area of 9 axes or more is unusable in the Q172CPU(N).
  • Page 319 APPENDICES CAUTION The data executed later becomes effective when the same device is executed simultaneously in the Motion SFC and PLC program. (22) Motion register list (#) Axis Device No. Signal name #8064 to #8067 #8068 to #8071 (Note-1) Signal name Signal description Refresh cycle Signal direction...
  • Page 320 APPENDICES (23) Special relay list Device No. Signal name Refresh cycle Signal type M9073 PCPU WDT error flag M9074 PCPU REDAY complete flag M9075 TEST mode ON flag Main cycle Status signal M9076 External forced stop input flag M9077 Manual pulse generator axis setting error flag M9078 TEST mode request error flag M9079...
  • Page 321 WARRANTY Please confirm the following product warranty details before using this product. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
  • Page 322 IB(NA)-0300044-C(0603)MEE MODEL: Q173-P-SV22-KASOE MODEL CODE: 1XB783 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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