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Mitsubishi Electric Q Series Programming Manual

Common. motion controller.
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   Related Manuals for Mitsubishi Electric Q Series

   Summary of Contents for Mitsubishi Electric Q Series

  • Page 2: Safety Precautions

    SAFETY PRECAUTIONS (Please read these instructions before using this equipment.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. These precautions apply only to this product. Refer to the Q173D(S)CPU/Q172D(S)CPU Users manual for a description of the Motion controller safety precautions.
  • Page 3 For Safe Operations 1. Prevention of electric shocks DANGER Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks. Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks.
  • Page 4 3. For injury prevention CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
  • Page 5 CAUTION The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF. These brakes must not be used for normal braking. The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications, and must not be used for normal braking.
  • Page 6 CAUTION Set the sequence function program capacity setting, device capacity, latch validity range, I/O assignment setting, and validity of continuous operation during error detection to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.
  • Page 7 CAUTION Always install the servomotor with reduction gears in the designated direction. Failing to do so may lead to oil leaks. Store and use the unit in the following environmental conditions. Conditions Environment Motion controller/Servo amplifier Servomotor Ambient 0°C to +40°C (With no freezing) According to each instruction manual.
  • Page 8 (4) Wiring CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier.
  • Page 9 (6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized.
  • Page 10 (8) Maintenance, inspection and part replacement CAUTION Perform the daily and periodic inspections according to the instruction manual. Perform maintenance and inspection after backing up the program and parameters for the Motion controller and servo amplifier. Do not place fingers or hands in the clearance when opening or closing any opening. Periodically replace consumable parts such as batteries according to the instruction manual.
  • 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

    REVISIONS The manual number is given on the bottom left of the back cover. Print Date Manual Number Revision IB(NA)-0300134-A First edition Sep., 2007 IB(NA)-0300134-B [Additional model/function] Sep., 2010 Software for SV43, Amplifier-less operation function, Q10UD(E)HCPU, Q13UD(E)HCPU, Q20UD(E)HCPU, Q26UD(E)HCPU, QX40H, QX70H, QH80H, QX90H, MR-J3- BS [Additional correction/partial correction] Safety precautions, About Manuals, Restrictions by the software's...
  • Page 13 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 14: Table Of Contents

    INTRODUCTION Thank you for choosing the Mitsubishi Motion controller Q173D(S)CPU/Q172D(S)CPU. Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the Motion controller you have purchased, so as to ensure correct use. CONTENTS Safety Precautions ............................
  • Page 15 3. COMMON PARAMETERS 3- 1 to 3-28 3.1 System Settings ............................3- 1 3.1.1 System data settings ......................... 3- 2 3.1.2 Common system parameters ......................3- 5 3.1.3 Individual parameters ........................3-11 3.2 I/O Number Assignment.......................... 3-21 3.2.1 I/O number assignment of each module ..................3-21 3.2.2 I/O number of each CPU modules ....................
  • Page 16 4.16.1 Control details..........................4-95 4.16.2 Precautions during control ......................4-96 4.16.3 Servo parameter..........................4-100 4.17 Intelligent Function Modules Controlled by Motion CPU ..............4-101 4.18 Connection of SSCNET /H Head Module ..................4-104 4.18.1 System configuration ........................4-104 4.18.2 SSCNET /H head module parameters ..................4-105 4.18.3 Data operation of intelligent function module by Motion SFC program ........
  • Page 17: About Manuals

    About Manuals The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below. Related Manuals (1) Motion controller Manual Number Manual Name (Model Code) Q173D(S)CPU/Q172D(S)CPU Motion controller User's Manual This manual explains specifications of the Motion CPU modules, Q172DLX Servo external signal interface IB-0300133 module, Q172DEX Synchronous encoder interface module, Q173DPX Manual pulse generator interface (1XB927)
  • Page 18 (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 units, SH-080483ENG (13JR73) extension cables, memory card battery, and the maintenance/inspection for the system, trouble shooting, error codes and others.
  • Page 19: Manual Page Organization

    (3) Servo amplifier Manual Number Manual Name (Model Code) SSCNET /H interface MR-J4- B Servo amplifier Instruction Manual SH-030106 This manual explains the I/O signals, parts names, parameters, start-up procedure and others for (1CW805) MR-J4- B Servo amplifier. SSCNET /H interface Multi-axis AC Servo MR-J4W- B Servo amplifier Instruction Manual SH-030105 This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Multi- (1CW806)
  • Page 20: Overview

    MR-J3W- B" QCPU, PLC CPU or PLC CPU module QnUD(E)(H)CPU/QnUDVCPU Multiple CPU system or Motion system Abbreviation for "Multiple PLC system of the Q series" Abbreviation for "CPU No.n (n= 1 to 4) of the CPU module for the Multiple CPU CPUn system"...
  • Page 21 1 OVERVIEW Generic term/Abbreviation Description (Note-3) SSCNET /H High speed synchronous network between Motion controller and servo amplifier (Note-3) SSCNET (Note-3) SSCNET (/H) General name for SSCNET /H, SSCNET General name for "system using the servomotor and servo amplifier for absolute Absolute position system position"...
  • Page 22: Features

    The Motion CPU and Multiple CPU system have the following features. 1.2.1 Features of Motion CPU (1) Q series PLC Multiple CPU system (a) Load distribution of processing can be performed by controlling the complicated servo control with Motion CPU and the machine control or information control with PLC CPU.
  • Page 23 1 OVERVIEW (4) The operating system software package for your application needs By installing the operating system software for applications in the internal flash memory of the Motion CPU, the Motion controller suitable for the machine can be realized. And, it also can correspond with the function improvement of the software package.
  • Page 24: Basic Specifications Of Q173d(s)cpu/q172d(s)cpu

    1 OVERVIEW 1.2.2 Basic specifications of Q173D(S)CPU/Q172D(S)CPU (1) Module specifications Item Q173DSCPU Q172DSCPU Q173DCPU Q173DCPU-S1 Q172DCPU Q172DCPU-S1 Internal current consumption (Note-1) (Note-1) 1.75 1.44 1.25 1.30 1.25 1.30 (5VDC) [A] Mass [kg] 0.38 0.33 120.5 (4.74)(H) 27.4 (1.08)(W) Exterior dimensions [mm(inch)] 98 (3.85)(H) 27.4 (1.08)(W) 119.3 (4.70)(D)
  • Page 25 1 OVERVIEW Motion control specifications (continued) Item Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1) JOG operation function Provided Possible to connect 3 modules (Q173DPX use) Manual pulse generator Possible to connect 1 module Possible to connect 3 modules (Q173DPX use) operation function (Note-3) (Built-in interface in Motion CPU use) Possible to connect 12 module (SV22 use) Possible to connect 12...
  • Page 26 1 OVERVIEW Motion control specifications (continued) Item Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1) Made compatible by setting battery to servo amplifier. Absolute position system (Possible to select the absolute data method or incremental method for each axis) Communication SSCNET /H, SSCNET SSCNET SSCNET method communication...
  • Page 27 1 OVERVIEW (b) Motion SFC Performance Specifications Item Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) Code total (Motion SFC chart + Operation control + 652k bytes 543k bytes Motion SFC program Transition) capacity Text total 668k bytes 484k bytes (Operation control + Transition) Number of Motion SFC programs 256 (No.0 to 255) Motion SFC chart size/program Up to 64k bytes (Included Motion SFC chart comments)
  • Page 28 1 OVERVIEW (3) SV43 Motion control specifications/performance specifications (a) Motion control specifications Item Q173DCPU(-S1) Q172DCPU(-S1) Number of control axes Up to 32 axes Up to 8 axes 0.44ms/ 1 to 4 axes Operation cycle 0.88ms/ 5 to 12 axes 0.44ms/ 1 to 4 axes (default) 1.77ms/13 to 28 axes 0.88ms/ 5 to 8 axes...
  • Page 29 1 OVERVIEW (b) Motion program performance specifications Item Q173DCPU(-S1)/Q172DCPU(-S1) Total of program files 504k bytes Program capacity Number of programs Up to 1024 (No. 1 to 1024) Unary operation, Addition and subtraction operation, Multiplication and Arithmetic operation division operation, Remainder operation Operation controls Comparison operation Equal to, Not equal to...
  • Page 30: Hardware Configuration

    This section describes the Motion controller system configuration, precautions on use of system, and configured equipments. 1.3.1 Motion system configuration (1) Equipment configuration in system (a) Q173DSCPU/Q172DSCPU Extension of the Q series module (Note-2) Power supply module/ QnUD(E)(H)CPU/QnUDVCPU/ Motion module...
  • Page 31 1 OVERVIEW (b) Q173DCPU(-S1)/Q172DCPU(-S1) Extension of the Q series module (Note-2) Power supply module/ QnUD(E)(H)CPU/QnUDVCPU/ Motion module I/O module/Intelligent function (Q172DLX, Q173DPX) module of the Q series Motion module Main base unit Extension cable Q6 B extension base unit (Q172DLX, Q172DEX, Q173DPX)
  • Page 32 1 OVERVIEW (2) Peripheral device configuration for the Q173D(S)CPU/ Q172D(S)CPU The following (a)(b)(c) can be used. (a) USB configuration (b) RS-232 configuration (c) Ethernet configuration Motion CPU module PLC CPU module PLC CPU module (Q17 DSCPU/Q17 DCPU-S1) (QnUD(E)(H)CPU/QnUDVCPU) (QnUD(H)CPU) PLC CPU module (QnUDE(H)CPU/QnUDVCPU) RS-232 communication cable (Note-1)
  • Page 33: Q173dscpu/q172dscpu System Overall Configuration

    1 OVERVIEW 1.3.2 Q173DSCPU/Q172DSCPU System overall configuration Motion CPU control module Main base unit PLC CPU/ (Q3 DB) Motion CPU PERIPHERAL I/F Q61P QnUD Q17 DS QI60 Q6 AD Q172D Q172D Q173D Panel personal I/O module/ Q6 DA computer Intelligent function module 100/200VAC Manual pulse generator...
  • Page 34 1 OVERVIEW CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system. The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor.
  • Page 35: Q173dcpu(-s1)/q172dcpu(-s1) System Overall Configuration

    1 OVERVIEW 1.3.3 Q173DCPU(-S1)/Q172DCPU(-S1) System overall configuration Motion CPU control module PLC CPU/ Main base unit PERIPHERAL I/F Motion CPU (Q3 DB) (Note-1) Q61P QnUD Q17 D QI60 Q6 AD Q172D Q172D Q173D Panel personal I/O module/ Q6 DA computer Intelligent function module 100/200VAC Manual pulse generator...
  • Page 36: Software Packages

    1 OVERVIEW 1.3.4 Software packages (1) Operating system software Software package Application (Note-1) (Note-1) Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1) Conveyor assembly use SV13 SW8DNC-SV13QJ SW8DNC-SV13QL SW8DNC-SV13QB SW8DNC-SV13QD Automatic machinery use SV22 SW8DNC-SV22QJ SW8DNC-SV22QL SW8DNC-SV22QA SW8DNC-SV22QC Machine tool peripheral use SV43 — —...
  • Page 37 1 OVERVIEW (4) Related software packages (a) PLC software package Model name Software package GX Works2 SW1DNC-GXW2-E GX Developer SW8D5C-GPPW-E (b) Servo set up software package Model name Software package MR Configurator2 SW1DNC-MRC2-E (Note-1) MR Configurator MRZJW3-SETUP221E (Note-1): Q173DSCPU/Q172DSCPU is not supported. POINTS When the operation of Windows is unclear in the operation of this software, refer...
  • Page 38: Restrictions On Motion Systems

    1 OVERVIEW 1.3.5 Restrictions on motion systems (1) Combination of Multiple CPU system (a) Motion CPU module cannot be used as standalone module. Be sure to install the universal model PLC CPU module to CPU No.1. For Universal model PLC CPU module, "Multiple CPU high speed transmission function"...
  • Page 39 1 OVERVIEW (2) Motion modules (Note-1) (a) Installation position of Q172DEX and Q173DSXY is only the main base unit. It cannot be used on the extension base unit. (b) Q172DLX/Q173DPX can be installed on any of the main base unit/ extension base unit.
  • Page 40 1 OVERVIEW (3) Other restrictions (a) Motion CPU module cannot be set as the control CPU of intelligent function module (excluding some modules) or Graphic Operation Terminal(GOT). (b) Be sure to use the battery. (c) There are following methods to execute the forced stop input. •...
  • Page 41 1 OVERVIEW (j) MR-J4W3- B (Software version "A2" or before) and MR-J3W- B does not support operation cycle 0.2 [ms]. Set 0.4[ms] or more as operation cycle to use MR-J4W3- B (Software version "A2" or before) and MR-J3W- B. MR-J4W3- B (Software version "A3" or later) supports operation cycle 0.2 [ms].
  • Page 42: Checking Serial Number And Operating System Software Version

    SERIAL KCC-REI-MEK- US LISTED TC510A792G61 DATE:2011-11 80M1 IND. CONT.EQ. Rating plate MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN See Q173DSCPU Instruction manual. PULL FRONT Serial number N2X234999 (c) System monitor (product information list) The serial number can be checked on the system monitor screen in GX Works2/GX Developer.
  • Page 43 5VDC 1.30A Serial number M16349999 SERIAL 80M1 IND. CONT. EQ. US LISTED MADE IN JAPAN MITSUBISHI ELECTRIC CORPORATION See Q173DCPU-S1 Instru ction manua l. DATE:2011-06 KCC-REI-MEK-TC510A692051 FRONT Serial number M16349999 (c) System monitor (product information list) The serial number can be checked on the system monitor screen in GX Works2/GX Developer.
  • Page 44 24VDC 0.16A 5VDC 0.06A Serial number SERIAL C16054999 DATE 2011-06 80M1 IND. CONT. EQ. US LISTED MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN BC370C224H01 CTRL Se e Q1 72DLX I nstruction man ual . KCC-REI-MEK- TC510A646G51 Q172DLX Serial number C16054999 REMARK The serial number display was corresponded from the Motion modules manufactured in early April 2008.
  • Page 45: Checking Operating System Software Version

    1 OVERVIEW 1.4.2 Checking operating system software version Ver.! The operating system software version can be checked on the system monitor screen in GX Works2/GX Developer. Select [Product Information List] button on the system monitor screen displayed on [Diagnostics] – [System monitor] of GX Works2/GX Developer. Serial number of Motion CPU module Operating system software version...
  • Page 46 1 OVERVIEW REMARK (1) "Serial number of Motion CPU module" and "Operating system software version" on the system monitor (Product Information List) screen of GX Works2/GX Developer was corresponded from the Motion CPU modules manufactured in early October 2007. (2) The operating system software version can also be checked on the system monitor screen in CD-ROM of operating system software or MT Developer2.
  • Page 47: Restrictions By The Software's Version

    1 OVERVIEW 1.5 Restrictions by the Software's Version There are restrictions in the function that can be used by the version of the operating system software and programming software. The combination of each version and a function is shown in Table1.1. Table 1.1 Restrictions by the Software's Version (Note-1), (Note-2) Operating system software version...
  • Page 48 1 OVERVIEW Programming software version MELSOFT MT Works2 (MT Developer2) Section of reference Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) MR Configurator2 MR Configurator SV13/SV22 SV13/SV22 SV43 — — — — — Section 1.4 1.39R 1.06G — — (Note-4) 1.39R 1.06G 1.06G 1.01B — — —...
  • Page 49 1 OVERVIEW Table 1.1 Restrictions by the Software's Version (continued) (Note-1), (Note-2) Operating system software version Function Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) SV13/SV22 SV13/SV22 SV43 — Rapid stop deceleration time setting error invalid function — Vision system dedicated function (MVOUT) Motion SFC operation control instruction —...
  • Page 50 1 OVERVIEW Programming software version MELSOFT MT Works2 (MT Developer2) Section of reference Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) MR Configurator2 MR Configurator SV13/SV22 SV13/SV22 SV43 — — — — (Note-4) 1.39R — — (Note-3) 1.39R 1.39R — — (Note-3) 1.39R — — — —...
  • Page 51: Programming Software Version

    1 OVERVIEW 1.6 Programming Software Version The programming software versions that support Motion CPU are shown below. MELSOFT MT Works2 (MT Developer2) Motion CPU MR Configurator2 MR Configurator SV13/SV22 SV43 (Note-1) 1.39R Q173DSCPU 1.10L Not support (Note-1) Q172DSCPU 1.39R 1.10L Not support (Note-2) (Note-3)
  • Page 52: Multiple Cpu System

    2 MULTIPLE CPU SYSTEM 2. MULTIPLE CPU SYSTEM 2.1 Multiple CPU System 2.1.1 Overview (1) What is Multiple CPU system ? A Multiple CPU system is a system in which more than one PLC CPU module and Motion CPU module (up to 4 modules) are mounted on several main base unit in order to control the I/O modules and intelligent function modules.
  • Page 53: Installation Position Of Cpu Module

    2 MULTIPLE CPU SYSTEM 2.1.2 Installation position of CPU module Up to four PLC CPUs and Motion CPUs can be installed from the CPU slot (the right side slot of the power supply module) to slots 2 of the main base unit. The Motion CPU module cannot be installed in the CPU slot.
  • Page 54: Precautions For Using I/o Modules And Intelligent Function Modules

    2 MULTIPLE CPU SYSTEM 2.1.3 Precautions for using I/O modules and intelligent function modules (1) Modules controllable by the Motion CPU Modules controllable by the Motion CPU are shown below. • Motion modules (Q172DLX, Q172DEX, Q173DPX) • I/O modules (QX , QX - , QY , QY - , QH , QX Y ) (Note-1) •...
  • Page 55: Modules Subject To Installation Restrictions

    2 MULTIPLE CPU SYSTEM 2.1.4 Modules subject to installation restrictions (1) Modules subject to install restrictions for the Motion CPU are sown below. Use within the restrictions listed below. (a) SV13/SV22 Maximum installable modules per CPU Description Model name Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1) Servo external signals...
  • Page 56 2 MULTIPLE CPU SYSTEM (b) SV43 Maximum installable modules per CPU Description Model name Q173DCPU(-S1) Q172DCPU(-S1) Servo external signals Q172DLX 4 modules 1 module interface module Manual pulse generator Manual pulse Q173DPX 1 module 1 module interface module generator only use Input module QX - Output module...
  • Page 57: How To Reset The Multiple Cpu System

    2 MULTIPLE CPU SYSTEM 2.1.5 How to reset the Multiple CPU system The entire Multiple CPU system can be reset by resetting CPU No.1. The CPU modules of No.2 to No.4, I/O modules and intelligent function modules will be reset when PLC CPU No.1 is reset. If a stop error occurs in any of the CPUs on the Multiple CPU system, either reset CPU No.1 or restart the Multiple CPU system (power supply ON ON) for recovery.
  • Page 58: Operation For Cpu Module Stop Error

    2 MULTIPLE CPU SYSTEM 2.1.6 Operation for CPU module stop error The entire system will behaves differently depending whether a stop error occurs in CPU No.1 or any of CPU No.2 to No.4 in the Multiple CPU system. (1) When a stop error occurs at CPU No.1 (a) A "MULTI CPU DOWN (error code: 7000)"...
  • Page 59 2 MULTIPLE CPU SYSTEM (b) When a stop error occurs in the CPU module for which " All station stop by stop error of CPU 'n' " has not been set, a "MULTI EXE. ERROR (error code: 7020)" error occurs in all other CPUs but operations will continue. POINT (Note-1): When a stop error occurs, a "MULTI CPU DOWN (error code : 7000)"...
  • Page 60 2 MULTIPLE CPU SYSTEM (3) Operation at a Motion CPU error Operations at a Motion CPU error are shown below. Category Type of error Operation Remark Does not operate from the • All actual output PY points turn OFF. System setting error beginning (does not run).
  • Page 61: Starting Up The Multiple Cpu System

    2 MULTIPLE CPU SYSTEM 2.2 Starting Up the Multiple CPU System This section describes a standard procedure to start up the Multiple CPU system. 2.2.1 Startup Flow of the Multiple CPU system START Definition of functions with Multiple CPU system Control and function executed in each CPU module are defined.
  • Page 62 2 MULTIPLE CPU SYSTEM Start-up of MT Developer2 Refer to the help for operation of MT Developer2. Start-up MT Developer2. Creation of system settings and Refer to Section 3.1 for system settings. program, etc. Refer to the Programming Manual of each operating system software for details of program.
  • Page 63: Communication Between The Plc Cpu And The Motion Cpu In The Multiple Cpu System

    2 MULTIPLE CPU SYSTEM 2.3 Communication Between the PLC CPU and the Motion CPU in the Multiple CPU System 2.3.1 CPU shared memory (1) Structure of CPU shared memory The CPU shared memory is memory provided for each CPU module and by which data are written or read between CPU modules of the Multiple CPU system.
  • Page 64 2 MULTIPLE CPU SYSTEM (a) Self CPU operation information area (0H to 1FFH) 1) The following information of self CPU is stored as the Multiple CPU system Table 2.3 Table of self CPU operation information areas CPU shared Corresponding (Note) memory Name Detail...
  • Page 65 2 MULTIPLE CPU SYSTEM (d) Multiple CPU high speed transmission area The area corresponding to the Multiple CPU high speed main base unit (Q3 DB) and Multiple CPU high speed transmission that uses the drive system controllers including PLC CPU and Motion CPU. The image chart of Multiple CPU high speed transmission area is shown below.
  • Page 66: Multiple Cpu High Speed Transmission

    2 MULTIPLE CPU SYSTEM 2.3.2 Multiple CPU high speed transmission (1) Multiple CPU high speed transmission Multiple CPU high speed transmission is a function for fixed cycle data transmission between Multiple CPUs (Multiple CPU high speed transmission cycle is 0.88[ms].). Secure data transmission is possible without effecting the PLC CPU scan time or Motion CPU main cycle because the data transmission and execution of sequence program and Motion SFC program/Motion program can be executed...
  • Page 67 2 MULTIPLE CPU SYSTEM 1) Access to Multiple CPU high speed transmission area a) SV13/SV22 • Description of Multiple CPU area device Word device CPU shared memory address (Decimal) (10000 to up to 24335) First I/O number of CPU module CPU No.
  • Page 68 2 MULTIPLE CPU SYSTEM b) SV43 • Description of Multiple CPU area device Word device : # Q (Note) CPU shared memory address (Decimal) (0 to up to 14335) CPU No. CPU No. CPU No.1 CPU No.2 CPU No.3 CPU No.4 Set value Bit device : # Q...
  • Page 69 2 MULTIPLE CPU SYSTEM (b) Example of using automatic refresh method CPU No.1 (PLC CPU) CPU No.2 (Motion CPU) CPU shared memory CPU shared memory Sequence program (Note-1) (Note-1) Device memory Device memory (Automatic refresh area (Automatic refresh area SM400 Refresh at the CPU No.1 CPU No.1...
  • Page 70 2 MULTIPLE CPU SYSTEM (3) Memory configuration of Multiple CPU high speed transmission area Memory configuration of Multiple CPU high speed transmission area is shown below. CPU No.1 send area User setting area Multiple CPU high speed transmission area [Variable in 0 to CPU No.2 send area Automatic refresh area 14k[points]...
  • Page 71 2 MULTIPLE CPU SYSTEM (4) Parameter setting The parameter setting list for use with the Multiple CPU high speed transmission is shown in Table 2.6. Table 2.6 Multiple CPU high speed transmission parameter list Name Description Target CPU Multiple CPU high Set the size of the Multiple CPU high speed speed transmission transmission area allocated in each CPU module...
  • Page 72 2 MULTIPLE CPU SYSTEM Table 2.7 Parameter setting items of Multiple CPU high speed transmission area setting Consistency Item Setting description Setting/display value Restriction check CPU No. corresponding to displayed parameters. CPU No.1 to No.4 — — Set the number of points of data that each CPU module sends.
  • Page 73 2 MULTIPLE CPU SYSTEM POINT Selecting "Advanced setting" enables the ability to change the number of points from 1k to 2k in the system area used for Motion dedicated PLC instructions. Changing the number of points in the system area to 2k increases the number of Motion dedicated PLC instructions that can be executed concurrently in a scan.
  • Page 74 2 MULTIPLE CPU SYSTEM (b) Automatic refresh setting Setting for use of the automatic refresh function in the Multiple CPU high speed transmission area. Up to 32 setting ranges can be set for each CPU module. Automatic refresh setting screen and setting range are shown below. Table 2.8 Parameter setting items of automatic refresh setting Data size consistency...
  • Page 75 2 MULTIPLE CPU SYSTEM POINT The processing performance of automatic refresh improves when devices are transmitted in 2 word sets. Therefore, it is recommended to set the start device as 2 word unit by inputting an even device number. 1) Operation example of automatic refresh a) 2 CPU modules (1 PLC CPU, 1 Motion CPU) use •...
  • Page 76 2 MULTIPLE CPU SYSTEM • Operation example The example of operating automatic refresh is shown below. PLC CPU (CPU No.1) Motion CPU (CPU No.2) Multiple CPU high speed Multiple CPU high speed Internal relay transmission area transmission area Internal relay U3E0\G10000 U3E0\G10000 CPU No.1...
  • Page 77 2 MULTIPLE CPU SYSTEM b) 3 CPU modules (1 PLC CPU, 2 Motion CPUs) use • Parameter setting The setting example of automatic refresh is shown below. • CPU No.1 (PLC CPU) (GX Works2/GX Developer) • CPU No.2 (Motion CPU) (MT Developer2) <Screen: GX Works2>...
  • Page 78 2 MULTIPLE CPU SYSTEM • CPU No.3 (Motion CPU) (MT Developer2) Set the device received from CPU No.1. Set "blank" not to refresh the device of CPU No.2. Set the device received from CPU No.2. Set "blank" not to refresh the device of CPU No.2.
  • Page 79 2 MULTIPLE CPU SYSTEM • Operation example The example of operating automatic refresh is shown below. PLC CPU (CPU No.1) Motion CPU (CPU No.2) Multiple CPU high speed Multiple CPU high speed Internal relay transmission area transmission area Internal relay U3E0\G10000 U3E0\G10000 CPU No.1...
  • Page 80 2 MULTIPLE CPU SYSTEM POINT Set the following operation for automatic refresh setting using GX Works2/ GX Developer. 1) Select tab "Multiple CPU high speed transmission area setting". 2) Set "Use Multiple CPU high speed transmission". <Screen: GX Works2> (c) Data size consistency check Whether the Multiple CPU setting parameters are the same for all CPUs or not is automatically checked.
  • Page 81: Multiple Cpu High Speed Refresh Function

    2 MULTIPLE CPU SYSTEM 2.3.3 Multiple CPU high speed refresh function This function is used to update the data between internal devices of Motion CPU and the Multiple CPU high speed transmission area. This occurs every operation cycle as defined in the device setting of automatic refresh in the self CPU. Classification Item Description...
  • Page 82 2 MULTIPLE CPU SYSTEM (2) Operation example of Multiple CPU high speed refresh function (a) Parameter setting The automatic refresh setting of Multiple CPU high speed refresh is shown below. • CPU No.1 (PLC CPU) (GX Works2/GX Developer • CPU No.2 (Motion CPU) (MT Developer2) ) <Screen: GX Works2>...
  • Page 83 2 MULTIPLE CPU SYSTEM POINT Set the following operation for automatic refresh setting using GX Works2/ GX Developer. 1) Select tab "Multiple CPU high speed transmission area setting". 2) Set "Use Multiple CPU high speed transmission". <Screen: GX Works2> 2 - 32...
  • Page 84 2 MULTIPLE CPU SYSTEM (b) Operation example The example of operating Multiple CPU high speed refresh function is shown below. PLC CPU (CPU No.1) Motion CPU (CPU No.2) Multiple CPU high speed Multiple CPU high speed Internal relay transmission area transmission area Internal relay U3E0\G10000...
  • Page 85: Clock Synchronization Between Multiple Cpu

    2 MULTIPLE CPU SYSTEM 2.3.4 Clock synchronization between Multiple CPU The clock of each CPU is synchronized with the clock of CPU No. 1. The clock data used for synchronization in a Multiple CPU system can be edited. (1) Setting of clock data Set the clock of CPU No.1.
  • Page 86: Multiple Cpu Synchronous Startup

    2 MULTIPLE CPU SYSTEM 2.3.5 Multiple CPU synchronous startup Multiple CPU synchronous startup function synchronizes the startups of CPU No.1 to CPU No.4. (It takes about ten seconds to startup for Motion CPU.) Since this function monitors the startup of each CPU module, when other CPU is accessed by a user program, an interlock program which checks the CPU module startup is unnecessary.
  • Page 87: Control Instruction From Plc Cpu To Motion Cpu

    2 MULTIPLE CPU SYSTEM 2.3.6 Control instruction from PLC CPU to Motion CPU Control can be instructed from the PLC CPU to the Motion CPU using the Motion dedicated PLC instructions listed in the table below. Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)"...
  • Page 88: Common Parameters

    3 COMMON PARAMETERS 3. COMMON PARAMETERS 3.1 System Settings In the Multiple CPU system, the common system parameters and individual parameters are set for each CPU and written to each CPU. (1) The base settings, Multiple CPU settings and Motion slot settings are set in the common system parameter setting.
  • Page 89: System Data Settings

    3 COMMON PARAMETERS 3.1.1 System data settings Table 3.1 lists the system data items to be set. Table 3.1 System data setting list Item Setting range Initial value Remark Main base 5/8/12 slots Main base: 8 slots Set the number of slots in the main Base setting base or extension base.
  • Page 90 3 COMMON PARAMETERS Table 3.1 System data setting list (Continued) Item Setting range Initial value Remark Set self CPU/other CPU/CPU (empty) for Self CPU installation slots 0/1/2. (The setting range varies Set the installation position of the None position setting depending on the number of Multiple CPUs self CPU in the main base.
  • Page 91 3 COMMON PARAMETERS Table 3.1 System data setting list (Continued) Item Setting range Initial value Remark Either of Q172DEX and Q173DPX. Pulse/synchronous encoder Q172DEX: Up to 2 points I/F module Q173DPX: Up to 3 points High-speed Either of one input module and built-in reading data None Refer to Section 4.3.
  • Page 92: Common System Parameters

    3 COMMON PARAMETERS 3.1.2 Common system parameters (1) Parameters for operating the Multiple CPU system In the Multiple CPU system, the common system parameters and individual parameter for each CPU are set and written into each CPU. Regarding the Motion CPU, the items in System Settings related to the entire Multiple CPU system must be identical to the parameter settings in the PLC CPU.
  • Page 93 3 COMMON PARAMETERS (2) Parameters common throughout the Multiple CPU system In the Motion CPU, during initialization the parameters in the table below are verified against the parameters in the PLC CPU of CPU No. 1. Unmatched parameters generate a PARAMETER ERROR (error code: 3012, 3015), so the parameters show below must be set identically between Motion CPUs and the PLC CPU of CPU No.1.
  • Page 94 3 COMMON PARAMETERS (a) Multiple CPU settings Set the following items identically in Multiple CPU Settings (Motion CPU) in MT Developer2 and in Multiple CPU Settings (PLC CPU) in GX Works2/ GX Developer. • Number of CPU modules (Included CPU empty slots) •...
  • Page 95 3 COMMON PARAMETERS (b) Motion slot settings Set the modules controlled by the self CPU by the Motion Slot Settings (Motion CPU) in MT Developer2. In GX Works2/GX Developer, set the slot for Motion CPU control as the CPU number of Motion CPU in I/O Assignment Settings (PLC CPU).
  • Page 96 3 COMMON PARAMETERS (c) Base settings Set the total number of bases and number of slots in each base identically between Base Settings (Motion CPU) in MT Developer2 and I/O Assignment Settings (PLC CPU) in GX Works2/GX Developer. In GX Works2/ GX Developer, the detailed settings may be omitted by setting the base mode "Auto".
  • Page 97 3 COMMON PARAMETERS POINT GOT is recognized as an intelligent function modules "16 points 10 slots" on the base (number of extension bases and slot No. are set in the GOT parameter.) for bus connection with GOT. Set the one extension base (16 points 10 slots) for connection with GOT, then set "10 slots"...
  • Page 98: Individual Parameters

    3 COMMON PARAMETERS 3.1.3 Individual parameters (1) System basic setting The following explains each item to be set in system basic setting. (a) Operation cycle 1) Set the of motion operation cycle (cycles at which a position command is computed and sent to the servo amplifier). The setting range is 0.2ms /0.4ms/0.8ms/1.7ms/3.5ms/7.1ms/ 14.2ms...
  • Page 99 3 COMMON PARAMETERS 3) If the duration of motion operation has exceeded the operation cycle, the operation cycle over flag (M2054) turns ON. Even when "Automatic setting" is selected, the duration of motion operation may exceed the operation cycle depending on the control conditions. The actual duration of motion operation (unit: s) is stored in SD522, and the current setting of operation cycle (unit: s) is stored in SD523.
  • Page 100 3 COMMON PARAMETERS (d) Error setting on servo warning Set whether or not to output error on servo warning. Error setting on servo warning Device No. Signal name Output error Not output error M2039 Motion error detection flag (Note-1) D8+20n Servo error code (Note-1) #8008+20n...
  • Page 101 3 COMMON PARAMETERS POINT (1) Use this setting to restrict the output of battery error in the incremental system configuration using ROM operation. (2) The battery is necessary to use the absolute position system or latch data. Be sure to set "Perform battery check". (f) Latch range Set the following latching ranges for M, B, F, D and W, respectively.
  • Page 102 3 COMMON PARAMETERS (3) CPU setting The following explains item to be set in CPU setting. • SV22 advanced synchronous control use • SV13/SV22 virtual mode use (a) Self CPU installation position setting Set the installation position of the self CPU installed to the main base. •...
  • Page 103 3 COMMON PARAMETERS (c) Input signal detection direction Set the detection direction of mark detection signal when the built-in interface in Motion CPU (DI) is used in the mark detection function. • Valid on leading edge : Mark detection is executed by turning OFF to ON the mark detection signal.
  • Page 104 3 COMMON PARAMETERS (4) Individual module settings The setting items for each module are shown below. (a) Setting items for each Motion module Number of usable modules Module Item Setting range Initial value name Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1) Normal open/Normal close DOG signal contact (Set the DOG signal for 8 Normal open...
  • Page 105 3 COMMON PARAMETERS (b) Setting items for each PLC module Number of usable modules Module name Item Setting range Initial value Q173DSCPU/ Q173DCPU(-S1)/ Q172DSCPU Q172DCPU(-S1) 0000 to 0FF0 (in units of 16 First I/O No. 0000 points) Point 16/32/48/64/128/256 High-speed read Input module Used/Unused Unused...
  • Page 106 3 COMMON PARAMETERS Setting items for each PLC module (Continues) Number of usable modules Module name Item Setting range Initial value Q173DSCPU/ Q173DCPU(-S1)/ Q172DSCPU Q172DCPU(-S1) 0000 to 0FF0 (in units of 16 First I/O No. 0000 points) 16 points/32 points/48 points/ Intelligent General function...
  • Page 107 3 COMMON PARAMETERS (5) External signal input Servo external signal (Upper stroke limit/Lower stroke limit/Stop signal/Proximity dog) can be selected for every axis from the following methods. (a) Q172DLX Servo external signals interface module use • Q173DSCPU/Q172DSCPU Select "Q172DLX signal" for every axis with signal type in the servo external signal parameter of servo data setting, and set the module No.
  • Page 108: I/o Number Assignment

    3 COMMON PARAMETERS 3.2 I/O Number Assignment In the Multiple CPU system, I/O numbers are used for interactive transmission between the Motion CPU and I/O modules and intelligent function modules, or between PLC CPU and Motion CPU. 3.2.1 I/O number assignment of each module The Multiple CPU system is different from the Single CPU system in the position (slot) of I/O number "0H"...
  • Page 109 3 COMMON PARAMETERS (2) I/O number assignment of Motion CPU control module Mitsubishi recommends that I/O No. assignment be set as consecutive No. that are common throughout all CPUs. However, the I/O number of input modules, output modules, input/output composite modules, and intelligent function modules controlled with the Motion CPU can also be set with no relation to the I/O number of PLC CPU.
  • Page 110: I/o Number Of Each Cpu Modules

    3 COMMON PARAMETERS 3.2.2 I/O number of each CPU modules In the Multiple CPU system, I/O numbers are assigned to each CPU module to specify installed CPU modules. The I/O number for each CPU module is fixed to the corresponding slot and cannot be changed.
  • Page 111: I/o Number Setting

    3 COMMON PARAMETERS 3.2.3 I/O number setting Set the modules installed in each slot of the main base or extension base and assign the control CPU of applicable slot as the self CPU in the Motion Slot setting of the system setting for Motion CPU.
  • Page 112: Servo Parameters

    3 COMMON PARAMETERS 3.3 Servo Parameters The servo parameters control the data fixed by the specifications of the servo amplifier and servomotor controlled in the parameter set for each axis and the control of the servomotor. The servo parameters are set by the Setup software (MR Configurator ). Refer to the "Servo amplifier Instruction Manual"...
  • Page 113: Servo External Signal Parameters

    3 COMMON PARAMETERS 3.4 Servo External Signal Parameters This parameter is used to the servo external signal (Upper stroke limit (FLS), Lower stroke limit (RLS), Stop signal (STOP), Proximity dog/Speed-position switching (DOG/CHANGE)) used for each axis. The setting items for servo external signal are shown below. Servo external signal parameter list Setting range Default...
  • Page 114 3 COMMON PARAMETERS (c) Amplifier input The input signal of servo amplifier is used as the following servo external signals. Input signal Servo external signal Upper stroke limit (FLS) Lower stroke limit (RLS) Proximity dog (DOG) (d) DI signal The built-in interface in Motion CPU (DI1 to DI4) is used as the proximity dog/speed-position switching (DOG/CHANGE)).
  • Page 115 3 COMMON PARAMETERS (5) Contact Set the signal contact used as the servo external signal. For Q172DLX signal, select "Q172DLX" in the motion slot setting of system setting, and set this item in the details setting. For DI signal, set this item in the "CPU setting" of system setting (a) Normal open •...
  • Page 116: Auxiliary And Applied Functions

    4 AUXILIARY AND APPLIED FUNCTIONS 4. AUXILIARY AND APPLIED FUNCTIONS 4.1 Limit Switch Output Function This function is used to output the ON/OFF signal corresponding to the data range of the watch data set per output device. Motion control data or optional word data can be used as watch data. (Refer to Section "4.1.2 Limit output setting data"...
  • Page 117 4 AUXILIARY AND APPLIED FUNCTIONS 2) (ON Value) > (OFF Value) Output device OFF Value ON section setting ON Value Watch data value (Watch data value) < (OFF Value) (ON Value) < (Watch data value) 3) (ON Value) = (OFF Value) Output device OFF in whole region ON section setting...
  • Page 118 4 AUXILIARY AND APPLIED FUNCTIONS (3) Forced output bit can be set and turned the forcibly output of the limit switch outputs point-by-point ON. The output is ON when the forced output bit is ON. Priority is given to control of this setting over off (disable) of the "output enable/disable bit".
  • Page 119: Limit Output Setting Data

    4 AUXILIARY AND APPLIED FUNCTIONS 4.1.2 Limit output setting data Limit output data list are shown below. Up to 32 points of output devices can be set. (The following items of No.1 to No.5 are set together as one point.) Refresh Item Setting range...
  • Page 120 4 AUXILIARY AND APPLIED FUNCTIONS (2) Watch data (a) This data is used to perform the limit switch output function. This data is comparison data to output the ON/OFF signal. The output device is ON/OFF-controlled according to the ON section setting. (b) As the watch data, motion control data or optional word device data can be used.
  • Page 121 4 AUXILIARY AND APPLIED FUNCTIONS 2) Word device data Item Device No. setting range Data register D0 to D8191 Link register W0 to W1FFF Motion register #0 to #9215 (Note-1) U \G10000 to U \G (10000+p-1) Multiple CPU area device (Note-1): "p"...
  • Page 122 4 AUXILIARY AND APPLIED FUNCTIONS (b) Usable devices Item Device No. setting range (Note-1) (Note-2) Input relay X0 to X1FFF (Note-3) Output relay Y0 to Y1FFF Internal relay M0 to M8191 Link relay B0 to B1FFF Annunciator F0 to F2047 Special relay SM0 to SM1999 (Note-4)
  • Page 123: Operations (sv22 Advanced Synchronous Control Only)

    4 AUXILIARY AND APPLIED FUNCTIONS 4.1.3 Operations (SV22 advanced synchronous control only) Ver.! (1) ON output to an output device is made while the watch data value is in the ON region set with lower limit value and upper limit value in the limit switch output function.
  • Page 124 4 AUXILIARY AND APPLIED FUNCTIONS (b) The limit switch outputs are controlled based on each watch data during the READY complete status (SM500: ON) by the PLC ready flag (M2000) from OFF to ON. With the setting of "M2000 keep the output device when turns OFF" invalid, when the READY complete flag (SM500) turns OFF by turning the PLC ready flag (M2000) from ON to OFF, all points turn OFF.
  • Page 125: Limit Output Setting Data (sv22 Advanced Synchronous Control Only)

    4 AUXILIARY AND APPLIED FUNCTIONS 4.1.4 Limit output setting data (SV22 advanced synchronous control only) Ver.! Limit output data list are shown below. Up to 64 points of output devices can be set. (The following items of No.2 to No.7 are set together as one point.) Refresh Item Setting range...
  • Page 126 4 AUXILIARY AND APPLIED FUNCTIONS (b) As the output device, the following devices can be used. Item Device No. setting range (Note-1) (Note-4) Input relay X0 to X1FFF (Note-2) Output relay Y0 to Y1FFF (Note-3) Internal relay M0 to M8191 Link relay B0 to B1FFF (Note-5), (Note-6)
  • Page 127 4 AUXILIARY AND APPLIED FUNCTIONS (3) Limit output compensation time (a) Compensate the output timing of the output device. Set it to compensate for output signal delays. (Set a positive value to compensate for a delay.) The timing is compensated as "-5000000" when the compensation time is set to less than -5000000, and it is compensated as "5000000"...
  • Page 128 4 AUXILIARY AND APPLIED FUNCTIONS (4) Watch data (a) This data is used to perform the limit switch output function. This data is comparison data to output the ON/OFF signal. The output device is ON/OFF-controlled according to the ON section setting. (b) As the watch data, motion control data, word device data or word device data (ring counter) can be used.
  • Page 129 4 AUXILIARY AND APPLIED FUNCTIONS (c) Ring counter value When the watch data is the word device data (ring counter), the ring counter value is set. Data type Remarks 16-bit integer type H0001 to H7FFF 32-bit integer type K1 to K2147483647, H00000001 to H7FFFFFFF Without output device compensation time Ring counter value...
  • Page 130 4 AUXILIARY AND APPLIED FUNCTIONS (6) Forced OFF bit (a) Set the "forced OFF bit" when forced OFF of the output device is desired during operation. The following control is exercised. Forced OFF bit Control description Without setting Output device is turned ON/OFF based on the ON section setting.
  • Page 131 4 AUXILIARY AND APPLIED FUNCTIONS (7) Forced ON bit (a) Set the "forced ON bit" when forced ON of the output device is desired during operation. The following control is exercised. Forced ON bit Control description Without setting Output device is turned ON/OFF based on the ON section setting .
  • Page 132: Absolute Position System

    4 AUXILIARY AND APPLIED FUNCTIONS 4.2 Absolute Position System The positioning control for absolute position system can be performed using the absolute-position-compatible servomotors and servo amplifiers. If the machine position is set at the system starting, home position return is not necessary because the absolute position is detected at the power on.
  • Page 133 4 AUXILIARY AND APPLIED FUNCTIONS (4) If a major error (error code: 1202, 12020) occurs because of a communication error between the servo amplifier and encoder, home position return request (M2409+20n) turns ON, and absolute data is erased. However, the erasing of the absolute data can be avoided with the following combinations.
  • Page 134: Current Value Control

    4 AUXILIARY AND APPLIED FUNCTIONS 4.2.1 Current value control The current value when using the ABS encoder is controlled by following functions. (1) The validity of an encoder data during operation is checked. (a) Checks that the amount of change of the encoder in a 3.5[ms] is within 180 degrees at the motor axis.
  • Page 135: High-speed Reading Of Specified Data

    4 AUXILIARY AND APPLIED FUNCTIONS 4.3 High-Speed Reading of Specified Data This function is used to store the specified positioning data in the specified device (D, W, U \G). The signal from input module controlled in the Motion CPU is used as a trigger.
  • Page 136 4 AUXILIARY AND APPLIED FUNCTIONS POINT If the wrong address is set in the absolute address, the WDT error will occur. Explain to our sales representative before setting the absolute address. (2) Modules and signals to be used Input module Signal Read timing Number of settable points...
  • Page 137: Rom Operation Function

    4 AUXILIARY AND APPLIED FUNCTIONS 4.4 ROM Operation Function This function is used to operate based on the data in the FLASH ROM built-in Motion CPU module that the user programs and parameters have been stored. 4.4.1 Specifications of 7-segment LED/switches Items Functions Q172DCPU...
  • Page 138 4 AUXILIARY AND APPLIED FUNCTIONS (b) Operation mode overview Operation mode 7-segment LED Operation overview • " . " remains flashing in the first digit of 7-segment LED. • It operates based on the user programs and parameters stored in the SRAM Mode operated built-in Motion CPU module.
  • Page 139: Outline Of Rom Operation

    4 AUXILIARY AND APPLIED FUNCTIONS 4.4.2 Outline of ROM operation When the ROM writing is requested to the Motion CPU module using the MT Developer2, the programs and parameters stored in the SRAM built-in Motion CPU module are batch-written to the FLASH ROM, after the data of FLASH ROM built-in Motion CPU are erased.
  • Page 140 4 AUXILIARY AND APPLIED FUNCTIONS (1) Write the programs and parameters written in the SRAM built-in Motion CPU module to the FLASH ROM built-in Motion CPU module for the ROM operation. <ROM writing> Mode operated by RAM/Mode operated by ROM Motion CPU module Be sure to write the programs and parameters beforehand SRAM...
  • Page 141 4 AUXILIARY AND APPLIED FUNCTIONS (a) Writing procedure for the data of SRAM built-in Motion CPU module to the ROM. Execute the ROM writing to the FLASH ROM built-in Motion CPU module by selecting the [Execute] button on the Export to ROM Format screen displayed by the menu bar [Online] - [Export to ROM Format].
  • Page 142 4 AUXILIARY AND APPLIED FUNCTIONS (2) Write the programs and parameters of the MT Developer2 to the SRAM built-in Motion CPU module, and then write them to the FLASH ROM built-in Motion CPU module for the ROM operation. <Data writing + ROM writing> Mode operated by RAM/Mode operated by ROM Motion CPU module Personal computer...
  • Page 143 4 AUXILIARY AND APPLIED FUNCTIONS (a) Writing procedure for the data of MT Developer2 to the ROM. Check the data written in the Motion CPU by selecting the [Program memory + CPU ROM] of target memory on the Write to CPU screen displayed by the menu bar [Online] - [Write to CPU].
  • Page 144: Operating Procedure Of The Rom Operation Function

    4 AUXILIARY AND APPLIED FUNCTIONS 4.4.3 Operating procedure of the ROM operation function (1) ROM operation procedure The ROM operation procedure is shown below. Preparation for ROM operation Set the "Mode operated by RAM" by setting the rotary switch 1 (SW1) and 2 (SW2) to "0". Turn ON the power supply of Multiple CPU system.
  • Page 145 4 AUXILIARY AND APPLIED FUNCTIONS (2) Operation at the "Mode operated by ROM" Mode operated by ROM start (Data (programs and parameters) are not written to the FLASH ROM built-in Is the data written Motion CPU module.) to the FLASH ROM built-in Motion CPU module ? The system setting error ("...
  • Page 146: Security Function

    4 AUXILIARY AND APPLIED FUNCTIONS 4.5 Security Function 4.5.1 Protection by password This function is used to protect the user data of Motion CPU by registering a password. The illegal reading or writing of the user data are prevented by setting a password. Registered password can be changed and deleted.
  • Page 147 4 AUXILIARY AND APPLIED FUNCTIONS (2) User data protected by password The user data protected in this function are shown below. "Write Protection" or "Read/Write Protection" can be set every user data. Operating User data Protected contents system software Motion SFC programs (Control code, text) Motion SFC program and motion SFC parameters SV13/SV22...
  • Page 148 4 AUXILIARY AND APPLIED FUNCTIONS (3) Password registration/change Execute the password registration/change on the "Register/Change password" screen of MT Developer2. Refer to the help of MT Developer2 for details of the operation procedures. <SV13/SV22 use> <SV43 use> Items Details Type Type of user data Registration "...
  • Page 149 4 AUXILIARY AND APPLIED FUNCTIONS POINT (1) If a user has forgotten a registration password, clear a password of Motion CPU by the all clear function. However, the all password data and user data are cleared by the all clear function. Re-write the user data to the Motion CPU. (Refer to Section 4.6 for details.) (2) ROM operation can be executed by user data registered a password.
  • Page 150 4 AUXILIARY AND APPLIED FUNCTIONS (4) Password delete Execute the password delete on the "Delete password" screen of MT Developer2. Refer to the help of MT Developer2 for details of the operation procedures. <SV13/SV22 use> <SV43 use> Items Details Type Type of user data Registration "...
  • Page 151 4 AUXILIARY AND APPLIED FUNCTIONS (5) Password check When operating the user data that sets password, the check password screen is displayed automatically. Protection by the password temporarily released by success of password check. A password is memorized until MT Developer2 ends. (Since protection by password is automatically released temporarily at the user data operation, a check password screen is not displayed.) Refer to the help of MT Developer2 for details of the operation procedure.
  • Page 152 4 AUXILIARY AND APPLIED FUNCTIONS (6) Password save Registered/changed/deleted password or password read with user data from "Read from CPU" screen displayed by reading operation of the data can be saved in a project data. A password saved in a project data can be registered with user data, when the user data are written in the Motion CPU that does not set password from "Write to CPU"...
  • Page 153: Protection By Software Security Key

    MT Developer2, the software security key cannot be released even in repair or maintenance, and the project data cannot be referred to permanently. Mitsubishi Electric Corporation cannot be held responsible for any damage which may occur as a result of not being able to refer to the project data for our customers or other individuals and organizations.
  • Page 154 4 AUXILIARY AND APPLIED FUNCTIONS (1) Overview of software security key The software security key is controlled with the software security key name. Eight software security key names can be registered to MT Developer2. Key function level (Administrator/Developer/User) is set in the software security key, and some operations are restricted depending on the key function level.
  • Page 155 4 AUXILIARY AND APPLIED FUNCTIONS (2) Start-up procedure of software security key The operation of software security key function is executed on the software security key management screen of MT Developer2. Select the menu bar [Tools]-[Software Security Key Management]. Refer to the help of MT Developer2 for details of the operation procedures. Operation details of software security key function are shown below Items Details...
  • Page 156 4 AUXILIARY AND APPLIED FUNCTIONS (3) Operating procedure of software security key function (a) Using procedure of software security key START Create the software security key. Export the software security key. Will communication and project management be executed in another computer? Import the software security key to another computer.
  • Page 157 4 AUXILIARY AND APPLIED FUNCTIONS (b) Delete procedure of software security key START Install the operating system software without setting the software security key. (Motion CPU is all cleared.) Delete the software security key from the project. Write the project to Motion CPU. Is the deleted software security key used on another project?
  • Page 158: All Clear Function

    4 AUXILIARY AND APPLIED FUNCTIONS 4.6 All Clear Function This function is used to clear the all user data, password setting, device memory, backup area and user data area of FLASH ROM in the Motion CPU module. (1) Procedure for clear all (a) Set the Motion CPU module to installation mode (Set a rotary switch 1 (SW1) to "A".) (b) Execute the all clear.
  • Page 159: Communication Via Network

    4.7 Communication Via Network The communication between the personal computer and the Motion CPU is possible via Q series Network module (CC-LinkIE, CC-Link, MELSECNET/10(H), Ethernet and etc.) in the Motion CPU module. Refer to the PLC manuals for the specifications of each network modules of CC-LinkIE, CC-Link, MELSECNET/10(H), Ethernet and Serial communication, the handling method.
  • Page 160: Monitor Function Of The Main Cycle

    4 AUXILIARY AND APPLIED FUNCTIONS 4.8 Monitor Function of the Main Cycle (1) Information for main cycle of the Motion CPU (process cycle executed at free time except for motion control) is stored to the special register. (2) Since the automatic refresh of CPU shared memory, normal task of Motion SFC program (SV13/SV22) and Motion program (SV43) are executed in the main cycle, make it reference for process time, etc.
  • Page 161: Servo Parameter Read/change Function

    4 AUXILIARY AND APPLIED FUNCTIONS 4.9 Servo Parameter Read/Change Function (1) When the servo parameters are changed, the Motion CPU will be automatically read the servo parameters and reflected them to the servo parameter storage area in the Motion CPU. Therefore, an operation to read servo parameters is unnecessary in the following cases.
  • Page 162 4 AUXILIARY AND APPLIED FUNCTIONS (b) Procedure to servo parameter write/read 1) Procedure to write 1. Set the axis No., servo parameter No. and servo parameter setting value in SD805 to SD807. 2. Set "1: Write request" in SD804. 3. Check that "0" is set in SD804. (Completion of write) 2) Procedure to read 1.
  • Page 163: Optional Data Monitor Function

    4 AUXILIARY AND APPLIED FUNCTIONS 4.10 Optional Data Monitor Function This function is used to store the data (MR-J4(W)- B: 1 to 6 per axis, MR-J3(W)- B: 1 to 3 per axis) to the specified devices (D, W, #, U \G) and monitor them. It can be set by the system setting of MT Developer2.
  • Page 164 4 AUXILIARY AND APPLIED FUNCTIONS Number of Servo amplifier Number of Data type Unit communication Remark words MR-J3(W)- B MR-J4(W)- B data points Disturbance torque [0.1%] Disturbance thrust Linear servo motor use Overload alarm margin [0.1%] Error excessive alarm margin [16PLS] Settling time [ms]...
  • Page 165 4 AUXILIARY AND APPLIED FUNCTIONS POINT (1) The updating cycle of data is every operation cycle. (2) Set an even numbered device No. in the two word data. (3) Refer to Chapter 2 for the user setting area points of the Multiple CPU high speed transmission area.
  • Page 166: Sscnet Control Function

    4 AUXILIARY AND APPLIED FUNCTIONS 4.11 SSCNET Control Function The following controls are possible in the SSCNET control function. Function Application Temporarily connect/disconnect of SSCNET communication is executed during Multiple Connect/disconnect of SSCNET CPU system's power supply ON. communication This function is used to exchange the servo amplifiers or SSCNET cables. Start/release of amplifier-less operation is requested.
  • Page 167: Connect/disconnect Function Of Sscnet Communication

    4 AUXILIARY AND APPLIED FUNCTIONS 4.11.1 Connect/disconnect function of SSCNET communication Temporarily connect/disconnect of SSCNET communication is executed during Multiple CPU system's power supply ON. This function is used to exchange the servo amplifiers or SSCNET cables. Set the request for the connect/disconnect of SSCNET communication in SSCNET control command (SD803), and the status for the command accept waiting or execute waiting is stored in SSCNET control status (SD508).
  • Page 168 4 AUXILIARY AND APPLIED FUNCTIONS (1) Procedure to connect/disconnect of SSCNET communication Procedure to connect/disconnect at the exchange of servo amplifiers or SSCNET cables is shown below. (a) Procedure to disconnect 1) Set the axis No. to disconnect in SD803. (Setting value: 1 to 32) 2) Check that "-1: Execute waiting"...
  • Page 169 4 AUXILIARY AND APPLIED FUNCTIONS (2) Program (a) Program to connect/disconnect the servo amplifiers after Axis 5 of self CPU Disconnect procedure : Turn OFF the servo amplifier's power supply after checking the LED display "AA" of servo amplifier. Connect procedure : Resume operation of servo amplifier after checking the servo ready (M2415+20n) ON.
  • Page 170 4 AUXILIARY AND APPLIED FUNCTIONS (b) Program to connect/disconnect the servo amplifiers after Axis 5 connected to the Motion CPU (CPU No.2) by the PLC CPU (CPU No.1). Disconnect procedure : Turn OFF the servo amplifier's power supply after checking the LED display "AA" of servo amplifier by turning X0 from OFF to ON.
  • Page 171: Amplifier-less Operation Function

    4 AUXILIARY AND APPLIED FUNCTIONS 4.11.2 Amplifier-less operation function Ver.! This function is used to confirm for the operation without connecting the servo amplifiers at the starting or debugging. The start/release request of amplifier-less operation is set in SSCNET control command (SD803), and status of the command accepting waiting or execute waiting is stored in SSCNET control status (SD508).
  • Page 172 4 AUXILIARY AND APPLIED FUNCTIONS (2) Control details Operation during amplifier-less operation is shown below. Item Operation All axes set in the system setting are connected with the following type regardless of the setting details of system setting. (1) Q173DSCPU/Q172DSCPU use (a) For communication type "SSCNET /H"...
  • Page 173 4 AUXILIARY AND APPLIED FUNCTIONS (3) Procedure to start/release of amplifier-less operation (a) Procedure to start 1) Set "-20: Start command 1 of amplifier-less operation (EMI invalid)" in SD803. 2) Check that "-1: Execute waiting" is set in SD508. (Start processing execute waiting of amplifier-less operation) 3) Set "-2: Execute command"...
  • Page 174 4 AUXILIARY AND APPLIED FUNCTIONS (4) Program Program to start/release of amplifier-less operation for the self CPU (a) Motion SFC program (SV13/SV22) Operation start (EMI input invalid) Operation release Start processing of amplifier-less Release processing of operation amplifier-less operation [G40] Check the normal [G41] Check the amplifier-less...
  • Page 175: Remote Operation

    4 AUXILIARY AND APPLIED FUNCTIONS 4.12 Remote Operation This function is used to control the following operation of Motion CPU using MT Developer2. • Remote RUN/STOP • Remote latch clear POINT Latch clear can be executed only using the remote control of MT Developer2. 4.12.1 Remote RUN/STOP The PLC ready flag (M2000) is turned ON/OFF using MT Developer2 with RUN/STOP switch of Motion CPU module set to RUN.
  • Page 176 4 AUXILIARY AND APPLIED FUNCTIONS POINT (1) Remote RUN cannot be executed if RUN/STOP switch sets to STOP. Operation after remote operation by RUN/STOP switch is shown below. Position of RUN/STOP switch STOP Execute remote RUN STOP Remote operation Execute remote STOP STOP STOP (2) The following parameters are read by turning on the PLC ready flag (M2000).
  • Page 177: Remote Latch Clear

    4 AUXILIARY AND APPLIED FUNCTIONS 4.12.2 Remote latch clear Device data of Motion CPU that latched are cleared by MT Developer2 at PLC ready flag (M2000) OFF (PCPU READY complete flag (SM500) OFF). Operation for remote latch clear is combined with remote RUN/STOP. (1) Operation procedure (a) Turn OFF the PLC ready flag (M2000) (PCPU READY complete flag (SM500) OFF) by remote STOP.
  • Page 178: Communication Function Via Peripheral I/f

    4 AUXILIARY AND APPLIED FUNCTIONS 4.13 Communication Function via PERIPHERAL I/F Ver.! The built-in Ethernet Motion CPU (Q173DSCPU /Q172DSCPU/Q173DCPU-S1/ Q172DCPU-S1) can communicate data by connecting built-in PERIPHERAL I/F of the Motion CPU with personal computers and/or display devices, etc. using an Ethernet cable.
  • Page 179 4 AUXILIARY AND APPLIED FUNCTIONS (1) Communication setting in MT Developer2 side Set the items on the Transfer Setup screen in MT Developer2 as shown below. 1) Select [Ethernet Board] for PC side I/F. 2) Select [PLC Module] for CPU side I/F. Select the "Ethernet Port Direct Connection"...
  • Page 180 4 AUXILIARY AND APPLIED FUNCTIONS (2) Precautions Precautions for direct connection are shown below. (a) Connection to LAN line When the Motion CPU is connected to LAN line, do not perform communication using direct connection. If performed, the communication may put a load to LAN line and adversely affect communications of other devices.
  • Page 181: Connection Via Hub

    4 AUXILIARY AND APPLIED FUNCTIONS 4.13.2 Connection via HUB Between the Motion CPU and MT Developer2 can be connected via HUB. Ethernet cable (Straight cable) Ethernet cable (Straight cable) PERIPHERAL I/F MT Developer2 Panel computer (1) Setting in Motion CPU side Set the items on the Built-in Ethernet Port Setting in Basic Setting as shown below.
  • Page 182 4 AUXILIARY AND APPLIED FUNCTIONS 2) Select the protocol ("TCP" or "UDP") to be used, in accordance with the external device on the Built-in Ethernet Port Open Setting screen. Select "TCP" to emphasize communication reliability. • Enabling the parameters of Motion CPU Using Ethernet direct connection or USB/RS-232 connection, write the settings in parameter to the Motion CPU by selecting [Online] - [Write to CPU] in MT Developer2.
  • Page 183 4 AUXILIARY AND APPLIED FUNCTIONS (2) Communication setting in MT Developer2 side Set the items on the Transfer Setup screen in MT Developer2 as shown below. 1) Select [Ethernet Board] for PC side I/F. 2) Select [PLC Module] for CPU side I/F. Select the "Connection via HUB"...
  • Page 184 4 AUXILIARY AND APPLIED FUNCTIONS POINT The Find CPU function can be used for specifying the IP address for Motion CPU side in the connection via HUB. This function can be activated in [Find CPU (Built-in Ethernet port) on Network] of CPU side I/F Detailed Setting of PLC Module screen, finds the Motion CPU connected to the same HUB as MT Developer2, and displays a list.
  • Page 185 4 AUXILIARY AND APPLIED FUNCTIONS (3) Precautions Precautions for connection via HUB are shown below. (a) When the personal computer that can connect to LAN line is used, set the same value for Motion CPU IP address as the following personal computer IP address.
  • Page 186 4 AUXILIARY AND APPLIED FUNCTIONS (b) The maximum number of devices that can access to one Motion CPU simultaneously is 16. (c) Hubs with 10BASE-T or 100BASE-TX ports can be used. (The ports must comply with the IEEE802.3 100BASE-TX or IEEE802.3 10BASE-T standards.) (d) The Ethernet cables must to be installed away from power cabling/lines.
  • Page 187: Mc Protocol Communication

    4 AUXILIARY AND APPLIED FUNCTIONS 4.13.3 MC protocol communication PERIPHERAL I/F of the Motion CPU enables communication using the (Note-1) MC protocol External devices such as personal computers and display devices read/write device data from/to the Motion CPU using the MC protocol. External devices monitor the operation of the Motion CPU, analyze data, and manage production by reading/writing device data.
  • Page 188 4 AUXILIARY AND APPLIED FUNCTIONS (a) Communication data code Select a communication data code used for the MC protocol, "Binary code" or "ASCII code". (b) Enable online change (MC protocol) Check the checkbox to enable online change when writing data to the Motion CPU from the external device that communicates using the MC protocol.
  • Page 189 4 AUXILIARY AND APPLIED FUNCTIONS (2) Command list When the PERIPHERAL I/F of the Motion CPU communicates using the MC protocol, commands listed in table below can be executed. Status of Motion CPU Command Number of Function (Subcommand) Description processed points STOP Write Write...
  • Page 190 4 AUXILIARY AND APPLIED FUNCTIONS (3) Available devices The devices available in commands used in the MC protocol communication function is shown below. (a) PLC CPU Device code Classification Device Device number range (Default) Remarks ASCII code Binary code (Note-1) Special relay 000000 to 002047 Decimal...
  • Page 191 4 AUXILIARY AND APPLIED FUNCTIONS (b) Motion CPU Device code Classification Device Device number range (Default) Remarks ASCII code Binary code (Note-1) Special relay 000000 to 002255 Decimal Internal system — device Special register 000000 to 002255 Decimal Input 000000 to 001FFF Hexadecimal Including actual input device PX.
  • Page 192 4 AUXILIARY AND APPLIED FUNCTIONS (e) Response message receive processing Figure below shows an example of the response message receive processing on the external device side. Communication processing on the external device side Request message send processing Response message receive processing TCP connection is closed.
  • Page 193 4 AUXILIARY AND APPLIED FUNCTIONS (5) Error codes for communication using MC protocol Table below shows the error codes, error descriptions, and corrective actions that will be sent from the Motion CPU to an external device when an error occurs during communication using the MC protocol.
  • Page 194: Mark Detection Function

    4 AUXILIARY AND APPLIED FUNCTIONS 4.14 Mark Detection Function Any motion control data and all device data can be latched at the input timing of the mark detection signal. Also, data within a specific range can be latched by specifying the data detection range.
  • Page 195 4 AUXILIARY AND APPLIED FUNCTIONS (1) Operations Operations done at mark detection are shown below. • Calculations for the mark detection data are estimated at leading edge/trailing edge of the mark detection signal. However, when the Specified Number of Detection mode is set, the current mark detection is checked against the counter value for number of mark detections and then it is determined whether or not to latch the current detection data.
  • Page 196 4 AUXILIARY AND APPLIED FUNCTIONS (2) Mark detection setting The mark detection setting parameters are shown below. Up to 32 mark detections setting can be registered. Item Setting range Built-in interface in Motion CPU (DI)/Q172DLX (DOG/CHANGE)/Device (Bit device (X, Y, M, Mark detection signal B, SM, U \G)) Mark detection signal detection...
  • Page 197 4 AUXILIARY AND APPLIED FUNCTIONS b) Q172DLX • Install the Q172DLX to the main base to use Q172DLX (DOG/CHANGE). If the Q172DLX is installed to the extension base, the mark detection function cannot be used. • The mark detection operation is executed at the DOG/CHANGE signal input with the count type home position return or speed- position switching control.
  • Page 198 4 AUXILIARY AND APPLIED FUNCTIONS (c) Mark detection signal compensation time Compensate the output timing of the mark detection signal. Set it to compensate for sensor input delays, etc. (Set a positive value to compensate for a delay.) However, the mark detection signal compensation time cannot be set if "Invalid"...
  • Page 199 4 AUXILIARY AND APPLIED FUNCTIONS (d) Mark detection data Set the data to latch at mark detection. 1) Motion control data Axis No. setting range Item Unit Data type Remarks Q173DSCPU Q172DSCPU Feed current value [µm], 10 [inch], Real current value [degree], [PLS] Motor real current value 32-bit integer type...
  • Page 200 4 AUXILIARY AND APPLIED FUNCTIONS Since the system-specific delay exists in the current value data of the synchronous encoder axis, there may be a difference between the actual current value and the current value of mark detection. When the "synchronous encoder current value", "synchronous encoder axis current value"...
  • Page 201 4 AUXILIARY AND APPLIED FUNCTIONS 4) Estimate calculation Set the estimate calculation to "Valid/Invalid" at the word device data setting. Estimate calculation Ring counter value Normal data — 16-bit integer type K1 to K32767, H0001 to H7FFF K1 to K2147483647, Valid Ring counter 32-bit integer type...
  • Page 202 4 AUXILIARY AND APPLIED FUNCTIONS b) Estimate calculation : Invalid Calculation for word device data in operation cycle is not estimated. The latch data is the word device data at the timing in which the mark detection signal is input. The detection accuracy is the operation cycle regardless of the mark detection signal type.
  • Page 203 4 AUXILIARY AND APPLIED FUNCTIONS (f) Mark detection data range When the data at mark detection is within the range, they are stored in the mark detection data storage device and the number of mark detections counter is incremented by 1. •...
  • Page 204 4 AUXILIARY AND APPLIED FUNCTIONS (g) Mark detection mode setting Set the data storage method of mark detection. 1) Direct designation Number of Mode Operation for mark detection Mark detection data storage method detections Continuous The data is updated in the mark detection —...
  • Page 205 4 AUXILIARY AND APPLIED FUNCTIONS (i) Mark detection current value monitor device The current value of mark detection data can be monitored. This setting can be omitted. (Note-1) Setting range Word device Remarks (Note-2) 0 to 8191 0 to 1FFF The monitor value is updated for 0 to 9215 every operation cycle.
  • Page 206: High-speed Input Request Signal Setting (sv22 Advanced Synchronous Control Only)

    4 AUXILIARY AND APPLIED FUNCTIONS 4.15 High-speed Input Request Signal Setting (SV22 advanced synchronous control only) Ver.! Set the high-speed input request signal assignment. The high-speed input request signal is the signal to execute the high-accuracy control of the clutch ON/OFF operation of synchronous control or the counter enable/counter disable/current value change operation of the synchronous encoder axis.
  • Page 207 4 AUXILIARY AND APPLIED FUNCTIONS (a) High-speed input request signal Set the input signal for high-speed input request signal. 1) Built-in interface in Motion CPU Module No. Detection Signal detection direction Input module Signal Signal No. accuracy [µs] (Leading edge/Trailing edge) Q173DSCPU Q172DSCPU Built-in interface in...
  • Page 208 4 AUXILIARY AND APPLIED FUNCTIONS (c) High-speed input request signal valid flag The high-speed input request signal is valid only when the flag is ON. The high-speed input request signal is invalid when the flag is OFF. This setting can be omitted. The high-speed input request signal is always valid when it is ignored.
  • Page 209: Driver Communication Function

    4 AUXILIARY AND APPLIED FUNCTIONS 4.16 Driver Communication Function Ver.! This function uses the "Master-slave operation function" of servo amplifier. The Motion CPU controls the master axis and the slave axis is controlled by data communication (driver communication) between servo amplifiers without going through the Motion CPU.
  • Page 210: Control Details

    4 AUXILIARY AND APPLIED FUNCTIONS 4.16.1 Control details Set the master axis and slave axis in the servo parameter. Execute each control of Motion CPU in the master axis. (However, be sure to execute the servo ON/OFF of slave axis, and error reset at servo error occurrence in the slave axis.) The servo amplifier set as master axis receives command (positioning command, speed command, torque command) from the Motion CPU, and sends the control data to the servo amplifier set as slave axis by driver communication between servo...
  • Page 211: Precautions During Control

    4 AUXILIARY AND APPLIED FUNCTIONS 4.16.2 Precautions during control CAUTION During operation by driver communication function, the positioning control or JOG operation, etc. by servo program is not interrupted even if a servo error occurs in the slave axis. Be sure to stop the master axis by user program.
  • Page 212 4 AUXILIARY AND APPLIED FUNCTIONS If all axes set to driver communication are not detected at the start of communication with the servo amplifier, all axes connected to that line, including normal axes cannot be operated. (The servo amplifier's LED display remains "Ab").
  • Page 213 4 AUXILIARY AND APPLIED FUNCTIONS (e) Common device The following common devices that apply to the slave axis cannot be used. Do not use an interlock. • Start accept flag (M2001 to M2032) • Speed change accepting flag (M2061 to M2092) •...
  • Page 214 4 AUXILIARY AND APPLIED FUNCTIONS (5) Mechanical system program (a) Do not set the slave axis to the output modules of the mechanical system program or the real mode axis. When the slave axis is set to output modules of the mechanical system program or the real mode axis, the position commands to the servo amplifier become invalid.
  • Page 215: Servo Parameter

    4 AUXILIARY AND APPLIED FUNCTIONS 4.16.3 Servo parameter Set the following parameters for the axes that execute the master-slave operation. (Refer to the "Servo amplifier Instruction Manual" for details.) Setting range Item Setting details MR-J3- B MR-J4- B Set the forced stop input and forced stop deceleration function.
  • Page 216: Intelligent Function Modules Controlled By Motion Cpu

    4 AUXILIARY AND APPLIED FUNCTIONS 4.17 Intelligent Function Modules Controlled by Motion CPU The Motion CPU can be used as the control CPU of intelligent function modules (excluding some modules). Up to 4 intelligent function modules in total can be used. The intelligent function modules that can be controlled by the Motion CPU are shown in Table 4.1.
  • Page 217 4 AUXILIARY AND APPLIED FUNCTIONS (1) Setting method Select "General", "Analog input", or "Analog output" in the Motion slot setting of intelligent function module and set the detail setting. Refer to the help of MT Developer2 for details of the operation procedures. Select the intelligent function module POINT...
  • Page 218 4 AUXILIARY AND APPLIED FUNCTIONS (3) Usage example An example using Q64AD2DA is shown below. (a) Detail setting Setting item Setting details First I/O No. 0030 Points 16 points Input format Hexadecimal Switch 1 02A0H (CH1 to CH4: Input range setting) Switch 2 0020H (CH5, CH6: Output range setting) Switch setting...
  • Page 219: Connection Of Sscnet /h Head Module

    4 AUXILIARY AND APPLIED FUNCTIONS 4.18 Connection of SSCNET /H Head Module Ver.! The MELSEC-L series SSCNET /H head module (LJ72MS15) can be connected to Q173DSCPU/Q172DSCPU (SV13/SV22). 4.18.1 System configuration A system configuration that uses SSCNET /H head modules is shown below. Motion CPU module Q17 DSCPU I/O module,...
  • Page 220: Sscnet /h Head Module Parameters

    4 AUXILIARY AND APPLIED FUNCTIONS 4.18.2 SSCNET /H head module parameters (1) Parameter setting Set the parameters to use the SSCNET /H head module. The parameters are set using MT Developer2. The setting items for parameters are shown in table 4.2. Table 4.2 SSCNET /H head module parameter list Item Setting range...
  • Page 221 4 AUXILIARY AND APPLIED FUNCTIONS (b) Station number Set the station number of SSCNET /H head module. The same station number can be used for line 1 and line 2. Cannot use the same station number as the axis No. of the servo amplifier. (Example) When using servo amplifier setting "d01", cannot set station number to "1".
  • Page 222 4 AUXILIARY AND APPLIED FUNCTIONS 3) Start Set the start device number that stores link data. • Bit device Bit device Setting range 0 to 1FFF 0 to 1FFF 0 to 8191 0 to 1FFF • Word device Word device Setting range (Note-1) 0 to 8191...
  • Page 223 4 AUXILIARY AND APPLIED FUNCTIONS 2) The device uses 16 points (1 point if a word device) from the specified device number. The details stored in the status device are shown below. Off set Signal name Refresh cycle Unusable — During stop error Operation cycle Unusable...
  • Page 224 4 AUXILIARY AND APPLIED FUNCTIONS (f) Monitor device Set the devices for monitoring the status of SSCNET /H head module. 1) Usable devices are shown below. • Word device Word device Setting range 0 to 8191 0 to 1FFF 0 to 9215 (Note-1), (Note-2) 10000 to (10000+p-1) U \G...
  • Page 225 4 AUXILIARY AND APPLIED FUNCTIONS (g) Command device Set the device for commands to SSCNET /H head module. 1) Usable devices are shown below. • Bit device (Note-1) Setting range Bit device 0 to 8191 0 to 1FFF (Note-1): Set the start device as a unit of 16 points. •...
  • Page 226 4 AUXILIARY AND APPLIED FUNCTIONS a) Error reset command Clears the error code storage device and resets the error code detection signal of the SSCNET /H head module. At an error reset command, turn this signal OFF after confirming the error detection signal of the SSCNET /H head module is turned OFF.
  • Page 227 4 AUXILIARY AND APPLIED FUNCTIONS 2) Operation example The example of operating parameter is shown below. SSCNET /H head module SSCNET /H head module Motion CPU (Station number 17) (Station number 18) (Note-1) 0000 0000 0000 M112 007F 007F M239 M240 M367 (Note-1)
  • Page 228: Data Operation Of Intelligent Function Module By Motion Sfc Program

    4 AUXILIARY AND APPLIED FUNCTIONS 4.18.3 Data operation of intelligent function module by Motion SFC program In addition to refresh of data by device, data read/write operations to the buffer memory of intelligent function modules on the SSCNET /H head module can be executed by the RTO and RFROM instructions of Motion SFC programs.
  • Page 229 4 AUXILIARY AND APPLIED FUNCTIONS MEMO 4 - 114...
  • Page 230: Appendices

    APPENDICES APPENDICES APPENDIX 1 Special Relays/Special Registers APPENDIX 1.1 Special relays Special relays are internal relays whose applications are fixed in the Motion CPU. For this reason, they cannot be used in the same way as the normal internal relays by the Motion SFC programs (SV13/SV22)/Motion programs (SV43).
  • Page 231 APPENDICES Table 1.1 Special relay list Set by Name Meaning Details Remark (When set) • Turn ON if an error occurs as a result of diagnosis. • Remains ON even if the condition is restored to normal OFF : No error thereafter.
  • Page 232 APPENDICES Table 1.1 Special relay list (Continued) Set by Name Meaning Details Remark (When set) • Goes OFF when reset of the No.2 CPU is cancelled. • Comes ON when the No.2 CPU is resetting OFF : CPU No.2 reset cancel (including the case where the CPU module is removed from SM241 No.2 CPU resetting ON : CPU No.2 resetting...
  • Page 233 APPENDICES Table 1.1 Special relay list (Continued) Set by Name Meaning Details Remark (When set) ON : During amplifier-less Amplifier-less SM508 operation • Confirm the amplifier-less operation status. S (Main processing) operation status OFF : During normal operation • Turn ON if the TEST mode is not established by TEST mode TEST mode request ON : Abnormal request using MT Developer2.
  • Page 234 APPENDICES Table 1.1 Special relay list (Continued) Set by Name Meaning Details Remark (When set) Clock data read OFF : Ignored • When this relay is ON, clock data is read to SD210 to SM801 request ON : Read request SD213 as BCD values.
  • Page 235: Appendix 1.2 Special Registers

    APPENDICES APPENDIX 1.2 Special registers Special registers are internal registers whose applications are fixed in the Motion CPU. For this reason, it is not possible to use these registers in Motion SFC programs (SV13/SV22)/Motion programs (SV43) in the same way that normal registers are used.
  • Page 236 APPENDICES Table 1.2 Special register list Set by Name Meaning Details Remark (When set) • Error codes for errors found by diagnosis are stored as BIN data. • Refer to "APPENDIX 3" for details of the error code. Diagnostic error •...
  • Page 237 APPENDICES Table 1.2 Special register list (Continued) Set by Name Meaning Details Remark (When set) SD16 • Individual information corresponding to the diagnostic error (SD0) is stored. SD17 • The error individual information type can be judged by SD4 (individual SD18 information category code).
  • Page 238 APPENDICES Table 1.2 Special register list (Continued) Set by Name Meaning Details Remark (When set) • The year (last two digits) and month are stored as BCD code. Example : July, 2006 Clock data H0607 SD210 (Year, Month) Year Month •...
  • Page 239 APPENDICES Table 1.2 Special register list (Continued) Set by Name Meaning Details Remark (When set) SD395 Multiple CPU No. Multiple CPU No. • CPU No. of the self CPU is stored. S (Initial processing) • The information (Except real mode axis: 0/Real mode axis: 1) used as a real mode axis at the time of switching from real mode to virtual mode is stored.
  • Page 240 APPENDICES Table 1.2 Special register list (Continued) Set by Name Meaning Details Remark (When set) Operation cycle Operation cycle SD523 of the Motion of the Motion CPU • The setting operation cycle is stored in the [µs] unit. S (Initial processing) CPU setting setting Maximum Motion...
  • Page 241 APPENDICES Table 1.2 Special register list (Continued) Set by Name Meaning Details Remark (When set) • Current value (SD722, SD723) is incremented by 1 per 222µs. Read SD722 device in 2 word unit. • This register is not updated when the operation cycle is set to other than 0.2ms.
  • Page 242: Appendix 1.3 Replacement Of Special Relays/special Registers

    APPENDICES APPENDIX 1.3 Replacement of special relays/special registers When a project of Q17 HCPU(-T)/Q17 CPUN(-T)/Q17 CPU is converted into a project of Q17 D(S)CPU by "File diversion" in MT Developer2, they are automatically allocated to "Automatically converted to special relays (SM2000 to SM2255), special registers (SD2000 to SD2255)".
  • Page 243 APPENDICES Table 1.3 Replacement of special relays Device No. Q17 HCPU(-T)/ Automatically Q17 D(S)CPU Q17 CPUN(-T)/Q17 CPU Name Remark converted to Special relay special relays Special relays Special relays allocated device M9000 M2320 SM2000 SM60 Fuse blown detection M9005 M2321 SM2005 SM53 AC/DC DOWN detection...
  • Page 244 APPENDICES Table 1.4 Replacement of special registers Device No. Q17 HCPU(-T)/ Automatically Q17 D(S)CPU Name Remark Q17 CPUN(-T)/Q17 CPU converted to special registers Special registers Special registers D9000 SD2000 SD60 Fuse blown No. D9005 SD2005 SD53 AC/DC DOWN counter No. D9008 SD2008 Diagnostic errors...
  • Page 245: Appendix 2 System Setting Errors

    APPENDICES APPENDIX 2 System Setting Errors Motion CPUs generate a system configuration error under the following conditions. Table 2.1 System Setting Errors System setting error information 7-segment Error Operation at Error error Error Error name Error cause Check timing code individual occurrence (Note-1)
  • Page 246 APPENDICES Table 2.1 System Setting Errors (Continued) System setting error information 7-segment Error Operation at Error error Error Error name Error cause Check timing code individual occurrence (Note-1) (Note-2) code information (SD550) (SD551) • The system setting data that set the motion modules that cannot be used are written.
  • Page 247 APPENDICES MEMO APP - 18...
  • Page 248: Appendix 3 Self-diagnosis Error

    APPENDICES APPENDIX 3 Self-diagnosis Error Multiple CPU related errors are stored in the CPU shared memory "self CPU operation information area (1H to 1CH)" of each module and self diagnostic error information (SD0 to SD26) of the special register (SD) as the self diagnostic errors. Error codes (1000 to 9999) of Multiple CPU related errors are common to each CPU module.
  • Page 249 APPENDICES (1) Multiple CPU related errors which occurs in Motion CPU Each digit of error code has been described as follows. Major division Internal hardware Handling Digit Parameter Tens digit Details code Program Hundreds digit Watch timer Thousands digit Thousands digit : Major division (Cause) Redundant system Multiple CPU Outside diagnosis...
  • Page 250 APPENDICES Error code Error contents and cause Corrective action (SD0) 1000 1001 1002 1003 Runaway or failure of CPU module. 1004 (1) Take noise reduction measures. (1) Malfunctioning due to noise or other reason 1005 (2) Reset the CPU module and RUN it again. If the same error is (2) Hardware fault 1006 displayed again, this suggests a CPU module hardware fault.
  • Page 251 APPENDICES Table 3.1 Multiple CPU related errors which occurs in Motion CPU (1000 to 9999) (Continued) Error code Common information Individual Information CPU operation Diagnostic Item Error message 7-segment LED display (SD0) (SD5 to SD15) (SD16 to SD26) status timing 1430 —...
  • Page 252 APPENDICES Error code Error contents and cause Corrective action (SD0) Reset the CPU module and RUN it again. If the same error is displayed 1430 The error of self CPU is detected in the Multiple CPU high speed bus. again, this suggests a CPU module hardware fault. Explain the error symptom and get advice from our sales representative.
  • Page 253 APPENDICES Table 3.1 Multiple CPU related errors which occurs in Motion CPU (1000 to 9999) (Continued) Error code Common information Individual Information CPU operation Diagnostic Item Error message 7-segment LED display (SD0) (SD5 to SD15) (SD16 to SD26) status timing 3001 At power ON/ At reset/...
  • Page 254 APPENDICES Error code Error contents and cause Corrective action (SD0) (1) Check the parameter item corresponding the numerical value (parameter No.), and correct it. (2) Rewrite corrected parameters to the CPU module, reload or reset the 3001 The parameter settings are corrupted. Multiple CPU system power supply.
  • Page 255 APPENDICES (2) Motion CPU-specific errors Each digit of error code has been described as follows. Refer to programming manuals for error details. Details code Minor/major error (Command generation axis)(SV22) 003 Minor/major error Digit Minor/major error (Virtual servo motor axis)(SV22) Tens digit Details code Minor/major error (Synchronous encoder axis)(SV22) Hundreds digit...
  • Page 256 APPENDICES Error code Error contents and cause Corrective action (SD0) Minor/major errors had occurred in command generation axis. 10002 (SV22) Check the Motion error history of MT Developer2 and the minor/major error 10003 Minor/major errors had occurred. codes of minor/major error code of minor/major error code storage device, 10004 Minor/major errors had occurred in virtual servomotor axis.
  • Page 257 APPENDICES Table 3.2 Motion CPU-specific errors (10000 to 10999) (Continued) Error code Common information Individual information Error messages 7-segment LED display CPU operation status (SD0) (SD5 to SD15) (SD16 to SD26) 10015 None Continue "AL" flashes 3 times 10016 Stop Steady "L01"...
  • Page 258 APPENDICES Error code Error contents and cause Corrective action (SD0) Check the Motion error history of MT Developer2 and the servo error codes The servo errors had occurred in the servo amplifier (MR-J4- B) of servo error code storage device, and remove the error cause of servo 10015 connected to the Motion CPU.
  • Page 259 APPENDICES (3) Self-diagnostic error information Name Meaning Details Diagnostic error Diagnostic errors • Error codes for errors found by diagnosis are stored as BIN data. code • The year (last two digits) and month that SD0 data was updated is stored as BCD 2-digit code. Example : January 2006 H0601 Year(0 to 99)
  • Page 260 APPENDICES (4) Release of Multiple CPU related error The release operation of errors that continues operation for CPU can be executed. Release the errors in the following procedure. 1) Remove the error cause. 2) Turn off the Motion error detection flag (M2039). The special relays, special registers and 7-segment LED for the errors are returned to the status before error occurs after release of errors.
  • Page 261: Appendix 4 Differences Between Q173dscpu/q172dscpu/q173dcpu(-s1)/q172dcpu(-s1)/ Q173hcpu/q172hcpu

    APPENDICES APPENDIX 4 Differences Between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/ Q172DCPU(-S1)/Q173HCPU/Q172HCPU APPENDIX 4.1 Differences between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/ Q172DCPU(-S1)/Q173HCPU/Q172HCPU Common differences to the operating system software are shown in Table 4.1. Refer to "APPENDIX 4.3 Differences of the operating system software " for characteristic differences to the operating system software. And, refer to "APPENDIX 4.2 Comparison of devices "...
  • Page 262 APPENDICES Table 4.1 Differences between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/ Q172DCPU(-S1)/Q173HCPU/Q172HCPU (Continued) Item Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) Q173HCPU/Q172HCPU D(P).DDRD, D(P).DDWR, D(P).SFCS, D(P).SVST, D(P).DDRD, D(P).DDWR, S(P).DDRD, S(P).DDWR, SV13/ D(P).CHGT, D(P).CHGT2, D(P).SFCS, D(P).SVST, S(P).SFCS, S(P).SVST, (Note-2) D(P).CHGV, D(P).CHGVS SV22 D(P).CHGT, D(P).CHGV, S(P).CHGT, S(P).CHGV, (Note-2) D(P).CHGA, D(P).CHGAS D(P).CHGA, D(P).GINT S(P).CHGA, S(P).GINT Motion dedicated D(P).GINT...
  • Page 263 APPENDICES Table 4.1 Differences between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/ Q172DCPU(-S1)/Q173HCPU/Q172HCPU (Continued) Item Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) Q173HCPU/Q172HCPU Automatic refresh area in CPU Memory Multiple CPU high speed transmission area in CPU shared memory shared memory Automatic Automatic 32 range possible 4 range possible refresh setting refresh Multiple CPU high speed...
  • Page 264 APPENDICES Table 4.1 Differences between Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/ Q172DCPU(-S1)/Q173HCPU/Q172HCPU (Continued) Item Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) Q173HCPU/Q172HCPU Proximity dog type (2 types), Count type (3 types), Proximity dog type (2 types), Proximity dog type (2 types), Data set type (2 types), Count type (3 types), Dog cradle type, Data set type (2 types), Count type (3 types),...
  • Page 265: Appendix 4.2 Comparison Of Devices

    APPENDICES APPENDIX 4.2 Comparison of devices (1) Motion registers (a) Monitor devices Table 4.2 Motion registers (Monitor devices) list Device No. Name Remark Q173DSCPU/ Q173DCPU(-S1)/ Q173HCPU/ Q172DSCPU Q172DCPU(-S1) Q172HCPU #8000 to #8019 #8064 to #8067 Axis 1 monitor device #8020 to #8039 #8068 to #8071 Axis 2 monitor device #8040 to #8059...
  • Page 266 APPENDICES Table 4.3 Monitor devices list (Note) Device No. Name Remark Q173DSCPU/ Q173DCPU(-S1)/ Q173HCPU/ Q172DSCPU Q172DCPU(-S1) Q172HCPU #8000 + 20n #8064 + 4n Servo amplifier type #8001 + 20n #8065 + 4n Motor current #8002 + 20n #8066 + 4n Motor speed #8003 + 20n #8067 + 4n...
  • Page 267 APPENDICES Table 4.5 Motion error history list (SV13/SV22) (Note) Device No. Name Remark Q173DSCPU/ Q173DCPU(-S1)/ Q173HCPU/ Q172DSCPU Q172DCPU(-S1) Q172HCPU #8640 + 12n #8000 + 8n Error Motion SFC program No. #8641 + 12n #8001 + 8n Error type #8642 + 12n #8002 + 8n Error program No.
  • Page 268 APPENDICES (2) Special relays Table 4.8 Special relay list Device No. Name Remark Q173DSCPU/ Q173DCPU(-S1)/ Q173HCPU/ Q172DSCPU Q172DCPU(-S1) Q172HCPU SM60 M9000/M2320 Fuse blown detection SM53 M9005/M2321 AC/DC DOWN detection SM52 M9006/M2322 Battery low SM51 M9007/M2323 Battery low latch M9008/M2324 Self-diagnostic error M9010/M2325 Diagnostic error —...
  • Page 269 APPENDICES Table 4.8 Special relay list (Continued) Device No. Name Remark Q173DSCPU/ Q173DCPU(-S1)/ Q173HCPU/ Q172DSCPU Q172DCPU(-S1) Q172HCPU SM508 — Amplifier-less operation status flag New device in SM526 — Over heat warning latch Q173DCPU/Q172DCPU SM527 — Over heat warning SM532 — —...
  • Page 270 APPENDICES (3) Special registers Table 4.9 Special registers list Device No. Name Remark Q173DSCPU/ Q173DCPU(-S1)/ Q173HCPU/ Q172DSCPU Q172DCPU(-S1) Q172HCPU SD60 D9000 Fuse blown No. SD53 D9005 AC/DC DOWN counter No. D9008 Diagnostic errors Clock time for diagnostic error occurrence D9010 (Year, month) Clock time for diagnostic error occurrence D9011...
  • Page 271 APPENDICES Table 4.9 Special registers list (Continued) Device No. Name Remark Q173DSCPU/ Q173DCPU(-S1)/ Q173HCPU/ Q172DSCPU Q172DCPU(-S1) Q172HCPU SD512 D9184 Motion CPU WDT error cause SD513 D9185 SD514 D9186 Manual pulse generator axis setting error SD515 D9187 SD522 D9188 Motion operation cycle SD516 D9189 Error program No.
  • Page 272 APPENDICES (4) Other devices Table 4.10 Other devices list Item Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) Q173HCPU/Q172HCPU Special relay allocated devices M2320 to M2399 Unusable (Status) Device area of 17 axes or more is Device area of 9 axes or more is Device area of 9 axes or more is M2400 to M3039 usable as user devices in usable as user devices in...
  • Page 273 APPENDICES Table 4.10 Other devices list (Continued) Item Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) Q173HCPU/Q172HCPU (Note-3) X0 to X1FFF X0 to X1FFF X0 to X1FFF Y0 to Y1FFF Y0 to Y1FFF M0 to M8191 M0 to M8191 Output device — L0 to L8191 B0 to B1FFF B0 to B1FFF (Note-2) U \G10000.0 to U \G(10000 + p –1).F...
  • Page 274: Appendix 4.3 Differences Of The Operating System Software

    APPENDICES APPENDIX 4.3 Differences of the operating system software (1) Motion SFC (SV13/SV22) Item Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) Q173HCPU/Q172HCPU Code total (Motion SFC chart Motion 652k bytes 543k bytes 543k bytes + Operation control + Transition) program Text total capacity (Operation control + 668k bytes 484k bytes 484k bytes...
  • Page 275 APPENDICES (2) Virtual mode (SV22) Item Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) Q173HCPU/Q172HCPU Internal M4640 to M4687 Device area of 9 axes or more is relay/ Device area of 9 axes or more is M5440 to M5487 Unusable as user devices usable as user devices in the Data unusable in the Q172HCPU.
  • Page 276 APPENDICES (3) Motion program (SV43) Item Q173DCPU(-S1)/Q172DCPU(-S1) Q173HCPU/Q172HCPU DNC operation None Provided Internal relay/ M4320 to M4335 Unusable DNC status Data register Motion program capacity 504k bytes 248k bytes Variable Device variable X, Y, M, B, F, D, W, #, U \G X, Y, M, B, F, D, W, # CALL, GOSUB, GOSUBE, IF…GOTO, Jump/repetition...
  • Page 277 APPENDICES MEMO APP - 48...
  • Page 278 WARRANTY Please confirm the following product warranty details before using this product. Gratis Warranty Term and Gratis Warranty Range We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
  • Page 279 Precautions for Choosing the Products (1) For the use of our Motion controller, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in Motion controller, and a backup or fail-safe function should operate on an external system to Motion controller when any failure or malfunction occurs.
  • Page 282 Vernon hills, IL 60061 Phone: +1 (847) 478-2100 Fax: +1 (847) 478-0328 Mitsubishi Electric Europe B.V. / FA - European Business Group / Gothaer Straße 8 / D-40880 Ratingen / Germany / Tel.: +49(0)2102-4860 / Fax: +49(0)2102-4861120 / info@mitsubishi-automation.com / https://eu3a.mitsubishielectric.com...

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