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Mitsubishi Electric Q173CPU Programming Manual

Q series motion controller.
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Table of Contents

   Related Manuals for Mitsubishi Electric Q173CPU

   Summary of Contents for Mitsubishi Electric Q173CPU

  • Page 2: Safety Precautions

    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 Q173CPU(N)/Q172CPU(N) Users manual for a description of the Motion controller safety precautions.
  • Page 3 For Safe Operations 1. Prevention of electric shocks DANGER Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks. Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks.
  • Page 4 3. For injury prevention CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
  • Page 5 CAUTION The 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

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

    1.4.5 Processing time of the Multiple CPU system ................... 1-75 1.4.6 How to reset the Multiple CPU system..................... 1-76 1.4.7 Processing at a CPU DOWN error occurrence by a PLC CPU or Q173CPU(N)/Q172CPU(N)..1-77 1.5 System Settings ............................1-80 1.5.1 System data settings......................... 1-80 1.5.2 Common system parameters ......................
  • Page 14 3. COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 3- 1 to 3-26 3.1 Automatic Refresh Function of The Shared CPU Memory ..............3- 1 3.2 Control Instruction from the PLC CPU to The Motion CPU (Motion dedicated instructions) ....3-20 3.3 Reading/Writing Device Data ........................
  • Page 15 6.9.2 Selective branch, selective coupling....................6-19 6.9.3 Parallel branch, parallel coupling...................... 6-20 6.10 Y/N Transitions............................6-22 6.11 Motion SFC Comments ......................... 6-26 7. OPERATION CONTROL PROGRAMS 7- 1 to 7-96 7.1 Operation Control Programs........................7- 1 7.2 Device Descriptions ..........................7- 7 7.3 Constant Descriptions..........................
  • Page 16 7.8 Bit Device Statuses ..........................7-46 7.8.1 ON (Normally open contact) : (None) ....................7-46 7.8.2 OFF (Normally closed contact) : !..................... 7-47 7.9 Bit Device Controls........................... 7-48 7.9.1 Device set : SET..........................7-48 7.9.2 Device reset : RST ..........................7-50 7.9.3 Device output : DOUT ........................
  • Page 17 9.5 Programming Instructions........................9-22 9.5.1 Cancel • start ............................. 9-22 9.5.2 Indirect designation using motion devices..................9-22 10. MOTION DEVICES 10- 1 to 10- 6 10.1 Motion Registers (#0 to #8191) ......................10- 1 10.2 Coasting Timer (FT)..........................10- 6 11.
  • Page 18 15. SECURITY FUNCTION 15- 1 to 15- 6 15.1 Password Registration/change......................15- 1 15.2 Password Clearance..........................15- 3 15.3 Password Check ..........................15- 4 15.4 Password Save ............................ 15- 5 15.5 Clear All ..............................15- 6 16. COMMUNICATIONS VIA NETWORK 16- 1 to 16-10 16.1 Specifications of The Communications via Network................
  • Page 19: About Manuals

    (1XB780) generator interface module, Teaching units, Power supply modules, Servo amplifiers, SSCNET cables, synchronous encoder cables and others. (Optional) Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE) IB-0300043 (1XB782) This manual explains the servo parameters, positioning instructions, device list, error list and others.
  • Page 20 (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 extension cables, memory card battery, and the maintenance/inspection for the system, trouble shooting, (13JR73) error codes and others.
  • Page 21 MEMO A - 20...
  • Page 22: Overview

    1.1 Overview This programming manual describes the Motion SFC program and Multiple CPU system of the operating system software packages "SW6RN-SV13Q ", "SW6RN- SV22Q " for Motion CPU module(Q173CPU(N)/Q172CPU(N)). In this manual, the following abbreviations are used. Generic term/Abbreviation Description...
  • Page 23 Q173CPU(N)/Q172CPU(N) Motion controller SV13/SV22 • Design method for positioning control (SV13/SV22) Programming Manual (REAL MODE) parameter SV22 • Design method for mechanical system Q173CPU(N)/Q172CPU(N) Motion controller (SV22) (Virtual mode) program Programming Manual (VIRTUAL MODE) 1 - 2...
  • Page 24: Features

    (b) The Motion CPU and PLC CPU are selected flexibly, and the Multiple CPU system up to 4 CPU modules can be realized. The Motion CPU module for the number of axis to be used can be selected. Q173CPU(N) : Up to 32 axes Q172CPU(N) : Up to 8 axes The PLC CPU module for the program capacity to be used can be selected.
  • Page 25 1 OVERVIEW (c) High speed and high response processing is realizable with the step processing method (only active steps) of Motion SFC. (d) Not only positioning control but also numerical operations, device SET/RST, etc. can be processed with Motion CPU side, making via PLC CPU is unnecessary and a tact time can be shortened.
  • Page 26 1 OVERVIEW (b) Automatic machinery use (SV22) Provides synchronous control and offers electronic cam control by mechanical support language. Ideal for use in automatic machinery. (c) Machine tool peripheral use (SV43) Offer liner interpolation, circular interpolation, helical interpolation, constant- speed positioning and etc. by the EIA language (G-code). Ideal for use in machine tool peripheral.
  • Page 27: Basic Specifications Of Q173cpu(n)/q172cpu(n)

    1 OVERVIEW 1.2.2 Basic specifications of Q173CPU(N)/Q172CPU(N) (1) Module specifications Item Q173CPUN Q173CPUN-T Q173CPU Q172CPUN Q172CPUN-T Q172CPU Teaching unit —— Usable —— —— Usable —— Internal current (Note) (Note) 1.25 1.56 1.75 1.14 1.45 1.62 consumption(5VDC) [A] Mass [kg] 0.23 0.24...
  • Page 28 1 OVERVIEW Motion control specifications (continued) Item Q173CPUN(-T) Q173CPU Q172CPUN(-T) Q172CPU Manual pulse generator Possible to connect 3 modules operation function Synchronous encoder Possible to connect 12 modules Possible to connect 8 modules operation function M-code output function provided M-code function...
  • Page 29 1 OVERVIEW (b) Motion SFC Performance Specifications Item Q173CPU(N)/Q172CPU(N) Code total (Motion SFC chart+ Operation control 287k bytes Motion SFC program capacity + Transition) Text total 224k bytes (Operation control + Transition) Number of Motion SFC programs 256 (No.0 to 255)
  • Page 30: Operation Control/transition Control Specifications

    1 OVERVIEW 1.2.3 Operation control/transition control specifications (1) Table of the operation control/transition control specifications Item Specifications Remark Returns a numeric result. Calculation expression Expressions for calculating indirectly specified data using constants D100+1,SIN(D100), etc. and word devices. Bit conditional Returns a true or false result. M0, !M0, M1*M0, Expression expression...
  • Page 31 1 OVERVIEW Table of the operation control/transition control specification(continued) Item Specifications Remark Accessibility Usable tasks Description Devices Symbol example Read Write Normal Event Data register Link register W1F : F Special register D9000 Motion register Word devices Coasting timer : usable : unusable CAUTION <Restrictions on write-enabled word devices>...
  • Page 32 1 OVERVIEW (2) Table of the operation control/transition instruction Usable step transition's Section of Classification Symbol Function Format Basic steps conditional reference F/FS expression Substitution (D)=(S) — 7.4.1 Addition (S1)+(S2) — 7.4.2 Subtraction (S1)-(S2) — 7.4.3 Binary operation Multiplication (S1)*(S2) —...
  • Page 33 1 OVERVIEW Table of the operation control/transition instruction (continued) Usable step transition's Section of Classification Symbol Function Format Basic steps conditional reference F/FS expression (None) Logical acknowledgment (Conditional expression) 7.10.1 Logical negation !(Conditional expression) 7.10.2 (Conditional expression) * Logical operation Logical AND 7.10.3 (conditional expression)
  • Page 34: Differences Between Q173cpu(n)/q172cpu(n)and A173uhcpu/a172shcpun

    1 OVERVIEW 1.2.4 Differences between Q173CPU(N)/Q172CPU(N) and A173UHCPU/A172SHCPUN (1) Differences between Q173CPU(N)/Q172CPU(N) and A173UHCPU/A172SHCPUN Item Q173CPU(N) Q172CPU(N) A173UHCPU A172SHCPUN Number of control axes Up to 32 axes Up to 8 axes Up to 32 axes Up to 8 axes 0.88ms/1 to 8 axes 1.77ms/9 to 16 axes...
  • Page 35 (Note-2) : When using the incremental synchronous encoder (SV22 use), you can use above number of modules. When connecting the Manual pulse generator, you can use only 1 module. (Note-3) : When adding the external battery (A6BAT/MR-BAT), Q173DV (Q173CPU(N) use.), or Q170BAT (Q172CPU(N) use.) is used. 1 - 14...
  • Page 36: Positioning Dedicated Devices/special Relays/special Registers

    (1) Positioning dedicated devices The following section describes the positioning dedicated devices. A range of up to 32 axes is valid in Q173CPU(N), and a range of up to 8 axes is valid in Q172CPU(N). Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)", "Q173CPU(N)/Q172CPU(N) Motion...
  • Page 37 1 OVERVIEW Overall configuration(Continued) SV13 SV22 Device No. Purpose Device No. Purpose M4800 M4800 Virtual servomotor axis command signal (Note-1, 2) (20 points 32 axes) (Mechanical system setting axis only) M5440 Synchronous encoder axis command signal (Note-2) (4 points 12 axes) Cam axis command signal (Note-1, 2) M5488...
  • Page 38 1 OVERVIEW MEMO 1 - 17...
  • Page 39 1 OVERVIEW 1) Table of the axis statuses (SV13/SV22) Device No. Signal name Device No. Signal name M2400 M2720 Axis 1 status Axis 17 status M2419 M2739 M2420 M2740 Axis 2 status Axis 18 status M2439 M2759 M2440 M2760 Axis 3 status Axis 19 status M2459 M2779...
  • Page 40 (Note-1) : "n" in the above device No. shows the numerical value which correspond to axis No. Q173CPU(N) : Axis No.1 to No.32 (n=0 to 31) Q172CPU(N) : Axis No.1 to No.8 (n=0 to 7) (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).
  • Page 41 1 OVERVIEW 2) Table of the axis command signals (SV13/SV22) Device No. Signal name Device No. Signal name M3200 M3520 Axis 1 command signal Axis 17 command signal M3219 M3539 M3220 M3540 Axis 2 command signal Axis 18 command signal M3239 M3559 M3240...
  • Page 42 FIN signal (Note-1) : "n" in the above device No. shows the numerical value which correspond to axis No. Q173CPU(N) : Axis No.1 to No.32 (n=0 to 31) Q172CPU(N) : Axis No.1 to No.8 (n=0 to 7) (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).
  • Page 43 1 OVERVIEW 3) Table of the virtual servomotor axis statuses (SV22 only) Device No. Signal name Device No. Signal name M4000 M4320 Axis 1 status Axis 17 status M4019 M4339 M4020 M4340 Axis 2 status Axis 18 status M4039 M4359 M4040 M4360 Axis 3 status...
  • Page 44 (Note-1) : "n" in the above device No. shows the numerical value which correspond to axis No. Q173CPU(N) : Axis No.1 to No.32 (n=0 to 31) Q172CPU(N) : Axis No.1 to No.8 (n=0 to 7) (Note-2) : The unused axis areas in the mechanical system program can be used as an user device.
  • Page 45 1 OVERVIEW 4) Table of the virtual servomotor axis command signals (SV22 only) Device No. Signal name Device No. Signal name M4800 M5120 Axis 1 command signal Axis 17 command signal M4819 M5139 M4820 M5140 Axis 2 command signal Axis 18 command signal M4839 M5159 M4840...
  • Page 46 (Note-1) : "n" in the above device No. shows the numerical value which correspond to axis No. Q173CPU(N) : Axis No.1 to No.32 (n=0 to 31) Q172CPU(N) : Axis No.1 to No.8 (n=0 to 7) (Note-2) : The unused axis areas in the mechanical system program can be used as an user device.
  • Page 47 1 OVERVIEW 5) Table of the synchronous encoder axis statuses (SV22 only) Device No. Signal name M4640 Error detection M4641 External signal TREN Axis 1 M4642 Virtual mode continuation operation disable warning M4643 Unusable M4644 Error detection M4645 External signal TREN Axis 2 M4646 Virtual mode continuation operation disable warning...
  • Page 48 1 OVERVIEW 6) Table of the syncronous encoder axis command signals (SV22 only) Device No. Signal name M5440 Error reset M5441 Unusable Axis 1 M5442 Unusable M5443 Unusable M5444 Error reset M5445 Unusable Axis 2 M5446 Unusable M5447 Unusable M5448 Error reset M5449 Unusable...
  • Page 49 1 OVERVIEW 7) Table of the cam axis command signals (SV22 only) Device No. Signal name M5488 Axis 1 cam/ballscrew switching M5489 Axis 2 cam/ballscrew switching M5490 Axis 3 cam/ballscrew switching M5491 Axis 4 cam/ballscrew switching M5492 Axis 5 cam/ballscrew switching M5493 Axis 6 cam/ballscrew switching M5494...
  • Page 50 1 OVERVIEW 8) Table of the smoothing clutch complete signals (SV22 only) Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark M5520 Main shaft side Output axis 1 M5521 Auxiliary input side M5522 Main shaft side Output axis 2 M5523 Auxiliary input side M5524...
  • Page 51 1 OVERVIEW 9) Table of the common devices (SV13/SV22) SV13 SV22 Refresh Fetch Signal Remark (Note-4) cycle cycle direction Device No. Signal name Device No. Signal name Command Main signal M3072 M2000 PLC ready flag M2000 PLC ready flag cycle (Note-1) M2001 Axis1...
  • Page 52 1 OVERVIEW Table of the common devices (SV13/SV22) (continued) SV13 SV22 Refresh Fetch Signal Remark (Note-4) cycle cycle direction Device No. Signal name Device No. Signal name Operation Status M2054 Operation cycle over flag M2054 Operation cycle over flag cycle signal M2055 M2055...
  • Page 53 1 OVERVIEW Explanation of the request register Function Bit device Request register PLC ready flag M2000 D704 Speed switching point specified flag M2040 D705 All axes servo ON command M2042 D706 Real mode/virtual mode switching request (SV22) M2043 D707 JOG operation simultaneous start command M2048 D708 Manual pulse generator 1 enable flag...
  • Page 54 1 OVERVIEW 10) Table of the special relay allocated devices (Status) (SV13/SV22) (Note) Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark M2320 Fuse blown detection M9000 M2321 AC/DC DOWN detection M9005 M2322 Battery low M9006 Error occurrence M2323 Battery low latch M9007...
  • Page 55 1 OVERVIEW 11) Table of the common devices (Command signal) (SV13/SV22) Remark Device No. Signal name Refresh cycle Fetch cycle Signal direction (Note-1) , (Note-2) Main cycle M3072 PLC ready flag M2000 M3073 Speed switching point specified flag At start M2040 Operation M3074...
  • Page 56 1 OVERVIEW (b) Table of the data registers Overall configuration SV13 SV22 Device No. Application Device No. Application Axis monitor device Axis monitor device (20 points 32 axes) (20 points 32 axes) Real mode……Each axis Virtual mode….Output module D640 D640 Control change register Control change register (2 points...
  • Page 57 1 OVERVIEW 1) Table of the each axis monitor devices (SV13/SV22) Device No. Signal name Device No. Signal name D320 Axis 1 monitor device Axis 17 monitor device D339 D340 Axis 2 monitor device Axis 18 monitor device D359 D360 Axis 3 monitor device Axis 19 monitor device D379...
  • Page 58 D19 + 20n (Note-1) : "n" in the above device No. shows the numerical value which correspond to axis No. Q173CPU(N) : Axis No.1 to No.32 (n=0 to 31) Q172CPU(N) : Axis No.1 to No.8 (n=0 to 7) (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).
  • Page 59 1 OVERVIEW 2) Table of the control change registers (SV13/SV22) Device No. Signal name Device No. Signal name D640 Axis 1 JOG speed D672 Axis 17 JOG speed D641 setting register D673 setting register D642 Axis 2 JOG speed D674 Axis 18 JOG speed D643 setting register...
  • Page 60 1 OVERVIEW MEMO 1 - 39...
  • Page 61 1 OVERVIEW 3) Table of the virtual servomotor axis monitor devices (SV22 only) Device No. Signal name Device No. Signal name D800 D960 Axis 1 monitor device Axis 17 monitor device D809 D969 D810 D970 Axis 2 monitor device Axis 18 monitor device D819 D979 D820...
  • Page 62 (Note-1) : "n" in the above device No. shows the numerical value which correspond to axis No. Q173CPU(N) : Axis No.1 to No.32 (n=0 to 31) Q172CPU(N) : Axis No.1 to No.8 (n=0 to 7) (Note-2) : The unused axis areas in the mechanical system program can be used as an user device.
  • Page 63 1 OVERVIEW 4) Table of the synchronous encoder axis monitor devices (SV22 only) Device No. Signal name D1120 Axis 1 monitor device D1129 D1130 Axis 2 monitor device D1139 D1140 Axis 3 monitor device D1149 D1150 Axis 4 monitor device D1159 D1160 Axis 5 monitor device...
  • Page 64 (Note-1) : "n" in the above device No. shows the numerical value which correspond to axis No. Q173CPU(N) : Axis No.1 to No.12 (n=0 to 11) Q172CPU(N) : Axis No.1 to No.8 (n=0 to 7) (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).
  • Page 65 1 OVERVIEW 5) Table of the cam axis monitor devices (SV22 only) Device No. Signal name Device No. Signal name D1240 D1400 Axis 1 monitor device Axis 17 monitor device D1249 D1409 D1250 D1410 Axis 2 monitor device Axis 18 monitor device D1259 D1419 D1260...
  • Page 66 (Note-1) : "n" in the above device No. shows the numerical value which correspond to axis No. Q173CPU(N) : Axis No.1 to No.32 (n=0 to 31) Q172CPU(N) : Axis No.1 to No.8 (n=0 to 7) (Note-2) : The unused aixs areas in the mechanical system program can be used as an user device.
  • Page 67 1 OVERVIEW 6) Table of the common devices (SV13/SV22) Signal Signal Device No. Signal name Device No. Signal name derecrtion derecrtion D704 PLC ready flag request D740 Axis 21 Speed switching point specified flag D705 D741 Axis 22 request D706 All axes servo ON command request D742 Axis 23...
  • Page 68 1 OVERVIEW (2) Special relays Special relays are internal relays whose applications are fixed in the Motion CPU. For this reason, they cannot be used in the same way as the normal internal relays by the Motion SFC programs. However, they can be turned ON/OFF as needed in order to control the Motion CPU.
  • Page 69 1 OVERVIEW Special relay list Set by Name Meaning Details Remark (When set) • OFF : Normal Turn on when there is one or more output modules control M9000 Fuse blown detection flag : Fuse blown module of self CPU which fuse has been blown. detected Remains on if normal status is restored.
  • Page 70 1 OVERVIEW Special relay list (continued) Set by Name Meaning Details Remark (When set) • This flag indicates whether the setting designated at the : At least one D714 to manual pulse generator axis setting register (D714 to D719) D719 setting is Manual pulse generator is normal or abnormal.
  • Page 71 1 OVERVIEW Special relay list (continued) Set by Name Meaning Details Remark (When set) OFF : CPU No.1 normal • Turn off when the CPU No.1 is normal. (It contains at M9244 CPU No.1 error flag : On CPU No.1 stop continuation error.) (Note-2) error...
  • Page 72 1 OVERVIEW (3) Special registers Special registers are internal registers whose applications are fixed in the Motion CPU. For this reason, it is not possible to use these registers in Motion SFC programs in the same way that normal registers are used. However, data can be written as needed in order to control the Motion CPU.
  • Page 73 1 OVERVIEW Special register list Set by Name Meaning Details Remark (When set) Module No. with • When fuse blown modules are detected, the lowest I/O module No. is stored D9000 Fuse blown No. blown fuse in D9000. • 1 is added to the stored value each time the input voltage becomes AC/DC DOWN Number of times 85[%](AC power supply/65[%] DC power supply) or less of the rating while...
  • Page 74 • Axis No. of servo amplifier which begins to read servo parameter is setting. Servo parameter D9104 read request axis Q173CPU(N) : 1 to 32 (Axis1 to 32) read axis No. Q172CPU(N) : 1 to 8 (Axis1 to 8) It is operating in requirement error •...
  • Page 75 1 OVERVIEW Special register list (continued) Set by Name Meaning Details Remark (When set) Motion operation Motion operation • The time when the motion operation cycle is stored in the [ µ s] unit. D9188 S(Operation cycle) (Note) cycle cycle Error program Error program No.
  • Page 76: Hardware Configuration

    1.3 Hardware Configuration This section describes the Q173CPU(N)/Q172CPU(N) system configuration, precautions on use of system and configured equipments. 1.3.1 Motion system configuration This section describes the equipment configuration, configuration with peripheral devices and system configuration in the Q173CPU(N)/Q172CPU(N) system. 1 - 55...
  • Page 77 1 OVERVIEW (1) Equipment configuration in Q173CPU(N) system (a) When using the Dividing unit/external battery Extension of the Q series module Power supply module/ Motion module QCPU/ I/O module/ Intelligent (Q172LX, Q172EX, Q173PX) function module of the Q series Motion module...
  • Page 78 (Q172LX, Q172EX, Q173PX) (Note-4) (Note-1) Power supply module/ Short-circuit connector for Motion CPU module I/O module/Intelligent function the teaching unit (Q173CPU(N)) module of the Q series (Q170TUTM) (Note-2) (Note-4) (Note-5) SVO ON SSCNET cable SSCNET cable Cable for the teaching unit...
  • Page 79 1 OVERVIEW (2) Equipment configuration in Q172CPU(N) system (a) When using the external battery Extension of the Q series module Power supply module/ Motion module QCPU/ I/O module/ Intelligent (Q172LX, Q172EX, Q173PX) function module of the Q series Motion module CPU base unit Extension cable Q6 B extension base unit...
  • Page 80 1 OVERVIEW (b) When not using the external battery Extension of the Q series module Power supply module/ Motion module QCPU/ I/O module/ Intelligent (Q172LX, Q172EX, Q173PX) function module of the Q series Motion module CPU base unit Extension cable Q6 B extension base unit (Q172LX, Q172EX, Q173PX) (Q33B, Q35B, Q38B, Q312B)
  • Page 81 1 OVERVIEW (3) Peripheral device configuration for the Q173CPU(N)/Q172CPU(N) The following (a)(b)(c) can be used. (a) RS-232 configuration (b) USB configuration (c) SSCNET configuration Motion CPU module Motion CPU module Motion CPU module (Q173CPU(N), Q172CPU(N)) (Q173CPU(N), Q172CPU(N)) (Q173CPU(N), Q172CPU(N)) SSC I/F communication cable...
  • Page 82: Q173cpu(n) System Overall Configuration

    1 OVERVIEW 1.3.2 Q173CPU(N) System overall configuration Motion CPU control module CPU base PLC CPU/ unit Motion CPU (Q3 B) Qn(H) Q173 Q172LX Q172EX Q172PX Q6 AD Q61P-A QI60 CPU(N) Q6 DA I/O module of the Q Series or Special function module...
  • Page 83 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 84: Q172cpu(n) System Overall Configuration

    1 OVERVIEW 1.3.3 Q172CPU(N) System overall configuration Motion CPU control module CPU base PLC CPU/ unit Motion CPU (Q3 B) Qn(H) Q172 Q172LX Q172EX Q172PX Q6 AD Q61P-A QI60 CPU(N) Q6 DA I/O module of the Q Series or Special function module 100/200VAC Analogue input/output Battery unit...
  • Page 85 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 86: Software Packages

    1 OVERVIEW 1.3.4 Software packages (1) Software packages (a) Operating system software packages Software package Application Q173CPU(N) Q172CPU(N) For conveyor assembly SV13 SW6RN-SV13QB SW6RN-SV13QD (Motion SFC) For automatic machinery SV22 SW6RN-SV22QA SW6RN-SV22QC (Motion SFC) (b) Integrated start-up support software package...
  • Page 87 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED 3) OS software version 4) Serial number 5) Number of FD Example) When using the Q173CPU(N), SV13 and version A. 1) SW6RN-SV13QB 2) BCD-B14W276 3) A (b) Confirmation method in the SW6RN-GSV P The operating system(OS) type/version of the connected CPU is displayed on the installation screen of the SW6RN-GSV P.
  • Page 88 : There is no restriction by the version. (Note-1) : SV13/SV22 is the completely same version. (Note-2) : Q173CPUN-T/Q172CPUN-T corresponds from the version A. (Note-3) : Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE). (Note-4) : Q173CPU(N)/Q172CPU(N) Motion controller (SV22) Programming Manual (VIRTUAL MODE). 1 - 67...
  • Page 89 1 OVERVIEW (5) Relevant software packages (a) PLC software package Model name Software package GX Developer SW D5C-GPPW-E (Note) : =used "6" or later. 1 - 68...
  • Page 90: Restrictions On Motion Systems

    1 OVERVIEW 1.3.5 Restrictions on motion systems (1) It is not allowed to use the Motion CPU as the control CPU of a module installed on the QA1S6 B extension base unit. PLC CPU must be used as the control CPU.
  • Page 91 1 OVERVIEW (11) Motion modules (Q172LX, Q172EX, Q173PX) is to do selection whether to be necessary referring to the "3. DESIGN" of the "Q173CPU(N)/Q172CPU(N) User's Manual" for the system design. (Note-2) (12) Installation position of the Q172EX-S2/S3 is only CPU base unit.
  • Page 92: Multiple Cpu System

    (b) You can increase the number of control axes by using a multiple Motion CPUs. It is possible to control up to 96 axes by using three Q173CPU(N)s. (c) You can reduce the PLC scan time of the overall system by using a multiple PLC CPUs and distributing the PLC control load among them.
  • Page 93: Installation Of Plc Cpu And Motion Cpu

    1 OVERVIEW 1.4.2 Installation of PLC CPU and Motion CPU Up to a total four PLC CPUs and Motion CPUs can be installed in the CPU base unit, in the four slots starting from the CPU slot (the slot located to the immediate right of the power supply module) to slot 2 in series.
  • Page 94: Precautions For Using Q Series I/o Modules And Intelligent Function Modules

    • The function version of an intelligent function module can be checked on the rated plate of the intelligent function module or in the GX Developer's system monitor product information list. • Refer to the "Q173CPU(N)/Q172CPU(N) User's Manual" for the model name which can be controlled by the Motion CPU. 1 - 73...
  • Page 95: Modules Subject To Installation Restrictions

    1.4.4 Modules subject to installation restrictions (1) Modules subject to installation restrictions in the Motion CPU are sown below. Use within the restrictions listed below. Maximum installable modules per CPU Description Model name Q173CPU(N) Q172CPU(N) Servo external signals Q172LX 4 modules 1 module...
  • Page 96: Processing Time Of The Multiple Cpu System

    1 OVERVIEW 1.4.5 Processing time of the Multiple CPU system (1) Processing of the Multiple CPU system Each CPU module of the Multiple CPU system accesses to the modules controlled by self CPU with which the CPU base unit or extension base unit is installed, and the other CPU through the bus (base unit patterns and extension cables).
  • Page 97: How To Reset The Multiple Cpu System

    1 OVERVIEW 1.4.6 How to reset the Multiple CPU system With the Multiple CPU system, resetting the PLC CPU of CPU No. 1 resets the entire system. When the PLC CPU of CPU No. 1 is reset, the CPUs, I/O modules and intelligent function modules of all CPUs will be reset.
  • Page 98: Processing At A Cpu Down Error Occurrence By A Plc Cpu Or Q173cpu(n)/q172cpu(n)

    (2) When CPU No. 2, 3 or 4 generated a CPU DOWN error If the PLC CPU, Q173CPU(N) or Q172CPU(N) of CPU No. 2, 3 or 4 generated a CPU DOWN error, the entire system may or may not stop depending on the setting of "Operation Mode"...
  • Page 99 (a) When a CPU DOWN error occurs in the CPU of the CPU in a checked "Stop all CPUs upon error in CPU No. n" item, all PLC CPU/Q173CPU(N)/ Q172CPU(N) of the other CPUs will generate a MULTI CPU DOWN error (error code: 7000) and the Multiple CPU system will stop.
  • Page 100 1) Check the CPU generating the error and cause of the error using the PC diagnostic function of GX Developer. 2) If the error occurred in a Q173CPU(N)/Q172CPU(N) and the error code is 10000, check the cause of the error using error list of SW6RN- GSV P.
  • Page 101: System Settings

    None details for the servo amplifiers and Q172CPU(N): servomotors. Up to 1 system, 8 axes Set the high-speed read data. Refer to "Q173CPU(N)/Q172CPU(N) One Q172EX/Q173PX module High-speed read setting None Motion controller (SV13/SV22) and one input module. Programming Manual (Real Mode)" for the high-speed read function.
  • Page 102: Common System Parameters

    1 OVERVIEW 1.5.2 Common system parameters (1) Parameters for operating the Multiple CPU system In the Multiple CPU system, the common system parameters and individual parameter for each CPU are set and written 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 103 1 OVERVIEW (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), so the parameters show below must be set identically between Motion CPUs and the PLC CPU of CPU No.
  • Page 104 1 OVERVIEW (a) Multiple CPU settings Set the following items identically in Multiple CPU Settings (Motion CPU setting) in SW6RN-GSV P and in Multiple CPU Settings (PLC CPU setting) in GX Developer. • Number of CPU modules • Operation mode when a CPU stop error occurred •...
  • Page 105 1 OVERVIEW (b) Motion slot settings Set the modules controlled by the self CPU by the Motion Slot Settings (Motion CPU setting) in SW6RN-GSV P. In GX Developer, set the slot for Motion CPU control as the CPU number of the Motion CPU in I/O Assignment Settings (PLC CPU setting).
  • Page 106 1 OVERVIEW (c) Base settings Set the total number of bases and number of slots in each base identically between Base Settings (Motion CPU setting) in SW6RN-GSV P and I/O Assignment Settings (PLC CPU setting) in GX Developer. In GX Developer, the detailed settings may be omitted by setting the base mode "Automatic".
  • Page 107 1 OVERVIEW POINT GOT is recognized as an intelligent function modules "16 points 10 slots" on the base (number of extension bases and slot No. are set in the GOT parameter.) for bus connection with GOT. Set the one extension base (16 points 10 slots) for connection with GOT, then set "10 slots"...
  • Page 108: Individual Parameters

    1 OVERVIEW 1.5.3 Individual parameters (1) Basic system settings The following explains each item to be set in Basic System Settings. (a) Operation cycle setting 1) Set the of motion operation cycle (cycles at which a position command is computed and sent to the servo amplifier). The setting range is 0.8ms/1.7ms/3.5ms/7.1ms/14.2ms/Automatic setting.
  • Page 109 1 OVERVIEW (b) Operation setting upon STOP Set the condition in which the "PLC ready" flag (M2000) turns ON. Select one of the following: 1) M2000 ON upon switching (STOP RUN) (default) Condition in which the M2000 turns from OFF to ON •...
  • Page 110 Setting items for each module Number of usable modules Module name Item Setting range Initial value Q173CPU(N) Q172CPU(N) Set the number of axes for External signal setting 1 to 8 axes used which the 8 axes input is used. Servo external...
  • Page 111 1 OVERVIEW Setting items for each module (Continued) Number of usable modules Module name Item Setting range Initial value Q173CPU(N) Q172CPU(N) First I/O No. 00 to FF0 (in units of 16 points) Number of I/O points 0/16/32/64/128/256 High-speed read setting Used/Unused...
  • Page 112 1 OVERVIEW (3) System setting errors Motion CPUs generate a system configuration error under the following conditions: Error code Operation at Error name Error cause Check timing error occurrence (Note-1) • The slot set in system settings is vacant or a different LAY ERROR (SL module is installed.
  • Page 113: Assignment Of I/o No

    1 OVERVIEW 1.6 Assignment of I/O No. I/O No.s used in the Multiple CPU system include those used by the Motion CPU to communicate with I/O modules/intelligent function modules and those used in the communication between the PLC CPU and the Motion CPU. The following explains each I/O No.
  • Page 114 1 OVERVIEW (3) Setting of the Motion CPU control modules by the PLC CPU (a) Type/number of points Follow the table below when Motion CPU control modules are set in I/O Assignment Settings of the PLC CPU. (The PLC CPU handles the Q172LX, Q172EX and Q173PX as intelligent function modules having 32 occupied points.) Type and number of points may be left unset.
  • Page 115 1 OVERVIEW (c) Example of setting I/O assignment Q02H Q173 Q172LX QY41 QX41 QY41 PY0 to PY1F X40 to X5F Y60 to Y7F (Y20 to Y3F) (X0 to X1F) Modules Modules Modules Modules No. 1 No. 2 controlled controlled controlled controlled by CPU by CPU...
  • Page 116: I/o No. Of Plc Cpu And Q173cpu(n)/q172cpu(n)

    1 OVERVIEW 1.6.2 I/O No. of PLC CPU and Q173CPU(N)/Q172CPU(N) In the Multiple CPU system, I/O No. is assigned to the PLC CPU/Motion CPU to enable communication between the PLC CPU and Motion CPU using the following instructions: • The Multiple CPU dedicated instructions •...
  • Page 117: Setting I/o No

    1 OVERVIEW 1.6.3 Setting I/O No. The procedure for the I/O No. setting for the Motion CPU in System Settings of SW6RN-GSV P is shown below. In the Motion CPU, by setting a module used in each CPU base or extension base slot in System Settings, the control CPU of the applicable slot is assigned as the self CPU.
  • Page 118: Starting Up The Multiple Cpu System

    Manual" for install method or install position of Install the selected modules to the CPU modules. base unit or extension base unit. • Refer to Section 2.1.4 of the "Q173CPU(N)/ Q172CPU(N) User's Manual" for restrictions of module install. GX developer start •...
  • Page 119 (Note) : Installation of the operating system software is required to the Motion CPU module before start of the Multiple CPU system. Refer to Chapter 5 of the "Q173CPU(N)/Q172CPU(N) User's Manual" for installation of the Motion CPU operating system software.
  • Page 120: Communication Between The Plc Cpu And The Motion Cpu In The Multiple Cpu System

    3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 3. COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM The following tasks can be performed between the PLC CPU and the Motion CPU in the Multiple CPU system.
  • Page 121 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM Processing details of CPU No.2 (Motion CPU) at main cycle processing. 2) : Data of transmitting devices B20 to B3F for CPU No.2 is transferred to the automatic refresh area of shared memory in the self CPU.
  • Page 122 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM (2) Automatic refresh settings 1 (Automatic setting) (a) When executing the automatic refresh function of shared CPU memory, set the number of each CPU's transmitting points and devices in which data is to be stored using Multiple CPU Settings of System Settings.
  • Page 123 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 4) The shared CPU memory to be occupied during execution of the automatic refresh function covers all areas corresponding to settings 1 to When the number of transmitting points is set, the first and last addresses of the shared CPU memory to be used are indicated in hexadecimals.
  • Page 124 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 2) Set the CPU-side device as follows. • Settings 1 to 4 may use different devices. If the device ranges do not overlap, the same device may be used for settings 1 to 4.
  • Page 125 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM • The devices in settings 1 to 4 can be set individually for each CPU. For example, you may set link relay for CPU No.1 and internal relay for CPU No.2.
  • Page 126 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 3) The block diagram below illustrates the automatic refresh operation over four ranges of setting 1: link relay (B), setting 2: link register (W), setting 3: data register (D), and setting 4: internal relay (M).
  • Page 127 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM (3) Automatic refresh settings 2 (Manual setting) Refer to Section "1.3.4(4)" for the applicable version of Motion CPU and the software. (a) When the automatic refresh setting (Manual setting) of Motion CPU is used, there are the following advantages.
  • Page 128 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 4) If "*" is set as the first device setting column A of each automatic refresh setting, the first device for every CPU can be arbitrarily set up by the user in the column of B.
  • Page 129 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM (c) CPU-side device The following devices can be used for automatic refresh. (Other devices cannot be set in SW6RN-GSV P.) Settable device Restriction Data resister (D) Link resister (W) None Motion resister (#)
  • Page 130 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM [Dummy setting] Usually, the automatic refresh setting is executed between PLC CPU and Motion CPU for the instructions to each Motion CPU and the monitor of a state by the PLC CPU at the time of operation.
  • Page 131 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM (4) The layout example of automatic refresh setting The layout example of automatic refresh when Read/Write does a Motion dedicated device in the Motion CPU with PLC CPU is shown below. (a) SV13 •...
  • Page 132 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 1) PLC CPU (1 module) + Motion CPU (1 module) The outline operation and the automatic refresh setting are as follows. CPU No.1 (PLC CPU) CPU No.2 (Motion CPU) Internal relays Internal relays...
  • Page 133 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 2) PLC CPU (1 module) + Motion CPU (2 modules) The outline operation and the automatic refresh setting are shown below. CPU No.1 (PLC CPU) CPU No.2 (Motion CPU) Internal relays Internal relays...
  • Page 134 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM Automatic refresh setting 1 • PLC CPU (CPU No.1) Motion CPU (CPU No.2) Send range for each CPU CPU side device Send range for each CPU CPU side device CPU share memory G Dev.
  • Page 135 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM Automatic refresh setting 1 • Motion CPU (CPU No.3) Send range for each CPU CPU side device CPU share memory G Dev. starting Point Start Start No.1 No.2...
  • Page 136 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM (b) SV22 • Overall configuration Table of the internal relays Table of the Data registers Device No. Application Device No. Application User device Axis monitor device (2000 points) (20 points 32 axes)
  • Page 137 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 1) PLC CPU (1 module) + Motion CPU (1 module) The outline operation and the automatic refresh setting are as follows. CPU No.1 (PLC CPU) CPU No.2 (Motion CPU) Internal relays Internal relays...
  • Page 138 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM Automatic refresh setting 1 • PLC CPU (CPU No.1) Motion CPU (CPU No.2) Send range for each CPU CPU side device Send range for each CPU CPU side device CPU share memory G Dev.
  • Page 139: Control Instruction From The Plc Cpu To The Motion Cpu (motion Dedicated Instructions)

    3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 3.2 Control Instruction from the PLC CPU to The Motion CPU (Motion dedicated instructions) Control can be instructed from the PLC CPU to the Motion CPU using the Motion dedicated PLC instructions listed in the table below.
  • Page 140: Reading/writing Device Data

    3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 3.3 Reading/Writing Device Data Device data can be written or read to/from the Motion CPU by the PLC CPU using the dedicated instructions listed in the table below. Refer to Chapter 5 "MOTION DEDICATED PLC INSTRUCTIONS"...
  • Page 141: Shared Cpu Memory

    3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM 3.4 Shared CPU Memory Shared CPU memory is used to transfer data between the CPUs in the Multiple CPU system and has a capacity of 4096 words from 0H to FFFH. Shared CPU memory has four areas: "self CPU operation data area", "system area", "automatic refresh area"...
  • Page 142 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM (1) Self CPU operation data area (0H to 1FFH) (a) The following data of the self CPU are stored in the Multiple CPU system, Table 3.1 Table of Contents Stored in the Self CPU Operation Data Area Shared Corresponding (Note)
  • Page 143 Description address The start accept flag is stored by the 1 to 32 axis, each bit. (As for a bit's actually being set Q173CPU(N) : J1 to J32/ 204H(516) Start accept flag (Axis1 to 16) Q172CPU(N) : J1 to J8.)
  • Page 144 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM (3) Automatic refresh area This area is used at the automatic refresh of the Multiple CPU system. This area cannot be written using S. TO instruction/read using FROM instruction of the PLC CPU and written using MULTW instruction/read using MULTR instruction of the Motion CPU.
  • Page 145 3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM MEMO 3 - 26...
  • Page 146: Structure Of The Motion Cpu Program

    Section 6 in this manual Motion control in SV13/SV22 real mode Q173CPU(N)/Q172CPU(N) Motion controller (Servo program) (SV13/SV22) Programming Manual (REAL MODE) Motion control in SV22 virtual mode Q173CPU(N)/Q172CPU(N) Motion controller (SV22) (Mechanical system program) Programming Manual (VIRTUAL MODE) 4 - 1...
  • Page 147: Motion Control In Sv13/sv22 Real Mode

    4 STRUCTURE OF THE MOTION CPU PROGRAM 4.1 Motion Control in SV13/SV22 Real Mode (1) System with servomotor is controlled directly using the servo program in (SV13/SV22) real mode. (2) Setting of the positioning parameter and creation of the servo program/ Motion SFC program are required.
  • Page 148: Motion Control In Sv22 Virtual Mode

    4 STRUCTURE OF THE MOTION CPU PROGRAM 4.2 Motion Control in SV22 Virtual Mode (1) Software-based synchronous control is performed using the mechanical system program constructed by virtual main shaft and mechanical module in (SV22) virtual mode. (2) Mechanical system programs is required in addition to the positioning parameter, servo program/Motion SFC program used in real mode.
  • Page 149 4 STRUCTURE OF THE MOTION CPU PROGRAM MEMO 4 - 4...
  • Page 150: Motion Dedicated Plc Instruction

    5 MOTION DEDICATED PLC INSTRUCTION 5. MOTION DEDICATED PLC INSTRUCTION 5.1 Motion Dedicated PLC Instruction (1) The Motion dedicated PLC instruction which can be executed toward the Motion CPU which installed a SV13/SV22 operating system software for the Motion SFC is shown below.
  • Page 151 5 MOTION DEDICATED PLC INSTRUCTION Shared CPU memory address Example of the reading Description ( ) is decimal (When target is the CPU No.2) address The lowest rank bit (30H(48)) toward executing instruction 30H(48) U3E1/G48.0 from CPU No.1. The lowest rank bit (31H(49)) toward executing instruction 31H(49) U3E1/G49.0 from CPU No.2.
  • Page 152 5 MOTION DEDICATED PLC INSTRUCTION (d) Use a flag in the shared CPU memory which correspond with each instruction not to execute multiple instructions to the same shaft of the Motion CPU of same CPU No. for the inter-lock condition. (Program example 1) (e) S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGVS(P).CHGT/S(P).DDWR/ S(P).DDRD instructions cannot be executed simultaneously.
  • Page 153 5 MOTION DEDICATED PLC INSTRUCTION <Program example 2> Program which executes directly multiple Motion dedicated PLC instructions because one contact-point turns on. M1001 M1001 To self CPU high Start accept speed interrupt flag of the Axis 1 accept flag from (CPU No.2) CPU1 U3E1\G516.0...
  • Page 154 5 MOTION DEDICATED PLC INSTRUCTION <Program example 3> Program which executes the Motion dedicated function of the operation control step (Fn/FSn) and the motion control program (Kn). PLC CPU side To self CPU high speed interrupt accept flag from CPU1 U3E1\G48.0 D301 (Note)
  • Page 155 5 MOTION DEDICATED PLC INSTRUCTION (3) Complete status The error code is stored in the complete status at abnormal completion of the Multiple CPU dedicated instruction. The error code which is stored is shown below. (The error code marked " * " is dedicated with the Motion CPU.) Complete status Corrective Error factor...
  • Page 156 5 MOTION DEDICATED PLC INSTRUCTION (4) Self CPU operation data area used by Motion dedicated instruction (30H to 33H) The complete status of the to self CPU high speed interrupt accept flag from CPUn is stored in the following address. Shared Name Description...
  • Page 157 The start accept flag is stored by the 1 to 32 axis, each bit. (As for a bit's actually being set Q173CPU(N) : J1 to J32/ 204H(516) Start accept flag (Axis1 to 16) Q172CPU(N) : J1 to J8.)
  • Page 158: Motion Sfc Start Request From The Plc Cpu To The Motion Cpu: S(p).sfcs (plc Instruction: S(p).sfcs )

    5 MOTION DEDICATED PLC INSTRUCTION 5.2 Motion SFC Start Request from The PLC CPU to The Motion CPU: S(P).SFCS (PLC instruction: S(P).SFCS ) • Motion SFC start request instruction from the PLC CPU to the Motion CPU (S(P).SFCS) Usable devices Internal devices MELSECNET/10 Special...
  • Page 159 5 MOTION DEDICATED PLC INSTRUCTION (2) Request to start the Motion SFC program of the program No. specified with (n2). The Motion SFC program can start any task setting of the normal task, event task and NMI task. (3) This instruction is always effective regardless of the state of real mode/virtual mode/mode switching when the operating system software of Motion CPU is SV22.
  • Page 160 5 MOTION DEDICATED PLC INSTRUCTION [Errors] The abnormal completion in the case shown below, and the error code is stored in the device specified with the complete status storing device (D2). Complete status (Note) Corrective Error factor (Error code)(H) action The specified device cannot be used in the Motion CPU.
  • Page 161: Servo Program Start Request From The Plc Cpu To The Motion Cpu: S(p).svst (plc Instruction: S(p).svst )

    (Note-1) : Motion CPU cannot used CPU No.1 in the Multiple CPU configuration. (Note-2) : "n" shows the numerical value correspond to axis No.. Q173CPU(N) : Axis No.1 to No.32 (n=1 to 32) / Q172CPU(N) : Axis No.1 to No.8 (n=1 to 8) 5 - 12...
  • Page 162 5 MOTION DEDICATED PLC INSTRUCTION [Controls] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU. (2) Request to start the servo program specified with (S2). (3) This instruction is always effective regardless of the state of real mode/virtual mode/mode switching when the operating system software of Motion CPU is SV22.
  • Page 163 [Setting range] (1) Setting of the starting axis The starting axis set as (S1) sets J + Axis No. in a character sequence " ". (S1) usable range Q173CPU(N) 1 to 32 Q172CPU(N) 1 to 8 Up to 8 axes can be set. If multiple axes are set, it sets without dividing in a space etc,.
  • Page 164 ( ) is decimal address The start accept flag is stored by the 1 to 32 axis, each bit. (As for a bit's actually being set Q173CPU(N) : J1 to J32/ Q172CPU(N) : J1 to J8.) OFF : Start accept flag usable...
  • Page 165 5 MOTION DEDICATED PLC INSTRUCTION The error flag (SM0) is turned on an operation error in the case shown below, and an error code is stored in SD0. (Note) Error code Error factor Corrective action The CPU No. to be set by "(First I/O No. of the target 2110 CPU)/16"...
  • Page 166: Current Value Change Instruction From The Plc Cpu To The Motion Cpu: S(p).chga (plc Instruction: S(p).chga )

    (Note-1) : Motion CPU cannot used CPU No.1 in the Multiple CPU configuration. (Note-2) : "n" shows the numerical value which correspond to axis No.. Q173CPU(N) : Axis No.1 to No.32 (n=1 to 32) / Q172CPU(N) : Axis No.1 to No.8 (n=1 to 8) 5 - 17...
  • Page 167 5 MOTION DEDICATED PLC INSTRUCTION When an axis No."Jn" was specified with (S1) [Controls] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU.
  • Page 168 [Setting range] (1) Setting of axis to execute the current value change. The starting axis set as (S1) sets J + Axis No. in a character sequence " ". (S1) usable range Q173CPU(N) 1 to 32 Q172CPU(N) 1 to 8 The number of axes which can set are only 1 axis.
  • Page 169 ( ) is decimal address The start accept flag is stored by the 1 to 32 axis, each bit. (As for a bit's actually being set Q173CPU(N) : J1 to J32/ Q172CPU(N) : J1 to J8.) OFF : Start accept flag usable...
  • Page 170 5 MOTION DEDICATED PLC INSTRUCTION The error flag (SM0) is turned on an operation error in the case shown below, and an error code is stored in SD0. (Note) Error code Error factor Corrective action The CPU No. to be set by "(First I/O No. of the target 2110 CPU)/16"...
  • Page 171 5 MOTION DEDICATED PLC INSTRUCTION When an axis No."En" was specified with (S1) [Controls] (1) This instruction is dedicated instruction toward the Motion CPU at the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU.
  • Page 172 (1) Setting of the synchronous encoder axis to execute the current value change. The synchronous encoder axis to execute the current value change set as (S1) sets E + synchronous encoder axis No. in a character sequence " ". (S1) usable range Q173CPU(N) 1 to 12 Q172CPU(N) 1 to 8 The number of axes which can set are only 1 axis.
  • Page 173 ( ) is decimal address The synchronous encoder current value changing flag is stored by the 1 to 16 axis, each bit. (As for a bit's actually being set Q173CPU(N) : E1 to E12/ Q172CPU(N) : E1 to E8.) OFF : Start accept usable...
  • Page 174 5 MOTION DEDICATED PLC INSTRUCTION The error flag (SM0) is turned on an operation error in the case shown below, and an error code is stored in SD0. (Note) Error code Error factor Corrective action The CPU No. to be set by "(First I/O No. of the target 2110 CPU)/16"...
  • Page 175 5 MOTION DEDICATED PLC INSTRUCTION When an axis No."Cn" was specified with (S1) [Controls] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU.
  • Page 176 The cam axis to execute the within-one-revolution current value change set as (S1) sets C + cam axis No. in a character sequence " ". (S1) usable range Q173CPU(N) 1 to 32 Q172CPU(N) 1 to 8 The number of axes which can set are only 1 axis.
  • Page 177 The cam axis within-one-revolution current value changing flag is stored by the 1 to 32 axis, each bit. (As for a bit's actually being set Q173CPU(N) : C1 to C32/ Q172CPU(N) : C1 to C8.) 20CH(524) OFF : Start accept usable...
  • Page 178 5 MOTION DEDICATED PLC INSTRUCTION The error flag (SM0) is turned on an operation error in the case shown below, and an error code is stored in SD0. (Note) Error code Error factor Corrective action The CPU No. to be set by "(First I/O No. of the target 2110 CPU)/16"...
  • Page 179: Speed Change Instruction From The Plc Cpu To The Motion Cpu: S(p).chgv (plc Instruction: S(p).chgv )

    (Note-1) : Motion CPU cannot used CPU No.1 in the Multiple CPU configuration. (Note-2) : "n" shows the numerical value which correspond to axis No.. Q173CPU(N) : Axis No.1 to No.32 (n=1 to 32) / Q172CPU(N) : Axis No.1 to No.8 (n=1 to 8) 5 - 30...
  • Page 180 5 MOTION DEDICATED PLC INSTRUCTION [Controls] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU. (2) The speed change is executed of the axis specified with (S1) during positioning or JOG operating.
  • Page 181 ( ) is decimal address The start accept flag is stored by the 1 to 32 axis, each bit. (As for a bit's actually being set Q173CPU(N) : J1 to J32/ Q172CPU(N) : J1 to J8.) OFF : Start accept usable...
  • Page 182 5 MOTION DEDICATED PLC INSTRUCTION [Errors] The abnormal completion in the case shown below, and the error code is stored in the device specified with the complete status storing device (D2). Complete status (Note) Error factor Corrective action (Error code)(H) The specified device cannot be used in the Motion 4C00 CPU.
  • Page 183: Torque Limit Value Change Request Instruction From The Plc Cpu To The Motion Cpu: S(p).chgt (plc Instruction: S(p).chgt )

    (Note-1) : Motion CPU cannot used CPU No.1 in the Multiple CPU configuration. (Note-2) : "n" shows the numerical value which correspond to axis No.. Q173CPU(N) : Axis No.1 to No.32 (n=1 to 32) / Q172CPU(N) : Axis No.1 to No.8 (n=1 to 8) 5 - 34...
  • Page 184 (1) Setting of the axis to execute the torque limit value change. The axis to execute the torque limit change set as (S1) sets J + axis No. in a character sequence " ". (S1) usable range Q173CPU(N) 1 to 32 Q172CPU(N) 1 to 8 The number of axes which can set are only 1 axis.
  • Page 185 5 MOTION DEDICATED PLC INSTRUCTION [Errors] The abnormal completion in the case shown below, and the error code is stored in the device specified with the complete status storing device (D2). Complete status (Note) Error factor Corrective action (Error code)(H) The specified device cannot be used in the Motion 4C00 CPU.
  • Page 186 5 MOTION DEDICATED PLC INSTRUCTION [Program example] Program which changes the torque limit value of the axis No.1 of the Motion CPU (CPU No.4) from PLC CPU (CPU No.1) to 10[%]. To self CPU high speed interrupt accept flag from CPU U3E3 \G48.0 M100...
  • Page 187: Write From The Plc Cpu To The Motion Cpu: S(p).ddwr (plc Instruction: S(p).ddwr )

    5 MOTION DEDICATED PLC INSTRUCTION 5.7 Write from The PLC CPU to The Motion CPU: S(P).DDWR (PLC instruction: S(P).DDWR ) • Write instruction from the PLC CPU to the Motion CPU (S(P).DDWR) Usable devices Internal devices MELSECNET/10 Special Indirectly Index File Constant (System, User)
  • Page 188 5 MOTION DEDICATED PLC INSTRUCTION [Controls] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU. A part for the number of writing data of the control data specified with (S1) of data since the device specified with (S2) of the self CPU are stored to since the word device specified with (D1) of the target CPU (n1) in the Multiple CPU system.
  • Page 189 5 MOTION DEDICATED PLC INSTRUCTION [Operation of the self CPU at execution of S(P).DDWR instruction] First S(P).DDWR Second S(P).DDWR instruction accept instruction accept To self CPU high speed interrupt accept flag from CPUn (Instruction accept destination buffer memory) S(P).DDWR instruction (First) First S(P).DDWR instruction complete device...
  • Page 190 5 MOTION DEDICATED PLC INSTRUCTION The error flag (SM0) is turned on an operation error in the case shown below, and an error code is stored in SD0. (Note) Error code Error factor Corrective action The CPU No. to be set by "(First I/O No. of the target 2110 CPU)/16"...
  • Page 191: Read From The Devices Of The Motion Cpu: S(p).ddrd (plc Instruction: S(p).ddrd )

    5 MOTION DEDICATED PLC INSTRUCTION 5.8 Read from The Devices of The Motion CPU: S(P).DDRD (PLC instruction: S(P).DDRD ) • Read instruction from the devices of the Motion CPU : S(P).DDRD Usable devices Internal devices MELSECNET/10 Special Indirectly Index File Constant (System, User) direct J \...
  • Page 192 5 MOTION DEDICATED PLC INSTRUCTION [Controls] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU. A part for the number of reading data of the control data specified with (S1) of data since the device specified with (S2) in the target CPU (n1) is stored to since the word device specified with (D1) of the self CPU in the Multiple CPU system.
  • Page 193 5 MOTION DEDICATED PLC INSTRUCTION [Operation of the self CPU at execution of S(P).DDRD instruction] First S(P).DDRD Second S(P).DDRD instruction accept instruction accept To self CPU high speed interrupt accept flag from CPUn (Instruction accept destination buffer memory) S(P).DDRD instruction (First) First S(P).DDRD instruction complete device...
  • Page 194 5 MOTION DEDICATED PLC INSTRUCTION The error flag (SM0) is turned on an operation error in the case shown below, and an error code is stored in SD0. (Note) Error code Error factor Corrective action The CPU No. to be set by "(First I/O No. of the target 2110 CPU)/16"...
  • Page 195: Interrupt Instruction To The Other Cpu: S(p).gint (plc Instruction: S(p).gint )

    5 MOTION DEDICATED PLC INSTRUCTION 5.9 Interrupt Instruction to The Other CPU: S(P).GINT (PLC instruction: S(P).GINT ) • Interrupt instruction to the other CPU (S(P).GINT) Usable devices Internal devices MELSECNET/10 Special Indirectly Index File Constant (System, User) direct J \ function Digit specified...
  • Page 196 5 MOTION DEDICATED PLC INSTRUCTION (4) SM390 turn off when the transmission of the instruction toward the target CPU was not completed. SM391 (S(P).GINT instruction execution completion flag) turned off when the instruction toward the target CPU cannot be transmitted. (5) Number of instruction execution does not have restriction, if to self CPU high speed interrupt accept flag from CPUn in the target shared CPU memory of S(P).GINT instruction.
  • Page 197 5 MOTION DEDICATED PLC INSTRUCTION MEMO 5 - 48...
  • Page 198: Motion Sfc Programs

    6 MOTION SFC PROGRAMS 6. MOTION SFC PROGRAMS Refer to Chapter "19 ERROR CODE LISTS" for details of Motion SFC program error. 6.1 Motion SFC Program Configuration The Motion SFC Program is constituted by the combination of start, steps, transitions, end and others are shows below.
  • Page 199: Motion Sfc Chart Symbol List

    6 MOTION SFC PROGRAMS 6.2 Motion SFC Chart Symbol List Parts as Motion SFC program components are shown below. The operation sequence or transition control is expressed with connecting these parts by directed lines in the Motion SFC program. Symbol Classification Name List Representation...
  • Page 200 6 MOTION SFC PROGRAMS Symbol Classification Name List representation Function (Code size (byte)) • When just before is the motion control step, transits to the next step by formation of transition condition Gn (G0 to G4095) without waiting for the motion operating completion.
  • Page 201 6 MOTION SFC PROGRAMS Symbol Classification Name List representation Function (Code size (byte)) • When just before is the motion control step, waits for the motion operating completion and then transits to the next step by formation of transition condition Gn IFBm (G0 to G4095).
  • Page 202: Branch And Coupling Chart List

    6 MOTION SFC PROGRAMS 6.3 Branch and Coupling Chart List Branch and coupling patterns which specify step and transition sequences in the Motion SFC charts are shown below. Name List Motion SFC chart symbol Function (Code size (byte)) representation • Steps and transitions connected in series are List processed in order from top to bottom.
  • Page 203 6 MOTION SFC PROGRAMS Combining the basic type branches/couplings provides the following application types, which are defined as in the basic types. List Name Motion SFC chart symbol Function representation • After a selective branch, a parallel branch can be CALL Kn performed.
  • Page 204 6 MOTION SFC PROGRAMS List Name SFC chart symbol Function representation • After a selective branch, a selective branch can be CALL Kn performed. IFBm IFT1 SFT Gn IFBm+1 IFBm IFT1 Selective branch IFT1 IFT2 SFT Gn’ IFBm+1 Selective branch IFT1 IFT2 JMP IFEm+1...
  • Page 205 6 MOTION SFC PROGRAMS List Name SFC chart symbol Function representation • The selective coupling point and parallel branch (JMP IFEm) point can be the same. IFEm Note that in the Motion SFC chart, this type is PABm displayed in order of a selective coupling PAT1 parallel branch, as shown on the left.
  • Page 206: Motion Sfc Program Name

    6 MOTION SFC PROGRAMS 6.4 Motion SFC Program Name Set the "Motion SFC program name" to the Motion SFC program No.0 to No.255 individually. (Make this setting in the "Motion SFC program management window" on the Motion SFC program edit screen.) Set the Motion SFC program name within 16 characters.
  • Page 207: Steps

    6 MOTION SFC PROGRAMS 6.5 Steps 6.5.1 Motion control step Name Symbol Function Starts the servo program Kn. Motion control step Specified range: K0 to K4095 [Operations] (1) Turns on the start accept flag of the axis specified with the specified servo program Kn (n = 0 to 4095) runnnig.
  • Page 208: Operation Control Step

    6 MOTION SFC PROGRAMS 6.5.2 Operation control step Name Symbol Function Executes the operation control program Fn/FSn. Operation Fn/FSn Specified range: F0 to F4095/FS0 to FS4095 control step [Operations] (1) Once execution type operation control step Fn In the case of Fn, executes the specified operation control program Fn (n = 0 to 4095) once.
  • Page 209: Subroutine Call/start Step

    6 MOTION SFC PROGRAMS 6.5.3 Subroutine call/start step Name Symbol Function Calls/starts the Motion SFC program of the specified Subroutine Program name program name. call/start step [Operations] (1) Calls/starts the Motion SFC program of the specified program name. (2) Control varies with the type of the transition coupled next to the subroutine call/start step.
  • Page 210 6 MOTION SFC PROGRAMS [Instructions] (1) There are no restrictions on the depth of subroutine call/start nesting. (2) For a subroutine start, the start source Motion SFC program continues processing if the start destination Motion SFC program stops due to an error. (3) For a subroutine call, the call source Motion SFC program stops running as soon as the call destination Motion SFC program stops due to an error.
  • Page 211: Clear Step

    6 MOTION SFC PROGRAMS 6.5.4 Clear step Name Symbol Function Stops the Motion SFC program of the specified Clear step Program name program name. [Operations] (1) Stops the specified Motion SFC program running. (2) The clear-specified Motion SFC program will not start automatically after stopped if it has been set to start automatically.
  • Page 212: Transitions

    6 MOTION SFC PROGRAMS 6.6 Transitions You can describe conditional and operation expressions at transitions. The operation expression described here is repeated until the transition condition enables, as at the scan execution type operation step. Refer to Chapter "8 TRANSITION PROGRAMS" for the conditional/operation expressions that can be described in transition conditions.
  • Page 213 6 MOTION SFC PROGRAMS [Instructions] • Always pair a transition with a motion control step one-for-one. If the step following WAITON/WAITOFF is not a motion control step, the Motion SFC program error [16102] will occur and the Motion SFC program running will stop at the error detection.
  • Page 214: Program Parameters

    6 MOTION SFC PROGRAMS 6.7 Jump, Pointer Pointer Jump [Operations] • Setting a jump will cause a jump to the specified pointer Pn of the self program. • You can set pointers at steps, transitions, branch points and coupling points. •...
  • Page 215: Branches, Couplings

    6 MOTION SFC PROGRAMS 6.9 Branches, Couplings 6.9.1 Series transition Transits execution to the subsequent step or transition connected in series. (1) To start a servo program or subroutine and shift execution to the next without waiting for operation completion Set Shift at a transition.
  • Page 216: Selective Branch, Selective Coupling

    6 MOTION SFC PROGRAMS 6.9.2 Selective branch, selective coupling (1) Selective branch Executes only the route which condition was judged to have enabled first among the conditions of multiple transitions connected in parallel. Transitions must be all Shifts or WAITs. (Example) WAIT After start axis in the servo Starts the servo program K1.
  • Page 217: Parallel Branch, Parallel Coupling

    6 MOTION SFC PROGRAMS 6.9.3 Parallel branch, parallel coupling (1) Parallel branch Multiple routes connected in parallel are executed simultaneously. Each parallel branch destination may be started by either a step or a transition. After operation completion of preceding step, steps K2 to F10 connected in parallel are executed when the completion of condition set at transition...
  • Page 218 6 MOTION SFC PROGRAMS POINT The number of parallel branches need not match that of couplings at a parallel coupling point. (In the example of the diagram in Section 6.9.3 (2), the number of parallel branches is 3 and that of couplings is 2.) When a WAIT transition is set right after a parallel coupling, the stop completions of the axes are not included in the waiting conditions if the parallel coupling is preceded by motion control steps.
  • Page 219: Y/n Transitions

    6 MOTION SFC PROGRAMS 6.10 Y/N Transitions When routes are branch at a transition condition enables and disable, "Shift Y/N transition" or "WAIT Y/N transition" will be useful. Name Symbol Function (Not • When a transition condition set at Gn completion enables, execution shifts to the lower of condition)
  • Page 220 6 MOTION SFC PROGRAMS (1) Automatic free G number search feature (a) When not set to automatic numbering Searches for a free number forward, starting with the "set G number + 1" at the "Shift Y/N" or "WAIT Y/N" symbol. When no free numbers are found after a search up to 4095, a search is made from 0 to the "set G number - 1".
  • Page 221 6 MOTION SFC PROGRAMS (3) Instructions for the Motion SFC charts Any Motion SFC chart that will be meaningless to or conflict with the definition of Y/N transitions will result in an error at the time of editing (or Motion SFC chart conversion).
  • Page 222 6 MOTION SFC PROGRAMS (c) The following patterns may be set. • End (END) from "Shift Y/N" or "WAIT Y/N" • Jump from "Shift Y/N" or "WAIT Y/N" • Continuation from "Shift Y/N" or "WAIT Y/N" to "Shift Y/N" or "WAIT Y/N" (selective branch-selective branch) •...
  • Page 223: Motion Sfc Comments

    6 MOTION SFC PROGRAMS 6.11 Motion SFC Comments A comment can be set to each symbol of the step/transition in the motion SFC chart. Comments are shown in the Motion SFC chart by changing the display mode to "Comment display" on the Motion SFC program edit screen. Since the Motion SFC comments are stored into the CPU code area, performing read from PC displays the Motion SFC chart with comments.
  • Page 224 6 MOTION SFC PROGRAMS POINT (1) Motion SFC comments are stored into the CPU code area. The CPU code area stores the Motion SFC chart codes, operation control (F/FS) program codes, transition (G) program codes and Motion SFC comments. Be careful not to set too many comments to avoid code area overflow. (Refer to Section "1.2.2 (2) (b) Motion SFC Performance Specifications"...
  • Page 225 6 MOTION SFC PROGRAMS MEMO 6 - 28...
  • Page 226: Operation Control Programs

    Refer to Section "19.2 Motion SFC Error Code List" for error codes of the operation error. (Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)" and "Q173CPU(N)/Q172CPU(N) Motion controller (SV22) Programming Manual (VIRTUAL MODE)" for minor errors of the operation error.) 7.1 Operation Control Programs...
  • Page 227 7 OPERATION CONTROL PROGRAMS (2) Priorities of operators and functions Operators and functions have the following priorities. Using parentheses allows an operation sequence to be specified freely. Priority Item (Operator, Function) High Calculation within parentheses ((...)) Standard function (SIN, COS, etc.), Type conversion (USHORT, LONG, etc.) Bit inversion (~), logical negation (!), sign inversion ( ) Multiplication ( ), division (/), remainder (%)
  • Page 228 7 OPERATION CONTROL PROGRAMS (3) Structure of instruction Many of the instructions usable in operation control programs can be divided into instruction and data parts. The instruction and data parts are used for the following purposes. • Instruction part..Indicates the function of that instruction. •...
  • Page 229 7 OPERATION CONTROL PROGRAMS (4) How to specify data There are the following six different data usable in each instruction. Data usable in each instruction Numerical data Integer data 16-bit integer type data 32-bit integer type data 64-bit floating-point type data Bit data Batch bit data Logical data...
  • Page 230 7 OPERATION CONTROL PROGRAMS 3) Data ranges are shown below. Decimal representation Hexadecimal representation H0000000000000000, K-1.79E+308 to K-2.23E-308, H0010000000000000 to H7FE1CCF385EBC89F, Data range K0.0, H8000000000000000, K2.23E-308 to K1.79E+308 H8010000000000000 to HFFE1CCF385EBC89F 4) A round-off error may be produced in a 64-bit floating-point type data operation.
  • Page 231 7 OPERATION CONTROL PROGRAMS (f) Logical data The logical data is a value returned by a bit or comparison conditional expression and indicates whether the result is true or false. Normally, it is used in the conditional expression of a transition program. In an operation control program, the logical data is used in a bit conditional expression set to device set (SET=) or device reset (RST=).
  • Page 232: Device Descriptions

    7 OPERATION CONTROL PROGRAMS 7.2 Device Descriptions Word and bit device descriptions are shown below. (1) Word device descriptions Device descriptions 32-bit 64-bit Device No. (n) specifying ranges 16-bit integer type floating-point type integer type ("n" is even No.) ("n" is even No.) Data register 0 to 8191 Link register...
  • Page 233 7 OPERATION CONTROL PROGRAMS (3) Indirect specification of device No. In the above word/bit device descriptions, device No. (n) can be specified indirectly. (a) Indirect specification of device No. (n) using word device • The word device which the device No. was specified indirectly cannot be used.
  • Page 234: Constant Descriptions

    7 OPERATION CONTROL PROGRAMS 7.3 Constant Descriptions The constant descriptions of the 16-bit integer type, 32-bit integer type and 64-bit floating-point type are shown below. 16-Bit integer type 32-Bit integer type 64-Bit floating-point type K-1.79E+308 to K-2.23E-308, Decimal K-32768 to K32767 K-2147483648L to K2147483647L K0.0, representation...
  • Page 235: Binary Operations

    7 OPERATION CONTROL PROGRAMS F/FS 7.4 Binary Operations 7.4.1 Substitution : = Format (D)=(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional floating Coasting floating expression...
  • Page 236 7 OPERATION CONTROL PROGRAMS (2) Program which substitutes K123456.789 to D0L D0L = K123456.789 123456.789 123456 The 64-bit floating-point type is converted into the 32-bit integer type and the result is substituted. (3) Program which substitutes the result of adding K123 and #0 to W0 W0 = K123 + #0 7 - 11...
  • Page 237: Addition

    7 OPERATION CONTROL PROGRAMS F/FS 7.4.2 Addition : + Format (S1)+(S2) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer integer...
  • Page 238: Subtraction

    7 OPERATION CONTROL PROGRAMS F/FS 7.4.3 Subtraction : Format (S1) (S2) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer integer...
  • Page 239 7 OPERATION CONTROL PROGRAMS (2) Program which substitutes the result of subtracting #10 from #0F to D0L D0L = #0F #10 12345.789 12222.789 12222 64-bit floating-point type data are used for subtraction, and the result is converted into the 32-bit integer type and then substituted. The 7 - 14...
  • Page 240: Multiplication

    7 OPERATION CONTROL PROGRAMS F/FS 7.4.4 Multiplication : Format (S1) (S2) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer integer...
  • Page 241: Division

    7 OPERATION CONTROL PROGRAMS F/FS 7.4.5 Division : / Format (S1)/(S2) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer integer...
  • Page 242: Remainder

    7 OPERATION CONTROL PROGRAMS F/FS 7.4.6 Remainder : % Format (S1)%(S2) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer integer...
  • Page 243: Bit Operations

    7 OPERATION CONTROL PROGRAMS F/FS 7.5 Bit Operations 7.5.1 Bit inversion (Complement) : ˜ ˜ Format Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional floating Coasting...
  • Page 244: Bit Logical And

    7 OPERATION CONTROL PROGRAMS F/FS 7.5.2 Bit logical AND : & Format (S1)&(S2) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer...
  • Page 245: Bit Logical Or

    7 OPERATION CONTROL PROGRAMS F/FS 7.5.3 Bit logical OR : Format (S1) l (S2) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression...
  • Page 246: Bit Exclusive Logical Or

    7 OPERATION CONTROL PROGRAMS F/FS 7.5.4 Bit exclusive logical OR : ^ Format (S1)^(S2) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression...
  • Page 247: Bit Right Shift

    7 OPERATION CONTROL PROGRAMS F/FS 7.5.5 Bit right shift : >> Format (S1) >> (S2) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating...
  • Page 248: Bit Left Shift

    7 OPERATION CONTROL PROGRAMS F/FS 7.5.6 Bit left shift : << Format (S1) << (S2) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating...
  • Page 249: Sign Inversion(complement Of 2)

    7 OPERATION CONTROL PROGRAMS F/FS 7.5.7 Sign inversion (Complement of 2) : Format Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer...
  • Page 250: Standard Functions

    7 OPERATION CONTROL PROGRAMS F/FS 7.6 Standard Functions 7.6.1 Sine : SIN Format SIN(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional floating Coasting floating expression...
  • Page 251: Cosine : Cos

    7 OPERATION CONTROL PROGRAMS F/FS 7.6.2 Cosine : COS Format COS(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer integer...
  • Page 252: Tangent : Tan

    7 OPERATION CONTROL PROGRAMS F/FS 7.6.3 Tangent : TAN Format TAN(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer integer...
  • Page 253: Arcsine : Asin

    7 OPERATION CONTROL PROGRAMS F/FS 7.6.4 Arcsine : ASIN Format ASIN(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer integer...
  • Page 254: Arccosine : Acos

    7 OPERATION CONTROL PROGRAMS F/FS 7.6.5 Arccosine : ACOS Format ACOS(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer integer...
  • Page 255: Arctangent : Atan

    7 OPERATION CONTROL PROGRAMS F/FS 7.6.6 Arctangent : ATAN Format ATAN(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer integer...
  • Page 256: Square Root : Sqrt

    7 OPERATION CONTROL PROGRAMS F/FS 7.6.7 Square root : SQRT Format SQRT(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer...
  • Page 257: Natural Logarithm : Ln

    7 OPERATION CONTROL PROGRAMS F/FS 7.6.8 Natural logarithm : LN Format LN(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer...
  • Page 258: Exponential Operation : Exp

    7 OPERATION CONTROL PROGRAMS F/FS 7.6.9 Exponential operation : EXP Format EXP(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer...
  • Page 259: Absolute Value : Abs

    7 OPERATION CONTROL PROGRAMS F/FS 7.6.10 Absolute value : ABS Format ABS(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer...
  • Page 260: Round-off : Rnd

    7 OPERATION CONTROL PROGRAMS F/FS 7.6.11 Round-off : RND Format RND(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer integer...
  • Page 261: Round-down : Fix

    7 OPERATION CONTROL PROGRAMS F/FS 7.6.12 Round-down : FIX Format FIX(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer integer...
  • Page 262: Round-up : Fup

    7 OPERATION CONTROL PROGRAMS F/FS 7.6.13 Round-up : FUP Format FUP(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer integer...
  • Page 263: Bcd

    7 OPERATION CONTROL PROGRAMS F/FS 7.6.14 BCD BIN conversion : BIN Format BIN(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer...
  • Page 264: Bin

    7 OPERATION CONTROL PROGRAMS F/FS 7.6.15 BIN BCD conversion : BCD Format BCD(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer...
  • Page 265: Type Conversions

    7 OPERATION CONTROL PROGRAMS F/FS 7.7 Type Conversions 7.7.1 Signed 16-bit integer value conversion : SHORT Format SHORT(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional floating...
  • Page 266: Unsigned 16-bit Integer Value Conversion : Ushort

    7 OPERATION CONTROL PROGRAMS F/FS 7.7.2 Unsigned 16-bit integer value conversion : USHORT Format USHORT(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating...
  • Page 267: Signed 32-bit Integer Value Conversion : Long

    7 OPERATION CONTROL PROGRAMS F/FS 7.7.3 Signed 32-bit integer value conversion : LONG Format LONG(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating...
  • Page 268: Unsigned 32-bit Integer Value Conversion : Ulong

    7 OPERATION CONTROL PROGRAMS F/FS 7.7.4 Unsigned 32-bit integer value conversion : ULONG Format ULONG(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating...
  • Page 269: Signed 64-bit Floating-point Value Conversion : Float

    7 OPERATION CONTROL PROGRAMS F/FS 7.7.5 Signed 64-bit floating-point value conversion : FLOAT Format FLOAT(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating...
  • Page 270: Unsigned 64-bit Floating-point Value Conversion : Ufloat

    7 OPERATION CONTROL PROGRAMS F/FS 7.7.6 Unsigned 64-bit floating-point value conversion : UFLOAT Format UFLOAT(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating...
  • Page 271: Bit Device Statuses

    7 OPERATION CONTROL PROGRAMS F/FS 7.8 Bit Device Statuses 7.8.1 ON (Normally open contact) : (None) Format Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional floating...
  • Page 272: Off (normally Closed Contact)

    7 OPERATION CONTROL PROGRAMS F/FS 7.8.2 OFF (Normally closed contact) : ! Format !(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression...
  • Page 273: Bit Device Controls

    7 OPERATION CONTROL PROGRAMS F/FS 7.9 Bit Device Controls 7.9.1 Device set : SET Format SET(D)=(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional floating Coasting...
  • Page 274 7 OPERATION CONTROL PROGRAMS [Program examples] (1) Program which sets M100 when either of M0 and X0 is 1 SET M100 = M0 + X0 (True) M100 (2) Program which sets M100 when #0 is equal to D0 SET M100 = #0 = = D0 (True) M100 (3) Program which sets Y0 unconditionally...
  • Page 275: Device Reset : Rst

    7 OPERATION CONTROL PROGRAMS F/FS 7.9.2 Device reset : RST Format RST(D)=(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer...
  • Page 276 7 OPERATION CONTROL PROGRAMS [Program examples] (1) Program which resets M100 when either of M0 and X0 is 1 RST M100 = M0 + X0 (True) M100 (2) Program which resets M100 when #0 is equal to D0 RST M100 = #0 != D0 (True) M100 (3) Program which resets Y0 unconditionally...
  • Page 277: Device Output : Dout

    7 OPERATION CONTROL PROGRAMS F/FS 7.9.3 Device output : DOUT Format DOUT(D), (S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer...
  • Page 278: Device Input : Din

    7 OPERATION CONTROL PROGRAMS F/FS 7.9.4 Device input : DIN Format DIN(D), (S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer...
  • Page 279: Bit Device Output : Out

    7 OPERATION CONTROL PROGRAMS F/FS 7.9.5 Bit device output : OUT Refer to the Section "1.3.4" for the correspondence version of the Motion CPU and the software. Format OUT(D)=(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit...
  • Page 280 7 OPERATION CONTROL PROGRAMS (3) Program which sets M100 when D0 is equal to D2000 and resets M100 when D is not equal to D2000 OUT M100 = (D0 == D2000) 7 - 55...
  • Page 281: Logical Operations

    7 OPERATION CONTROL PROGRAMS F/FS 7.10 Logical Operations 7.10.1 Logical acknowledgement : (None) Format Number of basic steps — [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional floating Coasting floating...
  • Page 282: Logical Negation

    7 OPERATION CONTROL PROGRAMS F/FS 7.10.2 Logical negation : ! Format ! (S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer...
  • Page 283: Logical And

    7 OPERATION CONTROL PROGRAMS F/FS 7.10.3 Logical AND : Format (S1) (S2) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer...
  • Page 284: Logical Or

    7 OPERATION CONTROL PROGRAMS F/FS 7.10.4 Logical OR : + Format (S1)+(S2) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer...
  • Page 285: Comparison Operations

    7 OPERATION CONTROL PROGRAMS F/FS 7.11 Comparison Operations 7.11.1 Equal to : == Format (S1)==(S2) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional floating Coasting floating...
  • Page 286: Not Equal To

    7 OPERATION CONTROL PROGRAMS F/FS 7.11.2 Not equal to : != Format (S1)!=(S2) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer...
  • Page 287: Less Than

    7 OPERATION CONTROL PROGRAMS F/FS 7.11.3 Less than : < Format (S1)<(S2) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer...
  • Page 288: Less Than Or Equal To

    7 OPERATION CONTROL PROGRAMS F/FS 7.11.4 Less than or equal to: <= Format (S1)<=(S2) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression...
  • Page 289: More Than

    7 OPERATION CONTROL PROGRAMS F/FS 7.11.5 More than : > Format (S1)>(S2) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer...
  • Page 290: More Than Or Equal To

    7 OPERATION CONTROL PROGRAMS F/FS 7.11.6 More than or equal to: >= Format (S1)>=(S2) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression...
  • Page 291: Motion-dedicated Functions(chgv, Chgt)

    (c) The speed changing flag is turned OFF. (2) The axis No. that may be set at (S1) is within the following range. Q172CPU(N) Q173CPU(N) 1 to 8 1 to 32 For interpolation control, set any one of the interpolation axes. When linear interpolation control is exercised, a speed change varies as described below with the positioning speed designation method set in the servo program.
  • Page 292 7 OPERATION CONTROL PROGRAMS (3) Operation varies with the sign of the specified speed set at (S2). Sign of specified speed Operation Positive Speed change Temporary stop Negative Return (4) The specified speed that may be set at (S2) is within the following range. (a) Real mode inch degree...
  • Page 293 7 OPERATION CONTROL PROGRAMS (6) By specifying a negative speed and making a speed change request during the start, allows the axis to start deceleration at that point and return in the opposite direction upon completion of deceleration. The following operations by the servo instruction are shown below. Control mode Servo instruction Operation...
  • Page 294 7 OPERATION CONTROL PROGRAMS (d) While the axis is reversion in the speed control mode 1) Make a speed change to a positive speed to change the travel direction again. 2) Turn ON the stop command to make a stop. 3) A speed change is made in the opposite direction if a negative speed change is made again.
  • Page 295 7 OPERATION CONTROL PROGRAMS [Program examples] (1) Program which changes the positioning speed of axis 2 CHGV(K2,K10) (2) Return program which changes the positioning speed of axis 1 to a negative value CHGV(K1,K 1000) The following operation will be performed when a return request is made in constant-speed control.
  • Page 296 7 OPERATION CONTROL PROGRAMS POINT (1) A speed change may be invalid if it is made from when a servo program start request is made until the "positioning start completion signal" status changes to ON. When making a speed change at almost the same timing as a start, always create a program which will execute the speed change after the "positioning start completion signal"...
  • Page 297: Torque Limit Value Change Request : Chgt

    ON or servo OFF. (3) The axis No. that may be set at (S1) is within the following range. Q172CPU(N) Q173CPU(N) 1 to 8 1 to 32 (4) The torque limit value that may be set at (S2) is within the range 1 to 500[%].
  • Page 298 7 OPERATION CONTROL PROGRAMS During start (a) If the following torque limit value has been set, it will not be changed to higher than the torque limit value specified in the CHGT instruction. • Torque limit value at a midway point in constant-speed control or speed switching control •...
  • Page 299: Other Instructions

    7 OPERATION CONTROL PROGRAMS F/FS 7.13 Other Instructions 7.13.1 Event task enable : EI Format Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional floating Coasting floating...
  • Page 300: Event Task Disable : Di

    7 OPERATION CONTROL PROGRAMS F/FS 7.13.2 Event task disable : DI Format Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer...
  • Page 301: No Operation : Nop

    7 OPERATION CONTROL PROGRAMS F/FS 7.13.3 No operation : NOP Format Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer integer...
  • Page 302: Block Transfer : Bmov

    7 OPERATION CONTROL PROGRAMS F/FS 7.13.4 Block transfer : BMOV Refer to the Section "1.3.4" for the correspondence version of the Motion CPU and the software. Format BMOV(D), (S), (n) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison...
  • Page 303 (Note: DOUT cannot output the PX, special relays (M2000 to M9255) and dedicted devices (M2000 to M2127).) (5) The cam No. that may be set as "Nn" is within the following range. Q173CPU(N)/Q172CPU(N) 1 to 64 101 to 164 201 to 264...
  • Page 304 7 OPERATION CONTROL PROGRAMS [Program examples] (1) Program which batch-transfers a contents for 5 words from D0 to all data for 5 words from #10 BMOV #10, D0, K5 Batch transfer (2) Program which batch-transfers a contents for 2048 words from #0 to the data area of cam No.2 (resolution 2048) BMOV N2, #0, K2048 Cam data of cam No.2...
  • Page 305: Same Data Block Transfer : Fmov

    7 OPERATION CONTROL PROGRAMS F/FS 7.13.5 Same data block transfer : FMOV Refer to the Section "1.3.4" for the correspondence version of the Motion CPU and the software. Format FMOV(D), (S), (n) Number of basic steps [Usable data] Usable Data Word device Constant Setting...
  • Page 306 7 OPERATION CONTROL PROGRAMS [Errors] (1) An operation error will occur if: • (D) to (D)+(n-1) is outside the device range; When (n) specified is a • (n) is 0 or a negative number; or word device • PX/PY is set in (D) to (D)+(n-1). (2) When conversion is made in program editing of the SW6RN-GSV P, an error will occur if: •...
  • Page 307: Write Device Data To Shared Cpu Memory Of The Self Cpu: Multw

    7 OPERATION CONTROL PROGRAMS F/FS 7.13.6 Write device data to shared CPU memory of the self CPU: MULTW Refer to the Section "1.3.4" for the correspondence version of the Motion CPU and the software. Format MULTW(D), (S), (n), (D1) Number of basic steps [Usable data] Usable Data Word device...
  • Page 308 7 OPERATION CONTROL PROGRAMS (3) Another MULTW instruction cannot be processed until MULTW instruction is executed and a complete bit device is turned on. When MULTW instruction was executed again before MULTW instruction is executed and complete bit device is turned on, the MULTW instruction executed later becomes an error.
  • Page 309 7 OPERATION CONTROL PROGRAMS [Program examples] (1) 2 words from D0 is written in the shared CPU memory to since A00H, and transits to next step after confirmation of writing completion. RST M0 MULTW HA00, D0, K2, M0 2 words Device memory Shared CPU memory transfer...
  • Page 310: Read Device Data From Shared Cpu Memory Of The Other Cpu: Multr

    7 OPERATION CONTROL PROGRAMS F/FS 7.13.7 Read device data from shared CPU memory of the other CPU: MULTR Refer to the Section "1.3.4" for the correspondence version of the Motion CPU and the software. Format MULTR(D), (S1), (S2), (n) Number of basic steps [Usable data] Usable Data Word device...
  • Page 311 7 OPERATION CONTROL PROGRAMS (2) The word devices that may be set at (D), (S), (n) and (D1) are shown below. (Note-1) (Note-1), (Note-2) Word devices Bit devices Setting data (Note-3) (Note-4) (Note-4) — — — — — — — —...
  • Page 312 7 OPERATION CONTROL PROGRAMS [Program examples] (1) It checks that a CPU No.1 is not resetting, 2 words is read to since #0 from the shared CPU memory C00H of CPU No.1, and transits to next step after reading completion. !M9240 RST M9216 MULTR #0, H3E0, HC00, K2...
  • Page 313: Write Device Data To Intelligent Function Module/special Function Module : To

    7 OPERATION CONTROL PROGRAMS F/FS 7.13.8 Write device data to intelligent function module/special function module : TO Refer to the Section "1.3.4" for the correspondence version of the Motion CPU and the software. Format TO(D1), (D2), (S), (n) Number of basic steps [Usable data] Usable Data Word device...
  • Page 314 7 OPERATION CONTROL PROGRAMS (3) The word devices that may be set at (D1), (D2), (S) and (n) are shown below. (Note-1) (Note-1), (Note-2) Word devices Bit devices Setting data (D1) — — — — — (D2) — — — —...
  • Page 315 7 OPERATION CONTROL PROGRAMS [Program examples] (1) 2 words from #0 is written to since buffer memory address of the Intelligent function module/special function module (First I/O No. : 010H). TO H010, H0, #0, K2 Intelligent function module/ special function module (First I/O No.
  • Page 316: Read Device Data From Intelligent Function Module/special Function Module : From

    7 OPERATION CONTROL PROGRAMS F/FS 7.13.9 Read device data from intelligent function module/special function module : FROM Refer to the Section "1.3.4" for the correspondence version of the Motion CPU and the software. Format FROM(D), (S1), (S2), (n) Number of basic steps [Usable data] Usable Data Word device...
  • Page 317 7 OPERATION CONTROL PROGRAMS (3) The word devices that may be set at (D), (S1), (S2) and (n) are shown below. (Note-1) (Note-1), (Note-2) Word devices Bit devices Setting data (Note-3) (Note-4) (Note-4) (S1) — — — — — (S2) —...
  • Page 318 7 OPERATION CONTROL PROGRAMS [Program examples] (1) 1 word is read from the buffer memory address 10H of the intelligent function module/special function module (First I/O No. : 020H), and is stored in W0. FROM W0, H020, H10, K1 Intelligent function module/special function module (First I/O No.
  • Page 319: Time To Wait : Time

    7 OPERATION CONTROL PROGRAMS F/FS — 7.13.10 Time to wait : TIME Format TIME(S) Number of basic steps [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression...
  • Page 320 7 OPERATION CONTROL PROGRAMS POINT (1) When the waiting time setting is indirectly specified with a word device, the value imported first is used as the device value for exercising control. The set time cannot be changed if the device value is changed during a wait state. (2) The TIME instruction is equivalent to a conditional expression, and therefore may be set on only the last line of a transition (G) program.
  • Page 321: Comment Statement

    7 OPERATION CONTROL PROGRAMS F/FS 7.14 Comment Statement : // Format Number of basic steps — [Usable data] Usable Data Word device Constant Setting Comparison 64-bit 64-bit Calculation 16-bit 32-bit 16-bit 32-bit data Bit device conditional conditional Coasting floating floating expression integer integer...
  • Page 322: Transition Programs

    8 TRANSITION PROGRAMS 8. TRANSITION PROGRAMS 8.1 Transition Programs (1) Transition programs (a) Substitution operation expressions, motion-dedicated functions, bit device control commands and transition conditions can be set in transition programs. (b) Multiple blocks can be set in one transition program. (c) There are no restrictions on the number of blocks that may be set in a single transition program.
  • Page 323 8 TRANSITION PROGRAMS What can be set as a transition condition in the last block are bit conditional expressions, comparison conditional expressions and device set (SET=)/device reset (RST=) which return logical data values (true/false). In the case of device set (SET=)/device reset (RST=), whether the bit or comparison conditional expression specified at (S) is true or false is a transition condition, and when the transition condition enables, device set/reset is executed and execution shifts to the next step.
  • Page 324: Motion Control Programs

    Table 9.1 lists servo instructions used in servo programs. Refer to Section 9.2 to 9.4 for details of the current value change control (CHGA, CHGA-E, CHGA-C). Refer to the "Q173CPU(N)/Q172CPU(N) Motion Controller (SV13/SV22) Programming Manual (REAL MODE)" for other servo instructions. (1) Guide to servo instruction list Table 9.1 Guide to Servo Instruction List...
  • Page 325: Servo Instruction List

    9 MOTION CONTROL PROGRAMS (2) Servo instruction list Table 9.2 indicates the servo instructions available for servo programs and the positioning data set in servo instructions. Table 9.2 Servo Instruction List Positioning data Common Circular Instruction Processing symbol — Virtual enable Number of steps Number of indirect words —...
  • Page 326 9 MOTION CONTROL PROGRAMS Positioning data Parameter block Others Number of steps — — — — — — — 1(B) 1(B) 1(B) 1(B) 4 to 17 5 to 20 7 to 21 8 to 22 7 to 22 6 to 21 : Must be set.
  • Page 327 9 MOTION CONTROL PROGRAMS Table 9.2 Servo Instruction List (continued) Positioning data Common Circular Instruction Processing symbol — Virtual enable Number of steps Number of indirect words — Absolute central point-specified circular interpolation CW Absolute central point-specified circular interpolation CCW Incremental central point-specified circular interpolation CW Incremental central point-specified circular...
  • Page 328 9 MOTION CONTROL PROGRAMS Positioning data Parameter block Others Number of steps — — — — — — — 1(B) 1(B) 1(B) 1(B) 7 to 22 10 to 27 9 to 26 10 to 27 : Must be set. : Set if required. *1 : Only reference axis speed specification.
  • Page 329 9 MOTION CONTROL PROGRAMS Table 9.2 Servo Instruction List (continued) Positioning data Common Circular Instruction Processing symbol Virtual enable — Number of steps Number of indirect words — FEED-1 1-axis fixed-pitch feed start 2-axes linear interpolation FEED-2 fixed-pitch feed start 3-axes linear interpolation FEED-3 fixed-pitch feed start...
  • Page 330 9 MOTION CONTROL PROGRAMS Positioning data Parameter block Others Number of steps — — — — — — — 1(B) 1(B) 1(B) 1(B) 4 to 17 5 to 19 7 to 21 3 to 15 3 to 16 4 to 18 2 to 4 1 to 13 4 to 9...
  • Page 331 9 MOTION CONTROL PROGRAMS Table 9.2 Servo Instruction List (continued) Positioning data Common Circular Instruction Processing symbol — Virtual enable Number of steps — Number of indirect words PFSTART Position follow-up control start CPSTART1 1-axis constant-speed control start CPSTART2 2-axes constant-speed control start CPSTART3 3-axes constant-speed control start CPSTART4...
  • Page 332 9 MOTION CONTROL PROGRAMS Positioning data Parameter block Others Number of steps — — — — — — — 1(B) 1(B) 1(B) 1(B) 4 to 16 3 to 15 3 to 17 4 to17 2 to 10 3 to 11 4 to 12 5 to 13 5 to 14...
  • Page 333 9 MOTION CONTROL PROGRAMS Table 9.2 Servo Instruction List (continued) Positioning data Common Circular Instruction Processing symbol — Virtual enable Number of steps — Number of indirect words INC-1 INC-2 INC-3 INC-4 Constant-speed control passing point incremental specification Constant-speed control passing point helical incremental specification CPEND Constant-speed control end...
  • Page 334 9 MOTION CONTROL PROGRAMS Positioning data Parameter block Others Number of steps — — — — — — — 1(B) 1(B) 1(B) 1(B) 2 to 10 3 to 11 4 to 12 5 to 13 5 to 14 4 to 13 5 to 14 9 to 14 8 to 13...
  • Page 335 9 MOTION CONTROL PROGRAMS Table 9.2 Servo Instruction List (continued) Positioning data Common Circular Instruction Processing symbol — Virtual enable Number of steps — Number of indirect words FOR-TIMES FOR-ON Repeat range start setting FOR-OFF NEXT Repeat range end setting START Simultaneous start ZERO...
  • Page 336 9 MOTION CONTROL PROGRAMS Positioning data Parameter block Others Number of steps — — — — — — — 1(B) 1(B) 1(B) 1(B) 2 to 3 5 to 10 : Must be set. : Set if required. *1 : Only reference axis speed specification. *2 : (B) indicates a bit device.
  • Page 337: Servomotor/virtual Servomotor Shaft Current Value Change

    (3) The current value of the specified virtual servo-motor shaft is changed in the virtual mode. (4) The used axis No. can be set within the following range. Q172CPU(N) Q173CPU(N) Axis 1 to 8 Axis 1 to 32 (5) The address which made the current value change by CHGA instruction is valid on the power supply turning on.
  • Page 338 9 MOTION CONTROL PROGRAMS [Program example] A program which made the current value change control in the real mode is described as the following conditions. (1) System configuration The current value change control of axis 2 is executed. Q172 QX10 Q02H Q173 Axis 1...
  • Page 339 [908] (virtual real changing) occurs and the current value change is not made. (Note) : Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)"/"Q173CPU(N)/Q172CPU(N) Motion controller (SV22) Programming Manual (VIRTUAL MODE)" for minor error, major error and servo program setting error.
  • Page 340: Synchronous Encoder Shaft Current Value Change Control (sv22 Only)

    (2) The used axis No. can be set within the following range. Q172CPU(N) Q173CPU(N) Axis 1 to 8 Axis 1 to 12 (3) The address which made the current value change by CHGA-E instruction is valid after also the power supply turned off.
  • Page 341 9 MOTION CONTROL PROGRAMS [Program example] A program which made the current value change control of the synchronous encoder shaft is described as the following conditions. (1) System configuration The current value change control of the synchronous encoder shaft P1 is executed.
  • Page 342 [908] (virtual real changing) occurs and the current value change is not made. (Note) : Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)"/"Q173CPU(N)/Q172CPU(N) Motion controller (SV22) Programming Manual (VIRTUAL MODE)" for minor error, major error and servo program setting error.
  • Page 343: Cam Shaft Within-one-revolution Current Value Change Control (sv22 Only)

    (2) The cam shaft may be starting. (3) The used axis No. can be set within the following range. Q172CPU(N) Q173CPU(N) Axis 1 to 8 Axis 1 to 32 (4) The address which made the current value change by the CHGA-C instruction is valid after also the power supply turned off.
  • Page 344 [908] (virtual real changing) occurs and the current value change is not made. (Note) : Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)"/"Q173CPU(N)/Q172CPU(N) Motion controller (SV22) Programming Manual (VIRTUAL MODE)" for minor error, major error and servo program setting error.
  • Page 345: Programming Instructions

    9 MOTION CONTROL PROGRAMS 9.5 Programming Instructions 9.5.1 Cancel • start When a cancel start has been set in the setting items of the servo program which was started at the motion control step of the Motion SFC program, the cancel of the running servo program is valid but the servo program specified to start after a cancel is ignored, without being started.
  • Page 346: Motion Devices

    10 MOTION DEVICES 10. MOTION DEVICES The motion registers (#0 to #8191) and coasting timer (FT) are available as Motion CPU-dedicated devices. They can be used in operation control (F/FS) programs or transition (G) programs. 10.1 Motion Registers (#0 to #8191) Motion device Item Specifications...
  • Page 347 10 MOTION DEVICES (a) Motion SFC dedicated devices (#8000 to #8063) The Motion SFC dedicated devices are shown below. The device's refresh cycle is indicated when the signal direction is "status", or its fetch cycle when the signal direction is "command". Signal direction Refresh Fetch...
  • Page 348 10 MOTION DEVICES 1) Motion SFC error history devices The error information which occurred after power-on of the CPU is stored as a history of up to eight past errors. The latest error is stored in #8056 to #8063. All errors, including the Motion SFC control errors and the conventional minor, major, servo, servo program and mode changing errors are stored in this history.
  • Page 349 10 MOTION DEVICES 2) Motion SFC error detection flag (M2039) (Refresh cycle : Scan time) The Motion SFC error detection flag (M2039) turns on when any of the errors detected by the Motion CPU occurs. At error occurrence, data are set to the error devices in the following procedure.
  • Page 350 10 MOTION DEVICES (b) Servo monitor devices (#8064 to #8191) Information about "servo amplifier type", "motor current" and "motor speed" for each axis is stored the servo monitor devices. The details of the storage data are shown below. Axis Device No. Signal name #8064 to #8067 #8068 to #8071...
  • Page 351: Coasting Timer (ft)

    10 MOTION DEVICES 10.2 Coasting Timer (FT) Motion device Item Specification Number of points 1 point (FT) Data size 32-bit/point (-2147483648 to 2147483647) No latch. Cleared to zero at power-on or reset, a count Latch rise is continued from now on. Coasting timer (FT) Usable tasks Normal, event, NMI...
  • Page 352: Motion Sfc Parameter

    11 MOTION SFC PARAMETER 11. MOTION SFC PARAMETER Two different Motion SFC parameters are available: "task parameters" designed to control the tasks (normal task, event task, NMI task) and "program parameters" to be set per Motion SFC program. Their details are shown below. 11.1 Task Definitions When to execute the Motion SFC program processing can be set only once in the program parameter per program.
  • Page 353: Number Of Consecutive Transitions And Task Operation

    11 MOTION SFC PARAMETER 11.2 Number of Consecutive Transitions and Task Operation 11.2.1 Number of consecutive transitions With "execution of active step judgment of next transition condition transition processing performed when condition enables (transition of active step)" defined as a single basic operation of the Motion SFC program execution control in the execution cycle of the corresponding task, this operation is performed for the number of active steps to terminate processing once.
  • Page 354: Task Operation

    11 MOTION SFC PARAMETER 11.2.2 Task operation (1) Normal task operation [Operations] The Motion SFC program is executed in the main cycle (free time) of the Motion CPU processing. Program 1 Program 2 Program name Program name SFCS1 SFCS2 PLC program Main cycle Main cycle Normal task...
  • Page 355 11 MOTION SFC PARAMETER (2) Event task operation [Operations] An event task executes the Motion SFC program at occurrence of an event. There are the following events. (a) Fixed cycle The Motion SFC program is executed periodically in any of 0.88ms, 1.77ms, 3.55ms, 7.11ms and 14.2ms cycles.
  • Page 356 11 MOTION SFC PARAMETER <Example 2> Program name SFCS PLC program EI/DI status by other programs. Event processing by external interrupt/ Starting of the GINT event task is accepted. Event occurrence during DI status Event task is not executed is memorized and executed. during DI status.
  • Page 357 11 MOTION SFC PARAMETER (3) NMI task operation [Operations] The Motion SFC program is executed when the input set to the NMI task factor among external interrupts (16 points of QI60) turns on. Program name SFCS PLC program External interrupts NMI task END operation: End END operation: Continue...
  • Page 358: Execution Status Of The Multiple Task

    11 MOTION SFC PARAMETER 11.3 Execution Status of The Multiple Task Execution status of each Motion SFC program when the Motion SFC program is executed multiple tasks is shown below. 3.55ms NMI interrupt NMI interrupt NMI task-execute program 3.55ms event task-execute program Normal task-execute program When there are programs which are executed by the NMI task, 3.55ms fixed-cycle even task with a program to run by the NMI task, and the normal task like a chart,...
  • Page 359: Task Parameters

    11 MOTION SFC PARAMETER 11.4 Task Parameters Item Setting item Initial value Remark Number of Normal task These parameters are imported consecutive (Normal task 1 to 30 when PLC ready flag (M2000) transitions common) turns off to on and used for control Set whether the event thereafter.
  • Page 360 11 MOTION SFC PARAMETER (2) Interrupt setting [Description] Set whether 16 interrupt input points (I0 to I15) of the QI60 interrupt module loaded in the motion slot are used as NMI or event task inputs. Setting can be made freely per point. All points default to event tasks.
  • Page 361: Program Parameters

    11 MOTION SFC PARAMETER 11.5 Program Parameters Set the following parameters for every Motion SFC program. Item Setting range Initial value Remark Start setting Automatically started or not Not setting It is only one of normal, event and NMI tasks Normal task When you have set the event task, further set the event which will be enabled.
  • Page 362 11 MOTION SFC PARAMETER (1) Start setting [Description] The following control is changed by "automatically started or not" setting. • Program run by normal task Item When "automatically started" When "not automatically started" In the main cycle after the PLC ready flag (M2000) The program is started by the Motion SFC start instruction turns off to on, the program is executed from the ( S(P).SFCS ) from the PLC or by a subroutine call/start...
  • Page 363 11 MOTION SFC PARAMETER • Program run by NMI task Item When "automatically started" When "not automatically started" At occurrence of a valid event after starting of the The program is started by the Motion SFC start instruction PLC ready flag (M2000), the program is executed ( S(P).SFCS ) from the PLC or by a subroutine call/start from the initial (first) step in accordance with the (GSUB) made from within the Motion SFC program.
  • Page 364 11 MOTION SFC PARAMETER (2) Execute task [Description] Set the timing (task) to execute a program. Specify whether the program will be run by only one of the "normal task (main cycle), event task (fixed cycle, external interrupt, PLC interrupt) and NMI task (external interrupt)".
  • Page 365 11 MOTION SFC PARAMETER POINT Since the execute task can be set for every Motion SFC program No., multiple programs need not be written for single control (machine operation) to divide execution timing-based processing’s. For example, it can be achieved easily by subroutine starting the areas to be run in fixed cycle and to be run by external interrupt partially in the Motion SFC program run by the normal task.
  • Page 366 11 MOTION SFC PARAMETER (4) END operation [Description] Set the operation at execution of the END step toward the program executed by the event or NMI task. This varies the specifications for the following items. • Program run by NMI task Item When "ended"...
  • Page 367: How To Start The Motion Sfc Program

    11 MOTION SFC PARAMETER 11.6 How to Start The Motion SFC Program The Motion SFC program is executed during PLC ready flag (M2000) is on. The Motion SFC program may be started by any of the following three methods. (1) Automatic start (2) Start from the Motion SFC program (3) Start from the PLC Set the starting method in the program parameter for every Motion SFC program.
  • Page 368: How To End The Motion Sfc Program

    11 MOTION SFC PARAMETER 11.7 How to End The Motion SFC Program [Operations] (1) The Motion SFC program is ended by executing END set in itself. (2) The Motion SFC program is stopped by turning off the PLC ready flag (M2000). (3) The program can be ended by the clear step.
  • Page 369: Operation Performed At Cpu Power-off Or Reset

    11 MOTION SFC PARAMETER 11.10 Operation Performed at CPU Power-Off or Reset When the CPU is powered off or reset operation is performed, Motion SFC programs run are shown below. (1) When the CPU is powered off or reset operation is performed, Motion SFC programs stop to execute.
  • Page 370: Operation Performed When Plc Ready Flag (m2000) Turns Off/on

    11 MOTION SFC PARAMETER 11.12 Operation Performed when PLC Ready flag (M2000) Turns OFF/ON This section explains about the turns off/on of PLC ready flag (M2000). The on/off condition of PLC ready flag (M2000) differences in "Operation at STOP to RUN"...
  • Page 371: Operation At The Error Occurrence

    11 MOTION SFC PARAMETER 11.13 Operation at The Error Occurrence Outputs are held if Motion SFC programs stop due to error occurrence. To turn off outputs at error occurrence, executes the following Motion SFC program. ERROR Processing for the Motion SFC program B Processing for Whether error occurred in correspondence Motion...
  • Page 372: User Files

    12 USER FILES 12. USER FILES A user file list and directory structure are shown below 12.1 Projects User files are managed on a "project" basis. When you set a "project name", a "project name" folder is created as indicated on the next page, and under that, sub folders (Sfc, Glist, Gcode, Flist, Fcode) classified by file types are created.
  • Page 373: User File List

    12 USER FILES 12.2 User File List A user file list is shown below. ): Indicates the file(data) stored in CPU memory. Project name folder Folder of user-set "project name" Sub folders (fixed) Project name.prj Project file ( 1pc.) Information file of correspondence between Motion SFC program No. (0 to 255) and SFC program names (SFC files) Motion SFC chart file SFC program name.sfc ( 256 pcs.)
  • Page 374: Online Change In The Motion Sfc Program

    12 USER FILES 12.3 Online Change in The Motion SFC Program The online change is used to write to the Motion SFC program to the internal SRAM during the positioning control (M.RUN LED: ON). Program correction and a check of operation can be executed repeatedly at the Multiple CPU system start.
  • Page 375: Operating Method For The Online Change

    12 USER FILES 12.3.1 Operating method for The Online Change Select the "Online change OFF/ON" of Motion SFC program with the "program editor screen [Convert] menu – [Online change setting]" of SW6RN-GSV P. There are following three methods for the online change of Motion SFC program. •...
  • Page 376 12 USER FILES (2) When the operation control/transition program editor screen [Convert] is used. Online change of the operation control/transition program during edit is executed by selecting the [Convert] key. Online change is possible to the operation control/transition program during execution.
  • Page 377 12 USER FILES (3) When the servo program editor screen [Store] is used. Online change of the servo program during edit is executed by selecting the [Store] key. Online change is possible to the servo program during execution. A program that the online change was made is executed at the next servo program start.
  • Page 378: Transfer Of Program

    12 USER FILES 12.3.2 Transfer of program The outline operations to transfer the program from SW6RN-GSV P to the program memory of Motion CPU are described. (1) Program writing by the [Communication] menu - [Transfer] (a) After transfer, programs are stored in the program memory of Motion CPU stuffing to the front for every kind.
  • Page 379 12 USER FILES (b) If the online change is executed repeatedly, the free space in program memory is lost and the online change may not be executed. In this case, an error message is displayed by SW6RN-GSV P at the online change, and "Online change OFF"...
  • Page 380: Limit Switch Output Function

    13 LIMIT SWITCH OUTPUT FUNCTION 13. 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 "13.2 Limit Output Setting Data"...
  • Page 381 13 LIMIT SWITCH OUTPUT FUNCTION 3) (ON Value) = (OFF Value) Output device OFF in whole region ON region setting ON Value OFF Value Watch data value (b) The limit switch outputs are controlled based on the each watch data during the PCPU ready status (M9074: ON) by the PLC ready flag (M2000) from OFF to ON.
  • Page 382 13 LIMIT SWITCH OUTPUT FUNCTION (4) When the multiple watch data, ON region, output enable/disable bit and forced output bit are set to the same output device, the logical add of output results of the settings is output. M9074 1) Without output enable/disable bit/forced output settings Output device OFF Value ON region setting...
  • Page 383: Limit Output Setting Data

    13 LIMIT SWITCH OUTPUT FUNCTION 13.2 Limit Output Setting Data Limit output data list are shown below. Up to 32 points of output devices can be set. (The following items of No.1 to No.5 are set together as one point.) Fetch Refresh Item...
  • Page 384 (b) As the watch data, motion control data or optional word device data can be used. 1) Motion control data Axis No. setting range Item Unit Data type Q173CPU(N) Q172CPU(N) Feed current value Position command 32-bit Real current value integer type...
  • Page 385 13 LIMIT SWITCH OUTPUT FUNCTION (3) ON region setting (a) The data range which makes the output device turn ON/OFF toward the watch data. (b) The following devices can be used as the ON Value and OFF Value of the data range.
  • Page 386 13 LIMIT SWITCH OUTPUT FUNCTION (5) Forced output bit (a) Set the "forced output bit" when you want to forcibly provide the limit switch outputs during operation. 1) The following control is exercised. Forced output bit Control description Without setting Limit switch outputs are turned ON/OFF on the basis of the "output enable/disable bit"...
  • Page 387 13 LIMIT SWITCH OUTPUT FUNCTION MEMO 13 - 8...
  • Page 388: Rom Operation Function

    14 ROM OPERATION FUNCTION 14. ROM OPERATION FUNCTION Refer to Section 1.3.4 for the correspondence version of the Motion CPU and the software. This function is used to store beforehand the user programs and parameters in the internal FLASH ROM memory built-in the Motion CPU module, and operate it based on the data of internal FLASH ROM memory.
  • Page 389 14 ROM OPERATION FUNCTION Installation mode mode written in ROM Motion CPU module Example) SV13 use Internal SRAM memory System setting data Each parameter for servo control Servo program Motion SFC parameter Motion SFC program Personal computer 1) ROM writing request Internal FLASH ROM memory MT Developer System setting data...
  • Page 390: Specifications Of Led • Switch

    14 ROM OPERATION FUNCTION 14.2 Specifications of LED • Switch (1) Name of parts Side face Front face With Front cover open Q17 CPU(N) MODE MODE ERR. ERR. M.RUN M.RUN BAT. BAT. BOOT BOOT ON SW FRONT SSCNET STOP RESET L CLR PULL RS-232 Put your finger here to open...
  • Page 391 14 ROM OPERATION FUNCTION (2) Applications of switches Name Application • Move to RUN/STOP. RUN : Motion SFC program is started. 7) RUN/STOP switch STOP : Motion SFC program is stopped. RESET : Set the switch to the "RESET" position once to reset the hardware. Applies a reset after an operation error and initialized the operation.
  • Page 392: Rom Operation Function Details

    14 ROM OPERATION FUNCTION 14.3 ROM Operation Function Details (1) Operation mode "Operation mode" of CPU is set by the state of DIP switch 2, 3, 5 of Motion CPU module at the power supply on or reset of Multiple CPU system. DIP switch setting, operation mode and operation mode overview are shown below.
  • Page 393 14 ROM OPERATION FUNCTION POINT Even if a DIP switch setting is changed on the way after the power supply on, "Operation mode" is not changed. Be sure to turn on or reset the power supply of Multiple CPU system to change a DIP switch setting. (2) Applicable data into ROM The data contents batch written to the internal FLASH ROM by ROM writing are shown below.
  • Page 394 14 ROM OPERATION FUNCTION (b) Operation at applicable data into ROM When the ROM writing is requested to the Motion CPU module using "ROM writing" menu of SW6RN-GSV P, the applicable data into ROM stored in the internal SRAM are batch-written to the internal FLASH ROM after erase of an user memory area of FLASH ROM built-in Motion CPU module.
  • Page 395 14 ROM OPERATION FUNCTION POINT (1) When the RAM is selected with "Communication" - "Transfer" menu of SW6RN-GSV P, the SRAM memory built-in Motion CPU module is targeted at the "Installation mode • mode written in ROM" and "Mode operated by ROM".
  • Page 396 14 ROM OPERATION FUNCTION (3) ROM operation procedure The flowchart to start the ROM operation is shown below. ROM operation start procedure Set "Installation mode mode written in ROM" as a DIP switch 5 of the Motion CPU module. Turn ON the power supply of Multiple CPU system.
  • Page 397 14 ROM OPERATION FUNCTION " " (4) Operation at the Mode operated by ROM Operation at the "Mode operated by ROM" is shown below. (Programs and parameters written in the internal FLASH ROM are abnormal.) Mode operated by ROM start (When the additional parameters (for ROM operation function) are wrote in the internal FLASH ROM and a version of operating system...
  • Page 398: Operating Procedure Of "rom Writing

    14 ROM OPERATION FUNCTION 14.4 Operating Procedure of "ROM writing" The operating procedure of ROM writing using the SW6RN-GSV P is shown below. System setting screen Operating procedure 1) Display "ROM/RAM" communication dialog screen after clicking on "Communication" - "Transfer" of the system setting menu screen. (Note) : Select "Transfer"...
  • Page 399 14 ROM OPERATION FUNCTION MEMO 14 - 12...
  • Page 400: Security Function

    15 SECURITY FUNCTION 15 SECURITY FUNCTION Refer to Section "1.3.4" for the correspondence version of the Motion CPU and the software. This function is used to protect the user data of Motion CPU by registering a password. The following user data can be protected in this function. "Write Protection"...
  • Page 401 15 SECURITY FUNCTION (1) Procedure for password registration/change (a) A password and registration condition set in the Motion CPU are displayed. (b) Enter new password in the password column, and select a registration condition (Write Protection, Read/Write Protection). It leaves in a blank for the user data that does not register/change a password.
  • Page 402: Password Clearance

    15 SECURITY FUNCTION 15.2 Password Clearance There are two following methods to delete a password. • [Communication] [Password] [Delete] • Password [Delete] key of the communication setting screen displayed by "[Communication] [Transfer]". Items Details Type • Type of user data Registration •...
  • Page 403: Password Check

    15 SECURITY FUNCTION 15.3 Password Check When the user data program set in a password is corrected, the password check screen is displayed automatically. Items Details Type • Type of user data Password • Enter old password. (1) Procedure for password check (a) Enter old password in the password column, and push [Execute] key.
  • Page 404: Password Save

    15 SECURITY FUNCTION 15.4 Password Save There are two following methods to save a password in the project data. • Registration/change or clearance password • A password read with user data by [Transfer] [Read]. A password saved in the project data can be registered with user data, when the user data are written in the Motion CPU that does not set password by [Transfer] [Write].
  • Page 405: Clear All

    15 SECURITY FUNCTION 15.5 Clear All This function is used to clear the all user data and password setting in Motion CPU. Clear all can be executed in the following operation. • Select "[Option] [Clear All]" of the communication screen displayed by "[Communication] [Transfer]".
  • Page 406: Communications Via Network

    The communication between the personal computer and the Motion CPU is possible via Q series Network module (MELSECNET/10(H), Ethernet, CC-Link, RS-232 and etc.) in the Motion CPU (Q173CPU(N)/Q172CPU(N)). Refer to the following manuals for the specifications of each network modules of MELSECNET/10(H), Ethernet, CC-Link and Serial communication, the handling method.
  • Page 407: Specifications Of The Communications Via Network

    16 COMMUNICATIONS VIA NETWORK 16.1 Specifications of The Communications via Network (1) Communications via network of the Motion CPU is possible by SW6RN-GSV P. (2) Access range of the communications via network of the Motion CPU is an access range equivalent to Qn(H)CPU. (Refer to Section "16.2 Access Range of The Communications via Network".) (3) By setting the routing parameter to the control CPU of the network module and the CPU which connected the peripheral devices in the network by...
  • Page 408: Access Range Of The Communications Via Network

    16 COMMUNICATIONS VIA NETWORK 16.2 Access Range of The Communications via Network 16.2.1 Network configuration via the MELSECNET/10(H) or the Ethernet (1) It can access the other CPU via the network from the programming software (GX Developer, SW6RN-GSV P, etc.) of the personal computer connected with the CPU or serial communication module in USB/RS-232.
  • Page 409 16 COMMUNICATIONS VIA NETWORK <Example> Personal Personal Personal Personal C24 : Serial communication module computer computer computer computer MNET : MELSECNET/10(H) MNET board or USB/ USB/ Ether : Ethernet RS-232 Ether RS-232 RS-232 Network No.1 Q173 Qn(H) Qn(H) Q173 MNET Qn(H) Q173 MNET...
  • Page 410: Network Configuration Via The Cc-link

    16 COMMUNICATIONS VIA NETWORK 16.2.2 Network configuration via the CC-Link (1) It can access the other CPU via the CC-link from the programming software (GX Developer, SW6RN-GSV P, etc.) of the personal computer connected with the CPU or serial communication module in USB/RS-232. (2) It can access the other CPU via the CC-Link from the programming software in the personal computer by connecting the personal computer equipped with CC-Link board to the CC-Link.
  • Page 411: Network Configuration Via The Rs422/485

    16 COMMUNICATIONS VIA NETWORK 16.2.3 Network configuration via the RS422/485 (1) It can access the other CPU via the RS-422/485 from the programming software (GX Developer, SW6RN-GSV P, etc.) of the personal computer connected with the CPU or serial communication module in USB/RS-232. (2) The access range of above (1) is only the CPU on the RS-422/485 which a system connects it to, and it can select RS-422/485 network to connect by specifying the I/O No.
  • Page 412 16 COMMUNICATIONS VIA NETWORK 16.2.4 Network configuration which MELSECNET/10(H), Ethernet, CC-Link, RS-422/485 were mixed (1) When the MELSECNET/10(H) or Ethernet is defined as "Network" and CC-Link or RS-422/485 is defined as "Link", combination of whether to be able to access from the programming software (GX Developer, SW6RN-GSV P, etc.) is shown below.
  • Page 413 16 COMMUNICATIONS VIA NETWORK <Example 1> Personal Personal Personal Personal computer computer computer computer C24 : Serial communication module USB/ USB/ RS-232 MNET : MELSECNET/10(H) MNET board or RS-232 RS-232 Ether : Ethernet Ether Network No.1 MNET MNET Qn(H) Q173 Qn(H) Q173 Qn(H)
  • Page 414 16 COMMUNICATIONS VIA NETWORK Personal Personal Personal C24 : Serial communication module <Example 2> computer computer computer MNET : MELSECNET/10(H) Ether : Ethernet USB/ USB/ RS-232 RS-232 RS-232 RS-422/485 Qn(H) Q173 Qn(H) Q173 Qn(H) Q173 MNET Network Link Link Link Link Ether No.1...
  • Page 415 16 COMMUNICATIONS VIA NETWORK MEMO 16 - 10...
  • Page 416: Monitor Function Of The Main Cycle

    17 MONITOR FUNCTION OF THE MAIN CYCLE 17. MONITOR FUNCTION OF THE MAIN CYCLE Refer to Section "1.3.4" for the correspondence version of the Motion CPU and the software. (1) Information for main cycle of the Motion CPU processing (process cycle executed at free time except for motion control) is stored to the special register.
  • Page 417 17 MONITOR FUNCTION OF THE MAIN CYCLE MEMO 17 - 2...
  • Page 418: Servo Parameter Reading Function

    18 SERVO PARAMETER READING FUNCTION 18. SERVO PARAMETER READING FUNCTION Refer to Section "1.3.4" for the correspondence version of the Motion CPU and the software. (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.
  • Page 419: Operating Procedure Of The Servo Parameter Reading Function

    D9104 read request axis No. axis No. Q173CPU(N) : 1 to 32 (Axis1 to 32) Q172CPU(N) : 1 to 8 (Axis1 to 8) 18.2 Operating Procedure of The Servo Parameter Reading Function An operation procedure which the servo parameter read by the reading function of the servo parameter is reflected on the SW6RN-GSV P is shown below.
  • Page 420: Error Code Lists

    The procedure for reading error codes by the SW6RN-GSV P is shown below. (1) Start the SW6RN-GSV P. (2) Connect the Q173CPU(N)/Q172CPU(N) to the peripheral devices. (3) Select [New project] create the project- [Read from Motion CPU] Menu by the SW6RN-GSV P, and also read the project from the Motion CPU.
  • Page 421: Motion Sfc Error Code List

    GSV P). The "error codes" for the Motion SFC program are shown below. Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)"/ "Q173CPU(N)/Q172CPU(N) Motion controller (SV22) Programming Manual (VIRTUAL MODE )" for minor errors, major errors, servo errors and servo program setting errors.
  • Page 422 19 ERROR CODE LISTS Table 19.2 Motion SFC program start errors (16000 to 16099) Error factor Error code Error Processing Corrective Action Name Description • At a start by S(P).SFCS instruction, PLC Provide ON of the PLC ready flag (M2000) PLC ready OFF 16000 ready flag (M2000) or PCPU ready flag...
  • Page 423 19 ERROR CODE LISTS Table 19.3 Motion SFC interpreter detection errors (16100 to 16199) (continued) Error factor Error code Error Processing Corrective Action Name Description • The self program was called/started by 16110 GSUB setting error 1 GSUB cannot call its own or main program. GSUB.
  • Page 424 19 ERROR CODE LISTS Table 19.5 Operation control/transition execution errors (16300 to 16599) Error factor Error code Error Processing Corrective Action Name Description Event task enable • Event task enable was executed at except for Event task enable may be executed in the 16301 (EI) execution error the normal task.
  • Page 425 19 ERROR CODE LISTS Table 19.5 Operation control/transition execution errors (16300 to 16599) (continued) Error factor Error code Error Processing Corrective Action Name Description Signed 16-bit integer value conversion • The (S) data is outside the signed 16-bit integer Correct the program so that the (S) data is 16380 (SHORT) execution value range.
  • Page 426 19 ERROR CODE LISTS Table 19.5 Operation control/transition execution errors (16300 to 16599) (continued) Error factor Error code Error Processing Corrective Action Name Description • Correct the program so that the number of words (n) to be written is within the range of 1 •...
  • Page 427 19 ERROR CODE LISTS Table 19.5 Operation control/transition execution errors (16300 to 16599) (continued) Error factor Error code Error Processing Corrective Action Name Description • Number of words (n) to be written is outside the • Correct the program so that the number of range of 1 to 256.
  • Page 428 19 ERROR CODE LISTS Table 19.5 Operation control/transition execution errors (16300 to 16599) (continued) Error factor Error code Error Processing Corrective Action Name Description Indirectly specified • The indirectly specified device No. is outside 16468 16-bit link register the range. (W(n)) read error Indirectly specified 16469...
  • Page 429 19 ERROR CODE LISTS Table 19.5 Operation control/transition execution errors (16300 to 16599) (continued) Error factor Error code Error Processing Corrective Action Name Description Indirectly specified 16-bit batch 16522 internal/latch relay (B(n)) read error Indirectly specified 32-bit batch 16523 internal/latch relay The block processing in (B(n)) read error •...
  • Page 430: Motion Sfc Parameter Errors

    19 ERROR CODE LISTS 19.3 Motion SFC Parameter Errors Motion SFC parameters are checked by SW6RN-GSV P. Table 19.6 PLC ready flag (M2000) OFF ON errors (17000 to 17009) Error factor Error code Error Processing Corrective Action Name Description Normal task •...
  • Page 431 19 ERROR CODE LISTS MEMO 19 - 12...
  • Page 432: Multiple Cpu Error Codes

    19 ERROR CODE LISTS 19.4 Multiple CPU Error Codes 19.4.1 Self-diagnosis error code This section explains the self-diagnosis error code. A self-diagnosis error code is stored in D9008. And, it can be confirmed with device monitor of the PC diagnosis/SW6RN-GSV P of GX Developer.
  • Page 433 19 ERROR CODE LISTS Table 19.8 Multiple CPU errors which occurs in the Motion CPU (1000 to 10000) Occurs CPU LED status Middle Error Error information Operating Diagnostic Error messages Single Multiple classification code status of CPU timing Classification code ERROR composition composition...
  • Page 434 19 ERROR CODE LISTS Error code Error contents and cause Corrective action Remark 1000 1001 (1) Measure noise level. 1002 Run-away or failure of main CPU (2) Reset and establish the RUN status again. If the same error is 1003 (1) Malfunctioning due to noise or other reason displayed again, this suggests a CPU hardware error.
  • Page 435 19 ERROR CODE LISTS Table 19.8 Multiple CPU errors which occurs in the Motion CPU (continued) Occurs CPU LED status Middle Error Error information Operating Diagnostic Error messages Single Multiple classification code status of CPU timing Classification code ERROR composition composition 3001 At power...
  • Page 436 19 ERROR CODE LISTS Error code Error contents and cause Corrective action Remark (1) Read the error detailed information at the peripheral device, check and correct the parameter items corresponding to the numerical values (parameter No.). 3001 Parameter contents have been destroyed. (2) If the error still occurred after correcting of the parameter settings, it may be an error for internal RAM of CPU or memory.
  • Page 437: Release Of Self-diagnosis Error

    19 ERROR CODE LISTS 19.4.2 Release of self-diagnosis error The CPU can perform the release operation for errors only when the errors allow the CPU to continue its operation. To release the errors, follow the steps shown below. (1) Eliminate the error cause. (2) Store the error code to be released in the special register D9060.
  • Page 438: Appendices

    APPENDICES APPENDICES APPENDIX 1 Processing Times APPENDIX 1.1 Processing time of operation control/Transition instruction (1) Operation instructions Processing time of operation instruction Q173CPU(N)/Q172CPU(N) Classifications Symbol Instruction Operation expression Unit [ µ s] #0=#1 6.30 D800=D801 10.20 #0L=#2L 8.70 Substitution D800L=D802L 13.56...
  • Page 439 APPENDICES Processing time of operation instruction (Continued) Q173CPU(N)/Q172CPU(N) Classifications Symbol Instruction Operation expression Unit [ µ s] #0=#1&#2 3.78 D800=D801&D802 12.78 & Bit logical AND #0L=#2L&#4L 10.80 D800L=D802L&D804L 18.24 #0=#1|#2 8.40 D800=D801|D802 12.36 Bit logical OR #0L=#2L|#4L 10.68 D800L=D802L|D804L 12.54 #0=#1^#2 8.76...
  • Page 440 APPENDICES Processing time of operation instruction (Continued) Q173CPU(N)/Q172CPU(N) Classifications Symbol Instruction Operation expression Unit [ µ s] #0F=FIX(#4F) 11.40 Round-down D800F=FIX(D804F) 20.28 Round-up #0F=FUP(#4F) 12.00 D800F=FUP(D804F) 16.92 #0=BIN(#1) 8.82 Standard D800F=BIN(D801) 12.30 BCD→BIN conversion function #0L=BIN(#2L) 11.16 D800L=BIN(D802L) 14.82 #0=BCD(#1) 13.92...
  • Page 441 APPENDICES Processing time of operation instruction (Continued) Q173CPU(N)/Q172CPU(N) Classifications Symbol Instruction Operation expression Unit [ µ s] DOUT M0,#0 9.42 DOUT M0,#0L 10.14 DOUT Y100,#0 9.48 DOUT Device output DOUT Y100,#0L 12.30 DOUT PY0,#0 8.76 DOUT PY0,#0L 15.48 DIN #0,M0 8.88...
  • Page 442 APPENDICES Processing time of operation instruction (Continued) Q173CPU(N)/Q172CPU(N) Classifications Symbol Instruction Operation expression Unit [ µ s] SET M1000 = #0>#1 12.18 SET M1000 = D800>D801 15.72 SET M1000 = #0L>#2L 14.64 > More than SET M1000 = D800L>D802L 19.74 SET M1000 = #0F>#4F...
  • Page 443 APPENDICES Processing time of operation instruction (Continued) Q173CPU(N)/Q172CPU(N) Classifications Symbol Instruction Operation expression Unit [ µ s] MULTR #0,H3E0,H800,K1 44.16 MULTR D800,H3E0,H800,K1 44.76 MULTR H800,#0,K10,M0 51.48 Read device data from shared MULTR #0,H3E0,H800,K10 51.00 MULTR CPU memory of the other CPU MULTR D800,H3E0,H800,K10 134.88...
  • Page 444 APPENDICES (2) Transition conditional expressions Processing time of transition conditional expressions Q173CPU(N)/Q172CPU(N) Classifications Symbol Instruction Operation expression Unit [ µ s] 2.82 ON (Normally open contact) (None) X100 6.88 (When condition enables) Bit device 7.62 control 3.24 OFF (Normally closed contact) !X100 8.46...
  • Page 445 APPENDICES (3) Processing time by the combination F and G (program described in F/G is NOP) F alone G alone GSUB JMP/coupling Note) Note) Q173CPU(N)/ 31.92 28.38 34.5 87.24 47.3 22.86 Q172CPU(N) [ s] Parallel branch (2 Pcs.) Parallel branch (5 Pcs.)
  • Page 446: Appendix 2 Sample Program

    APPENDICES APPENDIX 2 Sample Program APPENDIX 2.1 Program example to execute the Multiple CPU dedicated instruction continuously This is the program example which publishes the instruction continuously toward the same Motion CPU in the Multiple dedicated instruction toward the Motion CPU. When an instruction cannot be accepted even if it is executed, it becomes "No operation".
  • Page 447 APPENDICES There is the following restriction in the case as an example. 1) The Multiple CPU instruction of Motion CPU cannot be used Interrupt program/fixed cycle executive type program and low speed executive type program. When it is used, an instruction may not operate by the timing. APP - 10...
  • Page 448: Appendix 2.2 The Program Example To Execute Plural Multiple Cpu Instruction By The Instructions Of One Time

    APPENDICES APPENDIX 2.2 The program example to execute plural Multiple CPU instruction by the instructions of one time This is the program example which executes to the Multiple same Motion CPU at high speed by one instruction. In this case, you must take an interlock with "To self CPU high speed interrupt accept flag from CPU".
  • Page 449 APPENDICES <Example 2> SM400 D251 D451 SM400 D1000 DECP D1000 > D1000 DECP D1000 > D1000 > DECP D1000 D1000 > To self CPU high speed interrupt accept flag from CPU 1 U3E1 G48.0 SP.DDRD H3E1 D100 D1000 INCP To self CPU high speed interrupt accept flag from CPU 1 U3E1 G48.0 H3E1...
  • Page 450: Appendix 2.3 Motion Control Example By Motion Sfc Program

    APPENDICES APPENDIX 2.3 Motion control example by Motion SFC program (1) The Motion SFC program composition example to execute motion control. This sample program example is described to every following function. Function list of sample program Item Description Monitor of the positioning The positioning dedicated device status of the Motion CPU (CPU No.2) dedicated device is reflected on "M2400 to"...
  • Page 451 Contents of processing connective operation transitions • This program starts automatically at the time of run of Q173CPU(N), and it is always executed. • The positioning dedicated device (bit device) for monitor is transferred to "W0 to". Positioning Normal Start •...
  • Page 452 APPENDICES Motion SFC program list (Continued) Number of Automatic Program name Task Contents of processing connective operation transitions • "K140 : The home position return of 1 axis" is started when PX3 is on,"K141 : The home position return of 2 axes" is started Home position Normal Not start when PX4 is on.
  • Page 453 //D640 to CPU No.1 of the Qn(H)CPU W380=D9000 Automatic refresh of the between Multiple CPU, and "W100 to" W381=D9005 of Q173CPU(N) (CPU No.2) sets it up to have refresh by "D0 W382=D9008 to" of Qn(H)CPU (CPU No.1), therefore the condition of W384L=D9010L Q173CPU(N) (CPU No.2) can be grasped with Qn(H) CPU of...
  • Page 454 APPENDICES (b) No.20 : Main Main [F20] SET M9028 //Clock data read request ON [G20] When a forced stop is released, a M9076 //Did you during the forced subroutine starts "No.110 : Motion //stop? control". (Because the next step is a shift, it becomes a subroutine start, and Motion control the next step is executed at the same...
  • Page 455 APPENDICES (d) No.120 : JOG [F120] //1 axis JOG operation speed = //100000PLS/s D640L=K100000 //2 axes JOG operation speed = //100000PLS/s D642L=K100000 When each signal of PX3 to PX6 is turned on/off, which the [G120] correspondences JOG command device is SET/RST. //1 axis forward rotation JOG start It makes forward rotation JOG start of the same axis and a //SET/RST...
  • Page 456 APPENDICES (f) No.140 : Home position return Home position return request [G140] [G141] [G142] //(PX3*!1 axis home position return //(PX4*!2 axes home position return //Did you finish home position return //completion *1 axis in-position signal*!1 //completion *2 axes in-position signal*!2 //request mode? //axis start accept)? //axis start accept)?
  • Page 457 APPENDICES (g) No.150 : Programming operation Programming operation [G150] [G151] [G152] //(OFF to ON)detection of PX3. //Did you turn on PX4? //Did you finish a programming operation //mode? //PX3 turns on M0 in on when M1 (last time !(PX2*!PX1) //condition of PX3) is off. RST M0 Edge(OFF to ON) SET M0=PX3 * !M1...
  • Page 458 APPENDICES (3) System setting data of the Motion CPU System setting is shown below. (a) Module setting Manual pulse generator interface module (Q173PX : Slot 3) Axis No. Description Manual pulse generator, Synchronous encoder (INC) Manual pulse generator, Synchronous encoder (INC) Manual pulse generator, Synchronous encoder (INC) I/O response time 0.4[ms]...
  • Page 459 "W0 to" by the Motion SFC No.2 0800 0831 program on the No.3 Q173CPU(N) side.). No.4 3) Automatic refresh setting 2 This device area is set Send range for each CPU CPU side device up in "D0" with the Qn CPU share memory G Dev.
  • Page 460 APPENDICES 6) System setting Setting items Description Operation cycle setting Auto Operation mode M2000 is turned on with switch (Stop to Run) Emergency shout down input 7) Latch range setting Latch (1) Latch (2) Item Symbol Start Start Internal relay Link relay Annunciator Data register...
  • Page 461 APPENDICES APPENDIX 2.4 Continuation execution example at the subroutine re-start by the Motion SFC program (1) Explanation of the operation This is the program example which execute continuously from the motion control step which stopped on the way when it re-started after stopping the subroutine program with the clear step during the motion control is running.
  • Page 462 • This program starts automatically at the time of RUN of Q173CPU(N), and it is always executed. • Watch data is taken out, and clock data read request (M9028) is turned on. • "0" is set on the continuation point (#100 : user device) as an...
  • Page 463 APPENDICES (a) No.20 : Main Main [F20] "0" is set on the continuation point (#100) SET M9028 //Clock data read request on as an initial value. #100=0 //Continuation point=0 [G20] M9076 //Did you release a forced //stop? The subroutine starts "No.160 : Restart continuation"...
  • Page 464 APPENDICES (b) No.160 : Restart continuation Restart continuation [G190] [G191] [G192] [G193] #100==0 //Is a continuation point 0? #100==10 //Is a continuation #100==20 //Is a continuation #100==30 //Is a continuation //point 10? //point 20? //point 30? [G151] The process is started corresponding to the value of //Did you turn on PX4? #100 (continuation point) from each point of P0 to P30.
  • Page 465: Appendix 2.5 Continuation Execution Example After The Stop By The Motion Sfc Program

    APPENDICES APPENDIX 2.5 Continuation execution example after the stop by the Motion SFC program (1) The explanation of the operation The program example that the Motion SFC program is stopped by external input signal ON for the forced stop from the input module, and it is executed continuously by external signal OFF for the stop is shown below.
  • Page 466 • This program starts automatically at the time of RUN of Q173CPU(N), and it is always executed. • Watch data is taken out, and clock data read request (M9028) is turned on. • The initials condition of the internal relay (M100) for the stop is turned on.
  • Page 467 APPENDICES (a) No.20 : Main Main [F20] The internal relay (M100) for the stop SET M9028 //Clock data read request on turn on. SET M100 //Stop ON (Initials set) Stop The subroutine starts "170: stop" and "150 : Programming operation". Programming operation [G20] The subroutine that motion control was...
  • Page 468 APPENDICES (c) No.150 : Programming operation Programming operation WAIT transition which [G151] wants to stop substitutes //Did you turn on PX4, and turn "The internal relay (M100) //off a stop? for the stop turns off." for PX4*!M100 the AND status. [K150:Real] The motion control step 1 ABS-2...
  • Page 469 APPENDICES MEMO APP - 32...
  • Page 470 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 471 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.

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