Mitsubishi MOTION CONTROLLERS Q172DCPU Manual de Instruções

Motion ControllersProgramming ManualSV22 (VIRTUAL MODE)Q173DCPUQ172DCPUMITSUBISHI ELECTRICMITSUBISHI ELECTRIC01 01 2008IB(NA)-0300137Version AINDUSTRI

A - 9 (7) Corrective actions for errors CAUTION If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the

4 - 69 4 POSITIONING DEDICATED SIGNALS 4.2.7 Cam axis monitor devices (1) Execute cam No. storage register (D1241+10n) ... Monitor device (a)

4 - 70 4 POSITIONING DEDICATED SIGNALS 4.2.8 Common devices (1) Common bit device SET/RST request register (D704 to D708, D755 to D757) ..…..

4 - 71 4 POSITIONING DEDICATED SIGNALS (3) Manual pulse generator axis No. setting registers (D714 to D719) ... Command signal (a) Th

4 - 72 4 POSITIONING DEDICATED SIGNALS (b) Refer to Section 6.22 of the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manu

4 - 73 4 POSITIONING DEDICATED SIGNALS 4.3 Motion registers (#) There are motion registers (#0 to #8735) in the Motion CPU. #8000 to #8639 are u

4 - 74 4 POSITIONING DEDICATED SIGNALS (a) Servo amplifier type (#8000+20n) ... Monitor device This reg

4 - 75 4 POSITIONING DEDICATED SIGNALS 4.4 Special relays (SM) There are 2256 special relay points of SM0 to SM2255 in the Motion CPU. Of these,

4 - 76 4 POSITIONING DEDICATED SIGNALS (b) If the test mode is not executed in the test mode request from MT Developer, the TEST mode request

4 - 77 4 POSITIONING DEDICATED SIGNALS (b) When SM513 turns on, the error contents are stored in the manual pulse generator axis setting error

4 - 78 4 POSITIONING DEDICATED SIGNALS 4.5 Special registers (SD) There are 2256 special register points of SD0 to SD2255 in the Motion CPU. Of

A - 10 CAUTION When replacing the Motion controller or servo amplifier, always set the new module settings correctly. When the Motion controller

4 - 79 4 POSITIONING DEDICATED SIGNALS (1) State of switch (SD200) ………………………….. Monitor device The switch state of CPU is stored in the form o

4 - 80 4 POSITIONING DEDICATED SIGNALS (a) Servo amplifier mounting status 1) Mounting status • Mounted ..…... The servo amplifier is normal

4 - 81 4 POSITIONING DEDICATED SIGNALS (6) Test mode request error information (SD510, SD511) ... Monitor device If there are operatin

4 - 82 4 POSITIONING DEDICATED SIGNALS (7) Motion CPU WDT error cause (SD512) ……... Monitor device This register is used as judgement of

4 - 83 4 POSITIONING DEDICATED SIGNALS (8) Manual pulse generator axis setting error information (SD513 to SD515) ...

4 - 84 4 POSITIONING DEDICATED SIGNALS (12) Operation cycle of the Motion CPU setting (SD523) ...….. Monitor device The setting operatio

5 - 1 5 MECHANICAL SYSTEM PROGRAM 5 5. MECHANICAL SYSTEM PROGRAM This section describes the mechanical system program in th

5 - 2 5 MECHANICAL SYSTEM PROGRAM 5.1 Mechanical Module Connection Diagram The mechanical module connection diagram shows a virtual system diagr

5 - 3 5 MECHANICAL SYSTEM PROGRAM (1) Block The term "block" is one relation from the virtual transmission module (gear) connected t

5 - 4 5 MECHANICAL SYSTEM PROGRAM (a) Transmission modules which can be connected at "A" and "B" above 1) A clutch, speed

A - 11 REVISIONS The manual number is given on the bottom left of the back cover. Print Date Manual Number Revision Jan., 2008 IB(NA)-0300

5 - 5 5 MECHANICAL SYSTEM PROGRAM 5.2 Mechanical Module List An overview of the mechanical modules used at the mechanical module connection diag

5 - 6 5 MECHANICAL SYSTEM PROGRAM MEMO

6 - 1 6 6 DRIVE MODULE 6. DRIVE MODULE The drive module is the source of drive for the virtual axis (virtual main shaft, vi

6 - 2 6 DRIVE MODULE (b) Start using the JOG operation An individual start and simultaneous start can be executed in the JOG operation (Note-1

6 - 3 6 DRIVE MODULE 2) Simultaneous start ...The simultaneous start axis No. and directions (forward/reverse) are set by the JOG operation

6 - 4 6 DRIVE MODULE (3) Stopping method during operation When the virtual servomotor is stopped during operation after the start, turn the st

6 - 5 6 DRIVE MODULE (6) Error-time operation mode The processings are shown below when major errors occurred with the output modules per 1 sy

6 - 6 6 DRIVE MODULE (7) Virtual servomotor axis infinite operation By setting the upper stroke limit value and lower stroke limit value of th

6 - 7 6 DRIVE MODULE (8) Reverse return during positioning By specifying a negative speed and making a speed change request by the CHGV instru

6 - 8 6 DRIVE MODULE [Control contents] (1) If a speed change is made to a negative speed, control is executed with the control mode during th

A - 12 INTRODUCTION Thank you for choosing the Mitsubishi Motion controller Q173DCPU/Q172DCPU. Before using the equipment, please read this manual

6 - 9 6 DRIVE MODULE [Operation at the constant-speed control] The operation when a reverse return is requested for the constant-speed control i

6 - 10 6 DRIVE MODULE POINT • Precautions at speed change (1) A speed change may be invalid if the speed change is executed until the "

6 - 11 6 DRIVE MODULE 6.1.2 Parameter list The virtual servomotor parameters are shown in Table 6.1 and the parameters shown in this table are e

6 - 12 6 DRIVE MODULE <Error check at start> Error code Contents Operation 106 Command position is outside the stroke limit range at sta

6 - 13 6 DRIVE MODULE (3) Command in-position range The command in-position is the difference between the positioning address (command positio

6 - 14 6 DRIVE MODULE POINT (1) Unit is fixed at [PLS] regardless of the interpolation control unit setting of parameter block in the JOG opera

6 - 15 6 DRIVE MODULE (5) The parameter block No. for the program operation of virtual servomotor is set in the servo program for virtual mode

6 - 16 6 DRIVE MODULE 6.1.3 Virtual servomotor axis devices (Internal relays, data registers) (1) Virtual servomotor axis status Refer to Sect

6 - 17 6 DRIVE MODULE 6.2 Synchronous Encoder The synchronous encoder is used to operate the virtual axis (virtual main shaft, virtual auxiliary

6 - 18 6 DRIVE MODULE 2) When the input pulse is inputted from an external synchronous encoder. a) The input pulse is started to input from th

A - 13 4.2.5 Synchronous encoder axis monitor devices... 4-66 4.2

6 - 19 6 DRIVE MODULE REMARK (Note-1) : Refer to Section 4.1.7 (9) (10) for details of the real mode/virtual mode switching request flag and rea

6 - 20 6 DRIVE MODULE (f) Error-time operation mode The processings are shown below when major errors occurred with the output modules per 1 s

6 - 21 6 DRIVE MODULE 6.2.2 Parameter list The synchronous encoder parameters are shown in Table 6.2 and the parameters shown in this table are

6 - 22 6 DRIVE MODULE 6.2.3 Synchronous encoder axis devices (Internal relays, data registers) (1) Synchronous encoder axis status Refer to Se

6 - 23 6 DRIVE MODULE 6.3 Virtual Servomotor/Synchronous Encoder Control Change The current value change and JOG speed change of the virtual ser

6 - 24 6 DRIVE MODULE (a) JOG speed setting registers (D640+2n, D641+2n) ...…….. Command device 1) This register stores the JOG speed at the J

6 - 25 6 DRIVE MODULE 6.3.2 Synchronous encoder control change (1) Current value change by the CHGA-E instruction Motion SFC program for which

6 - 26 6 DRIVE MODULE MEMO

7 - 1 7 7 TRANSMISSION MODULE 7. TRANSMISSION MODULE The transmission module transmits the pulse outputted from the drive m

7 - 2 7 TRANSMISSION MODULE (2) Device data input The all device data set indirectly is inputted as "initial value" at the switching

A - 14 8.3 Rotary Tables ...

7 - 3 7 TRANSMISSION MODULE 7.1 Gear This section describes the gear operation and the parameters required to use a gear. 7.1.1 Operation Relat

7 - 4 7 TRANSMISSION MODULE (1) Gear ratio (a) The number of pulses transmitted to the output axis through 1 pulse outputted from the drive

7 - 5 7 TRANSMISSION MODULE 7.2 Clutch The clutch is used to transmit/disengage the command pulse from drive module side to output module side,

7 - 6 7 TRANSMISSION MODULE REMARK (1) Clutch ON/OFF state is shown below. Input side (Input axis) to the clutch ClutchOutput axis • Clutch

7 - 7 7 TRANSMISSION MODULE 2) If input to clutch (travel value after the main shaft's differential gear) changes after smoothing completio

7 - 8 7 TRANSMISSION MODULE b) Since the slippage remains constant even if the drive module speed changes, the clutch ON/OFF position can be con

7 - 9 7 TRANSMISSION MODULE 2) Linear acceleration/deceleration system a) Set the slippage indicated by the shaded area in the diagram below. S

7 - 10 7 TRANSMISSION MODULE d) If input to clutch (travel value after the main shaft's differential gear) changes after smoothing completi

7 - 11 7 TRANSMISSION MODULE 7.2.1 Operation There are following five clutch operation modes. Operation mode Description ON/OFF mode Clutch ON

7 - 12 7 TRANSMISSION MODULE (d) The refresh cycle of clutch status signal is an operation cycle. OFFONClutch ON/OFF command device (Note)OF

A - 15 About Manuals The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below.

7 - 13 7 TRANSMISSION MODULE (c) Turn the clutch ON/OFF command device on/off after setting an address of clutch ON/OFF address setting device

7 - 14 7 TRANSMISSION MODULE (3) Address mode 2 (a) When the current value of virtual axis reaches an address of clutch ON/OFF address setti

7 - 15 7 TRANSMISSION MODULE (d) The clutch ON/OFF control is executed for every operation cycle. When the current value passes through an add

7 - 16 7 TRANSMISSION MODULE (f) The procedure to execute the axis servo OFF or power supply OFF of servo amplifier during operation is shown

7 - 17 7 TRANSMISSION MODULE (c) When the mode setting device is "4", the clutch ON/OFF command device becomes invalid, and the clut

7 - 18 7 TRANSMISSION MODULE POINT (1) The mode setting device of except for "0 to 4" is regarded as an error, and control is conti

7 - 19 7 TRANSMISSION MODULE (g) When the mode setting device becomes "3", the clutch status turns OFF, while the clutch ON/OFF comm

7 - 20 7 TRANSMISSION MODULE (l) When the travel direction of drive module changes during the clutch ON/OFF processing by turning the clutch O

7 - 21 7 TRANSMISSION MODULE (o) When the "Clutch OFF" is set in the parameter "Error-time operation mode" of drive module

7 - 22 7 TRANSMISSION MODULE (b) Turn the external input (TREN signal) on after turning the clutch ON/OFF command device on. In this mode, a t

A - 16 (2) PLC Manual Name Manual Number (Model Code) QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains

7 - 23 7 TRANSMISSION MODULE (f) A synchronous encoder, external input and external input mode clutch can be set in only 1:1 ratio. The relati

7 - 24 7 TRANSMISSION MODULE < Example 2 > Same synchronous encoder is connected to auxiliary input axis Set all the clutches connected to

7 - 25 7 TRANSMISSION MODULE 7.2.2 Parameters The clutch parameters are shown in Table 7.2 and the parameters shown in this table are explained

7 - 26 7 TRANSMISSION MODULE (b) If a synchronous encoder is used as the drive module, the operation modes that can be set differ depending on

7 - 27 7 TRANSMISSION MODULE (3) Clutch ON/OFF command device (a) This device is used to execute the clutch ON/OFF command. (b) The follo

7 - 28 7 TRANSMISSION MODULE (5) Clutch ON/OFF address setting device (only ON/OFF mode, address mode, address mode 2 and one-shot mode combin

7 - 29 7 TRANSMISSION MODULE (6) Smoothing method (a) The method for smoothing processing of the clutch is set. The following two methods ca

7 - 30 7 TRANSMISSION MODULE (9) Slippage in-position range setting device (2 words) (a) This device is used to set the remainder slippage r

7 - 31 7 TRANSMISSION MODULE (d) When "(Remainder slippage) < (Slippage in-position range)" is set, the smoothing clutch complete

7 - 32 7 TRANSMISSION MODULE b) Linear acceleration/deceleration system VVttInput to clutchTravel value after mainshaft's differential ge

1 - 1 1 OVERVIEW 1 1. OVERVIEW 1.1 Overview This programming manual describes the dedicated instructions, positioning contr

7 - 33 7 TRANSMISSION MODULE (10) Address mode clutch control system (a) When a clutch is turned on by the setting value of ON/OFF address s

7 - 34 7 TRANSMISSION MODULE 7.3 Speed Change Gear Speed change gear is used to change the rotation speed to output module and travel value duri

7 - 35 7 TRANSMISSION MODULE (2) When a speed change ratio changes, the acceleration/deceleration processing is executed by the smoothing time

7 - 36 7 TRANSMISSION MODULE (1) Speed change ratio upper/lower limit value (a) The validate range (0.00 to 655.35[%]) of speed change ratio

7 - 37 7 TRANSMISSION MODULE 7.4 Differential Gear The differential gear is used for the following purposes; • Output module phase is shifted or

7 - 38 7 TRANSMISSION MODULE MEMO

8 - 1 8 8 OUTPUT MODULE 8. OUTPUT MODULE The command pulse output from drive module is input to output module via the trans

8 - 2 8 OUTPUT MODULE (2) Device range of output module parameters and device data input The device range and setting method of items set in t

8 - 3 8 OUTPUT MODULE POINT (1) Be sure to set an even-numbered device for the items set as 2-word. And, when the data is set to device in the

8 - 4 8 OUTPUT MODULE REMARK (Note) : The operation cycle is set in the "operation cycle setting" of system basic setting. Refer to th

1 - 2 1 OVERVIEW Generic term/Abbreviation Description Battery holder unit Battery holder unit (Q170DBATC) External battery General name for

8 - 5 8 OUTPUT MODULE 8.1 Rollers The rollers are used in the following cases. • The machine connected to the servomotor is operated continuousl

8 - 6 8 OUTPUT MODULE (2) Control details (a) The roller has no current value. However, when it switches from the virtual mode to real mode,

8 - 7 8 OUTPUT MODULE (2) Roller diameter (L)/Number of pulses per roller revolution (NL) (a) The roller diameter connected to servomotor an

8 - 8 8 OUTPUT MODULE (c) When the roller axis speed exceeds the speed limit value, the error detection signal (M2407+20n) turns on. However,

8 - 9 8 OUTPUT MODULE 8.2 Ball Screw The ball screw is used to make a machine connected to servomotor operate linearly. This section describes t

8 - 10 8 OUTPUT MODULE 8.2.2 Parameter list The ball screw parameters are shown in Table 8.2 and the parameters shown in this table are explaine

8 - 11 8 OUTPUT MODULE (3) Permissible droop pulse value (a) This device is used to set the permissible droop pulse value of deviation count

8 - 12 8 OUTPUT MODULE (6) Torque limit value setting device (1 word) (a) This device is used to set the torque limit value of ball screw a

8 - 13 8 OUTPUT MODULE 8.3 Rotary Tables The rotary table is used to make a machine connected to servomotor gyrate. This section describes the r

8 - 14 8 OUTPUT MODULE 8.3.2 Parameter list The rotary table parameters are shown in Table 8.3 and the parameters shown in this table are explai

A - 1 SAFETY PRECAUTIONS (Please read these instructions before using this equipment.) Before using this product, please read this manual and

1 - 3 1 OVERVIEW 1.2 Motion Control in SV13/SV22 Real Mode (1) System with servomotor is controlled directly using the servo program in (SV13/

8 - 15 8 OUTPUT MODULE (b) The travel value per pulse is calculated from the number of pulses per rotary table revolution in accordance with t

8 - 16 8 OUTPUT MODULE (5) Torque limit value setting device (1 word) (a) This device is used to set the torque limit value of rotary table

8 - 17 8 OUTPUT MODULE (b) The following devices can be set as the current value within 1 virtual axis revolution storage device. Name Settin

8 - 18 8 OUTPUT MODULE (f) An example of an address mode clutch operation is shown below. 10000 100000 00200002000010000359.99999 [degree]0S

8 - 19 8 OUTPUT MODULE (b) The following devices can be set as the current value within 1 virtual axis revolution storage device. Name Settin

8 - 20 8 OUTPUT MODULE (f) An example of an address mode clutch operation is shown below. 10000 100000 0020000200001000001 axisNumber of pul

8 - 21 8 OUTPUT MODULE 8.4 Cam Cam is used to make a machine connected to servomotor operate according to the preset cam pattern. (1) For axes

8 - 22 8 OUTPUT MODULE 8.4.1 Operation This section describes the cam operation. (1) Procedure for switching from the real mode to virtual mo

8 - 23 8 OUTPUT MODULE < Example > Switching between cam No.1 and No.2, and switching timing between stroke amount I1 and I2 when the stro

8 - 24 8 OUTPUT MODULE (5) Control details (a) The cam feed current value is continued at switching from the real mode to virtual mode/from

1 - 4 1 OVERVIEW 1.3 Motion Control in SV22 Virtual Mode (1) Synchronous control with software is performed using the mechanical system progra

8 - 25 8 OUTPUT MODULE (7) Program example [Switching real mode/virtual mode] Motion SFC program for switching real mode/virtual mode is show

8 - 26 8 OUTPUT MODULE (1) Cam No. This device is used to set the number allocated in created cam data. The number of cam data is set "1

8 - 27 8 OUTPUT MODULE 32767VttStroke amountLower stroke limit value1 cycle(1 cam shaft revolution)Cam patternOperation exampleStroke amountLow

8 - 28 8 OUTPUT MODULE (5) Cam data table (a) This device is used to set the each point stroke ratio (when the stroke amount is divided into

8 - 29 8 OUTPUT MODULE 8.4.3 Parameter list The cam parameters are shown in Table 8.5 and the parameters No.2 to No.12 shown in this table are e

8 - 30 8 OUTPUT MODULE (1) Number of pulses per cam shaft revolution (Nc) (a) The number of pulses required to rotate the cam one cycle is d

8 - 31 8 OUTPUT MODULE (4) Output unit (a) This device is used to set the unit ([mm]/[inch]/[PLS]) of cam. (b) Set the same unit as used

8 - 32 8 OUTPUT MODULE (b) The following devices can be set as the torque limit value setting device. Name Setting range Data register D0 to

8 - 33 8 OUTPUT MODULE (c) The lower stroke limit value is range of -2147483648 (-231) to 2147483647 (231-1). 1) The lower stroke limit value

8 - 34 8 OUTPUT MODULE (d) The address mode clutch is turned on/off with the specified address of the current value within 1 virtual axis revo

2 - 1 2 STARTING UP THE MULTIPLE CPU SYSTEM 2 2. STARTING UP THE MULTIPLE CPU SYSTEM The procedure for virtual mode positioning control is sho

8 - 35 8 OUTPUT MODULE (10) Current value within 1 virtual axis revolution storage device (Auxiliary input axis side) (2 words) This parameter

8 - 36 8 OUTPUT MODULE (d) The address mode clutch is turned on/off with the specified address of the current value within 1 virtual axis revo

8 - 37 8 OUTPUT MODULE (11) Cam/ball screw switching command device (a) This parameter is used to set cam operation. (b) The following de

8 - 38 8 OUTPUT MODULE (f) "Continue Virtual Mode" is set for operation on servo error, if the feed current value of output axis is

8 - 39 8 OUTPUT MODULE 8.4.4 Cam curve list This section describes the cam curves which can be used in the virtual mode. (1) Cam curve charac

8 - 40 8 OUTPUT MODULE 8.5 Phase Compensation Function When carrying out a position follow-up control (synchronous operation) by synchronous enc

8 - 41 8 OUTPUT MODULE (a) Phase advance time It is used to set whether a phase is advanced/delayed. Phase advance time is calculated in the

8 - 42 8 OUTPUT MODULE (2) Operating method Operating method for phase compensation function is shown below. (a) Set a phase advance time.

9 - 1 9 9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START 9. REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START This sec

9 - 2 9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START (1) Check to determine if switching to the virtual mode is possible (a) The items

2 - 2 2 STARTING UP THE MULTIPLE CPU SYSTEM Create the Motion SFC programand servo programTurn the power supply of Multiple CPU system ONWrite t

9 - 3 9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START (2) Output module check (a) The items in Table 9.2 below are checked to determine

9 - 4 9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START (3) Synchronous encoder axis check (a) The items in Table 9.3 below are checked t

9 - 5 9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START 9.2 Switching from the Virtual Mode to Real Mode There are following methods for swit

9 - 6 9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START 9.2.3 Continuous operation on servo error in virtual mode (1) Processing on servo

9 - 7 9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START 9.3 Precautions at Real Mode/Virtual Mode Switching This section describes the precau

9 - 8 9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START (b) Motion control step in the real mode Example of Motion SFC program is shown bel

9 - 9 9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START 9.4 Stop and re-start The basic method for stopping the system (output module) in the

9 - 10 9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START 9.4.1 Stop operation/stop causes during operation and re-starting operation list Tab

9 - 11 9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START Error set Output module operation Operation continuation enabled ()/ disabled

9 - 12 9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START MEMO

2 - 3 2 STARTING UP THE MULTIPLE CPU SYSTEM 2.2 Differences Between Incremental System and Absolute System The procedure for virtual mode operat

10 - 1 10 AUXILIARY AND APPLIED FUNCTIONS 10 10. AUXILIARY AND APPLIED FUNCTIONS This section describes the auxiliary and a

10 - 2 10 AUXILIARY AND APPLIED FUNCTIONS (2) Setting method Set the axis to control as real mode axis in the [Option] – [Real Mode Axis Setti

10 - 3 10 AUXILIARY AND APPLIED FUNCTIONS (a) Usable instructions and controls Items Usable/unusable Remarks Linear positioning control Lin

10 - 4 10 AUXILIARY AND APPLIED FUNCTIONS (b) Control methods Items Control method Remarks Servo program start • Use a Motion SFC program s

10 - 5 10 AUXILIARY AND APPLIED FUNCTIONS (d) Difference for operation between the output axis of mechanical system program and real mode axis

10 - 6 10 AUXILIARY AND APPLIED FUNCTIONS (e) Difference for operation between the real mode axis in virtual mode and real mode When the servo

APP - 1 APPENDICES APP. APPENDICES APPENDIX 1 Cam Curves The cam acceleration curve formulas used in the virtual mode are shown below. (1) Ac

APP - 2 APPENDICES 4) Distorted sine curve 1Ta =81 Am =2Ta 2 8Ta + 2 • Section (0 T Ta) A = Amsin 2Ta T + C0 • Section (Ta < T 1

APP - 3 APPENDICES (c) Two-dwelling asymmetrical curve 1) Trapecloid curve TaTb + Tb2Am =13244222124 2 Ta2 +(1 + ) ( )(1 Tc)

APP - 4 APPENDICES • Section (0 T 1 Tc) (1 Tc T) A = Amcos 2 (1 Tc) + C0 • Section (1 Tc < T 1 Tb) • Section (1 Tb < T 1

2 - 4 2 STARTING UP THE MULTIPLE CPU SYSTEM 2.2.2 Operation for absolute (absolute position) system The operation procedure for absolute system

APP - 5 APPENDICES APPENDIX 2 Error Codes Stored Using The Motion CPU The following errors are detected in the Motion CPU. • Servo program setting

APP - 6 APPENDICES The error applicable range for each error class are shown below. Error module Error class Erroneous category Drive module Ou

APP - 7 APPENDICES (c) If another error occurs after an error code has been stored, the existing error code is overwritten, deleting it. However

APP - 8 APPENDICES APPENDIX 2.1 Expression Method for Word Data Axis No. The axis No. may be expressed to correspond to each bit of word data for

APP - 9 APPENDICES APPENDIX 2.2 Related Systems and Error Processing There are following 2 types for the related systems of virtual mode. • System

APP - 10 APPENDICES APPENDIX 2.3 Servo program setting errors (Stored in SD517) The error codes, error contents and corrective actions for servo p

APP - 11 APPENDICES Table 2.1 Servo program setting error list (Continued) Error code stored in SD517 Error name Error contents Error processing

APP - 12 APPENDICES Table 2.1 Servo program setting error list (Continued) Error code stored in SD517 Error name Error contents Error processin

APP - 13 APPENDICES Table 2.1 Servo program setting error list (Continued) Error code stored in SD517 Error name Error contents Error processing

APP - 14 APPENDICES Table 2.1 Servo program setting error list (Continued) Error code stored in SD517 Error name Error contents Error processing

2 - 5 2 STARTING UP THE MULTIPLE CPU SYSTEM 2.3 Differences Between Real Mode and Virtual Mode Specifications of the positioning data, positioni

APP - 15 APPENDICES APPENDIX 2.4 Drive module errors Table 2.2 Drive module error (100 to 1199) list Control mode of virtual servo axis Error cla

APP - 16 APPENDICES Table 2.2 Drive module error (100 to 1199) list (Continued) Control mode of virtual servo axis Error class Error code Positio

APP - 17 APPENDICES Table 2.2 Drive module error (100 to 1199) list (Continued) Control mode of virtual servo axis Error class Error code Positio

APP - 18 APPENDICES Table 2.2 Drive module error (100 to 1199) list (Continued) Control mode of virtual servo axis Error class Error code Positio

APP - 19 APPENDICES Table 2.2 Drive module error (100 to 1199) list (Continued) Control mode of virtual servo axis Error class Error code Positio

APP - 20 APPENDICES APPENDIX 2.5 Servo errors (1) Servo amplifier errors (2000 to 2899) These errors are detected by the servo amplifier, and th

APP - 21 APPENDICES Table 2.3 Servo error (2000 to 2899) list Error cause Error code Name Description Error check Error processingCorrective acti

APP - 22 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCorr

APP - 23 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCorr

APP - 24 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCorr

2 - 6 2 STARTING UP THE MULTIPLE CPU SYSTEM 2.3.3 Servo programs (1) Servo program area (a) The same servo program (Kn) No. cannot be used i

APP - 25 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCorr

APP - 26 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCorr

APP - 27 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCorr

APP - 28 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCorr

APP - 29 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCorr

APP - 30 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCorr

APP - 31 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Cor

APP - 32 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Cor

APP - 33 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Cor

APP - 34 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Cor

2 - 7 2 STARTING UP THE MULTIPLE CPU SYSTEM 2.3.4 Control change (Current value change/speed change) When a control change is executed in the vi

APP - 35 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Cor

APP - 36 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Cor

APP - 37 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Cor

APP - 38 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Cor

APP - 39 APPENDICES APPENDIX 2.6 Output Module Errors (1) Output module errors at real mode/virtual mode switching (4000 to 5990) Table 2.4 Ou

APP - 40 APPENDICES Table 2.4 Output Module Error List (4000 to 5990) (Continued) Output module Error class Error code Roller Ball screw Rotary ta

APP - 41 APPENDICES Table 2.4 Output Module Error List (4000 to 5990) (Continued) Output module Error class Error code Roller Ball screw Rotary ta

APP - 42 APPENDICES (2) "No-clutch/clutch ON/clutch status ON" output module errors (6000 to 6990) Table 2.5 Output Module Error Lis

APP - 43 APPENDICES Table 2.5 Output Module Error List (6000 to 6990) (Continued) (3) Clutch OFF and clutch OFF command output module errors (

APP - 44 APPENDICES (5) Output module errors at virtual servomotor axis start (10000 to 10990) Table 2.8 Output Module Error List (10000 to 10

2 - 8 2 STARTING UP THE MULTIPLE CPU SYSTEM MEMO

APP - 45 APPENDICES (7) Errors when using an absolute position system (12000 to 12990) Table 2.10 Output Module Error List (12000 to 12990) Out

APP - 46 APPENDICES APPENDIX 2.7 Errors at Real Mode/Virtual Mode Switching Table 2.11 Real Mode/Virtual Mode Switching Error Code List (Note) : E

APP - 47 APPENDICES Table 2.11 Real Mode/Virtual Mode Switching Error Code List (Continued) (Note) : Error axis No. information is not set to SD50

APP - 48 APPENDICES APPENDIX 3 Setting Range for Indirect Setting Devices Positioning address, command speed or M-code, etc. (excluding the axis N

APP - 49 APPENDICES POINT (1) Be sure to set even-numbered devices for 2-word setting items. Be sure to set as 32-bit integer type when the data

APP - 50 APPENDICES APPENDIX 4 Processing Times of the Motion CPU The processing time of each signal and each instruction for positioning control

APP - 51 APPENDICES APPENDIX 5 Device List (1) Axis status list Axis No. Device No. Signal name 1 M2400 to M2419 2 M2420 to M

APP - 52 APPENDICES (2) Axis command signal list Axis No. Device No. Signal name 1 M3200 to M3219 2 M3220 to M3239 Virtual

APP - 53 APPENDICES (3) Virtual servomotor axis status list Axis No. Device No. Signal name 1 M4000 to M4019 2 M4020 to M4039

APP - 54 APPENDICES (4) Virtual servomotor axis command signal list Axis No. Device No. Signal name 1 M4800 to M4819 2 M4820

A - 2 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 i

3 - 1 3 PERFORMANCE SPECIFICATIONS 3. PERFORMANCE SPECIFICATIONS Performance specifications of the Motion CPU are shown in Table 3.1 below. Tab

APP - 55 APPENDICES (5) Synchronous encoder axis status list Axis No. Device No. Signal name 1 M4640 to M4643 2 M4644 to M464

APP - 56 APPENDICES (7) Common device list Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark(Note-4) Device No. Signal

APP - 57 APPENDICES Common device list (Continued) Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark(Note-4) Device No.

APP - 58 APPENDICES Common device list (Continued) Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark(Note-4) Device No. S

APP - 59 APPENDICES (8) Common device list (Command signal) Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark (Note

APP - 60 APPENDICES (9) Axis monitor device list Axis No. Device No. Signal name 1 D0 to D19 2 D20 to D39 Virtual 3 D40

APP - 61 APPENDICES (10) Control change register list Axis No. Device No. Signal name 1 D640, D641 2 D642, D643 3 D644, D645

APP - 62 APPENDICES (11) Virtual servomotor axis monitor device list Axis No. Device No. Signal name 1 D800 to D809 2 D810 to

APP - 63 APPENDICES (12) Synchronous encoder axis monitor device list Axis No. Device No. Signal name 1 D1120 to D1129 2 D113

APP - 64 APPENDICES (13) Cam axis monitor device list Axis No. Device No. Signal name 1 D1240 to D1249 2 D1250 to D1259 3

3 - 2 3 PERFORMANCE SPECIFICATIONS Table 3.1 Motion CPU Performance Specifications (Virtual Mode) (Continued) Item Q173DCPU Q172DCPU Interpolat

APP - 65 APPENDICES (14) Common device list Device No. Signal name Refresh cycle Fetch cycle Signal direction Device No. Signal name Refre

APP - 66 APPENDICES (15) Motion register list (#) Axis No. Device No. Signal name 1 #8000 to #8019 2 #8020 to #8039 3 #8040 to #8059

APP - 67 APPENDICES (16) Special relay list Device No. Signal name Refresh cycle Fetch cycle Signal type SM500 PCPU REDAY complete flag SM

WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any f

IB(NA)-0300137-A(0801)MEEMODELMODELCODEQ173D-P-SV22-KASO-E1XB931IB(NA)-0300137-A(0801)MEEWhen exported from Japan, this manual does not require applic

HEADQUARTERSEUROPEMITSUBISHI ELECTRIC EUROPE B.V.German BranchGothaer Straße 8D-40880 RatingenPhone: +49 (0)2102 / 486-0Fax: +49 (0)2102 / 486-1120CZE

4 - 1 4 POSITIONING DEDICATED SIGNALS 4 4. POSITIONING DEDICATED SIGNALS The internal signals of the Motion CPU and the ext

4 - 2 4 POSITIONING DEDICATED SIGNALS The positioning dedicated devices are shown below. It indicates the device refresh cycle of the Motion CPU

4 - 3 4 POSITIONING DEDICATED SIGNALS 4.1 Internal Relays (1) Internal relay list Q173DCPU Q172DCPU Device No. Purpose Real Virtual Devic

4 - 4 4 POSITIONING DEDICATED SIGNALS POINT (1) Total number of user device points 4704 points (2) (Note-1) : Do not set M4000 to M5487 as the

4 - 5 4 POSITIONING DEDICATED SIGNALS (2) Axis status list Axis No. Device No. Signal name 1 M2400 to M2419 2 M2420 to M243

4 - 6 4 POSITIONING DEDICATED SIGNALS (3) Axis command signal list Axis No. Device No. Signal name 1 M3200 to M3219 2 M3220

4 - 7 4 POSITIONING DEDICATED SIGNALS (4) Virtual servomotor axis status list Axis No. Device No. Signal name 1 M4000 to M4019

4 - 8 4 POSITIONING DEDICATED SIGNALS (5) Virtual servomotor axis command signal list Axis No. Device No. Signal name 1 M4800 to M4819

A - 3 3. For injury prevention CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may l

4 - 9 4 POSITIONING DEDICATED SIGNALS (6) Synchronous encoder axis status list Axis No. Device No. Signal name 1 M4640 to M4643

4 - 10 4 POSITIONING DEDICATED SIGNALS (8) Common device list Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark(Note

4 - 11 4 POSITIONING DEDICATED SIGNALS Common device list (Continued) Device No. Signal name Refresh cycle Fetch cycle Signal direction Remar

4 - 12 4 POSITIONING DEDICATED SIGNALS Common device list (Continued) Device No. Signal name Refresh cycle Fetch cycle Signal direction Remar

4 - 13 4 POSITIONING DEDICATED SIGNALS (9) Common device list (Command signal) Device No. Signal name Refresh cycle Fetch cycle Signal di

4 - 14 4 POSITIONING DEDICATED SIGNALS 4.1.1 Axis statuses (1) In-position signal (M2402+20n) ...…... Status signal (

4 - 15 4 POSITIONING DEDICATED SIGNALS (b) This signal turns off when the error reset command (M3207+20n) turns on. Error detection signal(M

4 - 16 4 POSITIONING DEDICATED SIGNALS (b) When using an absolute position system 1) This signal turns on in the following cases: • When not e

4 - 17 4 POSITIONING DEDICATED SIGNALS (b) The state for the upper stroke limit switch input (FLS) when the FLS signal is ON/OFF is shown belo

4 - 18 4 POSITIONING DEDICATED SIGNALS 2) Servo amplifier input use (Note-3) RLS signal : ONRLSDI2DICOMRLS signal : OFFRLSDI2DICOMMR-J3- BMR-

A - 4 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 u

4 - 19 4 POSITIONING DEDICATED SIGNALS 2) Servo amplifier input use (Note-3) DOG/CHANGE signal : ONDOG/CHANGEDI3DICOMDOG/CHANGE signal : OFFDOG

4 - 20 4 POSITIONING DEDICATED SIGNALS (13) Virtual mode continuation operation disable warning signal (M2418+20n) ...

4 - 21 4 POSITIONING DEDICATED SIGNALS 4.1.2 Axis command signals (1) Error reset command (M3207+20n) ... Command signal Thi

4 - 22 4 POSITIONING DEDICATED SIGNALS (b) M3213+20n : OFF • If the drive module is a virtual servomotor or an incremental synchronous encode

4 - 23 4 POSITIONING DEDICATED SIGNALS (b) M3214+20n : OFF (Final servo command value in previous virtual mode operation) (Current servo c

4 - 24 4 POSITIONING DEDICATED SIGNALS CAUTION Turn the power supply of the servo amplifier side off before touching a servomotor, such as mach

4 - 25 4 POSITIONING DEDICATED SIGNALS POINTS (1) When the servo amplifier is not started (LED: "AA", "Ab", "AC",

4 - 26 4 POSITIONING DEDICATED SIGNALS 4.1.3 Virtual servomotor axis statuses (1) Positioning start complete signal (M4000+20n) ...…….. St

4 - 27 4 POSITIONING DEDICATED SIGNALS (2) Positioning complete signal (M4001+20n) ...…... Status signal (a) This signal turns on wi

4 - 28 4 POSITIONING DEDICATED SIGNALS (b) Command in-position check is continually executed during position control. This check is not execut

A - 5 CAUTION Use the program commands for the program with the conditions specified in the instruction manual. Set the sequence function progra

4 - 29 4 POSITIONING DEDICATED SIGNALS (c) When the error reset command (M4807+20n) turns on in the state where the virtual servomotor or outp

4 - 30 4 POSITIONING DEDICATED SIGNALS 4.1.4 Virtual servomotor axis command signals (1) Stop command (M4800+20n) ...…...

4 - 31 4 POSITIONING DEDICATED SIGNALS (2) Rapid stop command (M4801+20n) ...…... Command signal (a) This command stops a startin

4 - 32 4 POSITIONING DEDICATED SIGNALS (3) Forward rotation JOG start command (M4802+20n)/Reverse rotation JOG start command (M4803+20n) ...

4 - 33 4 POSITIONING DEDICATED SIGNALS (5) Error reset command (M4807+20n) ... Command signal (a) This command is used to

4 - 34 4 POSITIONING DEDICATED SIGNALS (7) FIN signal (M4819+20n) ... Command signal When a M-code is set

4 - 35 4 POSITIONING DEDICATED SIGNALS 4.1.5 Synchronous encoder axis statuses (1) Error detection signal (M4640+4n) ...

4 - 36 4 POSITIONING DEDICATED SIGNALS 4.1.6 Synchronous encoder axis command signals (1) Error reset command (M5440+4n) ...

4 - 37 4 POSITIONING DEDICATED SIGNALS 4.1.7 Common devices POINT (1) Internal relays for positioning control are not latched even within the

4 - 38 4 POSITIONING DEDICATED SIGNALS PLC ready flag(M2000)PCPU READYcomplete flag(SM500)Clear a M-code.VPositioning startDeceleration stopOF

A - 6 CAUTION The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or apply strong impacts on them. Secu

4 - 39 4 POSITIONING DEDICATED SIGNALS (2) Virtual servo start accept flag (M2001 to M2032) ...…….. Status signal (a) This flag turns on

4 - 40 4 POSITIONING DEDICATED SIGNALS The start accept flag list is shown below. Axis No. Device No. Axis No. Device No. Axis No. Device No

4 - 41 4 POSITIONING DEDICATED SIGNALS (a) By turning M2040 on before the starting of the constant speed control (before the servo program is

4 - 42 4 POSITIONING DEDICATED SIGNALS (8) All axes servo ON command (M2042) ...…... Command signal This command is used to enable ser

4 - 43 4 POSITIONING DEDICATED SIGNALS (10) Real mode/virtual mode switching status flag (M2044) ...…... Status signal This flag checks

4 - 44 4 POSITIONING DEDICATED SIGNALS (13) Motion slot fault detection flag (M2047) ... Status signal This flag is used as j

4 - 45 4 POSITIONING DEDICATED SIGNALS REMARK (Note) : Refer to the "Q173DCPU/Q172DCPU User's Manual" for P1 to P3 connector of t

4 - 46 4 POSITIONING DEDICATED SIGNALS (19) Automatic decelerating flag (M2128 to M2159) …... Status signal This signal turns on while automa

4 - 47 4 POSITIONING DEDICATED SIGNALS (d) In any of the following cases, this flag does not turn off. • When deceleration due to JOG signal o

4 - 48 4 POSITIONING DEDICATED SIGNALS The speed change "0" accepting flag list is shown below. Axis No. Device No. Axis No. Device

A - 7 (4) Wiring CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness afte

4 - 49 4 POSITIONING DEDICATED SIGNALS (b) The flag turns off if a stop cause occurs after speed change "0" accept. Start accept f

4 - 50 4 POSITIONING DEDICATED SIGNALS (21) Control loop monitor status (M2272 to M2303) ... Command signal When

4 - 51 4 POSITIONING DEDICATED SIGNALS 4.2 Data Registers (1) Data register list Q173DCPU Q172DCPU Device No. Purpose Real Virtual Device

4 - 52 4 POSITIONING DEDICATED SIGNALS POINT (1) Total number of points for the user devices 6632 points (2) (Note-1) : This device occup

4 - 53 4 POSITIONING DEDICATED SIGNALS (2) Axis monitor device list Axis No. Device No. Signal name 1 D0 to D19 2 D20 to D3

4 - 54 4 POSITIONING DEDICATED SIGNALS (3) Control change register list Axis No. Device No. Signal name 1 D640, D641 2 D642, D64

4 - 55 4 POSITIONING DEDICATED SIGNALS (4) Virtual servomotor axis monitor device list Axis No. Device No. Signal name 1 D800 to D809

4 - 56 4 POSITIONING DEDICATED SIGNALS (5) Synchronous encoder axis monitor device list Axis No. Device No. Signal name 1 D1120 to D1129

4 - 57 4 POSITIONING DEDICATED SIGNALS (6) Cam axis monitor device list Axis No. Device No. Signal name 1 D1240 to D1249 2

4 - 58 4 POSITIONING DEDICATED SIGNALS (7) Common device list Device No. Signal name Refresh cycle Fetch cycle Signal direction Device No.

A - 8 (6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo a

4 - 59 4 POSITIONING DEDICATED SIGNALS 4.2.1 Axis monitor devices The monitoring data area is used by the Motion CPU to store data such as the f

4 - 60 4 POSITIONING DEDICATED SIGNALS (5) Major error code storage register (D7+20n) ...…... Monitor device (a) This register stores the c

4 - 61 4 POSITIONING DEDICATED SIGNALS 4.2.2 Control change registers This area stores the JOG operation speed data of the virtual servomotor ax

4 - 62 4 POSITIONING DEDICATED SIGNALS 4.2.3 Virtual servomotor axis monitor devices (1) Feed current value storage register (D800+10n) ...

4 - 63 4 POSITIONING DEDICATED SIGNALS (3) Major error code storage register (D803+10n) ...….. Monitor device (a) This register stores

4 - 64 4 POSITIONING DEDICATED SIGNALS 4.2.4 Current value after virtual servomotor axis main shaft's differential gear (1) Current value

4 - 65 4 POSITIONING DEDICATED SIGNALS (2) Error search output axis No. storage register (D808+10n) ...….. Monitor device (a) This reg

4 - 66 4 POSITIONING DEDICATED SIGNALS 4.2.5 Synchronous encoder axis monitor devices (1) Current value storage register (D1120+10n, D1121+10n

4 - 67 4 POSITIONING DEDICATED SIGNALS 4.2.6 Current value after synchronous encoder axis main shaft's differential gear (1) Current valu

4 - 68 4 POSITIONING DEDICATED SIGNALS (2) Error search output axis No. storage register (D1128+10n) ...….. Monitor device (a) This re