Page 1 MOTION CONTROLLERS SV22(VIRTUAL MODE) Q173DCPU Q172DCPU Programming Manual...
Page 2: Safety Precautions
SAFETY PRECAUTIONS (Please read these instructions before using this equipment.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. These precautions apply only to this product. Refer to the Q173DCPU/Q172DCPU 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 Use the program commands for the program with the conditions specified in the instruction manual. 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.
Page 7 CAUTION The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or apply strong impacts on them. Securely fix the Motion controller, servo amplifier and servomotor to the machine according to the instruction manual. If the fixing is insufficient, these may come off during operation. Always install the servomotor with reduction gears in the designated direction.
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 (7) Corrective actions for errors CAUTION If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the check details according to the instruction manual, and restore the operation. If a dangerous state is predicted in case of a power failure or product failure, use a servomotor with electromagnetic brakes or install a brake mechanism externally.
Page 11 CAUTION When replacing the Motion controller or servo amplifier, always set the new module settings correctly. When the Motion controller or absolute value motor has been replaced, carry out a home position return operation using one of the following methods, otherwise position displacement could occur. 1) After writing the servo data to the Motion controller using programming software, switch on the power again, then perform a home position return operation.
Page 12: Revisions
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
Page 13: Table Of Contents
INTRODUCTION Thank you for choosing the Mitsubishi Motion controller Q173DCPU/Q172DCPU. Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the Motion controller you have purchased, so as to ensure correct use. CONTENTS Safety Precautions ............................A- 1 Revisions ................................A-11...
Page 14 4.2.5 Synchronous encoder axis monitor devices..................4-66 4.2.6 Current value after synchronous encoder axis main shaft's differential gear ......... 4-67 4.2.7 Cam axis monitor devices......................... 4-69 4.2.8 Common devices ..........................4-70 4.3 Motion registers(#) ........................... 4-73 4.4 Special relays (SM) ..........................4-75 4.5 Special registers (SD) ..........................
Page 15 8.3 Rotary Tables ............................8-13 8.3.1 Operation ............................8-13 8.3.2 Parameter list ............................ 8-14 8.4 Cam ................................8-21 8.4.1 Operation ............................8-22 8.4.2 Settings items at cam data creating ....................8-25 8.4.3 Parameter list ............................ 8-29 8.4.4 Cam curve list............................ 8-39 8.5 Phase Compensation Function .......................
Page 16: About Manuals
About Manuals The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below. Related Manuals (1) Motion controller Manual Number Manual Name (Model Code) Q173DCPU/Q172DCPU Motion controller User's Manual This manual explains specifications of the Motion CPU modules, Q172DLX Servo external signal interface IB-0300133 module, Q172DEX Synchronous encoder interface module, Q173DPX Manual pulse generator interface (1XB927)
Page 17 (2) PLC Manual Number Manual Name (Model Code) QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains the specifications of the QCPU modules, power supply modules, base modules, SH-080483ENG (13JR73) extension cables, memory card battery and others. (Optional) QCPU User's Manual (Function Explanation, Program Fundamentals) This manual explains the functions, programming methods and devices and others to create programs SH-080484ENG...
Page 18: Overview
General name for "Servo amplifier model MR-J3- B" QCPU, PLC CPU or PLC CPU module QnUD(H)CPU Multiple CPU system or Motion system Abbreviation for "Multiple PLC system of the Q series" Abbreviation for "CPU No.n (n= 1 to 4) of the CPU module for the Multiple CPU CPUn system"...
Page 19 1 OVERVIEW Generic term/Abbreviation Description Battery holder unit Battery holder unit (Q170DBATC) External battery General name for "Q170DBATC" and "Q6BAT" Abbreviation for "MELSECNET/H module/Ethernet module/CC-Link module/ Intelligent function module Serial communication module" (Note-1) : Q172DEX can be used in SV22. (Note-2) : SSCNET: Servo System Controller NETwork REMARK For information about the each module, design method for program and parameter,...
Page 20: Motion Control In Sv13/Sv22 Real Mode
1 OVERVIEW 1.2 Motion Control in SV13/SV22 Real Mode (1) System with servomotor is controlled directly using the servo program in (SV13/SV22) real mode. (2) Setting of the positioning parameter and creation of the servo program/Motion SFC program are required. (3) The procedure of positioning control is shown below: 1) Motion SFC program is requested to start using the D(P).
Page 21: Motion Control In Sv22 Virtual Mode
1 OVERVIEW 1.3 Motion Control in SV22 Virtual Mode (1) Synchronous control with software is performed using the mechanical system program comprised by virtual main shaft and mechanical module in (SV22) virtual mode. (2) Mechanical system programs is required in addition to the positioning parameter, servo program/Motion SFC program used in real mode.
Page 22: Starting Up The Multiple Cpu System
2 STARTING UP THE MULTIPLE CPU SYSTEM 2. STARTING UP THE MULTIPLE CPU SYSTEM The procedure for virtual mode positioning control is shown below. 2.1 Starting Up the System The procedure to start up for virtual mode system is shown below. START Install the MT Developer Start the MT Developer...
Page 23 2 STARTING UP THE MULTIPLE CPU SYSTEM Create the Motion SFC program and servo program Turn the power supply of Multiple CPU system ON Write the following data to the Motion CPU using MT Developer System setting data Servo setting data Motion SFC parameter Motion SFC program Servo program...
Page 24: Differences Between Incremental System And Absolute System
2 STARTING UP THE MULTIPLE CPU SYSTEM 2.2 Differences Between Incremental System and Absolute System The procedure for virtual mode operation is shown below. 2.2.1 Operation for incremental system The operation procedure for incremental system is shown below. START Turn the power supply of Multiple CPU system ON Execute the all axes servo start request (Turn M2042 on)
Page 25: Operation For Absolute (Absolute Position) System
2 STARTING UP THE MULTIPLE CPU SYSTEM 2.2.2 Operation for absolute (absolute position) system The operation procedure for absolute system is shown below. START Turn the power supply of Multiple CPU system ON Execute the all axes servo start request (Turn M2042 on) Is the home position return request signal ON ?
Page 26: Differences Between Real Mode And Virtual Mode
2 STARTING UP THE MULTIPLE CPU SYSTEM 2.3 Differences Between Real Mode and Virtual Mode Specifications of the positioning data, positioning devices and servo programs, etc. used in the real mode differ in part in the virtual mode. When using them in the virtual mode, refer to the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)"...
Page 27: Servo Programs
2 STARTING UP THE MULTIPLE CPU SYSTEM 2.3.3 Servo programs (1) Servo program area (a) The same servo program (Kn) No. cannot be used in both the real mode and virtual modes. The range of servo program (Kn) used in the virtual mode must be set using MT Developer in advance.
Page 28: Control Change (Current Value Change/Speed Change)
2 STARTING UP THE MULTIPLE CPU SYSTEM 2.3.4 Control change (Current value change/speed change) When a control change is executed in the virtual mode, the feed current value/speed of the drive module is changed. Control changes are not possible for the output module (except for cam). Differences between control changes in the real mode and virtual modes are shown in Table 2.4 below.
Page 29 2 STARTING UP THE MULTIPLE CPU SYSTEM MEMO 2 - 8...
Page 30: Performance Specifications
3 PERFORMANCE SPECIFICATIONS 3. PERFORMANCE SPECIFICATIONS Performance specifications of the Motion CPU are shown in Table 3.1 below. Table 3.1 Motion CPU Performance Specifications (Virtual Mode) Item Q173DCPU Q172DCPU Up to 32 axes Up to 8 axes (Simultaneous : 2 to 4 axes) Number of control axes (Simultaneous : 2 to 4 axes) (Independent : 32 axes)
Page 31 3 PERFORMANCE SPECIFICATIONS Table 3.1 Motion CPU Performance Specifications (Virtual Mode) (Continued) Item Q173DCPU Q172DCPU Interpolation functions Linear interpolation (2 to 4 axes), circular interpolation (2 axes) PTP (Point to Point) control, speed control, fixed-pitch feed, constant-speed control, Control methods position follow-up control PTP control : Selection of absolute or incremental data method...
Page 32: Positioning Dedicated Signals
Multiple CPU Multiple CPU high speed high speed transmission transmission memory memory SSCNET Q series PLC system bus Servo amplifier Servomotor PLC I/O module PLC intelligent Motion module (DI/O) function module (Proximity dog signal, manual (A/D, D/A, etc.)
Page 33 4 POSITIONING DEDICATED SIGNALS The positioning dedicated devices are shown below. It indicates the device refresh cycle of the Motion CPU for status signal with the positioning control, and the device fetch cycle of the Motion CPU for command signal with the positioning control.
Page 34: Internal Relays
4 POSITIONING DEDICATED SIGNALS 4.1 Internal Relays (1) Internal relay list Q173DCPU Q172DCPU Device No. Purpose Real Virtual Device No. Purpose Real Virtual User device User device (2000 points) (2000 points) M2000 Common device M2000 Common device (320 points) (320 points) M2320 Unusable M2320...
Page 35 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 latch range in virtual mode. (3) (Note-2) : This signal occupies only the area of the axis set in the mechanical system program.
Page 36 4 POSITIONING DEDICATED SIGNALS (2) Axis status list Axis No. Device No. Signal name M2400 to M2419 M2420 to M2439 Virtual M2440 to M2459 Refresh Fetch Signal Real Signal name Real Ball Rotary cycle cycle direction Roller Mode M2460 to M2479 screw table axis...
Page 37 4 POSITIONING DEDICATED SIGNALS (3) Axis command signal list Axis No. Device No. Signal name M3200 to M3219 M3220 to M3239 Virtual Refresh Fetch Signal M3240 to M3259 Real Signal name Real Ball Rotary cycle cycle direction Roller mode M3260 to M3279 screw table axis...
Page 38 4 POSITIONING DEDICATED SIGNALS (4) Virtual servomotor axis status list Axis No. Device No. Signal name M4000 to M4019 M4020 to M4039 Virtual M4040 to M4059 Refresh Fetch Signal Real Signal name Real Ball Rotary cycle cycle direction Roller mode M4060 to M4079 screw table...
Page 39 4 POSITIONING DEDICATED SIGNALS (5) Virtual servomotor axis command signal list Axis No. Device No. Signal name M4800 to M4819 M4820 to M4839 Virtual Refresh Fetch Signal M4840 to M4859 Real Signal name Real Ball Rotary cycle cycle direction Roller mode M4860 to M4879 screw...
Page 40 4 POSITIONING DEDICATED SIGNALS (6) Synchronous encoder axis status list Axis No. Device No. Signal name M4640 to M4643 M4644 to M4647 Signal Signal name Real Virtual Refresh cycle Fetch cycle direction M4648 to M4651 M4652 to M4655 0 Error detection Immediately M4656 to M4659 1 External signal TREN...
Page 41 4 POSITIONING DEDICATED SIGNALS (8) Common device list Device Signal Remark Device Signal Remark Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle direction (Note-4) direction (Note-4) Command Manual pulse generator 3 Command M2000 PLC ready flag Main cycle M3072 M2053...
Page 42 4 POSITIONING DEDICATED SIGNALS Common device list (Continued) Remark Remark Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle (Note-4) (Note-4) direction direction M2119 M2188 M2120 M2189 M2121 M2190 M2122 M2191 Unusable — —...
Page 43 4 POSITIONING DEDICATED SIGNALS Common device list (Continued) Remark Remark Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle (Note-4) (Note-4) direction direction M2257 Axis 18 M2289 Axis 18 M2258 Axis 19 M2290 Axis 19 M2259 Axis 20 M2291 Axis 20 M2260 Axis 21...
Page 44 4 POSITIONING DEDICATED SIGNALS (9) Common device list (Command signal) Remark Device No. Signal name Refresh cycle Fetch cycle Signal direction (Note-1), (Note-2) Main cycle M3072 PLC ready flag M2000 M3073 Speed switching point specified flag At start M2040 Operation M3074 All axes servo ON command M2042...
Page 45: Axis Statuses
4 POSITIONING DEDICATED SIGNALS 4.1.1 Axis statuses (1) In-position signal (M2402+20n) ....…....Status signal (a) This signal turns on when the number of droop pulses in the deviation counter becomes below the "in-position range" set in the servo parameters. It turns off at the start. Number of droop pulses In-position range In-position signal...
Page 46 4 POSITIONING DEDICATED SIGNALS (b) This signal turns off when the error reset command (M3207+20n) turns on. Error detection Error detection signal (M2407+20n) Error reset command (M3207+20n) REMARK (Note-1) : Refer to APPENDIX 2 for the error codes with detection of major/minor errors.
Page 47 4 POSITIONING DEDICATED SIGNALS (b) When using an absolute position system 1) This signal turns on in the following cases: • When not executing a home position return once after system start. • Home position return start in the real mode (Unless a home position return is completed normally, the home position return request signal does not turn off.) •...
Page 48 4 POSITIONING DEDICATED SIGNALS (b) The state for the upper stroke limit switch input (FLS) when the FLS signal is ON/OFF is shown below. (Note-2) 1) Q172DLX use FLS signal : ON FLS signal : OFF Q172DLX Q172DLX (Note-3) 2) Servo amplifier input use FLS signal : ON FLS signal : OFF MR-J3- B...
Page 49 4 POSITIONING DEDICATED SIGNALS (Note-3) 2) Servo amplifier input use RLS signal : ON RLS signal : OFF MR-J3- B MR-J3- B DICOM DICOM (Note-1): Refer to the "Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON)" for an external signal. (Note-2): Refer to the "Q173DCPU/Q172DCPU User’s Manual" for a pin configuration. (Note-3): Refer to the "MR-J3- B Servo Amplifier Instruction Manual"...
Page 50 4 POSITIONING DEDICATED SIGNALS (Note-3) 2) Servo amplifier input use DOG/CHANGE signal : OFF DOG/CHANGE signal : ON MR-J3- B MR-J3- B DOG/CHANGE DOG/CHANGE DICOM DICOM (Note-1): Refer to the "Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON)" for an external signal. (Note-2): Refer to the "Q173DCPU/Q172DCPU User’s Manual"...
Page 51 4 POSITIONING DEDICATED SIGNALS (13) Virtual mode continuation operation disable warning signal (M2418+20n) ..........…..Status signal When the difference between the final servo command value in previous virtual mode last time and the servo current value at virtual mode switching next time exceeds the "Allowable travel value during power off (×...
Page 52: Axis Command Signals
4 POSITIONING DEDICATED SIGNALS 4.1.2 Axis command signals (1) Error reset command (M3207+20n) ..... Command signal This command is used to clear the minor/major error code storage register of an axis for which the error detection signal has turn on (M2407+20n: ON), and reset the error detection signal (M2407+20n).
Page 53 4 POSITIONING DEDICATED SIGNALS (b) M3213+20n : OFF • If the drive module is a virtual servomotor or an incremental synchronous encoder, operation will be continued from the current value within 1 virtual axis revolution for the main shaft and auxiliary input axis in the previous virtual mode.
Page 54 4 POSITIONING DEDICATED SIGNALS (b) M3214+20n : OFF (Final servo command value in previous virtual mode operation ) (Current servo current value) (In-position) ……………………….1) • For formula 1) Operation will be continued by making the lower stroke limit value and current value within 1 cam shaft revolution into the lower stroke limit value and current value within 1 cam shaft revolution at the previous virtual mode operation.
Page 55 4 POSITIONING DEDICATED SIGNALS CAUTION Turn the power supply of the servo amplifier side off before touching a servomotor, such as machine adjustment. (6) Gain changing command (M3216+20n) ..…..Command signal This signal is used to change the gain of servo amplifier in the Motion controller by the gain changing command ON/OFF.
Page 56 4 POSITIONING DEDICATED SIGNALS POINTS (1) When the servo amplifier is not started (LED: "AA", "Ab", "AC", "Ad" or "AE"), if the control loop changing command is turned ON/OFF, the command becomes invalid. (2) When the followings are operated during the fully closed loop, it returns to the semi closed loop control.
Page 57: Virtual Servomotor Axis Statuses
4 POSITIONING DEDICATED SIGNALS 4.1.3 Virtual servomotor axis statuses (1) Positioning start complete signal (M4000+20n) ..…….. Status signal (a) This signal turns on with the start completion for the positioning control of the axis specified with the servo program. It does not turn on at the starting using JOG operation or speed control.
Page 58 4 POSITIONING DEDICATED SIGNALS (2) Positioning complete signal (M4001+20n) ...…... Status signal (a) This signal turns on with the completion for the positioning control of the axis specified with the servo program. It does not turn on at the start or stop on the way using JOG operation or speed control.
Page 59 4 POSITIONING DEDICATED SIGNALS (b) Command in-position check is continually executed during position control. This check is not executed during speed control. Command in-position setting Position Speed control control start start Command in-position (M4003+20n) Execution of command in-position check (4) Speed controlling signal (M4004+20n) ....…..Status signal (a) This signal turns on during speed control, and it is used as judgement of during the speed control or position control.
Page 60 4 POSITIONING DEDICATED SIGNALS (c) When the error reset command (M4807+20n) turns on in the state where the virtual servomotor or output module connected to the virtual servomotor turns on is normal, the error detection signal turns off. REMARK (Note-1) : Refer to APPENDIX 2.4 for details of the virtual servomotor minor/major error codes.
Page 61: Virtual Servomotor Axis Command Signals
4 POSITIONING DEDICATED SIGNALS 4.1.4 Virtual servomotor axis command signals (1) Stop command (M4800+20n) ....….... Command signal (a) This command stops a starting axis from an external source and becomes effective at leading edge of signal. (An axis for which the stop command is turning on cannot be started.) Stop command (M4800+20n)
Page 62 4 POSITIONING DEDICATED SIGNALS (2) Rapid stop command (M4801+20n) ...…..Command signal (a) This command stops a starting axis rapidly from an external source and becomes effective at leading edge of signal. (An axis for which the rapid stop command is turning on cannot be started.) Rapid stop command (M4801+20n) Rapid stop command...
Page 63 4 POSITIONING DEDICATED SIGNALS (3) Forward rotation JOG start command (M4802+20n)/Reverse rotation JOG start command (M4803+20n) ..Command signal (a) JOG operation to the address increase direction is executed while forward rotation JOG start command (M4802+20n) is turning on. When M4802+20n is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.
Page 64 4 POSITIONING DEDICATED SIGNALS (5) Error reset command (M4807+20n) ..... Command signal (a) This command is used to clear the minor/major error code storage register of an axis for which the error detection signal has turn on (M4007+20n : ON), and reset the error detection signal (M4007+20n). (b) The following processing is executed when the error reset command turns •...
Page 65 4 POSITIONING DEDICATED SIGNALS (7) FIN signal (M4819+20n) ........Command signal When a M-code is set in a servo program, transit to the next block does not execute until the FIN signal changes as follows: OFF OFF. Positioning to the next block begins after the FIN signal changes as above. It is effective, only when the FIN acceleration/deceleration is set and FIN signal wait function is selected.
Page 66: Synchronous Encoder Axis Statuses
4 POSITIONING DEDICATED SIGNALS 4.1.5 Synchronous encoder axis statuses (1) Error detection signal (M4640+4n) ......Status signal (a) This signal turns on when a minor error or major error is detected in a synchronous encoder or output module connected to the synchronous encoder.
Page 67: Synchronous Encoder Axis Command Signals
4 POSITIONING DEDICATED SIGNALS 4.1.6 Synchronous encoder axis command signals (1) Error reset command (M5440+4n) ....... Command signal (a) This command is used to clear the minor/major error code storage register of synchronous encoder of an axis for which the error detection signal has turn on (M4640+4n : ON), and reset the error detection signal (M4640+4n).
Page 68: Common Devices
4 POSITIONING DEDICATED SIGNALS 4.1.7 Common devices POINT (1) Internal relays for positioning control are not latched even within the latch range. In this manual, in order to indicate that internal relays for positioning control are not latched, the expression used in this text is "M2000 to M2319". (2) The range devices allocated as internal relays for positioning control cannot be used by the user even if their applications have not been set.
Page 69 4 POSITIONING DEDICATED SIGNALS Deceleration stop Positioning start PLC ready flag (M2000) PCPU READY complete flag PCPU READY complete flag (SM500) (SM500) does not turn on because during deceleration. Clear a M-code. (d) The following processings are performed when the M2000 turns ON to OFF.
Page 70 4 POSITIONING DEDICATED SIGNALS (2) Virtual servo start accept flag (M2001 to M2032) ..…….. Status signal (a) This flag turns on when the servo program is started. The start accept flag corresponding to an axis specified with the servo program turns on. (b) The ON/OFF processing of the start accept flag is shown below.
Page 71 4 POSITIONING DEDICATED SIGNALS The start accept flag list is shown below. Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No. M2001 M2009 M2017 M2025 M2002 M2010 M2018 M2026 M2003 M2011 M2019 M2027 M2004 M2012 M2020...
Page 72 4 POSITIONING DEDICATED SIGNALS (a) By turning M2040 on before the starting of the constant speed control (before the servo program is started), control with the change speed can be executed from the first of pass point. • OFF ..Speed is changed to the specified speed from the pass point of the constant speed control.
Page 73 4 POSITIONING DEDICATED SIGNALS (8) All axes servo ON command (M2042) ..…..Command signal This command is used to enable servo operation. (a) Servo operation enabled ……M2042 turns on while the servo OFF command (M3215+20n) is off and there is no servo error. (b) Servo operation disable ..•...
Page 74 4 POSITIONING DEDICATED SIGNALS (10) Real mode/virtual mode switching status flag (M2044) ..…... Status signal This flag checks the switching completion between the real mode and virtual modes, and the current mode. • This flag turns off with during the real mode or switching completion from the virtual mode to real mode.
Page 75 4 POSITIONING DEDICATED SIGNALS (13) Motion slot fault detection flag (M2047) ....Status signal This flag is used as judgement which modules installed in the motion slot of the main base unit is "normal" or "abnormal". • ON....Installing module is abnormal •...
Page 76 4 POSITIONING DEDICATED SIGNALS REMARK (Note) : Refer to the "Q173DCPU/Q172DCPU User's Manual" for P1 to P3 connector of the Q173DPX. (17) Operation cycle over flag (M2054) ....…..Status signal This flag turns on when the time concerning motion operation exceeds the operation cycle of the Motion CPU setting (SD523).
Page 77 4 POSITIONING DEDICATED SIGNALS (19) Automatic decelerating flag (M2128 to M2159) …..Status signal This signal turns on while automatic deceleration processing is performed during the positioning control or position follow-up control. (a) This flag turns on while automatic deceleration to the command address at the position follow-up control, but it turns off if the command address is changed.
Page 78 4 POSITIONING DEDICATED SIGNALS (d) In any of the following cases, this flag does not turn off. • When deceleration due to JOG signal off • During manual pulse generator operation • During deceleration due to stop command or stop cause occurrence •...
Page 79 4 POSITIONING DEDICATED SIGNALS The speed change "0" accepting flag list is shown below. Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No. M2240 M2248 M2256 M2264 M2241 M2249 M2257 M2265 M2242 M2250 M2258 M2266 M2243...
Page 80 4 POSITIONING DEDICATED SIGNALS (b) The flag turns off if a stop cause occurs after speed change "0" accept. Speed change "0" Stop cause Start accept flag Speed change "0" accepting flag (c) The speed change "0" accepting flag does not turn on if a speed change "0" occurs after an automatic deceleration start.
Page 81 4 POSITIONING DEDICATED SIGNALS (21) Control loop monitor status (M2272 to M2303) ....... Command signal When using the fully closed loop control servo amplifier, this signal is used to check the fully closed loop control/semi closed loop control of servo amplifier.
Page 82: Data Registers
4 POSITIONING DEDICATED SIGNALS 4.2 Data Registers (1) Data register list Q173DCPU Q172DCPU Device No. Purpose Real Virtual Device No. Purpose Real Virtual Axis monitor device (20 points 8 axes) Axis monitor device Real mode ... Each axis (20 points 32 axes) Virtual mode ..
Page 83 4 POSITIONING DEDICATED SIGNALS POINT (1) Total number of points for the user devices 6632 points (2) (Note-1) : This device occupies only the areas of the axes set in the mechanical system program. The unused axis areas in the mechanical system program can be used as an user side.
Page 84 4 POSITIONING DEDICATED SIGNALS (2) Axis monitor device list Axis No. Device No. Signal name D0 to D19 D20 to D39 Virtual Refresh Fetch Signal D40 to D59 Real Signal name Real Ball Rotary cycle cycle direction Roller mode D60 to D79 screw table axis...
Page 85 4 POSITIONING DEDICATED SIGNALS (3) Control change register list Axis No. Device No. Signal name D640, D641 D642, D643 Refresh Signal Signal name Real Virtual Fetch cycle cycle direction D644, D645 D646, D647 Command JOG speed setting At start device D648, D649 D650, D651 : Valid...
Page 86 4 POSITIONING DEDICATED SIGNALS (4) Virtual servomotor axis monitor device list Axis No. Device No. Signal name D800 to D809 D810 to D819 Virtual Refresh Fetch Signal D820 to D829 Real Signal name Real Ball Rotary cycle cycle direction Roller mode D830 to D839 screw...
Page 87 4 POSITIONING DEDICATED SIGNALS (5) Synchronous encoder axis monitor device list Axis No. Device No. Signal name D1120 to D1129 D1130 to D1139 Refresh Signal Signal name Real Virtual Fetch cycle cycle direction D1140 to D1149 D1150 to D1159 Operation Current value cycle Monitor...
Page 88 4 POSITIONING DEDICATED SIGNALS (6) Cam axis monitor device list Axis No. Device No. Signal name D1240 to D1249 D1250 to D1259 Refresh Signal Signal name Real Virtual Fetch cycle cycle direction D1260 to D1269 D1270 to D1279 0 Unusable D1280 to D1289 1 Execute cam No.
Page 89 4 POSITIONING DEDICATED SIGNALS (7) Common device list Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle direction direction Manual pulse generator 1 D704 PLC ready flag request D752 smoothing magnification setting register At the manual pulse Manual pulse generator 2 Speed switching point...
Page 90: Axis Monitor Devices
4 POSITIONING DEDICATED SIGNALS 4.2.1 Axis monitor devices The monitoring data area is used by the Motion CPU to store data such as the feed current value during positioning control, the real current value and the deviation counter value. It can be used to check the positioning control state using the Motion SFC program. The user cannot write data to the monitoring data area (except the travel value change register).
Page 91 4 POSITIONING DEDICATED SIGNALS (5) Major error code storage register (D7+20n) ...…..Monitor device (a) This register stores the corresponding error code (Refer to APPENDIX 2.4 and 2.6) at the major error occurrence. If another major error occurs after error code storing, the previous error code is overwritten by the new error code.
Page 92: Control Change Registers
4 POSITIONING DEDICATED SIGNALS 4.2.2 Control change registers This area stores the JOG operation speed data of the virtual servomotor axis. Table 4.3 Data storage area for control change list Name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8...
Page 93: Virtual Servomotor Axis Monitor Devices
4 POSITIONING DEDICATED SIGNALS 4.2.3 Virtual servomotor axis monitor devices (1) Feed current value storage register (D800+10n) ..….. Monitor device (a) This register stores the target address output to the servo amplifier based on the positioning address/travel value specified with the servo program. (b) The stroke range check is performed on this feed current value data.
Page 94 4 POSITIONING DEDICATED SIGNALS (3) Major error code storage register (D803+10n) ..….. Monitor device (a) This register stores the corresponding error code (refer to APPENDIX 2.4 and 2.6) at the major error occurrence in the virtual servomotor or output module. If another major error occurs after error code storing, the previous error code is overwritten by the new error code.
Page 95: Current Value After Virtual Servomotor Axis Main Shaft's Differential Gear
4 POSITIONING DEDICATED SIGNALS 4.2.4 Current value after virtual servomotor axis main shaft's differential gear (1) Current value after virtual servomotor axis main shaft’s differential gear storage register (D806+10n, D807+10n) ..….. Monitor device Differential gear is connected with the main shaft. Virtual Differential servomotor...
Page 96 4 POSITIONING DEDICATED SIGNALS (2) Error search output axis No. storage register (D808+10n) ..….. Monitor device (a) This register stores the axis No. of the output module in error by the error search function in the virtual mode. (b) If there are no errors at the virtual servomotor axes of the main shaft and auxiliary input axis, the error occurrence output axis No.
Page 97: Synchronous Encoder Axis Monitor Devices
4 POSITIONING DEDICATED SIGNALS 4.2.5 Synchronous encoder axis monitor devices (1) Current value storage register (D1120+10n, D1121+10n) ..….. Monitor device (a) This register stores the synchronous encoder current value of the drive module. (b) Ring address is " - 2147483648 ( - 2 ) to 2147483647 (2 -1)"...
Page 98: Current Value After Synchronous Encoder Axis Main Shaft's Differential Gear
4 POSITIONING DEDICATED SIGNALS 4.2.6 Current value after synchronous encoder axis main shaft's differential gear (1) Current value after synchronous encoder axis main shaft’s differential gear storage registers (D1126+10n, D1127+10n) ..….. Monitor device Differential gear is connected with the main shaft. Synchronous Differential encoder...
Page 99 4 POSITIONING DEDICATED SIGNALS (2) Error search output axis No. storage register (D1128+10n) ..….. Monitor device (a) This register stores the axis No. of the output module in error by the error search function in the virtual mode. (b) If there are no errors at the virtual servomotor axes of the main shaft and auxiliary input axis, the error occurrence output axis No.
Page 100: Cam Axis Monitor Devices
4 POSITIONING DEDICATED SIGNALS 4.2.7 Cam axis monitor devices (1) Execute cam No. storage register (D1241+10n) ... Monitor device (a) This register stores the cam No. currently being controlled. (b) Cam No. of the execute cam No. storage register is held until next cam is executed.
Page 101: Common Devices
4 POSITIONING DEDICATED SIGNALS 4.2.8 Common devices (1) Common bit device SET/RST request register (D704 to D708, D755 to D757) ..…..…........Command device Because cannot be turn on/off in every bit from the PLC CPU, the bit device is assigned to D register, and each bit device turns on with the lowest rank bit 0 to 1 and each bit device becomes off with 1 to 0.
Page 102 4 POSITIONING DEDICATED SIGNALS (3) Manual pulse generator axis No. setting registers (D714 to D719) ..Command signal (a) These registers stores the virtual servomotor axis No. controlled with the manual pulse generator. b14 b13 b12 b11 b10 D714 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 D715 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17 D716...
Page 103 4 POSITIONING DEDICATED SIGNALS (b) Refer to Section 6.22 of the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details of the manual pulse generator operation. (5) Manual pulse generator smoothing magnification setting registers (D752 to D754) ............ Command device (a) These registers set the smoothing time constants of manual pulse generators.
Page 104: Motion Registers(#)
4 POSITIONING DEDICATED SIGNALS 4.3 Motion registers (#) There are motion registers (#0 to #8735) in the Motion CPU. #8000 to #8639 are used as the monitor device and #8640 to #8735 are used as the Motion SFC dedicated device. Refer to the "Q173DCPU/Q172DCPU Motion Controller (SV13/SV22) Programming Manual (Motion SFC)"...
Page 105 4 POSITIONING DEDICATED SIGNALS (a) Servo amplifier type (#8000+20n) .......... Monitor device This register stores the servo amplifier type for each axis at the servo amplifier power supply ON. • 0 ....Unused • 256 ... MR-J3-B • 257 ... MR-J3-B (For fully closed loop control) •...
Page 106: Special Relays (Sm)
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, 8 points of the SM500 to SM503, SM510, SM512, SM513 and SM516 are used for the positioning control. The special relay list used for the positioning control is shown below.
Page 107 4 POSITIONING DEDICATED SIGNALS (b) If the test mode is not executed in the test mode request from MT Developer, the TEST mode request error flag (SM510) turns on. (3) External forced stop input flag (SM502) ..………… Status signal This flag is used to check the external forced stop input signal ON/OFF. •...
Page 108 4 POSITIONING DEDICATED SIGNALS (b) When SM513 turns on, the error contents are stored in the manual pulse generator axis setting error information (SD513 to SD515). (8) Servo program setting error flag (SM516) ...…... Status signal This flag is used as judgement of normal or abnormal for the servo program positioning data.
Page 109: Special Registers (Sd)
4 POSITIONING DEDICATED SIGNALS 4.5 Special registers (SD) There are 2256 special register points of SD0 to SD2255 in the Motion CPU. Of these, 20 points of the SD200, SD500 to SD506, SD508, SD510 to SD517, SD522, SD523 and SD803 are used for the positioning control. The special register list used for the positioning control is shown below.
Page 110 4 POSITIONING DEDICATED SIGNALS (1) State of switch (SD200) ………………………….. Monitor device The switch state of CPU is stored in the form of the following. SD200 Switch state of CPU 0 : RUN 1 : STOP Memory card switch Always OFF (All setting of each digit is "0".) No used (2) Real mode axis information register (SD500, SD501)
Page 111 4 POSITIONING DEDICATED SIGNALS (a) Servo amplifier mounting status 1) Mounting status • Mounted ..…..The servo amplifier is normal. (Communication with the servo amplifier is normal.) • Not mounted ..The servo amplifier is not mounted. The servo amplifier power is off. Normal communication with the servo amplifier is not possible due to a connecting cable fault, etc.
Page 112 4 POSITIONING DEDICATED SIGNALS (6) Test mode request error information (SD510, SD511) ... Monitor device If there are operating axis at a test mode request using MT Developer, a test mode request error occurs, the test mode request error flag (SM510) turns on, and the during operation/stop data of the each axis are stored.
Page 113 4 POSITIONING DEDICATED SIGNALS (7) Motion CPU WDT error cause (SD512) ……..Monitor device This register is used as judgement of the error contents in the Motion CPU. Operation when error Error code Error cause Action to take occurs S/W fault 1 •...
Page 114 4 POSITIONING DEDICATED SIGNALS (8) Manual pulse generator axis setting error information (SD513 to SD515) ..........….. Monitor device The setting information is checked at leading edge of manual pulse generator enable signal, if an error is found, the following error information is stored into SD513 to SD515 and the manual pulse generator axis setting error flag (SM513) turns on.
Page 115 4 POSITIONING DEDICATED SIGNALS (12) Operation cycle of the Motion CPU setting (SD523) ..….. Monitor device The setting operation cycle is stored in [ µs ] unit. When the "Automatic setting" is set in the system setting, the operation cycle corresponding to the number of setting axes.
Page 116: Mechanical System Program
5 MECHANICAL SYSTEM PROGRAM 5. MECHANICAL SYSTEM PROGRAM This section describes the mechanical system program in the virtual mode. In the mechanical system program (Mechanical support language), what was performing synchronous control by hardware using the gear, shaft, belt, pulley, cam or infinitely variable speed changer, etc.
Page 117: Mechanical Module Connection Diagram
5 MECHANICAL SYSTEM PROGRAM 5.1 Mechanical Module Connection Diagram The mechanical module connection diagram shows a virtual system diagram which arranged the mechanical modules and was composed. Configuration of the mechanical module connection is shown in Fig. 5.1 below. Indicates rotation direction Virtual axis Drive module Transmission module...
Page 118 5 MECHANICAL SYSTEM PROGRAM (1) Block The term "block" is one relation from the virtual transmission module (gear) connected to the virtual main shaft to the output module. Refer to Section 5.2 for the number of mechanical modules which can be connected in one block.
Page 119 5 MECHANICAL SYSTEM PROGRAM Transmission modules which can be connected at "A" and "B" above 1) A clutch, speed change gear, and "clutch + speed change gear" can be connected at "A" and "B". 2) If a "clutch + speed change gear" are used, connection constraints have not restrictions.
Page 120: Mechanical Module List
5 MECHANICAL SYSTEM PROGRAM 5.2 Mechanical Module List An overview of the mechanical modules used at the mechanical module connection diagrams in the virtual mode is shown in Tables 5.1. Refer to Chapter 6 to 8 for details of the each mechanical module. Table 5.1 Mechanical Module List Maximum Number of Usable Mechanical Module...
Page 121 5 MECHANICAL SYSTEM PROGRAM MEMO 5 - 6...
Page 122: Drive Module
6 DRIVE MODULE 6. DRIVE MODULE The drive module is the source of drive for the virtual axis (virtual main shaft, virtual auxiliary input axis). There are following 2 types drive module. • Virtual servomotor ....... Refer to Section 6.1 •...
Page 123 6 DRIVE MODULE (b) Start using the JOG operation An individual start and simultaneous start can be executed in the JOG (Note-1). operation 1) Individual start (Note-2) ..It is started by turning on the forward/reverse JOG command of each axis. Motion SFC program for which executes the JOG operation is shown below.
Page 124 6 DRIVE MODULE 2) Simultaneous start ..The simultaneous start axis No. and directions (forward/reverse) are set by the JOG operation simultaneous start axis setting register (Note-3) (D710 to D713) , and it is started by turning on the JOG (Note-3) operation simultaneous start command flag (M2048) Virtual axis 1, 2 simultaneous program When the 2 axes simultaneous start switch...
Page 125 6 DRIVE MODULE (3) Stopping method during operation When the virtual servomotor is stopped during operation after the start, turn the stop command (M4800+20n)/rapid stop command (M4801+20n) on using the Motion SFC program. (There are no external stop causes (STOP, FLS, RLS) for the virtual servomotor.) (4) Control items (a) It is controlled as the virtual servomotor backlash compensation amount "0"...
Page 126 6 DRIVE MODULE (6) Error-time operation mode The processings are shown below when major errors occurred with the output modules per 1 system. The following control is executed based on the parameter settings (Refer to Section 6.1.2) of the virtual servomotor connected to the virtual main shaft. (a) Continuation Even if a major error occurs with the output module, the output module continues operation.
Page 127 6 DRIVE MODULE (7) Virtual servomotor axis infinite operation By setting the upper stroke limit value and lower stroke limit value of the virtual servomotor parameters such that the "upper stroke limit value = lower stroke limit value", the stroke limit becomes invalid and infinite operation becomes possible. When the stroke limit is invalid, it is also possible for the start of the feed current value to take place in a direction that exceeds 32 bits.
Page 128 6 DRIVE MODULE (8) Reverse return during positioning By specifying a negative speed and making a speed change request by the CHGV instruction during the start, allow the axis start deceleration at that point and return in the opposite direction upon completion of deceleration. The following operations by the servo instruction are shown below.
Page 129 6 DRIVE MODULE [Control contents] (1) If a speed change is made to a negative speed, control is executed with the control mode during the start as indicated in the front page. (2) The returning command speed is the absolute value of the change speed. If it exceeds the speed limit value, the minor error [305] occurs, and it is controlled the speed limit value.
Page 130 6 DRIVE MODULE [Operation at the constant-speed control] The operation when a reverse return is requested for the constant-speed control is shown below. [Locus] [Servo program] CPSTART2 Axis2 Axis1 Axis2 Speed 1000 ABS-2 Axis1, 10000 Axis2, ABS-2 Axis1, 10000 Negative speed change Axis2, 10000 ABS-2...
Page 131 6 DRIVE MODULE POINT • Precautions at speed change (1) A speed change may be invalid if the speed change is executed until the "positioning start complete signal" status changes to ON at servo program start request . When making a speed change at almost the same timing as a start, create a program to execute speed change after the "positioning start complete signal"...
Page 132: Parameter List
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 explained in items (1) to (4) below. Refer to the help of MT Developer for the parameter setting method of virtual servomotor.
Page 133 6 DRIVE MODULE <Error check at start> Error code Contents Operation Command position is outside the stroke limit range at Operation does not start. start. <Error check during start> Error code Contents Operation Feed current value is outside the stroke limit range during start.
Page 134 6 DRIVE MODULE (3) Command in-position range The command in-position is the difference between the positioning address (command position) and feed current value. Once the value for the command in-position has been set, the command in- position signal (M2403 + 20n) turns on when the difference between the command position and the feed current value enters the set range [(command position - feed current value) (command in-position range)].
Page 135 6 DRIVE MODULE POINT (1) Unit is fixed at [PLS] regardless of the interpolation control unit setting of parameter block in the JOG operation. (2) Even if the JOG speed of virtual servomotor is within the JOG speed restriction, when the JOG speed has not satisfied the condition "(Command speed [PLS/s]) (Operation cycle [ms]) (Number of input side gear teeth) <...
Page 136 6 DRIVE MODULE (5) The parameter block No. for the program operation of virtual servomotor is set in the servo program for virtual mode. (If the parameter block No. setting is omitted, it is controlled with the contents of parameter block No.1.) The valid parameter block data are shown below.
Page 137: Virtual Servomotor Axis Devices (Internal Relays, Data Registers)
6 DRIVE MODULE 6.1.3 Virtual servomotor axis devices (Internal relays, data registers) (1) Virtual servomotor axis status Refer to Section 4.1.3 for details of the virtual servomotor axis statuses. (2) Virtual servomotor axis command signal Refer to Section 4.1.4 for details of the virtual servomotor axis command signals. (3) Virtual servomotor axis monitor device Refer to Section 4.2.3 for details of the virtual servomotor axis monitor devices.
Page 138: Synchronous Encoder
6 DRIVE MODULE 6.2 Synchronous Encoder The synchronous encoder is used to operate the virtual axis (virtual main shaft, virtual auxiliary input axis) with the external input pulse. Synchronous encoder operation and parameters are shown below. 6.2.1 Operation description (1) Operations Although a synchronous encoder does not need to start using the servo program etc.
Page 139 6 DRIVE MODULE 2) When the input pulse is inputted from an external synchronous encoder. a) The input pulse is started to input from the external synchronous encoder, when the clutch is switched on. Real mode/virtual mode (Note-1) switching request flag (M2043) Real mode/virtual mode (Note-1) switching status flag (M2044)
Page 140 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 real mode/virtual mode switching status flag. Refer to Chapter 9 for switching from real mode to virtual mode. (Note-2) : The synchronous encoder input start signal is inputted to the Q173DPX "TREN"...
Page 141 6 DRIVE MODULE (f) Error-time operation mode The processings are shown below when major errors occurred with the output modules per 1 system. The following control is executed based on the parameter settings (Refer to Table 6.2) of the synchronous encoder connected to the virtual main shaft. 1) Continuation Even if a major error occurs with the output module, the output module continues operation.
Page 142: Parameter List
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 explained in items (1) below. Refer to the help of MT Developer for the parameter setting method of synchronous encoder.
Page 143: Synchronous Encoder Axis Devices (Internal Relays, Data Registers)
6 DRIVE MODULE 6.2.3 Synchronous encoder axis devices (Internal relays, data registers) (1) Synchronous encoder axis status Refer to Section 4.1.5 for details of the synchronous encoder axis statuses. (2) Synchronous encoder axis command signal Refer to Section 4.1.6 for details of the synchronous encoder axis command signals.
Page 144: Virtual Servomotor/Synchronous Encoder Control Change
6 DRIVE MODULE 6.3 Virtual Servomotor/Synchronous Encoder Control Change The current value change and JOG speed change of the virtual servomotor and the current value of synchronous encoder. Refer to the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for details of the current value change/speed change. 6.3.1 Virtual servomotor control change (1) Control change registers Axis No.
Page 145 6 DRIVE MODULE (a) JOG speed setting registers (D640+2n, D641+2n) ...…….. Command device 1) This register stores the JOG speed at the JOG operation. 2) Setting range of the JOG speed is 1 to 2147483647 [PLS/s]. 3) The JOG speed is the value stored in the JOG speed setting registers at leading edge of JOG start signal.
Page 146: Synchronous Encoder Control Change
6 DRIVE MODULE 6.3.2 Synchronous encoder control change (1) Current value change by the CHGA-E instruction Motion SFC program for which executes the servo program is shown below. Current value change CHGA-E Current value change Wait until PX000, real mode/virtual mode PX000*M2043*M2044*!M2101 switching request and switching status turn on, and current value changing flag...
Page 147 6 DRIVE MODULE MEMO 6 - 26...
Page 148: Transmission Module
7 TRANSMISSION MODULE 7. TRANSMISSION MODULE The transmission module transmits the pulse outputted from the drive module to output module. There are following 4 types transmission modules. • Gear ........Section 7.1 • Clutch ........ Section 7.2 • Speed change gear ..Section 7.3 •...
Page 149 7 TRANSMISSION MODULE (2) Device data input The all device data set indirectly is inputted as "initial value" at the switching from real mode to virtual mode, thereafter the input control for module is executed during the virtual mode operation. The input timing of each setting device and refresh cycle of setting device are shown below.
Page 150: Gear
7 TRANSMISSION MODULE 7.1 Gear This section describes the gear operation and the parameters required to use a gear. 7.1.1 Operation Relation between the number of pulses outputted from the synchronous encoder or virtual servomotor and the output module is adjusted by parameter setting of the encoder resolution of servomotor, the gear ratio in consideration of the deceleration ratio for machine system etc.
Page 151 7 TRANSMISSION MODULE (1) Gear ratio (a) The number of pulses transmitted to the output axis through 1 pulse outputted from the drive module by the gear module is set in the gear ratio. (b) The gear ratio is based on the settings for the input axis side tooth count (GI) and output axis side tooth count (GO).
Page 152: Clutch
7 TRANSMISSION MODULE 7.2 Clutch The clutch is used to transmit/disengage the command pulse from drive module side to output module side, and to control the operation/stop of servomotor. There are two types for clutch: smoothing clutch and direct clutch. These two clutches operate in the same way, but these have the difference in whether the acceleration/deceleration processing by the smoothing processing is executed or not at the switching of the clutch on/off.
Page 153 7 TRANSMISSION MODULE REMARK (1) Clutch ON/OFF state is shown below. Input side (Input axis) to the clutch Clutch Output axis • Clutch ON state..The state in which pulses inputted to the clutch are output to the output axis. • Clutch OFF state..The state in which pulses inputted to the clutch are not output to the output axis.
Page 154 7 TRANSMISSION MODULE 2) If input to clutch (travel value after the main shaft's differential gear) changes after smoothing completion, the smoothing processing is executed at that point. Input to clutch Travel value after the main shaft's differential gear Internal clutch status Output to output axis by the smoothing clutch for time...
Page 155 7 TRANSMISSION MODULE b) Since the slippage remains constant even if the drive module speed changes, the clutch ON/OFF position can be controlled without any influence from speed changes. : Drive module speed : Smoothing complete time : Slippage [PLS] at V : Slippage [PLS] at V c) If input to clutch (travel value after the main shaft's differential gear) changes after smoothing completion, the smoothing processing is not...
Page 156 7 TRANSMISSION MODULE 2) Linear acceleration/deceleration system a) Set the slippage indicated by the shaded area in the diagram below. Slippage is recommended to be set greater than input to clutch (travel value after the main shaft's differential gear). Input to clutch Slippage [PLS] Clutch status b) Execute the smoothing processing so that the slippage may become...
Page 157 7 TRANSMISSION MODULE d) If input to clutch (travel value after the main shaft's differential gear) changes after smoothing completion, the smoothing processing is not executed and output directly. Input to clutch Travel value after the main shaft's differential gear Internal clutch status Slippage [PLS] Output to output axis...
Page 158: Operation
7 TRANSMISSION MODULE 7.2.1 Operation There are following five clutch operation modes. Operation mode Description Clutch ON/OFF control is executed by turning the clutch ON/OFF ON/OFF mode command device on/off. Clutch ON/OFF control is executed by turning the clutch ON/OFF Address mode command device on/off and an address of clutch ON/OFF address setting device.
Page 159 7 TRANSMISSION MODULE (d) The refresh cycle of clutch status signal is an operation cycle. Clutch ON/OFF command device (Note) Clutch status signal Maximum Maximum 1 operation cycle Maximum 1 operation cycle 1 operation cycle Current value of virtual axis (input Continuance from axis) current value at...
Page 160 7 TRANSMISSION MODULE (c) Turn the clutch ON/OFF command device on/off after setting an address of clutch ON/OFF address setting device. 1) When the clutch ON/OFF command device is OFF, even if the current value of virtual axis reaches an address of clutch ON address setting device, the clutch is not set to the ON state.
Page 161 7 TRANSMISSION MODULE (3) Address mode 2 (a) When the current value of virtual axis reaches an address of clutch ON/OFF address setting device, the clutch ON/OFF is executed. (Mode setting device is "2".) (b) When the clutch ON/OFF command device is ON, the following controls are executed according to the current clutch status.
Page 162 7 TRANSMISSION MODULE (d) The clutch ON/OFF control is executed for every operation cycle. When the current value passes through an address set in the clutch ON/OFF address setting device for 1 operation cycle, the internal control is executed correctly but the clutch status signal does not change.
Page 163 7 TRANSMISSION MODULE (f) The procedure to execute the axis servo OFF or power supply OFF of servo amplifier during operation is shown below. 1) Turn the clutch ON/OFF command device off. The clutch status is set to the OFF state. After that, the axis servo OFF command becomes valid.
Page 164 7 TRANSMISSION MODULE (c) When the mode setting device is "4", the clutch ON/OFF command device becomes invalid, and the clutch remains OFF. However, when the mode setting device is changed from "3" to "4" during execution of clutch ON/OFF processing by turning the clutch ON/OFF command device on, the clutch ON/OFF processing in execution is executed till the end and the next clutch ON/OFF command or later becomes invalid.
Page 165 7 TRANSMISSION MODULE POINT (1) The mode setting device of except for "0 to 4" is regarded as an error, and control is continued at the previous setting value. (2) Clutch control mode changes are valid at any time. (3) Clutch ON/OFF address setting device changes are valid at any time. Since they have 2-word data, set it as 32-bit integer type data.
Page 166 7 TRANSMISSION MODULE (g) When the mode setting device becomes "3", the clutch status turns OFF, while the clutch ON/OFF command device is OFF and the clutch status is Mode setting device value Drive module current value Clutch ON/OFF command device (Note) Clutch status (Note) : Refer to Section "7.2.2 Parameters"...
Page 167 7 TRANSMISSION MODULE (l) When the travel direction of drive module changes during the clutch ON/OFF processing by turning the clutch ON/OFF command device on, the clutch ON/OFF control is executed at the position in which not the travel value of drive module but the setting travel value before clutch ON/ setting travel value after clutch ON to the position where the clutch ON command is given was added.
Page 168 7 TRANSMISSION MODULE (o) When the "Clutch OFF" is set in the parameter "Error-time operation mode" of drive module and a major error occurs in the output module, the operating system software turns off the clutch. The procedure to resume an operation after an error occurrence is shown below.
Page 169 7 TRANSMISSION MODULE (b) Turn the external input (TREN signal) on after turning the clutch ON/OFF command device on. In this mode, a time for maximum 2 operation cycles is required to turn the external input on after the clutch ON/OFF command device turns on. 1) If the external input turns from off to on when the clutch ON/OFF command device is OFF, the clutch is not set to the ON state.
Page 170 7 TRANSMISSION MODULE (f) A synchronous encoder, external input and external input mode clutch can be set in only 1:1 ratio. The relationship between the synchronous encoder and external input is shown in the table below. Synchronous External input Synchronous External input encoder No.
Page 171 7 TRANSMISSION MODULE < Example 2 > Same synchronous encoder is connected to auxiliary input axis Set all the clutches connected to the same synchronous encoder set to the external input mode. (Also set clutch ON/OFF devices to the same setting.) Set both to external input mode.
Page 172: Parameters
7 TRANSMISSION MODULE 7.2.2 Parameters The clutch parameters are shown in Table 7.2 and the parameters shown in this table are explained in items (1) to (11) below. Refer to the help of MT Developer for the clutch parameter setting. Table 7.2 Clutch Parameter List Setting item Default value...
Page 173 7 TRANSMISSION MODULE (b) If a synchronous encoder is used as the drive module, the operation modes that can be set differ depending on the encoder interface connected to the Q173DPX/Q172DEX. Clutch operation mode Address mode, Encoder interface External input ON/OFF mode Address mode 2, mode...
Page 174 7 TRANSMISSION MODULE (3) Clutch ON/OFF command device (a) This device is used to execute the clutch ON/OFF command. (b) The following devices can be used as the clutch ON/OFF command device. Name Setting range Input X0 to X1FFF Output Y0 to Y1FFF (Note-1) Internal relay...
Page 175 7 TRANSMISSION MODULE (5) Clutch ON/OFF address setting device (only ON/OFF mode, address mode, address mode 2 and one-shot mode combined use, 2 words) (a) This device is used to set an address to turn the clutch on/off in the address mode.
Page 176 7 TRANSMISSION MODULE (6) Smoothing method (a) The method for smoothing processing of the clutch is set. The following two methods can be set: • Time constant system • Slippage system Exponential function system Linear acceleration/deceleration system (b) Refer to Section 7.2 for each system operation. (7) Smoothing time constant This is the time taken to reach 63[%] of the output axis speed.
Page 177 7 TRANSMISSION MODULE (9) Slippage in-position range setting device (2 words) (a) This device is used to set the remainder slippage range for judge as smoothing completion. (b) The following devices can be used as the slippage in-position range setting device.
Page 178 7 TRANSMISSION MODULE (d) When "(Remainder slippage) < (Slippage in-position range)" is set, the smoothing clutch complete signal turns on. The smoothing clutch complete signal ON/OFF is refreshed by the operation cycle. 1) ON/OFF state of smoothing clutch is indicated. (Only exponential function system and linear acceleration/deceleration system are valid.) •...
Page 179 7 TRANSMISSION MODULE b) Linear acceleration/deceleration system Input to clutch Travel value after main shaft's differential gear Internal clutch status OFF by OFF by smoothing smoothing ON by ON by ON by clutch start clutch start acceleration deceleration acceleration smoothing smoothing smoothing completion...
Page 180 7 TRANSMISSION MODULE (10) Address mode clutch control system (a) When a clutch is turned on by the setting value of ON/OFF address setting device in the address mode/address mode 2, the current value (current value within 1 virtual axis revolution/current value of virtual axis) of virtual axis to be used is selected.
Page 181: Speed Change Gear
7 TRANSMISSION MODULE 7.3 Speed Change Gear Speed change gear is used to change the rotation speed to output module and travel value during operation. The operation of speed change gear and parameters required to use it are shown below. 7.3.1 Operation This section describes the operation of speed change gear.
Page 182: Parameters
7 TRANSMISSION MODULE (2) When a speed change ratio changes, the acceleration/deceleration processing is executed by the smoothing time constant (t) set in the speed change gear parameters. Input axis Speed change 10000 2500 8000 ratio Operation Operation cycle cycle Output axis Time until it becomes 100 =...
Page 183 7 TRANSMISSION MODULE (1) Speed change ratio upper/lower limit value (a) The validate range (0.00 to 655.35[%]) of speed change ratio set in the speed change ratio setting device is set. (b) When the setting value of speed change ratio setting device is greater than the speed change ratio upper limit value, an operation is executed by a speed change ratio clamped at the upper limit value.
Page 184: Differential Gear
7 TRANSMISSION MODULE 7.4 Differential Gear The differential gear is used for the following purposes; • Output module phase is shifted or alignment of operation start position is executed. • Individual operation separated from the virtual main shaft is executed. 7.4.1 Operation (1) When the output module phase is shifted or alignment of the operation start position is executed.
Page 185 7 TRANSMISSION MODULE MEMO 7 - 38...
Page 186: Output Module
8 OUTPUT MODULE 8. OUTPUT MODULE The command pulse output from drive module is input to output module via the transmission module. The travel value of servomotor is controlled by the command pulse from output module. There are following four output modules. The parameters in accordance with that mechanism is set if necessary.
Page 187 8 OUTPUT MODULE (2) Device range of output module parameters and device data input The device range and setting method of items set in the indirect setting by devices among the output module parameters are shown below. (a) Device range The number of device words and device range in the indirect setting are shown below.
Page 188 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 Motion SFC program, set it as 32-bit integer type. (2) When a 2-word monitor device is read in the Motion SFC program, read it as 32-bit integer type.
Page 189 8 OUTPUT MODULE REMARK (Note) : The operation cycle is set in the "operation cycle setting" of system basic setting. Refer to the "Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON)" for details. The operation cycle of Motion CPU is shown below. Item Q173DCPU Q172DCPU...
Page 190: Rollers
8 OUTPUT MODULE 8.1 Rollers The rollers are used in the following cases. • The machine connected to the servomotor is operated continuously. • The system which does not need position control. (It is used when the speed control (cycle speed/number of rotations) mainly is controlled without the current value and position data.) This section describes the roller operation and parameters required to use a roller.
Page 191: Parameter List
8 OUTPUT MODULE (2) Control details (a) The roller has no current value. However, when it switches from the virtual mode to real mode, it reaches the current value corresponding to the position moved in the virtual mode. • The current value is a ring address within the range of -2147483648 (-2 to 2147483647 (2 -1) [PLS].
Page 192 8 OUTPUT MODULE (2) Roller diameter (L)/Number of pulses per roller revolution (N (a) The roller diameter connected to servomotor and the number of pulses per roller revolution are displayed. Number of pulses per roller revolution (N Roller diameter (L) (b) The roller cycle speed is calculated by the roller diameter and number of pulses per roller revolution as the formula below.
Page 193 8 OUTPUT MODULE (c) When the roller axis speed exceeds the speed limit value, the error detection signal (M2407+20n) turns on. However, the roller axis speed is not clamped. Even if the speed limit value is exceeded, it controls with the setting speed. Speed limit value (5) Torque limit value setting device (1 word) (a) This device is used to set the torque limit value of roller axis.
Page 194: Ball Screw
8 OUTPUT MODULE 8.2 Ball Screw The ball screw is used to make a machine connected to servomotor operate linearly. This section describes the ball screw operation and parameters required to use ball screws. 8.2.1 Operation (1) Operation (a) The ball screw is controlled with the speed that the speed/travel value of drive module multiplied by a gear ratio of transmission module, and the travel value is output.
Page 195: Parameter List
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 explained in items (1) to (7) below. Refer to the help of MT Developer for the ball screw parameter setting method. Table 8.2 Ball Screw Parameter List Setting Item Default...
Page 196 8 OUTPUT MODULE (3) Permissible droop pulse value (a) This device is used to set the permissible droop pulse value of deviation counter. (b) The deviation counter value is continually checked, and if it becomes larger than the permissible droop pulse value, the error detection signal (M2407+20n) turns on.
Page 197 8 OUTPUT MODULE (6) Torque limit value setting device (1 word) (a) This device is used to set the torque limit value of ball screw axis. When the device is set, the torque control is executed with the preset device value.
Page 198: Rotary Tables
8 OUTPUT MODULE 8.3 Rotary Tables The rotary table is used to make a machine connected to servomotor gyrate. This section describes the rotary table operation and parameters required to use rotary table. 8.3.1 Operation (1) Operation (a) The rotary table is controlled with the speed that the speed/travel value of drive module multiplied by a gear ratio of transmission module, and the travel value is output.
Page 199: Parameter List
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 explained in items (1) to (8) below. Refer to the help of MT Developer for the rotary table parameter setting method. Table 8.3 Rotary Table Parameter List Setting Item Default...
Page 200 8 OUTPUT MODULE (b) The travel value per pulse is calculated from the number of pulses per rotary table revolution in accordance with the following formula: [Travel value per pulse] [degree] (2) Permissible droop pulse value (a) This device is used to set the permissible droop pulse value of deviation counter.
Page 201 8 OUTPUT MODULE (5) Torque limit value setting device (1 word) (a) This device is used to set the torque limit value of rotary table axis. When the device is set, the torque control is executed with the preset device value.
Page 202 8 OUTPUT MODULE (b) The following devices can be set as the current value within 1 virtual axis revolution storage device. (Note-1) Name Setting range (Note-2) Data register D0 to D8191 Link register W0 to W1FFF Motion register #0 to #7999 U \G10000 to U \G(10000+p-1) Multiple CPU area device (Note-3), (Note-4)
Page 203 8 OUTPUT MODULE (f) An example of an address mode clutch operation is shown below. Operation example Set the clutch ON/OFF in this current value (Current value within 1 virtual axis revolution). 1 axis Number of pulses per revolution : 20000[PLS] 1 axis Virtual servomotor current value (Synchronous encoder)
Page 204 8 OUTPUT MODULE (b) The following devices can be set as the current value within 1 virtual axis revolution storage device. (Note-1) Name Setting range (Note-2) Data register D0 to D8191 Link register W0 to W1FFF Motion register #0 to #7999 U \G 10000 to U \G (10000+p-1) Multiple CPU area device (Note-3), (Note-4)
Page 205 8 OUTPUT MODULE (f) An example of an address mode clutch operation is shown below. Operation example Main shaft side clutch OFF Set the clutch ON/OFF in this current value. (Current value within 1 virtual axis revolution) 1 axis Number of pulses per revolution : 20000[PLS] 1 axis Virtual servomotor current value of auxiliary input axis side...
Page 206: Cam
8 OUTPUT MODULE 8.4 Cam Cam is used to make a machine connected to servomotor operate according to the preset cam pattern. (1) For axes at which the cam is set as the output module, the same operation as a cam is executed using a ball screw as shown in the example below.
Page 207: Operation
8 OUTPUT MODULE 8.4.1 Operation This section describes the cam operation. (1) Procedure for switching from the real mode to virtual mode Set the devices by the following procedure using the Motion SFC program at the switching from real mode to virtual mode. (a) Set the following details.
Page 208 8 OUTPUT MODULE < Example > Switching between cam No.1 and No.2, and switching timing between stroke amount I and I when the stroke amount/cam No. change point is set as "0". Current value within 1 cam shaft revolution [PLS] Nc-1, 0 Nc-1, 0 Nc-1, 0...
Page 209 8 OUTPUT MODULE (5) Control details (a) The cam feed current value is continued at switching from the real mode to virtual mode/from the virtual mode to real mode. (b) Backlash compensation processing is continued with the settings value of fixed parameters, even if switches the real mode/virtual mode.
Page 210: Settings Items At Cam Data Creating
8 OUTPUT MODULE (7) Program example [Switching real mode/virtual mode] Motion SFC program for switching real mode/virtual mode is shown below. Switching real mode/virtual mode example Switching real mode/virtual mode PX000 turn on, and real mode/virtual mode PX000*!M2043*!M2044 switching request and switching status turn off. D2000=K1 Cam No.
Page 211 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 to 64" for each machine. A cam No. is used with the number which offset value attached by the machine name sequence registered on mechanical system editing screen in the mechanical system program.
Page 212 8 OUTPUT MODULE Cam pattern Operation example 32767 Output value (Address) Stroke amount Lower stroke limit value Resolution-1 1 cycle Stroke amount (1 cam shaft revolution) Lower stroke limit value 2) Feed cam mode .....With the lower stroke limit value (lower dead point) as the operation start position, positioning is executed by feeding one stroke amount per cycle in a fixed direction.
Page 213 8 OUTPUT MODULE (5) Cam data table (a) This device is used to set the each point stroke ratio (when the stroke amount is divided into 32767 divisions) in the set resolution. Output value (Address) 32767 Stroke amount Cam curve Lower stroke limit value Stroke ratio...
Page 214: Parameter List
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 explained in items (1) to (11) below. Refer to the help of MT Developer for the cam parameter setting method. Table 8.5 Cam Parameter List Setting item Default value...
Page 215 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 displayed. Number of pulses per cam shaft revolution (Nc) (b) The setting for the number of pulses per cam shaft revolution is not related to the travel value per pulse (fixed parameter setting).
Page 216 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 in the real mode (unit in the fixed parameters) for the cam shaft. (5) Stroke amount setting device (2 words) (a) This device is used to set the cam stroke amount.
Page 217 8 OUTPUT MODULE (b) The following devices can be set as the torque limit value setting device. Name Setting range (Note-1) Data register D0 to D8191 Link register W0 to W1FFF Motion register #0 to #7999 (Note-2) Multiple CPU area device U \G10000 to U \G(10000+p-1) (Note-1) : D800 to D1559 are dedicated devices of virtual servomotor axis, synchronous encoder axis and output module "Cam"...
Page 218 8 OUTPUT MODULE (c) The lower stroke limit value is range of -2147483648 (-2 ) to 2147483647 -1). 1) The lower stroke limit value is determined as follows for each unit setting: [mm]: Lower stroke limit value 10 [µm] [inch]: Lower stroke limit value 10 [inch] [PLS]: Lower stroke limit value 1 [PLS] (9) Current value within 1 virtual axis revolution storage device...
Page 219 8 OUTPUT MODULE (d) The address mode clutch is turned on/off with the specified address of the current value within 1 virtual axis revolution range of 0 to (N -1) [PLS]. Therefore, set the address value within the range of 0 to (N -1) [PLS] in the clutch ON/OFF address setting device.
Page 220 8 OUTPUT MODULE (10) Current value within 1 virtual axis revolution storage device (Auxiliary input axis side) (2 words) This parameter is set when the address mode clutch is set at the cam auxiliary input axis side. Drive module Current value within 1 virtual axis revolution Address mode clutch Drive module...
Page 221 8 OUTPUT MODULE (d) The address mode clutch is turned on/off with the specified address of the current value within 1 virtual axis revolution range of 0 to (N -1) [PLS]. Therefore, set the address value within the range of 0 to (N -1) [PLS] in the clutch ON/OFF address setting device.
Page 222 8 OUTPUT MODULE (11) Cam/ball screw switching command device (a) This parameter is used to set cam operation. (b) The following devices can be used as the cam/ball screw switching command device. Name Setting range Input X0 to X1FFF Output Y0 to Y1FFF (Note-1), (Note-2) Internal relay...
Page 223 8 OUTPUT MODULE (f) "Continue Virtual Mode" is set for operation on servo error, if the feed current value of output axis is outside the range of cam operation ("Lower stroke limit value to Stroke amount") by servo error for two-way cam, return the output axis to within cam operation range.
Page 224: Cam Curve List
8 OUTPUT MODULE 8.4.4 Cam curve list This section describes the cam curves which can be used in the virtual mode. (1) Cam curve characteristics comparison The cam curve characteristics comparison is shown below. Table 8.6 Cam Curve Characteristics Comparison Table Cam curve Acceleration Class...
Page 225: Phase Compensation Function
8 OUTPUT MODULE 8.5 Phase Compensation Function When carrying out a position follow-up control (synchronous operation) by synchronous encoder, delays in the progresses, etc. cause the phase to deviate at servomotor shaft end in respect to the synchronous encoder. The phase compensation function compensates in this case so that the phase does not deviate.
Page 226 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 formula below. Phase advance time = Delay time peculiar to system [s] + 1/PG1 [rad/s] Delay time peculiar to system [t] : Refer to Table 8.8 : Model control gain "Command speed[PLS/s] Phase advance time[s]"...
Page 227 8 OUTPUT MODULE (2) Operating method Operating method for phase compensation function is shown below. (a) Set a phase advance time. (b) Set a suitable time constant as a phase compensation time constant. (c) Turn the phase compensation processing valid flag on for every axis before the servomotor start.
Page 228: Real Mode/Virtual Mode Switching And Stop/Re-Start
9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START 9. REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START This section describes the check details and switching method for the real mode/virtual mode switching. (1) Real mode/virtual mode switching Real mode/virtual mode switching is executed by turning the real mode/virtual mode switching request flag (M2043) ON/OFF.
Page 229 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 in Table 9.1 are checked to determine if switching to the virtual mode is possible. When all check items of Table 9.1 are normal, switching to the virtual mode is executed.
Page 230 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 the output module state. If an error is detected, it switches to the virtual mode, but the applicable system cannot be started.
Page 231 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 to determine the synchronous encoder state. If an error is detected, it switches to the virtual mode, but the applicable system cannot be started.
Page 232: Switching From The Virtual Mode To Real Mode
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 switching from the virtual mode to real mode. • Switching by user • Switching automatically by the operating system software 9.2.1 Switching by user (1) When the virtual mode to real mode switching is requested (M2043 ON OFF),...
Page 233: Continuous Operation On Servo Error In Virtual Mode
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 error in virtual mode can be set using MT Developer (Mechanical system program editor screen). (Default: "Return to real mode") •...
Page 234: Precautions At Real Mode/Virtual Mode Switching
9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START 9.3 Precautions at Real Mode/Virtual Mode Switching This section describes the precautions at real mode/virtual mode switching. (1) The motion control step and the torque limit value change instruction/speed change instruction during mode switching processing execution impossible The motion control step and the torque limit value change instruction/speed change instruction during the from real mode to virtual mode/from virtual mode to real mode switching processing (part of timing chart (Note-1) cannot execute.
Page 235 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 below. Real mode example Real mode PX000 turn on, real mode/virtual mode PX000*!M2043*!M2044*!M2001 switching request and switching status turn off, and axis 1 start accept flag turn off.
Page 236: Stop And Re-Start
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 virtual mode operation is to stop the main shaft. If an auxiliary input axis is used, also stop the auxiliary input axis.
Page 237: Stop Operation/Stop Causes During Operation And Re-Starting Operation List
9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START 9.4.1 Stop operation/stop causes during operation and re-starting operation list Table 9.5 Stop Operation/stop Causes during Operation and Re-starting Operation List Affected virtual axis Stop processing Return to Real mode Synchronization Stop operation or stop by operating system discrepancy warning Virtual...
Page 238 9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START Operation continuation Error set Output module operation enabled ( Re-start operation after stop disabled ( • Deceleration stop based on the • Continuous operation is possible by turning the stop command off (not —...
Page 239 9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START MEMO 9 - 12...
Page 240: Auxiliary And Applied Functions
10 AUXILIARY AND APPLIED FUNCTIONS 10. AUXILIARY AND APPLIED FUNCTIONS This section describes the auxiliary and applied functions for positioning control in the Multiple CPU system. Items Details Applications Positioning control for preset axis is It is used in the system for which executed during synchronous conveys while executing synchronous Mixed function of virtual...
Page 241 10 AUXILIARY AND APPLIED FUNCTIONS (2) Setting method Set the axis to control as real mode axis in the [Option] – [Real Mode Axis Setting] menu of mechanical system program editor screen of MT Developer. • Mechanical system program editor screen [Real Mode Axis Setting] menu •...
Page 242 10 AUXILIARY AND APPLIED FUNCTIONS (a) Usable instructions and controls Items Usable/unusable Remarks Linear positioning control Linear interpolation control Circular interpolation control Helical interpolation control Fixed-pitch feed control Speed control ( ) Positioning control with the Speed control ( ) torque limit value set in the Servo Speed-position switching control...
Page 243 10 AUXILIARY AND APPLIED FUNCTIONS (b) Control methods Items Control method Remarks • When the ZERO, OSC, CHGA-C or CHGA-E instruction is executed to real mode axis, "Servo program setting error" (error code: 905) occurs. • Use a Motion SFC program start or •...
Page 244 10 AUXILIARY AND APPLIED FUNCTIONS (d) Difference for operation between the output axis of mechanical system program and real mode axis Operation details for "output axis of mechanical system program" and "real mode axis" on error are shown below. Operation for output axis of mechanical Items Operation for real mode axis system program...
Page 245 10 AUXILIARY AND APPLIED FUNCTIONS (e) Difference for operation between the real mode axis in virtual mode and real mode When the servo OFF command (M3215+20n) turns on at using the mixed function of virtual mode with real mode in virtual mode, positioning control stops.
Page 246: Appendices
APPENDICES APPENDICES APP. APPENDIX 1 Cam Curves The cam acceleration curve formulas used in the virtual mode are shown below. (1) Acceleration curve formula <Symbol explanation> • A : Dimensionless acceleration • Am : Dimensionless maximum acceleration • T : Dimensionless time •...
Page 247 APPENDICES 4) Distorted sine curve Am = • Section (0 T Ta) A = Amsin T + C0 • Section (Ta < T 1 A = Amcos + C0 • Section Ta < T 1) 1 + Ta) Amcos + C0 5) Distorted constant-speed curve Am = TaTb + (...
Page 248 APPENDICES (c) Two-dwelling asymmetrical curve 1) Trapecloid curve 6Ta + 2Ta + 3 Ta Am = + (1 + TaTb + Tb ) (1 Tc) • Section (0 T Ta) A = Amsin T + C0 • Section (Ta < T Tb) A = Am + C0 •...
Page 249 APPENDICES • Section (0 A = Amcos + C0 2 (1 • Section < T 1 Amcos + C0 • Section Tb < T 1 Ta ) Am + C0 • Section < T 1) A = Amsin + C0 (d) One-dwelling curve 1) Double hypotenuse curve (cos...
Page 250: Appendix 2 Error Codes Stored Using The Motion Cpu
APPENDICES APPENDIX 2 Error Codes Stored Using The Motion CPU The following errors are detected in the Motion CPU. • Servo program setting error • Positioning error • Control mode switching error (Note-1) • Motion SFC error (Note-1) • Motion SFC parameter error (Note-2) •...
Page 251 APPENDICES The error applicable range for each error class are shown below. Error module Error class Erroneous category Drive module Output module Setting data 1 to 99 4000 to 4990 At start 100 to 199 5000 to 5990 Minor error During operation 200 to 299 6000 to 6990...
Page 252 APPENDICES (c) If another error occurs after an error code has been stored, the existing error code is overwritten, deleting it. However, the error history can be checked using MT Developer. (d) Error detection signals and error codes are held until the error reset command (M3207+20n) or servo error reset command (M3208+20n) turns on.
Page 253: Appendix 2.1 Expression Method For Word Data Axis No
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 the positioning dedicated signal. Example of the TEST mode request error information (SD510, SD511) is shown below. SD510 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8...
Page 254: Appendix 2.2 Related Systems And Error Processing
APPENDICES APPENDIX 2.2 Related Systems and Error Processing There are following 2 types for the related systems of virtual mode. • System consisting of a drive module and output module. • Multiple systems used the same drive module. The following processing occurs, when the error is detected at an output module. •...
Page 255: Appendix 2.3 Servo Program Setting Errors (Stored In Sd517)
APPENDICES APPENDIX 2.3 Servo program setting errors (Stored in SD517) The error codes, error contents and corrective actions for servo program setting errors are shown in Table 2.1. In the error codes marked with "Note" indicates the axis No. (1 to 32). Table 2.1 Servo program setting error list Error code Error name...
Page 256 APPENDICES Table 2.1 Servo program setting error list (Continued) Error code Error name Error contents Error processing Corrective action stored in SD517 Auxiliary point (1) The auxiliary point address is Positioning control does not (1) If the control unit is setting error outside the setting range at the start.
Page 257 APPENDICES Table 2.1 Servo program setting error list (Continued) Error code Error name Error contents Error processing Corrective action stored in SD517 Rapid stop The rapid stop deceleration time is Control with the default value Set the rapid stop deceleration deceleration time set to "0".
Page 258 APPENDICES Table 2.1 Servo program setting error list (Continued) Error code Error name Error contents Error processing Corrective action stored in SD517 High-Speed Operation cannot be started Positioning control does not Start after set the starting oscillation command because the starting angle start.
Page 259 APPENDICES Table 2.1 Servo program setting error list (Continued) Error code Error name Error contents Error processing Corrective action stored in SD517 Axis No. setting (1) Unused axis of the system Positioning control does not Set the axis No. set in the error setting is set in the Motion start.
Page 260: Appendix 2.4 Drive Module Errors
APPENDICES APPENDIX 2.4 Drive module errors Table 2.2 Drive module error (100 to 1199) list Control mode of virtual servo axis Error Error Error Error cause Corrective action class code processing • The PLC ready flag (M2000) or • Set the Motion CPU to RUN. PCPU ready flag (SM500) is OFF.
Page 261 APPENDICES Table 2.2 Drive module error (100 to 1199) list (Continued) Control mode of virtual servo axis Error Error Error Error cause Corrective action class code processing • The difference between the end • Correct the addresses of the point address and ideal end point servo program.
Page 262 APPENDICES Table 2.2 Drive module error (100 to 1199) list (Continued) Control mode of virtual servo axis Error Error Error Error cause Corrective action class code processing • The PLC ready flag (M2000) • Turn the PLC ready flag turned off to on again during (M2000) off to on after all axes deceleration by turning off the PLC have stopped.
Page 263 APPENDICES Table 2.2 Drive module error (100 to 1199) list (Continued) Control mode of virtual servo axis Error Error Error Error cause Corrective action class code processing • The speed at the pass point Control • Set the speed command value exceeded the speed limit value with the within the range of 1 to speed...
Page 264 APPENDICES Table 2.2 Drive module error (100 to 1199) list (Continued) Control mode of virtual servo axis Error Error Error Error cause Corrective action class code processing • Q172DEX or encoder hardware • Check (replace) the Q172DEX Immediate error. or encoder. input stop •...
Page 265: Appendix 2.5 Servo Errors
APPENDICES APPENDIX 2.5 Servo errors (1) Servo amplifier errors (2000 to 2899) These errors are detected by the servo amplifier, and the error codes are [2000] to [2899]. The servo error detection signal (M2408+20n) turns on at the servo amplifier error occurrence.
Page 266 APPENDICES Table 2.3 Servo error (2000 to 2899) list Error Error cause Error Error check Corrective action code processing Name Description • Power supply voltage is low. • Review the power supply. MR-J3- B: 160VAC or less MR-J3- B1: 83 VAC or less MR-J3- B4: 280 VAC or less •...
Page 267 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • Encoder connector (CN2) disconnected. • Connect correctly. • Encoder fault • Replace the servomotor. • Encoder cable faulty •...
Page 268 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • Machine struck. • Check the machine. • Accuracy at initial magnetic pole • Review the parameter No.PS09 detection is bad.
Page 269 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • Wrong setting of system setting • Check the regenerative brake of (regenerative brake) system setting and set correctly. •...
Page 270 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • Short occurred in servomotor power (U, • Correct the wiring. V, W). • Transistor (IPM) of the servo amplifier •...
Page 271 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • Linear encoder signal resolution differs • Review the settings of parameter from the setting value. No.PS02 and PS03 setting (linear encoder resolution).
Page 272 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • Servo amplifier failure • Replace the servo amplifier. • The power supply was turned on and off •...
Page 273 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • Machine struck something. • Review operation pattern. • Install limit switches. • Wrong connection of servomotor. (Servo •...
Page 274 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • The speed of linear encoder has • Change the speed of linear exceeded the range of use. encoder within the range of use.
Page 275 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • Ambient temperature of servomotor is • Review environment so that over 40[°C] (104[°F]). ambient temperature is 0 to 49[°C] (32 to 104[°F]).
Page 276 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description Parameter error • The servo parameter value is outside the setting range. (Any unauthorized parameter is ignored and the value before setting is held.) Error Parameter...
Page 277 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description Error Parameter Name code 2336 PB17 Automatic setting parameter 2337 PB18 Low-pass filter Vibration suppression control 2338 PB19 vibration frequency setting Vibration suppression control 2339...
Page 278 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description Error Parameter Name code Encoder output pulses 2367 PC03 selection 2368 PC04 Function selection C-1 2369 PC05 Function selection C-2 2370 PC06 Function selection C-3...
Page 279 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description Error Parameter Name code 2407 PD11 Input filter setting 2408 PD12 For manufacturer setting PD13 For manufacturer setting 2409 2410 PD14...
Page 280 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description Initial parameter error • The parameter setting is wrong. • The parameter data was corrupted. Error Parameter Name code PA01 For manufacturer setting...
Page 281 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description Error Parameter Name code 2636 PB17 Automatic setting parameter 2637 PB18 Low-pass filter Vibration suppression control 2638 PB19 vibration frequency setting Vibration suppression control 2639...
Page 282 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description Error Parameter Name code Encoder output pulses 2667 PC03 selection 2668 PC04 Function selection C-1 2669 PC05 Function selection C-2 2670 PC06 Function selection C-3...
Page 283 APPENDICES Table 2.3 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description Error Parameter Name code 2707 PD11 Input filter setting 2708 PD12 For manufacturer setting PD13 For manufacturer setting 2709 2710 PD14...
Page 284: Appendix 2.6 Output Module Errors
APPENDICES APPENDIX 2.6 Output Module Errors (1) Output module errors at real mode/virtual mode switching (4000 to 5990) Table 2.4 Output Module Error List (4000 to 5990) Output module Error Error Error cause Processing Corrective action code Roller Ball Rotary class screw table...
Page 285 APPENDICES Table 2.4 Output Module Error List (4000 to 5990) (Continued) Output module Error Error Error cause Processing Corrective action code Roller Ball Rotary class screw table • The device set to "Stroke amount setting • Correct the device set to "Stroke 5260 device"...
Page 286 APPENDICES Table 2.4 Output Module Error List (4000 to 5990) (Continued) Output module Error Error Error cause Processing Corrective action code Roller Ball Rotary class screw table • The device set to "Smoothing clutch • Correct the device set to 5450 complete signal device"...
Page 287 APPENDICES (2) "No-clutch/clutch ON/clutch status ON" output module errors (6000 to 6990) Table 2.5 Output Module Error List (6000 to 6990) Output module Error Error Error cause Processing Corrective action Ball Rotary class code Roller screw table • The servo OFF command (M3215+20n) •...
Page 288 APPENDICES Table 2.5 Output Module Error List (6000 to 6990) (Continued) Output module Error Error Error cause Processing Corrective action Ball Rotary class code Roller screw table • Current value was changed for the axis Do not change • Use the following device as that had not been started.
Page 289 APPENDICES (5) Output module errors at virtual servomotor axis start (10000 to 10990) Table 2.8 Output Module Error List (10000 to 10990) Output module Error Error Error cause Processing Corrective action code Roller Ball Rotary class screw table • The home position return request Related system •...
Page 290 APPENDICES (7) Errors when using an absolute position system (12000 to 12990) Table 2.10 Output Module Error List (12000 to 12990) Output module Error Error Error cause Processing Corrective action Ball Rotary class code Roller screw table • A sum check error occurred in the Home position return •...
Page 291: Appendix 2.7 Errors At Real Mode/Virtual Mode Switching
APPENDICES APPENDIX 2.7 Errors at Real Mode/Virtual Mode Switching Table 2.11 Real Mode/Virtual Mode Switching Error Code List Error codes stored in SD504 Error description Corrective action Decimal Hexadecimal display display • Real mode/virtual mode switching request flag (M2043) • Turn real mode/virtual mode switching request 0001 turned OFF ON in the state which all axes has not...
Page 292 APPENDICES Table 2.11 Real Mode/Virtual Mode Switching Error Code List (Continued) Error codes stored in SD504 Error description Corrective action Decimal Hexadecimal display display • The setting value of cam stroke amount setting device is • Turn real mode/virtual mode switching request outside the range of 1 to (2 -1).
Page 293: Appendix 3 Setting Range For Indirect Setting Devices
APPENDICES APPENDIX 3 Setting Range for Indirect Setting Devices Positioning address, command speed or M-code, etc. (excluding the axis No.) set in the servo program can be set indirectly by the word. (1) Device range The number of device words and device range at indirect setting are shown below.
Page 294 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 is set in these devices using the Motion SFC programs. (Example : #0L, D0L) (2) Refer to Chapter 2 of the "Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON)"...
Page 295: Appendix 4 Processing Times Of The Motion Cpu
APPENDICES APPENDIX 4 Processing Times of the Motion CPU The processing time of each signal and each instruction for positioning control in the Multiple CPU system is shown below. (1) Motion operation cycle [ms] (Default) Q173DCPU Q172DCPU Number of setting axes (SV22) 1 to 4 5 to 12 13 to 28...
Page 296: Appendix 5 Device List
APPENDICES APPENDIX 5 Device List (1) Axis status list Axis No. Device No. Signal name M2400 to M2419 M2420 to M2439 Virtual M2440 to M2459 Refresh Fetch Signal Real Signal name Real Ball Rotary cycle cycle direction Roller Mode M2460 to M2479 screw table axis...
Page 297 APPENDICES (2) Axis command signal list Axis No. Device No. Signal name M3200 to M3219 M3220 to M3239 Virtual Refresh Fetch Signal M3240 to M3259 Real Signal name Real Ball Rotary cycle cycle direction Roller mode M3260 to M3279 screw table axis M3280 to M3299...
Page 298 APPENDICES (3) Virtual servomotor axis status list Axis No. Device No. Signal name M4000 to M4019 M4020 to M4039 Virtual M4040 to M4059 Refresh Fetch Signal Real Signal name Real Ball Rotary cycle cycle direction Roller mode M4060 to M4079 screw table axis...
Page 299 APPENDICES (4) Virtual servomotor axis command signal list Axis No. Device No. Signal name M4800 to M4819 M4820 to M4839 Virtual Refresh Fetch Signal M4840 to M4859 Real Signal name Real Ball Rotary cycle cycle direction Roller mode M4860 to M4879 screw table axis...
Page 300 APPENDICES (5) Synchronous encoder axis status list Axis No. Device No. Signal name M4640 to M4643 M4644 to M4647 Signal Signal name Real Virtual Refresh cycle Fetch cycle direction M4648 to M4651 M4652 to M4655 0 Error detection Immediately M4656 to M4659 1 External signal TREN Status signal...
Page 301 APPENDICES (7) Common device list Device Signal Remark Device Signal Remark Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle direction (Note-4) direction (Note-4) Command Manual pulse generator 3 Command M2000 PLC ready flag Main cycle M3072 M2053 Main cycle M3079...
Page 302 APPENDICES Common device list (Continued) Remark Remark Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle (Note-4) (Note-4) direction direction M2119 M2188 M2120 M2189 M2121 M2190 M2122 M2191 Unusable M2123 M2192 (9 points) M2124 M2193 M2125...
Page 303 APPENDICES Common device list (Continued) Remark Remark Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle (Note-4) (Note-4) direction direction M2257 Axis 18 M2289 Axis 18 M2258 Axis 19 M2290 Axis 19 M2259 Axis 20 M2291 Axis 20 M2260 Axis 21 M2292 Axis 21...
Page 304 APPENDICES (8) Common device list (Command signal) Remark Device No. Signal name Refresh cycle Fetch cycle Signal direction (Note-1), (Note-2) Main cycle M3072 PLC ready flag M2000 M3073 Speed switching point specified flag At start M2040 Operation M3074 All axes servo ON command M2042 cycle Real mode/virtual mode switching...
Page 305 APPENDICES (9) Axis monitor device list Axis No. Device No. Signal name D0 to D19 D20 to D39 Virtual Refresh Fetch Signal D40 to D59 Real Signal name Real Ball Rotary cycle cycle direction Roller mode D60 to D79 screw table axis D80 to D99...
Page 306 APPENDICES (10) Control change register list Axis No. Device No. Signal name D640, D641 D642, D643 Refresh Signal Signal name Real Virtual Fetch cycle cycle direction D644, D645 D646, D647 Command JOG speed setting At start device D648, D649 D650, D651 : Valid D652, D653 D654, D655...
Page 307 APPENDICES (11) Virtual servomotor axis monitor device list Axis No. Device No. Signal name D800 to D809 D810 to D819 Virtual Refresh Fetch Signal D820 to D829 Real Signal name Real Ball Rotary cycle cycle direction Roller mode D830 to D839 screw table axis...
Page 308 APPENDICES (12) Synchronous encoder axis monitor device list Axis No. Device No. Signal name D1120 to D1129 D1130 to D1139 Refresh Signal Signal name Real Virtual Fetch cycle cycle direction D1140 to D1149 D1150 to D1159 Operation Current value cycle Monitor D1160 to D1169 Backup...
Page 309 APPENDICES (13) Cam axis monitor device list Axis No. Device No. Signal name D1240 to D1249 D1250 to D1259 Refresh Signal Signal name Real Virtual Fetch cycle cycle direction D1260 to D1269 D1270 to D1279 0 Unusable D1280 to D1289 1 Execute cam No.
Page 310 APPENDICES (14) Common device list Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle direction direction Manual pulse generator 1 D704 PLC ready flag request D752 smoothing magnification setting register At the manual pulse Manual pulse generator 2 Speed switching point generator enable flag...
Page 311 APPENDICES (15) Motion register list (#) Axis Device No. Signal name #8000 to #8019 #8020 to #8039 Signal name Refresh cycle Signal direction #8040 to #8059 When the servo amplifier power-on #8060 to #8079 Servo amplifier type #8080 to #8099 Motor current Operation cycle 1.7[ms] or less: Operation cycle #8100 to #8119...
Page 312 APPENDICES (16) Special relay list Device No. Signal name Refresh cycle Fetch cycle Signal type SM500 PCPU REDAY complete flag SM501 TEST mode ON flag SM502 External forced stop input flag SM503 Digital oscilloscope executing flag Main cycle Status signal SM510 TEST mode request error flag SM512...
Page 313 WARRANTY Please confirm the following product warranty details before using this product. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
Page 314 MOTION CONTROLLER Qseries SV22 Programming Manual(VIRTUAL MODE) (Q173DCPU/Q172DCPU) HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN Q173D-P-SV22-KASO-E MODEL MODEL 1XB931 CODE When exported from Japan, this manual does not require application to the IB(NA)-0300137-A(0801)MEE Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.

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Q173dcpu Q172dcpu

Mitsubishi Electric Q Series Programming Manual

1 Overview

2 Starting up the Multiple Cpu System

3 Performance Specifications

4 Positioning Dedicated Signals

5 Mechanical System Program

6 Drive Module

7 Transmission Module

8 Output Module

9 Real Mode/Virtual Mode Switching and Stop/Re-Start

10 Auxiliary and Applied Functions

APPENDIX 1 Cam Curves

APPENDIX 2 Error Codes Stored Using the Motion CPU

APPENDIX 2.1 Expression Method for Word Data Axis no

APPENDIX 2.2 Related Systems and Error Processing

APPENDIX 2.3 Servo Program Setting Errors (Stored in SD517)

APPENDIX 2.4 Drive Module Errors

APPENDIX 2.5 Servo Errors

APPENDIX 2.6 Output Module Errors

APPENDIX 2.7 Errors at Real Mode/Virtual Mode Switching

APPENDIX 3 Setting Range for Indirect Setting Devices

APPENDIX 4 Processing Times of the Motion CPU

APPENDIX 5 Device List

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