Page 2: Safety Precautions
SAFETY PRECAUTIONS (Please read these instructions before using this equipment.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. These precautions apply only to this product. Refer to the Q173D(S)CPU/Q172D(S)CPU Users manual for a description of the Motion controller safety precautions.
Page 3 For Safe Operations 1. Prevention of electric shocks DANGER Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks. Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks.
Page 4 3. For injury prevention CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
Page 5 CAUTION The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF. These brakes must not be used for normal braking. The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications, and must not be used for normal braking.
Page 6 CAUTION Set the sequence function program capacity setting, device capacity, latch validity range, I/O assignment setting, and validity of continuous operation during error detection to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.
Page 7 CAUTION Always install the servomotor with reduction gears in the designated direction. Failing to do so may lead to oil leaks. Store and use the unit in the following environmental conditions. Conditions Environment Motion controller/Servo amplifier Servomotor Ambient 0°C to +40°C (With no freezing) According to each instruction manual.
Page 8 (4) Wiring CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier.
Page 9 (6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized.
Page 10 (8) Maintenance, inspection and part replacement CAUTION Perform the daily and periodic inspections according to the instruction manual. Perform maintenance and inspection after backing up the program and parameters for the Motion controller and servo amplifier. Do not place fingers or hands in the clearance when opening or closing any opening. Periodically replace consumable parts such as batteries according to the instruction manual.
Page 11 (9) About processing of waste When you discard Motion controller, servo amplifier, a battery (primary battery) and other option articles, please follow the law of each country (area). CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life.
Page 12: Revisions
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 Q173DSCPU/Q172DSCPU. 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.
Page 14 5.3 Synchronous Encoder Axis........................5-26 5.3.1 Overview of synchronous encoder axis.................... 5-26 5.3.2 Setting method for synchronous encoder ..................5-29 5.3.3 Synchronous encoder axis parameters.................... 5-34 5.3.4 Synchronous encoder axis control data ................... 5-40 5.3.5 Synchronous encoder axis monitor data..................5-45 6.
Page 15 8.6 Cam Axis Position Restoration Method....................8-20 8.6.1 Cam axis current value per cycle restoration ................... 8-20 8.6.2 Cam reference position restoration ....................8-24 8.6.3 Cam axis current feed value restoration................... 8-25 8.7 Synchronous Control Analysis Mode ...................... 8-26 8.8 Cam Position Calculation Function ......................8-28 8.9 Method to Restart Synchronous Control ....................
Page 16: About Manuals
This manual explains the dedicated instructions to use the synchronous control by virtual main shaft, (1XB931) mechanical system program create mechanical module, servo parameters, positioning instructions, device lists, error lists and others. Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual (Advanced Synchronous Control) IB-0300198 (1XB953) This manual explains the dedicated instructions to use the synchronous control by synchronous control parameters, device lists, error lists and others.
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 units, SH-080483ENG (13JR73) extension cables, memory card battery, and the maintenance/inspection for the system, trouble shooting, error codes and others.
Page 18 (3) Servo amplifier Manual Number Manual Name (Model Code) SSCNET /H interface MR-J4- B Servo amplifier Instruction Manual SH-030106 This manual explains the I/O signals, parts names, parameters, start-up procedure and others for (1CW805) MR-J4- B Servo amplifier. SSCNET /H interface Multi-axis AC Servo MR-J4W- B Servo amplifier Instruction Manual SH-030105 This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Multi- (1CW806)
Page 19 MEMO A - 18...
Page 20: Overview
(SV22 advanced synchronous control). The following positioning control is possible in the Motion controller (SV22 advanced synchronous control). Applicable CPU Number of positioning control axes Q173DSCPU Up to 32 axes Q172DSCPU Up to 16 axes In this manual, the following abbreviations are used.
Page 21 1 OVERVIEW Generic term/Abbreviation Description Serial absolute synchronous encoder Abbreviation for "Serial absolute synchronous encoder (Q171ENC-W8/ Q170ENC)" or Q171ENC-W8/Q170ENC (Note-3) SSCNET /H High speed synchronous network between Motion controller and servo amplifier (Note-3) SSCNET (Note-3) General name for SSCNET /H, SSCNET SSCNET (/H) General name for "system using the servomotor and servo amplifier for absolute Absolute position system...
Page 22 1 OVERVIEW CAUTION When designing the system, provide external protective and safety circuits to ensure safety in the event of trouble with the Motion controller. There are electronic components which are susceptible to the effects of static electricity mounted on the printed circuit board. When handling printed circuit boards with bare hands you must ground your body or the work bench.
Page 23: Overview Of Synchronous Control
1 OVERVIEW 1.2 Overview of Synchronous Control "Synchronous control" can be achieved using software instead of controlling mechanically with gear, shaft, speed change gear or cam etc. "Synchronous control" synchronizes movement with the input axis (servo input axis, command generation axis, synchronous encoder axis), by setting "the parameters for synchronous control"...
Page 24: Performance Specifications
1 OVERVIEW 1.3 Performance Specifications (1) Motion control specifications Item Q173DSCPU Q172DSCPU Number of control axes Up to 32 axes Up to 16 axes 0.44ms/ 1 to 6 axes Operation cycle 0.44ms/ 1 to 6 axes SV22 0.88ms/ 7 to 16 axes (default) 0.88ms/ 7 to 16 axes...
Page 25 (Note-3): The servo amplifiers for SSCNET cannot be used. (Note-4): SSCNET and SSCNET /H cannot be combined in the same system. For Q173DSCPU, SSCNET or SSCNET /H can be set every system. (Note-5): When using the incremental synchronous encoder (SV22 use), you can use above number of modules.
Page 26 1 OVERVIEW (2) Synchronous control specifications Number of settable axes Item Q173DSCPU Q172DSCPU Servo input axis 32 axes/module 16 axes/module Input axis Command generation axis 32 axes/module 16 axes/module Synchronous encoder axis 12 axes/module Composite main shaft gear 1/output axis...
Page 27 1 OVERVIEW (4) Cam operation specifications Item Specification (a) MT Developer2 Write/read/verify to cam storage area Operation method of cam data (b) Motion SFC program (Synchronous control instruction) Write/read/verify to cam storage area and cam open area Cam auto-generation function Automatically generate the cam for rotary cutter.
Page 28: Restrictions By The Software's Version
Programming software version (Note-1), (Note-2) version Section of Function MELSOFT MT Works2 reference (MT Developer2) Q173DSCPU/Q172DSCPU MR Configurator2 Q173DSCPU/Q172DSCPU Feed current value update command — — (Note-3) (M3212+20n) valid in speed control ( ) External forced stop input ON latch —...
Page 29: Programming Software Version
The programming software versions supported to Motion CPU are shown below. MELSOFT MT Works2 (MT Developer2) Motion CPU MR Configurator2 MR Configurator SV13/SV22 SV43 (Note-1) 1.39R Q173DSCPU 1.10L Not support (Note-1) Q172DSCPU 1.39R 1.10L Not support (Note-1): Use version 1.47Z or later to use advanced synchronous method.
Page 30: Starting Up The System
2 STARTING UP THE SYSTEM 2. STARTING UP THE SYSTEM The procedure for synchronous control positioning control is shown below. 2.1 Starting Up the Advanced Control System The procedure to start up for synchronous control system is shown below. Preparation STEP 1 Change the operation method to "Advanced synchronous control method".
Page 31: Starting/Ending For Synchronous Control
2 STARTING UP THE SYSTEM 2.2 Starting/Ending for Synchronous Control Set the parameters for synchronous control for each output axis to start synchronous control. The status changes to synchronous control after the parameters are analyzed at the start of synchronous control, and the output axes synchronize with input axis operations.
Page 32 2 STARTING UP THE SYSTEM (3) Starting method for synchronous control Synchronous control can be started by turning [Rq.380] Synchronous control start (M12000+n) from OFF to ON after setting the parameters for synchronous control. Start accept flag (M2001+n) turns ON at the synchronous control start, and the parameters for synchronous control are analyzed.
Page 33 2 STARTING UP THE SYSTEM (6) Status when starting synchronous control The following signal are turned OFF when starting synchronous control. • Automatic decelerating flag (M2128+n) • Positioning start complete (M2400+20n) • Positioning complete (M2401+20n) • Command in-position (M2403+20n) • Speed controlling (M2404+20n) •...
Page 34: Stop Operation Of Output Axis
2 STARTING UP THE SYSTEM 2.3 Stop Operation of Output Axis If the following causes occur in stopping the output axis during synchronous control, [St.380] Synchronous control (M10880+n) turns OFF, and stops processing for the output axis is completed. After that, the start accept flag (M2001+n) turns OFF, and the synchronous control is completed.
Page 35 2 STARTING UP THE SYSTEM (2) Deceleration stop/rapid stop The output axis stops with deceleration according to the stop and rapid stop conditions. The deceleration time and deceleration time for rapid stop are according to the parameter block conditions specified by [Pr.448] Synchronous control deceleration time parameter block No.
Page 36: Synchronous Control Module
3 SYNCHRONOUS CONTROL MODULE 3. SYNCHRONOUS CONTROL MODULE 3.1 List of Synchronous Control Module The module is used in synchronous control as follows. Input axis module Synchronous encoder axis parameter Synchronous encoder axis Synchronous parameter Command generation axis parameter Main shaft module Command generation Main shaft Composite main...
Page 37 • Used to drive the input axis with the Servo input position of the servomotor — — Section 5.1 axis controlled by the Q173DSCPU/ Q172DSCPU. Input axis Command • Used to drive the input axis with the module generation —...
Page 38 Name Parts Function description Reference Number per module Number per axis Q173DSCPU Q172DSCPU • The input axis on the main side of Main shaft the main shaft module. main input Section 7.1 • The reference position on the main axis shaft.
Page 39 3 SYNCHRONOUS CONTROL MODULE MEMO 3 - 4...
Page 40: Positioning Dedicated Signals
4 POSITIONING DEDICATED SIGNALS 4. POSITIONING DEDICATED SIGNALS The internal signals of the Motion CPU and the external signals to the Motion CPU are used as positioning signals. (1) Internal signals The following five devices of the Motion CPU are used as the internal signals of the Motion CPU.
Page 41 Motion CPU for command signal with the positioning control. The operation cycle and main cycle of the Motion CPU are shown below. (a) Operation cycle Item Q173DSCPU Q172DSCPU Number of control axes Up to 32 axes Up to 16 axes 0.44ms/ 1 to 6 axes...
Page 42: Internal Relays
4 POSITIONING DEDICATED SIGNALS 4.1 Internal Relays (1) Internal relay list SV22 Device No. Application User device (2000 points) M2000 Common device (320 points) M2320 Unusable (80 points) M2400 Axis status (20 points 32 axes) M3040 Unusable (32 points) M3072 Common device (Command signal) (64 points)
Page 43 4 POSITIONING DEDICATED SIGNALS Internal relay list (Continued) SV22 Device No. Application (Note-1) M11600 Synchronous encoder axis command signal (4 points 12 axes) (Note-1) M11648 Unusable (32 points) (Note-1) M11680 Output axis command signal (10 points 32 axes) (Note-1) M12000 Synchronous control start signal [Rq.380] (32 points) (Note-1)
Page 44 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)"...
Page 45 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPUis replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)"...
Page 46 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 5.2.4 for details of command generation axis status.
Page 47 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 5.2.3 for details of command generation axis command signal.
Page 48 4 POSITIONING DEDICATED SIGNALS (6) Synchronous encoder axis status list Axis No. Device No. Signal name M10440 to M10449 M10450 to M10459 Signal Symbol Signal name Refresh cycle Fetch cycle direction M10460 to M10469 M10470 to M10479 Synchronous encoder axis St.320 At power on setting valid flag...
Page 49 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 7.6.2 and Section 7.7 for details of output axis status.
Page 50 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 7.1.4, Section 7.2.4 and Section 7.6.2 for details of output axis command signal.
Page 51 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 2.2 for details of synchronous control signal.
Page 52 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 2.2 for details of synchronous analysis complete signal.
Page 53 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 2.2 for details of synchronous control start signal.
Page 54 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 2.2 for details of synchronous analysis request signal.
Page 55 4 POSITIONING DEDICATED SIGNALS (14) Common device list Device Signal Remark Device Signal Remark Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle direction (Note-3) direction (Note-3) Command M2000 PLC ready flag Main cycle M3072 M2061 Axis 1 signal M2001 Axis 1 M2062 Axis 2...
Page 56 4 POSITIONING DEDICATED SIGNALS Common device list (Continued) Device Signal Remark Device Signal Remark Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle direction (Note-3) direction (Note-3) M2194 M2122 M2123 M2195 Unusable M2124 M2196 — — — —...
Page 57 4 POSITIONING DEDICATED SIGNALS Common device list (Continued) Device Signal Remark Device Signal Remark Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle direction (Note-3) direction (Note-3) M2266 Axis 27 M2293 Axis 22 M2267 Axis 28 M2294 Axis 23 Speed change "0"...
Page 58 4 POSITIONING DEDICATED SIGNALS (15) 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 Command signal M3073 Speed switching point specified flag At start M2040 Operation cycle M3074...
Page 59: Data Registers
4 POSITIONING DEDICATED SIGNALS 4.2 Data Registers (1) Data register list SV22 Device No. Application Axis monitor device (20 points 32 axes) D640 Control change register (2 points 32 axes) D704 Common device (Command signal) (54 points) D758 Unusable (42 points) D800 User device (7392 points)
Page 60 4 POSITIONING DEDICATED SIGNALS Data register list (Continued) SV22 Device No. Application (Note-1) D14820 Synchronous encoder axis control device (10 points 12 axes) (Note-1) D14940 Unusable (60 points) (Note-1) D15000 Output axis control device (150 points 32 axes) (Note-1) D19800 Unusable (24 points) (Note-1)
Page 61 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)"...
Page 62 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)"...
Page 63 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 5.1.3 for details of servo input axis monitor device.
Page 64 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 5.1.2 for details of servo input axis control device.
Page 65 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 5.2.4 for details of command generation axis monitor device.
Page 66 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 5.2.2 and Section 5.2.3 for details of command generation axis control device.
Page 67 4 POSITIONING DEDICATED SIGNALS (8) Synchronous encoder axis monitor device list Axis No. Device No. Signal name D13240 to D13259 D13260 to D13279 Signal Symbol Signal name Refresh cycle Fetch cycle direction D13280 to D13299 D13300 to D13319 Synchronous encoder axis Md.320 current value D13320 to D13339...
Page 68 4 POSITIONING DEDICATED SIGNALS (9) Synchronous encoder axis control device list Axis No. Device No. Signal name D14820 to D14829 D14830 to D14839 Signal Symbol Signal name Refresh cycle Fetch cycle direction D14840 to D14849 D14850 to D14859 Synchronous encoder axis phase Pr.326 Operation cycle compensation advance time...
Page 69 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 7.7 for details of output axis monitor device.
Page 70 4 POSITIONING DEDICATED SIGNALS (11) Output axis control device list Axis No. Device No. Signal name D15000 to D15149 D15150 to D15299 Refresh Signal Symbol Signal name Fetch cycle cycle direction D15300 to D15449 D15450 to D15599 Pr.400 Main input axis No. At start of Command synchronous control...
Page 71 4 POSITIONING DEDICATED SIGNALS Output axis control device list (Continued) Axis No. Device No. Signal name D15000 to D15149 D15150 to D15299 Refresh Signal Symbol Signal name Fetch cycle cycle direction D15300 to D15449 D15450 to D15599 Auxiliary shaft clutch smoothing Pr.428 method At start of...
Page 72 4 POSITIONING DEDICATED SIGNALS Output axis control device list (Continued) Axis No. Device No. Signal name D15000 to D15149 D15150 to D15299 Refresh Signal Symbol Signal name Fetch cycle cycle direction D15300 to D15449 D15450 to D15599 D15600 to D15749 D15750 to D15899 D15900 to D16049 D16050 to D16199...
Page 73 4 POSITIONING DEDICATED SIGNALS Output axis control device list (Continued) Axis No. Device No. Signal name D15000 to D15149 D15150 to D15299 Refresh Signal Symbol Signal name Fetch cycle cycle direction D15300 to D15449 D15450 to D15599 Cam axis current value per cycle At start of Command Pr.468...
Page 74 4 POSITIONING DEDICATED SIGNALS POINT (1) The range of axis No.1 to 16 is valid in the Q172DSCPU. (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. (3) Refer to Section 7.1.2, Section 7.1.3, Section7.2.3, Section7.4.2, Section7.5.2, Section7.6.2 and Section8.5 for details of output axis control device.
Page 75 4 POSITIONING DEDICATED SIGNALS (12) 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 Command...
Page 76: Motion Registers (#)
4 POSITIONING DEDICATED SIGNALS 4.3 Motion Registers (#) There are motion registers (#0 to #12287) in the Motion CPU. #8000 to #8639 are used as the monitor device, #8640 to #8735 are used as the Motion error history device and #8736 to #8751 are used as the product information list device. Refer to the "Q173D(S)CPU/Q172D(S)Motion Controller (SV13/SV22) Programming Manual (Motion SFC)"...
Page 77 4 POSITIONING DEDICATED SIGNALS (2) Product information list devices (#8736 to #8751) The operating system software version and serial number of Motion CPU is stored in ASCII code. The product information list devices are shown below. Device No. Signal name Refresh cycle Fetch cycle Signal direction...
Page 78: 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, devices in Table4.1 are used for the positioning control. The special relay list used for the positioning control is shown below. (Refer to "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)"...
Page 79: 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, devices in Table 4.2 are used for the positioning control. The special register list used for the positioning control is shown below. (Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)"...
Page 80: Input Axis Module
5 INPUT AXIS MODULE 5. INPUT AXIS MODULE 5.1 Servo Input Axis 5.1.1 Overview of servo input axis The servo input axis is used to drive the input axis based on the position of the servomotor that is being controlled by the Motion CPU. The status of a servo input axis can be monitored even before the synchronous control start since the setting of a servo input axis is valid after Multiple CPU system's power supply ON.
Page 81 5 INPUT AXIS MODULE (2) Restrictions (a) If "1: Current feed value" or "2: Real current value" is set in [Pr.300] Servo , turn ON the feed current value update command input axis type (M3212+20n) to start the speed/position switching control. If the feed current value update command (M3212+20n) turns OFF, major error (error code: 1809) will occur and the control will not start.
Page 82 5 INPUT AXIS MODULE POINT (1) When "1: Current feed value" or "3: Servo command value" is set in [Pr.300] Servo input axis type, and the servo input axis becomes servo OFF by the servo error or forced stop, the amount of value change may be large. This can be prevented by setting "2: Real current value"...
Page 83: Servo Input Axis Parameters
5 INPUT AXIS MODULE 5.1.2 Servo input axis parameters Default Symbol Setting item Setting details Setting value Fetch cycle Device No. value 0: Invalid Set the current value type to be 1: Current feed value Pr.300 Servo input axis type generated of the input value for 2: Real current value —...
Page 84 5 INPUT AXIS MODULE (2) [Pr.301] Servo input axis smoothing time constant Set the averaging time to execute a smoothing process for the input travel value from the servo input axis. The smoothing process can moderate speed fluctuation, when the "Real current value"...
Page 85 5 INPUT AXIS MODULE (4) [Pr.303] Servo input axis phase compensation time constant Set the time constant to affect the phase compensation amount for the first order delay. 63 [%] of the phase compensation amount are reflected in the time constant setting.
Page 86 5 INPUT AXIS MODULE (5) [Pr.304] Servo input axis rotation direction restriction Set this parameter to restrict the input travel value for the servo input axis to one direction. This helps to avoid reverse operation caused by machine vibration, etc. when "Real current value"...
Page 87: Servo Input Axis Monitor Data
5 INPUT AXIS MODULE 5.1.3 Servo input axis monitor data Symbol Monitor item Storage details Monitor value Refresh cycle Device No. -2147483648 to 2147483647 Servo input axis current The current value for the servo D12280+10n [Servo input axis position units] Md.300 value input axis is stored.
Page 88 5 INPUT AXIS MODULE (3) [Md.302] Servo input axis phase compensation amount (D12284+10n, D12285+10n) The phase compensation amount for a servo input axis is stored in servo input axis position units (Refer to Section 5.1.1). The phase compensation amount for a servo input axis is the value after processing smoothing and phase compensation.
Page 89: Command Generation Axis
5 INPUT AXIS MODULE 5.2 Command Generation Axis 5.2.1 Overview of command generation axis Command generation axis is the axis that performs only the command generation. It can be controlled independently with the axis to which the servo amplifier is connected. It is used to drive the input axis by the servo program or JOG operation.
Page 90 The command generation axis start accept flag for 32 axes are stored corresponding to each bit. As for a bit's actually being set, • Q173DSCPU : J1 to J32 • Q172DSCPU : J1 to J16 20EH(526) OFF : Start accept enable...
Page 91 5 INPUT AXIS MODULE b) When the speed changed is executed by Motion dedicated PLC instruction D(P).CHGVS instruction is used. (Example) The speed is changed to 300000 for the command generation axis 5 of CPU No.2. DP.CHGVS H3E1 "J5" K300000 (c) Simultaneous start instruction of command generation axis program In simultaneous start instruction (START), the simultaneous start is not possible with real mode axis program and command generation axis...
Page 92 5 INPUT AXIS MODULE (3) Speed control with fixed position stop for command generation axis Speed control with fixed position stop can be performed for the command generation axis. Speed control with fixed position stop is started using the PVF (forward rotation) or PVR (reverse rotation) of servo program instruction.
Page 93 5 INPUT AXIS MODULE (j) Deceleration speed by the [Rq.341] Command generation axis stop command (M10960+20n)/[Rq.342] Command generation axis rapid stop command (M10961+20n) is controlled with fixed inclination (deceleration speed). Deceleration processing is executed using the speed limit value or deceleration/rapid stop deceleration time set in the parameter block.
Page 94: Command Generation Axis Parameters
5 INPUT AXIS MODULE 5.2.2 Command generation axis parameters Default Symbol Setting item Setting details Setting value Fetch cycle Device No. value Command generation Set the invalid/valid of command 0: Invalid Pr.340 — axis valid setting generation to be used. 1: Valid 0: mm Command generation...
Page 95 5 INPUT AXIS MODULE (3) [Pr.342] Command generation axis upper stroke limit Set the upper limit for the command generation axis travel range. To invalidate the software stroke limit, set the setting value to "upper limit value = lower limit value". (4) [Pr.343] Command generation axis lower stroke limit Set the lower limit for the command generation axis travel range.
Page 96: Command Generation Axis Control Data
5 INPUT AXIS MODULE 5.2.3 Command generation axis control data [Word device] Default Symbol Setting item Setting details Setting value Fetch cycle Device No. value Command generation 1 to 2147483647 At JOG Set the JOG speed of command D14680+4n Cd.340 axis JOG speed [Command generation axis operation...
Page 97 5 INPUT AXIS MODULE (1) [Rq.341] Command generation axis stop command (M10960+20n) This command is a signal which stop a starting command generation axis from an external source and becomes effective at leading edge of signal.(A command generation axis for which the stop command is turning on cannot be started.) The operation at stop command input is the same as the stop command (M3200+20n) of each axis.
Page 98 5 INPUT AXIS MODULE (5) [Rq.345] Command generation axis complete signal OFF command (M10964+20n) This command is used to turn off the [St.340] Command generation axis positioning start complete (M9800+20n) and [St.341] Command generation axis positioning complete (M9801+20n). The operation at complete signal OFF command input is the same as the complete signal OFF command (M3204+20n) of each axis.
Page 99: Command Generation Monitor Data
5 INPUT AXIS MODULE 5.2.4 Command generation monitor data [Word devise] Symbol Monitor item Storage details Monitor value Refresh cycle Device No. The feed current value for the -2147483648 to 2147483647 Command generation axis Operation D12600+20n Md.340 command generation axis is [Command generation axis feed current value cycle...
Page 100 5 INPUT AXIS MODULE (2) [Md.341] Command generation axis minor error code (D12602+20n) (a) This register stores the corresponding error code (Refer to APPENDIX 1.2.) at the minor error occurrence of command generation axis. If another minor error occurs after error code storing, the previous error code is overwritten by the new error code.
Page 101 5 INPUT AXIS MODULE (8) [Md.347] Command generation axis current value per cycle (D12610+20n, D12611+20n) The current value per cycle for a command generation axis is stored in the range from 0 to ([Pr.346] Command generation axis length per cycle-1). The unit is command generation axis position units (Refer to Section 5.2.1).
Page 102 5 INPUT AXIS MODULE [Bit devise] Symbol Monitor item Storage details Monitor value Refresh cycle Device No. ON : Positioning start The positioning start complete Command generation axis complete St.340 signal for the command generation M9800+20n positioning start complete OFF : Positioning start axis is stored.
Page 103 5 INPUT AXIS MODULE (2) [St.341] Command generation axis positioning complete (M9801+20n) This signal turns on with the completion of the positioning control for the command generation 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 104 5 INPUT AXIS MODULE (6) [St.345] Command generation axis start accept flag (M9810+20n) This flag turns on when the servo program of command generation axis is started. The start accept flag corresponding to an axis specified with the servo program turns on. The details operation is the same as the data set pointer for start accept flag (M2001+n) of each axis.
Page 105: Synchronous Encoder Axis
5 INPUT AXIS MODULE 5.3 Synchronous Encoder Axis 5.3.1 Overview of synchronous encoder axis The synchronous encoder is used to drive the input axis based on input pulse from a synchronous encoder that is connected externally. The status of a synchronous encoder axis can also be monitored after the Multiple CPU system power supply turns ON.
Page 106 5 INPUT AXIS MODULE (1) Synchronous encoder axis type The following 2 types of synchronous encoders can be used for the synchronous encoder axis. Refer to Section 5.3.2 for the setting method for each synchronous encoder axis. Synchronous encoder Details axis type The synchronous encoder (P1 to 12) controlled by Motion CPU is used as the Synchronous encoder Pn...
Page 107 5 INPUT AXIS MODULE Table 5.6 Synchronous encoder axis speed units Setting value of [Pr.321] Synchronous encoder axis unit setting Synchronous encoder Range axis speed unit Control Speed time Number of decimal unit unit places for speed mm/s -2147483648 to 2147483647 [mm/s] 0: sec mm/s -2.147483648 to 2.147483647 [mm/s]...
Page 108: Setting Method For Synchronous Encoder
5 INPUT AXIS MODULE 5.3.2 Setting method for synchronous encoder (1) Incremental synchronous encoder Pn (a) Setting method Connect the synchronous encoder to the synchronous encoder No.(Pn) assigned to built-in interface in Motion CPU, Q172DEX and Q173DPX set by the system setting. When the synchronous encoder axis connection is valid after Multiple CPU system's power supply ON to synchronous encoder type, "Synchronous encoder axis current value", "Synchronous encoder axis current value per...
Page 109 5 INPUT AXIS MODULE (b) Setting example The following shows an example for setting an incremental synchronous encoder No.P3 connected to Q173DPX as synchronous encoder axis 2. Q172DEX(P1, P2) Q173DSCPU(P6) Q173DPX(P3 to P5) Incremental synchronous encoder Synchronous encoder axis 2...
Page 110 5 INPUT AXIS MODULE POINT (1) The counter value, etc. cannot be monitored for the synchronous encoder No.(Pn) that is not assigned to [Pr.320] Synchronous encoder axis type. However, when the manual pulse generator is connected to Q173DPX (first) installed to the lowest slot number of the main base, the manual pulse generator operation is possible for the synchronous encoder No.(Pn) that is not assigned to the synchronous encoder axis.
Page 111 [Cd.325] Input value for synchronous encoder via device (D14826+10n, D14827+10n) while it is connecting. (b) Setting example The following shows an example for setting a synchronous encoder via device as synchronous encoder axis 4. Q173DSCPU Input module Gray code encoder (Resolution 4096) Synchronous encoder...
Page 112 5 INPUT AXIS MODULE (c) Restrictions The synchronous encoder current value that is restored for the synchronous encoder connection gets restored into a converted value from the following range based on the synchronous encoder travel value on disconnection. Setting value of [Pr.329] Resolution of Range of restored synchronous encoder current value synchronous encoder via device...
Page 113: Synchronous Encoder Axis Parameters
5 INPUT AXIS MODULE 5.3.3 Synchronous encoder axis parameters Default Symbol Setting item Setting details Setting value Fetch cycle Device No. value : Invalid 1 to 12 : Synchronous encoder Synchronous encoder Set the synchronous encoder Pr.320 Pn (Synchronous — axis type axis type to be used.
Page 114 5 INPUT AXIS MODULE Default Symbol Setting item Setting details Setting value Fetch cycle Device No. value • Set the resolution of the synchronous encoder when the synchronous encoder axis type Resolution of is set to synchronous encoder At power Pr.329 synchronous encoder 0 to 2147483647 [PLS]...
Page 115 5 INPUT AXIS MODULE (4) [Pr.324] Synchronous encoder axis length per cycle Set the length per cycle for the synchronous encoder axis current value per cycle. The current value of synchronous encoder axis is stored in [Md.321] Synchronous encoder axis current value per cycle (D13242+20n, D13243+20n) at ring counter based on the setting value.
Page 116 5 INPUT AXIS MODULE (5) [Pr.325] Synchronous encoder axis smoothing time constant Set the averaging time to execute a smoothing process for the input travel value from synchronous encoder. The smoothing process can moderate speed fluctuation of the synchronous encoder input. The input response is delayed depending on the time corresponding to the setting by smoothing process setting.
Page 117 5 INPUT AXIS MODULE (7) [Pr.327] Synchronous encoder axis phase compensation time constant Set the time constant to affect the phase compensation amount for the first order delay. 63 [%] of the phase compensation amount are reflected in the time constant setting.
Page 118 5 INPUT AXIS MODULE (8) [Pr.328] Synchronous encoder axis rotation direction restriction Set this parameter to restrict the input travel value for the synchronous encoder axis to one direction. This helps to avoid reverse operation caused by machine vibration, etc. when "Real current value"...
Page 119: Synchronous Encoder Axis Control Data
5 INPUT AXIS MODULE 5.3.4 Synchronous encoder axis control data [Word device] Default Symbol Setting item Setting details Setting value Fetch cycle Device No. value • If set to "101 to 132", the synchronous encoder axis control starts based on the high- Other than below: speed input request signal at Start without any condition...
Page 120 5 INPUT AXIS MODULE (2) [Cd.321] Synchronous encoder axis control method (D14823+10n) Set the control method for the synchronous encoder axis. • 0: Current value change ..The synchronous encoder axis current value and the synchronous encoder axis current value per cycle are changed as follows.
Page 121 5 INPUT AXIS MODULE [Bit device] Default Symbol Setting item Setting details Setting value Fetch cycle: Device No. value If turns ON for resetting minor error and major error for the synchronous encoder axis, the Synchronous encoder Main cycle Rq.323 minor error code and major error ON: Error reset request M11600+4n...
Page 122 5 INPUT AXIS MODULE (2) [Rq.320] Synchronous encoder axis control request (M11601+4n) When this signal is ON, if a value other than "101 to 132" is set to [Cd.320] Synchronous encoder axis control start condition (D14822+10n), the synchronous encoder axis control starts without any condition. [Md.320] Synchronous encoder axis current value (D13240+20n, D13241+20n)
Page 123 5 INPUT AXIS MODULE (3) [Rq.324] Connection command of synchronous encoder via device (M11602+4n) Use this data when "201: Via device" is set in [Pr.320] Synchronous encoder axis type. If turns ON, the synchronous encoder axis is connected. Once connected, the synchronous encoder current value is restored based on the [Cd.325] Input value for synchronous encoder via device (D14826+10n, D14827+10n).
Page 124: Synchronous Encoder Axis Monitor Data
5 INPUT AXIS MODULE 5.3.5 Synchronous encoder axis monitor data [Word device] Symbol Monitor item Storage details Monitor value Refresh cycle Device No. -2147483648 to 2147483647 Synchronous encoder axis The current value for the D13240+20n Md.320 [Synchronous encoder axis current value synchronous encoder axis is stored.
Page 125 5 INPUT AXIS MODULE (3) [Md.322] Synchronous encoder axis speed (D13244+20n, D13245+20n) The speed for a synchronous encoder axis is stored in synchronous encoder axis speed units (Refer to Section 5.3.1). If the speed for a synchronous encoder axis exceeds the monitor range (Refer to Section 5.3.1), minor error (error code: 882) will occur.
Page 126 5 INPUT AXIS MODULE (7) [Md.326] Synchronous encoder axis major error code (D13251+20n) (a) This register stores the corresponding error code (Refer to APPENDIX 1.3.) at the major error occurrence of synchronous encoder axis. If another major error occurs after error code storing, the previous error code is overwritten by the new error code.
Page 127 5 INPUT AXIS MODULE [Bit devise] Symbol Monitor item Storage details Monitor value Refresh cycle Device No. This flag turns ON when the setting Synchronous encoder axis ON : Setting valid At power ON M10440+10n St.320 of the synchronous encoder axis is setting valid flag OFF : Setting invalid valid.
Page 128 5 INPUT AXIS MODULE (4) [St.323] Synchronous encoder axis current value setting request flag (M10443+10n) This flag turns ON, when a synchronous encoder axis current value change is never executed or when the synchronous encoder current value is lost by the battery error, etc.
Page 129 5 INPUT AXIS MODULE MEMO 5 - 50...
Page 130: Cam Function
6 CAM FUNCTION 6. CAM FUNCTION 6.1 Control Details for Cam Function The output axis for synchronous control is operated with a cam. The following operations can be performed with cam functions. • Two-way operation : Reciprocating operation with a constant cam strokes range. •...
Page 131 6 CAM FUNCTION (1) Cam data (a) Linear cam control When "0" is set for [Pr.440] Cam No. (D15062+150n), the cam data operates as a straight line with a 100% stroke ratio at the last point. Cam axis current value per cycle Cam reference position Cam reference...
Page 132 6 CAM FUNCTION Example) Cam resolution: 512 Stroke ratio [%] (Setting range: -214.7483648% to 214.7483647%) Cam axis length per cycle [Cam axis cycle units] 100.0000000 (Cam reference position) -100.0000000 At the 0th point At the 512th point (At the last point) (c) Coordinate data format The coordinate data format is defined in coordinates of more than 2 points for one cam cycle.
Page 133 6 CAM FUNCTION Output value: Y [Output axis position unit] 2147483647 Input value: X (Cam reference position) -2147483648 Cam axis length per cycle [Cam axis cycle unit] When the coordinate data corresponding to an input value that is 0 or when the cam axis length per cycle setting does not exist, the coordinate is calculated from the line segment between the nearest two coordinates.
Page 134 6 CAM FUNCTION (2) Current feed value of cam axis The current feed value is calculated as shown below. (a) Stroke ratio data format Current feed Cam reference Cam stroke Stroke ratio corresponding to cam value position amount axis current value per cycle (b) Coordinate data format Current feed Cam reference...
Page 135 6 CAM FUNCTION Create cam data for two-way cam operation as shown below. (a) Stroke ratio data format Create cam data so that the stroke ratio is 0% at the last point. (b) Coordinate data format Create cam data with the same output value for the point where the input value is 0 and the input value is equal to the cam axis length per cycle.
Page 136 6 CAM FUNCTION (5) Timing of applying cam control data (a) Stroke ratio data format If [Pr.440] Cam No. (D15062+150n) or [Pr.441] Cam stroke amount (D15064+150n, D15065+150n) is changed during synchronous control, the new value is accepted and applied when the cam axis current value per cycle passes through the 0th point of cam data, or is on the 0th point.
Page 137: Create Cam Data
6 CAM FUNCTION 6.2 Create Cam Data 6.2.1 Memory configuration of cam data Cam data is arranged in the following 2 areas. Memory Storage item Details Remark configuration Data is written by the following operations. • Write with MT Developer2 Cam data •...
Page 138 6 CAM FUNCTION (1) Cam data operation with MT Developer2 Cam data can be modified while viewing the waveform with MT Developer2. The cam data is written/read/verified to the cam storage area with MT Developer2, however it cannot be executed to the cam open area. The waveform generated by the cam auto-generation function can be confirmed on the "Cam graph"...
Page 139: Cam Data Operation By Motion Sfc Program
6 CAM FUNCTION 6.2.2 Cam data operation by Motion SFC program Cam data read/write operation and cam auto-generation can be executed with the synchronous control dedicated function of Motion SFC program. Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for details. Classification Symbol Instruction...
Page 140: Synchronous Control
7 SYNCHRONOUS CONTROL 7. SYNCHRONOUS CONTROL 7.1 Main Shaft Module 7.1.1 Overview of main shaft module For the main shaft module, the input value is generated as a composite value from two input axes (the main and sub input axis) through the composite main shaft gear. The composite input value can be converted by the main shaft gear that provides the deceleration ratio and the rotation direction for the machine system, etc.
Page 141: Main Shaft Parameters
7 SYNCHRONOUS CONTROL 7.1.2 Main shaft parameters Default Symbol Setting item Setting details Setting value Fetch cycle Device No. value : Invalid 1 to 32 : Servo input axis (Note-1) Set the input axis No. on the 201 to 232 : Command Pr.400 Main input axis No.
Page 142 7 SYNCHRONOUS CONTROL (1) [Pr.400] Main input axis No. (D15000+150n), [Pr.401] Sub input axis No. (D15001+150n) Set the main input axis No. and the sub input axis No. for the main shaft. • 0 : Invalid........The input value is always 0. •...
Page 143 7 SYNCHRONOUS CONTROL (3) [Pr.403] Main shaft gear: Numerator (D15004+150n, D15005+150n), [Pr.404] Main shaft gear: Denominator (D15006+150n, D15007+150n) Set the numerator and the denominator for the main shaft gear to convert the input value. The input value is converted as follows. Main shaft gear: Numerator Input value after conversion = Input value before conversion Main shaft gear: Denominator...
Page 144: Main Shaft Clutch Parameters
7 SYNCHRONOUS CONTROL 7.1.3 Main shaft clutch parameters Default Symbol Setting item Setting details Setting value Fetch cycle Device No. value • Set in hexadecimal. ON control mode 0: No clutch 1: Clutch command ON/OFF 2: Clutch command leading edge 3: Clutch command trailing edge 4: Address mode...
Page 145 7 SYNCHRONOUS CONTROL Default Symbol Setting item Setting details Setting value Fetch cycle Device No. value • Set the clutch OFF address for the address mode. (This setting is invalid except during address mode.) -2147483648 to 2147483647 Main shaft clutch Operation D15014+150n (Note-1)
Page 146 7 SYNCHRONOUS CONTROL (1) [Pr.405] Main shaft clutch control setting (D15008+150n) Set the ON and OFF control methods separately for the main shaft clutch. The clutch control setting can be changed during synchronous control, however, the setting "No clutch" (Direct coupled operation) cannot be selected during synchronous control after already selecting another setting.
Page 147 7 SYNCHRONOUS CONTROL (b) OFF control mode • 0: OFF control invalid ....... Clutch OFF control is not used. This setting is applicable only for execution with clutch ON control. • 1: One-shot OFF ......The clutch is turned OFF after moving the distance [Pr.410] Travel value before main shaft clutch OFF (D15016+150n, D15107+150n) (One-...
Page 148 7 SYNCHRONOUS CONTROL (c) High speed input request signal Set the high speed input request signal No. for the "(a) ON control mode" and the "(b) OFF control mode" when using the setting "5: High speed input request". Signal Setting value Signal Setting value Signal...
Page 149 7 SYNCHRONOUS CONTROL (3) [Pr.407] Main shaft clutch ON address (D15010+150n, D15011+150n) Set the clutch ON address when address mode is configured for the ON control mode of the main shaft clutch. When the reference address is the current value per cycle after main shaft gear, the setting address is converted for control within the range from 0 to (Cam axis length per cycle - 1).
Page 150 7 SYNCHRONOUS CONTROL (6) [Pr.410] Travel value before main shaft clutch OFF (D15016+150n, D15017+150n) Set the travel value for the reference address with a signed number for the distance between the clutch OFF condition completing and the clutch opening. • 1 to 2147483647 (Positive value) : Used when the reference address is increasing in direction.
Page 151 7 SYNCHRONOUS CONTROL (9) [Pr.413] Slippage amount at main shaft clutch ON (D15020+150n,D15021+150n) Set the slippage amount at clutch ON when the slippage method is set in [Pr.411] Main shaft clutch smoothing method (D15018+150n). The slippage amount is set in units based on the current value selected in [Pr.406] Main shaft clutch reference address setting (D15009+150n).
Page 152: Main Shaft Clutch Control Data
7 SYNCHRONOUS CONTROL 7.1.4 Main shaft clutch control data Default Symbol Setting item Setting details Setting value Fetch cycle Device No. value OFF : Main shaft clutch Main shaft clutch Set the clutch command command OFF Rq.400 M11680+10n command ON/OFF. ON : Main shaft clutch command ON OFF : Main shaft clutch...
Page 153: Auxiliary Shaft Module
7 SYNCHRONOUS CONTROL 7.2 Auxiliary Shaft Module 7.2.1 Overview of auxiliary shaft module For the auxiliary shaft module, the input value is generated from the auxiliary shaft. The input value can be converted by the auxiliary shaft gear that provides the deceleration ratio and the rotation direction for the machine system etc.
Page 154: Auxiliary Shaft Parameters
7 SYNCHRONOUS CONTROL 7.2.2 Auxiliary shaft parameters Default Symbol Setting item Setting details Setting value Fetch cycle Device No. value : Invalid 1 to 32 : Servo input axis (Note-1) At start of Set the input axis No. for the 201 to 232 : Command Pr.418 Auxiliary shaft axis No.
Page 155 7 SYNCHRONOUS CONTROL (1) [Pr.418] Auxiliary shaft axis No. (D15024+150n) Set the input axis No. for the auxiliary shaft. • 0 : Invalid........The input value is always 0. • 1 to 32 : Servo input axis ....Set the servo input axis (axis 1 to 32). When the servo input axis is not set in the system setting, the input value is always 0.
Page 156 7 SYNCHRONOUS CONTROL (3) [Pr.420] Auxiliary shaft gear: Numerator (D15026+150n, D15027+150n), [Pr.421] Auxiliary shaft gear: Denominator (D15028+150n, D15029+150n) Set the numerator and the denominator for auxiliary shaft gear to convert the input value. The input value is converted as follows. Auxiliary shaft gear: Numerator Input value after conversion = Input value before conversion Auxiliary shaft gear: Denominator...
Page 157: Auxiliary Shaft Clutch Parameters
7 SYNCHRONOUS CONTROL 7.2.3 Auxiliary shaft clutch parameters Default Symbol Setting item Setting details Setting value Fetch cycle Device No. value • Set in hexadecimal. ON control mode 0: No clutch 1: Clutch command ON/OFF 2: Clutch command leading edge 3: Clutch command trailing edge 4: Address mode...
Page 158 7 SYNCHRONOUS CONTROL Default Symbol Setting item Setting details Setting value Fetch cycle Device No. value • Set the clutch OFF address for the address mode. (This setting is invalid except during address mode.) -2147483648 to 2147483647 Auxiliary shaft Operation D15036+150n (Note-1) Pr.426...
Page 159 7 SYNCHRONOUS CONTROL (1) [Pr.422] Auxiliary shaft clutch control setting (D15030+150n) Set the ON and OFF control methods separately for the auxiliary shaft. The clutch control setting can be changed during synchronous control, however the setting to "No clutch" (Direct coupled operation) cannot be selected during synchronous control after already selecting another setting.
Page 160 7 SYNCHRONOUS CONTROL (b) OFF control mode • 0: OFF control invalid ....... Clutch OFF control is not used. This setting is applicable only for execution with clutch ON control. • 1: One-shot OFF ......The clutch is turned OFF after moving the distance [Pr.427] Travel value before auxiliary shaft clutch OFF (D15038+150n, D15039+150n) (One-...
Page 161 7 SYNCHRONOUS CONTROL (c) High speed input request signal Set the high speed input request signal No. for the "(a) ON control mode" and the "(b) OFF control mode" when using the setting "5: High speed input request". Signal Setting value Signal Setting value Signal...
Page 162 7 SYNCHRONOUS CONTROL (3) [Pr.424] Auxiliary shaft clutch ON address (D15032+150n, D15033+150n) Set the clutch ON address when address mode is configured for the ON control mode of the auxiliary shaft clutch. When the reference address is the current value per cycle after auxiliary shaft gear, the setting address is converted for control within the range from 0 to (Cam axis length per cycle - 1).
Page 163 7 SYNCHRONOUS CONTROL (6) [Pr.427] Travel value before auxiliary shaft clutch OFF (D15038+150n, D15039+150n) Set the travel value for the reference address with a signed numbers for the distance between the clutch OFF condition completing and the clutch opening. • 1 to 2147483647 (Positive value) : Used when the reference address is increasing in direction.
Page 164 7 SYNCHRONOUS CONTROL (9) [Pr.430] Slippage amount at auxiliary shaft clutch ON (D15042+150n, D15043+150n) Set the slippage amount at clutch ON when the slippage method is set in [Pr.428] Auxiliary shaft clutch smoothing method (D15040+150n). The slippage amount is set in units based on the current value selected in [Pr.423] Auxiliary shaft clutch reference address setting (D15031+150n).
Page 165: Auxiliary Shaft Clutch Control Data
7 SYNCHRONOUS CONTROL 7.2.4 Auxiliary shaft clutch control data Default Symbol Setting item Setting details Setting value Fetch cycle Device No. value OFF : Auxiliary shaft clutch Auxiliary shaft clutch Set the clutch command command OFF Rq.403 M11684+10n command ON/OFF. ON : Auxiliary shaft clutch command ON OFF : Auxiliary shaft clutch...
Page 166: Clutch
7 SYNCHRONOUS CONTROL 7.3 Clutch 7.3.1 Overview of clutch The clutch is used to transmit/disengage command pulses from the main/auxiliary shaft input side to the output module side through turning the clutch ON/OFF, which controls the operation/stop of the servomotor. A clutch can be configured for the main and auxiliary shafts.
Page 167 7 SYNCHRONOUS CONTROL (1) ON control mode (a) No clutch (Direct coupled operation) Execute direct coupled operation without clutch control. POINT Other clutch parameters are not applicable during direct coupled operation by setting "0: No clutch". "Clutch forced OFF command" and the change of the clutch control setting are ignored during direct coupled operation.
Page 168 7 SYNCHRONOUS CONTROL (d) Clutch command trailing edge The clutch is turned ON when the clutch command passes the trailing edge (from ON to OFF). Clutch command Clutch ON/OFF status Current value before clutch Travel value after clutch (e) Address mode The clutch is turned ON when the reference address reaches "Clutch ON address".
Page 169 7 SYNCHRONOUS CONTROL (f) High speed input request The clutch is turned ON when the high speed input request (DI/DOG/TREN) turns ON. The following actions are required when using the high speed input request. • Set the signal No. for the "High speed input request signal" clutch control setting.
Page 170 7 SYNCHRONOUS CONTROL (2) OFF control mode (a) OFF control invalid Clutch OFF control is not used. This setting is applicable only for execution with clutch ON control. (b) One-shot OFF The clutch is turned OFF after moving the distance "Travel value before clutch OFF"...
Page 171 7 SYNCHRONOUS CONTROL (d) Clutch command trailing edge The clutch is turned OFF when the clutch command passes the trailing edge (from ON to OFF). Clutch command Clutch ON/OFF status Current value before clutch Travel value after clutch (e) Address mode The clutch is turned OFF when the reference address reaches "Clutch OFF address".
Page 172 7 SYNCHRONOUS CONTROL (f) High speed input request The clutch is turned OFF when the high speed input request (DI/DOG/TREN) turns ON. The following actions are required when using the high speed input request. • Set the signal No. for the "High speed input request signal" clutch control setting.
Page 173: Smoothing Method For Clutch
7 SYNCHRONOUS CONTROL 7.3.3 Smoothing method for clutch Set the clutch smoothing method in [Pr.411] Main shaft clutch smoothing method (D15018+150n) and [Pr.428] Auxiliary shaft clutch smoothing method (D15040+150n). The 2 types of clutch smoothing include the following. • Time constant method smoothing •...
Page 174 7 SYNCHRONOUS CONTROL (a) Time constant method exponential curve smoothing Set "1: Time constant method (Exponential)" in the clutch smoothing method. Clutch ON/OFF status Clutch smoothing status Speed before clutch processing Speed after clutch smoothing Clutch smoothing time constant Item Main shaft clutch Auxiliary shaft clutch Clutch ON/OFF...
Page 175 7 SYNCHRONOUS CONTROL (2) Slippage method smoothing Smoothing is processed with the value in slippage at clutch ON when the clutch turns ON, and with slippage at clutch OFF when the clutch turns OFF. Smoothing is also processed with the slippage amount setting when the input speed to the clutch changes, therefore, positioning control at clutch ON/OFF is not affected by speed changes.
Page 176 7 SYNCHRONOUS CONTROL (b) Slippage method linear acceleration/deceleration smoothing Set "4: Slippage method (Linear)" in the clutch smoothing method. Clutch ON/OFF status Clutch smoothing status Speed before clutch processing Speed after clutch smoothing Slippage amount at clutch ON Slippage amount at clutch OFF (c) Operation at input speed deceleration during slippage method smoothing When the speed before clutch processing decreases, the speed after clutch smoothing is controlled without exceeding the speed before clutch...
Page 177: Use Example Of Clutch
7 SYNCHRONOUS CONTROL 7.3.4 Use example of clutch The following machine shows an example using clutch control for a flying shear cutting system that synchronizes off a start signal from a sensor input. Sensor input (High speed input Main shaft request (DI)) gear Main shaft...
Page 178: Speed Change Gear Module
7 SYNCHRONOUS CONTROL 7.4 Speed Change Gear Module 7.4.1 Overview of speed change gear module A speed change gear module is used to change the input speed from the main shaft/auxiliary shaft/composite auxiliary shaft gear during operation. When not using a speed change gear module, set "0: No speed change gear"...
Page 179: Speed Change Gear Parameters
7 SYNCHRONOUS CONTROL 7.4.2 Speed change gear parameters Default Symbol Setting item Setting details Setting value Fetch cycle Device No. value 0: No speed change gear 1: Main shaft side Set the arrangement for the Pr.434 Speed change gear 1 2: Auxiliary shaft side D15046+150n At start of...
Page 180 7 SYNCHRONOUS CONTROL (2) [Pr.435] Speed change gear 1 smoothing time constant (D15047+150n), [Pr.491] Speed change gear 2 smoothing time constant (D15053+150n) Set the averaging time to execute a smoothing process for the speed change for the speed change gear. The input response is delayed depending on the time corresponding the speed change gear smoothing time constant.
Page 181: Output Axis Module
7 SYNCHRONOUS CONTROL 7.5 Output Axis Module 7.5.1 Overview of output axis module For the output axis module, the cam axis current value per cycle is calculated based on the input value (the output value from a speed change gear), and is converted based on the cam data settings as output commands to the servo amplifier.
Page 182 7 SYNCHRONOUS CONTROL (1) Units for the output axis The position units for the output axis are shown below based on the setting "Unit setting" of fixed parameter. Table 7.1 Output axis position units Setting value of Output axis position unit Range Unit setting μ...
Page 183: Output Axis Parameters
7 SYNCHRONOUS CONTROL 7.5.2 Output axis parameters Default Symbol Setting item Setting details Setting value Fetch cycle Device No. value • Set in hexadecimal. Control unit 0: mm 1: inch 2: degree • Set the units for the cam 3: PLS axis length per cycle.
Page 184 7 SYNCHRONOUS CONTROL (1) [Pr.438] Cam axis cycle unit setting (D15058+150n) Set the command units for the cam axis input per cycle to be used for cam control. These units are used for setting the cam axis length per cycle and the cam axis current value per cycle.
Page 185 7 SYNCHRONOUS CONTROL (6) [Pr.445] Cam axis phase compensation time constant (D15068+150n) Set the time constant to affect the phase compensation amount for the first order delay. 63 [%] of the phase compensation amount is reflected in the time constant setting.
Page 186 7 SYNCHRONOUS CONTROL (7) [Pr.448] Synchronous control parameter block No. (D15069+150n) Set the parameter block number to be used by output axis of during synchronous control. Used item for the parameter block is shown below. Valid/invalid of Item Remarks setting value Interpolation control unit The setting value is valid only at the (Note-1)
Page 187 7 SYNCHRONOUS CONTROL POINT The actual deceleration time is longer than the set deceleration time if the output axis speed is larger than the speed limit value. • "Output axis speed > Speed limit value" Deceleration stop Rapid stop Output axis speed Output axis speed Deceleration stop cause Rapid stop cause...
Page 188: Synchronous Control Change Function
7 SYNCHRONOUS CONTROL 7.6 Synchronous Control Change Function 7.6.1 Overview of synchronous control change function This function can be used to change the cam reference position, the cam axis current value per cycle and the current value per cycle after the main/auxiliary shaft gear during the synchronous control.
Page 189 7 SYNCHRONOUS CONTROL [Word device] Default Symbol Setting item Setting details Setting value Fetch cycle Device No. value 0: Cam reference position movement 1: Change cam axis current value per cycle Synchronous control Set the synchronous control 2: Change current value per Cd.407 D15130+150n change command...
Page 190 7 SYNCHRONOUS CONTROL When [Rq.406] Control change request command (M11688+10n) is reset to OFF while executing the cam reference position movement command, operation is stopped midway. If the cam reference position movement command is executed again, the remainder travel value is not reflected, and the operation starts with [Cd.408] Synchronous control change value (D15132+150n,D15133+150n) to be used again.
Page 191 7 SYNCHRONOUS CONTROL (d) Change current value per cycle after auxiliary shaft gear The current value per cycle after auxiliary shaft gear is changed to the value set in [Cd.408] Synchronous control change value (D15132+10n, D15133+150n). This operation is completed within one operation cycle. Clutch control is not executed if the current value per cycle after the auxiliary shaft gear (the value before being changed and after being changed) has already passed through the ON/OFF address in address mode.
Page 192 7 SYNCHRONOUS CONTROL (2) [Cd.408] Synchronous control change value (D15132+150n, D15133+150n) Set the change value for synchronous control change processing as follows. [Cd.407] Synchronous control [Cd.408] Synchronous control change value (D15132+150n, change command D15133+150n) (D15130+150n) Setting range Unit Setting details •...
Page 193: Synchronous Control Monitor Data
7 SYNCHRONOUS CONTROL 7.7 Synchronous Control Monitor Data Synchronous control monitor data is updated only during synchronous control. The monitor values ([Md.400] Current value after composite main shaft gear (D13600+30n, D13601+30n), [Md.401] Current value per cycle after main shaft gear (D13602+30n, D13603+30n), [Md.402] Current value per cycle after auxiliary shaft gear (D13604+30n, D13605+30n), [Md.407] Cam axis current value per cycle (D13612+30n, D13613+30n), [Md.408] Cam reference position (D13614+30n,...
Page 194 7 SYNCHRONOUS CONTROL Symbol Monitor item Storage details Monitor value Refresh cycle Device No. • The current feed value as the cam -2147483648 to 2147483647 reference position is stored. D13614+30n [Output axis position units ] Md.408 Cam reference position • Value is stored even after D13615+30n (Note-3) system's power supply OFF.
Page 195 7 SYNCHRONOUS CONTROL (1) [Md.400] Current value after composite main shaft gear (D13600+30n, D13601+30n) The current value after combining the main input and the sub input values going into the composite main shaft gear is stored as an accumulative value. Units are in position units of the main input axis (Refer to Chapter 5).
Page 196 7 SYNCHRONOUS CONTROL (2) [Md.401] Current value per cycle after main shaft gear (D13602+30n, D13603+30n) The input travel value after the main shaft gear is stored within the range from 0 to (Cam axis length per cycle - 1). The unit is in cam axis cycle units (Refer to Section 7.5.1).
Page 197 7 SYNCHRONOUS CONTROL (8) [Md.410] Execute cam No. (D13618+30n) The executing cam No. is stored. When [Pr.440] Cam No. (D15062+150n) is changed during synchronous control, this is updated when the controlling cam No. switches. (9) [Md.411] Execute cam stroke amount (D13620+30n, D13621+30n) The executing cam stroke amount is stored.
Page 198 7 SYNCHRONOUS CONTROL [Bit device] Symbol Monitor item Storage details Monitor value Refresh cycle Device No. Main shaft clutch ON/OFF The ON/OFF status of main shaft OFF : Clutch OFF status St.420 M10560+10n status clutch is stored. ON : Clutch ON status Operation Main shaft clutch smoothing The smoothing status of main shaft...
Page 199 7 SYNCHRONOUS CONTROL MEMO 7 - 60...
Page 200: Auxiliary And Applied Functions
8 AUXILIARY AND APPLIED FUNCTIONS 8. AUXILIARY AND APPLIED FUNCTIONS 8.1 Phase Compensation Function In synchronous control, delays in progresses, etc. cause the phase to deviate at the output axis motor shaft end with respect to the input axis (servo input axis or synchronous encoder axis).
Page 201 8 AUXILIARY AND APPLIED FUNCTIONS (2) Phase compensation of delay time of the output axis Set delay time equivalent to the position deviation on the servo amplifier in [Pr.444] Cam axis phase compensation advance time (D15066+150n, D15067+150n) for the output axis. The delay time equivalent to position deviation of the servo amplifier is calculated using the following formula.
Page 202: Relationship Between The Output Axis And Each Function
8 AUXILIARY AND APPLIED FUNCTIONS 8.2 Relationship between the Output Axis and Each Function The relationship between the output axis of synchronous control and each function is shown below. Function Output axis Details Unit setting Number of pulses per rotation (AP) The same control as other methods.
Page 203: Speed-Torque Control
8 AUXILIARY AND APPLIED FUNCTIONS 8.3 Speed-Torque Control Control mode can be switched for output axis during synchronous control. The control is performed with "speed-torque control data". Data that is needed to be set with speed-torque control during synchronous control is shown in Table 8.1 Table 8.1 Speed-torque control data Setting necessity...
Page 204 8 AUXILIARY AND APPLIED FUNCTIONS (1) Speed-torque control in output axis (a) The speed-torque control can be executed for the output axis of the cam No.0 (linear cam) during synchronous control. When the control mode switching is executed for the output axis of cam other than cam No.0 or the output axis where synchronous control change function is being performed, the minor error (error code: 756) will occur, and the control mode is not switched.
Page 205 8 AUXILIARY AND APPLIED FUNCTIONS • Continuous operation to torque control Position control mode Speed control mode Torque control mode Continuous operation Continuous operation Continuous operation to torque control mode to torque control mode to torque control mode Switching operation Switching condition Position control mode Continuous operation...
Page 206 8 AUXILIARY AND APPLIED FUNCTIONS (e) Values of [Md.407] Cam axis current value per cycle (D13612+30n, D13613+30n), [Md.408] Cam reference position (D13614+30n, D13615+30n), and [Md.409] Cam axis current feed value (D13616+30n, D13617+30n) during speed-torque control are based on the command from the input axis.
Page 207 8 AUXILIARY AND APPLIED FUNCTIONS (3) Stop cause (a) Stop cause during speed control mode The operation for stop cause during speed control mode is shown below. The synchronous control ends by the stop cause occurrence. Item Operation during speed control mode The [Rq.380] Synchronous control start The motor decelerates to speed "0"...
Page 208 8 AUXILIARY AND APPLIED FUNCTIONS (b) Stop cause during speed control mode The operation for stop cause during torque control mode is shown below. The synchronous control ends by the stop cause occurrence. Item Operation during torque control mode The mode is switched to position control mode when the The [Rq.380] Synchronous control start speed limit command value is set to "0"...
Page 209 8 AUXILIARY AND APPLIED FUNCTIONS (c) Stop cause during continuous operation to torque control mode The operation for stop cause during continuous operation to torque control mode is shown below. The synchronous control ends by the stop cause occurrence. Item Operation during torque control mode The mode is switched to position control mode when the The [Rq.380] Synchronous control start...
Page 210: Synchronous Control Initial Position
8 AUXILIARY AND APPLIED FUNCTIONS 8.4 Synchronous Control Initial Position The following synchronous control monitor data can be aligned to a set position when starting synchronous control, as the initial position for synchronous control. The alignment to a synchronous control initial position is useful for restoring a system based on the last control status along with restarting synchronous control after cancelling midway.
Page 211 8 AUXILIARY AND APPLIED FUNCTIONS (1) Current value after composite main shaft gear when starting synchronous control The current value after composite main shaft gear is restored as follows according to the main input axis operation executed before starting synchronous control.
Page 212 8 AUXILIARY AND APPLIED FUNCTIONS REMARK "The last synchronous control session" indicates status just before the last synchronous control session was stopped as follows. These are listed with the last synchronization status. • Just before [Rq.380] Synchronous control start (M12000+n) turns from ON to OFF. •...
Page 213 8 AUXILIARY AND APPLIED FUNCTIONS (b) Restoration method 2) The travel value from the last synchronous control session is reflected to the current value per cycle after main shaft gear/current value per cycle after auxiliary shaft gear. [Main shaft] Current value per cycle Amount of change of current Current value per after main shaft gear at the...
Page 214 8 AUXILIARY AND APPLIED FUNCTIONS (3) Cam axis position at synchronous control start The cam axis position is composed of the relationship of 3 positions "Cam axis current value per cycle", "Cam reference position" and "Cam axis current feed value". One of positions can be restored by defining 2 positions when starting synchronous control.
Page 215: Synchronous Control Initial Position Parameters
8 AUXILIARY AND APPLIED FUNCTIONS 8.5 Synchronous Control Initial Position Parameters Default Symbol Setting item Setting details Setting value Fetch cycle Device No. value 0: Previous value Setting method of Select the setting method for 1: Initial setting value of current current value per Pr.460 the current value per cycle...
Page 216 8 AUXILIARY AND APPLIED FUNCTIONS (1) [Pr.460] Setting method of current value per cycle after main shaft gear (D15100+150n) Select the setting method of [Md.401] Current value per cycle after main shaft gear (D13602+30n, D13603+30n) when starting synchronous control. • 0: Previous value......The current value per cycle after main shaft gear from the last synchronous control session is stored.
Page 217 8 AUXILIARY AND APPLIED FUNCTIONS (4) [Pr.463] Setting method of cam reference position (D15103+150n) Select the method for the cam reference position to be restored when [Pr.462] Cam axis position restoration object (D15102+150n) is set to "0: Cam axis current value per cycle restoration" or "2: Cam axis current feed value restoration".
Page 218 8 AUXILIARY AND APPLIED FUNCTIONS (7) [Pr.466] Current value per cycle after auxiliary shaft gear (Initial setting) (D15108+150n, D15109+150n) Set the initial setting value of the current value per cycle after auxiliary shaft gear when [Pr.461] Setting method of current value per cycle after auxiliary shaft gear (D15101+150n) is set to "1: Current value per cycle after auxiliary shaft gear (Initial setting)".
Page 219: Cam Axis Position Restoration Method
8 AUXILIARY AND APPLIED FUNCTIONS 8.6 Cam Axis Position Restoration Method 8.6.1 Cam axis current value per cycle restoration If [Pr.462] Cam axis position restoration object (D15102+150n) is set to "0: Cam axis current value per cycle restoration" when starting synchronous control, the cam axis current value per cycle is restored based on the cam reference position and the cam axis current feed value.
Page 220 8 AUXILIARY AND APPLIED FUNCTIONS (d) If the cam resolution is large, search processing may take a long time when starting synchronous control. (Cam resolution 32768: up to about 23ms) (2) Cam axis current value per cycle restoration operation (a) With a two-way cam pattern operation 1) Search from "Cam axis current value per cycle = 0".
Page 221 8 AUXILIARY AND APPLIED FUNCTIONS 4) The search fails. Cam axis current value per cycle Cam axis current feed value Restoration fails. No match (Current feed value) is found for the current feed value within1 cycle. Cam reference position (b) With a feed operation cam pattern 1) Search from "Cam axis current value per cycle = 0".
Page 222 8 AUXILIARY AND APPLIED FUNCTIONS 3) Search from a value in the middle of the cam axis current value per cycle. (Cam data starting point ≠ 0) [Pr.468] Cam axis current value per cycle (Initial setting) (D15112+150n, D15113+150n) Cam axis current value per cycle Search from the Cam axis current feed value value in the middle.
Page 223: Cam Reference Position Restoration
8 AUXILIARY AND APPLIED FUNCTIONS 8.6.2 Cam reference position restoration If [Pr.462] Cam axis position restoration object (D15102+150n) is set to "1: cam reference position restoration" when starting synchronous control, the cam reference position is restored based on the cam axis current value per cycle and the cam axis current feed value.
Page 224: Cam Axis Current Feed Value Restoration
8 AUXILIARY AND APPLIED FUNCTIONS 8.6.3 Cam axis current feed value restoration If [Pr.462] Cam axis position restoration object (D15102+150n) is set to "2: cam current feed value restoration" when starting synchronous control, the cam axis current feed value is restored based on the cam axis current value per cycle and the cam reference position.
Page 225: Synchronous Control Analysis Mode
8 AUXILIARY AND APPLIED FUNCTIONS 8.7 Synchronous Control Analysis Mode With synchronous control analysis mode, parameters are only analyzed for synchronous control when there is a command to start synchronous control. This mode is used to confirm the synchronous positions of the output axes in order to align axes with position control before starting synchronous control.
Page 226 8 AUXILIARY AND APPLIED FUNCTIONS (1) Example The following shows an example of aligning the synchronous position of an output axis that references the input axis. 1) Set the following values in the synchronous control initial position parameters. Setting item Setting value [Pr.460] Setting method of current value per cycle after 2: Calculate from input axis...
Page 227: Cam Position Calculation Function
8 AUXILIARY AND APPLIED FUNCTIONS 8.8 Cam Position Calculation Function The cam position is calculated by the CAMPSCL instruction (Cam position calculation) of Motion SFC program with this function. This function can be used to calculate the cam position for the synchronous control initial position before starting synchronous control.
Page 228: Method To Restart Synchronous Control
8 AUXILIARY AND APPLIED FUNCTIONS 8.9 Method to Restart Synchronous Control The relationship of the synchronous position for synchronous control is always saved in the Motion CPU module. Synchronous control can be restarted without returning all axes to their starting points by restoring the synchronized relationship through the synchronous control initial position parameters (Refer to Section 8.5).
Page 229 8 AUXILIARY AND APPLIED FUNCTIONS (b) Procedure for restarting synchronous control 1) Set the synchronous control initial position parameters for axis 2 and 3 as follows. Setting item Setting value [Pr.460] Setting method of current value per cycle after 2: Calculate from input axis main shaft gear (D15100+150n) [Pr.462] Cam axis position restoration object 2: Cam axis current feed value...
Page 230: Appendices
APPENDICES APPENDICES APPENDIX 1 Error Codes Stored Using the Motion CPU The following errors are detected in the Motion CPU. • Servo program setting error • Positioning error (Note-1) • Motion SFC error (Note-1) • Motion SFC parameter error (Note-2) •...
Page 231 APPENDICES (b) The error detection signal of the erroneous axis turns on at the error occurrence, and the error codes are stored in the minor error code, major error code or servo error code storage register. Table 1.1 Error code storage registers, error detection signals, error reset commands Device Error code storage register Error detection...
Page 232 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 Developer2. (d) Error detection signals and error codes are held until the error reset command (M3207+20n), servo error reset command (M3208+20n), [Rq.346] Command generation axis error reset command (M10967+20n) or [Rq.323] Synchronous encoder axis error reset command (M11600+4n) turns on.
Page 233: Appendix 1.1 Servo Program Setting Errors (Stored In Sd517)
APPENDICES APPENDIX 1.1 Servo program setting errors (Stored in SD517) The error codes, error contents and corrective actions for servo program setting errors are shown in Table 1.2. In the error codes marked with "Note" indicates the axis No. (1 to 32). Table 1.2 Servo program setting error list Error code Error name...
Page 234 APPENDICES Table 1.2 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 235 APPENDICES Table 1.2 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 Control with the default value Set the rapid stop deceleration deceleration time is set to "0".
Page 236 APPENDICES Table 1.2 Servo program setting error list (Continued) Error code Error name Error contents Error processing Corrective action stored in D517 High-Speed Operation cannot be started Positioning control does not Start after set the command oscillation command because the amplitude specified start.
Page 237 APPENDICES Table 1.2 Servo program setting error list (Continued) Error code Error name Error contents Error processing Corrective action stored in SD517 Start error A virtual mode program was Positioning control does not Check the program mode started in the real mode. start.
Page 238: Appendix 1.2 Minor Errors
APPENDICES APPENDIX 1.2 Minor errors These errors are detected in the sequence program or servo program, and the error codes of 1 to 999 are used. Minor errors include the setting data errors, starting errors, positioning control errors and current value/speed/target position change errors, synchronous control output axis errors, synchronous control input axis errors and system errors.
Page 239 APPENDICES POINT When the interpolation control unit of parameter block is different from the control unit of fixed parameters, an error code may not be stored with the combination of units. Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details. APP - 10...
Page 240 APPENDICES (2) Positioning control start errors (100 to 199) These errors are detected at the positioning control start. The error codes, causes, processing, and corrective actions are shown in Table 1.4. Table 1.4 Positioning control start error (100 to 199) list Control mode Command generation axis Error...
Page 241 APPENDICES Table 1.4 Positioning control start error (100 to 199) list (Continued) Control mode Command generation axis Error Error Error cause Corrective action code processing • The address that does not • Correct the addresses of the generate an arc is set at auxiliary servo program.
Page 242 APPENDICES Table 1.4 Positioning control start error (100 to 199) list (Continued) Control mode Command generation axis Error Error Error cause Corrective action code processing • The difference between the end • Correct the addresses of the point address and ideal end servo program.
Page 243 APPENDICES (3) Positioning control errors (200 to 299) These are errors detected during the positioning control. The error codes, causes, processing and corrective actions are shown in Table 1.5. Table 1.5 Positioning control error (200 to 299) list Control mode Command generation axis Error Error...
Page 244 APPENDICES Table 1.5 Positioning control error (200 to 299) list (Continued) Control mode Command generation axis Error Error Error cause Corrective action code processing • When the control unit is "degree" • When the control unit is during the position follow-up "degree", set the command control, the command address address within the range of 0 to...
Page 245 APPENDICES (4) Current value/speed/target position change errors (300 to 399) These are errors detected at current value change, speed change or target position change. The error codes, causes, processing and corrective actions are shown in Table 1.6. Table 1.6 Current value/speed/target position change error (300 to 399) list Control mode Command generation axis Error...
Page 246 APPENDICES Table 1.6 Current value/speed/target position change error (300 to 399) list (Continued) Control mode Command generation axis Error Error Error cause Corrective action code processing • The value outside the range of 1 • Set the change request within to 1000[%] was set in the torque the range of 1 to 1000[%] in the limit value change request...
Page 247 APPENDICES Table 1.6 Current value/speed/target position change error (300 to 399) list (Continued) Control mode Command generation axis Error Error Error cause Corrective action code processing • During the speed/torque control, • Request changing within the the change value by the torque range of torque limit value in limit value change request speed/torque control.
Page 248 APPENDICES (5) Synchronous control output axis errors (700 to 799) These are errors detected at the output axis during synchronous control. The error codes, causes, processing and corrective actions are shown in Table 1.7. Table 1.7 Synchronous control output axis error (700 to 799) list Control mode Command generation axis Error...
Page 249 APPENDICES Table 1.7 Synchronous control output axis error (700 to 799) list (Continued) Control mode Command generation axis Error Error Error cause Corrective action code processing • The synchronous parameter • Set a value within the range of 0 "[Pr.440] Cam No. to 256.
Page 250 APPENDICES (6) Synchronous control input axis errors (800 to 899) These are errors detected at the input axis during synchronous control. The error codes, causes, processing and corrective actions are shown in Table 1.8. Table 1.8 Synchronous control input axis error (800 to 899) list Control mode Command generation axis Error...
Page 251 APPENDICES (7) System errors (900 to 999) These are errors detected at the power-on. The error codes, causes, processing and corrective actions are shown in Table 1.9. Table 1.9 System error (900 to 999) list Control mode Command generation axis Error Error Error cause...
Page 252: Appendix 1.3 Major Errors
APPENDICES APPENDIX 1.3 Major errors These errors occur by control command from the external input signal or Motion SFC program, and the error codes 1000 to 1999 are used. Major errors include the positioning control start errors, positioning control errors, absolute position system errors, system errors, synchronous control output axis errors and synchronous control input axis errors.
Page 253 APPENDICES (2) Positioning control errors (1100 to 1199) These errors are detected at the positioning control. The error codes, causes, processing and corrective actions are shown in Table 1.11. Table 1.11 Positioning control error (1100 to 1199) list Control mode Command generation axis Error Error...
Page 254 APPENDICES Table 1.11 Positioning control error (1100 to 1199) list (Continued) Control mode Command generation axis Error Error Error cause Corrective action code processing • Q172DEX or encoder hardware • Check (replace) the Q172DEX Immediate error. or encoder. input stop •...
Page 255 APPENDICES (3) Absolute position system errors (1200 to 1299) These errors are detected at the absolute position system. The error codes, causes, processing and corrective actions are shown in Table 1.12. Table 1.12 Absolute position system error (1200 to 1299) list Control mode Command generation axis Error...
Page 256 APPENDICES (4) System errors (1300 to 1399) These errors are detected at the power-on. The error codes, causes, processing and corrective actions are shown in Table 1.13. Table 1.13 System error (1300 to 1399) list Control mode Command generation axis Error Error Error cause...
Page 257 APPENDICES (5) Synchronous control output axis errors (1700 to 1799) These are errors detected at the output axis during synchronous control. The error codes, causes, processing and corrective actions are shown in Table 1.14. Table 1.14 Synchronous control output axis error (1700 to 1799) list Control mode Command generation axis Error...
Page 258 APPENDICES Table 1.14 Synchronous control output axis error (1700 to 1799) list (Continued) Control mode Command generation axis Error Error Error cause Corrective action code processing • Setting value of the synchronous • Set a value within the range. parameter "[Pr.406] Main shaft 1705 clutch reference address setting (D15009+150n)"...
Page 259 APPENDICES Table 1.14 Synchronous control output axis error (1700 to 1799) list (Continued) Control mode Command generation axis Error Error Error cause Corrective action code processing • Setting value of the synchronous • Set a value within the range. parameter "[Pr.423] Auxiliary 1725 shaft clutch reference address setting (D15031+150n)"...
Page 260 APPENDICES Table 1.14 Synchronous control output axis error (1700 to 1799) list (Continued) Control mode Command generation axis Error Error Error cause Corrective action code processing • The synchronous parameter • Set a value within the range of 1 "[Pr.493] Speed change ratio 2: to 2147483647.
Page 261 APPENDICES Table 1.14 Synchronous control output axis error (1700 to 1799) list (Continued) Control mode Command generation axis Error Error Error cause Corrective action code processing • The synchronous parameter • Set a value within the range of 1 "[Pr.448] Synchronous control to 64.
Page 262 APPENDICES Table 1.14 Synchronous control output axis error (1700 to 1799) list (Continued) Control mode Command generation axis Error Error Error cause Corrective action code processing • The synchronous parameter • Set a value within the range of 0 "[Pr.464] Setting method of cam to 3.
Page 263 APPENDICES (6) Synchronous control input axis errors (1800 to 1899) These are errors detected at the input axis during synchronous control. The error codes, causes, processing and corrective actions are shown in Table 1.15. Table 1.15 Synchronous control input axis error (1800 to 1899) list Control mode Command generation axis Error...
Page 264 APPENDICES Table 1.15 Synchronous control input axis error (1800 to 1899) list (Continued) Control mode Command generation axis Error Error Error cause Corrective action code processing • Start speed control ( ) when • Set the "[Pr.300] Servo input axis input axis parameter "[Pr.300] type"...
Page 265: Appendix 1.4 Servo Errors
APPENDICES APPENDIX 1.4 Servo errors (1) Servo errors (2000 to 2999) These errors are detected by the servo amplifier, and the error codes are [2000] to [2999]. The servo error detection signal (M2408+20n) turns on at the servo error occurrence. Eliminate the error cause, reset the servo amplifier error by turning on the servo error reset command (M3208+20n) and perform re-start.
Page 266: Appendix 2 Setting Range For Indirect Setting Devices
APPENDICES APPENDIX 2 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 267 APPENDICES POINT (1) Be sure to set even-numbered devices of the items set as 2-word. 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 "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)"...
Page 268: Appendix 3 Processing Times Of The Motion Cpu
APPENDIX 3 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) Q173DSCPU Q172DSCPU Number of setting axes (SV22) 1 to 6...
Page 269: Appendix 4 Sample Program Of Synchronous Control
APPENDICES APPENDIX 4 Sample Program of Synchronous Control The following shows a sample program of executing synchronous control on the axis 1 with the axis 4 as an input axis. (1) Set MR-J4(W)-B on the axis 1 in the system setting. (2) Set the axis 4 in the command generation axis parameter of synchronous control parameter.
Page 270 APPENDICES (3) Create t the cam data (cam No.1). Section No. Start angle [degree] End angle [degree] Stroke [%] Cam curve 0.00000 90.00000 100.0000000 Constant speed 90.00000 270.00000 -60.0000000 Constant speed 270.00000 0.00000 50.0000000 Constant speed (4) Set the synchronous parameter of the axis 1. Item Setting value Main input...
Page 271 APPENDICES (5) Create the Motion SFC program to start synchronous control. (Executed after home position return completion) sync_ax1 [F0] SET M2042 //All axes servo ON [G0] M2415*!M2001 //Axis 1 servo ready ON, start accept flag OFF? [F1] SET M12000 //Axis 1 Synchronous control start [G1] M100*M10880 //M100 ON and axis 1 during synchronous control?
Page 272: Appendix 5 Differences
Total 3 axes of main shaft (2 axes) and auxiliary per output axis input (1 axis) input (1 axis) • Virtual servo motor axis • Command generation axis Virtual servo motor Q173DSCPU: 32 axes Q173DSCPU: 32 axes axis Q172DSCPU: 16 axes Q172DSCPU: 16 axes (Command • Command unit •...
Page 273 APPENDICES Table 5.1 Differences between virtual mode switching method and advanced synchronous control method (continued) Item Virtual mode switching method Advanced synchronous control method • Numerator of gear : -2147483648 to • Number of input side teeth : 1 to 65535 2147483647 Gear •...
Page 274 APPENDICES Table 5.1 Differences between virtual mode switching method and advanced synchronous control method (continued) Item Virtual mode switching method Advanced synchronous control method • Stroke ratio data format Cam resolution/ • Cam resolution 256, 512, 1024, 2048, 4096, 8192, 16384, Number of 256, 512, 1024, 2048 32768...
Page 275: Appendix 6 Device List
(2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)"...
Page 276 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)"...
Page 277 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 5.2.4 for details of command generation axis status.
Page 278 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 5.2.3 for details of command generation axis command signal.
Page 279 APPENDICES (5) Synchronous encoder axis status list Axis No. Device No. Signal name M10440 to M10449 M10450 to M10459 Signal Symbol Signal name Refresh cycle Fetch cycle direction M10460 to M10469 M10470 to M10479 Synchronous encoder axis St.320 At power on setting valid flag M10480 to M10489 M10490 to M10499...
Page 280 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 7.6.2 and Section 7.7 for details of output axis status.
Page 281 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 7.1.4, Section 7.2.4 and Section 7.6.2 for details of output axis command signal.
Page 282 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 2.2 for details of synchronous control signal.
Page 283 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 2.2 for details of synchronous analysis complete signal.
Page 284 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 2.2 for details of synchronous control start signal.
Page 285 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 2.2 for details of synchronous analysis request signal.
Page 286 APPENDICES (13) Common device list Device Signal Remark Device Signal Remark Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle direction (Note-3) direction (Note-3) Command M2000 PLC ready flag Main cycle M3072 M2061 Axis 1 signal M2001 Axis 1 M2062 Axis 2 M2002 Axis 2 M2063 Axis 3...
Page 287 APPENDICES Common device list (Continued) Device Signal Remark Device Signal Remark Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle direction (Note-3) direction (Note-3) M2194 M2122 M2123 M2195 Unusable M2124 M2196 — — — — (6 points) M2125 M2197 M2126...
Page 288 APPENDICES Common device list (Continued) Device Signal Remark Device Signal Remark Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle direction (Note-3) direction (Note-3) M2266 Axis 27 M2293 Axis 22 M2267 Axis 28 M2294 Axis 23 Speed change "0" M2268 Axis 29 M2295 Axis 24 accepting flag...
Page 289 APPENDICES (14) Common device list (Command signal) Remark Device No. Signal name Refresh cycle Fetch cycle Signal direction (Note-1), (Note-2) Main cycle M3072 PLC ready flag M2000 Command signal M3073 Speed switching point specified flag At start M2040 Operation cycle M3074 All axes servo ON command M2042...
Page 290 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)"...
Page 291 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)"...
Page 292 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 5.1.3 for details of servo input axis monitor device.
Page 293 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 5.1.2 for details of servo input axis control device.
Page 294 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 5.2.4 for details of command generation axis monitor device.
Page 295 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 5.2.2 and Section 5.2.3 for details of command generation axis control device.
Page 296 APPENDICES (21) Synchronous encoder axis monitor device list Axis No. Device No. Signal name D13240 to D13259 D13260 to D13279 Signal Symbol Signal name Refresh cycle Fetch cycle direction D13280 to D13299 D13300 to D13319 Synchronous encoder axis Md.320 current value D13320 to D13339 D13340 to D13359 Synchronous encoder axis current...
Page 297 APPENDICES (22) Synchronous encoder axis control device list Axis No. Device No. Signal name D14820 to D14829 D14830 to D14839 Signal Symbol Signal name Refresh cycle Fetch cycle direction D14840 to D14849 D14850 to D14859 Synchronous encoder axis phase Pr.326 Operation cycle compensation advance time D14860 to D14869...
Page 298 (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. However, when the project of Q172DSCPU is replaced with Q173DSCPU, this area cannot be used as an user device. (3) Refer to Section 7.7 for details of output axis monitor device.
Page 299 APPENDICES (24) Output axis control device list Axis No. Device No. Signal name D15000 to D15149 D15150 to D15299 Refresh Signal Symbol Signal name Fetch cycle cycle direction D15300 to D15449 D15450 to D15599 Pr.400 Main input axis No. At start of Command synchronous control D15600 to D15749...
Page 300 APPENDICES Output axis control device list (Continued) Axis No. Device No. Signal name D15000 to D15149 D15150 to D15299 Refresh Signal Symbol Signal name Fetch cycle cycle direction D15300 to D15449 D15450 to D15599 Auxiliary shaft clutch smoothing Pr.428 method At start of D15600 to D15749 synchronous control...
Page 301 APPENDICES Output axis control device list (Continued) Axis No. Device No. Signal name D15000 to D15149 D15150 to D15299 Refresh Signal Symbol Signal name Fetch cycle cycle direction D15300 to D15449 D15450 to D15599 D15600 to D15749 D15750 to D15899 D15900 to D16049 D16050 to D16199 D16200 to D16349...
Page 302 APPENDICES Output axis control device list (Continued) Axis No. Device No. Signal name D15000 to D15149 D15150 to D15299 Refresh Signal Symbol Signal name Fetch cycle cycle direction D15300 to D15449 D15450 to D15599 Cam axis current value per cycle At start of Command Pr.468...
Page 303 APPENDICES POINT (1) The range of axis No.1 to 16 is valid in the Q172DSCPU. (2) The device area more than 17 axes in the Q172DSCPU can be used as an user device. (3) Refer to Section 7.1.2, Section 7.1.3, Section7.2.3, Section7.4.2, Section7.5.2, Section7.6.2 and Section8.5 for details of output axis control device.
Page 304 APPENDICES (25) 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 Command Speed switching point...
Page 305 APPENDICES (26) Motion register list (#) Axis Device No. Signal name #8000 to #8019 #8020 to #8039 Signal name Refresh cycle Signal direction #8040 to #8059 #8060 to #8079 Servo amplifier type When the servo amplifier power-on #8080 to #8099 Motor current Operation cycle 1.7[ms] or less : Operation cycle #8100 to #8119...
Page 306 APPENDICES (27) Product information list devices Device No. Signal name Refresh cycle Fetch cycle Signal direction #8736 Operating system software version #8743 At power on Monitor device #8744 Motion CPU module serial number #8751 POINT Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)"...
Page 307 APPENDICES (29) Special register list Device No. Signal name Refresh cycle Fetch cycle Signal direction SD200 State of switch Main cycle SD502 At power supply on/ Servo amplifier loading information operation cycle SD503 SD508 SSCNET control (status) Main cycle SD510 Test mode request error information At test mode request SD511...
Page 308 WARRANTY Please confirm the following product warranty details before using this product. Gratis Warranty Term and Gratis Warranty Range We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
Page 309 Precautions for Choosing the Products (1) For the use of our Motion controller, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in Motion controller, and a backup or fail-safe function should operate on an external system to Motion controller when any failure or malfunction occurs.
Page 312 Phone: +370 (0)5 / 232 3101 Fax: +380 (0)44 / 494-33-66 Fax: +370 (0)5 / 232 2980 Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-4861120 /// info@mitsubishi-automation.com /// www.mitsubishi-automation.com...

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Q172dscpu

Mitsubishi Electric Q173DSCPU Programming Manual

1 Overview

2 Starting up the System

3 Synchronous Control Module

4 Positioning Dedicated Signals

5 Input Axis Module

6 Cam Function

7 Synchronous Control

8 Auxiliary and Applied Functions

APPENDIX 1 Error Codes Stored Using the Motion CPU

APPENDIX 1.1 Servo Program Setting Errors (Stored in SD517)

APPENDIX 1.2 Minor Errors

APPENDIX 1.3 Major Errors

APPENDIX 1.4 Servo Errors

APPENDIX 2 Setting Range for Indirect Setting Devices

APPENDIX 3 Processing Times of the Motion CPU

APPENDIX 4 Sample Program of Synchronous Control

APPENDIX 5 Differences

APPENDIX 5.1 Differences with Virtual Mode Switching Method

APPENDIX 6 Device List

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