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 Q173D(S)CPU/Q172D(S)CPU. Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the Motion controller you have purchased, so as to ensure correct use. CONTENTS Safety Precautions ............................A- 1 Revisions ................................A-11...
Page 14 4.2.1 Axis monitor devices ......................... 4-61 4.2.2 Control change registers........................4-63 4.2.3 Virtual servomotor axis monitor devices................... 4-64 4.2.4 Current value after virtual servomotor axis main shaft's differential gear ........4-66 4.2.5 Synchronous encoder axis monitor devices..................4-68 4.2.6 Current value after synchronous encoder axis main shaft's differential gear ......... 4-69 4.2.7 Cam axis monitor devices.........................
Page 15 8.1.2 Parameter list ............................ 8- 6 8.2 Ball Screw..............................8- 9 8.2.1 Operation ............................8- 9 8.2.2 Parameter list ............................ 8-10 8.3 Rotary Tables ............................8-13 8.3.1 Operation ............................8-13 8.3.2 Parameter list ............................ 8-14 8.4 Cam ................................8-21 8.4.1 Operation ............................8-22 8.4.2 Settings items at cam data creating ....................
Page 16: About Manuals
About Manuals The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below. Related Manuals (1) Motion controller Manual Number Manual Name (Model Code) Q173D(S)CPU/Q172D(S)CPU Motion controller User's Manual This manual explains specifications of the Motion CPU modules, Q172DLX Servo external signal interface IB-0300133 module, Q172DEX Synchronous encoder interface module, Q173DPX Manual pulse generator interface (1XB927)
Page 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: Manual Page Organization
(3) Servo amplifier Manual Number Manual Name (Model Code) SSCNET /H interface MR-J4- B Servo amplifier Instruction Manual SH-030106 This manual explains the I/O signals, parts names, parameters, start-up procedure and others for (1CW805) MR-J4- B Servo amplifier. SSCNET /H interface Multi-axis AC Servo MR-J4W- B Servo amplifier Instruction Manual SH-030105 This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Multi- (1CW806)
Page 19 MEMO A - 18...
Page 20: Overview
MR-J3W- B" QCPU, PLC CPU or PLC CPU module QnUD(E)(H)CPU/QnUDVCPU Multiple CPU system or Motion system Abbreviation for "Multiple PLC system of the Q series" Abbreviation for "CPU No.n (n= 1 to 4) of the CPU module for the Multiple CPU CPUn system"...
Page 21 1 OVERVIEW Generic term/Abbreviation Description Abbreviation for "Servo setup software package MR Configurator MR Configurator (Version C0 or later)" Abbreviation for "Servo setup software package MR Configurator2 MR Configurator2 (Version 1.01B or later)" Manual pulse generator or MR-HDP01 Abbreviation for "Manual pulse generator (MR-HDP01)" Serial absolute synchronous encoder Abbreviation for "Serial absolute synchronous encoder (Q171ENC-W8/ or Q171ENC-W8/Q170ENC...
Page 22 1 OVERVIEW REMARK For information about each module, design method for program and parameter, refer to the following manuals relevant to each module. Item Reference Manual Q173D(S)CPU/Q172D(S)CPU Motion controller User’s Motion CPU module/Motion unit Manual PLC CPU, peripheral devices for sequence program design, Manual relevant to each module I/O modules and intelligent function module Operation method for MT Developer2...
Page 23: Motion Control In Sv13/Sv22 Real Mode
1 OVERVIEW 1.2 Motion Control in SV13/SV22 Real Mode (1) System with servomotor is controlled directly using the servo program in (SV13/SV22) real mode. (2) Setting of the positioning parameter and creation of the servo program/Motion SFC program are required. (3) The procedure of positioning control is shown below: 1) Motion SFC program is requested to start using the D(P).
Page 24: Motion Control In Sv22 Virtual Mode
1 OVERVIEW 1.3 Motion Control in SV22 Virtual Mode (1) Synchronous control with software is performed using the mechanical system program comprised by virtual main shaft and mechanical module in (SV22) virtual mode. (2) Mechanical system programs is required in addition to the positioning parameter, servo program/Motion SFC program used in real mode.
Page 25: Restrictions By The Software's Version
1 OVERVIEW 1.4 Restrictions by the Software's Version There are restrictions in the function that can be used by the version of the operating system software and programming software. The combination of each version and a function is shown in Table1.1. Table 1.1 Restrictions by the Software's Version (Note-1), (Note-2) Operating system software version...
Page 26 1 OVERVIEW Programming software version Section of reference MELSOFT MT Works2 (MT Developer2) MR Configurator2 MR Configurator Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) — — — — (Note-2) 1.39R 1.06G — — (Note-4) 1.39R 1.06G 1.01B — — — — Section 4.3 1.39R 1.06G —...
Page 27 1 OVERVIEW Table 1.1 Restrictions by the Software's Version (continued) (Note-1), (Note-2) Operating system software version Function Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) — Rapid stop deceleration time setting error invalid function — Vision system dedicated function (MVOUT) Motion SFC operation control instruction — Program control (IF - ELSE - IEND, SELECT -CASE - SEND, FOR -NEXT, BREAK) Display format depending on the error setting data...
Page 28 1 OVERVIEW Programming software version Section of reference MELSOFT MT Works2 (MT Developer2) MR Configurator2 MR Configurator Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) — — — — (Note-4) 1.39R 1.39R — — (Note-3) 1.39R 1.39R — — (Note-3) — — — — (Note-3) — —...
Page 29: Programming Software Version
1 OVERVIEW 1.5 Programming Software Version The programming software versions that support Motion CPU are shown below. MELSOFT MT Works2 (MT Developer2) Motion CPU MR Configurator2 MR Configurator SV13/SV22 SV43 (Note-1) 1.39R Q173DSCPU 1.10L Not support (Note-1) Q172DSCPU 1.39R 1.10L Not support (Note-2) (Note-3)
Page 30: Starting Up The System
2 STARTING UP THE SYSTEM 2. STARTING UP THE SYSTEM The procedure for virtual mode positioning control is shown below. 2.1 Starting Up the Virtual Mode System The procedure to start up for virtual mode system is shown below. START Install the MT Developer2 Start the MT Developer2 Refer to the "Q173D(S)CPU/Q172D(S)CPU...
Page 31 2 STARTING UP THE SYSTEM Create the Motion SFC program and servo program Turn the power supply of Multiple CPU system ON Write the following data to the Motion CPU using MT Developer2 System setting data Servo setting data Motion SFC parameter Motion SFC program Servo program Mechanical system program...
Page 32: Starting Up The Incremental System And Absolute System
2 STARTING UP THE SYSTEM 2.2 Starting Up the Incremental System and Absolute System When incremental system or absolute system is used, the procedure for virtual mode operation is shown below. 2.2.1 Operation for incremental system The operation procedure for incremental system is shown below. START Turn the power supply of Multiple CPU system ON...
Page 33: Operation For Absolute (Absolute Position) System
2 STARTING UP THE SYSTEM 2.2.2 Operation for absolute (absolute position) system The operation procedure for absolute system is shown below. START Turn the power supply of Multiple CPU system ON Execute the all axes servo start request (Turn M2042 on) Is the home position return request signal ON ?
Page 34: Differences Between Real Mode And Virtual Mode
2 STARTING UP THE SYSTEM 2.3 Differences Between Real Mode and Virtual Mode Specifications of the positioning data, positioning devices and servo programs, etc. used in the real mode differ in part in the virtual mode. When using them in the virtual mode, refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)"...
Page 35: Servo Programs
2 STARTING UP THE SYSTEM 2.3.3 Servo programs (1) Servo program area (a) The same servo program (Kn) No. cannot be used in both the real mode and virtual modes. The range of servo program (Kn) used in the virtual mode must be set using MT Developer2 in advance.
Page 36: Control Change (Current Value Change/Speed Change/Target Position Change)
2 STARTING UP THE SYSTEM 2.3.4 Control change (Current value change/speed change/target position change) When a control change is executed in the virtual mode, the feed current value/speed of the drive module is changed. Control changes are not possible for the output module (except for cam). Differences between control changes in the real mode and virtual modes are shown in Table 2.4 below.
Page 37: Switching Of Control Mode (Speed-Torque Control)
2 STARTING UP THE SYSTEM 2.3.5 Switching of control mode (Speed-torque control) When a speed-torque control is executed in the virtual mode, the control mode of the output module (except for cam) and real mode axis is switched. Differences between speed-torque control in the real mode and virtual modes are shown in Table 2.5 below.
Page 38: Performance Specifications
3 PERFORMANCE SPECIFICATIONS 3. PERFORMANCE SPECIFICATIONS Performance specifications of the Motion CPU are shown in Table 3.1 below. Table 3.1 Motion CPU Performance Specifications (Virtual Mode) Item Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1) Up to 32 axes Up to 16 axes Up to 32 axes Up to 8 axes Number of control axes (Simultaneous: 2 to 4/...
Page 39 3 PERFORMANCE SPECIFICATIONS Table 3.1 Motion CPU Performance Specifications (Virtual Mode) (Continued) Item Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1) Interpolation functions Linear interpolation (2 to 4 axes), circular interpolation (2 axes) PTP (Point to Point) control, speed control, fixed-pitch feed, constant-speed control, Control methods position follow-up control PTP control...
Page 40: Positioning Dedicated Signals
Multiple CPU Multiple CPU high speed high speed transmission transmission memory memory SSCNET (/H) Q series PLC system bus Servo amplifier Servo motor PLC I/O module PLC intelligent Motion module (DI/O) function module (Proximity dog signal, manual (A/D, D/A, etc.)
Page 41 4 POSITIONING DEDICATED SIGNALS The positioning dedicated devices are shown below. It indicates the device refresh cycle of the Motion CPU for status signal with the positioning control, and the device fetch cycle of the Motion CPU for command signal with the positioning control.
Page 42: Internal Relays
4 POSITIONING DEDICATED SIGNALS 4.1 Internal Relays (1) Internal relay list SV22 Device No. Application Real Virtual User device (2000 points) M2000 Common device (320 points) M2320 Unusable (80 points) M2400 Axis status (20 points 32 axes) Real mode : Each axis Virtual mode : Output module M3040 Unusable...
Page 43 4 POSITIONING DEDICATED SIGNALS POINT (1) Total number of user device points 4704 points (2) (Note-1): Do not set M4000 to M5487 as the latch range in virtual mode. (3) (Note-2): This signal occupies only the area of the axis set in the mechanical system program.
Page 44 4 POSITIONING DEDICATED SIGNALS (2) Axis status list Axis No. Device No. Signal name M2400 to M2419 M2420 to M2439 Virtual Refresh Fetch Signal M2440 to M2459 Real Signal name Real Ball Rotary cycle cycle direction M2460 to M2479 Roller Mode screw table...
Page 45 4 POSITIONING DEDICATED SIGNALS (3) Axis command signal list Axis No. Device No. Signal name M3200 to M3219 M3220 to M3239 Virtual Refresh Fetch Signal M3240 to M3259 Real Signal name Real Ball Rotary cycle cycle direction M3260 to M3279 Roller mode screw...
Page 46 4 POSITIONING DEDICATED SIGNALS (4) Virtual servomotor axis status list Axis No. Device No. Signal name M4000 to M4019 M4020 to M4039 Virtual Refresh Fetch Signal M4040 to M4059 Real Signal name Real Ball Rotary cycle cycle direction M4060 to M4079 Roller mode screw...
Page 47 4 POSITIONING DEDICATED SIGNALS (5) Virtual servomotor axis command signal list Axis No. Device No. Signal name M4800 to M4819 M4820 to M4839 Virtual Refresh Fetch Signal M4840 to M4859 Real Signal name Real Ball Rotary cycle cycle direction M4860 to M4879 Roller mode screw...
Page 48 4 POSITIONING DEDICATED SIGNALS (6) Synchronous encoder axis status list Axis No. Device No. Signal name M4640 to M4643 M4644 to M4647 Signal Signal name Real Virtual Refresh cycle Fetch cycle direction M4648 to M4651 M4652 to M4655 0 Error detection Immediately Status M4656 to M4659...
Page 49 4 POSITIONING DEDICATED SIGNALS (8) Common device list Device Signal Remark Device Signal Remark Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle (Note-6) (Note-6) direction direction Command M2000 PLC ready flag Main cycle M3072 M2055 signal M2001 Axis 1 M2056 Unusable...
Page 50 4 POSITIONING DEDICATED SIGNALS Common device list (Continued) Remark Remark Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle (Note-6) Fetch cycle (Note-6) direction direction M2110 Axis 10 Synchronous Status M2179 encoder current signal M2111 Axis 11 M2180 Operation cycle (Note-2),...
Page 51 4 POSITIONING DEDICATED SIGNALS Common device list (Continued) Remark Remark Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle (Note-6) (Note-6) direction direction M2248 Axis 9 M2284 Axis 13 M2249 Axis 10 M2285 Axis 14 M2250 Axis 11 M2286 Axis 15 M2251 Axis 12...
Page 52 4 POSITIONING DEDICATED SIGNALS (9) Common device list (Command signal) Remark Device No. Signal name Refresh cycle Fetch cycle Signal direction (Note-1), (Note-2) Main cycle M3072 PLC ready flag M2000 M3073 Speed switching point specified flag At start M2040 Operation cycle M3074 All axes servo ON command M2042...
Page 53: Axis Statuses
4 POSITIONING DEDICATED SIGNALS 4.1.1 Axis statuses (1) In-position signal (M2402+20n) ........Status signal (a) This signal turns on when the number of droop pulses in the deviation counter becomes below the "in-position range" set in the servo parameters. It turns off at positioning start. Number of droop pulses In-position range In-position signal...
Page 54 4 POSITIONING DEDICATED SIGNALS (b) This signal turns off when the error reset command (M3207+20n) turns on. Error detection Error detection signal (M2407+20n) Error reset command (M3207+20n) REMARK (Note-1) : Refer to APPENDIX 1 for the error codes with detection of major/minor errors.
Page 55 4 POSITIONING DEDICATED SIGNALS (b) When using an absolute position system 1) This signal turns on in the following cases: • When not executing a home position return once after system start. • Home position return start in the real mode (Unless a home position return is completed normally, the home position return request signal does not turn off.) •...
Page 56 4 POSITIONING DEDICATED SIGNALS (b) The state for the upper stroke limit switch input (FLS) when the FLS signal is ON/OFF is shown below. (Note-2) 1) Q172DLX use FLS signal : ON FLS signal : OFF Q172DLX Q172DLX (Note-3) 2) Servo amplifier input use FLS signal : ON FLS signal : OFF Servo amplifier...
Page 57 4 POSITIONING DEDICATED SIGNALS (Note-3) 2) Servo amplifier input use RLS signal : ON RLS signal : OFF Servo amplifier Servo amplifier DICOM DICOM (Note-1) 3) Bit device use The set bit device is the RLS signal. (Note-1): Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)"...
Page 58 4 POSITIONING DEDICATED SIGNALS (Note-1) (10) DOG/CHANGE signal (M2414+20n) ....Status signal (a) This signal turns on/off by the proximity dog input (DOG) of the Q172DLX/ servo amplifier/input (DI) of built-in interface in Motion CPU /bit device at the home position return in the real mode. This signal turns on/off by the speed/position switching input (CHANGE) of the Q172DLX/proximity dog input (DOG) of servo amplifier/input (DI) of built-in interface in Motion CPU...
Page 59 4 POSITIONING DEDICATED SIGNALS (c) When using the Q172DLX/built-in interface in Motion CPU, "Normally open contact input" and "Normally closed contact input" of the system setting can be selected. When using the proximity dog input (DOG) of servo amplifier/bit device, "Normally open contact input"...
Page 60 4 POSITIONING DEDICATED SIGNALS (13) Virtual mode continuation operation disable warning signal (M2418+20n) .............. Status signal When the difference between the final servo command value in previous virtual mode last time and the servo current value at virtual mode switching next time exceeds the "Allowable travel value during power off (×...
Page 61: Axis Command Signals
4 POSITIONING DEDICATED SIGNALS 4.1.2 Axis command signals (1) Error reset command (M3207+20n) .......Command signal This command is used to clear the minor/major error code storage register of an axis for which the error detection signal has turn on (M2407+20n: ON), and reset the error detection signal (M2407+20n).
Page 62 4 POSITIONING DEDICATED SIGNALS (b) M3213+20n : OFF • If the drive module is a virtual servomotor or an incremental synchronous encoder, operation will be continued from the current value within 1 virtual axis revolution for the main shaft and auxiliary input axis in the previous virtual mode.
Page 63 4 POSITIONING DEDICATED SIGNALS (b) M3214+20n : OFF (Final servo command value in previous virtual mode operation) (Current servo current value)  (In-position) ……………………….1) • For formula 1) Operation will be continued by making the lower stroke limit value and current value within 1 cam shaft revolution into the lower stroke limit value and current value within 1 cam shaft revolution at the previous virtual mode operation....
Page 64 4 POSITIONING DEDICATED SIGNALS CAUTION Turn the power supply of the servo amplifier side off before touching a servomotor, such as machine adjustment. (6) Gain changing command (M3216+20n) ....Command signal This signal is used to change the gain of servo amplifier in the Motion controller by the gain changing command ON/OFF.
Page 65 4 POSITIONING DEDICATED SIGNALS POINTS (1) When the servo amplifier is not started (LED: "AA", "Ab", "AC", "Ad" or "AE"), if the control loop changing command is turned ON/OFF, the command becomes invalid. (2) When the following are operated during the fully closed loop, it returns to the semi closed loop control.
Page 66: Virtual Servomotor Axis Statuses
4 POSITIONING DEDICATED SIGNALS 4.1.3 Virtual servomotor axis statuses (1) Positioning start complete signal (M4000+20n) ......Status signal (a) This signal turns on with the start completion for the positioning control of the axis specified with the servo program. It does not turn on at JOG operation. It can be used to read an M-code (Note-1) at the positioning start.
Page 67 4 POSITIONING DEDICATED SIGNALS (2) Positioning complete signal (M4001+20n) ....Status signal (a) This signal turns on with the completion for the positioning control of the axis specified with the servo program. It does not turn on at the start or stop on the way using JOG operation or speed control.
Page 68 4 POSITIONING DEDICATED SIGNALS (b) Command in-position check is continually executed during position control. This check is not executed during speed control. Command in-position setting Position Speed control control start start Command in-position (M4003+20n) Execution of command in-position check (4) Speed controlling signal (M4004+20n) ......Status signal (a) This signal turns on during speed control, and it is used as judgement of during the speed control or position control.
Page 69 4 POSITIONING DEDICATED SIGNALS (c) When the error reset command (M4807+20n) turns on in the state where the virtual servomotor or output module connected to the virtual servomotor turns on is normal, the error detection signal turns off. REMARK (Note-1) : Refer to APPENDIX 1.4 for details of the virtual servomotor minor/major error codes.
Page 70: Virtual Servomotor Axis Command Signals
4 POSITIONING DEDICATED SIGNALS 4.1.4 Virtual servomotor axis command signals (1) Stop command (M4800+20n) ........Command signal (a) This command stops a starting axis from an external source and becomes effective at leading edge of signal. (An axis for which the stop command is turning on cannot be started.) Stop command (M4800+20n)
Page 71 4 POSITIONING DEDICATED SIGNALS (2) Rapid stop command (M4801+20n) .......Command signal (a) This command stops a starting axis rapidly from an external source and becomes effective at leading edge of signal. (An axis for which the rapid stop command is turning on cannot be started.) Rapid stop command Rapid stop command...
Page 72 4 POSITIONING DEDICATED SIGNALS (3) Forward rotation JOG start command (M4802+20n)/Reverse rotation JOG start command (M4803+20n) ...Command signal (a) JOG operation to the address increase direction is executed while forward rotation JOG start command (M4802+20n) is turning on. When M4802+20n is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.
Page 73 4 POSITIONING DEDICATED SIGNALS (5) Error reset command (M4807+20n) .......Command signal (a) This command is used to clear the minor/major error code storage register of an axis for which the error detection signal has turn on (M4007+20n : ON), and reset the error detection signal (M4007+20n). (b) The following processing is executed when the error reset command turns •...
Page 74 4 POSITIONING DEDICATED SIGNALS (7) FIN signal (M4819+20n) .........Command signal When a M-code is set in a servo program, transit to the next block does not execute until the FIN signal changes as follows: OFF OFF. Positioning to the next block begins after the FIN signal changes as above. It is effective, only when the FIN acceleration/deceleration is set and FIN signal wait function is selected.
Page 75: Synchronous Encoder Axis Statuses
4 POSITIONING DEDICATED SIGNALS 4.1.5 Synchronous encoder axis statuses (1) Error detection signal (M4640+4n) ......Status signal (a) This signal turns on when a minor error or major error is detected in a synchronous encoder or output module connected to the synchronous encoder.
Page 76: Synchronous Encoder Axis Command Signals
4 POSITIONING DEDICATED SIGNALS 4.1.6 Synchronous encoder axis command signals (1) Error reset command (M5440+4n) ......Command signal (a) This command is used to clear the minor/major error code storage register of synchronous encoder of an axis for which the error detection signal has turn on (M4640+4n : ON), and reset the error detection signal (M4640+4n).
Page 77: Common Devices
4 POSITIONING DEDICATED SIGNALS 4.1.7 Common devices POINT (1) Internal relays for positioning control are not latched even within the latch range. (2) The range devices allocated as internal relays for positioning control cannot be used by the user even if their applications have not been set. (1) PLC ready flag (M2000) .........Command signal (a) This signal informs the Motion CPU that the PLC CPU is normal.
Page 78 4 POSITIONING DEDICATED SIGNALS (d) The following processes are performed when the M2000 turns ON to OFF. 1) Processing details • Turn the PCPU READY complete flag (SM500) off. • Deceleration stop of the starting axis. • Stop to execute the Motion SFC program. •...
Page 79 4 POSITIONING DEDICATED SIGNALS (2) Virtual servo start accept flag (M2001 to M2032) ......Status signal (a) This flag turns on when the servo program is started. The start accept flag corresponding to an axis specified with the servo program turns on. (b) The ON/OFF processing of the start accept flag is shown below.
Page 80 4 POSITIONING DEDICATED SIGNALS The start accept flag list is shown below. Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No. M2001 M2009 M2017 M2025 M2002 M2010 M2018 M2026 M2003 M2011 M2019 M2027 M2004 M2012 M2020...
Page 81 4 POSITIONING DEDICATED SIGNALS (a) By turning M2040 on before the starting of the constant speed control (before the servo program is started), control with the change speed can be executed from the first of pass point. • OFF ..Speed is changed to the specified speed from the pass point of the constant speed control.
Page 82 4 POSITIONING DEDICATED SIGNALS (8) All axes servo ON command (M2042) ....Command signal This command is used to enable servo operation. (a) Servo operation enabled..M2042 turns on while the servo OFF command (M3215+20n) is off and there is no servo error. (b) Servo operation disable ..
Page 83 4 POSITIONING DEDICATED SIGNALS (10) Real mode/virtual mode switching status flag (M2044) ......Status signal This flag checks the switching completion between the real mode and virtual modes, and the current mode. • This flag turns off with during the real mode or switching completion from the virtual mode to real mode.
Page 84 4 POSITIONING DEDICATED SIGNALS (13) Motion slot fault detection flag (M2047) ..... Status signal This flag is used as judgement of which modules installed in the slot of Motion management are "normal" or "abnormal". • ON ..Installed module is abnormal •...
Page 85 4 POSITIONING DEDICATED SIGNALS (16) Manual pulse generator enable flag (M2051 to M2053) ....Command signal This flag set the enabled or disabled state for positioning with the pulse input from the manual pulse generators connected to P1 to P3 (Note) of the Q173DPX.
Page 86 4 POSITIONING DEDICATED SIGNALS (18) Speed change accepting flag (M2061 to M2092) ......Status signal This flag turns on during speed change by the control change (CHGV) instruction (or Motion dedicated PLC instruction (D(P).CHGV)) of the Motion SFC program. CHGV instruction Speed change accepting flag 0 to 4ms...
Page 87 4 POSITIONING DEDICATED SIGNALS (19) Automatic decelerating flag (M2128 to M2159) ..Status signal This signal turns on while automatic deceleration processing is performed during the positioning control or position follow-up control. (a) This flag turns on while automatic deceleration to the command address at the position follow-up control, but it turns off if the command address is changed.
Page 88 4 POSITIONING DEDICATED SIGNALS (e) In any of the following cases, this flag does not turn off. • When deceleration due to JOG signal off • During manual pulse generator operation • During deceleration due to stop command or stop cause occurrence •...
Page 89 4 POSITIONING DEDICATED SIGNALS The speed change "0" accepting flag list is shown below. Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No. M2240 M2248 M2256 M2264 M2241 M2249 M2257 M2265 M2242 M2250 M2258 M2266 M2243...
Page 90 4 POSITIONING DEDICATED SIGNALS (b) The flag turns off if a stop cause occurs after speed change "0" accept. Speed change "0" Stop cause Start accept flag Speed change "0" accepting flag (c) The speed change "0" accepting flag does not turn on if a speed change "0" occurs after an automatic deceleration start.
Page 91 4 POSITIONING DEDICATED SIGNALS (21) Control loop monitor status (M2272 to M2303) ....Command signal When using the fully closed loop control servo amplifier, this signal is used to check the fully closed loop control/semi closed loop control of servo amplifier. •...
Page 92: Data Registers
4 POSITIONING DEDICATED SIGNALS 4.2 Data Registers (1) Data register list SV22 Device No. Application Real Virtual Axis monitor device (20 points 32 axes) Real mode : Each axis Virtual mode : Output module D640 Real/virtual Control change register community (2 points 32 axes) D704...
Page 93 4 POSITIONING DEDICATED SIGNALS POINT (1) Total number of points for the user devices 6632 points (2) (Note-1) : This device occupies only the areas of the axes set in the mechanical system program. The unused axis areas in the mechanical system program can be used as a user side.
Page 94 4 POSITIONING DEDICATED SIGNALS (2) Axis monitor device list Axis No. Device No. Signal name D0 to D19 D20 to D39 Virtual Refresh Fetch Signal D40 to D59 Real Signal name Real Ball Rotary cycle cycle direction D60 to D79 Roller mode screw...
Page 95 4 POSITIONING DEDICATED SIGNALS (3) Control change register list Axis No. Device No. Signal name D640, D641 D642, D643 Refresh Signal Signal name Real Virtual Fetch cycle cycle direction D644, D645 D646, D647 Command JOG speed setting At start device D648, D649 D650, D651 : Valid...
Page 96 4 POSITIONING DEDICATED SIGNALS (4) Virtual servomotor axis monitor device list Axis No. Device No. Signal name D800 to D809 D810 to D819 Virtual Refresh Fetch Signal D820 to D829 Real Signal name Real Ball Rotary cycle cycle direction D830 to D839 Roller mode screw...
Page 97 4 POSITIONING DEDICATED SIGNALS (5) Synchronous encoder axis monitor device list Axis No. Device No. Signal name D1120 to D1129 D1130 to D1139 Refresh Signal Signal name Real Virtual Fetch cycle cycle direction D1140 to D1149 D1150 to D1159 Backup Operation Current value (Note-1)
Page 98 4 POSITIONING DEDICATED SIGNALS (6) Cam axis monitor device list Axis No. Device No. Signal name D1240 to D1249 D1250 to D1259 Refresh Signal Signal name Real Virtual Fetch cycle cycle direction D1260 to D1269 D1270 to D1279 0 Unusable —...
Page 99 4 POSITIONING DEDICATED SIGNALS (7) Common device list Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle direction direction Manual pulse generator 1 D704 PLC ready flag request D752 smoothing magnification setting register At the manual pulse Manual pulse generator 2 Speed switching point...
Page 100: Axis Monitor Devices
4 POSITIONING DEDICATED SIGNALS 4.2.1 Axis monitor devices The monitoring data area is used by the Motion CPU to store data such as the feed current value during positioning control, the real current value and the deviation counter value. It can be used to check the positioning control state using the Motion SFC program. The user cannot write data to the monitoring data area.
Page 101 4 POSITIONING DEDICATED SIGNALS (5) Major error code storage register (D7+20n) ....Monitor device (a) This register stores the corresponding error code (Refer to APPENDIX 1.4 and 1.6) at the major error occurrence. If another major error occurs after error code storing, the previous error code is overwritten by the new error code.
Page 102: Control Change Registers
4 POSITIONING DEDICATED SIGNALS 4.2.2 Control change registers This area stores the JOG operation speed data of the virtual servomotor axis. Table 4.3 Data storage area for control change list Name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8...
Page 103: Virtual Servomotor Axis Monitor Devices
4 POSITIONING DEDICATED SIGNALS 4.2.3 Virtual servomotor axis monitor devices (1) Feed current value storage register (D800+10n, D801+10n) ..... Monitor device (a) This register stores the target address output to the servo amplifier based on the positioning address/travel value specified with the servo program. (b) The stroke range check is performed on this feed current value data.
Page 104 4 POSITIONING DEDICATED SIGNALS (3) Major error code storage register (D803+10n) ..... Monitor device (a) This register stores the corresponding error code (refer to APPENDIX 1.4 and 1.6) at the major error occurrence in the virtual servomotor or output module. If another major error occurs after error code storing, the previous error code is overwritten by the new error code.
Page 105: Current Value After Virtual Servomotor Axis Main Shaft's Differential Gear
4 POSITIONING DEDICATED SIGNALS 4.2.4 Current value after virtual servomotor axis main shaft's differential gear (1) Current value after virtual servomotor axis main shaft’s differential gear storage register (D806+10n, D807+10n) ...... Monitor device Differential gear is connected with the main shaft. Virtual Differential servomotor...
Page 106 4 POSITIONING DEDICATED SIGNALS (2) Error search output axis No. storage register (D808+10n) ..... Monitor device (a) This register stores the axis No. of the output module in error by the error search function in the virtual mode. (b) If there are no errors at the virtual servomotor axes of the main shaft and auxiliary input axis, the error occurrence output axis No.
Page 107: Synchronous Encoder Axis Monitor Devices
4 POSITIONING DEDICATED SIGNALS 4.2.5 Synchronous encoder axis monitor devices (1) Current value storage register (D1120+10n, D1121+10n) ..... Monitor device (a) This register stores the synchronous encoder current value. (b) Ring address is " - 2147483648  - 2 ) to 2147483647 (2 -1)"...
Page 108: Current Value After Synchronous Encoder Axis Main Shaft's Differential Gear
4 POSITIONING DEDICATED SIGNALS 4.2.6 Current value after synchronous encoder axis main shaft's differential gear (1) Current value after synchronous encoder axis main shaft’s differential gear storage registers (D1126+10n, D1127+10n) ...... Monitor device Differential gear is connected with the main shaft. Synchronous Differential encoder...
Page 109 4 POSITIONING DEDICATED SIGNALS (2) Error search output axis No. storage register (D1128+10n) ..... Monitor device (a) This register stores the axis No. of the output module in error by the error search function in the virtual mode. (b) If there are no errors at the synchronous encoder axes of the main shaft and auxiliary input axis, the error occurrence output axis No.
Page 110: Cam Axis Monitor Devices
4 POSITIONING DEDICATED SIGNALS 4.2.7 Cam axis monitor devices (1) Execute cam No. storage register (D1241+10n) ..Monitor device (a) This register stores the cam No. currently being controlled. (b) Cam No. of the execute cam No. storage register is held until next cam is executed.
Page 111: Common Devices
4 POSITIONING DEDICATED SIGNALS 4.2.8 Common devices (1) Common bit device SET/RST request register (D704 to D708, D755 to D757) ............Command device Because cannot be turn on/off in every bit from the PLC CPU, the bit device is assigned to data register (D), and each bit device turns on with the lowest rank bit 0 to 1 and each bit device becomes off with 1 to 0.
Page 112 4 POSITIONING DEDICATED SIGNALS (3) Manual pulse generator axis No. setting registers (D714 to D719) ....Command signal (a) These registers stores the virtual servomotor axis No. controlled with the manual pulse generator. b15 b14 b13 b12 b11 b10 D714 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 D715 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17 D716...
Page 113 4 POSITIONING DEDICATED SIGNALS (b) Refer to Section 6.22 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details of the manual pulse generator operation. (5) Manual pulse generator smoothing magnification setting registers (D752 to D754) ............. Command device (a) These registers set the smoothing time constants of manual pulse generators.
Page 114: 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 115 4 POSITIONING DEDICATED SIGNALS (a) Servo amplifier type (#8000+20n) ..........Monitor device This register stores the servo amplifier type for each axis at the servo amplifier power supply ON. • 0 ....Unused • 256 ..MR-J3- B MR-J3W- B (For 2-axis type) •...
Page 116 4 POSITIONING DEDICATED SIGNALS (g) Parameter error number (#8009+20n) ......Monitor device The parameter number of error servo parameter is stored in hexadecimal at the servo error occurrence. Parameter No. Parameter group No. 0: PA group 4: PE group B: PL group 1: PB group 5: PF group C: PT group...
Page 117 4 POSITIONING DEDICATED SIGNALS (i) Servo status2 (#8011+20n) ..........Monitor device This register stores the servo status read from the servo amplifier. b15 b14 b13 b12 b11 b10 b9 #8011+20n Zero point pass Zero speed Speed limit PID control (Note): The 0/1 is stored in the servo status 2. 0: OFF 1: ON •...
Page 118 4 POSITIONING DEDICATED SIGNALS (a) Operating system software version (#8736 to #8743) ..... Monitor device The operating system software version of Motion CPU displayed on the system monitor (product information list) of GX Works2/GX Developer is stored in ASCII code. (Example) Operating system software version: "SV22j VER300A"...
Page 119: 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 a Table 4.4 are used for the positioning control. The special relay list used for the positioning control is shown below. (Refer to "...
Page 120 4 POSITIONING DEDICATED SIGNALS (2) TEST mode ON flag (SM501) ........Status signal (a) This flag is used as judgement of during the test mode or not using MT Developer2 Use it for an interlock, etc. at the starting of the servo program using the Motion SFC program.
Page 121 4 POSITIONING DEDICATED SIGNALS (6) Amplifier-less operation status flag (SM508) ....Status signal This flag is used to check the state of amplifier-less operation. • OFF ..During normal operation • ON ... During amplifier-less operation (7) TEST mode request error flag (SM510) ....... Status signal (a) This flag turns on when the test mode is not executed in the test mode request using MT Developer2.
Page 122: 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 a Table 4.5 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 Programming Manual (COMMON)"...
Page 123 4 POSITIONING DEDICATED SIGNALS (1) State of switch (SD200) ..........Monitor device The switch state of CPU is stored in the form of the following. SD200 Switch state of CPU 0 : RUN 1 : STOP No used (2) Real mode axis information register (SD500, SD501) ....
Page 124 4 POSITIONING DEDICATED SIGNALS (a) Servo amplifier mounting status 1) Mounting status • Mounted ..…..The servo amplifier is normal. (Communication with the servo amplifier is normal.) • Not mounted ..The servo amplifier is not mounted. The servo amplifier power is off. Normal communication with the servo amplifier is not possible due to a connecting cable fault, etc.
Page 125 4 POSITIONING DEDICATED SIGNALS (6) Test mode request error information (SD510, SD511) ..... Monitor device If there are operating axis at a test mode request using MT Developer2, a test mode request error occurs, the test mode request error flag (SM510) turns on, and the during operation/stop data of each axis are stored.
Page 126 4 POSITIONING DEDICATED SIGNALS (8) Manual pulse generator axis setting error information (SD513 to SD515) ............. Monitor device The setting information is checked at leading edge of manual pulse generator enable signal, if an error is found, the following error information is stored into SD513 to SD515 and the manual pulse generator axis setting error flag (SM513) turns on.
Page 127 4 POSITIONING DEDICATED SIGNALS (11) Motion operation cycle (SD522) ......Monitor device The time which motion operation took for every motion operation cycle is stored in [ µs ] unit. (12) Operation cycle of the Motion CPU setting (SD523) ..... Monitor device The setting operation cycle is stored in [ µs ] unit.
Page 128 4 POSITIONING DEDICATED SIGNALS (16) SSCNET control (command) (SD803) ....Command device SD803 is required for connect/disconnect of SSCNET communication and start/release of amplifier-less operation. • 0 ....No command • 1 to 32 ..Disconnect command of SSCNET communication •...
Page 129 4 POSITIONING DEDICATED SIGNALS MEMO 4 - 90...
Page 130: Mechanical System Program
5 MECHANICAL SYSTEM PROGRAM 5. MECHANICAL SYSTEM PROGRAM This section describes the mechanical system program in the virtual mode. In the mechanical system program (Mechanical support language), what was performing synchronous control by hardware using the gear, shaft, belt, pulley, cam or infinitely variable speed changer, etc.
Page 131: Mechanical Module Connection Diagram
5 MECHANICAL SYSTEM PROGRAM 5.1 Mechanical Module Connection Diagram The mechanical module connection diagram shows a virtual system diagram which arranged the mechanical modules and was composed. Configuration of the mechanical module connection is shown in Fig. 5.1 below. Indicates rotation direction Virtual axis Drive module Transmission module...
Page 132 5 MECHANICAL SYSTEM PROGRAM (1) Block The term "block" is one relation from the virtual transmission module (gear) connected to the virtual main shaft to the output module. Refer to Section 5.2 for the number of mechanical modules which can be connected in one block.
Page 133 5 MECHANICAL SYSTEM PROGRAM Transmission modules which can be connected at "A" and "B" above 1) A clutch, speed change gear, and "clutch + speed change gear" can be connected at "A" and "B". 2) If a "clutch + speed change gear" are used, connection constraints have not restrictions.
Page 134 5 MECHANICAL SYSTEM PROGRAM MEMO 5 - 5...
Page 135: Mechanical Module List
5 MECHANICAL SYSTEM PROGRAM 5.2 Mechanical Module List An overview of the mechanical modules used at the mechanical module connection diagrams in the virtual mode is shown in Tables 5.1. Refer to Chapter 6 to 8 for details of each mechanical module. Table 5.1 Mechanical Module List Maximum Number of Usable Mechanical Module...
Page 136 5 MECHANICAL SYSTEM PROGRAM Maximum Number of Usable Q173DCPU(-S1) Q172DCPU(-S1) Number Number Per Block Number Number Per Block Function Description Section Number Number Per Motion Per Motion Auxiliary Auxiliary Connection Connection Input Input System System Shaft Side Axis Side module module Axis Side Axis Side...
Page 137 5 MECHANICAL SYSTEM PROGRAM Table 5.1 Mechanical Module List (Continued) Maximum Number of Usable Mechanical Module Q173DSCPU Q172DSCPU Number Number Per Block Number Number Per Block Classification Number Number Per Motion Per Motion Auxiliary Auxiliary Name Appearance Connection Connection Input Input System System...
Page 138 5 MECHANICAL SYSTEM PROGRAM Maximum Number of Usable Q173DCPU(-S1) Q172DCPU(-S1) Number Number Per Block Number Number Per Block Function Description Section Number Number Per Motion Per Motion Auxiliary Auxiliary Connection Connection Input Input System System Shaft Side Axis Side module module Axis Side Axis Side...
Page 139 5 MECHANICAL SYSTEM PROGRAM MEMO 5 - 10...
Page 140: Drive Module
6 DRIVE MODULE 6. DRIVE MODULE The drive module is the source of drive for the virtual axis (virtual main shaft, virtual auxiliary input axis). There are following 2 types drive module. • Virtual servomotor ....... Refer to Section 6.1 •...
Page 141: Virtual Servomotor
6 DRIVE MODULE 6.1 Virtual Servomotor The virtual servomotor is used to operate the virtual axis (virtual main shaft, virtual auxiliary input axis) using the servo program or JOG operation. Virtual servomotor operation and parameters are shown below. 6.1.1 Operation description (1) Operation When the virtual servomotor is started, the pulses are transmitted to the virtual axis (virtual main shaft, virtual auxiliary input axis) by the start conditions...
Page 142 6 DRIVE MODULE (b) Start using the JOG operation An individual start and simultaneous start can be executed in the JOG (Note-1). operation 1) Individual start (Note-2) ..It is started by turning on the forward/reverse JOG command of each axis. Motion SFC program for which executes the JOG operation is shown below.
Page 143 6 DRIVE MODULE 2) Simultaneous start ..The simultaneous start axis No. and directions (forward/reverse) are set by the JOG operation simultaneous start axis setting register (Note-3) (D710 to D713) , and it is started by turning on the JOG (Note-3) operation simultaneous start command flag (M2048) Virtual axis 1, 2 simultaneous program When the 2 axes simultaneous start switch...
Page 144 6 DRIVE MODULE (3) Stopping method during operation When the virtual servomotor is stopped during operation after the start, turn the stop command (M4800+20n)/rapid stop command (M4801+20n) on using the Motion SFC program. (There are no external stop causes (STOP, FLS, RLS) for the virtual servomotor.) (4) Control items (a) It is controlled as the virtual servomotor backlash compensation amount "0"...
Page 145 6 DRIVE MODULE (6) Error-time operation mode The processings are shown below when major errors occurred with the output modules per 1 system. The following control is executed based on the parameter settings (Refer to Section 6.1.2) of the virtual servomotor connected to the virtual main shaft. (a) Continuation Even if a major error occurs with the output module, the output module continues operation.
Page 146 6 DRIVE MODULE (7) Virtual servomotor axis infinite operation By setting the upper stroke limit value and lower stroke limit value of the virtual servomotor parameters such that the "upper stroke limit value = lower stroke limit value", the stroke limit becomes invalid and infinite operation becomes possible. When the stroke limit is invalid, it is also possible for the start of the feed current value to take place in a direction that exceeds 32 bits.
Page 147: Parameter List
6 DRIVE MODULE 6.1.2 Parameter list The virtual servomotor parameters are shown in Table 6.1 and the parameters shown in this table are explained in items (1) to (4) below. Refer to the help of MT Developer2 for the parameter setting method of virtual servomotor.
Page 148 6 DRIVE MODULE <Error check at start> Error code Contents Operation Command position is outside the stroke limit range at Operation does not start. start. <Error check during start> Error code Contents Operation Feed current value is outside the stroke limit range during start.
Page 149 6 DRIVE MODULE (3) Command in-position range The command in-position is the difference between the positioning address (command position) and feed current value. Once the value for the command in-position has been set, the command in- position signal (M2403 + 20n) turns on when the difference between the command position and the feed current value enters the set range [(command position - feed current value) ...
Page 150 6 DRIVE MODULE POINT (1) Unit is fixed at [PLS] regardless of the interpolation control unit setting of parameter block in the JOG operation. (2) Even if the JOG speed of virtual servomotor is within the JOG speed restriction, when the JOG speed has not satisfied the condition "(Command speed [PLS/s]) (Operation cycle [ms]) (Number of input side gear teeth) <...
Page 151 6 DRIVE MODULE (5) The parameter block No. for the program operation of virtual servomotor is set in the servo program for virtual mode. (If the parameter block No. setting is omitted, it is controlled with the contents of parameter block No.1.) The valid parameter block data are shown below.
Page 152: Virtual Servomotor Axis Devices (Internal Relays, Data Registers)
6 DRIVE MODULE 6.1.3 Virtual servomotor axis devices (Internal relays, data registers) (1) Virtual servomotor axis status Refer to Section 4.1.3 for details of the virtual servomotor axis statuses. (2) Virtual servomotor axis command signal Refer to Section 4.1.4 for details of the virtual servomotor axis command signals. (3) Virtual servomotor axis monitor device Refer to Section 4.2.3 for details of the virtual servomotor axis monitor devices.
Page 153: Synchronous Encoder
6 DRIVE MODULE 6.2 Synchronous Encoder The synchronous encoder is used to operate the virtual axis (virtual main shaft, virtual auxiliary input axis) with the external input pulse. Synchronous encoder operation and parameters are shown below. 6.2.1 Operation description (1) Operations Although a synchronous encoder does not need to start using the servo program etc.
Page 154 6 DRIVE MODULE CAUTION If the mode is switched from real mode to virtual mode in the state of clutch ON, use the smoothing clutch. If the direct clutch is used and the mode is switched from real mode to virtual mode in the state of clutch ON, the rapid acceleration occurs at the output module axis, causing a servo error, and the machine will be subjected to a jolt.
Page 155 6 DRIVE MODULE CAUTION If the mode is switched from virtual mode to real mode while the synchronous encoder axis and connected output module are operating, the rapid stop occurs at the output module axis, causing a servo error, and the machine will be subjected to a jolt. (c) Stopping method Stop the external synchronous encoder for stopping the external synchronous encoder.
Page 156 6 DRIVE MODULE REMARK (Note-1): Refer to Section 4.1.7 (9) (10) for details of the real mode/virtual mode switching request flag and real mode/virtual mode switching status flag. Refer to Chapter 9 for switching from real mode to virtual mode. (Note-2): The synchronous encoder input start signal is inputted to the Q173DPX "TREN"...
Page 157 6 DRIVE MODULE [During operation] [Operation at major error occurrence] Synchronous encoder Clutch ON Clutch OFF Major error occurrence Operation continuation Clutch ON Clutch OFF Clutch ON Clutch OFF Major error occurrence Stop 6 - 18...
Page 158: Parameter List
6 DRIVE MODULE 6.2.2 Parameter list The synchronous encoder parameters are shown in Table 6.2 and the parameters shown in this table are explained in items (1) below. Refer to the help of MT Developer2 for the parameter setting method of synchronous encoder.
Page 159: Synchronous Encoder Axis Devices (Internal Relays, Data Registers)
6 DRIVE MODULE 6.2.3 Synchronous encoder axis devices (Internal relays, data registers) (1) Synchronous encoder axis status Refer to Section 4.1.5 for details of the synchronous encoder axis statuses. (2) Synchronous encoder axis command signal Refer to Section 4.1.6 for details of the synchronous encoder axis command signals.
Page 160: Virtual Servomotor/Synchronous Encoder Control Change
6 DRIVE MODULE 6.3 Virtual Servomotor/Synchronous Encoder Control Change The current value change and JOG speed change of the virtual servomotor and the current value of synchronous encoder. Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for details of the current value change/speed change/target position change 6.3.1 Virtual servomotor control change (1) Control change registers...
Page 161 6 DRIVE MODULE POINT (1) The following range is valid. • Q172DSCPU : Axis No.1 to 16 • Q172DCPU(-S1) : Axis No.1 to 8 (2) The following device area can be used as a user device. • Q172DSCPU : 17 axes or more •...
Page 162: Synchronous Encoder Control Change
6 DRIVE MODULE 6.3.2 Synchronous encoder control change (1) Current value change by the CHGA-E instruction Example of Motion SFC program for which executes the servo program is shown below. Current value change CHGA-E Current value change Wait until PX000, real mode/virtual mode PX000*M2043*M2044*!M2101 switching request and switching status turn on, and current value changing flag...
Page 163 6 DRIVE MODULE MEMO 6 - 24...
Page 164: Transmission Module
7 TRANSMISSION MODULE 7. TRANSMISSION MODULE The transmission module transmits the pulse outputted from the drive module to output module. There are following 4 types transmission modules. • Gear ........Section 7.1 • Clutch ....... Section 7.2 • Speed change gear ..Section 7.3 •...
Page 165 7 TRANSMISSION MODULE (2) Device data input The all device data set indirectly is inputted as "initial value" at the switching from real mode to virtual mode, thereafter the input control for module is executed during the virtual mode operation. The input timing of each setting device and refresh cycle of setting device are shown below.
Page 166: Gear
7 TRANSMISSION MODULE 7.1 Gear This section describes the gear operation and the parameters required to use a gear. 7.1.1 Operation Relation between the number of pulses outputted from the synchronous encoder or virtual servomotor and the output module is adjusted by parameter setting of the encoder resolution of servomotor, the gear ratio in consideration of the deceleration ratio for machine system etc.
Page 167 7 TRANSMISSION MODULE (1) Gear ratio (a) The number of pulses transmitted to the output axis through 1 pulse outputted from the drive module by the gear module is set in the gear ratio. (b) The gear ratio is based on the settings for the input axis side tooth count (GI) and output axis side tooth count (GO).
Page 168: Clutch
7 TRANSMISSION MODULE 7.2 Clutch The clutch is used to transmit/disengage the command pulse from drive module side to output module side, and to control the operation/stop of servomotor. There are two types for clutch: smoothing clutch and direct clutch. These two clutches operate in the same way, but these have the difference in whether the acceleration/deceleration processing by the smoothing processing is executed or not at the switching of the clutch on/off.
Page 169 7 TRANSMISSION MODULE REMARK (1) Clutch ON/OFF state is shown below. Input side (Input axis) to the clutch Clutch Output axis • Clutch ON state..The state in which pulses inputted to the clutch are output to the output axis. • Clutch OFF state..The state in which pulses inputted to the clutch are not output to the output axis.
Page 170 7 TRANSMISSION MODULE 2) If input to clutch (travel value after the main shaft's differential gear) changes after smoothing completion, the smoothing processing is executed at that point. Input to clutch Travel value after the main shaft's differential gear Internal clutch status Output to output axis by the smoothing clutch for time...
Page 171 7 TRANSMISSION MODULE b) Since the slippage remains constant even if the drive module speed changes, the clutch ON/OFF position can be controlled without any influence from speed changes. : Drive module speed : Smoothing complete time : Slippage [PLS] at V : Slippage [PLS] at V c) If input to clutch (travel value after the main shaft's differential gear) changes after smoothing completion, the smoothing processing is not...
Page 172 7 TRANSMISSION MODULE 2) Linear acceleration/deceleration system a) Set the slippage indicated by the shaded area in the diagram below. Slippage is recommended to be set greater than input to clutch (travel value after the main shaft's differential gear). Input to clutch Slippage [PLS] Clutch status b) Execute the smoothing processing so that the slippage may become...
Page 173 7 TRANSMISSION MODULE d) If input to clutch (travel value after the main shaft's differential gear) changes after smoothing completion, the smoothing processing is not executed and output directly. Input to clutch Travel value after the main shaft's differential gear Internal clutch status Slippage [PLS] Output to output axis...
Page 174: Operation
7 TRANSMISSION MODULE 7.2.1 Operation There are following five clutch operation modes. Operation mode Description Clutch ON/OFF control is executed by turning the clutch ON/OFF ON/OFF mode command device on/off. Clutch ON/OFF control is executed by turning the clutch ON/OFF Address mode command device on/off and an address of clutch ON/OFF address setting device.
Page 175 7 TRANSMISSION MODULE (d) The refresh cycle of clutch status signal is an operation cycle. Clutch ON/OFF command device (Note) Clutch status signal Maximum Maximum 1 operation cycle Maximum 1 operation cycle 1 operation cycle Current value of virtual axis (input Continuance from axis) current value at...
Page 176 7 TRANSMISSION MODULE (c) Turn the clutch ON/OFF command device on/off after setting an address of clutch ON/OFF address setting device. 1) When the clutch ON/OFF command device is OFF, even if the current value of virtual axis reaches an address of clutch ON address setting device, the clutch is not set to the ON state.
Page 177 7 TRANSMISSION MODULE (3) Address mode 2 (a) When the current value of virtual axis reaches an address of clutch ON/OFF address setting device, the clutch ON/OFF is executed. (Mode setting device is "2".) (b) When the clutch ON/OFF command device is ON, the following controls are executed according to the current clutch status.
Page 178 7 TRANSMISSION MODULE (d) The clutch ON/OFF control is executed for every operation cycle. When the current value passes through an address set in the clutch ON/OFF address setting device for 1 operation cycle, the internal control is executed correctly but the clutch status signal does not change.
Page 179 7 TRANSMISSION MODULE (f) The procedure to execute the axis servo OFF or power supply OFF of servo amplifier during operation is shown below. 1) Turn the clutch ON/OFF command device off. The clutch status is set to the OFF state. After that, the axis servo OFF command becomes valid.
Page 180 7 TRANSMISSION MODULE (c) When the mode setting device is "4", the clutch ON/OFF command device becomes invalid, and the clutch remains OFF. However, when the mode setting device is changed from "3" to "4" during execution of clutch ON/OFF processing by turning the clutch ON/OFF command device on, the clutch ON/OFF processing in execution is executed till the end and the next clutch ON/OFF command or later becomes invalid.
Page 181 7 TRANSMISSION MODULE POINT (1) The mode setting device of except for "0 to 4" is regarded as an error, and control is continued at the previous setting value. (2) Clutch control mode changes are valid at any time. (3) Clutch ON/OFF address setting device changes are valid at any time. Since they have 2-word data, set it as 32-bit integer type data.
Page 182 7 TRANSMISSION MODULE (g) When the mode setting device becomes "3", the clutch status turns OFF, while the clutch ON/OFF command device is OFF and the clutch status is Mode setting device value Current value of virtual axis (input axis) Clutch ON/OFF command device (Note)
Page 183 7 TRANSMISSION MODULE (l) When the travel direction of drive module changes during the clutch ON/OFF processing by turning the clutch ON/OFF command device on, the clutch ON/OFF control is executed at the position in which not the travel value of drive module but the setting travel value before clutch ON/ setting travel value after clutch ON to the position where the clutch ON command is given was added.
Page 184 7 TRANSMISSION MODULE (o) When the "Clutch OFF" is set in the parameter "Error-time operation mode" of drive module and a major error occurs in the output module, the operating system software turns off the clutch. The procedure to resume an operation after an error occurrence is shown below.
Page 185 7 TRANSMISSION MODULE (b) Turn the external input (TREN signal) on after turning the clutch ON/OFF command device on. In this mode, a time for maximum 2 operation cycles is required to turn the external input on after the clutch ON/OFF command device turns on. 1) If the external input turns from off to on when the clutch ON/OFF command device is OFF, the clutch is not set to the ON state.
Page 186 7 TRANSMISSION MODULE (f) A synchronous encoder, external input and external input mode clutch can be set in only 1:1 ratio. The relationship between the synchronous encoder and external input is shown in the table below. Synchronous External input Synchronous External input encoder No.
Page 187 7 TRANSMISSION MODULE < Example 2 > Same synchronous encoder is connected to auxiliary input axis Set all the clutches connected to the same synchronous encoder set to the external input mode. (Also set clutch ON/OFF devices to the same setting.) Set both to external input mode.
Page 188: Parameters
7 TRANSMISSION MODULE 7.2.2 Parameters The clutch parameters are shown in Table 7.2 and the parameters shown in this table are explained in items (1) to (11) below. Refer to the help of MT Developer2 for the clutch parameter setting method. Table 7.2 Clutch Parameter List Setting item Default value...
Page 189 7 TRANSMISSION MODULE (b) If a synchronous encoder is used as the drive module, the operation modes that can be set differ depending on the encoder interface connected to the Q173DPX/Q172DEX. Clutch operation mode Address mode, Encoder interface External input ON/OFF mode Address mode 2, mode...
Page 190 7 TRANSMISSION MODULE (3) Clutch ON/OFF command device (a) This device is used to execute the clutch ON/OFF command. (b) The following devices can be used as the clutch ON/OFF command device. Name Setting range (Note-1) Input X0 to X1FFF Output Y0 to Y1FFF (Note-2)
Page 191 7 TRANSMISSION MODULE (5) Clutch ON/OFF address setting device (only ON/OFF mode, address mode, address mode 2 and one-shot mode combined use, 2 words) (a) This device is used to set an address to turn the clutch on/off in the address mode.
Page 192 7 TRANSMISSION MODULE (d) The clutch ON/OFF address setting device value according to the output module is as follows. Refer to Section 7.2.1 (1) to (5) for details of each mode operation. Ball screw/Roller Rotary table/Cam • Current value of virtual axis Select between the following depending on the setting for If the differential gear is connected to the main shaft, the address mode clutch.
Page 193 7 TRANSMISSION MODULE (8) Slippage setting device (2 words) (a) This device is used to set the slippage of clutch. (b) The following devices can be used as the slippage setting device. (Note-1) Setting range Name (Note-2) Data register D0 to D8191 Link register W0 to W1FFF Motion register...
Page 194 7 TRANSMISSION MODULE (d) When "(Remainder slippage) < (Slippage in-position range)" is set, the smoothing clutch complete signal turns on. The smoothing clutch complete signal ON/OFF is refreshed by the operation cycle. 1) ON/OFF state of smoothing clutch is indicated. (Only exponential function system and linear acceleration/deceleration system are valid.) •...
Page 195 7 TRANSMISSION MODULE b) Linear acceleration/deceleration system Input to clutch Travel value after main shaft's differential gear Internal clutch status OFF by OFF by smoothing smoothing ON by ON by ON by clutch start clutch start acceleration deceleration acceleration smoothing smoothing smoothing completion...
Page 196 7 TRANSMISSION MODULE (10) Address mode clutch control system (a) When a clutch is turned on by the setting value of ON/OFF address setting device in the address mode/address mode 2, the current value (current value within 1 virtual axis revolution/current value of virtual axis) of virtual axis to be used is selected.
Page 197: Speed Change Gear
7 TRANSMISSION MODULE 7.3 Speed Change Gear Speed change gear is used to change the rotation speed to output module and travel value during operation. The operation of speed change gear and parameters required to use it are shown below. 7.3.1 Operation This section describes the operation of speed change gear.
Page 198: Parameters
7 TRANSMISSION MODULE (2) When a speed change ratio changes, the acceleration/deceleration processing is executed by the smoothing time constant (t) set in the speed change gear parameters. Input axis Speed change 10000 2500 8000 ratio Operation Operation cycle cycle Output axis Time until it becomes 100 =...
Page 199 7 TRANSMISSION MODULE (1) Speed change ratio upper/lower limit value (a) The validate range (0.00 to 655.35[%]) of speed change ratio set in the speed change ratio setting device is set. (b) When the setting value of speed change ratio setting device is greater than the speed change ratio upper limit value, an operation is executed by a speed change ratio clamped at the upper limit value.
Page 200: Differential Gear
7 TRANSMISSION MODULE 7.4 Differential Gear The differential gear is used for the following purposes; • Output module phase is shifted or alignment of operation start position is executed. • Individual operation separated from the virtual main shaft is executed. 7.4.1 Operation (1) When the output module phase is shifted or alignment of the operation start position is executed.
Page 201 7 TRANSMISSION MODULE MEMO 7 - 38...
Page 202: Output Module
8 OUTPUT MODULE 8. OUTPUT MODULE The command pulse output from drive module is input to output module via the transmission module. The travel value of servomotor is controlled by the command pulse from output module. There are following four output modules. The parameters in accordance with that mechanism is set if necessary.
Page 203 8 OUTPUT MODULE (2) Device range of output module parameters and device data input The device range and setting method of items set in the indirect setting by devices among the output module parameters are shown below. (a) Device range The number of device words and device range in the indirect setting are shown below.
Page 204 8 OUTPUT MODULE POINT (1) Be sure to set even-numbered device 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. (2) When a 2-word monitor device is read in the Motion SFC program, read it as 32-bit integer type.
Page 205 8 OUTPUT MODULE REMARK (Note): The operation cycle is set in the "operation cycle setting" of system basic setting. Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)" for details. 8 - 4...
Page 206: Rollers
8 OUTPUT MODULE 8.1 Rollers The rollers are used in the following cases. • The machine connected to the servomotor is operated continuously. • The system which does not need position control. (It is used when the speed control (cycle speed/number of rotations) mainly is controlled without the current value and position data.) This section describes the roller operation and parameters required to use a roller.
Page 207: Parameter List
8 OUTPUT MODULE (2) Control details (a) The roller has no current value. However, when it switches from the virtual mode to real mode, it reaches the current value corresponding to the position moved in the virtual mode. • The current value is a ring address within the range of -2147483648 (-2 to 2147483647 (2 -1) [PLS].
Page 208 8 OUTPUT MODULE (2) Roller diameter (L)/Number of pulses per roller revolution (N (a) The roller diameter connected to servomotor and the number of pulses per roller revolution are displayed. Number of pulses per roller revolution (N Roller diameter (L) (b) The roller cycle speed is calculated by the roller diameter and number of pulses per roller revolution as the formula below.
Page 209 8 OUTPUT MODULE (c) When the roller axis speed exceeds the speed limit value, the error detection signal (M2407+20n) turns on. However, the roller axis speed is not clamped. Even if the speed limit value is exceeded, it controls with the setting speed. Speed limit value (5) Torque limit value setting device (1 word) (a) This device is used to set the torque limit value of roller axis.
Page 210: Ball Screw
8 OUTPUT MODULE 8.2 Ball Screw The ball screw is used to make a machine connected to servomotor operate linearly. This section describes the ball screw operation and parameters required to use ball screws. 8.2.1 Operation (1) Operation (a) The ball screw is controlled with the speed that the speed/travel value of drive module multiplied by a gear ratio of transmission module, and the travel value is output.
Page 211: Parameter List
8 OUTPUT MODULE 8.2.2 Parameter list The ball screw parameters are shown in Table 8.2 and the parameters shown in this table are explained in items (1) to (7) below. Refer to the help of MT Developer2 for the ball screw parameter setting method. Table 8.2 Ball Screw Parameter List Setting Item Default...
Page 212 8 OUTPUT MODULE (3) Permissible droop pulse value (a) This device is used to set the permissible droop pulse value of deviation counter. (b) The deviation counter value is continually checked, and if it becomes larger than the permissible droop pulse value, the error detection signal (M2407+20n) turns on.
Page 213 8 OUTPUT MODULE (6) Torque limit value setting device (1 word) (a) This device is used to set the torque limit value of ball screw axis. When the device is set, the torque control is executed with the preset device value.
Page 214: Rotary Tables
8 OUTPUT MODULE 8.3 Rotary Tables The rotary table is used to make a machine connected to servomotor gyrate. This section describes the rotary table operation and parameters required to use rotary table. 8.3.1 Operation (1) Operation (a) The rotary table is controlled with the speed that the speed/travel value of drive module multiplied by a gear ratio of transmission module, and the travel value is output.
Page 215: Parameter List
8 OUTPUT MODULE 8.3.2 Parameter list The rotary table parameters are shown in Table 8.3 and the parameters shown in this table are explained in items (1) to (8) below. Refer to the help of MT Developer2 for the rotary table parameter setting method. Table 8.3 Rotary Table Parameter List Setting Item Default...
Page 216 8 OUTPUT MODULE (b) The travel value per pulse is calculated from the number of pulses per rotary table revolution in accordance with the following formula: [Travel value per pulse] [degree] (2) Permissible droop pulse value (a) This device is used to set the permissible droop pulse value of deviation counter.
Page 217 8 OUTPUT MODULE (5) Torque limit value setting device (1 word) (a) This device is used to set the torque limit value of rotary table axis. When the device is set, the torque control is executed with the preset device value.
Page 218 8 OUTPUT MODULE (b) The following devices can be set as the current value within 1 virtual axis revolution storage device. (Note-1) Setting range Name (Note-2) D0 to D8191 Data register Link register W0 to W1FFF Motion register #0 to #7999 U \G10000 to U \G(10000+p-1) Multiple CPU area device (Note-3), (Note-4)
Page 219 8 OUTPUT MODULE (f) An example of an address mode clutch operation is shown below. Operation example Set the clutch ON/OFF in this current value (Current value within 1 virtual axis revolution). 1 axis Number of pulses per revolution : 20000[PLS] Virtual servomotor current value (Synchronous encoder) Current value within 1 virtual...
Page 220 8 OUTPUT MODULE (b) The following devices can be set as the current value within 1 virtual axis revolution storage device. (Note-1) Setting range Name (Note-2) D0 to D8191 Data register Link register W0 to W1FFF Motion register #0 to #7999 U \G 10000 to U \G (10000+p-1) Multiple CPU area device (Note-3), (Note-4)
Page 221 8 OUTPUT MODULE (f) An example of an address mode clutch operation is shown below. Operation example Main shaft side clutch OFF Set the clutch ON/OFF in this current value. (Current value within 1 virtual axis revolution) 1 axis Number of pulses per revolution : 20000[PLS] Virtual servomotor current value of auxiliary input axis side (Synchronous encoder)
Page 222: Cam
8 OUTPUT MODULE 8.4 Cam Cam is used to make a machine connected to servomotor operate according to the preset cam pattern. (1) For axes at which the cam is set as the output module, the same operation as a cam is executed using a ball screw as shown in the example below.
Page 223: Operation
8 OUTPUT MODULE 8.4.1 Operation This section describes the cam operation. (1) Procedure for switching from the real mode to virtual mode Set the devices by the following procedure using the Motion SFC program at the switching from real mode to virtual mode. (a) Set the following details.
Page 224 8 OUTPUT MODULE < Example > Switching between cam No.1 and No.2, and switching timing between stroke amount I and I when the stroke amount/cam No. change point is set as "0". Current value within 1 cam shaft revolution [PLS] Nc-1, 0 Nc-1, 0 Nc-1, 0...
Page 225 8 OUTPUT MODULE (5) Control details (a) The cam feed current value is continued at switching from the real mode to virtual mode/from the virtual mode to real mode. (b) Backlash compensation processing is continued with the settings value of fixed parameters, even if switches the real mode/virtual mode.
Page 226: Settings Items At Cam Data Creating
8 OUTPUT MODULE (7) Program example [Switching real mode/virtual mode] Motion SFC program for switching real mode/virtual mode is shown below. Switching real mode/virtual mode example Switching real mode/virtual mode PX000 turn on, and real mode/virtual mode PX000*!M2043*!M2044 switching request and switching status turn off. D2000=K1 Cam No.
Page 227 8 OUTPUT MODULE (1) Cam No. This device is used to set the number allocated in created cam data. The number of cam data is set "1 to 64" for each machine. A cam No. is used with the number which offset value attached by the machine name sequence registered on mechanical system editing screen in the mechanical system program.
Page 228 8 OUTPUT MODULE Cam pattern Operation example 32767 Output value (Address) Stroke amount Lower stroke limit value Resolution-1 1 cycle Stroke amount (1 cam shaft revolution) Lower stroke limit value 2) Feed cam mode .....With the lower stroke limit value (lower dead point) as the operation start position, positioning is executed by feeding one stroke amount per cycle in a fixed direction.
Page 229 8 OUTPUT MODULE (5) Cam data table (a) This device is used to set each point stroke ratio (when the stroke amount is divided into 32767 divisions) in the set resolution. Output value (Address) 32767 Stroke amount Cam curve Lower stroke limit value Stroke ratio (Lower dead...
Page 230: Parameter List
8 OUTPUT MODULE 8.4.3 Parameter list The cam parameters are shown in Table 8.5 and the parameters No.2 to No.12 shown in this table are explained in items (1) to (11) below. Refer to the help of MT Developer2 for the cam parameter setting method. Table 8.5 Cam Parameter List Setting item Default value...
Page 231 8 OUTPUT MODULE (c) Set cam reference position after setting the number of pulses per cam shaft revolution. If not setting, the positioning is executed at the position before change. (d) The following devices can be set as the number of pulses per cam shaft revolution.
Page 232 8 OUTPUT MODULE (4) Output unit (a) This device is used to set the unit ([mm]/[inch]/[degree] /[PLS]) of cam. (b) Set the same unit as used in the real mode (unit in the fixed parameters) for the cam shaft. (5) Stroke amount setting device (2 words) (a) This device is used to set the cam stroke amount.
Page 233 8 OUTPUT MODULE POINT When the cam reference position setting command (M3214+20n) is OFF, a position of cam axis is restored in the range of 0 to 359.99999[degree]. If the cam stroke amount is lager than 360.00000[degree], the current value within 1 cam shaft revolution different from the previous virtual mode might be restored.
Page 234 8 OUTPUT MODULE (8) Lower stroke limit value storage device (2 words) (a) This device is used to store the cam lower stroke limit value. The current lower stroke limit value is stored. (b) The following devices can be set as the lower stroke limit value storage device.
Page 235 8 OUTPUT MODULE (b) The following devices can be set as the current value within 1 virtual axis revolution storage device. (Note-1) Setting range Name (Note-2) D0 to D8191 Data register Link register W0 to W1FFF Motion register #0 to #7999 U \G10000 to U \G(10000+p-1) Multiple CPU area device (Note-3), (Note-4)
Page 236 8 OUTPUT MODULE (f) An example of an address mode clutch operation is shown below. Operation example Set the clutch ON/OFF in this current value. (Current value within 1 virtual axis revolution) 1 axis Number of pulses per revolution : 10000[PLS] Virtual servomotor current value (Synchronous encoder) Current value within 1 virtual...
Page 237 8 OUTPUT MODULE (10) Current value within 1 virtual axis revolution storage device (Auxiliary input axis side) (2 words) This parameter is set when the address mode clutch is set at the cam auxiliary input axis side. Drive module Current value within 1 virtual axis revolution Address mode clutch Drive module...
Page 238 8 OUTPUT MODULE (d) The address mode clutch is turned on/off with the specified address of the current value within 1 virtual axis revolution range of 0 to (N -1) [PLS]. Therefore, set the address value within the range of 0 to (N -1) [PLS] in the clutch ON/OFF address setting device.
Page 239 8 OUTPUT MODULE (f) An example of an address mode clutch operation is shown below. Operation example Main shaft side clutch OFF Set the clutch ON/OFF in this current value. (Current value within 1 virtual axis revolution) 2 axes Number of pulses per revolution : 20000[PLS] Virtual servomotor current value of auxiliary input axis side (Synchronous encoder)
Page 240 8 OUTPUT MODULE (11) Cam/ball screw switching command device (a) This parameter is used to set cam operation. (b) The following devices can be used as the cam/ball screw switching command device. Name Setting range (Note-1) X0 to X1FFF Input Output Y0 to Y1FFF (Note-2), (Note-3)
Page 241 8 OUTPUT MODULE (e) The current value within 1 cam shaft revolution is calculated based on the feed current value, lower stroke limit value, stroke amount and cam No. (cam pattern) by turning off the cam/ball screw switching command. If the cam/ball screw switching command is turned off outside the range of "lower stroke limit value to stroke amount"...
Page 242: Cam Curve List
8 OUTPUT MODULE 8.4.4 Cam curve list This section describes the cam curves which can be used in the virtual mode. (1) Cam curve characteristics comparison The cam curve characteristics comparison is shown below. Table 8.6 Cam Curve Characteristics Comparison Table Cam curve Acceleration Class...
Page 243: Phase Compensation Function
8 OUTPUT MODULE 8.5 Phase Compensation Function When carrying out a position follow-up control (synchronous operation) by synchronous encoder, delays in the progresses, etc. cause the phase to deviate at servomotor shaft end in respect to the synchronous encoder. The phase compensation function compensates in this case so that the phase does not deviate.
Page 244 8 OUTPUT MODULE (a) Phase advance time It is used to set whether a phase is advanced/delayed. Phase advance time is calculated in the formula below. Phase advance time = Delay time peculiar to system [s] + 1/PG1 [rad/s] Delay time peculiar to system [t] : Refer to Table 8.8 : Model control gain "Command speed[PLS/s] Phase advance time[s]"...
Page 245 8 OUTPUT MODULE (2) Operating method Operating method for phase compensation function is shown below. (a) Set a phase advance time. (b) Set a suitable time constant as a phase compensation time constant. (c) Turn the phase compensation processing valid flag on for every axis before the servomotor start.
Page 246: Real Mode/Virtual Mode Switching And Stop/Re-Start
9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START 9. REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START This section describes the check details and switching method for the real mode/virtual mode switching. (1) Real mode/virtual mode switching Real mode/virtual mode switching is executed by turning the real mode/virtual mode switching request flag (M2043) ON/OFF.
Page 247 9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START (1) Check to determine if switching to the virtual mode is possible (a) The items in Table 9.1 are checked to determine if switching to the virtual mode is possible. When all check items of Table 9.1 are normal, switching to the virtual mode is executed.
Page 248 9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START (2) Output module check (a) The items in Table 9.2 below are checked to determine the output module state. If an error is detected, it switches to the virtual mode, but the applicable system cannot be started.
Page 249 9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START (3) Synchronous encoder axis check (a) The items in Table 9.3 below are checked to determine the synchronous encoder state. If an error is detected, it switches to the virtual mode, but the applicable system cannot be started.
Page 250: Switching From The Virtual Mode To Real Mode
9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START 9.2 Switching from the Virtual Mode to Real Mode There are following methods for switching from the virtual mode to real mode. • Switching by user • Switching automatically by the operating system software 9.2.1 Switching by user (1) When the virtual mode to real mode switching is requested (M2043 ON OFF),...
Page 251: Continuous Operation On Servo Error In Virtual Mode
9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START 9.2.3 Continuous operation on servo error in virtual mode Set the processing on servo error in virtual mode on the mechanical system screen of MT Developer2. (Default: "Return to real mode") Refer to the help of MT Developer2 for the setting method. •...
Page 252: Precautions At Real Mode/Virtual Mode Switching
9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START 9.3 Precautions at Real Mode/Virtual Mode Switching This section describes the precautions at real mode/virtual mode switching. (1) The motion control step and the torque limit value change instruction/speed change instruction during mode switching processing execution impossible The motion control step and the torque limit value change instruction/speed change instruction during the from real mode to virtual mode/from virtual mode to real mode switching processing (part of timing chart (Note-1)) cannot execute.
Page 253 9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START (b) Motion control step in the real mode Example of Motion SFC program is shown below. Real mode example Real mode PX000 turn on, real mode/virtual mode PX000*!M2043*!M2044*!M2001 switching request and switching status turn off, and axis 1 start accept flag turn off.
Page 254: Stop And Re-Start
9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START 9.4 Stop and Re-start The basic method for stopping the system (output module) in the virtual mode operation is to stop the main shaft. If an auxiliary input axis is used, also stop the auxiliary input axis.
Page 255: Stop Operation/Stop Causes During Operation And Re-Starting Operation List
9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START 9.4.1 Stop operation/stop causes during operation and re-starting operation list Table 9.5 Stop Operation/stop Causes during Operation and Re-starting Operation List Affected virtual axis Stop processing Return to Real mode Synchronization Stop operation or stop by operating system discrepancy warning Virtual...
Page 256 9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START Operation continuation Error set Output module operation enabled ( Re-start operation after stop disabled ( • Deceleration stop based on the • Continuous operation is possible by turning the stop command off (not —...
Page 257 9 REAL MODE/VIRTUAL MODE SWITCHING AND STOP/RE-START MEMO 9 - 12...
Page 258: Auxiliary And Applied Functions
10 AUXILIARY AND APPLIED FUNCTIONS 10. AUXILIARY AND APPLIED FUNCTIONS This section describes the auxiliary and applied functions for positioning control in the Multiple CPU system. Items Details Applications Positioning control for preset axis is It is used in the system for which Mixed function of virtual executed during synchronous conveys while executing synchronous...
Page 259 10 AUXILIARY AND APPLIED FUNCTIONS Set the axis to control as real mode axis on the mechanical system screen of MT Developer2. Refer to the help of MT Developer2 for the setting method. • Mechanical system screen [Real Mode Axis Setting] menu •...
Page 260 10 AUXILIARY AND APPLIED FUNCTIONS (1) Usable instructions and controls Items Usable/unusable Remarks Linear positioning control Linear interpolation control Circular interpolation control Helical interpolation control Fixed-pitch feed control Speed control ( ) Positioning control with the Speed control ( ) Servo torque limit value set in the Speed-position switching control...
Page 261 10 AUXILIARY AND APPLIED FUNCTIONS (2) Control methods Items Control method Remarks • When the real mode axis is set to the virtual servo program and it starts, "Servo program setting error" • Use a Motion SFC program start or (error code: 906) occurs.
Page 262 10 AUXILIARY AND APPLIED FUNCTIONS (4) Difference for operation between the output axis of mechanical system program and real mode axis Operation details for "output axis of mechanical system program" and "real mode axis" on error are shown below. Operation for output axis of mechanical Items Operation for real mode axis system program...
Page 263 10 AUXILIARY AND APPLIED FUNCTIONS (5) Difference for operation between the real mode axis in virtual mode and real mode When the servo OFF command (M3215+20n) turns on at using the mixed function of virtual mode with real mode in virtual mode, positioning control stops. Operation for real mode axis Items Operation for axis in real mode...
Page 264: Speed-Torque Control
10 AUXILIARY AND APPLIED FUNCTIONS 10.2 Speed-Torque Control Control mode can be switched for output axis of mechanical system and real mode axis during virtual mode. (1) Speed-torque control in output axis of mechanical system (a) The speed-torque control can be executed for output axis of roller, ball screw and rotary table as output module.
Page 265 10 AUXILIARY AND APPLIED FUNCTIONS (b) When the mode is switched from virtual mode to real mode, return all output axes to position control mode. If output axis except position control mode exists when the mode is switched from virtual mode to real mode, an error at real mode/virtual mode switching (error code: 256) will occur, and the mode is not switched to real mode.
Page 266 10 AUXILIARY AND APPLIED FUNCTIONS (4) Speed-torque control in the real mode axis The speed-torque control can be executed in the real mode axis. In this case, the control follows the control during real mode. The real mode axis can be switched from virtual to real mode during speed- torque control.
Page 267 10 AUXILIARY AND APPLIED FUNCTIONS MEMO 10 - 10...
Page 268: Appendices
APPENDICES APPENDICES APP. APPENDIX 1 Error Codes Stored Using the Motion CPU The following errors are detected in the Motion CPU. • Servo program setting error • Positioning error • Control mode switching error (Note-1) • Motion SFC error (Note-1) •...
Page 269 APPENDICES The error applicable range for each error class are shown below. Error module Error class Erroneous category Drive module Output module Setting data 1 to 99 4000 to 4990 At start 100 to 199 5000 to 5990 Minor error During operation 200 to 299 6000 to 6990...
Page 270 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) or servo error reset command (M3208+20n) turns on.
Page 271: Appendix 1.1 Expression Method For Word Data Axis No
APPENDICES APPENDIX 1.1 Expression method for word data axis No. The axis No. may be expressed to correspond to each bit of word data for the positioning dedicated signal. Example of the TEST mode request error information (SD510, SD511) is shown below.
Page 272: Appendix 1.2 Related Systems And Error Processing
APPENDICES APPENDIX 1.2 Related systems and error processing There are following 2 types for the related systems of virtual mode. • System consisting of a drive module and output module. • Multiple systems used the same drive module. The following processing occurs, when the error is detected at an output module. •...
Page 273: Appendix 1.3 Servo Program Setting Errors (Stored In Sd517)
APPENDICES APPENDIX 1.3 Servo program setting errors (Stored in SD517) The error codes, error contents and corrective actions for servo program setting errors are shown in Table 1.1. In the error codes marked with "Note" indicates the axis No. (1 to 32). Table 1.1 Servo program setting error list Error code Error name...
Page 274 APPENDICES Table 1.1 Servo program setting error list (Continued) Error code Error name Error contents Error processing Corrective action stored in SD517 Auxiliary point (1) The auxiliary point address is Positioning control does not (1) If the control unit is setting error outside the setting range at the start.
Page 275 APPENDICES Table 1.1 Servo program setting error list (Continued) Error code Error name Error contents Error processing Corrective action stored in SD517 Rapid stop The rapid stop deceleration time Control with the default value Set the rapid stop deceleration deceleration time is set to "0".
Page 276 APPENDICES Table 1.1 Servo program setting error list (Continued) Error code Error name Error contents Error processing Corrective action stored in SD517 High-Speed Operation cannot be started Positioning control does not Start after set the command oscillation command because the amplitude specified start.
Page 277 APPENDICES Table 1.1 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 278: Appendix 1.4 Drive Module Errors
APPENDICES APPENDIX 1.4 Drive module errors Table 1.2 Drive module error (100 to 1199) list Control mode of virtual servo axis Error Error Error Error cause Corrective action class code processing • The PLC ready flag (M2000) or • Set the Motion CPU to RUN. PCPU READY complete flag •...
Page 279 APPENDICES Table 1.2 Drive module error (100 to 1199) list (Continued) Control mode of virtual servo axis Error Error Error Error cause Corrective action class code processing • The address that does not generate • Correct the addresses of the an arc is set at R(radius) specified servo program.
Page 280 APPENDICES Table 1.2 Drive module error (100 to 1199) list (Continued) Control mode of virtual servo axis Error Error Error Error cause Corrective action class code processing • Both of forward and reverse rotation Only the • Set a correct data. were set at the simultaneous start applicable for the JOG operation.
Page 281 APPENDICES Table 1.2 Drive module error (100 to 1199) list (Continued) Control mode of virtual servo axis Error Error Error Error cause Corrective action class code processing • The feed current value of another • Correct the stroke limit range or axis exceeded the stroke limit value travel value setting so that during the circular/helical...
Page 282 APPENDICES Table 1.2 Drive module error (100 to 1199) list (Continued) Control mode of virtual servo axis Error Error Error Error cause Corrective action class code processing • The target position change request • When executing the target (CHGP) specifying the address position change request where the target position is outside specifying the address to the...
Page 283 APPENDICES Table 1.2 Drive module error (100 to 1199) list (Continued) Control mode of virtual servo axis Error Error Error Error cause Corrective action class code processing • Change speed to negative speed in • Do not change speed to Speed is not the invalid axis of stroke limit.
Page 284: Appendix 1.5 Servo Errors
APPENDICES APPENDIX 1.5 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 285 APPENDICES (a) MR-J4(W)- B Table 1.3 Servo error (2000 to 2999) list (MR-J4(W)- B) Servo amplifier Error code Name Details name Remarks LED display 10.1 Voltage drop in the control power 2010 Undervoltage 10.2 Voltage drop in the main circuit power 11.1 Axis number setting error 2011...
Page 286 APPENDICES Table 1.3 Servo error (2000 to 2999) list (MR-J4(W)- B) (Continued) Servo amplifier Error code Name Details name Remarks LED display 17.1 Board error 1 17.3 Board error 2 2017 Board error 17.4 Board error 3 17.5 Board error 4 17.6 Board error 5 19.1...
Page 287 APPENDICES Table 1.3 Servo error (2000 to 2999) list (MR-J4(W)- B) (Continued) Servo amplifier Error code Name Details name Remarks LED display 30.1 Regeneration heat error 2030 Regenerative error 30.2 Regeneration signal error 30.3 Regeneration feedback signal error 2031 31.1 Overspeed Abnormal motor speed Overcurrent detected at hardware...
Page 288 APPENDICES Table 1.3 Servo error (2000 to 2999) list (MR-J4(W)- B) (Continued) Servo amplifier Error code Name Details name Remarks LED display 52.1 Excess droop pulse 1 52.3 Excess droop pulse 2 2052 Error excessive 52.4 Error excessive during 0 torque limit 52.5 Excess droop pulse 3 2054...
Page 289 APPENDICES Table 1.3 Servo error (2000 to 2999) list (MR-J4(W)- B) (Continued) Servo amplifier Error code Name Details name Remarks LED display Load-side encoder communication - 71.1 Receive data error 1 Load-side encoder communication - 71.2 Receive data error 2 Load-side encoder communication - 71.3 Receive data error 3...
Page 290 APPENDICES Table 1.3 Servo error (2000 to 2999) list (MR-J4(W)- B) (Continued) Servo amplifier Error code Name Details name Remarks LED display 2142 E2.1 Servo motor overheat warning Servo motor temperature warning Encoder absolute positioning counter E3.2 Absolute position counter 2143 warning warning...
Page 291 APPENDICES (b) MR-J3- B Table 1.4 Servo error (2000 to 2999) list (MR-J3- B) Servo amplifier Error code Name Remarks LED display 2010 Undervoltage 2012 Memory error 1 (RAM) 2013 Clock error 2015 Memory error 2 (EEP-ROM) 2016 Encoder error 1 (At power on) 2017 Board error 2019...
Page 292 APPENDICES Table 1.5 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail Parameter Parameter Error code Name Error code Name 2301 2601 PA01 Control mode 2340 2640 PB21 For manufacturer setting 2302 2602 PA02 Regenerative option 2341 2641 PB22 2303 2603 PA03...
Page 293 APPENDICES Table 1.5 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail (Continued) Parameter Parameter Error code Name Error code Name Analog monitor feedback position output Driver communication setting 2377 2677 PC13 2416 2716 PD20 standard data Low Master axis No.
Page 294 APPENDICES Table 1.5 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail (Continued) Parameter Parameter Error code Name Error code Name 2455 2755 PE27 Filter coefficient 2-2 2462 2762 PE34 2456 2756 PE28 Filter coefficient 2-3 2463 2763 PE35 2457 2757 PE29...
Page 295 APPENDICES (c) MR-J3W- B Table 1.6 Servo error (2000 to 2999) list (MR-J3W- B) Servo amplifier Error code Name Details name Remarks LED display Voltage drop in the control circuit power 10.1 2010 Undervoltage supply 10.2 Voltage drop in the main circuit power 11.1 Rotary switch setting error 11.2...
Page 296 APPENDICES Table 1.6 Servo error (2000 to 2999) list (MR-J3W- B) (Continued) Servo amplifier Error code Name Details name Remarks LED display Magnetic pole detection abnormal 27.1 termination 27.2 Magnetic pole detection time out error 27.3 Magnetic pole detection limit switch error Initial magnetic pole detection Linear servo motor/ 27.4...
Page 297 APPENDICES Table 1.6 Servo error (2000 to 2999) list (MR-J3W- B) (Continued) Servo amplifier Error code Name Details name Remarks LED display 46.1 Abnormal temperature of servo motor Linear servo motor Linear servo motor thermal sensor error 46.2 (Note-2) Servo motor overheat 2046 Direct drive motor thermal sensor error Direct drive motor use...
Page 298 APPENDICES Table 1.6 Servo error (2000 to 2999) list (MR-J3W- B) (Continued) Servo amplifier Error code Name Details name Remarks LED display Thermal overload warning 1 during E1.1 operation Thermal overload warning 2 during E1.2 operation Thermal overload warning 3 during E1.3 operation 2141...
Page 299 APPENDICES Table 1.7 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail Parameter Parameter Error code Name Error code Name 2301 2601 PA01 Control mode 2340 2640 PB21 For manufacturer setting 2302 2602 PA02 Regenerative option 2341 2641 PB22 2303 2603 PA03...
Page 300 APPENDICES Table 1.7 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail (Continued) Parameter Parameter Error code Name Error code Name 2379 2679 PC15 Station number selection 2412 2712 PD16 2380 2680 PC16 For manufacturer setting 2413 2713 PD17 2381 2681 PC17...
Page 301 APPENDICES (d) MR-J3- B-RJ004 (For linear servo) Table 1.8 Servo error (2000 to 2999) list (MR-J3- B-RJ004) Servo amplifier Error code Name Remarks LED display 2010 Undervoltage 2012 Memory error 1 (RAM) 2013 Clock error 2015 Memory error 2 (EEP-ROM) 2016 Encoder error 1 (At power on) 2017...
Page 302 APPENDICES Table 1.9 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail Parameter Parameter Error code Name Error code Name 2301 2601 PA01 For manufacturer setting 2341 2641 PB22 For manufacturer setting 2302 2602 PA02 Regenerative option 2342 2642 PB23 Low-pass filter selection Slight vibration suppression control...
Page 303 APPENDICES Table 1.9 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail (Continued) Parameter Parameter Error code Name Error code Name 2381 2681 PC17 Function selection C-4 2427 2727 PD31 2382 2682 PC18 2428 2728 PD32 For manufacturer setting 2383 2683 PC19 2429 2729...
Page 304 APPENDICES Table 1.9 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail (Continued) Parameter Parameter Error code Name Error code Name Linear servo motor control position 2505 2805 PS05 2519 2819 PS19 deviation error detection level Linear servo motor control speed deviation 2506 2806 PS06 2520 2820...
Page 305 APPENDICES (e) MR-J3- B-RJ006 (For fully closed control) Table 1.10 Servo error (2000 to 2999) list (MR-J3- B-RJ006) Servo amplifier Error code Name Remarks LED display 2010 Undervoltage 2012 Memory error 1 (RAM) 2013 Clock error 2015 Memory error 2 (EEP-ROM) 2016 Encoder error 1 (At power on) 2017...
Page 306 APPENDICES Table 1.11 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail Parameter Parameter Error code Name Error code Name 2301 2601 PA01 Control mode 2341 2641 PB22 For manufacturer setting 2302 2602 PA02 Regenerative option 2342 2642 PB23 Low-pass filter selection Slight vibration suppression control...
Page 307 APPENDICES Table 1.11 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail (Continued) Parameter Parameter Error code Name Error code Name 2381 2681 PC17 Function selection C-4 2422 2722 PD26 2382 2682 PC18 2423 2723 PD27 For manufacturer setting 2383 2683 PC19 2424 2724...
Page 308 APPENDICES Table 1.11 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail (Continued) Parameter Parameter Error code Name Error code Name Fully closed loop feedback pulse 2463 2763 PE35 2466 2766 PE38 electronic gear 2 denominator For manufacturer setting 2464 2764 PE36 2467 2767...
Page 309 APPENDICES (f) MR-J3- B-RJ080W (For direct drive motor) Table 1.12 Servo error (2000 to 2999) list (MR-J3- B-RJ080W) Servo amplifier Error code Name Remarks LED display 2010 Undervoltage 2012 Memory error 1 (RAM) 2013 Clock error 2015 Memory error 2 (EEP-ROM) 2016 Encoder error 1 2017...
Page 310 APPENDICES Table 1.13 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail Parameter Parameter Error code Name Error code Name 2301 2601 PA01 For manufacturer setting 2340 2640 PB21 For manufacturer setting 2302 2602 PA02 Regenerative option 2341 2641 PB22 2303 2603 PA03...
Page 311 APPENDICES Table 1.13 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail (Continued) Parameter Parameter Error code Name Error code Name 2379 2679 PC15 2426 2726 PD30 2380 2680 PC16 2427 2727 PD31 For manufacturer setting 2381 2681 PC17 2428 2728 PD32...
Page 312 APPENDICES Table 1.13 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail (Continued) Parameter Parameter Error code Name Error code Name Servo control position deviation error 2505 2805 PS05 2519 2819 PS19 detection level Servo control speed deviation error 2506 2806 PS06 2520 2820...
Page 313 APPENDICES (g) MR-J3- B Safety (For safety servo) Table 1.14 Servo error (2000 to 2999) list (MR-J3- B Safety) Servo amplifier Error code Name Remarks LED display 2010 Undervoltage 2012 Memory error 1 (RAM) 2013 Clock error 2015 Memory error 2 (EEP-ROM) 2016 Encoder error 1 (At power on) 2017...
Page 314 APPENDICES Table 1.14 Servo error (2000 to 2999) list (MR-J3- B Safety) (Continued) Servo amplifier Error code Name Remarks LED display 2601 to 2899 Parameter error (Refer to the table 1.15) 2948 USB communication time-out error 2952 USB communication error APP - 47...
Page 315 APPENDICES Table 1.15 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail Parameter Parameter Error code Name Error code Name 2301 2601 PA01 Control mode 2340 2640 PB21 For manufacturer setting 2302 2602 PA02 Regenerative option 2341 2641 PB22 2303 2603 PA03...
Page 316 APPENDICES Table 1.15 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail (Continued) Parameter Parameter Error code Name Error code Name 2379 2679 PC15 For manufacturer setting 2421 2721 PD25 2380 2680 PC16 Function selection C-3A 2422 2722 PD26 2381 2681 PC17...
Page 317 APPENDICES Table 1.15 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail (Continued) Parameter Parameter Error code Name Error code Name Fully closed loop feedback pulse 2463 2763 PE35 2466 2766 PE38 electronic gear 2 denominator For manufacturer setting 2464 2764 PE36 2467 2767...
Page 318: Appendix 1.6 Output Module Errors
APPENDICES APPENDIX 1.6 Output module errors (1) Output module errors at real mode/virtual mode switching (4000 to 5990) Table 1.16 Output Module Error List (4000 to 5990) Output module Error Error Error cause Processing Corrective action Ball Rotary class code Roller screw table •...
Page 319 APPENDICES Table 1.16 Output Module Error List (4000 to 5990) (Continued) Output module Error Error Error cause Processing Corrective action Ball Rotary class code Roller screw table Related system • Set an even numbered the first • The first clutch OFF address setting cannot be device.
Page 320 APPENDICES Table 1.16 Output Module Error List (4000 to 5990) (Continued) Output module Error Error Error cause Processing Corrective action Ball Rotary class code Roller screw table • The device set to "Number of output • Correct the device set to axis side gear tooth count setting number of output axis side gear 5390...
Page 321 APPENDICES (2) Output module errors (6000 to 6990) Table 1.17 Output Module Error List (6000 to 6990) Output module Error Error Error cause Processing Corrective action Ball Rotary class code Roller screw table • The servo OFF command • Execute the servo OFF after (M3215+20n) turned ON during clutch OFF command.
Page 322 APPENDICES Table 1.17 Output Module Error List (6000 to 6990) (Continued) Output module Error Error Error cause Processing Corrective action Ball Rotary class code Roller screw table • Current value was changed for the • Use the following device as axis that had not been started.
Page 323 APPENDICES Table 1.17 Output Module Error List (6000 to 6990) (Continued) Output module Error Error Error cause Processing Corrective action Ball Rotary class code Roller screw table • During the speed-torque control, the • Control with the • Set the torque limit value after change value by the torque limit value torque limit torque change within the range...
Page 324 APPENDICES (3) System errors (9000 to 9990) Table 1.18 Output Module Error List (9000 to 9990) Output module Error Error Error cause Processing Corrective action Ball Rotary class code Roller screw table • The motor travel value while the Virtual mode •...
Page 325 APPENDICES (5) "No-clutch/clutch ON/clutch status ON" output module errors (11000 to 11990) Table 1.20 Output Module Error List (11000 to 11990) Output module Error Error Error cause Processing Corrective action Ball Rotary class code Roller screw table • The servo error detection signal After an immediate stop •...
Page 326 APPENDICES (6) Errors when using an absolute position system (12000 to 12990) Table 1.21 Output Module Error List (12000 to 12990) Output module Error Error Error cause Processing Corrective action Ball Rotary class code Roller screw table • The error causes why the home •...
Page 327: Appendix 1.7 Errors At Real Mode/Virtual Mode Switching
APPENDICES APPENDIX 1.7 Errors at real mode/virtual mode switching Table 1.22 Real Mode/Virtual Mode Switching Error Code List Error codes stored in SD504 Error description Corrective action Decimal Hexadecimal display display • Real mode/virtual mode switching request flag (M2043) • Turn real mode/virtual mode switching request turned OFF ON in the state which all axes have not flag (M2043) OFF...
Page 328 APPENDICES Table 1.22 Real Mode/Virtual Mode Switching Error Code List (Continued) Error codes stored in SD504 Error description Corrective action Decimal Hexadecimal display display • Real mode/virtual mode switching request flag (M2043) • Turn the external forced stop signal off, then (Note) 0203 turned OFF...
Page 329: 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 330 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 331: Appendix 3 Processing Times Of The Motion Cpu
APPENDICES 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) (a) Q173DSCPU/Q172DSCPU Q173DSCPU Q172DSCPU Number of setting axes (SV22) 1 to 6 7 to 16 17 to 32...
Page 332 APPENDICES (b) Q173DCPU(-S1)/Q172DCPU(-S1) Q173DCPU(-S1)/Q172DCPU(-S1) Operation cycle [ms] 0.44 0.88 1.77 3.55 7.11 14.2 "WAIT ON/OFF" 0.88 1.77 2.66 4.44 7.99 15.11 Servo program + Motion control step start processing Only Motion control step 1.0 to 1.4 1.9 to 2.8 2.8 to 4.6 4.6 to 8.2 8.1 to 15.2 15.2 to 29.4...
Page 333: Appendix 4 Device List
APPENDICES APPENDIX 4 Device List (1) Axis status list Axis No. Device No. Signal name M2400 to M2419 M2420 to M2439 Virtual M2440 to M2459 Refresh Fetch Signal Real Signal name Real Ball Rotary cycle cycle direction Roller Mode M2460 to M2479 screw table axis...
Page 334 APPENDICES (2) Axis command signal list Axis No. Device No. Signal name M3200 to M3219 M3220 to M3239 Virtual Refresh Fetch Signal M3240 to M3259 Real Signal name Real Ball Rotary cycle cycle direction M3260 to M3279 Roller mode screw table axis M3280 to M3299...
Page 335 APPENDICES (3) Virtual servomotor axis status list Axis No. Device No. Signal name M4000 to M4019 M4020 to M4039 Virtual Refresh Fetch Signal M4040 to M4059 Real Signal name Real Ball Rotary cycle cycle direction M4060 to M4079 Roller mode screw table axis...
Page 336 APPENDICES (4) Virtual servomotor axis command signal list Axis No. Device No. Signal name M4800 to M4819 M4820 to M4839 Virtual Refresh Fetch Signal M4840 to M4859 Real Signal name Real Ball Rotary cycle cycle direction M4860 to M4879 Roller mode screw table...
Page 337 APPENDICES (5) Synchronous encoder axis status list Axis No. Device No. Signal name M4640 to M4643 M4644 to M4647 Signal Signal name Real Virtual Refresh cycle Fetch cycle direction M4648 to M4651 M4652 to M4655 0 Error detection Immediately M4656 to M4659 1 External signal TREN Status signal...
Page 338 APPENDICES (7) Common device list Device Signal Remark Device Signal Remark Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle (Note-6) (Note-6) direction direction Command M2000 PLC ready flag Main cycle M3072 M2055 signal M2001 Axis 1 M2056 Unusable —...
Page 339 APPENDICES Common device list (Continued) Remark Remark Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle (Note-6) Fetch cycle (Note-6) direction direction M2110 Axis 10 Synchronous Status M2179 encoder current signal M2111 Axis 11 M2180 Operation cycle (Note-2), value changing flag...
Page 340 APPENDICES Common device list (Continued) Remark Remark Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle (Note-6) (Note-6) direction direction M2248 Axis 9 M2284 Axis 13 M2249 Axis 10 M2285 Axis 14 M2250 Axis 11 M2286 Axis 15 M2251 Axis 12 M2287 Axis 16...
Page 341 APPENDICES (8) Common device list (Command signal) Remark Device No. Signal name Refresh cycle Fetch cycle Signal direction (Note-1), (Note-2) Main cycle M3072 PLC ready flag M2000 M3073 Speed switching point specified flag At start M2040 Operation cycle M3074 All axes servo ON command M2042 Real mode/virtual mode switching request At virtual mode...
Page 342 APPENDICES (9) Axis monitor device list Axis No. Device No. Signal name D0 to D19 D20 to D39 Virtual Refresh Fetch Signal D40 to D59 Real Signal name Real Ball Rotary cycle cycle direction D60 to D79 Roller mode screw table axis D80 to D99...
Page 343 APPENDICES (10) Control change register list Axis No. Device No. Signal name D640, D641 D642, D643 Refresh Signal Signal name Real Virtual Fetch cycle cycle direction D644, D645 D646, D647 Command JOG speed setting At start device D648, D649 D650, D651 : Valid D652, D653 D654, D655...
Page 344 APPENDICES (11) Virtual servomotor axis monitor device list Axis No. Device No. Signal name D800 to D809 D810 to D819 Virtual Refresh Fetch Signal D820 to D829 Real Signal name Real Ball Rotary cycle cycle direction D830 to D839 Roller mode screw table...
Page 345 APPENDICES (12) Synchronous encoder axis monitor device list Axis No. Device No. Signal name D1120 to D1129 D1130 to D1139 Refresh Signal Signal name Real Virtual Fetch cycle cycle direction D1140 to D1149 D1150 to D1159 Backup Operation Current value (Note-1) cycle D1160 to D1169...
Page 346 APPENDICES (13) Cam axis monitor device list Axis No. Device No. Signal name D1240 to D1249 D1250 to D1259 Refresh Signal Signal name Real Virtual Fetch cycle cycle direction D1260 to D1269 D1270 to D1279 0 Unusable — — — —...
Page 347 APPENDICES (14) Common device list Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle direction direction Manual pulse generator 1 D704 PLC ready flag request D752 smoothing magnification setting register At the manual pulse Manual pulse generator 2 Speed switching point generator enable flag...
Page 348 APPENDICES (15) Motion register list (#) Axis Device No. Signal name #8000 to #8019 #8020 to #8039 Signal name Refresh cycle Signal direction #8040 to #8059 #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 349 APPENDICES (17) Special relay list Device No. Signal name Refresh cycle Fetch cycle Signal type SM500 PCPU READY complete flag Main cycle SM501 TEST mode ON flag SM502 External forced stop input flag Operation cycle SM503 Digital oscilloscope executing flag Main cycle SM506 External forced stop input ON latch flag...
Page 350 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 351 Precautions for Choosing the Products (1) For the use of our Motion controller, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in Motion controller, and a backup or fail-safe function should operate on an external system to Motion controller when any failure or malfunction occurs.

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Q173dcpu-s1 Q172dcpu Q172dscpu Q172dcpu-s1 Q173dcpu Q173dscpu

Mitsubishi Electric Q Series Programming Manual

1 Overview

2 Starting up the System

3 Performance Specifications

4 Positioning Dedicated Signals

5 Mechanical System Program

6 Drive Module

7 Transmission Module

8 Output Module

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

10 Auxiliary and Applied Functions

APPENDIX 1 Error Codes Stored Using the Motion CPU

APPENDIX 1.1 Expression Method for Word Data Axis no

APPENDIX 1.2 Related Systems and Error Processing

APPENDIX 1.3 Servo Program Setting Errors (Stored in SD517)

APPENDIX 1.4 Drive Module Errors

APPENDIX 1.5 Servo Errors

APPENDIX 1.6 Output Module Errors

APPENDIX 1.7 Errors at Real Mode/Virtual Mode Switching

APPENDIX 2 Setting Range for Indirect Setting Devices

APPENDIX 3 Processing Times of the Motion CPU

APPENDIX 4 Device List

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