Mitsubishi Electronics Motion Controllers Q172Dcpu Users Manual Programming (COMMON) [type Q173D/Q172D]
Q172DCPU to the manual 8477e028-1172-4702-b959-a2406df8790f
2015-02-09
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MITSUBISHI ELECTRIC Motion Controllers Programming Manual Common Q173DCPU Q172DCPU 01 01 2008 B(NA)-0300134 Version A MITSUBISHI ELECTRIC INDUSTRIAL AUTOMATION SAFETY PRECAUTIONS (Please read these instructions before using this equipment.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. These precautions apply only to this product. Refer to the Q173DCPU/Q172DCPU Users manual for a description of the Motion controller safety precautions. In this manual, the safety instructions are ranked as "DANGER" and "CAUTION". DANGER Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury. CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight personal injury or physical damage. CAUTION may also be linked to serious Depending on circumstances, procedures indicated by results. In any case, it is important to follow the directions for usage. Please save this manual to make it accessible when required and always forward it to the end user. A-1 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. Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF. The insides of the Motion controller and servo amplifier are charged and may lead to electric shocks. Completely turn off the externally supplied power used in the system before mounting or removing the module, performing wiring work, or inspections. Failing to do so may lead to electric shocks. When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and then check the voltage with a tester, etc.. Failing to do so may lead to electric shocks. Be sure to ground the Motion controller, servo amplifier and servomotor. (Ground resistance : 100 or less) Do not ground commonly with other devices. The wiring work and inspections must be done by a qualified technician. Wire the units after installing the Motion controller, servo amplifier and servomotor. Failing to do so may lead to electric shocks or damage. Never operate the switches with wet hands, as this may lead to electric shocks. Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this may lead to electric shocks. Do not touch the Motion controller, servo amplifier or servomotor terminal blocks while the power is ON, as this may lead to electric shocks. Do not touch the built-in power supply, built-in grounding or signal wires of the Motion controller and servo amplifier, as this may lead to electric shocks. 2. For fire prevention CAUTION Install the Motion controller, servo amplifier, servomotor and regenerative resistor on incombustible. Installing them directly or close to combustibles will lead to fire. If a fault occurs in the Motion controller or servo amplifier, shut the power OFF at the servo amplifier’s power source. If a large current continues to flow, fire may occur. When using a regenerative resistor, shut the power OFF with an error signal. The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead to fire. Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may lead to fire. Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this may lead to fire. A-2 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. Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this timing, these parts become very hot and may lead to burns. Always turn the power OFF before touching the servomotor shaft or coupled machines, as these parts may lead to injuries. Do not go near the machine during test operations or during operations such as teaching. Doing so may lead to injuries. 4. Various precautions Strictly observe the following precautions. Mistaken handling of the unit may lead to faults, injuries or electric shocks. (1) System structure CAUTION Always install a leakage breaker on the Motion controller and servo amplifier power source. If installation of an electromagnetic contactor for power shut off during an error, etc., is specified in the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor. Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off. Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the correct combinations listed in the instruction manual. Other combinations may lead to fire or faults. Use the CPU module, base unit and motion module with the correct combinations listed in the instruction manual. Other combinations may lead to faults. If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller, servo amplifier and servomotor, make sure that the safety standards are satisfied. Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system. In systems where coasting of the servomotor will be a problem during the forced stop, emergency stop, servo OFF or power supply OFF, use dynamic brakes. Make sure that the system considers the coasting amount even when using dynamic brakes. In systems where perpendicular shaft dropping may be a problem during the forced stop, emergency stop, servo OFF or power supply OFF, use both dynamic brakes and electromagnetic brakes. A-3 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. The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max. speed. Use wires and cables that have a wire diameter, heat resistance and bending resistance compatible with the system. Use wires and cables within the length of the range described in the instruction manual. The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor. Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation. There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure (when the ball screw and servomotor are connected with a timing belt, etc.). Install a stopping device to ensure safety on the machine side. (2) Parameter settings and programming CAUTION Set the parameter values to those that are compatible with the Motion controller, servo amplifier, servomotor and regenerative resistor model and the system application. The protective functions may not function if the settings are incorrect. The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode, servo amplifier and servo power supply module. The protective functions may not function if the settings are incorrect. Set the mechanical brake output and dynamic brake output validity parameters to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. Set the stroke limit input validity parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect. Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect. Set the servomotor capacity and type (standard, low-inertia, flat, etc.) parameter to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. Set the servo amplifier capacity and type parameters to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. A-4 CAUTION Use the program commands for the program with the conditions specified in the instruction manual. Set the sequence function program capacity setting, device capacity, latch validity range, I/O assignment setting, and validity of continuous operation during error detection to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. Some devices used in the program have fixed applications, so use these with the conditions specified in the instruction manual. The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error, etc. Thus, an error correspondence interlock program specified in the instruction manual must be used. Use the interlock program specified in the intelligent function module's instruction manual for the program corresponding to the intelligent function module. (3) Transportation and installation CAUTION Transport the product with the correct method according to the mass. Use the servomotor suspension bolts only for the transportation of the servomotor. Do not transport the servomotor with machine installed on it. Do not stack products past the limit. When transporting the Motion controller or servo amplifier, never hold the connected wires or cables. When transporting the servomotor, never hold the cables, shaft or detector. When transporting the Motion controller or servo amplifier, never hold the front case as it may fall off. When transporting, installing or removing the Motion controller or servo amplifier, never hold the edges. Install the unit according to the instruction manual in a place where the mass can be withstood. Do not get on or place heavy objects on the product. Always observe the installation direction. Keep the designated clearance between the Motion controller or servo amplifier and control panel inner surface or the Motion controller and servo amplifier, Motion controller or servo amplifier and other devices. Do not install or operate Motion controller, servo amplifiers or servomotors that are damaged or that have missing parts. Do not block the intake/outtake ports of the Motion controller, servo amplifier and servomotor with cooling fan. Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the Motion controller, servo amplifier or servomotor. A-5 CAUTION The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or apply strong impacts on them. Securely fix the Motion controller, servo amplifier and servomotor to the machine according to the instruction manual. If the fixing is insufficient, these may come off during operation. Always install the servomotor with reduction gears in the designated direction. Failing to do so may lead to oil leaks. Store and use the unit in the following environmental conditions. Environment Ambient temperature Ambient humidity Storage temperature Atmosphere Altitude Vibration Conditions Motion controller/Servo amplifier According to each instruction manual. According to each instruction manual. According to each instruction manual. Servomotor 0°C to +40°C (With no freezing) (32°F to +104°F) 80% RH or less (With no dew condensation) -20°C to +65°C (-4°F to +149°F) Indoors (where not subject to direct sunlight). No corrosive gases, flammable gases, oil mist or dust must exist 1000m (3280.84ft.) or less above sea level According to each instruction manual When coupling with the synchronous encoder or servomotor shaft end, do not apply impact such as by hitting with a hammer. Doing so may lead to detector damage. Do not apply a load larger than the tolerable load onto the synchronous encoder and servomotor shaft. Doing so may lead to shaft breakage. When not using the module for a long time, disconnect the power line from the Motion controller or servo amplifier. Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store. When storing for a long time, please contact with our sales representative. Also, execute a trial operation. A-6 (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. Correctly connect the output side (terminal U, V, W). Incorrect connections will lead the servomotor to operate abnormally. Do not connect a commercial power supply to the servomotor, as this may lead to trouble. Do not mistake the direction of the surge absorbing diode Servo amplifier installed on the DC relay for the control signal output of brake VIN signals, etc. Incorrect installation may lead to signals not being (24VDC) output when trouble occurs or the protective functions not functioning. Control output RA signal Do not connect or disconnect the connection cables between each unit, the encoder cable or PLC expansion cable while the power is ON. Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may lead to the cables combing off during operation. Do not bundle the power line or cables. (5) Trial operation and adjustment CAUTION Confirm and adjust the program and each parameter before operation. Unpredictable movements may occur depending on the machine. Extreme adjustments and changes may lead to unstable operation, so never make them. When using the absolute position system function, on starting up, and when the Motion controller or absolute value motor has been replaced, always perform a home position return. A-7 (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. Do not make any modifications to the unit. Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the Motion controller or servo amplifier. When using the CE Mark-compliant equipment, refer to the "EMC Installation Guidelines" (data number IB(NA)-67339) for the Motion controllers and refer to the corresponding EMC guideline information for the servo amplifiers, inverters and other equipment. Use the units with the following conditions. Item Conditions Q61P-A1 100 to 120VAC Q61P-A2 +10% -15% 200 to 240VAC Q61P +10% -15% Q62P 100 to 240VAC +10% -15% Q63P 24VDC Q64P +30% -35% 100 to 120VAC 200 to 240VAC Input power (85 to 132VAC) (170 to 264VAC) (85 to 264VAC) Input frequency 50/60Hz ±5% Tolerable momentary power failure 20ms or less A-8 (15.6 to 31.2VDC) +10% -15% +10% -15% (85 to 132VAC/ 170 to 264VAC) / (7) Corrective actions for errors CAUTION If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the check details according to the instruction manual, and restore the operation. If a dangerous state is predicted in case of a power failure or product failure, use a servomotor with electromagnetic brakes or install a brake mechanism externally. Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally. Shut off with the emergency stop signal(EMG). Shut off with servo ON signal OFF, alarm, electromagnetic brake signal. Servomotor RA1 EMG Electromagnetic brakes 24VDC If an error occurs, remove the cause, secure the safety and then resume operation after alarm release. The unit may suddenly resume operation after a power failure is restored, so do not go near the machine. (Design the machine so that personal safety can be ensured even if the machine restarts suddenly.) (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. Do not touch the lead sections such as ICs or the connector contacts. Before touching the module, always touch grounded metal, etc. to discharge static electricity from human body. Failure to do so may cause the module to fail or malfunction. Do not directly touch the module's conductive parts and electronic components. Touching them could cause an operation failure or give damage to the module. Do not place the Motion controller or servo amplifier on metal that may cause a power leakage or wood, plastic or vinyl that may cause static electricity buildup. Do not perform a megger test (insulation resistance measurement) during inspection. A-9 CAUTION When replacing the Motion controller or servo amplifier, always set the new module settings correctly. When the Motion controller or absolute value motor has been replaced, carry out a home position return operation using one of the following methods, otherwise position displacement could occur. 1) After writing the servo data to the Motion controller using programming software, switch on the power again, then perform a home position return operation. 2) Using the backup function of the programming software, load the data backed up before replacement. After maintenance and inspections are completed, confirm that the position detection of the absolute position detector function is correct. Do not drop or impact the battery installed to the module. Doing so may damage the battery, causing battery liquid to leak in the battery. Do not use the dropped or impacted battery, but dispose of it. Do not short circuit, charge, overheat, incinerate or disassemble the batteries. The electrolytic capacitor will generate gas during a fault, so do not place your face near the Motion controller or servo amplifier. The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary damage from faults. Replacements can be made by our sales representative. (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. When considering this product for operation in special applications such as machinery or systems used in passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating applications, please contact your nearest Mitsubishi sales representative. Although this product was manufactured under conditions of strict quality control, you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident. (10) General cautions CAUTION All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections. When operating the product, always return the covers and partitions to the designated positions, and operate according to the instruction manual. A - 10 REVISIONS The manual number is given on the bottom left of the back cover. Print Date Jan., 2008 Manual Number IB(NA)-0300134-A First edition Revision Japanese Manual Number IB(NA)-0300126 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. © 2008 MITSUBISHI ELECTRIC CORPORATION A - 11 INTRODUCTION Thank you for choosing the Mitsubishi Motion controller Q173DCPU/Q172DCPU. Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the Motion controller you have purchased, so as to ensure correct use. CONTENTS Safety Precautions .................................................................................................................................. A- 1 Revisions................................................................................................................................................. A-11 Contents .................................................................................................................................................. A-12 About Manuals ........................................................................................................................................ A-14 1. OVERVIEW 1- 1 to 1-20 1.1 Overview ........................................................................................................................................... 1- 1 1.2 Features ............................................................................................................................................ 1- 3 1.2.1 Features of Motion CPU ................................................................................................................... 1- 3 1.2.2 Basic specifications of Q173DCPU/Q172DCPU ............................................................................. 1- 5 1.3 Hardware Configuration .................................................................................................................... 1- 8 1.3.1 Motion system configuration ............................................................................................................. 1- 8 1.3.2 Q173DCPU System overall configuration ........................................................................................ 1-10 1.3.3 Q172DCPU System overall configuration ........................................................................................ 1-12 1.3.4 Software packages............................................................................................................................ 1-14 1.3.5 Restrictions on motion systems........................................................................................................ 1-17 2. MULTIPLE CPU SYSTEM 2- 1 to 2-32 2.1 Multiple CPU System ........................................................................................................................ 2- 1 2.1.1 Overview............................................................................................................................................ 2- 1 2.1.2 Installation position of CPU module.................................................................................................. 2- 2 2.1.3 Precautions for using I/O modules and intelligent function modules............................................... 2- 3 2.1.4 Modules subject to installation restrictions ....................................................................................... 2- 4 2.1.5 How to reset the Multiple CPU system............................................................................................. 2- 5 2.1.6 Operation for CPU module stop error............................................................................................... 2- 6 2.2 Starting Up the Multiple CPU System ............................................................................................... 2- 9 2.2.1 Startup Flow of the Multiple CPU System ........................................................................................ 2- 9 2.3 Communication between the PLC CPU and the Motion CPU in the Multiple CPU System ............. 2-11 2.3.1 CPU shared Memory......................................................................................................................... 2-11 2.3.2 Multiple CPU high speed transmission............................................................................................. 2-14 2.3.3 Multiple CPU high speed refresh function........................................................................................ 2-25 2.3.4 Clock synchronization between Multiple CPU ................................................................................. 2-29 2.3.5 Multiple CPU synchronous startup ................................................................................................... 2-30 2.3.6 Control Instruction from PLC CPU to Motion CPU .......................................................................... 2-31 3. COMMON PARAMETERS 3- 1 to 3-22 3.1 System Settings ................................................................................................................................ 3- 1 3.1.1 System data settings......................................................................................................................... 3- 2 3.1.2 Common system parameters ........................................................................................................... 3- 4 A - 12 3.1.3 Individual parameters........................................................................................................................ 3-10 3.2 I/O number assignment..................................................................................................................... 3-15 3.2.1 I/O number assignment of each module .......................................................................................... 3-15 3.2.2 I/O number of each CPU modules ................................................................................................... 3-17 3.2.3 I/O number setting............................................................................................................................. 3-18 3.3 Servo Parameters ............................................................................................................................. 3-19 4. AUXILIARY AND APPLIED FUNCTIONS 4- 1 to 4-44 4.1 Limit Switch Output Function ............................................................................................................ 4- 1 4.1.1 Operations ......................................................................................................................................... 4- 1 4.1.2 Limit output setting data .................................................................................................................... 4- 4 4.2 Absolute Position System ................................................................................................................. 4- 8 4.2.1 Current value control......................................................................................................................... 4-10 4.3 High-Speed Reading of Specified Data ............................................................................................ 4-11 4.4 ROM Operation Function .................................................................................................................. 4-12 4.4.1 Specifications of 7-segment LED/Switches...................................................................................... 4-12 4.4.2 Outline of ROM operation ................................................................................................................. 4-14 4.4.3 Operating procedure of the ROM operation function....................................................................... 4-19 4.5 Security Function .............................................................................................................................. 4-21 4.5.1 Password registration/change .......................................................................................................... 4-21 4.5.2 Password delete................................................................................................................................ 4-23 4.5.3 Password check ................................................................................................................................ 4-24 4.5.4 Password save .................................................................................................................................. 4-25 4.6 All clear function................................................................................................................................ 4-26 4.7 Communication via Network ............................................................................................................. 4-27 4.7.1 Specifications of the communications via network........................................................................... 4-27 4.7.2 Access range of the communications via network ........................................................................... 4-28 4.8 Monitor Function of the Main Cycle .................................................................................................. 4-33 4.9 Servo Parameter Reading Function.................................................................................................. 4-34 4.10 Optional Data Monitor Function ...................................................................................................... 4-35 4.11 Connect/Disconnect Function ......................................................................................................... 4-36 4.12 Remote operation ........................................................................................................................... 4-41 4.12.1 Remote RUN/STOP........................................................................................................................ 4-41 4.12.2 Remote latch clear .......................................................................................................................... 4-43 APPENDICES APP- 1 to APP-35 APPENDIX 1 Special relays/Special registers................................................................................... APP- 1 APPENDIX 1.1 Special relays ..............................................................................................................APP- 1 APPENDIX 1.2 Special registers .....................................................................................................APP- 5 APPENDIX 1.3 Replacement of special relays/special registers ........................................................APP-11 APPENDIX 2 System Setting Errors.................................................................................................. APP-13 APPENDIX 3 Self-diagnosis error code............................................................................................. APP-15 APPENDIX 4 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU ............ APP-26 APPENDIX 4.1 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU .........APP-26 APPENDIX 4.2 Comparison of devices................................................................................................APP-28 APPENDIX 4.3 Differences of each mode ...........................................................................................APP-35 A - 13 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 (Model Code) Manual Name Q173DCPU/Q172DCPU Motion controller User's Manual This manual explains specifications of the Motion CPU modules, Q172DLX Servo external signal interface module, Q172DEX Synchronous encoder interface module, Q173DPX Manual pulse generator interface module, Power supply modules, Servo amplifiers, SSCNET cables, Synchronous encoder cables and IB-0300133 (1XB927) others. (Optional) Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC) This manual explains the functions, programming, debugging, error lists and others for Motion SFC. IB-0300135 (1XB929) (Optional) Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE) This manual explains the servo parameters, positioning instructions, device lists, error lists and others. IB-0300136 (1XB930) (Optional) Q173DCPU/Q172DCPU Motion controller (SV22) Programming Manual (VIRTUAL MODE) This manual explains the dedicated instructions to use the synchronous control by virtual main shaft, mechanical system program create mechanical module, servo parameters, positioning instructions, device lists, error lists and others. (Optional) A - 14 IB-0300137 (1XB931) (2) PLC Manual Number (Model Code) Manual Name QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains the specifications of the QCPU modules, power supply modules, base modules, extension cables, memory card battery and others. SH-080483ENG (13JR73) (Optional) QCPU User's Manual (Function Explanation, Program Fundamentals) This manual explains the functions, programming methods and devices and others to create programs with the QCPU. SH-080484ENG (13JR74) (Optional) QCPU User's Manual (Multiple CPU System) This manual explains the functions, programming methods and cautions and others to construct the Multiple CPU system with the QCPU. SH-080485ENG (13JR75) (Optional) QCPU (Q Mode)/QnACPU Programming Manual (Common Instructions) This manual explains how to use the sequence instructions, basic instructions, application instructions and micro computer program. SH-080039 (13JF58) (Optional) QCPU (Q Mode)/QnACPU Programming Manual (PID Control Instructions) SH-080040 (13JF59) This manual explains the dedicated instructions used to exercise PID control. (Optional) QCPU (Q Mode)/QnACPU Programming Manual (SFC) This manual explains the system configuration, performance specifications, functions, programming, debugging, error codes and others of MELSAP3. SH-080041 (13JF60) (Optional) I/O Module Type Building Block User's Manual SH-080042 (13JL99) This manual explains the specifications of the I/O modules, connector, connector/terminal block conversion modules and others. (Optional) (3) Servo amplifier Manual Number (Model Code) Manual Name MR-J3- B Servo amplifier Instruction Manual This manual explains the I/O signals, parts names, parameters, start-up procedure and others for MR-J3- B Servo amplifier. SH-030051 (1CW202) (Optional) Fully Closed Loop Control MR-J3- B-RJ006 Servo amplifier Instruction Manual This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Fully Closed Loop Control MR-J3- B-RJ006 Servo amplifier. (Optional) A - 15 SH-030056 (1CW304) MEMO A - 16 1 OVERVIEW 1. OVERVIEW 1 1.1 Overview This programming manual describes the common items of each operating system software, such as the Multiple CPU system of the operating system software packages "SW8DNC-SV Q " for Motion CPU module (Q173DCPU/Q172DCPU). In this manual, the following abbreviations are used. Generic term/Abbreviation Description Q173DCPU/Q172DCPU or Motion CPU (module) Q173DCPU/Q172DCPU Motion CPU module Q172DLX/Q172DEX/Q173DPX or Motion module Q172DLX Servo external signals interface module/ (Note-1) Q172DEX Serial Synchronous encoder interface module / Q173DPX Manual pulse generator interface module MR-J3- B Servo amplifier model MR-J3- B AMP or Servo amplifier General name for "Servo amplifier model MR-J3- B" QCPU, PLC CPU or PLC CPU module QnUD(H)CPU Multiple CPU system or Motion system Abbreviation for "Multiple PLC system of the Q series" CPUn Abbreviation for "CPU No.n (n= 1 to 4) of the CPU module for the Multiple CPU system" Self CPU Motion CPU being programmed by the currently open MT Developer project Programming software package General name for MT Developer/GX Developer/MR Configurator Operating system software General name for "SW8DNC-SV Q " SV13 Operating system software for conveyor assembly use (Motion SFC) : SW8DNC -SV13Q SV22 MT Developer GX Developer MR Configurator Operating system software for automatic machinery use (Motion SFC) : SW8DNC -SV22Q Abbreviation for "Motion controller programming software MT Developer2 (Version 1.00A or later)" Abbreviation for "MELSEC PLC programming software package GX Developer (Version 8.48A or later)" Abbreviation for "Servo setup software package MR Configurator (Version C0 or later)" Manual pulse generator or MR-HDP01 Abbreviation for "Manual pulse generator (MR-HDP01)" Serial absolute synchronous encoder or Q170ENC SSCNET (Note-2) Abbreviation for "Serial absolute synchronous encoder (Q170ENC)" High speed synchronous network between Motion controller and servo amplifier Absolute position system General name for "system using the servomotor and servo amplifier for absolute position" Battery holder unit Battery holder unit (Q170DBATC) External battery General name for "Q170DBATC" and "Q6BAT" Intelligent function module Abbreviation for "MELSECNET/H module/Ethernet module/CC-Link module/ Serial communication module" (Note-1) : Q172DEX can be used in SV22. (Note-2) : SSCNET: Servo System Controller NETwork 1-1 1 OVERVIEW REMARK For information about the each module, design method for program and parameter, refer to the following manuals relevant to each module. Item Reference Manual Motion CPU module/Motion unit Q173DCPU/Q172DCPU User’s Manual PLC CPU, peripheral devices for PLC program design, I/O modules and intelligent function module Operation method for MT Developer Help of each software • Design method for Motion SFC program • Design method for Motion SFC parameter • Motion dedicated PLC instruction SV13/SV22 Manual relevant to each module Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC) • Design method for positioning control program in the real mode Q173DCPU/Q172DCPU Motion controller (SV13/SV22) • Design method for positioning control Programming Manual (REAL MODE) parameter SV22 (Virtual mode) • Design method for mechanical system program Q173DCPU/Q172DCPU Motion controller (SV22) Programming Manual (VIRTUAL MODE) 1-2 1 OVERVIEW 1.2 Features The Motion CPU and Multiple CPU system have the following features. 1.2.1 Features of Motion CPU (1) Q series PLC Multiple CPU system (a) Load distribution of processing can be performed by controlling the complicated servo control with Motion CPU and the machine control or information control with PLC CPU. Therefore, the flexible system configuration can be realized. (b) The Motion CPU and PLC CPU are selected flexibly, and the Multiple CPU system up to 4 CPU modules can be realized. The Motion CPU module for the number of axis to be used can be selected. Q173DCPU : Up to 32 axes Q172DCPU : Up to 8 axes The PLC CPU module for the program capacity to be used can be selected. (One or more PLC CPU is necessary with the Multiple CPU system.) Q03UDCPU : 30k steps Q04UDHCPU : 40k steps Q06UDHCPU : 60k steps (c) The device data access of the Motion CPU and the Motion SFC program start can be executed from PLC CPU by the Motion dedicated PLC instruction. (2) High speed operation processing (a) The minimum operation cycle of the Motion CPU is made 0.44[ms], and it correspond with high frequency operation. (b) High speed PLC control is possible by the universal model QCPU. (For LD instruction) Q03UDCPU : 20[ns] Q04UDHCPU : 9.5[ns] Q06UDHCPU : 9.5[ns] 1-3 1 OVERVIEW (3) Connection between the Motion controller and servo amplifier with high speed synchronous network by SSCNET (a) High speed synchronous network by SSCNET connect between the Motion controller and servo amplifier, and batch control the charge of servo parameter, servo monitor and test operation, etc. It is also realised reduce the number of wires. (b) The maximum distance between the Motion CPU and servo amplifier, servo amplifier and servo amplifier of the SSCNET cable on the same bus was set to 50(164.04)[m(ft.)], and the flexibility improved at the Motion system design. (4) The operating system software package for your application needs By installing the operating system software for applications in the internal flash memory of the Motion CPU, the Motion controller suitable for the machine can be realized. And, it also can correspond with the function improvement of the software package. (a) Conveyor assembly use (SV13) Offer liner interpolation, circular interpolation, helical interpolation, constantspeed control, speed control, fixed-pitch feed and etc. by the dedicated servo instruction. Ideal for use in conveyors and assembly machines. (b) Automatic machinery use (SV22) Provides synchronous control and offers electronic cam control by mechanical support language. Ideal for use in automatic machinery. 1-4 1 OVERVIEW 1.2.2 Basic specifications of Q173DCPU/Q172DCPU (1) Module specifications Item Q173DCPU Q172DCPU Internal current consumption (5VDC) [A] 1.25 1.14 Mass [kg] 0.33 0.33 Exterior dimensions [mm(inch)] 98 (3.85)(H) 27.4 (1.08)(W) 119.3 (4.69)(D) (2) SV13/SV22 Motion control specifications/performance specifications (a) Motion control specifications Item Number of control axes Q173DCPU Q172DCPU Up to 32 axes Up to 8 axes 0.44ms/ 1 to 6 axes SV13 0.44ms/ 1 to 6 axes 0.88ms/ 7 to 18 axes 0.88ms/ 7 to 8 axes 1.77ms/19 to 32 axes Operation cycle 0.44ms/ 1 to 4 axes (default) SV22 0.88ms/ 5 to 12 axes 0.44ms/ 1 to 4 axes 1.77ms/13 to 28 axes 0.88ms/ 5 to 8 axes 3.55ms/29 to 32 axes Interpolation functions Linear interpolation (Up to 4 axes), Circular interpolation (2 axes), Helical interpolation (3 axes) PTP(Point to Point) control, Speed control, Speed-position control, Fixed-pitch feed, Control modes Constant speed control, Position follow-up control, Speed control with fixed position stop, Speed switching control, High-speed oscillation control, Synchronous control (SV22) Acceleration/ deceleration control Compensation Automatic trapezoidal acceleration/deceleration, S-curve acceleration/deceleration Backlash compensation, Electronic gear, Phase compensation (SV22) Programming language Motion SFC, Dedicated instruction, Mechanical support language (SV22) Servo program capacity 14k steps Number of positioning points Peripheral I/F Home position return function 3200 points (Positioning data can be designated indirectly) Via PLC CPU (USB/RS-232) Proximity dog type (2 types), Count type (3 types), Data set type (2 types), Dog cradle type, Stopper type (2 types), Limit switch combined type (Home position return re-try function provided, home position shift function provided) JOG operation function Manual pulse generator operation function Synchronous encoder operation function M-code function Limit switch output function Provided Possible to connect 3 modules Possible to connect 12 modules Possible to connect 8 modules M-code output function provided M-code completion wait function provided Number of output points 32 points Watch data: Motion control data/Word device 1-5 1 OVERVIEW Motion control specifications (continued) Item Q173DCPU Absolute position system Number of SSCNET systems (Note-1) Q172DCPU Made compatible by setting battery to servo amplifier. (Possible to select the absolute data method or incremental method for each axis) 2 systems 1 system Q172DLX : 4 modules usable Motion related interface module Q172DLX : 1 module usable Q172DEX : 6 modules usable Q173DPX : 4 modules usable Q172DEX : 4 modules usable (Note-2) Q173DPX : 3 modules usable (Note-2) (Note-1) : The servo amplifiers for SSCNET cannot be used. (Note-2) : When using the incremental synchronous encoder (SV22 use), you can use above number of modules. When connecting the manual pulse generator, you can use only 1 module. 1-6 1 OVERVIEW (b) Motion SFC Performance Specifications Item Q173DCPU/Q172DCPU Code total (Motion SFC chart + Operation control Motion SFC program capacity + Transition) 543k bytes Text total (Operation control + Transition) 484k bytes Number of Motion SFC programs 256 (No.0 to 255) Motion SFC chart size/program Motion SFC program Up to 64k bytes (Included Motion SFC chart comments) Number of Motion SFC steps/program Number of selective branches/branch Number of parallel branches/branch Parallel branch nesting Number of transition programs 4096 with F(Once execution type) and FS(Scan execution type) combined. (F/FS0 to F/FS4095) Up to approx. 64k bytes (32766 steps) Number of blocks(line)/program Up to 8192 blocks (in the case of 4 steps(min)/blocks) Number of characters/block Up to 128 (comment included) Number of operand/block Up to 64 (operand: constants, word device, bit devices) ( ) nesting/block Up to 32 levels Descriptive expression Transition program Calculation expression/bit conditional expression Calculation expression/bit conditional expression/ comparison conditional expression Number of multi execute programs Up to 256 Number of multi active steps Up to 256 steps/all programs Normal task Execute in main cycle of Motion CPU Event task Fixed cycle (Execution Executed External can be task interrupt masked.) PLC interrupt Execute in fixed cycle (0.88ms, 1.77ms, 3.55ms, 7.11ms, 14.2ms) Execute when input ON is set among interrupt module QI60 (16 points). Execute with interrupt instruction (D(P).GINT) from PLC CPU. Execute when input ON is set among interrupt module QI60 (16 points). NMI task Number of devices (Device In the Motion CPU only) (Included the positioning dedicated device) 255 4096(G0 to G4095) Code size/program Operation control program Execute specification 255 Up to 4 levels Number of operation control programs Operation control program (F/FS) / Transition program (G) Up to 4094 steps Internal relays (M) 8192 points Link relays (B) 8192 points Annunciators (F) 2048 points Special relays (SM) 2256 points Data registers (D) 8192 points Link registers (W) 8192 points Special registers (SD) 2256 points Motion registers (#) Coasting timers (FT) 8736 points 1 point (888µs) Multiple CPU area devices (U \G) Up to 14336 points usable (Note) (Note): Usable number of points changes according to the system settings. 1-7 1 OVERVIEW 1.3 Hardware Configuration This section describes the Q173DCPU/Q172DCPU system configuration, precautions on use of system, and configured equipments. 1.3.1 Motion system configuration This section describes the equipment configuration, configuration with peripheral devices and system configuration in the Q173DCPU/Q172DCPU system. (1) Equipment configuration in Q173DCPU/Q172DCPU system Extension of the Q series module (Note-2) Power supply module/ QnUD(H)CPU/ I/O module/ Intelligent function module of the Q series Motion module (Q172DLX, Q172DEX, Q173DPX) Motion module (Q172DLX, Q173DPX) Main base unit (Q38DB, Q312DB) Extension cable (QC B) Q6 B extension base unit (Q63B, Q65B, Q68B, Q612B) Motion CPU module (Q173DCPU/Q172DCPU) Forced stop input cable (Q170DEMICBL M) Power supply module/ I/O module/Intelligent function module of the Q series (Note-1) Battery holder unit (Q170DBATC) (Note-1) MITSUBISHI LITHIUM BATTERY Battery (Q6BAT) SSCNET cable (MR-J3BUS M(-A/-B)) Servo amplifier (MR-J3- B) It is possible to select the best according to the system. (Note-1) : Be sure to install the Battery (Q6BAT) to the Battery holder unit (Q170DBATC). It is packed together with Q173DCPU/Q172DCPU. (Note-2) : Q172DEX cannot be used in the extension base unit. Mount it to the main base unit. 1-8 1 OVERVIEW (2) Peripheral device configuration for the Q173DCPU/Q172DCPU The following (a)(b) can be used. (a) USB configuration (b) RS-232 configuration PLC CPU module (QnUD(H)CPU) PLC CPU module (QnUD(H)CPU) USB cable RS-232 communication cable (QC30R2) MIT SUBISHI MIT SUBISHI Personal computer Personal computer 1-9 1 OVERVIEW 1.3.2 Q173DCPU System overall configuration PLC CPU/ Motion CPU Main base unit (Q3 DB) Q61P QnUD(H) Q173D CPU CPU QI60 QX QY Manual pulse generator interface module Servo external signals interface module Synchronous encoder interface module Motion CPU control module Q6 AD Q172D Q172D Q173D LX EX PX Q6 DA I/O module/ Intelligent function module 100/200VAC P Manual pulse generator 3/module (MR-HDP01) (Up to 1 module) Serial absolute synchronous encoder cable (Q170ENCCBL M) USB/RS-232 E Serial absolute synchronous encoder (Q170ENC) (Up to 6 modules) Personal Computer IBM PC/AT External input signals FLS RLS STOP DOG/CHANGE Battery holder unit Q170DBATC Number of Inputs : Upper stroke limit : Lower stroke limit : Stop signal : Proximity dog/ Speed-position switching Analogue input/output Input/output (Up to 256 points) Interrupt signals (16 points) Forced stop input cable (Q170DEMICBL M) Extension cable (QC B) Power supply module Extension base unit (Q6 B) EMI forced stop input (24VDC) SSCNET cable (MR-J3BUS M(-A/-B)) SSCNET SSCNET (CN1) d1 d16 d1 (CN2) d16 UP to 7 extensions M E M E M E M E MR-J3- B model Servo amplifier, Up to 32 axes (Up to 16 axes/system) External input signals of servo amplifier Proximity dog Upper stroke limit Lower stroke limit 1 - 10 2/module 8 axes/module (Up to 4 modules) 1 OVERVIEW CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system. The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor. Set the parameter values to those that are compatible with the Motion controller, servo amplifier, servomotor and regenerative resistor model and the system application. The protective functions may not function if the settings are incorrect. 1 - 11 1 OVERVIEW 1.3.3 Q172DCPU System overall configuration PLC CPU/ Motion CPU Main base unit (Q3 DB) Q61P QnUD(H) Q172D CPU CPU QI60 Manual pulse generator interface module Servo external signals interface module Synchronous encoder interface module Motion CPU control module Q6 AD Q172D Q172D Q173D LX EX PX QX QY Q6 DA I/O module / Intelligent function module 100/200VAC P Manual pulse generator 3/module (MR-HDP01) (Up to 1 module) Serial absolute synchronous encoder cable (Q170ENCCBL M) USB/RS-232 E Serial absolute synchronous encoder (Q170ENC)(Up to 6 modules) Personal Computer IBM PC/AT External input signals : Upper stroke limit FLS RLS : Lower stroke limit : Stop signal STOP DOG/CHANGE : Proximity dog/ Speed-position switching Battery holder unit Q170DBATC Analogue input/output Input/output (Up to 256 points) Interrupt signals (16 points) Forced stop input cable (Q170DEMICBL M) Extension cable (QC B) Power supply module Extension base unit (Q6 B) UP to 7 extensions EMI forced stop input (24VDC) SSCNET cable (MR-J3BUS M(-A/-B)) SSCNET M E d3 d2 d1 (CN1) M E M E d8 M E MR-J3- B model Servo amplifier, Up to 8 axes External input signals of servo amplifier Proximity dog Upper stroke limit Lower stroke limit 1 - 12 2/module Number of Inputs 8 axes/module (Up to 4 modules) 1 OVERVIEW CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system. The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor. Set the parameter values to those that are compatible with the Motion controller, servo amplifier, servomotor and regenerative resistor model and the system application. The protective functions may not function if the settings are incorrect. 1 - 13 1 OVERVIEW 1.3.4 Software packages (1) Software packages (a) Operating system software Software package Application Q173DCPU Q172DCPU For conveyor assembly SV13 SW8DNC-SV13QB SW8DNC-SV13QD For automatic machinery SV22 SW8DNC-SV22QA SW8DNC-SV22QC (b) Motion controller programming software Part name Model name Details Conveyor Assembly Software Automatic Machinery Software Cam Data Creation Software MT Developer2 SW1DNC-MTW2-E Digital Oscilloscope Software (1 CD-ROM disk) Communication System Software Document Print Software Operation Manual (Help) Installation manual (PDF) R R R (Note) : Operating environment to use MT Developer is Windows Vista/Windows XP/Windows 2000 English version only. (2) Operating environment of personal computer Operating environment is shown below. R R R IBM PC/AT with which Windows Vista/Windows XP/Windows 2000 English version operates normally. Item Operating environment R R R R R R R R R R R R R R R R Microsoft Windows Vista Home Basic Microsoft Windows Vista Home Premium Microsoft Windows Vista Business Microsoft Windows Vista Ultimate OS Microsoft Windows Vista Enterprise Microsoft Windows XP Professional (Service Pack 2 or later) Microsoft Windows XP Home Edition (Service Pack 2 or later) Microsoft Windows 2000 Professional (Service Pack 4 or later) R R Desktop PC: Recommended Intel Celeron Processor 2.8GHz or more CPU R R Laptop PC: Recommended Intel Pentium Processor M 1.7GHz or more Memory capacity Recommended 512MB or more Video card Card compatible with Microsoft DirectX 9.0c or later R R Available hard disk Installation: HD 1GB or more capacity Operation: Virtual memory 50MB or more Disk drive CD-ROM disk drive Display Resolution 1024×768 pixels or higher (Note-1) : Microsoft, Windows and DirectX are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. (Note-2) : Intel, Celeron and Pentium are trademarks of Intel Corporation in the U.S. and other countries. 1 - 14 1 OVERVIEW (3) Operating system type/version (a) Confirmation method in the operating system (CD) 1) 2) 3) 1) OS software type 2) OS software version 3) Serial number Example) When using Q173DCPU, SV22 and version 00A. 1) SW8DNC-SV22QA 2) 00A (b) Confirmation method in MT Debeloper The operating system(OS) type/version of connected CPU is displayed on the installation screen of MT Developer. S (OS software) V 2 2 Q A A or B : Q173DCPU C or D : Q172DCPU V E R 3 0 0 A OS version 3: Motion SFC compatibility . : Motion SFC not compatibility (4) Relevant software packages (a) PLC software package Model name Software package GX Developer SW8D5C-GPPW-E (b) Servo set up software package Model name Software package MR Configurator MRZJW3-SETUP221E 1 - 15 1 OVERVIEW POINTS (1) When the operation of Windows is not unclear in the operation of this software, refer to the manual of Windows or guide-book from the other supplier. (2) The following functions cannot be used when the computer is running under R R R Windows Vista, Windows XP or Windows 2000. This product may not perform properly, when these functions are used. R R < Windows Vista/Windows XP> R • Activating the application with Windows compatibility mode • Fast user switching • Remote desktop • Large size R • x64 Edition (64 bit Windows ) R < Windows 2000> • Large fonts 1 - 16 1 OVERVIEW 1.3.5 Restrictions on motion systems (1) Combination of Multiple CPU system (a) Motion CPU module cannot be used as standalone module. Be sure to install the universal model PLC CPU module (Q03UDCPU/ Q04UDHCPU/Q06UDHCPU) to CPU No.1. For Universal model PLC CPU module, "Multiple CPU high speed taransmission function" must be set in the Multiple CPU settings. (b) Only Multiple CPU high speed main base unit (Q38DB/Q312DB) can be used. (c) The combination of Q173DCPU/Q172DCPU and Q173HCPU(-T)/ Q172HCPU(-T)/Q173CPUN(-T)/Q172CPUN(-T) cannot be used. (d) Up to four modules of PLC CPU modules (Q03UDCPU/Q04UDHCPU/ Q06UDHCPU/Motion CPU modules can be installed from the CPU slot (the slot on the right side of power supply module) to slot 2 of the main base unit. CPU modules called as CPU No.1 to CPU No.4 from the left sequentially. There is no restriction on the installation order of CPU No.2 to No.4. For CPU module except CPU No.1, an empty slot can be reserved for addition of CPU module. An empty slot can be set between CPU modules. However, the mounting condition when combining with the High performance PLC CPU module/Process CPU module/PC CPU module/C controller module is different depending on the specification of CPU modules, refer to the Manuals of each CPU modules. (e) It takes about 10 seconds to startup (state that can be controlled) of Motion CPU. Make a Multiple CPU synchronous startup setting suitable for the system. (f) Execute the automatic refresh of the Motion CPU modules and PLC CPU modules (Q03UDCPU/Q04UDHCPU/Q06UDHCPU) by using the automatic refresh of Multiple CPU high speed transmission area setting. When the High performance PLC CPU module/Process CPU module/PC CPU module/C controller module is mounted in the combination of Multiple CPU system, the Motion CPU module cannot be execute the automatic refresh with these modules. (g) Use the Motion dedicated PLC instructions that starts by "D(P).". The Motion dedicated PLC instructions that starts by "S(P)." cannot be used. When the High performance PLC CPU module/Process CPU module/PC CPU module/C controller module is mounted in the combination of Multiple CPU system, the Motion dedicated PLC instruction from these modules cannot be executed. 1 - 17 1 OVERVIEW (2) Motion modules (Note-1) (a) Installation position of Q172DEX is only the main base unit. It cannot be used on the extension base unit. (b) Q172DLX/Q173DPX can be installed on any of the main base unit/ extension base unit. (Note-1) (c) Q172DLX/Q172DEX /Q173DPX cannot be installed in CPU slot and I/O slot 0 to 2 of the main base unit. Wrong installation might damage the main base unit. (d) Q172EX(-S1/-S2/-S3)/Q172LX/Q173PX(-S1) for Q173HCPU(-T)/ Q172HCPU(-T)/Q173CPUN(-T)/Q172CPUN(-T)/Q173CPU/Q172CPU cannot be used. (e) Be sure to use the Motion CPU as the control CPU of Motion modules (Note-1) , Q173DPX, etc.) for Motion CPU. They will not (Q172DLX, Q172DEX operate correctly if PLC CPU is set and installed as the control CPU by mistake. Motion CPU is treated as a 32-point intelligent module by PLC CPU of other CPU. (Note-1) : Q172DEX can be used in SV22. It cannot be used in SV13. 1 - 18 1 OVERVIEW (3) Other restrictions (a) Motion CPU module cannot be set as the control CPU of intelligent function module (except some modules) or Graphic Operation Terminal(GOT). (b) Be sure to use the external battery. (c) There are following methods to execute the forced stop input. • Use a EMI terminal of Motion CPU module • Use a device set in the forced stop input setting of system setting (d) Forced stop input for EMI terminal of Motion CPU module cannot be invalidated by the parameter. When the device set in the forced stop input setting is used without use of EMI terminal of Motion CPU module, apply 24VDC voltage on EMI terminal and invalidate the forced stop input of EMI terminal. (e) Be sure to use the cable for forced stop input (sold separately). The forced stop cannot be released without using it. (f) When the operation cycle is 0.4[ms], set the system setting as the axis select switch of servo amplifier "0 to 7". If the axis select switch of servo amplifier "8 to F" is set, the servo amplifiers are not recognized. (g) It is impossible to mount the main base unit by DIN rail when using the Motion CPU module. Doing so could result in vibration that may cause erroneous operation. (h) The module name displayed by "System monitor" - "Product information list" of GX Developer is different depending on the function version of Motion modules (Q172DLX, Q172DEX, Q173DPX). (Note): Even if the function version "C" is displayed, it does not correspond to the online module change. Model display Module name Function version "B" Function version "C" Q172DLX Q172LX Q172DLX Q172DEX MOTION-UNIT Q172DEX Q173DPX MOTION-UNIT Q173DPX 1 - 19 1 OVERVIEW MEMO 1 - 20 2 MULTIPLE CPU SYSTEM 2. MULTIPLE CPU SYSTEM 2.1 Multiple CPU System 2.1.1 Overview (1) What is Multiple CPU system ? A Multiple CPU system is a system in which more than one PLC CPU module and Motion CPU module (up to 4 modules) are mounted on several main base unit in order to control the I/O modules and intelligent function modules. Each Motion CPU controls the servo amplifiers connected by SSCNET cable. (2) System configuration based on load distribution (a) By distributing such tasks as servo control, machine control and information control among multiple processors, the flexible system configuration can be realized. (b) You can increase the number of control axes by using a multiple Motion CPU modules. It is possible to control up to 96 axes by using the three CPU modules (Q173DCPU). (c) By distributing the high-load processing performed on a single PLC CPU over several CPU modules, it is possible to reduce the overall system PLC scan time. (3) Communication between CPUs in the Multiple CPU system (a) Since device data of other CPUs can be automatically read by the automatic refresh function, the self CPU can also use them as those of self CPU. (Note): When the High performance PLC CPU module/Process CPU module/PC CPU module/C controller module is mounted in the combination of Multiple CPU system, the Motion dedicated PLC instruction from these modules cannot be executed. (b) Motion dedicated PLC instructions can be used to access device data from the PLC CPU to Motion CPU and start Motion SFC program. 2-1 2 2 MULTIPLE CPU SYSTEM 2.1.2 Installation position of CPU module Up to four PLC CPUs and Motion CPUs can be installed from the CPU slot (the right side slot of the power supply module) to slots 2 of the main base unit. The Motion CPU module cannot be installed in the CPU slot. The PLC CPU module must be installed in the CPU slot (CPU No.1) in the Multiple CPU system. There is no restriction on the installation order for CPU modules (CPU No.2 to 4). (Note): Refer to the manual for each CPU module when the High performance PLC CPU module, Process CPU module, PC CPU module and C controller module is mounted in the combination of Multiple CPU. Table 2.1 Example for CPU module installation Number of CPUs Installation position of CPU module CPU 0 1 2 Power QnUD(H) Q17 D supply CPU CPU 2 —— CPU No.1 CPU No.2 CPU No.3 CPU No.4 CPU 0 1 2 CPU 0 Power QnUD(H) Q17 D supply CPU CPU Power QnUD(H) Q17 D QnUD(H) supply CPU CPU CPU —— 1 2 Q17 D CPU 3 —— CPU No.1 CPU No.2 CPU No.3 CPU 0 1 Power QnUD(H) Q17 D QnUD(H) CPU supply CPU CPU CPU No.4 CPU No.1 CPU No.2 0 2 CPU CPU empty Power QnUD(H) Q17 D supply CPU CPU CPU No.4 CPU No.1 CPU No.3 CPU No.4 1 2 CPU Q17 D QnUD(H) CPU CPU 1 2 Power QnUD(H) Q17 D supply CPU CPU 0 Q17 D CPU Q17 D CPU CPU No.1 CPU No.3 CPU No.4 4 CPU No.1 CPU No.2 CPU No.3 CPU No.2 CPU No.3 CPU No.4 CPU CPU No.2 0 1 2 : Slot number An empty slot can be reserved for future addition of a CPU module. Set the number of CPU modules including empty slots in the Multiple CPU setting, and set the type of the slots to be emptied to "PLC (Empty)" in the CPU setting. (Example 1) CPU Power QnUD(H) supply CPU CPU No.1 (Example 2) 0 1 CPU empty Q17 D CPU CPU No.2 CPU No.3 2 CPU Power QnUD(H) supply CPU CPU No.4 CPU No.1 (Example 3) 0 1 2 CPU empty Q17 D CPU CPU empty CPU No.2 CPU No.3 CPU No.4 2-2 CPU Power QnUD(H) supply CPU CPU No.1 0 1 2 CPU empty CPU empty Q17 D CPU CPU No.2 CPU No.3 CPU No.4 2 MULTIPLE CPU SYSTEM 2.1.3 Precautions for using I/O modules and intelligent function modules (1) Modules controllable by the Motion CPU Modules controllable by the Motion CPU are shown below. • Motion modules (Q172DLX, Q172DEX, Q173DPX) • I/O modules (QX , QY , QH , QX Y ) • Analogue modules (Q6 AD , Q6 AD- , Q6 DA , Q6 DA- ) • Interrupt module (QI60) (2) Compatibility with the Multiple CPU system The intelligent function modules of function version "B" or later support the Multiple CPU system. Be sure to use the PLC CPU as a control CPU because of the intelligent function modules cannot be controlled by the Motion CPU. (3) Access range from non-controlled CPU (a) The Motion CPU can access only the modules controlled by the self CPU. It cannot access the modules controlled by other CPUs. (b) Access range from non-controlled PLC CPU for the modules controlled by the Motion CPU are shown below. Table 2.2 Access range to non-controlled module I/O setting outside of the group (Set by PLC CPU) Access target Disabled (Not checked) Enabled (Checked) Input (X) Output (Y) Buffer memory Read Write : Accessible : Inaccessible REMARK • The function version of an intelligent function module can be checked on the rated plate of the intelligent function module or in the GX Developer's system monitor product information list. • Refer to the "Q173DCPU/Q172DCPU User's Manual" for the model name which can be controlled by the Motion CPU. 2-3 2 MULTIPLE CPU SYSTEM 2.1.4 Modules subject to installation restrictions (1) Modules subject to install restrictions for the Motion CPU are sown below. Use within the restrictions listed below. Description Model name Servo external signals Maximum installable modules per CPU Q173DCPU Q172DCPU 4 modules 1 module 6 modules 4 modules Q172DLX interface module Serial absolute synchronous Q172DEX (Note-2) interface module 4 modules Manual pulse generator Q173DPX 3 modules (Note-2) (Incremental serial encoder use) (Incremental serial encoder use) 1 module 1 module (Note-1) interface module (Note-2) (Manual pulse generator only use) (Manual pulse generator only use) Input module QX Output module QY Input/output QH composite module QX Y Analogue input module Q6 AD Total 256 points Q6 ADAnalogue output module Q6 DA Q6 DA- Interrupt module QI60 1 module (Note-1) : When the Manual pulse generator and the serial encoder are used at the same time with the SV22, the Q173DPX installed in the slot of the smallest number is used for manual pulse generator input. (Note-2) : SV22 only. (2) A total of eight base units including one main base unit and seven extension base units can be used. However, the usable slots (number of modules) are limited to 64 per system including empty slots. If a module is installed in slot 65 or subsequent slot, an error (SP. UNIT LAY ERROR) will occur. Make sure all modules are installed in slots 1 to 64. (Even when the total number of slots provided by the main base unit and extension base units exceeds 65 (such as when six 12-slot base units are used), an error does not occur as long as the modules are installed within slots 1 to 64.) POINT (1) Q172DLX/Q172DEX/Q173DPX cannot be installed in CPU slot and I/O slot 0 to 2 of the main base unit. Wrong installation might damage the main base unit. (2) Q172DEX can be installed in the main base unit only. It cannot be used in the extension base unit. 2-4 2 MULTIPLE CPU SYSTEM 2.1.5 How to reset the Multiple CPU system The entire Multiple CPU system can be reset by resetting CPU No.1. The CPU modules of No.2 to No.4, I/O modules and intelligent function modules will be reset when PLC CPU No.1 is reset. If a stop error occurs in any of the CPUs on the Multiple CPU system, either reset CPU No.1 or restart the Multiple CPU system (power supply ON OFF ON) for recovery. (Recovery is not allowed by resetting the error-stopped CPU modules other than CPU No.1.) POINT (1) It is not possible to reset the CPU modules of No.2 to No.4 individually in the Multiple CPU system. If an attempt to reset any of those PLC CPU modules during operation of the Multiple CPU system, a "MULTI CPU DOWN (error code: 7000)" error will occur for the other CPUs, and the entire Multiple CPU system will be halted. However, depending on the timing in which any of PLC CPU modules other than No.1 has been reset, an error other than the "MULTI CPU DOWN" may halt the other PLC CPUs/Motion CPUs. (2) A "MULTI CPU DOWN (error code: 7000)" error will occur regardless of the operation mode(All stop by stop error of CPU "n"/continue) set at the "Multiple CPU setting" screen when any of PLC CPU modules of No.2 to No.4 is reset. (Refer to Section 2.1.6.) 2-5 2 MULTIPLE CPU SYSTEM 2.1.6 Operation for CPU module stop error The entire system will behaves differently depending whether a stop error occurs in CPU No.1 or any of CPU No.2 to No.4 in the Multiple CPU system. (1) When a stop error occurs at CPU No.1 (a) A "MULTI CPU DOWN (error code: 7000)" error occurs at the other CPUs and the Multiple CPU system will be halted when a stop error occurs at the (Note-1) PLC CPU No.1. (b) The following procedure to restore the system is shown below. 1) Confirm the error cause with the PLC diagnostics on GX Developer. 2) Remove the error cause. 3) Either reset the PLC CPU No.1 or restart the power to the Multiple CPU system (power ON OFF ON). All CPUs on the entire Multiple CPU system will be reset and the system will be restored when PLC CPU No. 1 is reset or the Multiple CPU system is reapplied. (2) When a stop error occurs at CPU other than No.1 Whether the entire system is halted or not is determined by the Multiple CPU setting's "Operating Mode" setting when a stop error occurs in a PLC CPU module/Motion CPU module other than CPU No.1. The default is set for all CPUs to be stopped with a stop error. When you do not want to stop all CPUs at occurrence of a stop error in a PLC CPU module/Motion CPU module, remove the check mark that corresponds to the CPU No. so that its error will not stop all CPUs. (See arrow A.) A (a) When a stop error occurs in the CPU module for which "All station stop by stop error of CPU 'n' " has been set, a "MULTI CPU DOWN (error code: 7000)" error occurs for the other PLC CPU module/Motion CPU modules (Note-1) and the Multiple CPU system will be halted. 2-6 2 MULTIPLE CPU SYSTEM (b) When a stop error occurs in the CPU module for which " All station stop by stop error of CPU 'n' " has not been set, a "MULTI EXE. ERROR (error code: 7010)" error occurs in all other CPUs but operations will continue. POINT (Note-1) : When a stop error occurs, a "MULTI CPU DOWN (error code : 7000)" stop error will occur at the CPU on which the error was detected. Depending on the timing of error detection, a "MULTI CPU DOWN" error may be detected in a CPU of "MULTI CPU DOWN" status, not the first CPU on which a stop error occurs. Because of this, CPU No. different from the one of initial error CPU may be stored in the error data's common information category. To restore the system, remove the error cause on the CPU that is stopped by an error other than "MULTI CPU DOWN". In the screen below, the cause of the CPU No.2 error that did not cause the "MULTI CPU DOWN" error is to be removed. (c) Observe the following procedures to restore the system. 1) Confirm the error-detected CPU No. and error cause with the PLC diagnostics on GX Developer. 2) If the error code occurred in Motion CPU 10000 to 10999, confirm the error cause with Motion CPU error batch monitor of MT Developer. 3) Remove the error cause. 4) Either reset the PLC CPU No.1 or restart the power to the Multiple CPU system (power ON OFF ON). All CPUs on the entire Multiple CPU system will be reset and the system will be restored when PLC CPU No.1 is reset or the power to the Multiple CPU system is reapplied. 2-7 2 MULTIPLE CPU SYSTEM (3) Operation at a Motion CPU error Operations at a Motion CPU error are shown below. Category Type of error System setting error Operation Operation Does not operate from the beginning (does not run). WDT error Varies depending on the error. Self-diagnosis error Stops at a CPU DOWN error. disable errors Remark • All actual output PY points turn OFF. No effect on other CPUs. • All actual output PY points turn OFF. Other CPUs may also stop depending on the parameter setting. Operation corresponding to Other CPU DOWN error STOP (M2000 OFF). Depends on the "Operation mode upon CPU • All actual output PY points turn OFF. stop error" setting. Self-diagnosis error Operation continuous enable errors Operation continues when the continuous error occurred. Motion SFC error Minor error Processing stops for each Major error program or axis instead of the Servo error Motion CPU stopping all the Servo program setting processing. • Only the applicable program stops (the program may continue depending on the type of error). • Actual output PY retains output. • No effect on other CPUs. error 2-8 2 MULTIPLE CPU SYSTEM 2.2 Starting Up the Multiple CPU System This section describes a standard procedure to start up the Multiple CPU system. 2.2.1 Startup Flow of the Multiple CPU System START Definition of functions with Multiple CPU system Control and function executed in each CPU module are defined. Application and assignment of device Refer to Section 2.3 When automatic refresh of the CPU shared memory is performed, the number of refresh points is continuously obtained. Selection of module Select the module to achieve the function with the Multiple CPU system. Refer to the "Q173DCPU/Q172DCPU User's Manual" PLC CPU Motion CPU Installation of module Install the selected module on the main base unit and extension base unit. Start-up of GX Developer Refer to the "Q173DCPU/Q172DCPU User's Manual" Refer to the GX Developer Manual. Start-up GX Developer (Ver. 8.48A or later). Creation of parameters, etc. Create the parameter such as Multiple CPU setting and control CPU setting, and the PLC program. PLC CPU Connection of PC to the PLC CPU module of CPU No. 1 Connect the PC that started GX Developer to the PLC CPU module of CPU No. 1 with the RS-232 cable/ USB cable. Multiple CPU system power ON Turn ON the power of Multiple CPU system in the following state of PLC CPU module of CPU No.1. RUN/STOP/RESET switch : STOP Write of parameter and program PLC CPU Write parameter and PLC program in the PLC CPU of CPU No. 1. For PLC CPU other than CPU No. 1, select the applicable PLC CPU by specifying the connection. 1) 2-9 Create the parameters for CPU No. 1 to 4 and PLC programs. Refer to the "QCPU User's Manual" (Function Explanation/Program Fundamentals)". 2 MULTIPLE CPU SYSTEM 1) Start-up of MT Developer Refer to the help for operation of MT Developer. Start-up MT Developer. Creation of system settings and program, etc. Motion CPU Create the system settings, servo data and Motion SFC program. Refer to Section 3.1 for system settings. Refer to the Programming Manual of each operating system software for details of program. Write to the Motion CPU Write the system settings, servo data and Motion SFC program. Switch setting for all CPUs PLC CPU Motion CPU Set RUN/STOP/RESET switch of PLC CPU modules and RUN/STOP switch of Motion CPU modules in CPU No.1 to 4 to RUN. Reset PLC CPU module of CPU No.1 Set RUN/STOP/RESET switch of PLC CPU module in CPU No.1 to RESET to reset the entire system. PLC CPU Status check in all CPU modules Check if all CPUs of the Multiple CPU system are RUN status/error by resetting the CPU module of CPU No. 1. Check and correction of errors PLC CPU Motion CPU An error is checked with the PC diagnosis function of GX Developer and Motion CPU error batch monitor of MT Developer for correction. Debug of each CPU module Multiple CPU system is debugged for each PLC CPU/Motion CPU. Actual operation Check in the automatic operation. END (Note) : Installation of the operating system software is required to the Motion CPU module before start of the Multiple CPU system. Refer to Chapter 5 of the "Q173DCPU/Q172DCPU User's Manual" for installation of the Motion CPU operating system software. 2 - 10 2 MULTIPLE CPU SYSTEM 2.3 Communication between the PLC CPU and the Motion CPU in the Multiple CPU System 2.3.1 CPU shared Memory (1) Structure of CPU shared memory The CPU shared memory is memory provided for each CPU module by which data is written or read between CPU modules of a Multiple CPU system. The CPU shared memory consists of four areas. • Self CPU operation information area • System area • User setting area • Multiple CPU high speed transmission area The CPU shared memory configuration and the availability of the communication from the self CPU using the CPU shared memory by program are shown below. Self CPU Write Read CPU shared memory (0H) 0 to to (1FFH) 511 (200H) 512 to to (7FFH) 2047 (800H) 2048 to (FFFH) (1000H) to (270FH) (2710H) to to 4095 4096 to 9999 10000 to up to (5F0FH) 24335 Self CPU operation information area Other CPU Write Read (Note-2) (Note-2) (Note-2) System area User setting area (Note-1) (Note-2) (Note-2) (Note-3) (Note-3) (Note-3) Unusable Multiple CPU high speed transmission area (Variable size in 0 to 14k[points]: 1k words in unit) Multiple CPU high speed bus : Communication allowed : Communication not allowed REMARK (Note-1) : Use the MULTW instruction to write to the user setting area of the self CPU in the Motion CPU. Use the S. TO instruction to write to the user setting area of the self CPU in the PLC CPU. (Note-2) : Use the MULTR instruction to read the shared memory of self CPU and other CPU in the Motion CPU. Use the FROM instruction/Multiple CPU area device (U \G ) to read the shared memory of the Motion CPU from the PLC CPU. (Note-3) : Refer to Section 2.3.2(1) for the access method of Multiple CPU high speed transmission area. 2 - 11 2 MULTIPLE CPU SYSTEM (a) Self CPU operation information area (0H to 1FFH) 1) The following information of self CPU is stored as the Multiple CPU system Table 2.3 Table of self CPU operation information areas CPU shared memory address 0H 1H 2H 3H 4H 5H 6H to 10H 11H to 1BH Name Description Detail (Note) The area to confirm if information is stored in the self CPU's operation information area (1H to 1FH) or not. Information availability • 0: Information not stored in the self CPU's operation information Information availability area. flag • 1: Information stored in the self CPU's operation information area. An error No. identified during diagnosis is stored in BIN. Diagnostic error Diagnostic error number The year and month that the error number was stored in the CPU shared memory's 1H address is stored with two digits of the BCD code. The date and time that the error number was stored in the CPU Time the diagnostic error Time the diagnostic error shared memory's 1H address is stored with two digits of the BCD occurred occurred code. The minutes and seconds that the error number was stored in the CPU shared memory's 1H address is stored with two digits of the BCD code. Stores an identification code to determine what error information Error information Error information has been stored in the common error information and individual identification code identification code error information. The common information corresponding to the error number Common error information Common error information identified during diagnosis is stored. Individual error information 1CH Empty 1DH Switch status 1EH Empty 1FH CPU operation status Individual error information — CPU switch status — CPU operation status The individual information corresponding to the error number identified during diagnostic is stored. Cannot be used Corresponding special register — SD0 SD1 SD2 SD3 SD4 SD5 to SD15 SD16 to SD26 — Stores the CPU module switch status. Cannot be used SD200 — Stores the CPU module's operation status. SD203 (Note) : Refer to the corresponding special register for details. 2) The self CPU operation information area is refreshed every time the applicable register has been changed in the main cycle. 3) Other PLC CPU can use FROM instruction to read data from the self CPU operation information area. However, because there is a delay in data updating, use the read data for monitoring purposes only. (b) System area The area used by the operating systems (OS) of the PLC CPU/Motion CPU. (c) User setting area The area for communication between CPU modules in the Multiple CPU system by MULTR/MULTW instruction of Motion CPU. (PLC CPU use FROM/S.TO instruction or Multiple CPU area devices to communicate between CPU modules.) Refer to the Programming Manual of operating system software for MULTR/MULTW instruction. 2 - 12 2 MULTIPLE CPU SYSTEM (d) Multiple CPU high speed transmission area The area corresponding to the Multiple CPU high speed main base unit (Q3 DB) and Multiple CPU high speed transmission that uses the drive system controllers including QnUD(H)CPU and Motion CPU. The image chart of Multiple CPU high speed transmission area is shown below. Refer to Section 2.3.2(1) for access to the Multiple CPU high speed transmission area of self CPU and other CPU. CPU No.2 CPU No.3 CPU No.4 CPU No.1 Multiple CPU high speed transmission area (Transmission) CPU No.1 Multiple CPU high speed transmission area (Reception) CPU No.1 Multiple CPU high speed transmission area (Reception) CPU No.1 Multiple CPU high speed transmission area (Reception) CPU No.2 Multiple CPU high speed transmission area (Reception) CPU No.2 Multiple CPU high speed transmission area (Transmission) CPU No.2 Multiple CPU high speed transmission area (Reception) CPU No.2 Multiple CPU high speed transmission area (Reception) CPU No.3 Multiple CPU high speed transmission area (Reception) CPU No.3 Multiple CPU high speed transmission area (Reception) CPU No.3 Multiple CPU high speed transmission area (Transmission) CPU No.3 Multiple CPU high speed transmission area (Reception) CPU No.4 Multiple CPU high speed transmission area (Reception) CPU No.4 Multiple CPU high speed transmission area (Reception) CPU No.4 Multiple CPU high speed transmission area (Reception) CPU No.4 Multiple CPU high speed transmission area (Transmission) CPU No.1 (Note-2) U3E0\G10000 to U3E0\G (Note-1) U3E1\G10000 to U3E1\G (Note-1) U3E2\G10000 to U3E2\G (Note-2) (Note-1) U3E3\G10000 to U3E3\G (Note-2) (Note-2) (Note-1) (Note-1) : The final device is "10000+(A 1024-B-1)". A : Data transmission size of each CPU (1k words in unit) B : Size used in the automatic refresh of each CPU. Refer to Section "2.3.2 Multiple CPU high speed transmission" for the size setting of A and B. (Note-2) : Transmission area to write/read in the self CPU. Reception area from the other CPU can be read only. It is updated every 0.88ms. 2 - 13 2 MULTIPLE CPU SYSTEM 2.3.2 Multiple CPU high speed transmission (1) Multiple CPU high speed transmission Multiple CPU high speed transmission is a function for fixed cycle data transmission between Multiple CPUs (Multiple CPU high speed transmission cycle is 0.88ms.). Secure data transmission is possible without effecting the PLC CPU scan time or Motion CPU main cycle because the data transmission and execution of PLC program and Motion SFC program can be executed with parallel processing. High speed response between multiple CPUs is realized by synchronizing the Multiple CPU high speed transmission cycle with Motion CPU operation cycle. The following methods of data transmission exist between Multiple CPUs for Multiple CPU high speed transmission. • Multiple CPU area device method Directly set the Multiple CPU high speed transmission area by Multiple CPU area device (U \G ) in the program. • Automatic refresh method Refresh the internal devices of each CPU by automatic refresh via "Multiple CPU high speed transmission area". (a) Multiple CPU area device method CPU No.1 (PLC CPU) CPU No.2 (Motion CPU) CPU shared memory (User setting area (Note-1)) PLC program SM400 U3E0\ MOV W0 G10000 U3E0\ G10010.1 1) U3E0\G10000 2) U3E0\ G10110.5 END 4) U3E0\G10100 CPU No.1 transmitting data 5) Motion SFC program G0 U3E0\G10010.1 G1 U3E0\G10110.5 F0 W0=U3E0\G10010 F1 W1=U3E0\G10110 U3E0\G10010 CPU No.1 transmitting data U3E0\ MOV W1 G10100 3) U3E0\G10000 U3E0\G10010 SM400 CPU shared memory (User setting area (Note-1)) U3E0\G10100 6) U3E0\G10110 U3E0\G10110 Multiple CPU high speed transmission in 0.88ms cycle 1), 4) : Write data in the user setting area (Note-1) by the instruction that uses the Multiple CPU area device. 3), 6) : Read data from the user setting area (Note-1) by the instruction that uses the Multiple CPU area device. 2), 5) : Transmit the contents of user setting area (Note-1) to the other CPU with by Multiple CPU high speed transmission in 0.88ms cycle. Note-1: The area composed in the Multiple CPU high speed transmission area. (Refer to Section "(3) Memory configuration of Multiple CPU high speed transmission area".) 2 - 14 2 MULTIPLE CPU SYSTEM 1) Access to Multiple CPU high speed transmission area a) Description of Multiple CPU area device Word device : U \G CPU shared memory address (decimal) (10000 to up to 24335) First I/O number of CPU module CPU No.1 CPU No.2 CPU No.3 CPU No.4 CPU No. 3E1(H) 3E2(H) 3E3(H) First I/O number 3E0(H) Bit device :U \G . Bit specification (0 to F : Hexadecimal) CPU shared memory address (decimal) (10000 to up to 24335) First I/O number CPU module CPU No.1 CPU No.2 CPU No.3 CPU No.4 CPU No. 3E1(H) 3E2(H) 3E3(H) First I/O number 3E0(H) (Example) • Multiple CPU high speed transmission memory address of CPU No. 2: 10002 U3E1\G10002 • Bit 14 of CPU No. 3 Multiple CPU high speed transmission memory address 10200 U3E2\G10200.E b) Example of access in the program• Store K12345678 to the Multiple CPU high speed transmission memory 10200,10201 of self CPU (CPU No.2). U3E1\G10200L = K12345678 • Turn on bit 12 of the Multiple CPU high speed transmission memory 10301 of self CPU (CPU No.3) SET U3E2\G10301.C • Program which executes the positioning for Axis 1 to position set in the Multiple CPU high speed transmission memory 10400, 10401 of CPU No.1 at the speed set in the 10402, 10403 of CPU No.1, and uses bit 1 of CPU No.1 Multiple CPU high speed transmission memory 10404 of CPU No.1 as a cancel signal. ABS-1 Axis Speed Cancel 1, U3E0\G10400 U3E0\G10402 U3E0\G10404.1 POINT This method can be used to access only the Multiple CPU high speed transmission area of CPU shared memory. It cannot be used to access the CPU shared memory (0 to 4095). 2 - 15 2 MULTIPLE CPU SYSTEM (b) Example of using automatic refresh method CPU No.2 (Motion CPU) CPU No.1 (PLC CPU) PLC program Device memory SM400 CPU shared memory CPU shared memory (Automatic refresh area (Note-1)) (Automatic refresh area (Note-1)) Device memory INC D0 Y0 1) D0 Refresh at the timing of END processing SM400 CPU No.1 transmitting data 3) 2) CPU No.1 transmitting data INC D1 D2000 Refresh at the timing of Motion CPU main cycle Y0 Multiple CPU high speed transmission in 0.88ms cycle END Parameter Parameter CPU No.1 to CPU No.2 Transmit D0 CPU No.1 to CPU No.2 Receive D2000 1) Transmit the content of D0 to the automatic refresh area (Note-1) at the time of END processing by parameter setting. 2) Transmit the content of automatic refresh area (Note-1) to the other CPU by Multiple CPU high speed transmission at 0.88ms cycle. 3) Read the content of automatic refresh area (Note-1) at the time of Motion CPU main cycle and transmit it to D2000 by parameter setting. . Note-1: The area composed in the Multiple CPU high speed transmission area. (Refer to Section "(3) Memory configuration of Multiple CPU high speed transmission area".) (2) System configuration Multiple CPU high speed transmission can be used only between CPU modules for the Multiple CPU high speed transmission installed in the Multiple CPU high speed main base unit (Q3 DB). The system configuration specification is shown in Table 2.4. Table 2.4 System configuration to use Multiple CPU high speed transmission Object Base unit Restrictions Multiple CPU high speed main base unit (Q3 DB) is used. QnUD(H)CPU is used for CPU No. 1. CPU module Q173DCPU/Q172DCPU and QnUD(H)CPU are used for CPU No. 2 to CPU No. 4 "MULTI EXE. ERROR (error code: 7011) will occur if the power supply of Multiple CPU system is turned on without matching the system configuration shown in Table 2.4. 2 - 16 2 MULTIPLE CPU SYSTEM (3) Memory configuration of Multiple CPU high speed transmission area Memory configuration of Multiple CPU high speed transmission area is shown below. 1) Multiple CPU high speed transmission area [Variable in 0 to 14k[points] (Note-1)] 2) 3) 4) 5) CPU No.1 send area CPU No.2 send area 6) 7) User setting area Automatic refresh area CPU No.3 send area CPU No.4 send area (Note-1): Multiple CPU high speed transmission area; 14k[points]: Maximum value when constituted with two CPUs 13k[points]: Maximum value when constituted with three CPUs 12k[points]: Maximum value when constituted with four CPUs Table 2.5 Description of area No. Name Description Size Setting range Setting unit 0 to 14k 1k 0 to 14k 1k 0 to 14k 2 0 to 14k 2 • Area for data transmission between each CPU module 1) Multiple CPU high speed transmission area in the Multiple CPU system. • The area up to 14k [points] is divided between each CPU module that constitutes the Multiple CPU system. • Area to store the send data of the each CPU module. 2) 3) 4) CPU No. n send area (n=1 to 4) 5) • Sends the data stored in the send area of self CPU to the other CPUs. • Other CPU send area stores the data received from the other CPUs. • Area for data communication with other CPUs using the Multiple CPU area device. 6) User setting area • Can be accessed by the user program using the Multiple CPU area device. • Refer to Section 2.3.2 (1) for details of this area. • Area for communicating device data with other CPUs 7) Automatic refresh area by the communication using the automatic refresh. • Access by user program is disabled. • Refer to Section "(4)(b) Automatic refresh setting" for details of this area. 2 - 17 2 MULTIPLE CPU SYSTEM (4) Parameter setting The parameter setting list for use with the Multiple CPU high speed transmission is shown in Table 2.6. Table 2.6 Multiple CPU high speed transmission parameter list Name Description Multiple CPU high Set the size of the Multiple CPU high speed speed transmission transmission area allocated in each CPU module area setting which composes the Multiple CPU system. Automatic refresh setting Set the range to execute the data transmission by Target CPU All CPUs the automatic refresh function among the user area in the Multiple CPU high speed transmission area. (a) Multiple CPU high speed transmission area setting Multiple CPU high speed transmission area setting screen and setting range are shown below. 2 - 18 2 MULTIPLE CPU SYSTEM Table 2.7 Parameter setting items of Multiple CPU high speed transmission area setting Item CPU Setting description Setting/display value CPU No. corresponding to displayed parameters. CPU No.1 to No.4 Set the number of points of data that each CPU module sends. Default value assigned to each CPU is shown below. CPU specific send range Number of CPUs Default value of CPU specific send range [points] CPU No.1 CPU No.2 CPU No.3 CPU No.4 2 7k 7k — — 3 7k 3k 3k — 4 3k 3k 3k 3k Range: 0 to 14k [points] Unit: 1k [point] (Points: Word in units) Restriction Consistency check — — • Set the total of all CPUs to be the following points or lower. When constituted with two CPUs: 14k [points] When constituted with three CPUs: 13k [points] When constituted with four CPUs: 12k [points] Provided Automatic refresh Number of points used in the automatic refresh function is displayed. Number of points that is set by the "automatic refresh setting" is displayed. Range: 0 to 14336 [points] Do not exceed the CPU Unit: 2 [points] specific send range [points]. — User setting area Area size specified directly by program is displayed. The value where the "number of points set in the automatic refresh" is subtracted from the "CPU specific send range setting" is displayed. Range: 0 to 14336 [points] Unit: 2 [points] — 2 - 19 — 2 MULTIPLE CPU SYSTEM POINT Selecting "Advanced setting" enables the ability to change the number of points from 1k to 2k in the system area used for Motion dedicated PLC instructions. Changing the number of points in the system area to 2k increases the number of Motion dedicated PLC instructions that can be executed concurrently in a scan. The screen where "Advanced setting" is selected is shown below. Refer to the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC) " for the Motion dedicated PLC instruction. Item Setting description Setting/display value (Points: Word in units) Restriction Data size consistency check • Set the total of all CPUs to be the following points or lower. CPU specific Set the number of points of data send range that each CPU module sends. Range: 0 to 14k [points] Unit: 1k [points] When constituted with two CPUs: 14k [points] Provided When constituted with three CPUs: 13k [points] When constituted with four CPUs: 12k [points] Set the number of points for a system area to be assigned for System area each CPU module. (Default value of system area size is 1k [point].) Total Range: 1k/2k [points] Display the total of number of points of the self CPU send area Range: 1 to 16k [points] and the system area that are Unit: 1k [points] assigned to the each CPU module. 2 - 20 — Set the total of all CPUs to 16.0k points or lower. Provided — 2 MULTIPLE CPU SYSTEM (b) Automatic refresh setting Setting for use of the automatic refresh function in the Multiple CPU high speed transmission area. Up to 32 setting ranges can be set for each CPU module. Automatic refresh setting screen and setting range are shown below. Table 2.8 Parameter setting items of automatic refresh setting Item Setting description Setting range CPU selection Select the CPU module for editing of the CPU specific send range setting. CPU No.1 to No.4 Setting No. The setting No. for transmission of each CPU module is displayed. Automatic refresh is executed between devices set to the same setting No. for all CPUs that constitute the Multiple CPU system. 1 to 32 Restriction Data size consistency check • CPU No. which exceeds the number of CPU modules cannot be selected. — — — • Setting which exceeds the number of points of the self CPU send area allocated to the each CPU module (CPU specific send range) cannot be set. • Bit device can be specified in units of 32 points (2 words) only. Provided Points Set the number of points for data communication. Range: 2 to 14336 [points] Unit: 2 [points] Start Specifies the device which performs the data communication (automatic refresh). Specifies the device sent by the self CPU when the "Send source CPU selection" is the self CPU, and specifies the device received by the self CPU when the CPU specific send range setting is the other CPU. Usable device ( X, Y, M, B, • Bit device can be specified in D, W, #, SM, SD) units of 16 points (1 word) only. Note) Set "blank" when • Device number cannot be automatic refresh is duplicated. not executed. 2 - 21 None 2 MULTIPLE CPU SYSTEM POINT The processing performance of automatic refresh improves when devices are transmitted in 2 word sets. Therefore, it is recommended to set the start device as 2 word unit by inputting an even device number. 1) Operation example of automatic refresh a) Parameter setting The example of setting automatic refresh is shown below. • CPU No.1 (PLC CPU) (GX Developer) Set the device transmitted to CPU No.2. • CPU No.2 (Motion CPU) (MT Developer) Set the device received from CPU No.1. Set the device received from CPU No.2. Set the device transmitted to CPU No.1. (Note) : The operation example of automatic refresh is shown on the next page. 2 - 22 2 MULTIPLE CPU SYSTEM POINT Set the following operation for automatic refresh setting using GX Developer. 1) Select tab "Multiple CPU high speed communication area setting". 2) Set "Use Multiple CPU high speed communication ". 1) 2) b) Operation example The example of operating automatic refresh is shown below. PLC CPU (CPU No.1) Motion CPU (CPU No.2) Multiple CPU high speed transmission area CPU No.1 transmitting data M2399 M2400 Automatic refresh area M3039 M3040 M3199 EN g sin es oc pr M3839 M3840 D0 pro END sing ces M2399 M2400 Axis status Automatic refresh area CPU No.2 transmitting data Transfer in 0.88ms cycle M0 CPU No.1 receiving data U3E1\G10000 CPU No.2 receiving data Automatic refresh area Data register Transfer in 0.88ms cycle U3E1\G10000 D EN M3200 g sin es roc p D Internal relay U3E0\G10000 M3039 Ma in c M3040 ycl e M3199 M3200 cy cle U3E0\G10000 M0 M3839 M ai n Internal relay Multiple CPU high speed transmission area Axis command signal M3840 Automatic refresh area M8191 Main Data register cycle D0 Axis monitor device D639 D639 D640 D640 Control change register D703 D704 D8191 (c) Data size consistency check Whether the Multiple CPU setting parameters are the same for all CPUs or not is automatically checked. A "PARAMETER ERROR (error code: 3012, 3015) " will occur if they do not match. 2 - 23 2 MULTIPLE CPU SYSTEM (5) Precautions (a) Assurance of data sent between CPUs Due to the timing of data sent from the self CPU and automatic refresh in any of the other CPUs, old data and new data may become mixed (data separation). The following shows the methods for avoiding data separation at communications by automatic refresh. 1) Data consistency for 32 bit data Transfer data with automatic refresh method is in units of 32 bits. Since automatic refresh is set in units of 32 bits, 32-bit data does not separate. • For word data 2 words data can be prevented from separating by using an even number to set the first number of each device in automatic refresh setting. 2) Data consistency for data exceeding 32 bits In automatic refresh method, data is read in descending order of the setting number in automatic refresh setting parameter. Transfer data separation can be avoided by using a transfer number lower than the transfer data as an interlock device. 2 - 24 2 MULTIPLE CPU SYSTEM 2.3.3 Multiple CPU high speed refresh function This function is used to update the data between internal devices of Motion CPU and the Multiple CPU high speed transmission area. This occurs every operation cycle as defined in the device setting of automatic refresh in the self CPU. Classification Item Setting No. Display CPU Description Setting/display value Setting No. which executes high speed refresh is displayed. CPU No. set in the automatic refresh setting is automatically displayed by setting devices. Self CPU : Refresh from the internal device of Motion CPU to Multiple CPU high speed transmission area. Other CPU : Refresh form the Multiple CPU high speed transmission area to internal device of Motion CPU. 1 to 128 (Up to 128) Restriction CPU No. 1 to No.4 • The start device number must be a multiple of 16 for the bit device. • Do not set a device not setting also set in the automatic refresh. Device Set the device No. of Motion CPU to execute Usable device : D, W, #, • No. of "start device + number of points" cannot exceed setting setting the high speed refreshes. SD, M, X, Y, B, SM range of each setting No. in User setting automatic refresh setting. • Do not overlap the device No. between setting No.. Set the number of points to refresh data of Range: 2 to 256 [points] • Sets the total of all CPUs to 256 Points each data in word unit. (Note-1) Unit: 2 points points or lower. (Note) Refresh is not executed when not set. Refresh cycle Operation cycle (fixed) — — (Note-1) : Point in word unit. (1) Application example of Multiple CPU high speed refresh function Multiple CPU high speed refresh function is used as in the following applications. 1) Read the data such as the real current value and synchronous encoder current value with PLC CPU at high speed. 2) Exchange the FIN waiting signal at high speed. 2 - 25 2 MULTIPLE CPU SYSTEM (2) Operation example of Multiple CPU high speed refresh function (a) Parameter setting The automatic refresh setting of Multiple CPU high speed refresh is shown below. • CPU No.1 (PLC CPU) (GX Developer) Set the device transmitted to CPU No.2. • CPU No.2 (Motion CPU) (MT Developer) Set the device received from CPU No.1. Set the device received from CPU No.2. Set the device transmitted to CPU No.1. Set the device to executed the Multiple CPU high speed refresh. (Note) : The operating example of Multiple CPU high speed refresh function is shown in "(b) Operation example". 2 - 26 2 MULTIPLE CPU SYSTEM POINT Set the following operation for automatic refresh setting using GX Developer. 1) Select tab "Multiple CPU high speed communication area setting". 2) Set "Use Multiple CPU high speed communication ". 1) 2) 2 - 27 2 MULTIPLE CPU SYSTEM (b) Operation example The example of operating Multiple CPU high speed refresh function is shown below. PLC CPU (CPU No.1) Motion CPU (CPU No.2) Multiple CPU high speed transmission area Internal relay Multiple CPU high speed transmission area U3E0\G10000 M0 M2400 Automatic refresh area M U3E1\G10000 U3E1\G10000 es oc pr CPU No.2 transmitting data CPU No.2 receiving data sin M2496 cy cle ain Axis status M3039 M3040 cy cle M3199 M3200 M3295 M3296 Axis command signal M3839 g M3839 M2495 le D EN Op er at ion g sin D EN M3200 es oc pr Automatic refresh area Op e cy ratio cle n cy c M3199 M2399 M2400 ain M3040 Transfer in 0.88ms cycle M M3039 M0 CPU No.1 receiving data CPU No.1 transmitting data M2399 Internal relay U3E0\G10000 M3840 M3840 Op er Data register D0 Automatic refresh area E p ND roc Transfer in 0.88ms cycle Automatic refresh area Op er Op er in g ess M8191 atio n atio n cyc le Data register D0 D2,D3 1 axis monitor device D12,D13 cyc le D19 D20 D22,D23 2 axis monitor device D32,D33 atio n cyc le Ma in c ycle Op era tio n cyc le D39 D40 D42,D43 3 axis monitor device D52,D53 D59 D60 D62,D63 4 axis monitor device D72, D73 D79 D80 5 to 32 axis monitor device D639 D639 D640 D640 Control change register D703 D704 D8191 • Axis 1 to 4 status information (M2400 to M2495) is transferred to the automatic refresh area one every operation cycle of the Motion CPU. • Axis 1 to axis 4 command signals are received from the automatic refresh area one every operation cycle of the Motion CPU. • Real current values of Axis 1 to axis 4 and M-code is updated by setting D0 to D639 of the Motion CPU to the automatic refresh area. • Every 0.88ms, data in the automatic refresh area of all CPUs are transferred allowing each CPU to update its data upon its next independent operation cycle. 2 - 28 2 MULTIPLE CPU SYSTEM 2.3.4 Clock synchronization between Multiple CPU The clock of each CPU is synchronized with the clock of CPU No. 1. The clock data used for synchronization in a Multiple CPU system can be edited. (1) Setting of clock data Set the clock of CPU No.1. The Motion CPU module operates automatically by the clock of CPU No.1. POINT The clock data of CPU No.1 is automatically set even if the clocks of CPU No. 2 to 4 are set independently. (2) Synchronization of clock data All clocks are synchronized with CPU No.1 immediately after turning ON/resetting power and every 1-second interval thereafter. (3) Information of clock The clock data that CPU No. 1 transmits is year, month, day, day of week, hour, minute and second. (4) Error Since CPU No.1 sets the clock data at 1-second intervals, an error of up to 1 second may occur to the clock of CPU No.2 to 4. 2 - 29 2 MULTIPLE CPU SYSTEM 2.3.5 Multiple CPU synchronous startup Multiple CPU synchronous startup function synchronizes the startups of CPU No.1 to CPU No.4. (It takes about ten seconds to startup for Motion CPU.) Since this function monitors the startup of each CPU module, when other CPU is accessed by a user program, an interlock program which checks the CPU module startup is unnecessary. With the Multiple CPU synchronous startup function, the startup is synchronized with the slowest CPU module to startup; therefore, the system startup may be slow. POINT Multiple CPU synchronous startup function is for accessing each CPU module in a Multiple CPU system without needing an interlock. This function is not for starting an operation simultaneously among CPU modules after startup. (1) Multiple CPU synchronous startup setting To use the Multiple CPU synchronous startup function, check No.1 to No.4 of target CPU in Multiple CPU settings in system setting of MT Developer. (Set it in the Multiple CPU setting of PLC parameter setting of GX Developer for QnUD(H)CPU.) "Set Sync. startup setting of CPU " is set for No.1 to 4 at default. Set the same Multiple CPU synchronous startup for all CPUs that constitute the Multiple CPU system. The self-diagnosis error "PARAMETER ERROR (error code: 3015)" will occur if all CPU modules that constitute the Multiple CPU system do not have the same setting. When this function is not used (each CPU startup without synchronization), startup of each CPU module can be confirmed by using special relays SM220 to SM223 (CPU No.1 to 4 READY complete flag). 2 - 30 2 MULTIPLE CPU SYSTEM 2.3.6 Control Instruction from PLC CPU to Motion CPU Control can be instructed from the PLC CPU to the Motion CPU using the Motion dedicated PLC instructions listed in the table below. Refer to the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for the details of each instruction. (Control may not be instructed from one Motion CPU to another Motion CPU.) Instruction name Description D(P).SFCS Start request of the Motion SFC program (Program No. may be specified.) D(P).SVST Start request of the specified servo program D(P).CHGA Current value change request of the specified axis D(P).CHGV Speed change request of the specified axis D(P).CHGT Torque control value change request of the specified axis D(P).GINT D(P).DDWR D(P).DDRD Execute request of an event task to the other CPU (Motion CPU) Write device data of the self CPU (PLC CPU) to the device of other CPU (Motion CPU) Read device data of other CPU (Motion CPU) to the device of self CPU (PLC CPU) For example, by using the D(P).SFCS instruction of Motion dedicated PLC instruction, the Motion SFC of the Motion CPU can be started from the PLC CPU. PLC CPU Motion CPU Start request D(P). SFCS instruction 2 - 31 Motion SFC 2 MULTIPLE CPU SYSTEM MEMO 2 - 32 3 COMMON PARAMETERS 3. COMMON PARAMETERS 3.1 System Settings In the Multiple CPU system, the common system parameters and individual parameters are set for each CPU and written to each CPU. (1) The base settings, Multiple CPU settings and Motion slot settings are set in the common system parameter setting. (2) The system basic setting, self CPU installation position setting, servo amplifier setting, high-speed read setting and optional data monitor setting are set in the individual parameter setting. (3) The data setting and correction can be performed in dialog form using MT Developer. 3-1 3 3 COMMON PARAMETERS 3.1.1 System data settings The table below lists the system data items to be set. Item Base setting Setting range Initial value Remark Main base Extension base 8/12 slots None/2/3/5/8/10/12 slots Main base: 8 slots None Set the number of slots in the main base or extension base. No. of CPU 2/3/4 modules 2 modules Set the total number of Multiple CPUs including PLC CPU(s). Stop/do not stop all CPUs upon an Set whether or not to stop the entire Error operation mode at the error in CPU No. 1 to 4. Stop all CPUs upon error system when a CPU stop error stop of CPU (The setting range varies depending in CPU Nos. 1 to 4 occurs in each CPU. on the number of Multiple CPUs.) Common system parameters Multiple CPU Multiple CPU setting high speed transmission area setting Motion slot setting CPU 0 to 14k points specific send range Varies depending on the number of CPUs. System 1 to 2k points area Automatic Point : 2 to 14336 points refresh Start : Set target device for setting automatic refresh. 1 None Multiple CPU synchronous startup setting Set/do not set CPU No. 1 to 4 as the synchronized startup. Set CPU No. 1 to 4 as Refer to Section 2.3.5. (The setting range varies depending the synchronized startup. on the number of Multiple CPUs.) Module arrangement Within the main base and extension None base slots Individual module Varies depending on the module. Varies depending on the Set detailed items for each module module. controlled by the self CPU. Operation cycle 0.4ms/0.8ms/1.7ms/3.5ms/7.1 ms/ 14.2ms/Auto Auto Set the operation cycle of motion control. M2000 is turned on by switching from STOP to RUN. Set the condition in which the PLC ready flag (M2000) turns on. M2000 is turned on by switching from STOP to RUN./M2000 is Operation at STOP to RUN turned on by switching from STOP to RUN and setting 1 in the set register. System basic setting Individual parameters Refer to Section 2.3.2. Install the modules controlled by the self CPU in the main base and/or extension base(s). Forced stop (Note-1) None/X(PX) (0 to 1FFF)/ M (0 to 8191) None Set the bit device to use forced stop in the program. However, the forced stop input by EMI terminal of Motion CPU module cannot be invalidated using parameter setting. Latch range M (0 to 8191)/B (0 to 1FFF)/ F (0 to 2047)/D (0 to 8191)/ W (0 to 1FFF) None Set the latch range of device memory. Set self CPU/other CPU/CPU (empty) for slots 0/1/2. (The setting range varies depending on the number of Multiple CPUs installed.) None Set the installation position of the self CPU in the main base. Self CPU installation position setting 3-2 3 COMMON PARAMETERS Item Setting range Initial value Q173DCPU: Up to 2 systems, 32 None axes Q172DCPU: Up to 1 system, 8 axes External signal input setting Amplifier input invalid/Amplifier input Amplifier input invalid valid Amplifier setting Individual parameters Input filter setting None/0.8ms/1.7ms/2.6ms/3.5ms High-speed data read setting Optional data monitor setting One Q172DEX/Q173DPX module and one input module. Set 1 to 3 for each axis. Q173DCPU: Up to 32 axes Q172DCPU: Up to 8 axes Remark Set the model name, axis No. and other details for the servo amplifiers. — 3.5ms None Set the high-speed read data. Refer to Section 4.3. None Set the optional data monitor. Refer to Section 4.10. (Note-1) : The forced stop can also be executed by the EMI forced stop terminal of Motion CPU module or forced stop terminal of servo amplifier besides the forced stop input setting. 3-3 3 COMMON PARAMETERS 3.1.2 Common system parameters (1) Parameters for operating the Multiple CPU system In the Multiple CPU system, the common system parameters and individual parameter for each CPU are set and written into each CPU. Regarding the Motion CPU, the items in System Settings related to the entire Multiple CPU system must be identical to the parameter settings in the PLC CPU. PLC CPU parameters PLC CPU parameters Motion CPU parameters Motion CPU parameters Common system parameters Common system parameters Common system parameters Common system parameters Individual parameter Individual parameter Individual parameter Individual parameter Power supply Parameter write QnUD(H) QnUD(H) Q173D CPU CPU CPU 3-4 Q172D CPU 3 COMMON PARAMETERS (2) Parameters common throughout the Multiple CPU system In the Motion CPU, during initialization the parameters in the table below are verified against the parameters in the PLC CPU of CPU No. 1. Unmatched parameters generate a PARAMETER ERROR (error code: 3012, 3015), so the parameters show below must be set identically between Motion CPUs and the PLC CPU of CPU No.1. (If the system settings are changed in a Motion CPU, it is necessary to reset. Therefore, the parameters are checked only during initialization.) The parameter No. of unmatched parameter is set in the error individual information (SD16) by this error occurrence. PLC CPUs can use the parameters of the other CPUs via "Multiple CPU parameter utilization" of GX Developer. Since Motion CPUs don't have this function, however, the common parameters must be set for each Motion CPU. Table of Parameters cross-Multiple CPU system Type of parameter Name in Motion CPU No. of CPU Operating mode System area Multiple CPU settings 0E00H Operating mode Operation mode for CPU stop error 0E01H CPU specific send range Points of CPU specific send range E008H Refer to Section 2.3.2. System area System area size E008H Refer to Section 2.3.2. This parameter can be set when "Advanced setting" is selected. E009H Refer to Section 2.3.2. (Automatic refresh using Multiple CPU high speed transmission area) Multiple CPU high speed transmission area setting Automatic Points of automatic refresh setting refresh Motion slot setting Multiple CPU synchronous startup setting Synchronize Multiple CPU startup or not E00BH Refer to Section 2.3.5. Detailed settings Control PLC Control CPU No. 0406H Verify module only set in the system settings in the Motion CPU side. 0401H Not verified if base settings are omitted in the PLC CPU side. I/O assignment Base setting Remark Number of CPUs Automatic refresh setting Multiple CPU synchronous startup setting Parameter number No. of PLC CPU specific send range Multiple CPU Multiple high speed CPU setting transmission area setting Verification item Name in PLC CPU Total number of bases Basic setting Slots 3-5 Base No. Base Number of base slots 3 COMMON PARAMETERS (a) Multiple CPU settings Set the following items identically in Multiple CPU Settings (Motion CPU) in MT Developer and in Multiple CPU Settings (PLC CPU) in GX Developer. • Number of CPU modules (Included CPU empty slots) • Operation mode when a CPU stop error occurred • Multiple CPU high speed transmission area setting (Must be set the same for all CPUs) • Multiple CPU synchronous startup setting Multiple CPU Settings (Motion CPU) in MT Developer Number of CPU modules Error operation mode at the stop of CPU Multiple CPU high speed transmission area setting Multiple CPU synchronous startup setting Multiple PLC Setting (PLC CPU setting) in GX Developer Select tab "Multiple CPU high speed communication area setting" Set "Use multiple CPU high speed communication". 3-6 3 COMMON PARAMETERS (b) Motion slot settings Set the modules controlled by the self CPU by the Motion Slot Settings (Motion CPU) in MT Developer. In GX Developer, set the slot for Motion CPU control as the CPU number of Motion CPU in I/O Assignment Settings (PLC CPU). Motion Slot Setting (Motion CPU) in MT Developer Control CPU No. I/O Assignment Setting (PLC CPU setting) in GX Developer (Note): Motion slot setting items are different depending on the operating system software. 3-7 3 COMMON PARAMETERS (c) Base settings Set the total number of bases and number of slots in each base identically between Base Settings (Motion CPU) in MT Developer and I/O Assignment Settings (PLC CPU) in GX Developer. In GX Developer, the detailed settings may be omitted by setting the base mode "Automatic". Base Settings (Motion CPU) in MT Developer Total number of bases and number of slots in each base I/O Assignment Settings (PLC CPU setting) in GX Developer (Note) : Only the Motion CPU may be set without setting the PLC CPU. 3-8 3 COMMON PARAMETERS POINT GOT is recognized as an intelligent function modules "16 points 10 slots" on the base (number of extension bases and slot No. are set in the GOT parameter.) for bus connection with GOT. Set the one extension base (16 points 10 slots) for connection with GOT, then set "10 slots" as number of extension bases for connection with GOT in the system setting (base setting). When the "2nd stage" of extension base is set as connection with GOT. (Set "10" slot as "2nd stage" of extension base in the base setting.) 3-9 3 COMMON PARAMETERS 3.1.3 Individual parameters (1) System basic setting The following explains each item to be set in system basic setting. (a) Operation cycle 1) Set the of motion operation cycle (cycles at which a position command is computed and sent to the servo amplifier). The setting range is 0.4ms/0.8ms/1.7ms/3.5ms/7.1ms/14.2ms/Automatic setting. The actual operation cycle corresponding to 0.4ms is 0.444...ms. Similarly, 0.8ms corresponds to 0.888…ms, 1.7ms to 1.777...ms, 3.5ms to 3.555...ms, 7.1ms to 7.111...ms, and 14.2ms to 14.222…ms, respectively. 2) The default value is "Automatic Setting". When "Automatic Setting" is selected, the operation cycle is set according to the table below based on the number of axes for servo amplifier set in the System Settings. Operating system Number of axes Operation cycle setting 1 to 6 axes 0.4 ms SV13 7 to 18 axes 0.8 ms 19 to 32 axes 1.7 ms SV22 3 - 10 1 to 4 axes 0.4 ms 5 to 12 axes 0.8 ms 13 to 28 axes 1.7 ms 29 to 32 axes 3.5 ms 3 COMMON PARAMETERS 3) If the duration of motion operation has exceeded the operation cycle, the operation cycle over flag (M2054) turns ON. Even when "Automatic setting" is selected, the duration of motion operation may exceed the operation cycle depending on the control conditions. The actual duration of motion operation (unit:μs) is stored in SD522, and the current setting of operation cycle (unit:μs) is stored in SD523. Monitor these special registers and adjust the set value of operation cycle so that the actual duration of motion operation will not exceed the set operation cycle. (A WDT or other error may occur in the Motion CPU.) (b) Operation at STOP to RUN Set the condition in which the "PLC ready" flag (M2000) turns ON. Select any one of the followings. 1) M2000 is turned on by switching from STOP to RUN. Condition in which the M2000 turns from OFF to ON • Change the RUN/STOP switch from STOP to RUN. • Turn ON the power supply with the RUN/STOP switch set to RUN. Condition in which the M2000 turns from ON to OFF • Change the RUN/STOP switch from RUN to STOP. 2) M2000 is turned on by switching from STOP to RUN and setting 1 in the set register. (M2000 turns ON when the switch is set to RUN and 1 is set in the setting register.) Condition in which the M2000 turns from OFF to ON • With the RUN/STOP switch set to RUN, set 1 in the setting register for "PLC ready" flag (D704). (The Motion CPU detects a change from 0 to 1 in the lowest bit in the D704). Condition in which the M2000 turns from ON to OFF • With the RUN/STOP switch set to RUN, set 0 in the setting register for "PLC ready" flag (D704). (The Motion CPU detects a change from 1 to 0 in the lowest bit in the D704). • Change the RUN/STOP switch from RUN to STOP. (c) Forced stop Set the bit device used for executing a forced stop in which all servoamplifier axes are stopped immediately in the program. Either X (PX) or M can be specified. No default value has been set. The set bit device is designated as contact B and performs the following control in response to ON/OFF of the device. • Bit device is turned OFF …Forced stop input is ON (forced stop) • Bit device is turned ON …..Forced stop input is OFF (forced stop is released.) The forced stop input by EMI terminal of Motion CPU module cannot be invalidated using parameter setting. 3 - 11 3 COMMON PARAMETERS (d) Latch range Set the following latching ranges for M, B, F, D and W, respectively. • Latch (1) : It is possible clear using the remote operation (Latch clear(1), Latch clear (1)(2)). • Latch (2) : It is possible clear using the remote operation (Latch clear (1)(2)). (2) Individual module settings The setting items for each module are shown below. Setting items for each module Module name Q172DLX Q172DEX Q173DPX QI60 Item External signal setting Servo external signals input DOG module I/O response time (Operation mode) Synchronous encoder input module Set the number of axes for which the 8 axes input is used. Valid on leading edge/ Valid on trailing edge Initial value Valid on leading edge 0.4 ms Synchronous encoder setting Used/Unused Unused Synchronous encoder selection Q170ENC/MR-HENC Q170ENC I/O response time (Operation mode) 0.4/0.6/1 ms (TREN response time) 0.4 ms High-speed data read setting Used/Unused Unused Manual pulse generator setting (SV13) Used only Used Used/Unused P Used I/O response time (Operation mode) 0.4/0.6/1 ms (TREN response time) 0.4 ms High-speed data read setting Used/Unused Unused Input response time 0.1/0.2/0.4/0.6/1 ms 0.2 ms 3 - 12 Number of usable modules Q173DCPU Q172DCPU 4 1 6 (SV22) 4 (SV22) 1 (SV13) 4 (SV22) 1 (SV13) 3 (SV22) 1 1 Unused 0.4/0.6/1 ms (DOG/CHANGE response time) Manual pulse generator/ Manual pulse Synchronous encoder generator input setting module (SV22) Interrupt module Setting range 3 COMMON PARAMETERS Setting items for each module (Continued) Module name QX Input module Item Setting range First I/O No. 00 to FF0 (in units of 16 points) 0 Point 0/16/32/64/128/256 16 High-speed data read setting Used/Unused I/O response time 1/5/10/20/70 ms (setting for high-speed input (0.1/0.2/0.4/0.6/1 ms) module in parentheses) QY QH / QX Y Output module Input/Output composite module 00 to FF0 (in units of 16 points) 0 0/16/32/64/128/256 16 First I/O No. 00 to FF0 (in units of 16 points) 0 Point 0/16/32/64/128/256 16 I/O response time 1/5/10/20/70 ms Temperature drift Analogue input compensation module Resolution mode Operation mode First I/O No. Output range HOLD/CLEAR function Q6 DA / Q6 DA- Analogue Output mode output module Used/Unused 00 to FF0 (in units of 16 points) 4 to 20mA/0 to 20mA/1 to 5V/0 to 5V/-10 to 10V/0 to 10V/User range Unused 0 4 to 20mA Used Normal/High Normal Normal (A/D conversion) 0 00 to FF0 (in units of 16 points) 4 to 20mA/0 to 20mA/1 to 5V/0 to 5V/-10 to 10V/User range CLEAR only Normal (Asynchronous)/ Synchronous output Resolution mode Normal/High Operation mode Normal (D/A conversion)/ Offset gain setting 3 - 13 Q172DCPU 10 ms Used/None Normal (A/D conversion)/Offset gain setting Q173DCPU 10 ms (0.2 ms) First I/O No. High-speed data read setting First I/O No. Number of usable modules Unused Point Input range Q6 AD / Q6 AD- Initial value 4 to 20mA CLEAR Normal (Asynchronous) Normal Normal (D/A conversion) Total 256 Total 256 points or less points or less 3 COMMON PARAMETERS (3) External signal input Servo external signal (Upper stroke limit/Lower stroke limit/Stop signal/Proximity dog) can be selected for every axis from the following two methods. (a) Q172DLX Servo external signals interface module use Set the servo external signals interface module, and set axis No. as the "External signal setting" in the system setting. (b) Servo amplifier input device use (MR-J3-B use only) Set "Amplifier input valid" as the external signal input setting in the "Amplifier setting" of system setting. There are following restrictions to use. • Count type home position return cannot be used. • Speed/position switching control cannot be executed. • Stop signal (STOP) cannot be used. The correspondence of external signal and input device is shown below. External signals Input device (CN3) Upper stroke limit (FLS) DI1 Lower stroke limit (RLS) DI2 Proximity dog (DOG) DI3 (Note) (Note): Refer to the "MR-J3-B Servo Amplifier Instruction Manual" for pin configurations. Set the external signal setting in the "Input Filter Setting". 3 - 14 3 COMMON PARAMETERS 3.2 I/O number assignment In the Multiple CPU system, I/O numbers are used for interactive transmission between the Motion CPU and I/O modules and intelligent function modules, or between PLC CPU and Motion CPU. 3.2.1 I/O number assignment of each module The Multiple CPU system is different from the Single CPU system in the position (slot) of I/O number "0H" for PLC CPU. However, I/O number of control module can be assigned independently for each CPU for Motion CPU. (1) Position of I/O number "0H" (a) The number of slots set with the Multiple CPU settings are occupied by the PLC CPU/Motion CPU on the Multiple CPU system. (b) I/O modules and intelligent function modules are installed from the right of the slots occupied by PLC CPU/Motion CPU. (c) I/O number of Motion CPU control module can be assigned independently for each CPU. The I/O number of PLC CPU control module for an I/O module or intelligent function module mounted to the next slot to those occupied by CPU modules is set as "0H" and consecutive numbers are then allocated sequentially to the right. (d) Notation of I/O number • Receiving of ON/OFF data by Motion CPU is deemed input (PX), while outputting of ON/OFF data from Motion CPU is deemed output (PY). • I/O number is expressed in hexadecimal. REMARK 1) If the number of CPU modules installed on the main base unit is less than the number set at the "Multiple CPU setting", set the open slot(s) to "PLC (Empty)". Refer to Section 2.1.2 for the "PLC (Empty)" setting. 2) The I/O numbers for the Multiple CPU system can be confirmed with the system monitor of GX Developer. 3 - 15 3 COMMON PARAMETERS (2) I/O number assignment of Motion CPU control module Mitsubishi recommends that I/O No. assignment be set as common consecutive No. throughout all CPUs. However, the I/O number of the input modules, output modules and input/output composite modules controlled with the Motion CPU can also be set regardless as the I/O number of PLC CPU. (I/O number of the Motion CPU control modules is indicated as PX/PY.) I/O number of the Motion CPU control modules cannot be assigned by I/O assignment settings of PLC CPU. Power supply module I/O assignment 0 1 2 3 4 5 Q03UD CPU Q173D CPU QX41 QY41 QX41 QY41 PX0 to PX1F PY20 to PX3F X40 to X5F CPU No. 1 CPU No. 2 (X0 to X1F) (Y20 to Y3F) CPU No. 2 control module CPU No. 2 control module CPU No. 1 control module Y60 to Y7F CPU No. 1 control module (3) Setting of the Motion CPU control modules by the PLC CPU Follow the table below when Motion CPU control modules are set in I/O Assignment Settings of the PLC CPU. (The PLC CPU handles the Q172DLX, Q172DEX and Q173DPX as intelligent function modules having 32 occupied points.) Type and number of points may be left unset. Module name Input module Output module Input/Output composite module Type Input Output Composite I/O Analogue input module Analogue input Analogue output module Analogue output Interrupt module (QI60) Interrupt Q172DLX Q172DEX Number of points Remarks • For the control CPU, Selected according set the CPU that to the module. corresponds to the Motion CPU (required). • Type and number of 16 points points may be left unset. 32 points Intelligent Q173DPX 32 points 32 points POINT (1) Set the I/O device of the Motion CPU within the range from PX/PY000 to PX/PYFFF. Set the number of real I/O points within 256 points. (I/O No. may not be consecutive.) (2) As for the Motion CPU, the Q172DLX, Q172DEX, Q173DPX and QI60 are not included in the number of real I/O points. 3 - 16 3 COMMON PARAMETERS 3.2.2 I/O number of each CPU modules In the Multiple CPU system, I/O numbers are assigned to each CPU module to specify installed CPU modules. The I/O number for each CPU module is fixed to the corresponding slot and cannot be changed. The I/O number allocated to each CPU module in the Multiple CPU system is shown below. CPU module installation position CPU slot Slot 0 Slot 1 Slot 2 First I/O number 3E00H 3E10H 3E20H 3E30H The I/O number of PLC CPU/Motion CPU are used in the following cases. • When writing data to the CPU shared memory of self CPU using the S. TO instruction. • When reading data from the CPU shared memory of other CPU using the FROM instruction. • When reading data from the CPU shared memory of other CPU using an intelligent function module device (U \G ) • When reading device data directly from the Motion CPU from the PLC CPU using the "D(P).DDRD" instruction. • When writing device data directly to the Motion CPU from the PLC CPU using the "D(P).DDWR" instruction. Refer to Section 2.3.6 or the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for the Motion dedicated PLC instruction. 3 - 17 3 COMMON PARAMETERS 3.2.3 I/O number setting Set the modules installed in the each slot of the main base or extension base and assign the control CPU of applicable slot as the self CPU in the system setting for Motion CPU. The following modules must be set the I/O No.. • Input module • Output module • Input/Output composite module • Analogue input module • Analogue output module Refer to the help of MT Developer for the detailed operating procedure on the system settings screen. Set the I/O No. of modules controlled with the Motion CPU module set in the system structure screen of MT Developer. The setting procedure of I/O No. is shown below. (Example) For set the output module 1) Double-click the slot position, display the Motion Slot Settings screen. 2) Select the I/O module. 3) Click [Detail Setting]. 4) Set the first I/O No. (PX No., PY No.). 5) Select applicable module type and number of points for the I/O module to be used. 6) Click [OK]. (Note): Display of system setting and motion slot setting are different depending on the operating system software. POINT I/O No.s cannot be assigned automatically, unlike a PLC CPU for which I/O No. are assigned automatically if such setting is omitted in the Motion CPU. In the Motion CPU, be sure to set the first I/O No. in System Settings for each module used. 3 - 18 3 COMMON PARAMETERS 3.3 Servo Parameters The servo parameters control the data fixed by the specifications of the servo amplifier and servomotor controlled in the parameter set for each axis and the control of the servomotor. The servo parameters are set by the Setup software (MR Configurator). Refer to the "Servo amplifier Instruction Manual" for details of the servo parameters. Refer to the help for handling of MR Configurator. Instruction Manual list is shown below. Servo amplifier type Instruction manual name MR-J3- B MR-J3- B Servo Amplifier Instruction Manual (SH-030051) MR-J3- B-RJ006 Fully closed loop control MR-J3- B-RJ006 Servo Amplifier Instruction Manual (SH-030056) (1) Basic setting parameters No. Symbol PA01 — Initial value Unit For manufacturer setting PA02 Name 0000h — REG Regenerative brake option 0000h — PA03 ABS Absolute position detection system 0000h — PA04 AOP1 Function selection A-1 0000h — PA05 PA06 0 — For manufacturer setting 1 PA07 — 1 PA08 ATU Auto tuning mode 0001h PA09 RSP Auto tuning response 12 — PA10 INP In-position range 100 PLS PA11 PA12 1000.0 — For manufacturer setting 1000.0 PA13 — 0000h PA14 POL Rotation direction selection PA15 ENR Encoder output pulse 0 — 4000 PLS/rev PA16 0 PA17 0000h PA18 — — For manufacturer setting 0000h PA19 — 000Bh POINTS (1) When the items marked " " in the above table has changed, make the Multiple CPU system reset or power supply OFF to ON. And, once turn OFF the servo amplifier power supply and then turn ON it again. 3 - 19 3 COMMON PARAMETERS (2) Gain/filter parameters No. Symbol Name Initial value Unit PB01 FILT Adaptive tuning mode (Adaptive filter ) 0000h — PB02 VRFT Vibration suppression control tuning mode (Advanced vibration suppression control) 0000h — For manufacturer setting 0 — Feed forward gain 0 % For manufacturer setting 500 — times PB03 — PB04 FFC PB05 — PB06 GD2 Ratio of load inertia moment to servomotor inertia moment 7.0 PB07 PG1 Model loop gain 24 rad/s PB08 PG2 Position loop gain 37 rad/s PB09 VG2 Speed loop gain 823 rad/s PB10 VIC Speed integral compensation 33.7 ms PB11 VDC Speed differential compensation 980 — PB12 — PB13 NH1 PB14 NHQ1 PB15 NH2 PB16 NHQ2 PB17 — PB18 LPF PB19 VRF1 Vibration suppression control - vibration frequency setting 100.0 Hz PB20 VRF2 Vibration suppression control - resonance frequency setting 100.0 Hz PB21 PB22 PB23 For manufacturer setting 0 — Machine resonance suppression filter 1 4500 Hz Notch shape selection 1 0000h — Machine resonance suppression filter 2 4500 Hz Notch shape selection 2 0000h — Automatic setting parameter Low pass filter setting — — 3141 rad/s 0.00 — For manufacturer setting VFBF Low pass filter selection 0000h Slight vibration suppression control selection 0000h — 0.00 — — PB24 MVS PB25 — For manufacturer setting 0000h — PB26 CDP Gain changing selection 0000h — PB27 CDL Gain changing condition 10 — PB28 CDT Gain changing time constant 1 ms PB29 GD2B Gain changing - ratio of load inertia moment to servo motor inertia moment 7.0 times PB30 PG2B Gain changing - position loop gain 37 rad/s PB31 VG2B Gain changing - speed loop gain 823 rad/s PB32 VICB Gain changing - speed integral compensation 33.7 ms PB33 VRF1B Gain changing - vibration suppression control - vibration frequency setting 100.0 Hz PB34 VRF2B Gain changing - vibration suppression control - resonance frequency setting 100.0 Hz PB35 0.00 PB36 0.00 PB37 100 PB38 0.0 PB39 PB40 0.0 — For manufacturer setting 0.0 PB41 1125 PB42 1125 PB43 0004h PB44 0.0 PB45 0000h — POINTS (1) When the items marked " " in the above table has changed, make the Multiple CPU system reset or power supply OFF to ON. And, once turn OFF the servo amplifier power supply and then turn ON it again. 3 - 20 3 COMMON PARAMETERS (3) Extension setting parameters No. PC01 Symbol ERZ Name Initial value Unit Error excessive alarm level 3 rev Electromagnetic brake sequence output 0 ms PC02 MBR PC03 ENRS Encoder output pulse selection 0000h — PC04 COP1 Function selection C-1 0000h — PC05 COP2 Function selection C-2 0000h — PC06 COP3 Function selection C-3 0000h — PC07 ZSP 50 r/min Zero speed PC08 — For manufacturer setting 0 — PC09 MOD1 Analog monitor 1 output 0000h — PC10 MOD2 Analog monitor 2 output 0001h — PC11 MO1 Analog monitor 1 offset 0 mV PC12 MO2 Analog monitor 2 offset 0 mV PC13 MOSDL Analog monitor feedback position output standard data Low 0 PLS PC14 MOSDH Analog monitor feedback position output standard data High 0 10000PLS PC15 PC16 PC17 — COP4 0 For manufacturer setting 0000h Function selection C-4 0000h PC18 PC19 — For manufacturer setting 0000h — 0000h BPS Alarm history clear 0000h PC22 0000h PC23 0000h PC24 0000h PC25 0000h PC26 0000h PC27 — 0000h PC20 PC21 — — For manufacturer setting 0000h PC28 0000h PC29 0000h PC30 0000h PC31 0000h PC32 0000h — — POINTS (1) When the items marked " " in the above table has changed, make the Multiple CPU system reset or power supply OFF to ON. And, once turn OFF the servo amplifier power supply and then turn ON it again. 3 - 21 3 COMMON PARAMETERS (4) I/O Setting Parameters No. Symbol Name Initial value PD01 0000h PD02 0000h PD03 PD04 — 0000h For manufacturer setting 0000h PD05 Unit — 0000h PD06 0000h PD07 DO1 Output signal device selection 1 (CN3-13) 0005h PD08 DO2 Output signal device selection 2 (CN3-9) 0004h — PD09 DO3 Output signal device selection 3 (CN3-15) 0003h — PD10 PD11 PD12 0000h — 0004h For manufacturer setting 0000h PD13 PD14 Function Selection D-3 0000h 0000h PD16 0000h PD17 0000h PD18 0000h PD19 0000h PD20 0000h PD21 0000h PD22 0000h PD24 — 0000h DOP3 PD15 PD23 — — 0000h For manufacturer setting 0000h PD25 0000h PD26 0000h PD27 0000h PD28 0000h PD29 0000h PD30 0000h PD31 0000h PD32 0000h — — POINTS (1) When the items marked " " in the above table has changed, make the Multiple CPU system reset or power supply OFF to ON. And, once turn OFF the servo amplifier power supply and then turn ON it again. 3 - 22 4 AUXILIARY AND APPLIED FUNCTIONS 4. AUXILIARY AND APPLIED FUNCTIONS 4.1 Limit Switch Output Function This function is used to output the ON/OFF signal corresponding to the data range of the watch data set per output device. Motion control data or optional word data can be used as watch data. (Refer to Section "4.1.2 Limit output setting data" for details.) A maximum output device for 32 points can be set regardless of the number of axes. 4.1.1 Operations (1) ON output to an output device is made while the watch data value is in the ON output region set with (ON Value) and (OFF Value) in this function. (a) (ON Value), (OFF Value) and watch data value are handled as signed data. ON output region where an ON output is made to the output device is governed by the magnitude relationship between (ON Value) and (OFF Value) as indicated below. Relationship between (ON Value) and ON output region (OFF Value) (ON Value) < (OFF Value) (ON Value) <= (watch data value) < (OFF Value) (ON Value) <= (watch data value) (ON Value) > (OFF Value) (Watch data value) < (OFF Value) (ON Value) = (OFF Value) Output OFF in whole region 1) (ON Value) < (OFF Value) ON Output device ON region setting OFF OFF OFF Value ON Value Watch data value (ON Value) (Watch data value) (OFF Value) 2) (ON Value) > (OFF Value) ON ON Output device ON region setting OFF ON Value OFF Value Watch data value (Watch data value) (OFF Value) 4-1 (ON Value) (Watch data value) 4 4 AUXILIARY AND APPLIED FUNCTIONS 3) (ON Value) = (OFF Value) Output device ON region setting OFF in whole region ON Value OFF Value Watch data value (b) The limit switch outputs are controlled based on the each watch data during the PCPU ready status (SM500: ON) by the PLC ready flag (M2000) from OFF to ON. When the PCPU ready flag (SM500) turns OFF by turning the PLC ready flag (M2000) from ON to OFF, all points turn OFF. When (ON Value) and (OFF Value) are specified with word devices, the word device contents are input to the internal area when the PLC ready flag (M2000) turns from OFF to ON. After that, the word device contents are input per motion operation cycle, and limit switch outputs are controlled. (c) Multiple outputs (Up to 32 points) can be also set to one watch data. In each setting, the output device may be the same. If multiple ON region settings have been made to the same output device, the logical add of the output results in the regions is output. ON Output device ON region setting No.2 ON region setting No.1 OFF ON OFF OFF Value ON Value OFF Value ON Value Watch data value (2) Output enable/disable bit can be set and executed enable/disable of the limit switch outputs point-by-point. Limit switch output control is executed when the output enable/disable bit is ON, and the output is OFF when it is OFF. If there is no setting, the outputs are always enabled. (3) Forced output bit can be set and turned the forcibly output of the limit switch outputs point-by-point ON. The output is ON when the forced output bit is ON. Priority is given to control of this setting over off (disable) of the "output enable/disable bit". If there is no setting, no forced outputs are not always made. 4-2 4 AUXILIARY AND APPLIED FUNCTIONS (4) When the multiple watch data, ON region, output enable/disable bit and forced output bit are set to the same output device, the logical add of output results of the settings is output. SM500 ON 1) Without output enable/disable bit/forced output settings Output device OFF Value ON region setting ON Value Watch data value 2) With output enable/disable bit/forced output settings Output device Output OFF Output control based on ON Value and OFF Value Output ON (Forced output) Output OFF Output OFF Output control based on ON Value and OFF Value Output OFF Enable/disable bit Forced output bit Output ON (Forced output) 4-3 4 AUXILIARY AND APPLIED FUNCTIONS 4.1.2 Limit output setting data Limit output data list are shown below. Up to 32 points of output devices can be set. (The following items of No.1 to No.5 are set together as one point.) No. 1 Item Setting range Output device Bit device (X, Y, M, B, U \G) Fetch Refresh cycle cycle Remarks Operation — cycle Motion control data/ word device (D, W, #, 2 U \G, absolute address) Watch data (16-bit integer type/32-bit integer type/ 64-bit floating-point type) 3 4 ON region ON Value setting Word device (D, W, #, U \G)/constant (K, H) OFF Value Word device (D, W, #, U \G)/constant (K, H) Output enable/disable Bit device (X, Y, M, B, F, SM, U \G)/ none bit (default) Operation — cycle ON : Enable OFF : Disable None : Always enable None : No forced 5 Forced output bit Bit device (X, Y, M, B, F, SM, U \G)/ none outputs are (default) always made (OFF status) (1) Output device (a) Set the bit device which outputs the ON/OFF signal toward the preset watch data. (b) As the output device, the following devices can be used. Item Device No. setting range Input relay (Note-1) X0 to X1FFF Output relay (Note-2) Y0 to Y1FFF Internal relay (Note-3) M0 to M8191 Link relay B0 to B1FFF Multiple CPU area device U \G10000.0 to U \G (10000+p-1).F (Note-4), (Note-5) (Note-1) : PX is write-disabled and it cannot be used as the output device. For X, only the free No. of the input card non-loading can be used. (Note-2) : The real output device range (PY) is also included. (Note-3) : M2001 to M2032 cannot be used to the output device. Be careful because it affect a positioning operation, when the positioning dedicated devices are set. (Note-4) : "p" indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU. (Note-5) : Only device of the self CPU can be used. 4-4 4 AUXILIARY AND APPLIED FUNCTIONS (2) Watch data (a) This data is used to perform the limit switch output function. This data is comparison data to output the ON/OFF signal. The output device is ON/OFF-controlled according to the ON region setting. (b) As the watch data, motion control data or optional word device data can be used. 1) Motion control data Item Feed current value Real current value Unit Data type Position command 32-bit Deviation counter value PLS Motor current 0.1% Motor speed 0.1r/min Axis No. setting range Q173DCPU Q172DCPU 1 to 32 1 to 8 1 to 12 1 to 8 integer type 16-bit integer type Cam shaft within-one-revolution current value Feed current value (Virtual) 32-bit PLS After-differential current value (Virtual) integer type After-differential encoder current value Encoder current value 2) Word device data Item Device No. setting range Data register D0 to D8191 Link register W0 to W1FFF Motion register #0 to #7999 Multiple CPU area device U \G10000 to U \G (10000+p-1) (Note-1) (Note-1) : "p" indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU. 3) When the optional device data is set, the following data type is set as the data type to be compared. Data type Remarks 16-bit integer type 32-bit integer type 64-bit floating-point type 4-5 Set the device No. as an even No.. 4 AUXILIARY AND APPLIED FUNCTIONS (3) ON region setting (a) The data range which makes the output device turn ON/OFF toward the watch data. (b) The following devices can be used as the ON Value and OFF Value of the data range. The data type of device/constant to be set is the same as the type of watch data. Item Device No. setting range Data register D0 to D8191 Link register W0 to W1FFF Motion register #0 to #7999 Multiple CPU area device U \G10000 to U \G (10000+p-1) Constant (Note-1) Hn/Kn (Note-1) : "p" indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU. (4) Output enable/disable bit (a) Set the status of output enable/disable bit when the limit switch output is forbidden during operation. 1) The following control is exercised. Output enable/disable bit Without setting Limit switch output is turned ON/OFF based on the ON (always enable) ON (enable) With setting Control description region setting (ON Value, OFF Value). OFF (disable) Limit switch output is turned OFF. (b) Usable devices Item Input relay Device No. setting range (Note-1) Output relay X0 to X1FFF (Note-2) Y0 to Y1FFF Internal relay M0 to M8191 Link relay B0 to B1FFF Annunciator F0 to F2047 Special relay SM0 to SM1999 Multiple CPU area device U \G10000.0 to U \G (10000+p-1).F (Note-3) (Note-1) : The real input range(PX) is included. (Note-2) : The real input range(PY) is included. (Note-3) : "p" indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU. 4-6 4 AUXILIARY AND APPLIED FUNCTIONS (5) Forced output bit (a) Set the "forced output bit" when you want to forcibly provide the limit switch outputs during operation. 1) The following control is exercised. Output enable/disable bit Limit switch outputs are turned ON/OFF on the basis of Without setting the "output enable/disable bit" and ON region setting OFF With setting Control description (ON Value, OFF Value). ON Limit switch outputs are turned ON. (b) Usable devices Item Device No. setting range Input relay X0 to X1FFF Output relay Y0 to Y1FFF Internal relay M0 to M8191 Link relay B0 to B1FFF Annunciator F0 to F2047 Special relay SM0 to SM1999 Multiple CPU area device U \G10000.0 to U \G (10000+p-1).F (Note-1) (Note-1) : "p" indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU. POINT Refer to Chapter 2 for the user setting area points of the Multiple CPU high speed transmission area. 4-7 4 AUXILIARY AND APPLIED FUNCTIONS 4.2 Absolute Position System The positioning control for absolute position system can be performed using the absolute-position-compatible servomotors and servo amplifiers. If the machine position is set at the system starting, home position return is not necessary because the absolute position is detected at the power on. The machine position is set with the home position return using the Motion SFC program or MT Developer. (1) Conditions of the absolute position system start Perform a home position return after machine adjustment at the absolute position system start. (2) In the absolute positioning system, the absolute position may be lost in the following cases: Set the absolute position with a home position return. (a) The battery unit is removed or replaced. (b) The battery error of the servo amplifier occurs. (It is detected at the servo amplifier power on). (c) The machine system is disturbed by a shock. (d) The cable between servo amplifier and encoder is removed, or the servo amplifier or encoder is replaced. (3) The current value history can be monitored using of the "System setting modeallowable travel during power off" or "Monitor mode" using a MT Developer. (Refer to the help of MT Developer to be used "Allowable travel during power off" and "Monitor mode".) CAUTION After removing or replacing the battery unit, correctly install the new unit and set the absolute position. After a servo battery error occurs, eliminate the cause of the error and ensure operation is safe before setting the absolute position. After the mechanical system is disturbed by a shock, make the necessary checks and repairs, and ensure operation is safe before setting the absolute position. 4-8 4 AUXILIARY AND APPLIED FUNCTIONS POINT (1) The address setting range of absolute position system is 2147483648 to 2147483647. It is not possible to restore position commands that exceed this limit, or current values after a power interruption. Correspond by the [degree] setting for an infinite feed operation. (2) Even when the current value address is changed by a current value change instruction, the restored data for the current value after a power interruption is the value based on the status prior to execution of the current value change instruction. (3) When home position return has not been completed (home position return request is ON), restoration of the current value after a power interruption is not possible. 4-9 4 AUXILIARY AND APPLIED FUNCTIONS 4.2.1 Current value control The current value when using the ABS encoder is controlled by following functions. (1) The validity of an encoder data during operation is checked. (a) Checks that the amount of change of the encoder in a 3.5[ms] is within 180 degrees at the motor axis. (An error is displayed at the abnormal.) (b) Checks that adjustment of the encoder data and feed-back positions controlled with the servo amplifier. (An error is displayed at the abnormal.) (2) The following values can be monitored by the current value history monitor of MT Developer. Monitor conditions Multiple CPU system power ON/OFF Home position return completion Monitor value Encoder current value, Servo command value, Monitor current value (a) Current value history monitor Month/day/hour/minute The time such as at the completion of home position return and servo amplifier power supply ON/OFF is indicated. In order to indicate the time correctly, turn on SM801 (clock data read request) in the Motion SFC program after setting the clock data of special register. (b) Encoder current value When using the MR-J3- B, the multiple revolution data and within-onerevolution data read from the encoder is indicated. (Note) : For the encoder current value in the home position data area, the encoder current value when the motor is within the in-position range at the completion of home position return is displayed (not encoder value of home position). (c) Servo command value The command value issued to the servo amplifier is indicated. (d) Monitor current value The current value controlled in the Motion CPU is indicated. (Note) : A value near the feed current value is indicated. However, because the monitor current value and feed current value are different data, it is not abnormal even if a different value is indicated. (e) Alarms When an error for current value restoration occurs at the servo amplifier power on, an error code is indicated. (3) By setting of the "Allowable travel during power off", if the encoder data changes exceeding the setting range during power-off, it checks at servo amplifier poweron. (An error is displayed at the abnormal.) "Allowable travel during power off" cannot be set for the Linear servo amplifier. 4 - 10 4 AUXILIARY AND APPLIED FUNCTIONS 4.3 High-Speed Reading of Specified Data This function is used to store the specified positioning data in the specified device (D, W, U \G). The signal from input module controlled in the Motion CPU is used as a trigger. It can be set in the system setting of MT Developer. (1) Positioning data that can be set Setting data Word No. Unit Position command (Feed current value) 2 10-1[µm], 10-5[inch], 10-5[degree], [PLS] Actual current value 2 10-1[µm], 10-5[inch], 10-5[degree], [PLS] Position droop (Deviation counter value) 2 [PLS] M-code 1 Torque limit value 1 [%] Motor current 1 [%] Motor speed 2 [r/min] Servo command value 2 [PLS] Virtual servomotor feed current value 2 [PLS] Synchronous encoder current value 2 [PLS] Virtual servo M-code 1 Current value after main shaft differential gear 2 [PLS] Current value within one revolution of cam axis 2 [PLS] Execute cam No. 1 Execute stroke amount 2 Optional address (Fixed to 4 bytes) 2 Remarks Valid in SV22 virtual mode only 10-1[µm], 10-5[inch] [PLS] (2) Modules and signals to be used Input module Q172DEX Signal TREN Q173DPX (Note) PLC input module Read timing Number of settable points 0.8[ms] 3 2 PX device 8 (Note) : Only one PLC input module can be used. (3) Usable devices Word devices Usable devices D 0 to 8191 W U \G 0 to 1FFF 10000 to (10000 + p-1) (Note-1), (Note-2) (Note-1): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU. (Note-2): Only device of the self CPU can be used. POINT (1) Set an even number as device setting in the two word data. (2) Refer to Chapter 2 for the user setting area points of the Multiple CPU high speed transmission area. 4 - 11 4 AUXILIARY AND APPLIED FUNCTIONS 4.4 ROM Operation Function This function is used to operate based on the data in the FLASH ROM built-in Motion CPU module that the user programs and parameters have been stored. 4.4.1 Specifications of 7-segment LED/Switches No. Q172DCPU 1) CDE AB 789 CD AB E F01 45 23 6 F01 789 1 45 23 6 SW 2 STOP RUN CAUTION 3) Functions 7-segment LED 2) Rotary switch 1 (SW1) • Set the operation mode (Normal mode, Installation mode and mode operated by ROM, etc.) Rotary switch 2 (SW2) • Each switch setting is 0 to F. 3) EMI • Indicate the operation state and error information. CN1 2) Items 1) FRONT BAT (1) Operation mode "Operation mode" of the Motion CPU is set by the rotary switch setting of Motion CPU module at the power supply ON of the Multiple CPU system. The rotary switch setting, operation mode and operation mode overview are shown below. (a) Rotary switch setting and operation mode Rotary switch setting (Note-1) Operation mode SW1 SW2 A Any setting (Except C) Installation mode 0 0 Mode operated by RAM 0 6 Mode operated by ROM Any setting C SRAM clear (Note-2) (Note-1) : Do not set except the above setting. (Note-2) : The programs, parameters, absolute position data, and latch data in the SRAM built-in Motion CPU module are cleared. 4 - 12 4 AUXILIARY AND APPLIED FUNCTIONS (b) Operation mode overview Operation mode 7-segment LED Operation overview • " . " remains flashing in the first digit of 7-segment LED. • It operates based on the user programs and parameters stored in the SRAM Mode operated built-in Motion CPU module. by RAM • The user programs and parameters for the ROM operation can be written to the FLASH ROM built-in Motion CPU module. • " . " remains flashing in the first digit and steady " . " display in the second digit of 7-segment LED. • Operation starts after the user programs and parameters stored in the FLASH ROM built-in Motion CPU module are read to the SRAM built-in Motion CPU module at power supply on or reset of the Multiple CPU system. If the ROM writing is not executed, even if the user programs and parameters Mode operated are changed using the MT Developer during mode operated by ROM, by ROM operation starts with the contents of the FLASH ROM at next power supply on or reset. Also, If the ROM writing is not executed, even if the auto tuning data are reflected on the servo parameter of Motion CPU by operation in the auto-tuning setting, operation starts with the contents of the FLASH ROM at next power supply on or reset. POINT Do not change the rotary switch setting during operation. Be sure to turn OFF the power supply before the rotary switch setting change. 4 - 13 4 AUXILIARY AND APPLIED FUNCTIONS 4.4.2 Outline of ROM operation When the ROM writing is requested to the Motion CPU module using the MT Developer, the programs and parameters stored in the SRAM built-in Motion CPU module are batch-written to the FLASH ROM, after the data of FLASH ROM built-in Motion CPU are erased. When the Motion CPU starts in the "Mode operated by ROM", a normal operation starts, after the data written in the FLASH ROM is read to the SRAM. The programs and parameters created by the MT Developer must be written beforehand to the FLASH ROM built-in Motion CPU module at the ROM operation. The following methods for ROM writing are shown below. • Write the programs and parameters written in the SRAM built-in Motion CPU module to the FLASH ROM built-in Motion CPU module. • Write the programs and parameters of the MT Developer to the SRAM built-in Motion CPU module, and then write them to the FLASH ROM built-in Motion CPU module. The data batch written to the FLASH ROM built-in Motion CPU module by ROM writing are shown below. Backup data except the followings (current position of servomotor in absolute position system, home position and latch device.) cannot be written to the FLASH ROM. SV13 SV22 System setting data Each parameter for servo control Servo program Motion SFC parameter Motion SFC program — Mechanical system program — Cam data POINT (1) "Backup • load" operation of the MT Developer targets the SRAM built-in Motion CPU module. (The FLASH ROM built-in Motion CPU module is not targeted.) Set to "Mode operated by ROM" after ROM writing to execute the ROM operation after "Backup • load" operation at the Motion CPU module exchange. (2) The FLASH ROM built-in Motion CPU module serves as a life in 100000 times writing. Make the ROM writing within 100000 times. If it passes over a life, "writing error" will occur, replace the Motion CPU module. (3) The online change of Motion SFC program executes the Motion SFC program performed the online change from the next scanning at the mode operated by ROM. Operation starts with the contents of the Motion SFC program written in the FLASH ROM built-in Motion CPU module at next power supply on or reset. (4) It needs to meet the following conditions for the ROM writing. (a) PLC ready flag (M2000) OFF (b) Not installation mode 4 - 14 4 AUXILIARY AND APPLIED FUNCTIONS (1) Write the programs and parameters written in the SRAM built-in Motion CPU module to the FLASH ROM built-in Motion CPU module for the ROM operation. Mode operated by RAM/Mode operated by ROM Motion CPU module Be sure to write the programs and parameters beforehand to the SRAM built-in Motion CPU module at the ROM operation. IBM PC/AT SRAM Programs Parameters, etc. MT Developer 1) ROM writing request FLASH ROM Programs Parameters, etc. 2) ROM writing Mode operated by RAM/Mode operated by ROM Motion CPU module SRAM Programs Parameters, etc. Read at starting FLASH ROM Programs Parameters, etc. 4 - 15 Programs Parameters, etc. 4 AUXILIARY AND APPLIED FUNCTIONS Write the data of SRAM built-in Motion CPU module to the ROM. The operating procedure for ROM writing using the MT Developer is shown below. Main Frame screen Operating procedure 1) Select menu "Online" -"Export to ROM Format" to display "Export to ROM Format" screen. Export to ROM Format screen 2) Select "Execute" button. ROM writing is executed to FLASH ROM built-in Motion CPU module. POINT Be sure to write the all data beforehand to SRAM built-in Motion CPU module at the ROM writing. 4 - 16 4 AUXILIARY AND APPLIED FUNCTIONS (2) Write the programs and parameters of the MT Developer to the SRAM built-in Motion CPU module, and then write them to the FLASH ROM built-in Motion CPU module for the ROM operation. Mode operated by RAM/Mode operated by ROM Motion CPU module SRAM IBM PC/AT 1) Write data (ROM writing request) Programs Parameters, etc. Programs Parameters, etc. 2) ROM writing request after write data FLASH ROM Programs Parameters, etc. 3) ROM writing Mode operated by RAM/Mode operated by ROM Motion CPU module SRAM Programs Parameters, etc. MT Developer Read at starting FLASH ROM Programs Parameters, etc. 4 - 17 4 AUXILIARY AND APPLIED FUNCTIONS Write the data of MT Developer to the ROM. The operating procedure for ROM writing using the MT Developer is shown below. Main Frame screen Operating procedure 1) Select menu "Online" -"Write to CPU" to display "Write to CPU" screen. Write to CPU screen 2) Check data of MT Developer written in the Motion CPU. 3) Select "Program memory + CPU ROM" in target memory. 4) Select "Execute" button. SRAM data built in Motion CPU module is written to ROM after writing data of MT developer to SRAM built-in Motion CPU module. (Note): Mechanical system program and cam data (converted data) cannot be displayed when using OS type "SW8DNC-SV13". POINT Be sure to write the all data beforehand to SRAM built-in Motion CPU module at the ROM writing. 4 - 18 4 AUXILIARY AND APPLIED FUNCTIONS 4.4.3 Operating procedure of the ROM operation function The outline procedure of ROM operation function is shown below. 1) Turn on or reset the power supply of Multiple CPU system in the "Mode operated by RAM". 2) Create the system setting, programs and parameters using the MT Developer, and execute a trial run and adjustment. 3) Write the system setting, programs and parameters of SRAM built-in Motion CPU module to the FLASH ROM built-in Motion CPU module by the ROM writing request using the MT Developer. 4) By starting the Motion CPU in the "Mode operated by ROM", a normal operation starts after the system setting, programs and parameters written in the FLASH ROM built-in Motion CPU module are read to the SRAM built-in Motion CPU module. (1) ROM operation procedure The ROM operation procedure is shown below. Preparation for ROM operation Set the "Mode operated by RAM" by setting the rotary switch 1 (SW1) and 2 (SW2) to "0". Turn ON the power supply of Multiple CPU system. Create or correct the system setting, parameters and programs using the MT Developer, and write them to the Motion CPU module. Execute the trial run and adjustment. Is the operation normal ? YES Mode operated by RAM (ROM writing) Execute the "ROM writing" of the programs and parameters in a lump using the MT Developer. Turn OFF the power supply of Multiple CPU system. Set the "Mode operated by ROM" by setting the rotary switch 1 (SW1) to "0" and rotary switch 2 (SW2) to "6". Turn ON the power supply of Multiple CPU system. Mode operated by ROM ROM operation start 4 - 19 NO 4 AUXILIARY AND APPLIED FUNCTIONS (2) Operation at the "Mode operated by ROM" Mode operated by ROM start Is the data write to the FLASH ROM built-in Motion CPU module ? NO (Data (programs, parameters and absolute position data) is not written to the FLASH ROM built-in Motion CPU module.) YES Read the followings of the FLASH ROM built-in Motion CPU module to the SRAM built-in Motion CPU module. System setting data Parameter for servo control Servo program Motion SFC parameter Motion SFC program Mechanical system program (SV22) Cam data (SV22) Normal operation start The system setting error (" AL" flashes 3 times steady "L01" display) in the 7segment LED at the front side of Motion CPU module. Wait the restart of Multiple CPU system. After that, it cannot be operated because of stop state. Retry the operation for "ROM writing" "Mode operated by ROM" after confirm the contents for programs and parameters of the SRAM built-in Motion CPU module. After that, it is same operation at the RAM operation. POINT (1) Change the operation mode using the rotary switch of Motion CPU module. (2) Confirm the operation mode by the 7-segment LED of Motion CPU module. 4 - 20 4 AUXILIARY AND APPLIED FUNCTIONS 4.5 Security Function This function is used to protect the user data of Motion CPU by registering a password. The illegal reading or writing of the user data are prevented by setting a password. Registered password can be changed and deleted. [Register/Change Password] or [Delete Password] screen is used to register/ change/delete a password. Select from a menu bar to display these screen. The user data protected in this function are shown below. "Write Protection" or "Read/Write Protection" can be set every user data. Operating User data system software SV13/SV22 SV22 Protected contents Motion SFC program Motion SFC programs (Control code, text) Servo program Servo programs and program allocation Mechanical system program Mechanical system programs Cam data Cam data 4.5.1 Password registration/change Select menu [Online] password. [Register Password] [Register/Change] to register/change a (1) Procedure for password registration (a) Enter initial registration password in password column, and select registration condition (Write Protection, Read/Write Protection). It leaves in blank for the user data that does not register a password. (b) Click on [Execute] button to register a password in the Motion CPU. (c) Select menu [Project] [Save] to save a password after registration in a project. Refer to Section 4.5.4 for password save. (2) Procedure for password change (a) Status of password registered in the Motion CPU are displayed. 4 - 21 4 AUXILIARY AND APPLIED FUNCTIONS (b) Enter new password in password column, and select registration condition (Write Protection, Read/Write Protection). It leaves in blank for the user data that does not change a password. (c) Click on [Execute] button to display [Check Password] screen for old password confirmation. Click on [Execute] button after old password input. New password will be registered in the Motion CPU by success of old password check. When the new password is the same as old password (change for only registration condition), [Check Password] screen is not displayed. (d) Select menu [Project] [Save] to save a password after change in a project. Refer to Section 4.5.4 for password save. POINT (1) If an user has forgotten a registration password, clear a password of Motion CPU by the all clear function. However, the all password data and user data are cleared by the all clear function. Re-write the user data to the Motion CPU. (Refer to Section 4.6 for details.) (2) ROM operation can be executed by user data registered a password. The password setting is also included in the ROM writing/reading data. (3) The password data is not save in a project without password save. Therefore, be sure to save a password. (4) If an operation stops by reset or power OFF of the Multiple CPU system while a password registration/change, the user data may not be registered. Register/change a password again to restore the user data. Items Details Type Type of user data Registration " " is displayed when a password is registered in the Motion CPU. Enter initial registration/change password. Password Alphanumeric character (ASCII) of 6 or less Match case (Not full-size character) A registration condition set in the Motion CPU is displayed. Registration condition • Write Protection • Read/Write Protection New registration condition can be selected by password input. 4 - 22 4 AUXILIARY AND APPLIED FUNCTIONS 4.5.2 Password delete Select menu [Online] [Register Password] [Delete] to delete a password. (1) Procedure for password delete (a) Status of password registered in the Motion CPU are displayed. (b) Enter old password and click on [Execute] button to delete password. It leaves in blank for the user data that does not delete a password. (c) A password will be deleted by success of password check. (" " displayed in registration column disappears.) (d) Select menu [Project] [Save] to save a password after delete in a project. Refer to Section 4.5.4 for password save. POINT (1) The password data is not save in a project without password save. Therefore, be sure to save a password. (2) If an operation stops by reset or power OFF of the Multiple CPU system while delete of password, the data may not be deleted. Delete a password again to restore the user data. Items Details Type Type of user data Registration " " is displayed when a password is registered in the Motion CPU. Password Enter old password. 4 - 23 4 AUXILIARY AND APPLIED FUNCTIONS 4.5.3 Password check When operating the user data that sets password, the check password screen is displayed automatically. (1) Procedure for password check (a) Enter old password in password column, and click on [Execute] button. (b) Protection by the password temporarily released by success of password check. After that it can be operated the user data. (c) A password is memorized until MT Developer ends. (Since protection by password is automatically released temporarily at the user data operation, a check password screen is not displayed.) Items Details Type Type of user data Password Enter old password. 4 - 24 4 AUXILIARY AND APPLIED FUNCTIONS 4.5.4 Password save Registered/changed/deleted password or password read with user data from "Read from CPU" screen displayed by menu [Online] [Read from CPU] can be saved in a project data. A password saved in a project data can be registered with user data, when the user data are written in the Motion CPU that does not set password from "Write to CPU" screen displayed by menu [Online] [Write to CPU]. Select menu [Project] [Save] to save the updated password data in a project. (1) Status of password data for each operation Operation Status of password data Read When a password is set in the call source Motion CPU, the password contents are called and the password data in a project are updated. Write When a password data is set in a project, if a password is not set in the write designation Motion CPU, the password contents are also written. Verification Password data in a project are not updated. ROM writing Password contents registered in the write designation Motion CPU are written in ROM. Online change Password contents of write designation Motion CPU are not updated. Backup It is saved in backup data including also the password contents registered in the call source Motion CPU. The password data in a project is not updated. Load Password contents in backup data are written in the write designation Motion CPU. Register/change password New password contents are written in the write designation Motion CPU. Password data in a project is also updated to new password contents. Delete password A password is deleted from the write designation Motion CPU. A password is deleted also from the password data in a project. Project diversion The password data in diverting source project is not diverted. POINT (1) The password data is not save in a project without project save. (2) Save a project after delete of password to delete the password data in a project. Or, create a project without password data by creating new project and diverting user data from a project with password data. 4 - 25 4 AUXILIARY AND APPLIED FUNCTIONS 4.6 All clear function This function is used to clear the all user data, password setting, backup area and user data area of FLASH ROM in the Motion CPU module. (1) Procedure for clear all (a) Set the Motion CPU module to installation mode (Set a rotary switch 1 (SW1) to "A".) (b) Select [Execute] button of "Clear CPU Memory" screen displayed by menu [Online] [Clear CPU Memory]". POINT (1) Set the Motion CPU module to installation mode to clear all. Be sure to set a rotary switch after power supply OFF. (2) The user data area of FLASH ROM built-in Motion CPU module is also cleared. (3) All user data and password setting are cleared at the "Clear all". It is recommended to be backup them in advance using MT Developer. 4 - 26 4 AUXILIARY AND APPLIED FUNCTIONS 4.7 Communication via Network The communication between the personal computer and the Motion CPU is possible via Q series Network module (MELSECNET/10(H), Ethernet, CC-Link and etc.) in the Motion CPU (Q173DCPU/Q172DCPU). Refer to the PLC manuals for the specifications of each network modules of MELSECNET/10(H), Ethernet, CC-Link and Serial communication, the handling method. 4.7.1 Specifications of the communications via network (1) Communications via network enables using MT Developer in the Motion CPU. (2) Access range of the communications via network of the Motion CPU is an access range equivalent to QnUD(H)CPU. (Refer to Section "4.7.2 Access range of the communications via network".) (3) By setting the routing parameter to the control CPU of the network module and the CPU which connected the peripheral devices in the network by MELSECNET/10(H) and Ethernet, it is possible to relay to 8 network points and communicate. (4) Because the Motion CPU cannot become the control CPU of the network module, there is not setting item of the network module and network parameter. However, when connecting with the CPU on the other network from the peripheral device which connected the Motion CPU, it needs to the setting of the routing parameter. (5) It can operate by remote control the monitor or program editing of the Motion CPU via the intranet using the Ethernet module. Personal Computer Personal Computer Ethernet Ethernet QnUD(H) Q173D/ Ethernet CPU Q172D CPU 4 - 27 Power supply Power supply Intranet QnUD(H) Q173D/ Ethernet CPU Q172D CPU 4 AUXILIARY AND APPLIED FUNCTIONS 4.7.2 Access range of the communications via network (1) Network configuration via the MELSECNET/10(H) or the Ethernet (a) It can access the other CPU via the network from the programming software packages (GX Developer, MT Developer, etc.) of the personal computer connected with the CPU or serial communication module in USB/RS-232. (b) It can access the other CPU via the network from the programming software packages in the personal computer by connecting the personal computer equipped with Ethernet to MELSECNET/10(H) or Ethernet board to the Ethernet to MELSECNET/10(H) or Ethernet. (c) The access range of above (1) and (2) can be accessed to 8 network points by setting the routing parameter to the control CPU of the network module and the CPU which connected the personal computer. Personal computer USB/ RS-232 Personal computer Personal computer MNET board or Ether RS-232 C24 : Serial communication module MNET : MELSECNET/10(H) Ether : Ethernet Network No.1 QnUD(H) Q173D CPU CPU C24 MNET or Ether QnUD(H) Q173D CPU CPU MNET or Ether QnUD(H) Q173D CPU CPU MNET or Ether MNET or Ether QnUD(H) Q173D CPU CPU MNET or Ether MNET or Ether QnUD(H) Q173D CPU CPU MNET or Ether MNET or Ether QnUD(H) Q173D CPU CPU MNET or Ether MNET or Ether QnUD(H) Q173D CPU CPU MNET or Ether MNET or Ether Network No.2 Network No.3 QnUD(H) Q173D CPU CPU MNET or Ether MNET or Ether QnUD(H) Q173D CPU CPU Network No.4 QnUD(H) Q173D CPU CPU MNET or Ether MNET or Ether MNET or Ether Network No.5 QnUD(H) Q173D CPU CPU MNET or Ether Network No.6 Network No.7 QnUD(H) Q173D CPU CPU MNET or Ether MNET or Ether Network No.8 QnUD(H) Q173D CPU CPU MNET or Ether MNET or Ether QnUD(H) Q173D CPU CPU MNET or Ether Network No.9 QnUD(H) Q173D CPU CPU MNET or Ether : Communication is possible : Communication is possible (Setting of the routing parameter is necessary.) : Communication is impossible 4 - 28 Network No.10 4 AUXILIARY AND APPLIED FUNCTIONS (2) Network configuration via the CC-Link (a) It can access the other CPU via the CC-link from the programming software packages (GX Developer, MT Developer, etc.) of the personal computer connected with the CPU or serial communication module in USB/RS-232. (b) It can access the other CPU via the CC-Link from the programming software packages in the personal computer by connecting the personal computer equipped with CC-Link board to the CC-Link. (c) The access range of above (1) is only the CPU on the CC-Link which a system connects it to, and it can select a CC-Link network to connect by specifying the I/O No. of the CC-Link module. (d) The access range of above (2) is only the CPU of the connected the CCLink. Personal computer USB/ RS-232 Personal computer Personal computer C24 : Serial communication module CC-Link board RS-232 Network No.1 QnUD(H) Q173D CPU CPU C24 CC-Link QnUD(H) Q173D CC-Link CPU CPU QnUD(H) Q173D CC-Link CC-Link CPU CPU Network No.2 Network No.3 QnUD(H) Q173D CC-Link CPU CPU QnUD(H) Q173D CC-Link CPU CPU QnUD(H) Q173D CC-Link CC-Link CPU CPU Personal computer Network No.1 QnUD(H) Q173D CPU CPU C24 CC-Link QnUD(H) Q173D CC-Link CPU CPU USB/ RS-232 QnUD(H) Q173D CC-Link CC-Link CPU CPU Network No.2 Network No.3 QnUD(H) Q173D CC-Link CPU CPU QnUD(H) Q173D CC-Link CPU CPU : Communication is possible : Communication is impossible 4 - 29 QnUD(H) Q173D CC-Link CC-Link CPU CPU 4 AUXILIARY AND APPLIED FUNCTIONS (3) Network configuration via the RS-422/485 (a) It can access the other CPU via the RS-422/485 from the programming software packages (GX Developer, MT Developer, etc.) of the personal computer connected with the CPU or serial communication module in USB/RS-232. (b) The access range of above (1) is only the CPU on the RS-422/485 which a system connects it to, and it can select RS-422/485 network to connect by specifying the I/O No. of the C24 module. Personal computer USB/ RS-232 C24 Personal computer : Serial communication module RS-232 RS-422/485 QnUD(H) Q173D CPU CPU C24 C24 QnUD(H) Q173D CPU CPU C24 QnUD(H) Q173D CPU CPU C24 C24 RS-422/485 RS-422/485 QnUD(H) Q173D CPU CPU C24 QnUD(H) Q173D CPU CPU C24 QnUD(H) Q173D CPU CPU C24 C24 C24 C24 Personal computer RS-422/485 QnUD(H) Q173D CPU CPU C24 C24 QnUD(H) Q173D CPU CPU C24 USB/ RS-232 QnUD(H) Q173D CPU CPU RS-422/485 RS-422/485 QnUD(H) Q173D CPU CPU C24 QnUD(H) Q173D CPU CPU : Communication is possible : Communication is impossible 4 - 30 C24 QnUD(H) Q173D CPU CPU C24 C24 4 AUXILIARY AND APPLIED FUNCTIONS (4) Network configuration which MELSECNET/10(H), Ethernet, CCLink, RS-422/485 were mixed (a) When the MELSECNET/10(H) or Ethernet is defined as "Network" and CCLink or RS-422/485 is defined as "Link", combination of whether to be able to access from the programming software packages (GX Developer, MT Developer, etc.) is shown below. Usable/ unusable Network communications Programming software package CPU (C24) Network Programming software package CPU (C24) Link Link CPU Network Programming software package Network CPU Programming software package Link Programming software package CPU (C24) Network Programming software package CPU (C24) Link Programming software package Network Programming software package Link Link CPU Network CPU Link Network Link Network Network Network Link Link CPU CPU CPU CPU : Usable : Unusable (b) It can be accessed to 8 network points by setting the routing parameter in the "Network". (c) Because routing cannot access, it can access only the connected network. The connected network can be selected by specifying the I/O No. of the module. Personal computer USB/ RS-232 QnUD(H) Q173D CPU CPU Personal computer Personal computer MNET board or Ether RS-232 C24 : Serial communication module MNET : MELSECNET/10(H) Ether : Ethernet Network No.1 C24 QnUD(H) Q173D CPU CPU MNET or Ether MNET or Ether QnUD(H) Q173D CPU CPU C24 MNET or Ether MNET or Ether Network No.2 RS-422/485 Network No.3 Network No.4 QnUD(H) Q173D CPU CPU C24 MNET or Ether QnUD(H) Q173D CPU CPU MNET CC-Link CC-Link or Ether QnUD(H) Q173D CPU CPU MNET or Ether MNET or Ether RS-422/485 RS-422/485 QnUD(H) Q173D CPU CPU MNET or Ether QnUD(H) Q173D CC-Link CPU CPU QnUD(H) Q173D CC-Link MNET CPU or CPU Ether : Communication is possible : Communication is possible (Setting of the routing parameter is necessary.) : Communication is impossible 4 - 31 Network No.5 QnUD(H) Q173D CPU CPU MNET or Ether 4 AUXILIARY AND APPLIED FUNCTIONS Personal computer USB/ RS-232 QnUD(H) Q173D CPU CPU Personal computer C24 : Serial communication module MNET : MELSECNET/10(H) Ether : Ethernet RS-232 RS-422/485 C24 CC-Link CC-Link QnUD(H) Q173D CC-Link CPU CPU QnUD(H) Q173D CC-Link MNET CPU CPU or Ether Network No.1 RS-422/485 Network No.2 QnUD(H) Q173D CC-Link MNET CPU CPU or Ether QnUD(H) Q173D CPU CPU MNET or Ether QnUD(H) Q173D CPU CPU MNET or Ether Network No.3 QnUD(H) Q173D CPU CPU MNET or Ether RS-422/485 QnUD(H) Q173D CPU CPU C24 MNET or Ether QnUD(H) Q173D CPU CPU C24 C24 Personal computer CC-Link board RS-422/485 QnUD(H) Q173D CPU CPU C24 CC-Link CC-Link QnUD(H) Q173D CC-Link CPU CPU QnUD(H) Q173D CC-Link MNET CPU CPU or Ether Network No.1 RS-422/485 Network No.2 QnUD(H) Q173D CC-Link CPU CPU QnUD(H) Q173D CPU CPU MNET or Ether : Communication is possible : Communication is possible (Setting of the routing parameter is necessary.) : Communication is impossible 4 - 32 QnUD(H) Q173D CPU CPU MNET or Ether MNET or Ether 4 AUXILIARY AND APPLIED FUNCTIONS 4.8 Monitor Function of the Main Cycle (1) Information for main cycle of the Motion CPU (process cycle executed at free time except for motion control) is stored to the special register. (2) Since the automatic refresh of CPU shared memory and normal task of Motion SFC program are executed in the main cycle, make it reference for process time, etc. to program. (3) There are following methods to shorten a main cycle. (a) Lengthen an operation cycle setting. (b) Reduce the number of event task programs to execute in the Motion SFC program. (c) Reduce the number of normal task programs to execute simultaneously in the Motion SFC program. (d) Reduce the number of automatic refresh points of CPU shared memory. (4) When a main cycle is lengthened (more than 1.0[s]), a WDT error may occur in the Motion CPU. (5) Details of main cycle monitor register is shown below. No. Name Meaning Details SD520 Scan time Current scan time (1ms units) • Current scan time is stored in the unit 1[ms]. • Setting range (0 to 65535[ms]) SD521 Maximum scan time Maximum scan time (1ms units) • Maximum main cycle is stored in the unit 1[ms]. • Setting range (0 to 65535[ms]) 4 - 33 4 AUXILIARY AND APPLIED FUNCTIONS 4.9 Servo Parameter Reading Function (1) When the servo parameters are changed, the Motion CPU will be automatically read the servo parameters and reflected them to the servo parameter storage area in the Motion CPU. Therefore, an operation to read servo parameters is unnecessary in the following cases. (a) The parameters are changed by auto tuning. (b) The parameters are changed by connecting directly MR Configurator to the servo amplifier. POINT If the power supply of Multiple CPU system is turned off/reset or the power supply of servo amplifier is turned off immediately after change, it may not be reflected. (2) After executing the servo parameter reading function, when it needs to reflect the servo parameters changed to the MT Developer, read the servo parameters from the Motion CPU and save data. 4 - 34 4 AUXILIARY AND APPLIED FUNCTIONS 4.10 Optional Data Monitor Function This function is used to store the data (refer to following table) up to three points per axis to the specified devices (D, W, #, U \G) and monitor them. It can be set by the system setting of MT Developer. (1) Data that can be set Data type Unit Number of words Effective load ratio [%] 1 Regenerative load ratio [%] 1 Peak load ratio [%] 1 Position feed back [PLS] 2 Absolute position encoder within onerevolution position [PLS] 2 Load inertia ratio [ 0.1] 1 Position loop gain 1 [rad/s] 1 [V] 1 Bus voltage (2) Devices that can be set Word device Device that can be set D 0 to 8191 W 0 to 1FFF # U \G 0 to 7999 10000 to (10000+p-1) (Note-1), (Note-2) (Note-1): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU. (Note-2): Only device of the self CPU can be used. POINT (1) The updating cycle of data is every operation cycle. (2) Set an even number as device setting in the two word data. (3) Refer to Chapter 2 for the user setting area points of the Multiple CPU high speed transmission area. 4 - 35 4 AUXILIARY AND APPLIED FUNCTIONS 4.11 Connect/Disconnect Function This function is used to temporarily suspend SSCNET communication while servo amplifiers and/or SSCNET cables after Axis 1 are exchanged with the power supply ON in a Multiple CPU system. SD803 is required for connect/disconnect and SD508 stores the command status for "accept waiting" or "execute waiting" during this process. If a servo amplifier was previously removed using the connect/disconnect function, it must be used again to reconnect the servo amplifier. This function is only required when there is a desire to maintain communication to all axes in front of the one being removed. No connect/disconnect processing is required if the power supply to Axis 1 is shutdown. (1) Connect/disconnect status devices Device No. Overview Set by The execute status for a connect/disconnect is stored. Monitoring value Status Contents 0 Connect/disconnect Connect command or disconnect command is in the status command accept waiting that can be accepted -1 Connect/disconnect execute waiting -2 While Connect/disconnect is in process. connecting/disconnecting SD508 SD508 is waiting for connect/disconnect execute command after accepting a connect command or disconnect command. System (2) Connect/disconnect command devices Device No. Overview Set by The connect/disconnect command is set. Setting value 0 SD803 1 to 32 Command Contents None This value is set if there is no command. Disconnect command Set axis No. "1 to 32" to be disconnected. -10 Connect command Set to connect axis while disconnecting. -2 Connect/disconnect execute command Connect/disconnect processing is executed by setting this value in the status of a connect/disconnect execute waiting. 4 - 36 User 4 AUXILIARY AND APPLIED FUNCTIONS POINT (1) After completion of SSCNET communication disconnect processing, be sure to check the LED display of the servo amplifier for "AA" before turning OFF its the power supply. (2) When a "1 to 32 : Disconnect command" and/or "-10 : Connect command" are set to the "Connect/disconnect command device (SD803)", the status of the SD508 changes to the "-1: Connect/disconnect waiting" state. In order to complete connect/disconnect processing, "-2 : Connect/disconnect execute command" must be set to SD803 to execute the prior connect/disconnect command. (3) When "1 to 32 : Disconnect command" is set to axis not disconnect, the connect/disconnect status device (SD508) returns "0" without entering the status of "-1 : Connect/disconnect execute waiting". (4) Operation failure may occur in some axes if the power supply of servo amplifiers connected after them on the SSCNET system is turned OFF. Be sure to use the disconnect function before turning OFF the power supply of any servo amplifiers connected after an amplifier whose power remains on. (3) Procedure for connect/disconnect function to exchange the servo amplifier or SSCNET cable is shown below. (a) Operation procedure to disconnect 1) Set the axis No. to disconnect in SD803. (Setting value: 1 to 32) 2) Check that "-1: Disconnect execute waiting" is set in SD508. (Disconnect execute waiting) 3) Set "-2: Disconnect execute command" in SD803. 4) Check that "0: Disconnect command accept waiting" is set in SD508. (Completion of disconnection) 5) Turn OFF the power supply of servo amplifier after checking its LED display for "AA" and then disconnect. 4 - 37 4 AUXILIARY AND APPLIED FUNCTIONS (b) Operation procedure to connect 1) Turn ON the power supply of the servo amplifier. 2) Set "-10: Connect command" in SD803. 3) Check that "-1: Connect execute waiting" is set in SD508. (Connect execute waiting) 4) Set "-2: Connect execute command" in SD803. 5) Check that SD508 is "0: Connect command accept waiting" is set in SD508. (Completion of connection) 6) Resume operation of servo amplifier after verifying the servo ready status (M2415+20n) is ON. (4) Flow for device value at connect/disconnect operation is shown below. (a) Disconnect operation Command SD803 Monitor SD508 Disconnect command (Axis No. of servo amplifier to disconnect) Disconnect execute command 1 to 32 -2 0 Disconnect command clear 0 0 -1 -2 0 Disconnect command accept waiting Disconnect execute waiting Disconnect processing execute Completion of disconnection (b) Connect operation Command SD803 Monitor SD508 0 Connect command Connect execute command -10 -2 -1 0 Connect command accept waiting 4 - 38 Connect execute waiting Connect command clear 0 -2 Connect processing execute 0 Completion of connection 4 AUXILIARY AND APPLIED FUNCTIONS (1) Self CPU program which connects/disconnects servo amplifiers from Axis 5 on Disconnect procedure: Turn OFF the power supply of servo amplifier after checking its LED display for "AA". Connect procedure: Resume operation of servo amplifier after verifying that the servo ready (M2415+20n) is ON. System configuration Q61P QnUD(H) Q172D CPU CPU QY40 QY40 Q172D LX QY40 Disconnection (From Axis 5 on) AMP Axis 1 AMP Axis 2 M AMP Axis 3 M AMP AMP Axis 4 M Axis 5 M AMP Axis 8 M M (a) Motion SFC program Disconnect operation Connect operation Disconnect processing [G10] [F10] [G20] [F20] [G30] Connect processing [G10] SD508==0 Check the disconnect command accept status. SD803=5 Set "5" (Disconnect from Axis 5 on) as disconnect command in SD803. SD508==-1 Disconnect execute waiting [G20] SD803=-2 Set "-2" as disconnect execute command in SD803. [F20] SD508==0 Check the completion of disconnect processing. [G30] [F10] END SD508==0 Check the connect command accept status. SD803=-10 Set "-10" as connect command in SD803. SD508==-1 Connect execute waiting SD803=-2 Set "-2" as connect execute command in SD803. SD508==0 Check the completion of connect processing. END 4 - 39 4 AUXILIARY AND APPLIED FUNCTIONS (2) PLC CPU program which connects/disconnects servo amplifiers from Axis 5 on which is connected to the Motion CPU (CPU No.2). Disconnect procedure: Turn X0 OFF to ON, and then turn OFF the power supply of servo amplifier after checking the LED display "AA" of servo amplifier. Connect procedure: Turn X1 OFF to ON, and then resume operation of servo amplifier after checking the servo ready (M2415+20n) of servo amplifier. System configuration Q61P QnUD(H) Q172D CPU CPU QY40 QY40 Q172D LX QY40 Disconnection (From Axis 5 on) AMP AMP Axis 1 Axis 2 M AMP Axis 3 M AMP AMP Axis 4 M Axis 5 M AMP Axis 8 M M PLC program SM400 0 M100 M101 MOV K1 D51 MOV K-2 D104 Set "-2" as disconnect execute command in D104. MOV K5 D102 Set "5" (Disconnect afrom Axis 5 on) as disconnect command in D102. X0 M102 5 SET M100 X1 MOV K-10 SET M100 DP.DDRD M10 D100 H3E1 SD508 D100 M10 RST M100 SET M101 Read the data of SD508 for Multiple CPU system (CPU No.2) by turning M100 ON, and store it to data area (D100) of self CPU. M12 DP.DDWR H3E1 M12 D50 D102 SD803 M12 M13 RST M101 SET M102 Write the data of SD803 for Multiple CPU system (CPU No.2) to D102 by turning M101 ON. (Disconnect command/Connect command) M10 57 DP.DDRD M10 H3E1 D50 SD508 D100 M10 M11 = D100 K-1 RST M102 SET M103 Read the data of SD508 for Multiple CPU system (CPU No.2) by turning M102 ON, and store it to data area (D100) of self CPU. M12 78 DP.DDWR H3E1 M12 M104 D50 K0 39 M103 M100 M11 = M102 Set "-10" as connect command in D102. M10 18 M101 D102 D50 D104 SD803 M12 M13 RST M103 SET M104 Write the data of SD803 for Multiple CPU system (CPU No.2) to D104 by turning M103 ON. (Disconnect execute command) M10 96 DP.DDRD M10 H3E1 D50 SD508 D100 M10 M11 = D100 K0 RST 4 - 40 M104 Read the data of SD508 for Multiple CPU system (CPU No.2) by turning M104 ON, and store it to data area (D100) of self CPU. 4 AUXILIARY AND APPLIED FUNCTIONS 4.12 Remote operation This function is used to control the following operation of Motion CPU using MT Developer. • Remote RUN/STOP • Remote latch clear POINT Latch clear can be executed only using the remote control of MT Developer. 4.12.1 Remote RUN/STOP The PLC ready flag (M2000) is turned ON/OFF by MT Developer with RUN/STOP switch of Motion CPU module set to RUN. (1) Operation procedure (a) Remote RUN Select [RUN] on "CPU remote operation" screen displayed by menu [Online] – [Remote Operation], and click [Execute] button. (b) Remote STOP Select [STOP] on "CPU remote operation" screen displayed by menu [Online] – [Remote Operation], and click [Execute] button. 4 - 41 4 AUXILIARY AND APPLIED FUNCTIONS POINT (1) Remote RUN cannot be executed if RUN/STOP switch sets to STOP. Operation after remote operation by RUN/STOP switch is shown below. Position of RUN/STOP switch RUN Remote operation STOP Execute remote RUN RUN STOP Execute remote STOP STOP STOP (2) The following parameters are read by turning on the PLC ready flag (M2000). • Fixed parameter • Parameter block • Home position return data • JOG operation data • Servo parameter • Mechanical system program (SV22) • Motion SFC parameter • Limit switch parameter REMARK The PLC ready flag (M2000) can also be turned ON/OFF (PCPU READY complete flag (SM500) ON/OFF) in the following methods. • RUN/STOP switch change • PLC ready flag (M2000) ON/OFF 4 - 42 4 AUXILIARY AND APPLIED FUNCTIONS 4.12.2 Remote latch clear Device data of Motion CPU that latched are cleared by MT Developer at PLC ready flag (M2000) OFF (PCPU READY complete flag (SM500) OFF). Operation for remote latch clear is combined with remote RUN/STOP. (1) Operation procedure (a) Turn OFF the PLC ready flag (M2000) (PCPU READY complete flag (SM500) OFF) by remote STOP. (b) Select [Latch clear (1)] or [Latch clear (1)(2)] on "CPU remote operation" screen displayed by menu [Online] – [Remote Operation], and click [Execute] button. (Note): Execute remote RUN to turn ON the PLC ready flag (M2000) after remote latch clear. POINT (1) Remote latch clear cannot be operated while the PLC ready flag (M2000) is ON (PCPU READY complete flag (SM500) is ON) or test mode. (2) The following latch area are cleared in the remote latch clear operation. • Latch clear (1) : Clear the range set in latch area (1) • Latch clear (1)(2) : Clear the range set in latch area (1) and (2) (3) The user area (#0 to #7999) of motion device are also cleared by executing remote latch clear. (4) All of the user device not latched are cleared by the remote latch clear operation of latch area (1) and (2). (5) Set the range of latch area (1) and (2) in the system basic setting of system setting. (Refer to Section 3.1.3.) 4 - 43 4 AUXILIARY AND APPLIED FUNCTIONS MEMO 4 - 44 APPENDICES APPENDICES APPENDIX 1 Special relays/Special registers APPENDIX 1.1 Special relays Special relays are internal relays whose applications are fixed in the Motion CPU. For this reason, they cannot be used in the same way as the normal internal relays by the Motion SFC programs. However, they can be turned ON/OFF as needed in order to control the Motion CPU. The headings in the table that follows have the following meanings. Item No. Explanation • Indicates the device No. of the special relay. Name • Indicates the name of the special relay. Meaning • Indicates the nature of the special relay. Details • Indicates detailed information about the nature of the special relay. • Indicates whether the relay is set by the system or user, and, if it is set by system, when setting is performed. S: Set by system (Motion CPU) U: Set by user (Motion SFC program or test operation using MT Developer) S/U: Set by both system (Motion CPU) and user Set by (When set) Indicated only if setting is done by system (Motion CPU). Main process: Set during each main processing (free time processing of the CPU) Initial process: Set only during initial processing (when power supply is turned ON, or when executed the reset) Status change : Set only when there is a change in status Error : Set when error is occurred. Request : Set only when there is a user request (Special relay, etc.) Operation cycle : Set during each operation cycle of the Motion CPU. APP - 1 APP. APPENDICES Table 1.1 Special relay list No. SM0 SM1 SM51 SM52 Name Meaning Details Set by (When set) • Turn ON if an error occurs as a result of diagnosis. • Remains ON even if the condition is restored to normal thereafter. • Turn ON by ON to OFF of the Motion error detection flag (M2039) for except the stop error after confirming the error content. Diagnostic error OFF : No error ON : Error Self-diagnostic error • Turn ON if an error occurs as a result of self-diagnosis. • Remains ON even if the condition is restored to normal OFF : No self-diagnostic error thereafter. ON : Self-diagnostic error • Turn ON by ON to OFF of the Motion error detection flag (M2039) for except the stop error after confirming the error content. Battery low latch OFF : Normal ON : Battery low • Turn ON if the voltage of external battery reduces to less than 2.5[V]. • Remains ON even if the condition is restored to normal thereafter. Battery low OFF : Normal ON : Battery low • Turn on when the voltage of the external battery reduces to less than 2.5[V]. • Turn OFF when the voltage of external battery returns to normal. S (Occur an error) • Turn ON if an instantaneous power failure of within 20[ms] occurs during use of the AC power supply module. Reset when the power supply is switched OFF, then ON. SM53 AC/DC DOWN detection OFF : AC/DC DOWN not detected ON : AC/DC DOWN detected SM58 Battery low warning latch OFF : Normal ON : Battery low • Turn ON if the voltage of external battery reduces to less than 2.7[V]. • Remains ON even if the condition is restored to normal thereafter. SM59 Battery low warning OFF : Normal ON : Battery low • Turn on when the voltage of the external battery reduces to less than 2.7[V]. • Turn OFF when the voltage of external battery returns to normal. SM60 • Turn ON if there is at least one output module whose fuse OFF : Normal has blown. Fuse blown detection ON : Module with blown fuse • Remains ON even if the condition is restored to normal thereafter. • Turn ON if an instantaneous power failure of within 10[ms] occurs during use of the AC power supply module. Reset when the power supply is switched OFF, then ON. SM211 Clock data error OFF : No error ON : Error • Turn ON if an error occurs in clock data (SD210 to SD213) value, and turn OFF if no error is detected. SM220 CPU No.1 READY (Note-1) complete OFF : CPU No.1 READY incompletion ON : CPU No.1 READY completion • Turn ON if CPU No. 1 which uses Multiple CPU high speed bus can be operated between Multiple CPU. SM221 CPU No.2 READY (Note-1) complete OFF : CPU No.2 READY incompletion ON : CPU No.2 READY completion • Turn ON if CPU No. 2 which uses Multiple CPU high speed bus can be operated between Multiple CPU. SM222 CPU No.3 READY (Note-1) complete OFF : CPU No.3 READY incompletion ON : CPU No.3 READY completion • Turn ON if CPU No. 3 which uses Multiple CPU high speed bus can be operated between Multiple CPU. SM223 CPU No.4 READY (Note-1) complete OFF : CPU No.4 READY incompletion ON : CPU No.4 READY completion • Turn ON if CPU No. 4 which uses Multiple CPU high speed bus can be operated between Multiple CPU. SM240 No.1 CPU resetting OFF : CPU No.1 reset cancel • Goes OFF when reset of the CPU No.1 is cancelled. ON : CPU No.1 resetting SM241 No.2 CPU resetting OFF : CPU No.2 reset cancel • Goes OFF when reset of the CPU No.2 is cancelled. ON : CPU No.2 resetting SM242 No.3 CPU resetting OFF : CPU No.3 reset cancel • Goes OFF when reset of the CPU No.3 is cancelled. ON : CPU No.3 resetting APP - 2 S (Request) S (Change status) Remark APPENDICES Table 1.1 Special relay list (Continued) No. Name Meaning Details SM243 No.4 CPU resetting OFF : CPU No.4 reset cancel • Goes OFF when reset of the CPU No.4 is cancelled. ON : CPU No.4 resetting SM244 No.1 CPU error OFF : CPU No.1 normal ON : CPU No.1 during stop error • Goes OFF when the CPU No.1 is normal. (Including a continuation error) (Note-2) • Comes ON when the CPU No.1 is during stop error. SM245 No.2 CPU error OFF : CPU No.2 normal ON : CPU No.2 during stop error • Goes OFF when the CPU No.2 is normal. (Including a continuation error) (Note-2) • Comes ON when the CPU No.2 is during stop error. SM246 No.3 CPU error OFF : CPU No.3 normal ON : CPU No.4 during stop error • Goes OFF when the CPU No.3 is normal. (Including a continuation error) (Note-2) • Comes ON when the CPU No.3 is during stop error. OFF : CPU No.4 normal ON : CPU No.4 during stop error ON OFF ON OFF • Goes OFF when the CPU No.4 is normal. (Including a continuation error) (Note-2) • Comes ON when the CPU No.4 is during stop error. SM247 No.4 CPU error SM400 Always ON SM401 Always OFF Set by (When set) S (Change status) • Normally is ON. S (Main processing) • Normally is OFF. ON : PCPU READY completion OFF : PCPU READY incompletion • When the PLC ready flag (M2000) turn OFF to ON, the fixed parameters, servo parameters and limit switch output data, etc., are checked, and if no error is detected, this flag turns ON. • Turn OFF with PLC ready flag (M2000) OFF. ON : TEST mode ON OFF : Except TEST mode • Judge whether TEST mode ON or not using MT Developer. • If the TEST mode is not established by TEST mode request using MT Developer, the TEST mode request error flag (SM510) turns ON. ON : Forced stop OFF OFF : Forced stop ON • Confirm forced stop ON/OFF. S (Operation cycle) Digital oscilloscope SM503 executing ON : Digital oscilloscope is stop OFF : Digital oscilloscope is executing • Confirm the execution of digital oscilloscope using MT Developer. S (Change status) TEST mode request SM510 error ON : Abnormal OFF : Normal • Turn ON if the TEST mode is not established by TEST mode request using MT Developer. • When this relay is ON, the error content is stored in the TEST mode request error register (SD510, SD511). ON : Abnormal OFF : Normal • Turn ON when a "watchdog timer error" is detected by the Motion CPU self-diagnosis function. When the Motion CPU detects a WDT error, it executes an immediate stop without deceleration of the operating axes. • The error cause is stored in the "Motion CPU WDT error cause (SD512)". SM500 PCPU READY complete SM501 Test mode ON SM502 SM512 External forced stop input Motion CPU WDT error ON Manual pulse SM513 generator axis setting OFF error : At least one D714 to D719 setting is abnormal. : All D714 to D719 settings are normal. • Judge whether normal/abnormal of the register for manual pulse generator axis setting register (D714 to D719). • When this relay is ON, the error content is stored in the manual pulse generator axis setting error register (SD513 to SD515). SM516 Servo program setting error ON : Abnormal OFF : Normal • Judge whether normal/abnormal of the positioning data of servo program(K) specified with the Motion SFC program, and if error is detected this flag turns ON. • The content of a servo program setting error is stored at SD516, SD517. SM526 Over heat warning latch OFF : Normal ON : Abnormal • Turn ON when the temperature of Motion CPU module becomes specified value 85[°C] (185[°F]) or more. Remains ON even if normal status is restored. SM527 Over heat warning OFF : Normal ON : Abnormal • Turn ON when the temperature of Motion CPU module becomes specified value 85[°C] (185[°F]) or more. Turn OFF when the temperature of Motion CPU module returns to normal. APP - 3 S (Request) S (Occur an error) Remark APPENDICES Table 1.1 Special relay list (Continued) No. Name Meaning Details SM528 No.1 CPU MULTR complete OFF to ON : CPU No.1 read completion • Turn ON when the data read from CPU No.1 is normal by MULTR instruction. SM529 No.2 CPU MULTR complete OFF to ON : CPU No.2 read completion • Turn ON when the data read from CPU No.2 is normal by MULTR instruction. SM530 No.3 CPU MULTR complete OFF to ON : CPU No.3 read completion • Turn ON when the data read from CPU No.3 is normal by MULTR instruction. SM531 No.4 CPU MULTR complete OFF to ON : CPU No.4 read completion • Turn ON when the data read from CPU No.4 is normal by MULTR instruction. SM801 Clock data read request OFF : Ignored ON : Read request • When this relay is ON, clock data is read to SD210 to SD213 as BCD values. Set by (When set) Remark S (Read completion) U (Note-1) : It is used for interlock condition of Multiple CPU high speed bus dedicated instruction when a synchronous system set in Multiple CPU synchronous startup setting of system setting. (Note-2) : The CPU No.1 is reset after the factor of the stop error is removed to cancel a stop error → Resetting is cancelled. APP - 4 APPENDICES APPENDIX 1.2 Special registers Special registers are internal registers whose applications are fixed in the Motion CPU. For this reason, it is not possible to use these registers in Motion SFC programs in the same way that normal registers are used. However, data can be written as needed in order to control the Motion CPU. Data stored in the special registers are stored as BIN values if no special designation has been made to the contrary. The headings in the table that follows have the following meanings. Item Explanation Number • Indicates the No. of the special register. Name • Indicates the name of the special register. Meaning • Indicates the nature of the special register. Details • Indicates detailed information about the nature of the special register. • Indicates whether the register is set by the system or user, and, if it is set by system, when setting is performed. S: Set by system (Motion CPU) U: Set by user (Motion SFC program or test operation using MT Developer) S/U: Set by both system (Motion CPU) and user Set by (When set) Indicated only if setting is done by system (Motion CPU). Main process: Set during each main processing (free time processing of the CPU) Initial process: Set only during initial processing (when power supply is turned ON, or when executed the reset) Status change : Set only when there is a change in status Error : Set when error is occurred. Request : Set only when there is a user request (Special relay, etc.) Operation cycle : Set during each operation cycle of the Motion CPU. APP - 5 APPENDICES Table 1.2 Special register list No. SD0 Name Diagnostic errors Meaning Diagnostic error code Details Set by (When set) • Error codes for errors found by diagnosis are stored as BIN data. • Refer to "APPENDIX 3" for details of the error code. • After confirm the error content, except the stop error, it is possible to clear by ON to OFF of the Motion error detection flag (M2039). • Clear SD0 to SD26 by ON to OFF of the Motion error detection flag (M2039) for except the stop error after confirming the error content. • The year (last two digits) and month that SD0 data was updated is stored as BCD 2-digit code. SD1 SD2 B15 to B8 B7 to B0 Year(0 to 99) Month(1 to 12) Clock time for diagnostic error occurrence Clock time for diagnostic error occurrence Example : January 2006 H0601 • The day and hour that SD0 data was updated is stored as BCD 2-digit code. B15 to B8 B7 to B0 Day(1 to 31) Hour(0 to 23) Example : 25st, 10 a.m H2510 • The minute and second that SD0 data was updated is stored as BCD 2-digit code. SD3 B15 to B8 B7 to B0 Minute(0 to 59) Second(0 to 59) Example : 35min., 48 sec. H3548 • Category codes which help indicate what type of information is being stored in the error common information areas (SD5 to SD15) and error individual information areas (SD16 to SD26) are stored. The category code for judging the error information type is stored. SD4 Error information Error information categories category code SD5 SD6 SD7 SD8 SD9 SD10 SD11 SD12 SD13 SD14 SD15 Error common information Error common information B15 to B8 B7 to B0 Individual information Common information category codes category codes • The common information category codes store the following codes. 0: No error 1: Module No./CPU No./Base No. • The individual information category codes store the following codes. 0: No error 5: Parameter No. 13:Parameter No./CPU No. • Common information corresponding to the diagnostic error (SD0) is stored. • The error common information type can be judged by SD4 (common information category code). 1: Module No./CPU No./Base No. • For the Multiple CPU system, Module No. or CPU No. is stored depending on the error that occurred. (Refer to corresponding error code for which No. has been stored.) CPU No.1: 1, CPU No.2: 2, CPU No.3: 3, CPU No.4: 4 No. Meaning SD5 Module No./CPU No./Base No. SD6 I/O No. SD7 to SD15 Empty APP - 6 S (Occur an error) Remark APPENDICES Table 1.2 Special register list (Continued) No. Name Meaning SD16 Set by (When set) Details • Individual information corresponding to the diagnostic error (SD0) is stored. • The error individual information type can be judged by SD4 (individual information category code). 5: Parameter No. SD17 SD18 SD19 SD20 No. Meaning SD21 SD16 Parameter No. SD22 SD17 to SD26 Empty SD23 SD24 SD25 0401H Error individual information Error individual information :Base setting 0406H :Motion slot setting 0E00H :Multiple CPU setting (Number of Multiple CPU's) 0E01H :Multiple CPU setting (Operation mode/Multiple CPU synchronous startup) E008H :Multiple CPU high speed transmission area setting (CPU specific send range setting/ (System area)) S (Occur an error) E009H/E00AH :Multiple CPU high speed transmission area setting (Automatic refresh setting) E00BH SD26 :Synchronous setting 13: Parameter No./CPU No. No. Meaning SD16 Parameter No. SD17 CPU No.(1 to 4) SD18 to SD26 Empty SD53 AC/DC DOWN counter No. Number of times for AC/DC DOWN • Every time the input voltage fails to or below 85[%] (AC power)/65[%] (DC power) the rating during calculation of the Motion CPU module, the value is incremented by 1 and stored in BIN code. SD60 Fuse blown No. Module No. with blown fuse • The lowest station I/O No. of the module with the blown fuse is stored. • The CPU switch status is stored in the following format. B15 SD200 Status of switch Status of CPU switch B12 B11 B8 B7 B4 B3 Not used 2) 1) CPU switch status 0: RUN 1: STOP 2) Memory card switch Always OFF B0 1) • The CPU operating status is stored as indicated in the following figure. B15 SD203 Operating status Operating status of CPU of CPU B12 B11 B8 B7 B4 B3 2) 1) Operating status of CPU 0: RUN 2: STOP 2) STOP cause 0: RUN/STOP switch 4: Error (Note) Priority is earliest first APP - 7 B0 1) S (Main processing) Remark APPENDICES Table 1.2 Special register list (Continued) No. Name Meaning Set by (When set) Details • The year (last two digits) and month are stored as BCD code. B15 to B12 B11 to B8 B7 to Clock data (Year, Month) SD210 Year B4 B3 to B0 Example : July, 2006 H0607 B0 Example : 31st, 10 a.m. H3110 Month • The day and hour are stored as BCD code. B15 to B12 B11 to B8 B7 to B4 B3 to Clock data (Day, Hour) SD211 Day Hour • The minutes and seconds are stored as BCD code. SD212 Clock data Clock data (Minute, Second) B15 to B12 B11 to B8 B7 to B4 B3 to B0 Example : 35 min., 48 sec. H3548 S/U (Request) Second Minute • The day of week is stored as BCD code. B15 Clock data (Day of week) SD213 to B12 B11 to B8 B7 to B4 B3 to B0 Example : Friday H0005 Day of week Always set to "0". 0 Sunday 1 Monday 2 Tuesday 3 Wednesday 4 Thursday 5 Friday 6 Saturday SD290 Number of points assigned for X • Stores the number of points currently set for X devices. SD291 Number of points assigned for Y • Stores the number of points currently set for Y devices. SD292 Number of points assigned for M • Stores the number of points currently set for M devices. SD293 Number of points assigned for L • Stores the number of points currently set for L devices. SD294 Number of points assigned for B • Stores the number of points currently set for B devices. SD295 Number of points assigned for F • Stores the number of points currently set for F devices. SD296 Number of points assigned for SB • Stores the number of points currently set for SB devices. Number of points assigned for V • Stores the number of points currently set for V devices. SD298 Number of points assigned for S • Stores the number of points currently set for S devices. SD299 Number of points assigned for T • Stores the number of points currently set for T devices. SD300 Number of points assigned for ST • Stores the number of points currently set for ST devices. SD301 Number of points assigned for C • Stores the number of points currently set for C devices. SD302 Number of points assigned for D • Stores the number of points currently set for D devices. SD303 Number of points assigned for W • Stores the number of points currently set for W devices. SD304 Number of points assigned for SW • Stores the number of points currently set for SW devices. SD297 Device assignment APP - 8 S (Initial processing) Remark APPENDICES Table 1.2 Special register list (Continued) No. Name Meaning SD395 Multiple CPU No. Multiple CPU No. Details • CPU No. of the self CPU is stored. Set by (When set) S (Initial processing) Real mode axis SD500 information SD501 register • The information (Real mode axis: 0/Except real mode axis: 1) used as a real mode axis at the time of switching from real mode to virtual mode is stored. Real mode axis SD500 : b0 to b15 (Axis 1 to 16) information register SD501 : b0 to b15 (Axis 17 to 32) • The real mode axis information does not change at the time of switching from virtual mode to real mode S (At virtual mode transition) Servo amplifier SD502 loading SD503 information • The loading status (loading: 1/non-loading: 0) of the servo amplifier checked in initial process, and stored as the bit data. SD502 : b0 to b15 (Axis 1 to 16) Servo amplifier SD503 : b0 to b15 (Axis 17 to 32) loading information • The axis which turned from non-loading to loading status after power-on is handled as loaded. (However, the axis which turned from loading to nonloading status remains as loaded.) S (Initial processing) SD504 Real mode/virtual Real mode /virtual SD505 mode switching mode switching SD506 error information error code Connect/ SD508 Disconnect (Status) Connect/ disconnect of SSCNET • When a mode switching error occurs in real-to-virtual or virtual-to-real mode switching, or a mode continuation error occurs in the virtual mode, its error information is stored. S (Occur an error) • This signal is used to temporarily suspend SSCNET communication while servo amplifiers and/or SSCNET cables after Axis 1 are exchanged with the power supply ON in a Multiple CPU system. SD508 stores the command status for "accept waiting" or "execute waiting" during this process. 0 : Connect/disconnect command accept waiting -1 : Connect/disconnect execute waiting S (Main processing) -2 Connect/disconnect executing SD510 Test mode SD511 request error SD512 It is operating in requirement error occurrence of the test mode, axis information Motion CPU Error meaning of WDT error cause WDT error occurs SD513 Manual pulse SD514 generator axis SD515 setting error • Each axis is stopping: 0/Operating: 1, information is stored as a bit data. SD510 : b0 to b15 (Axis 1 to Axis 16) SD511 : b0 to b15 (Axis 17 to Axis 32) • The following error codes are stored in SD512. 1: S/W fault 1 2: Operation cycle over 3: Q bus WDT error 4: WDT error 201 to 215: Q bus H/W fault 250 to 253: Servo amplifier interface H/W fault 300: S/W fault 3 301: 15 CPSTART instructions of 8 or more points were started simultaneously. 303: S/W fault 4 Manual pulse generator axis setting error information • Contents of the manual pulse generator axis setting error is stored when the manual pulse generator axis setting error flag (SM513) turn on. (Normal: 0/Setting error: 1) SD513 : The manual pulse generator axis setting error is stored in b0 to b2 (P1 to P3). The smoothing magnification setting is stored in b3 to b5 (P1 to P3). SD514 : One pulse input magnification setting error is stored in b0 to b15 (axis 1 to axis 16). SD515 : One pulse input magnification setting error is stored in b0 to b15 (axis 17 to axis 32). • When the servo program setting error flag (SM516) turns on, the erroneous servo program No. will be stored. SD516 Error program No. Error program No. of servo program SD517 Error item information Error code of servo • When the servo program setting error flag (SM516) turns on, the error code program corresponding to the erroneous setting item will be stored. SD520 Scan time SD521 Maximum scan time Scan time (1ms units) • Main cycle is stored in the unit 1ms. Setting range (0 to 65535[ms]) Maximum scan time (1ms units) • The maximum value of the main cycle is stored in the unit 1ms. Setting range (0 to 65535[ms]) APP - 9 S (Occur an error) S (Main processing) Remark APPENDICES Table 1.2 Special register list (Continued) No. SD522 Name Meaning Motion operation Motion operation cycle cycle Operation cycle SD523 of the Motion CPU setting Connect/ SD803 Disconnect (Command) Details • The time required for motion operation cycle is stored in the [µs] unit. Operation cycle of the Motion CPU • The setting operation cycle is stored in the [µs] unit. setting Connect/ disconnect of SSCNET • This signal is used to temporarily suspend SSCNET communication while servo amplifiers and/or SSCNET cables after Axis 1 are exchanged with the power supply ON in a Multiple CPU system. SD803 is required for connect/disconnect during this process. 1 to 32 : Disconnect command -10 : Connect command -2 : Connect/disconnect execute command APP - 10 Set by (When set) S (Operation cycle) S (Initial processing) U Remark APPENDICES APPENDIX 1.3 Replacement of special relays/special registers When a project for Q173HCPU(-T)/Q172HCPU(-T)/Q173CPUN(-T)/Q172CPUN(-T)/ Q173CPU/Q172CPU is converted into a project for Q173DCPU/Q172DCPU using the "Project management - File diversion" in MT Developer, special relays (M9000 to M9255) and special registers (D9000 to D9255) are automatically converted into new special relays (SM2000 to SM2255) and special registers (SD2000 to SD2255) respectively. However, in order to maintain the same functionality the user must manually convert them to the special relays and special registers shown in Table 1.3 and Table 1.4 below for Q173DCPU/Q172DCPU. Table 1.3 Replacement of special relays Device No. Special relays for Q173HCPU(-T)/Q172HCPU(-T)/ Q173CPUN(-T)/Q172CPUN(-T) Q173CPU/Q172CPU Automatically converted to special relays Special relays for Q173DCPU/ Q172DCPU Name M9000 SM2000 SM60 Fuse blown detection M9005 SM2005 SM53 AC/DC DOWN detection M9006 SM2006 SM52 Battery low M9007 SM2007 SM51 Battery low latch M9008 SM2008 SM1 Self-diagnostic error M9010 SM2010 SM0 M9025 — — M9026 SM2026 SM211 M9028 SM2028 SM801 Clock data read request M9036 SM2036 SM400 Always ON M9037 SM2037 SM401 Always OFF M9060 SM2060 — M9073 SM2073 SM512 Motion CPU WDT error M9074 SM2074 SM500 PCPU READY complete M9075 SM2075 SM501 Test mode ON M9076 SM2076 SM502 External forced stop input Remark Diagnostic error Clock data set request Clock data error Diagnostic error reset M9077 SM2077 SM513 Manual pulse generator axis setting error M9078 SM2078 SM510 TEST mode request error M9079 SM2079 SM516 Servo program setting error M9216 SM2216 SM528 No.1 CPU MULTR complete M9217 SM2217 SM529 No.2 CPU MULTR complete M9218 SM2218 SM530 No.3 CPU MULTR complete M9219 SM2219 SM531 No.4 CPU MULTR complete M9240 SM2240 SM240 No.1 CPU resetting M9241 SM2241 SM241 No.2 CPU resetting M9242 SM2242 SM242 No.3 CPU resetting M9243 SM2243 SM243 No.4 CPU resetting M9244 SM2244 SM244 No.1 CPU error M9245 SM2245 SM245 No.2 CPU error M9246 SM2246 SM246 No.3 CPU error M9247 SM2247 SM247 No.4 CPU error APP - 11 Use M2039 for error reset operation. APPENDICES Table 1.4 Replacement of special registers Device No. Special relays for Q173HCPU(-T)/Q172HCPU(-T)/ Q173CPUN(-T)/Q172CPUN(-T) Q173CPU/Q172CPU Automatically converted to special relays Special relays for Q173DCPU/ Q172DCPU Name D9000 SD2000 SD60 Fuse blown No. D9005 SD2005 SD53 AC/DC DOWN counter No. D9008 SD2008 SD0 Diagnostic errors D9010 SD2010 SD1 Clock time for diagnostic error occurrence (Year, month) D9011 SD2011 SD2 Clock time for diagnostic error occurrence (Day, hour) D9012 SD2012 SD3 Clock time for diagnostic error occurrence (Minute, second) D9013 SD2013 SD4 Error information categories D9014 SD2014 SD5 Error common information D9015 SD2015 SD203 Operating status of CPU D9017 SD2017 SD520 Scan time D9019 SD2019 SD521 Maximum scan time D9025 SD2025 SD210 Clock data (Year, month) D9026 SD2026 SD211 Clock data (Day, hour) D9027 SD2027 SD212 Clock data (Minute, second) D9028 SD2028 SD213 Clock data (Day of week) D9060 SD2060 — D9061 SD2061 SD395 Multiple CPU No. D9112 SD2112 SD508 Connect/Disconnect (Status) D9182 SD2182 SD510 D9183 SD2183 SD511 D9184 SD2184 SD512 D9185 SD2185 SD513 D9186 SD2186 SD514 Diagnostic error reset error No. Remark Use M2039 for error reset operation. Test mode request error Motion CPU WDT error cause Manual pulse generator axis setting error D9187 SD2187 SD515 D9188 SD2188 SD522 Motion operation cycle D9189 SD2189 SD516 Error program No. D9190 SD2190 SD517 Error item information D9191 SD2191 SD502 D9192 SD2192 SD503 D9193 SD2193 SD504 D9194 SD2194 SD505 D9195 SD2195 SD506 Servo amplifier loading information Real mode/virtual mode switching error information D9196 SD2196 — PC link communication error codes D9197 SD2197 SD523 Operation cycle of the Motion CPU setting D9200 SD2200 SD200 State of switch D9201 SD2201 — State of LED APP - 12 Q173DCPU/ Q172DCPU does not support PC link communication. Use 7-segment LED in Q173DCPU/ Q172DCPU. APPENDICES APPENDIX 2 System Setting Errors Motion CPUs generate a system configuration error under the following conditions. Table 2.1 System Setting Errors 7-segment LED Error code Error name (Note-1) Error cause (Note-2) LAY ERROR (SL ) • The slot set in system settings is vacant or a different module is installed. AXIS No. MULTIDEF • The axis No. setting overlaps in the system settings. • The axis No. (function select switch) setting of servo amplifier overlaps in the same SSCNET system. AMP No. SETTING • Not a single axis is set in system settings. SYS.SET DATA ERR • System setting data is not written. • System setting data is written without relative check. Or it is written at the state of error occurrence. AXIS No. ERROR • System setting data is not written. I/O POINTS OVER • The number of actual I/O points set in system settings exceeds 256. ROM ERROR1 • Type of the operating system software of data written to ROM is different. ROM ERROR2 "AL" flashes 3- times ROM ERROR3 ( ) "L01" display • Data is not written to ROM. 10014 (Note-3) • Data size of ROM is abnormal. • Execute the ROM writing again. • Check the adjustment for the version of Motion CPU, MT Developer and operating system software. ROM ERROR4 ( ) • Data of ROM is abnormal. • Execute the ROM writing again. • Check the adjustment for the version of Motion CPU, MT Developer and operating system software. CAN'T USE SL ( • The motion modules that cannot be used are installed. • Use the Motion modules (Q172DLX, Q173DPX, Q172DEX). UNIT SET ERR ( ) ) Check timing Operation at error occurrence Cannot be started. Power supply ON/ (Motion CPU system Reset setting error) • The system setting data that set the motion modules that cannot be used are written. • Use the MT Developer of version corresponding to the Motion modules (Q172DLX, Q173DPX, Q172DEX). (Note-1) : "" AL" flashes 3-times "L01" display"" (Repetition) Error code is not displayed. (Note-2) : Error code stored in self-diagnostic error (SD0) (Note-3) : When the error code 10014 occurs, the system setting error flag (M2041) turns ON and the error name is displayed on the error list monitor of MT Developer. APP - 13 APPENDICES MEMO APP - 14 APPENDICES APPENDIX 3 Self-diagnosis error code Multiple CPU related errors are stored in the CPU shared memory "self CPU operation information area (1H to 1CH)" of each module and self diagnostic error information (SD0 to SD26) of the special register (SD) as the self diagnostic errors. Error codes (1000 to 9999) of Multiple CPU related errors are common to each CPU module. The error code (10000 to 10999) is stored as required at Motion CPU-specific error occurrence. Confirm the error codes and contents by "Motion error history" on Motion CPU error batch monitor of MT Developer and remove the error cause if an error occurs. Confirm operation status and error occurrence of each CPU used in the Multiple CPU system by PLC diagnosis of GX Developer. APP - 15 APPENDICES (1) Multiple CPU related errors which occurs in Motion CPU Each digit of error code has been described as follows. Digit : Tens digit : Details code Hundreds digit : Thousands digit : Major division (Cause) 1 2 3 4 5 6 7 8 9 Major division Internal hardware Handling Parameter Program Watch timer Redundant system Multiple CPU Outside diagnosis Table 3.1 Multiple CPU related errors which occurs in Motion CPU (1000 to 9999) Item Error code (SD0) Common information (SD5 to SD15) Individual Information (SD16 to SD26) MAIN CPU DOWN — — RAM ERROR — — Module No. — Error message 7-segment LED display CPU operation status Diagnostic timing Stop Always Stop At power ON/ At reset 1000 1001 1002 1003 1004 1005 CPU hard error 1006 1007 1008 1009 1105 1150 "AL" flashes 3 times Steady "A1" display 1300 FUSE BREAK OFF 4 digits error code is displayed in two flashes of 2 digits each. Stop (Note-3) At power ON/ At reset 1401 Module hard error SP. UNIT DOWN Module No. — Stop 1403 Base Always 1413 — 1414 Module No. 1415 1416 Always CONTROL-BUS. ERR. Always Base No. (Note-2) — Stop At power ON/ At reset CPU No. (Note-1) (Note-1) : CPU No. is stored in slot No. of common information classification. (Note-2) : Base No. stored in "common information classification code" of "error information classification code" "0 : Main base, 1 to 7 : Number of extension bases. (Note-3) : CPU operation status at error occurrence can be set in the parameters. (LED display varies in conjunction with operation.) APP - 16 APPENDICES Error code (SD0) Error contents and cause Corrective action 1000 1001 1002 1003 1004 1005 1006 Runaway or failure of CPU module. (1) Malfunctioning due to noise or other reason (2) Hardware fault (1) Take noise reduction measures. (2) Reset the CPU module and RUN it again. If the same error is displayed again, this suggests a CPU module hardware fault. Explain the error symptom and get advice from our sales representative. 1007 1008 1009 1105 The CPU shared memory in the CPU module is faulty. 1150 The memory of the CPU module in the Multiple CPU high speed transmission area is faulty. 1300 There is an output module with a blown fuse. Check FUSE. LED of the output modules and replace the module whose LED is lit. 1401 There was no response from the Motion module/intelligent function module in the initial processing. Set the Motion module/intelligent function module used in the Motion CPU in the system setting. This suggests a Motion module, intelligent function module, CPU module and/or base unit is expecting a hardware fault. Explain the error symptom and get advice from our sales representative. 1403 (1) An error is detected at the intelligent function module. (2) The I/O module (including intelligent function module) is nearly removed or completely removed/mounted during running. The CPU module, base unit and/or the intelligent function module that was accessed is experiencing a hardware fault. Explain the error symptom and get advice from our sales representative. 1413 1414 An error is detected on the system bus. 1415 Fault of the main or extension base unit was detected. 1416 System bus fault was detected at power-on or reset. Reset the CPU module and RUN it again. If the same error is displayed again, the intelligent function module, CPU module or base unit is faulty. Explain the error symptom and get advice from our sales representative. APP - 17 APPENDICES Table 3.1 Multiple CPU related errors which occurs in Motion CPU (1000 to 9999) (Continued) Item Error code (SD0) Error message 1430 Common information (SD5 to SD15) Individual Information (SD16 to SD26) 7-segment LED display CPU operation status Diagnostic timing — 1431 At power ON/ At reset "AL" flashes 3 times Steady "A1" display Multiple CPU high speed bus MULTI-C.BUS ERR. — CPU No. 1432 Stop 4 digits error code is displayed in two flashes of 2 digits each. 1433 1434 Always 1435 Power supply 1500 AC/DC DOWN Battery 1600 BATTERY ERROR — — Drive name — None Continue Always Continue Always Stop At power ON/ At reset Steady "BT1" Steady "BT2" 2100 Module No. 2107 Handling the intelligent function module/ Multiple CPU module 2124 "AL" flashes 3 times — SP. UNIT LAY ERR. Steady "A1" display — 2125 Module No. 2140 2150 4 digits error code is displayed in two flashes of 2 digits each. SP. UNIT VER. ERR. APP - 18 APPENDICES Error code (SD0) Error contents and cause Corrective action 1430 Reset the CPU module and RUN it again. If the same error is displayed The error of self CPU is detected in the Multiple CPU high speed bus. again, this suggests a CPU module hardware fault. Explain the error symptom and get advice from our sales representative. 1431 The communication error with other CPU is detected in the Multiple CPU high speed bus. (1) Take noise reduction measures. (2) Check the main base unit mounting status of the CPU module. (3) Reset the CPU module and RUN it again. If the same error is displayed again, this suggests a CPU module or base unit hardware fault. Explain the error symptom and get advice from our sales representative. 1432 The communication time out with other CPU is detected in the Multiple CPU high speed bus. Reset the CPU module and RUN it again. If the same error is displayed again, this suggests a CPU module hardware fault. Explain the error symptom and get advice from our sales representative. The communication error with other CPU is detected in the Multiple CPU high speed bus. (1) Take noise reduction measures. (2) Check the main base unit mounting status of the CPU module. (3) Reset the CPU module and RUN it again. If the same error is displayed again, this suggests a CPU module or base unit hardware fault. Explain the error symptom and get advice from our sales representative. 1500 A momentary power supply interruption has occurred. The power supply went off. Check the power supply. 1600 (1) The battery voltage in the CPU module has dropped below stipulated level. (1) Change the battery. (2) The battery holder unit that install the battery is not mounted to the (2) Mount the battery holder unit that installs the battery. CPU module. 2100 In the I/O assignment setting of PLC CPU, the intelligent function module was allocated to an I/O module or vice versa. 2107 The first I/O No. set in the system settings is overlapped with the one Make the I/O No. setting again so it is consistent with the actual status of for another module. the modules. 2124 (1) A module is mounted on the 65th or higher slot. (2) The extension base unit set to "None" is mounted. (1) Remove the module mounted on the 65th or later slot. (2) Remove the extension base unit set to "None". 2125 (1) A module which the CPU cannot recognise has been mounted. (2) There was no response form the intelligent function module. (1) Install an usable module. (2) The intelligent function module is experiencing a hardware fault. Explain the error symptom and get advice from our sales representative. 2140 The motion modules (Q172DLX, Q172DEX, Q173DPX, Q172LX, Q172EX (-S1/-S2/-S3), Q173PX (-S1)) are installed in CPU slot or I/O 0 to 2 slot. Remove the Motion modules installed CPU slot or I/O 0 to 2 slot. 2150 (1) Change to the intelligent function module (function version B or later) In a Multiple CPU system, the control CPU of intelligent function compatible with the Multiple CPU system. module incompatible with the Multiple CPU system is set to other than (2) Change the control CPU of intelligent function module incompatible with CPU No.1. the Multiple CPU system to CPU No.1. 1433 1434 1435 Make the PLC parameter's I/O assignment setting again so it is consistent with the actual status of the intelligent function module and the CPU module. APP - 19 APPENDICES Table 3.1 Multiple CPU related errors which occurs in Motion CPU (1000 to 9999) (Continued) Item Error code (SD0) Error message Common information (SD5 to SD15) Individual Information (SD16 to SD26) 7-segment LED display CPU operation status 3001 At power ON/ At reset/ STOP RUN 3012 Parameter Diagnostic timing Parameter No. PARAMETER ERROR — Stop 3013 At power ON/ At reset Parameter No./ CPU No. 3015 (Note-1) (Note-4) — MULTI CPU DOWN (Note-1) MULTI EXE. ERROR — — Stop At power supply ON/ at reset — Continue Always — Stop At power supply ON/ at reset CPU No. MULTI CPU ERROR CPU No. (Note-1) 7030 CPU LAY. ERROR CPU No. 7031 7035 At power supply ON/ at reset (Note-1) 7013 7020 Stop CPU No. 7010 7011 Steady "A1" display 4 digits error code is displayed in two flashes of 2 digits each. CPU No. 7002 Multiple CPU Always "AL" flashes 3 times CPU No. 7000 Module No. (Note-1) : CPU No. is stored in slot No. of common information classification. (Note-4) : Because a stop error or CPU No. except CPU No. that it was reset becomes MULTI CPU DOWN simultaneously, a stop error or CPU No. except CPU No. that it was reset may store in the classification of common error information depending on timing. APP - 20 APPENDICES Error code (SD0) Error contents and cause Corrective action 3001 The parameter settings are corrupted. (1) Check the parameter item corresponding the numerical value (parameter No.), and correct it. (2) Rewrite corrected parameters to the CPU module, reload or reset the Multiple CPU system power supply. (3) If the same error occurs, it is thought to be a hardware error. Explain the error symptom and get advice from our sales representative. 3012 Multiple CPU setting of Multiple CPU setting parameter or control CPU setting of system setting differs from that of the reference CPU settings. Match the Multiple CPU setting of Multiple CPU setting parameter or control CPU setting of system setting with that of the reference CPU (CPU No.1) settings. 3013 Multiple CPU automatic refresh setting is any of the following. (1) When a bit device is specified as a refresh device, a number other than a multiple of 16 is specified for the refresh start device. (2) The device specified is other than the one that may be specified. (3) The number of send points is an odd number. (4) The total number of send points is greater than the maximum number of refresh points. Check the following in the Multiple CPU automatic refresh setting and make correction. (1) When specifying the bit device, specify a multiple of 16 for the refresh start device. (2) Specify the device that may be specified for the refresh device. (3) Set the number of send points to an even number. (4) Set the total number of send points is within the range of the maximum number of refresh points. 3015 (1) "Use multiple CPU high speed transmission " is not set in the Multiple CPU setting of Universal module QCPU. (2) In a Multiple CPU system, the CPU verified is different from the one set in the parameter setting. (1) Set "Use multiple CPU high speed transmission " in the Universal module QCPU. (2) Check the parameter item corresponding to the numerical value (parameter No./CPU No.) and parameter of target CPU, and correct them. 7000 In the operating mode of a Multiple CPU system, a CPU error occurred at the CPU where "All station stop by stop error of CPU" was selected. Check the error of the CPU resulting in CPU module fault, and remove the In a Multiple CPU system, CPU No.1 resulted in stop error at power- errors. on and the other CPU cannot start. (This error occurred at CPU No.2 to 4) 7002 There is no response from the target CPU module in a Multiple CPU system during initial communication. Reset the CPU module and RUN it again. If the same error is displayed again, this suggests the hardware fault of any of the CPU modules. Explain the error symptom and get advice from our sales representative. 7010 In a Multiple CPU system, a faulty CPU module was mounted. Replace the faulty CPU module. Either of the following settings was made in a Multiple CPU system. (1) Multiple CPU automatic refresh setting was made for the inapplicable CPU module. (2) "I/O sharing when using multiple CPUs" setting was made for the inapplicable CPU module. (1) Correct the Multiple CPU automatic refresh setting. (2) Correct the "I/O sharing when using multiple CPUs" setting. The system configuration for using the Multiple CPU high speed transmission function is not met. (1) The QnUD(H)CPU is not used for the CPU No.1. (2) The Multiple CPU high speed main base unit (Q3 DB) is not used. Change to the system configuration to meet the conditions for using the Multiple CPU high speed transmission function. 7013 (1) CPU module which cannot be mounted in OnCPU(H)CPU is mounted. (The module may break down.) (2) Q173HCPU,Q172HCPU,Q173CPUN,Q172CPUN is mounted. Remove Q173HCPU,Q172HCPU,Q173CPUN,Q172CPUN. 7020 In the operating mode of a Multiple CPU system, an error occurred in Check the error of the CPU resulting in CPU module fault, and remove the the CPU where "system stop" was not selected. (The CPU module error. where no error occurred was used to detect an error.) 7011 7030 7031 7035 An assignment error occurred in the CPU-mountable slot (CPU slot, (1) Set the same value to the number of CPU modules specified in the Multiple CPU setting of the PLC parameter and the number of mounted I/O slot 0 to 2) in excess of the number of CPU slot (with in the range CPU modules (including CPU (empty)). of CPU number setting parameter). An assignment error occurred in the CPU slot (within the range of the (2) Make the same as the state of the installation of CPU module set in the system setting. CPU number setting parameter). The CPU module has been mounted on the inapplicable slot. Mount the CPU module on the applicable slot. APP - 21 APPENDICES (2) Motion CPU-specific errors Each digit of error code has been described as follows. Refer to programming manuals for error details. 1 0 : : Details code : : Positioning CPU division (0 : Motion CPU) Ten thousands digit : Except PLC CPU Digit Tens digit Hundreds digit Thousands digit 003 004 005 006 007 008 009 010 011 014 016 020 021 022 023 030 Details code Minor/major error Minor/major error (Virtual servomoter axis)(SV22) Minor/major error (Synchronous encoder axis)(SV22) Servo error Servo program setting error (SV13/SV22) Mode switching error (SV22) Manual pulse generator axis setting error TEST mode request error WDT error System setting error Motion slot fault Motion SFC control error (F/FS) Motion SFC control error (G) Motion SFC control error (K or others (Not F/FS, G)) Motion SFC control error (Motion SFC chart) Motion CPU internal bus error Table 3.2 Motion CPU-specific errors (10000 to 10999) Error code (SD0) Error messages Common information (SD5 to SD15) Individual information (SD16 to SD26) 7-segment LED display CPU status operation 10003 10004 None 10005 "AL" flashes 3 times 10006 Steady "S01" display 10007 Continue 10008 None MC.UNIT ERROR — — 10009 10010 10011 Steady ". . . " display 10014 "AL" flashes 3 times 10016 Stop Steady "L01" display 10020 10021 Continue 10022 None 10023 10030 Stop APP - 22 APPENDICES Error code (SD0) Error contents and cause Corrective action 10003 Minor/major errors had occurred. 10004 Minor/major errors had occurred in virtual servomotor axis. (SV22) 10005 Minor/major errors had occurred in synchronous encoder axis. (SV22) 10006 The servo errors had occurred in the servo amplifier connected to the Motion CPU. Check the Motion error history of MT Developer and the servo error codes of servo error code storage device, and remove the error cause of servo amplifier. Refer to the servo error code for details of servo errors. Servo program setting error occurred. Check the Motion error history of MT Developer and the servo program setting error storage device (error program No., error item information), and remove the error cause. Refer to the servo program setting error codes for details of servo program setting errors. Real mode/virtual mode switching error occurred. (SV22) Check the Motion error history of MT Developer and the real mode/virtual mode switching error storage device, and remove the error cause. Refer to the real mode/virtual mode switching error codes for details of real mode/virtual mode switching errors. 10009 Manual pulse generator axis setting error occurred. Check the Motion error history of MT Developer and the manual pulse generator axis setting error storage device, and remove the error cause. Refer to the manual pulse generator axis setting error codes for details of manual pulse generator axis setting errors. 10010 Test mode request error occurred. Check the Motion error history of MT Developer and the test mode request error storage device, and remove the error cause. 10011 WDT error occurred at Motion CPU. Check the Motion error history of MT Developer and the Motion CPU WDT error factors, and remove the error cause. 10014 System setting error occurred at Motion CPU. 10016 Motion slot fault occurred at Motion CPU. 10007 10008 10020 10021 10022 Check the error message on error monitor screen of MT Developer, and remove the error cause. And then, turn on the power supply again or reset the Multiple CPU system. Motion SFC error occurred at Motion SFC program. Check the Motion error history of MT Developer, and remove the error cause. Refer to the Motion SFC error code for details of errors. Motion CPU internal bus error occurred. Motion CPU module hardware fault. Explain the error symptom and get advice from our sales representative. 10023 10030 Check the Motion error history of MT Developer and the minor/major error codes of minor/major error code of minor/major error code storage device, and remove the error cause. Refer to the error codes for error details of minor/major errors. APP - 23 APPENDICES (3) Self-diagnostic error information No. SD0 Name Meaning Diagnostic error Diagnostic errors code Details • Error codes for errors found by diagnosis are stored as BIN data. • The year (last two digits) and month that SD0 data was updated is stored as BCD 2-digit code. B15 to B8 B7 to B0 Year(0 to 99) Month(1 to 12) SD1 SD2 Clock time for diagnostic error occurrence Clock time for diagnostic error occurrence Example : January 2006 H0601 • The day and hour that SD0 data was updated is stored as BCD 2-digit code. B15 to B8 B7 to B0 Day(1 to 31) Hour(0 to 23) Example : 25st, 10 a.m H2510 • The minute and second that SD0 data was updated is stored as BCD 2-digit code. B15 to B8 B7 to B0 Minute(0 to 59) Second(0 to 59) SD3 Example : 35min., 48 sec. H3548 • Category codes which help indicate what type of information is being stored in the error common information areas (SD5 to SD15) and error individual information areas (SD16 to SD26) are stored. The category code for judging the error information type is stored. B15 to B8 B7 to B0 Individual information Common information category codes category codes SD4 Error information Error information categories category code • The common information category codes store the following codes. 0: No error 1: Module No./CPU No./Base No. • The individual information category codes store the following codes. 0: No error 5: Parameter No. 13:Parameter No./CPU No. • Common information corresponding to the diagnostic error (SD0) is stored. • The error common information type can be judged by SD4(common information category code). 1: Module No./CPU No./Base No. SD5 Error common to information SD15 Error common information No. Meaning SD5 Module No./CPU No./Base No. SD6 I/O No. SD7 to SD15 Empty • Individual information corresponding to the diagnostic error (SD0) is stored. • The error individual information type can be judged by SD4(individual information category code). 5: Parameter No. SD16 Error individual to information SD26 Error individual information No. Meaning SD16 Parameter No. SD17 to SD26 Empty 0401H :Base setting 0406H :Motion slot setting 0E00H :Multiple CPU setting (Number of Multiple CPU's) 0E01H :Multiple CPU setting (Operation mode/ Multiple CPU synchronous startup) E008H :Multiple CPU high speed transmission area setting E009H/E00AH : Multiple CPU high speed transmission area setting(Automatic refresh setting) E00BH :Synchronous setting (CPU specific send range setting / (System area)) 13: Parameter No./CPU No. No. Meaning SD16 Parameter No. SD17 CPU No.(1 to 4) SD18 to SD26 Empty APP - 24 APPENDICES (4) Release of Multiple CPU related error The release operation of errors that continues operation for CPU can be executed. Release the errors in the following procedure. 1) Remove the error cause. 2) Turn off the Motion error detection flag (M2039). The special relays, special registers and 7-segment LED for the errors are returned to the status before error occurs after release of errors. If the same error is displayed again after release of errors, an error is set again, and the Motion error detection flag (M2039) turns on. APP - 25 APPENDICES APPENDIX 4 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU APPENDIX 4.1 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU Common differences to each mode are shown in Table 4.1. Refer to "APPENDIX 4.3 Differences of each mode" for characteristic differences to each mode. And, refer to "APPENDIX 4.2 Comparison of devices " for detailed differences of devices. Table 4.1 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU Item Peripheral I/F External battery Forced stop input Multiple CPU high speed transmission memory for data transfer between CPU modules Internal relays (M) Latch relays (L) Device Special relays (M) Q173DCPU/Q172DCPU Via PLC CPU (USB/RS-232) Demand • Use EMI terminal of Motion CPU module. • Use device set by forced stop input setting in the system setting. Included 8192 points None (Latch for M is possible by latch setting) — Q173HCPU/Q172HCPU USB/SSCNET Add Q6BAT at continuous power failure for 1 month or more. • Use device set by forced stop input setting in the system setting. — Total 8192 points 256 points Special relays (SM) 2256 points — Special registers (D) — 256 points Special registers (SD) 2256 points — Motion registers (#) 8736 points 8192 points Up to 14336 points — Multiple CPU area devices (U \G) Motion dedicated PLC instructions Interlock condition Motion modules System setting D(P).DDRD, D(P).DDWR, D(P).SFCS, D(P).SVST, D(P).CHGT, D(P).CHGV, D(P).CHGA, D(P).GINT S(P).DDRD, S(P).DDWR, S(P).SFCS, S(P).SVST, S(P).CHGT, S(P).CHGV, S(P).CHGA, S(P).GINT Multiple instructions are executable continuously without interlock condition by the self CPU high speed interrupt accept flag from CPU . :CPU No. Interlock condition by the to self CPU high speed interrupt accept flag from CPU is necessary. Q172DLX, Q172DEX, Q173DPX Q172LX, Q172EX, Q173PX • QnUD(H)CPU is set as CPU No. 1. • QnUD(H)CPU is set to CPU No. 1. • Only Multiple CPU high speed main base unit • Q3 B can be used as a main base unit. (Q38DB/Q312DB) can be used as main base unit. • Motion modules can be mounted to I/O 0 to 2 • Motion modules cannot be installed to I/O 0 to 2 slot. slot. Latch clear Remote operation L.CLR switch RUN/STOP Remote operation, RUN/STOP switch RUN/STOP switch ROM operation • ROM writing is executed with mode operated by RAM/ mode operated by ROM. • ROM writing can be executed for the data of MT Developer. APP - 26 Rom writing is executed with installation mode/ mode written in ROM. APPENDICES Table 4.1 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU (Continued) Item Medium of operating system software Model of operating system software CPU module No.1 FD (2 disks) SW8DNC-SV Q SW6RN-SV Q Qn(H)CPU No restriction Q173DCPU/Q172DCPU only Combination with Q173CPUN(-T)/Q172CPUN(-T). Settable between CPU modules Not settable between CPU modules Multiple CPU high speed transmission area Provided None Access by Multiple CPU shared memory Possible Impossible CPU empty slot Memory Multiple CPU high speed transmission area in CPU shared memory Automatic refresh area in CPU shared memory Automatic refresh setting 32 range possible 4 range possible Multiple CPU high speed refresh function Provided None 7-segment LED display Each LED of MODE, RUN, ERR, M.RUN, BAT and BOOT LED display Latch range setting CD-ROM (1 disk) Install Motion CPU module on the right-hand side of PLC CPU module. Combination of Motion CPU modules Automatic refresh Q173HCPU/Q172HCPU QnUD(H)CPU Installation orders CPU No.2 or later CPU shared memory Q173DCPU/Q172DCPU Latch (1) It is possible to clear with latch clear(1) and latch clear (1)(2) of remote latch clear. Range which can be cleared with the latch clear key. Latch (2) It is possible to clear with lath clear(1)(2) of remote latch clear. Range which cannot be cleared with the latch clear key. All clear function Release of Multiple CPU related error Execute with installation mode Turn off M2039. APP - 27 Turn off the PLC ready flag (M2000) and test mode ON flag (M9075) to execute all clear. Store the error code to be released in the special register D9060 and turn off to on the special relay M9060. APPENDICES APPENDIX 4.2 Comparison of devices (1) Motion registers (a) Monitor devices Table 4.2 Motion registers (Monitor devices) list Device No. Name Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU #8000 to #8019 #8064 to #8067 Axis 1 monitor device #8020 to #8039 #8068 to #8071 Axis 2 monitor device #8040 to #8059 #8072 to #8075 Axis 3 monitor device #8060 to #8079 #8076 to #8079 Axis 4 monitor device #8080 to #8099 #8080 to #8083 Axis 5 monitor device #8100 to #8119 #8084 to #8087 Axis 6 monitor device #8120 to #8139 #8088 to #8091 Axis 7 monitor device #8140 to #8159 #8092 to #8095 Axis 8 monitor device #8160 to #8179 #8096 to #8099 Axis 9 monitor device #8180 to #8199 #8100 to #8103 Axis 10 monitor device #8200 to #8219 #8104 to #8107 Axis 11 monitor device #8220 to #8239 #8108 to #8111 Axis 12 monitor device #8240 to #8259 #8112 to #8115 Axis 13 monitor device #8260 to #8279 #8116 to #8119 Axis 14 monitor device #8280 to #8299 #8120 to #8123 Axis 15 monitor device #8300 to #8319 #8124 to #8127 Axis 16 monitor device #8320 to #8339 #8128 to #8131 Axis 17 monitor device #8340 to #8359 #8132 to #8135 Axis 18 monitor device #8360 to #8379 #8136 to #8139 Axis 19 monitor device #8380 to #8399 #8140 to #8143 Axis 20 monitor device #8400 to #8419 #8144 to #8147 Axis 21 monitor device #8420 to #8439 #8148 to #8151 Axis 22 monitor device #8440 to #8459 #8152 to #8155 Axis 23 monitor device #8460 to #8479 #8156 to #8159 Axis 24 monitor device #8480 to #8499 #8160 to #8163 Axis 25 monitor device #8500 to #8519 #8164 to #8167 Axis 26 monitor device #8520 to #8539 #8168 to #8171 Axis 27 monitor device #8540 to #8559 #8172 to #8175 Axis 28 monitor device #8560 to #8579 #8176 to #8179 Axis 29 monitor device #8580 to #8599 #8180 to #8183 Axis 30 monitor device #8600 to #8619 #8184 to #8187 Axis 31 monitor device #8620 to #8639 #8188 to #8191 Axis 32 monitor device APP - 28 Remark APPENDICES Table 4.3 Monitor devices list Device No. Name Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU #8000 + 20n #8064 + 4n Servo amplifier type #8001 + 20n #8065 + 4n Motor current #8002 + 20n #8003 + 20n #8066 + 4n #8067 + 4n Motor speed #8004 + 20n #8005 + 20n — Command speed #8006 + 20n #8007 + 20n — Home position return re-travel value Remark New device in Q173DCPU/Q172DCPU (Note-1) : "n" in the above device No. indicates the numerical value which correspond to axis No. (b) Motion error history Table 4.4 Motion registers (Motion error history) list Device No. Name Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU #8640 to #8651 #8000 to #8007 Seventh error information in past (Oldest error information) #8652 to #8663 #8008 to #8015 Sixth error information in past #8664 to #8675 #8016 to #8023 Fifth error information in past #8676 to #8687 #8024 to #8031 Fourth error information in past #8688 to #8699 #8032 to #8039 Third error information in past #8700 to #8711 #8040 to #8047 Second error information in past #8712 to #8723 #8048 to #8055 First error information in past #8724 to #8735 #8056 to #8063 Latest error information Remark Table 4.5 Motion error history list Device No. Name Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU #8640 + 12n #8000 + 8n Error Motion SFC program No. #8641 + 12n #8001 + 8n Error type #8642 + 12n #8002 + 8n Error program No. #8643 + 12n #8003 + 8n Error block No./Motion SFC list/Line No./Axis No. #8644 + 12n #8004 + 8n Error code #8645 + 12n #8005 + 8n Error occurrence time (Year/month #8646 + 12n #8006 + 8n Error occurrence time (Day/hour) #8647 + 12n #8007 + 8n Error occurrence time (Minute/second) #8648 + 12n — Error setting data information #8649 + 12n — Unusable #8650 + 12n #8651 + 12n — Error setting data Remark New device in Q173DCPU/Q172DCPU (Note-1) : "n" in the above device No. indicates the numerical value which correspond to axis No. APP - 29 APPENDICES (2) Special relays Table 4.6 Special relay list Device No. Q173DCPU/Q172DCPU Name Q173HCPU/Q172HCPU SM60 M9000/M2320 Fuse blown detection SM53 M9005/M2321 AC/DC DOWN detection SM52 M9006/M2322 Battery low SM51 M9007/M2323 Battery low latch SM1 M9008/M2324 Self-diagnostic error SM0 M9010/M2325 Diagnostic error — M9025/M3136 Clock data set request SM211 M9026/M2338 Clock data error SM801 M9028/M3137 Clock data read request SM400 M9036/M2326 Always ON SM401 M9037/M2327 Always OFF — M9060/M3138 Diagnostic error reset SM512 M9073/M2329 Motion CPU WDT error SM500 M9074/M2330 PCPU READY complete SM501 M9075/M2331 Test mode ON SM502 M9076/M2332 External forced stop input SM513 M9077/M2333 Manual pulse generator axis setting error SM510 M9078/M2334 TEST mode request error SM516 M9079/M2335 Servo program setting error SM528 M9216/M2345 No.1 CPU MULTR complete SM529 M9217/M2346 No.2 CPU MULTR complete SM530 M9218/M2347 No.3 CPU MULTR complete SM531 M9219/M2348 No.4 CPU MULTR complete SM240 M9240/M2336 No.1 CPU resetting SM241 M9241/M2337 No.2 CPU resetting SM242 M9242/M2338 No.3 CPU resetting SM243 M9243/M2339 No.4 CPU resetting SM244 M9244/M2340 No.1 CPU error SM245 M9245/M2341 No.2 CPU error SM246 M9246/M2342 No.3 CPU error SM247 M9247/M2343 No.4 CPU error SM58 — SM59 — Battery low warning SM220 — CPU No.1 READY complete SM221 — CPU No.2 READY complete SM222 — CPU No.3 READY complete SM223 — CPU No.4 READY complete SM503 — Digital oscilloscope executing SM526 — Over heat warning latch SM527 — Over heat warning Remark Use M2039 for error reset operation. Battery low warning latch APP - 30 New device in Q173DCPU/Q172DCPU APPENDICES (3) Special registers Table 4.7 Special registers list Device No. Q173DCPU/Q172DCPU Name Q173HCPU/Q172HCPU SD60 D9000 Fuse blown No. SD53 D9005 AC/DC DOWN counter No. SD0 D9008 Diagnostic errors SD1 D9010 Clock time for diagnostic error occurrence (Year, month) SD2 D9011 Clock time for diagnostic error occurrence (Day, hour) SD3 D9012 Clock time for diagnostic error occurrence (Minute, second) SD4 D9013 Error information categories SD5 D9014 SD6 — SD7 — SD8 — SD9 — SD10 — SD11 — SD12 — SD13 — SD14 — SD15 — SD16 — SD17 — SD18 — SD19 — SD20 — SD21 — SD22 — SD23 — SD24 — SD25 — Remark Error common information New device in Q173DCPU/Q172DCPU Error individual information SD26 — SD203 D9015 Operating status of CPU SD520 D9017 Scan time SD521 D9019 Maximum scan time SD210 D9025 Clock data (Year, month) SD211 D9026 Clock data (Day, hour) SD212 D9027 Clock data (Minute, second) SD213 D9028 Clock data (Day of week) — D9060 Diagnostic error reset error No. SD395 D9061 Multiple CPU No. SD508 D9112 Connect/Disconnect (Status) SD803 — SD510 D9182 SD511 D9183 Connect/Disconnect (Command) Test mode request error APP - 31 Use M2039 for error reset operation. New device in Q173DCPU/Q172DCPU APPENDICES Table 4.7 Special registers list (Continued) Device No. Name Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU SD512 D9184 SD513 D9185 SD514 D9186 SD515 D9187 SD522 D9188 Motion operation cycle SD516 D9189 Error program No. SD517 D9190 Error item information SD502 D9191 SD503 D9192 SD504 D9193 SD505 D9194 SD506 D9195 — D9196 Remark Motion CPU WDT error cause Manual pulse generator axis setting error Servo amplifier loading information Real mode/virtual mode switching error information PC link communication error codes SD523 D9197 Operation cycle of the Motion CPU setting SD200 D9200 State of switch — D9201 State of LED APP - 32 Q173DCPU/Q172DCPU does not support PC link communication. Use 7-segment LED in Q173DCPU/Q172DCPU. APPENDICES (4) Other devices Table 4.8 Other devices list Item Q173DCPU/Q172DCPU M2320 to M2399 M2400 to M3039 Internal relays/ Data registers M3136 to M3199 M3200 to M3839 D0 to D639 D640 to D703 Personal computer link communication error flag Q173HCPU/Q172HCPU Unusable Special relay allocated devices (Status) Device area of 9 axes or more is usable as user devices in Q172DCPU. Special relay allocated devices (Command signal) Unusable Device area of 9 axes or more is usable as user devices in Q172DCPU. — PCPU READY complete SM500 D9 + 20n (Data shortened to 1 word) Home position return re-travel value Travel value change registers Indirect setting devices (Word devices) (Note-1) (Note-1) (Note-1) D16 + 20n, D17 + 20n D0 to D8191 D800 to D8191 W0 to W1FFF W0 to W1FFF (Note-2) X0 to X1FFF (Note-1) #0 to #7999 — X0 to X1FFFF Y0 to Y1FFF Y0 to Y1FFF M0 to M8191 M/L0 to M/L8191 — M9000 to M9255 B0 to B1FFF B0 to B1FFF F0 to F2047 U \G10000.0 to U \G(10000 + p – 1).F Optional data monitor function settable devices D759 D9 + 20n Optional device (Set for D16 + 20n, D17 + 20n are also usable.) U \G10000 to U \G(10000 + p – 1) High-speed reading function settable devices Device area of 9 axes or more is unusable in Q172HCPU. M2034 #8006 + 20n, #8007 + 20n (Note-1) (Referring at monitoring) #0 to #7999 Indirect setting devices (Bit devices) Device area of 9 axes or more is unusable as user devices in Q172HCPU. (Note-2) D0 to D8191 W0 to W1FFF U \G10000 to U \G(10000 + p – 1) F0 to F2047 — D800 to D3069, D3080 to D8191 (Note-2) W0 to W1FFF — D0 to D8191 D0 to D8191 W0 to W1FFF W0 to W1FFF #0 to #7999 U \G10000 to U \G(10000 + p – 1) #0 to #7999 (Note-2) — (Note-1) : "n" in the above device No. indicates the numerical value which correspond to axis No. (Note-2) : "p" indicates the user setting area points of Multiple CPU high speed transmission area in each CPU. APP - 33 APPENDICES Table 4.8 Other devices list (Continued) Item Q173DCPU/Q172DCPU Output device Q173HCPU/Q172HCPU X0 to X1FFF X0 to X1FFF Y0 to Y1FFF Y0 to Y1FFF M0 to M8191 M0 to M8191 — L0 to L8191 B0 to B1FFF Limit switch output data U \G10000.0 to U \G(10000 + p –1).F Watch data W0 to W1FFF W0 to W1FFF #0 to #7999 #0 to #8191 (Note-2) Absolute value address — D0 to D8191 D0 to D8191 W0 to W1FFF W0 to W1FFF #0 to #7999 Constant (Hn/Kn) #0 to #8191 (Note-3) U \G10000 to U \G(10000 + p – 1) Constant (Hn/Kn) (Note-2) X0 to X1FFF Forced output bit — D0 to D8191 Absolute value address Output enable/disable bit B0 to B1FFF D0 to D8191 U \G10000 to U \G(10000 + p –1) ON region setting (Note-2) (Note-3) — X0 to X1FFF Y0 to Y1FFF Y0 to Y1FFF M0 to M8191 M0 to M8191 — L0 to L8191 B0 to B1FFF B0 to B1FFF F0 to F2047 F0 to F2047 SM0 to SM1999 M9000 to M9255 U \G10000.0 to U \G(10000 + p – 1).F (Note-2) — (Note-2) : "p" indicates the user setting area points of Multiple CPU high speed transmission area in each CPU. (Note-3) : Setting range varies depending on the setting units. POINT Refer to Chapter 2 for number of user setting area points of Multiple CPU high speed transmission area. APP - 34 APPENDICES APPENDIX 4.3 Differences of each mode (1) Motion SFC Table 4.9 Differences in Motion SFC mode Item Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU X, Y, M, B, U \G — Operation control/transition control usable device (Word device) D, W, U \G, SD, #, FT D, W, Special D, #, FT Operation control/transition control usable device (Bit device) X, PX, Y, PY, M, U \G . , B, F, SM X, PX, Y, PY, M, L, B, F, Special M Motion SFC program executing flag (2) Virtual mode Table 4.10 Differences in Virtual mode Item Internal relay/ Data register Q173DCPU/Q172DCPU M4640 to M4687 M5440 to M5487 D1120 to D1239 Q173HCPU/Q172HCPU Device area of 9 axes or more is usable as user devices in the Q172DCPU. Device area of 9 axes or more is unusable in the Q172HCPU. Clutch status Optional device (Set for M2160 to M2223 are also usable.) M2160 to M2223 Cam axis command signals (Cam/ball screw switching command) Optional device (Set for M5488 to M5519 are also usable.) M5488 to M5519 Smoothing clutch complete signals Optional device (Set for M5520 to M5583 are also usable.) M5520 to M5583 Real mode axis information register SD500, SD501 D790, D791 D0 to D8191 D800 to D3069, D3080 to D8191 W0 to W1FFF W0 to W1FFF Indirect setting devices of mechanical system program (Word device) #0 to #7999 U \G10000 to U \G(10000 + p –1 ) (Note-1) X0 to X1FFF Indirect setting devices of mechanical system program (Bit device) Y0 to Y1FFF Y0 to Y1FFF M/L0 to M/L8191 — M9000 to M9255 B0 to B1FFF B0 to B1FFF U \G10000.0 to U \G(10000 + p –1 ).F Permissible droop pulse value of output module — X0 to X1FFF M0 to M8191 F0 to F2047 Speed change ratio of speed change gear — (Note-1) F0 to F2047 — Upper limit value : 0 to 65535 Lower limit value : 0 to 65535 Upper limit value : 1 to 10000 Lower limit value : 1 to 10000 1 to 1073741824 [PLS] 1 to 65535[∗100PLS] (Note-1) : "p" indicates user setting area points of Multiple CPU high speed transmission area in each CPU. POINT Refer to Chapter 2 for number of user setting area points of Multiple CPU high speed transmission area. APP - 35 WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company. However, if repairs are required onsite at domestic or overseas location, expenses to send an engineer will be solely at the customer's discretion. Mitsubishi shall not be held responsible for any re-commissioning, maintenance, or testing on-site that involves replacement of the failed module. [Gratis Warranty Term] Note that an installation period of less than one year after installation in your company or your customer’s premises or a period of less than 18 months (counted from the date of production) after shipment from our company, whichever is shorter, is selected. [Gratis Warranty Range] (1) Diagnosis of failure As a general rule, diagnosis of failure is done on site by the customer. However, Mitsubishi or Mitsubishi service network can perform this service for an agreed upon fee upon the customer’s request. There will be no charges if the cause of the breakdown is found to be the fault of Mitsubishi. (2) Breakdown repairs There will be a charge for breakdown repairs, exchange replacements and on site visits for the following four conditions, otherwise there will be a charge. 1) Breakdowns due to improper storage, handling, careless accident, software or hardware design by the customer 2) Breakdowns due to modifications of the product without the consent of the manufacturer 3) Breakdowns resulting from using the product outside the specified specifications of the product 4) Breakdowns that are outside the terms of warranty Since the above services are limited to Japan, diagnosis of failures, etc. are not performed abroad. If you desire the after service abroad, please register with Mitsubishi. For details, consult us in advance. 2. Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi; opportunity loss or lost profits caused by faults in the Mitsubishi products; damage, secondary damage, accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other than Mitsubishi products; and to other duties. 3. Onerous Repair Term after Discontinuation of Production Mitsubishi shall accept onerous product repairs for seven years after production of the product is discontinued. 4. Delivery Term In regard to the standard product, Mitsubishi shall deliver the standard product without application settings or adjustments to the customer and Mitsubishi is not liable for on site adjustment or test run of the product. 5. Precautions for Choosing the Products (1) These products have been manufactured as a general-purpose part for general industries, and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life. (2) Before using the products for special purposes such as nuclear power, electric power, aerospace, medicine, passenger movement vehicles or under water relays, contact Mitsubishi. (3) These products have been manufactured under strict quality control. However, when installing the product where major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the system. (4) When exporting any of the products or related technologies described in this catalogue, you must obtain an export license if it is subject to Japanese Export Control Law. MOTION CONTROLLER Qseries Programming Manual (COMMON) (Q173DCPU/Q172DCPU) HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN MODEL Q173D-P-COM-E MODEL CODE 1XB928 IB(NA)-0300134-A(0801)MEE IB(NA)-0300134-A(0801)MEE When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice. MITSUBISHI ELECTRIC HEADQUARTERS EUROPEAN REPRESENTATIVES EUROPEAN REPRESENTATIVES MITSUBISHI ELECTRIC EUROPE B.V. EUROPE German Branch Gothaer Straße 8 D-40880 Ratingen Phone: +49 (0)2102 / 486-0 Fax: +49 (0)2102 / 486-1120 MITSUBISHI ELECTRIC EUROPE B.V. CZECH REPUBLIC Czech Branch Avenir Business Park, Radlická 714/113a CZ-158 00 Praha 5 Phone: +420 (0)251 551 470 Fax: +420 (0)251-551-471 MITSUBISHI ELECTRIC EUROPE B.V. 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