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Mitsubishi Electric Q Series, Programming Manual

The Philips Q Series comes with an easy-to-follow Quick Start manual, ensuring a hassle-free setup process. You can conveniently download the user manual for free from manualshive.com, providing detailed instructions and essential information for optimizing your experience with this exceptional product.

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APP - 64 

APPENDICES

 

 

APPENDIX 3 Processing Times of the Motion CPU 

The processing time of each signal and each instruction for positioning control in the 
Multiple CPU system is shown below. 

(1)   Motion operation cycle [ms] (Default) 

(a)   Q173DSCPU/Q172DSCPU 

 

 Q173DSCPU 

Q172DSCPU 

Number of setting axes (SV22) 

1 to 6 

7 to 16 

17 to 32 

1 to 6 

7 to 16 

Operation 

cycle 

[ms] 

0.44 0.88 1.77 0.44 0.88 

 

(b)   Q173DCPU(-S1)/Q172DCPU(-S1) 

 

 Q173DCPU(-S1) 

Q172DCPU(-S1) 

Number of setting axes (SV22) 

1 to 4 

5 to 12  13 to 28 29 to 32 

1 to 4 

5 to 8 

Operation 

cycle 

[ms] 

0.44 0.88 1.77 3.55 0.44 0.88 

 

(2)   CPU processing time [ms] 

The instruction processing time means the time until the content is reflected to 
servo amplifier side after each instruction is executed. 
(Including the transmission time between Motion controller and servo amplifier.) 
(a)   Q173DSCPU/Q172DSCPU 

 

 Q173DSCPU/Q172DSCPU 

Operation 

cycle 

[ms] 

0.22 0.44 0.88 1.77 3.55 7.11 

"WAIT ON/OFF" 
+ Motion control step  

0.44 0.88 1.77 2.66 4.44 7.99 

Only Motion control step  

0.6 to 0.9 

1.0 to 1.4 

1.9 to 2.8 

2.8 to 4.6 

4.6 to 8.2 

8.1 to 15.2 

Servo program 
start processing 
time

 

(Note-1)

 

Dedicated instruction 
(D(P).SVST) from the PLC CPU 

1.4 to 2.3 

2.2 to 3.1 

3.5 to 4.4 

5.3 to 6.2 

8.8 to 9.7 

16.0 to 16.9

Instruction (CHGV) from the 
Motion SFC 

0.4 to 0.9 

0.8 to 1.3 

1.7 to 2.6 

2.6 to 4.4 

4.4 to 8.0 

8.0 to 15.1 

Speed change  
response time 

Dedicated instruction 
(D(P).CHGV) from the PLC CPU

1.4 to 2.3 

1.7 to 2.6 

2.6 to 3.5 

3.5 to 4.4 

5.3 to 6.2 

8.9 to 9.8 

Instruction (CHGT) from the 
Motion SFC 

0.4 to 0.9 

0.8 to 1.3 

1.7 to 2.6 

2.6 to 4.4 

4.4 to 8.0 

4.4 to 11.5 

Torque limit value 
change response 
time 

Dedicated instruction 
(D(P).CHGT) from the PLC CPU

1.4 to 2.3 

1.7 to 2.6 

2.6 to 3.5 

3.5 to 4.4 

5.3 to 6.2 

5.3 to 9.7 

Instruction (CHGT2) from the 
Motion SFC 

0.4 to 0.9 

0.8 to 1.3 

1.7 to 2.6 

2.6 to 4.4 

4.4 to 8.0 

4.4 to 11.5 

Torque limit value 
individual change 
response time 

Dedicated instruction 
(D(P).CHGT2) from the PLC 
CPU 

1.4 to 2.3 

1.7 to 2.6  

2.6 to 3.5 

3.5 to 4.4 

5.3 to 6.2 

5.3 to 9.7 

Target position 
change response 
time 

Instruction (CHGP) from the 
Motion SFC 

0.4 to 0.9 

0.8 to 1.3 

1.7 to 2.6 

2.6 to 4.4 

4.4 to 8.0 

8.0 to 15.1 

Time from PLC ready flag (M2000) ON to  
PCPU READY complete flag (SM500) ON 

44 to 60 

 

(Note-1): FEED instruction varies greatly depending on the condition (whether other axes are operating). 

Summary of Contents for Q Series

Page 1: ......

Page 2: ...r 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 Depending on circumstances procedures indicated by CAUTION ma...

Page 3: ...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...

Page 4: ...ied 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 o...

Page 5: ...mpatible 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 th...

Page 6: ...onnected 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...

Page 7: ...ammer 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...

Page 8: ...DICOM RA Control output signal DOCOM Servo amplifier 24VDC Control output signal DICOM DOCOM Servo amplifier RA 24VDC For the sink output interface For the source output interface 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 fi...

Page 9: ...ions Input power According to each instruction manual Input frequency According to each instruction manual Tolerable momentary power failure According to each instruction manual 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 dang...

Page 10: ...orrectly 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 programmin...

Page 11: ...er 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 A...

Page 12: ...tion About Manuals Manual page organization Restrictions by the software s version Programming software version PI PID switching command M3217 20n Parameter error number 8009 20n Servo status 1 8010 20n Servo status 2 8011 20n Servo status 3 8012 20n Maximum motion operation cycle SD524 System setting error information SD550 SD551 Error code list Processing time of the Motion CPU Sep 2012 IB NA 03...

Page 13: ...he Virtual Mode System 2 1 2 2 Starting Up the Incremental System and Absolute System 2 3 2 2 1 Operation for incremental system 2 3 2 2 2 Operation for absolute absolute position system 2 4 2 3 Differences Between Real Mode and Virtual Mode 2 5 2 3 1 Positioning data 2 5 2 3 2 Positioning devices 2 5 2 3 3 Servo programs 2 6 2 3 4 Control change Current value change speed change target position c...

Page 14: ...o 6 24 6 1 Virtual Servomotor 6 2 6 1 1 Operation description 6 2 6 1 2 Parameter list 6 8 6 1 3 Virtual servomotor axis devices Internal relays data registers 6 13 6 2 Synchronous Encoder 6 14 6 2 1 Operation description 6 14 6 2 2 Parameter list 6 19 6 2 3 Synchronous encoder axis devices Internal relays data registers 6 20 6 3 Virtual Servomotor Synchronous Encoder Control Change 6 21 6 3 1 Vir...

Page 15: ...at Real Mode Virtual Mode Switching 9 7 9 4 Stop and Re start 9 9 9 4 1 Stop operation stop causes during operation and re starting operation list 9 10 10 AUXILIARY AND APPLIED FUNCTIONS 10 1 to 10 10 10 1 Mixed Function of Virtual Mode Real Mode 10 1 10 2 Speed Torque Control 10 7 APPENDICES APP 1 to APP 82 APPENDIX 1 Error Codes Stored Using the Motion CPU APP 1 APPENDIX 1 1 Expression method fo...

Page 16: ...B 0300135 1XB929 Q173D S CPU Q172D S CPU 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 Q173D S CPU Q172D S CPU Motion controller SV22 Programming Manual VIRTUAL MODE This manual explains the dedicated instructions to use the synchronous control by virtual main shaft m...

Page 17: ...anual explains functions for the communication via built in Ethernet port of the CPU module SH 080811ENG 13JZ29 MELSEC Q L Programming Manual Common Instruction This manual explains how to use the sequence instructions basic instructions application instructions and micro computer program SH 080809ENG 13JW10 MELSEC Q L QnA Programming Manual PID Control Instructions This manual explains the dedica...

Page 18: ... J3 B RJ004 Instruction Manual This manual explains the I O signals parts names parameters start up procedure and others for Linear Servo MR J3 B RJ004 Servo amplifier SH 030054 1CW943 SSCNET Compatible 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...

Page 19: ...A 18 MEMO ...

Page 20: ...er model MR J4 B MR J4W B MR J3 W B Servo amplifier model MR J3 B MR J3W B AMP or Servo amplifier General name for Servo amplifier model MR J4 B MR J4W B MR J3 B MR J3W B QCPU PLC CPU or PLC CPU module QnUD E H CPU QnUDVCPU Multiple CPU system or Motion system Abbreviation for Multiple PLC system of the Q series CPUn Abbreviation for CPU No n n 1 to 4 of the CPU module for the Multiple CPU system ...

Page 21: ... speed synchronous network between Motion controller and servo amplifier SSCNET H Note 3 General name for SSCNET H SSCNET Absolute position system General name for system using the servomotor and servo amplifier for absolute position Battery holder unit Battery holder unit Q170DBATC Intelligent function module General name for module that has a function other than input or output such as A D conve...

Page 22: ... controller SV13 SV22 Programming Manual REAL MODE SV13 SV22 Design method for safety observation parameter Design method for user made safety sequence program Q173D S CPU Q172D S CPU Motion controller Programming Manual Safety Observation SV22 Advanced synchronous control Design method for synchronous control parameter Q173DSCPU Q172DSCPU Motion controller SV22 Programming Manual Advanced Synchro...

Page 23: ...g control using the specified Motion SFC program Output to the servo amplifier 3 The servomotor is controlled PLC CPU Sequence program DP SFCS K0 Motion CPU Motion SFC program Positioning control parameters System settings Fixed parameters Servo parameters JOG operation data Parameter blocks Home position return data Limit switch output data Servo amplifier Servomotor Note Motion SFC program can a...

Page 24: ...amplifier set as the output module 4 The servomotor is controlled Motion CPU Program structure in SV22 virtual mode Servo amplifier Servomotor Mechanical system program Drive module Virtual servomotor Transmission module Axis 1 Output module Home position return data is not used since home position return cannot be executed in virtual mode Home position return is executed in real mode JOG operatio...

Page 25: ...vent task 00H 444μs coasting timer SD720 SD721 00H Synchronous encoder current value monitor in real mode 00H Display of the past ten times history in current value history monitor 00H Amplifier less operation 00H Servo instruction Home position return ZERO high speed oscillation OSC and manual pulse generator operation in mixed function of virtual mode real mode 00H Advanced S curve acceleration ...

Page 26: ...V22 is the completely same version Note 2 The operating system software version can be confirmed in the operating system software CD ROM MT Developer2 or GX Works2 GX Developer Refer to Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON Section 1 3 1 4 Note 3 Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual Motion SFC Note 4 Q173D S CPU Q172D S CPU Motion con...

Page 27: ...ate command M3212 20n valid in speed control 00B Not support External forced stop input ON latch SM506 00B 00S Operation method SD560 00B Not support Advanced synchronous control 00B Not support Limit switch output function expansion 00B Not support Driver communication function 00C Not support Intelligent function module support 00C Not support SSCNET H head module connection 00C Not support Cam ...

Page 28: ...Note 7 There is no restriction by the version Note 1 SV13 SV22 is the completely same version Note 2 The operating system software version can be confirmed in the operating system software CD ROM MT Developer2 or GX Works2 GX Developer Refer to Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON Section 1 3 1 4 Note 3 Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming ...

Page 29: ... support Q173DCPU S1 1 00A Note 2 1 03D Note 3 1 00A C0 Note 4 Q172DCPU S1 1 00A Note 2 1 03D Note 3 1 00A C0 Note 4 Q173DCPU 1 00A 1 03D 1 00A C0 Note 4 Q172DCPU 1 00A 1 03D 1 00A C0 Note 4 Note 1 Use version 1 47Z or later to use advanced synchronous control method Note 2 Use version 1 12N or later to communicate via PERIPHERAL I F Note 3 Use version 1 23Z or later to communicate via PERIPHERAL ...

Page 30: ...ute the relative check and correct the errors Will cam be used START Start the MT Developer2 Install the MT Developer2 YES NO Create the mechanical system program Set the cam data Check the mechanical system program and correct the errors 1 Refer to the Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual REAL MODE Refer to Chapter 5 MECHANICAL SYSTEM PROGRAM Refer to the Q173D S...

Page 31: ...ute the JOG operation manual pulse generator operation and home position return test Adjust cam setting axis Cam use Bottom dead point stroke value etc Set data in the parameter setting device Switch from real mode to virtual mode Start drive module operation Check operation state with the servo monitor or mechanical system monitor END Real mode Virtual mode System setting data Servo setting data ...

Page 32: ...operation procedure for incremental system is shown below Execute the home position return Turn the power supply of Multiple CPU system ON Execute the all axes servo start request Turn M2042 on Align the virtual mode operation start position Set data in the parameter setting device Switch from real mode to virtual mode Execute virtual mode operation START Real mode Virtual mode Set the operation s...

Page 33: ...operation start position Set data in the parameter setting device Switch from real mode to virtual mode Execute virtual mode operation Set the operation start address by the current value change Real mode Virtual mode NO Turn the power supply of Multiple CPU system ON Execute the all axes servo start request Turn M2042 on Is the home position return request signal ON Is the continuation disabled w...

Page 34: ...tual mode Remark System settings Fixed parameters Usable units differ according to the output module Servo parameters Parameter blocks Only PLS usable Home position return data JOG operation data Limit switch output data Used Used Restrictions in part Not used Note Refer to Section 10 1 for the real mode axis at virtual mode 2 3 2 Positioning devices The operating ranges of positioning devices use...

Page 35: ...an be set using the servo program are not used 3 Differences of the servo instruction between real mode and virtual mode are shown in Table 2 3 below Table 2 3 Differences of Servo Instruction List Item Real mode Virtual mode Remark VPF VPR Speed position control VPSTART VVF Speed control VVR Home position return ZERO Switch to virtual mode after home position return in the real mode High speed os...

Page 36: ...ontrol Change Real mode Virtual mode Drive module Output module Item Servo motor Synchronous encoder Virtual servo motor Synchronous encoder Roller Ball screw Rotary table Cam Current value change Ver Speed change Note 1 Target position change QDS Used Unusable Note 1 If the output module is a roller which uses a speed change gear a speed change can be executed by changing the speed change gear ra...

Page 37: ...etween speed torque control in the real mode and virtual modes are shown in Table 2 5 below Table 2 5 Differences List of Control Mode Switching Real mode Virtual mode Drive module Output module Item Servo motor Synchronous encoder Virtual servo motor Synchronous encoder Roller Ball screw Rotary table Cam Real mode axis Speed torque control Used Unusable REMARK Refer to the Section 10 2 for detail...

Page 38: ...ch Rotary table Fixed as degree Control units Output module Cam mm inch degree PLS mm inch PLS Program language Dedicated instructions Servo program mechanical system program Capacity 16k steps 16384 steps Note 2 Servo program Number of positioning points Total of 3200 points It changes with programs indirect specification is possible Virtual servo motor 32 axes 16 axes 32 axes 8 axes Drive module...

Page 39: ...1 to 65535 ms Deceleration time 1 to 65535 ms Acceleration deceleration time 1 to 5000 ms Only constant speed control is possible Trapezoidal acceleration deceleration S curve acceleration deceleration S curve ratio 0 to 100 Acceleration deceleration control Advanced S curve acceleration deceleration Acceleration section ratio 0 0 to 100 0 Deceleration section ratio 0 0 to 100 0 JOG operation func...

Page 40: ...the positioning range is controlled Stop signal This signal makes the starting axis stop Proximity dog signal ON OFF signal from the proximity dog Speed position switching signal Signal for switching from speed to position Manual pulse generator input Signal from the manual pulse generator Note Device memory data 1 2 Multiple CPU high speed bus Device memory PLC control processor Motion module Pro...

Page 41: ...No n Axis No n Axis No n Axis No n 1 0 9 8 17 16 25 24 2 1 10 9 18 17 26 25 3 2 11 10 19 18 27 26 4 3 12 11 20 19 28 27 5 4 13 12 21 20 29 28 6 5 14 13 22 21 30 29 7 6 15 14 23 22 31 30 8 7 16 15 24 23 32 31 Calculate as follows for the device No corresponding to each axis Example For axis 32 M3200 20n Stop command M3200 20 31 M3820 M3215 20n Servo OFF command M3215 20 31 M3835 The following range...

Page 42: ... points M3200 to Axis command signal 20 points 32 axes Real mode Each axis Virtual mode Output module M3840 to Unusable 160 points M4000 Note 1 to Virtual servomotor axis status 20 points 32 axes Note 2 Backup M4640 Note 1 to Synchronous encoder axis status 4 points 12 axes M4688 Note 1 to Unusable 112 points M4800 Note 1 to Virtual servomotor axis command signal 20 points 32 axes Note 2 M5440 Not...

Page 43: ...al system program can be used as a user device 4 Note 3 The cam axis command signal and smoothing clutch complete signal can be set as the optional device at the parameter 5 Note 4 It is valid for the version Refer to Section 1 4 that supports synchronous encoder current value monitor in real mode 6 This manual describes only details for internal relays used in the virtual mode If it is required r...

Page 44: ...Home position return request Main cycle 20 M2780 to M2799 21 M2800 to M2819 10 Home position return complete Operation cycle 22 M2820 to M2839 11 FLS 23 M2840 to M2859 12 RLS 24 M2860 to M2879 13 STOP 25 M2880 to M2899 14 External signals DOG CHANGE Main cycle 26 M2900 to M2919 15 Servo ready 27 M2920 to M2939 16 Torque limiting Operation cycle Status signal 28 M2940 to M2959 17 Unusable 29 M2960 ...

Page 45: ... 9 External stop input disable at start command At start Command signal 22 M3620 to M3639 10 23 M3640 to M3659 11 Unusable 24 M3660 to M3679 25 M3680 to M3699 12 Feed current value update command At start 26 M3700 to M3719 27 M3720 to M3739 13 Address clutch reference setting command Note 1 28 M3740 to M3759 29 M3760 to M3779 14 Cam reference position setting command Note 1 At virtual mode transit...

Page 46: ...tatus signal 11 M4200 to M4219 5 12 M4220 to M4239 6 Unusable 13 M4240 to M4259 14 M4260 to M4279 7 Error detection Backup Immedi ately Status signal 15 M4280 to M4299 8 16 M4300 to M4319 9 17 M4320 to M4339 10 18 M4340 to M4359 11 19 M4360 to M4379 12 20 M4380 to M4399 13 21 M4400 to M4419 14 22 M4420 to M4439 15 23 M4440 to M4459 16 24 M4460 to M4479 17 25 M4480 to M4499 18 Unusable 26 M4500 to ...

Page 47: ...nal OFF command Main cycle Command signal 14 M5060 to M5079 5 15 M5080 to M5099 6 Unusable 16 M5100 to M5119 17 M5120 to M5139 7 Error reset command Main cycle Command signal 18 M5140 to M5159 8 Unusable 19 M5160 to M5179 20 M5180 to M5199 21 M5200 to M5219 9 External stop input disable at start command At start Command signal 22 M5220 to M5239 10 23 M5240 to M5259 11 24 M5260 to M5279 12 25 M5280...

Page 48: ... of Q172DCPU S1 is replaced with Q173DSCPU Q172DSCPU Q173DCPU S1 this area cannot be used 7 Synchronous encoder axis command signal list Axis No Device No Signal name 1 M5440 to M5443 2 M5444 to M5447 3 M5448 to M5451 Signal name Real Virtual Refresh cycle Fetch cycle Signal direction 4 M5452 to M5455 5 M5456 to M5459 0 Error reset Note 1 Main cycle Status signal 6 M5460 to M5463 1 7 M5464 to M546...

Page 49: ...n cycle Command signal M3080 M2090 Axis 30 M2036 M2091 Axis 31 M2037 Unusable 2 points M2092 Axis 32 Speed change accepting flag Operation cycle Status signal Note 1 Note 2 Note 3 Note 4 M2038 Motion SFC debugging flag At debugging mode transition M2093 M2039 Motion error detection flag Immediate Status signal M2094 M2040 Speed switching point specified flag At start Command signal M3073 M2095 M20...

Page 50: ...06 M2138 Axis 11 M2207 M2139 Axis 12 M2208 M2140 Axis 13 M2209 M2141 Axis 14 M2210 M2142 Axis 15 M2211 M2143 Axis 16 M2212 M2144 Axis 17 M2213 M2145 Axis 18 M2214 M2146 Axis 19 M2215 M2147 Axis 20 M2216 M2148 Axis 21 M2217 M2149 Axis 22 M2218 M2150 Axis 23 M2219 M2151 Axis 24 M2220 M2152 Axis 25 M2221 M2153 Axis 26 M2222 M2154 Axis 27 M2223 Unusable 45 points Note 7 M2155 Axis 28 M2224 M2156 Axis ...

Page 51: ...304 M2269 Axis 30 M2305 M2270 Axis 31 M2306 M2271 Axis 32 Speed change 0 accepting flag M2307 M2272 Axis 1 M2308 M2273 Axis 2 M2309 M2274 Axis 3 M2310 M2275 Axis 4 M2311 M2276 Axis 5 M2312 M2277 Axis 6 M2313 M2278 Axis 7 M2314 M2279 Axis 8 M2315 M2280 Axis 9 M2316 M2281 Axis 10 M2317 M2282 Axis 11 M2318 M2283 Axis 12 Control loop monitor status Operation cycle Status signal Note 1 Note 2 Note 3 No...

Page 52: ...le Note 3 55 points Note 1 The state of a device is not in agreement when the device of a remark column is turned ON OFF directly In addition when the request from a data register and the request from the above device are performed simultaneously the request from the above device becomes effective Note 2 It can also be ordered the device of a remark column Note 3 Do not use it as a user device It ...

Page 53: ...ignal M2406 20n Status signal This signal turns on when the zero point is passed after the power supply on of the servo amplifier Once the zero point has been passed it remains on state until the Multiple CPU system has been reset However in the home position return method of proximity dog type count type dog cradle type limit switch combined type scale home position signal detection type or dogle...

Page 54: ...1 b This signal turns off when the servo error reset command M3208 20n turns on or the servo power supply turns on again Servo error reset is valid in the real mode only Servo error detection signal M2408 20n Servo error reset command M3208 20n Servo error detection ON OFF OFF ON REMARK Note 1 Refer to APPENDIX 1 5 for the error codes on errors detected at the servo amplifier side 5 Home position ...

Page 55: ... replaced always perform a home position return in real mode In the case of the absolute position system use the sequence program to check the home position return request before performing the positioning control Failure to observe this could lead to an accident such as a collision 6 Home position return complete signal M2410 20n Status signal a This signal turns on when the home position return ...

Page 56: ...er to the Q173D S CPU Q172D S CPU Motion controller User s Manual for a pin configuration Note 3 Refer to the Servo Amplifier Instruction Manual for a pin configuration c Normally open contact input and Normally closed contact input of the servo data setting can be selected QDS 8 RLS signal M2412 20n Note 1 Status signal a This signal is controlled by the ON OFF state for the lower stroke limit sw...

Page 57: ...P signal M2413 20n Note 1 Status signal a This signal is controlled by the ON OFF state for the stop signal input STOP of the Q172DLX and bit device QDS Stop signal input of the Q172DLX OFF STOP signal OFF Stop signal input of the Q172DLX ON STOP signal ON b The state of the stop signal input STOP when the STOP signal input is ON OFF is shown below 1 Q172DLX use Note 2 STOP signal ON Q172DLX STOP ...

Page 58: ...DOG CHANGE COM DOG CHANGE signal OFF Q172DLX DOG CHANGE DOG CHANGE COM 2 Servo amplifier input use Note 4 DOG signal ON DOG DI3 DICOM DOG signal OFF DOG DI3 DICOM Servo amplifier Servo amplifier 3 Built in interface in Motion CPU use Note 3 QDS DI signal ON DI signal OFF DI COM DI COM Built in interface in Motion CPU Built in interface in Motion CPU DI DI 4 Bit device use Note 1 QDS The set bit de...

Page 59: ...he READY state b This signal turns off in the following cases M2042 is off Servo amplifier is not mounted Servo parameter is not set It is received the forced stop input from an external source Servo OFF by the servo OFF command M3215 20n ON Servo error occurs Refer to APPENDIX 1 5 Servo errors for details Q61P Q03UD CPU Q38DB Communication is normal Servo ready signal ON M Q172D CPU AMP M AMP POI...

Page 60: ...disable warning signal device of the applicable axis is turned on as warning of being uncontinuable in virtual mode operation It checks for the following cases No Check Remark 1 Servo amplifier power supply ON for absolute axis A minor error 901 power supply on in real mode 9010 power supply on in virtual mode are also set 2 Anytime during real mode operation It also turns on at the following case...

Page 61: ...ervo error detection signal has turn on M2408 20n ON and reset the servo error detection signal M2408 20n Servo error detection signal M2408 20n Servo error reset command M3208 20n Servo error code storage register ON OFF OFF ON 00 Error code 3 Address clutch reference setting command M3213 20n Command signal This signal is only effective when the output module is a cam connected an address mode c...

Page 62: ...n the ON OFF state of the cam reference position setting command at the real mode virtual mode switching request a M3214 20n ON The current value is cam reference position The current feed current value is lower stroke limit value bottom dead point Moreover a cam table search is conducted from the beginning of a cycle and the bottom dead point 0 is specified as the current value within 1 cam shaft...

Page 63: ...able of the setting cam No is searched from the beginning of a cycle and the current value within 1 cam shaft revolution for applicable point is calculated Because the current value within 1 cam shaft revolution is searched always from the beginning of a cycle beware of cases where the same stroke ratio appears more than once in the cycle Make the necessary position adjustment at the real mode vir...

Page 64: ...y the PI PID switching command ON OFF ON PI PID switching command ON PID control OFF PI PID switching command OFF PI control Refer to the Servo amplifier Instruction Manual for details of PI PID switching function 8 Control loop changing command M3218 20n Command signal When using the fully closed loop control servo amplifier this signal is used to change the fully closed loop control semi closed ...

Page 65: ...s turned ON OFF the command becomes invalid 2 When the following are operated during the fully closed loop it returns to the semi closed loop control a Power supply OFF or reset of the Multiple CPU system b Wire breakage of the SSCNET cable between the servo amplifier and Motion controller c Control circuit power supply OFF of the servo amplifier ...

Page 66: ... edge of complete signal OFF command M4804 20n or positioning completion At leading edge of complete signal OFF command M4804 20n Servo program start Start accept flag M2001 to M2032 Positioning start complete signal M4000 20n Complete signal OFF command M4804 20n Dwell time V t OFF OFF OFF ON ON ON At positioning completion Servo program start Dwell time Positioning completion OFF OFF ON ON V t S...

Page 67: ...oning start At leading edge of complete signal OFF command M4804 20n Dwell time OFF ON ON OFF ON OFF V t Servo program start Start accept flag M2001 to M2032 Positioning complete signal M4001 20n Complete signal OFF command M4804 20n ON OFF At next positioning start Dwell time OFF ON V t ON OFF Positioning completion Positioning start Servo program start Start accept flag M2001 to M2032 Positionin...

Page 68: ...on control At speed control At position control Speed control start Positioning start Speed controlling signal M4004 20n OFF t 5 Error detection signal M4007 20n Status signal a This signal turns on when a minor error or major error is detected in a virtual servomotor or output module connected to a virtual servomotor It is used as judgement of the error available not available by turning the erro...

Page 69: ...he minor major error code storage register 6 M code outputting signal M4019 20n Status signal a This signal turns during M code is outputting b This signal turns off when the stop command cancel signal skip signal or FIN signal are inputted FIN signal M4819 20n M code M code outputting signal M4019 20n M1 M2 M3 OFF OFF ON ON POINT 1 The FIN signal and M code outputting signal are both signal for t...

Page 70: ...f the Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual REAL MODE for details of the speed control c Stop processing details when the stop command turned on is shown in Table 4 1 Table 4 1 Stop Processing at Stop command ON Processing at the turning stop command on Control details during execution During control During deceleration stop processing Positioning control Speed con...

Page 71: ...sing at the turning rapid stop command on Control details during execution During control During deceleration stop processing Positioning control Speed control JOG operation Rapid stop processing is executed Parameter Speed limit value Stop cause Operation speed Real deceleration time Rapid stop deceleration time of the parameter block Stop Deceleration processing is stopped and rapid stop process...

Page 72: ...ation time set in the parameter block POINT Take an interlock so that the forward rotation JOG start command M4802 20n and reverse rotation JOG start command M4803 20n may not turn on simultaneously 4 Complete signal OFF command M4804 20n Command signal a This command is used to turn off the positioning start complete signal M4000 20n and positioning complete signal M4001 20n OFF OFF OFF ON ON ON ...

Page 73: ...d in the minor major error code storage register In this case the error detection signal M4007 20n remains on Reset the output module error by error reset of each axis command signal to the output module 6 External stop input disable at start command M4809 20n Command signal This command is used to set the external stop signal input valid or invalid ON External stop input is set as invalid and eve...

Page 74: ...11 350000 300000 12 400000 400000 Point Virtual Timing Chart for Operation Description 1 When the positioning of point 1 starts M code 10 is output and the M code outputting signal turns on 2 FIN signal turns on after performing required processing in the Motion SFC program Transition to the next point does not execute until the FIN signal turns on 3 When the FIN signal turns on the M code outputt...

Page 75: ... the error detection signal turns off 2 External signal TREN M4641 4n Status signal a This signal is used for clutch control in the external input mode It turns on by turning on the Q173DPX TREN input terminal and indicates the input ON OFF state of the TREN terminal Q172DEX dose not turn ON regardless of the input status of TREN terminal 3 Virtual mode continuation operation disabled warning sign...

Page 76: ...4n b The following processing is executed when the error reset command turns on If the synchronous encoder and output module are normal the minor major error code storage registers are cleared and the error detection signal M4640 4n is reset If the synchronous encoder and output module error has not been canceled the error code is again stored in the minor major error code storage register In this...

Page 77: ... fixed parameters servo parameters and limit switch output data can be changed using MT Developer2 when the M2000 is OFF only The above data using MT Developer2 cannot be written when the M2000 is ON c The following processing are performed when the M2000 turns OFF to ON 1 Processing details Clear the M code storage area of all axes Turn the PCPU READY complete flag SM500 on Motion SFC program can...

Page 78: ...system s power supply with the RUN STOP switch set to RUN Condition in which the M2000 turns from ON to OFF Move the RUN STOP switch from RUN to STOP 2 M2000 turns ON by switching from STOP to RUN and by setting 1 in the setting register Condition in which the M2000 turns from OFF to ON Set 1 in the setting register D704 of the PLC ready flag or turn ON the PLC ready flag M3072 with the RUN STOP s...

Page 79: ...t Start accept flag M2001 n Positioning complete signal M4001 20n Positioning start complete signal M4000 20n Servo program start Start accept flag M2001 n Positioning complete signal M4001 20n Positioning start complete signal M4000 20n Positioning stop during control ON OFF V t OFF ON Positioning start Positioning stop completion 2 This flag turns on at the positioning control by turning on the ...

Page 80: ...eloper2 while this flag is off no error will occur but the start accept on error will occur at the next starting and cannot be started 3 Motion error history clear request flag M2035 Command signal This flag is used to clear the backed up Motion error history 8640 to 8735 The Motion error history is cleared at leading edge of M2035 After detection of the leading edge of M2035 the Motion error hist...

Page 81: ...ept flag M2001 n Pass points of the constant speed control When the speed change is specified with P3 7 System setting error flag M2041 Status signal This flag inputs the system setting data set by MT Developer2 and performs an adjustment check with a real mounting state main base unit extension base units at Multiple CPU system s power supply on or reset ON Error OFF Normal a When an error occurs...

Page 82: ...e virtual mode switching request flag M2043 Command signal This flag is used for switching between the real mode and virtual modes a Turn the M2043 on after the PCPU READY complete flag SM500 has turn on for switching from the real mode to virtual mode An error check is executed when the M2043 is switched from off to on If no error is detected switch to the virtual mode and the real mode virtual m...

Page 83: ...s flag remains off if no error was detected at mode switching This flag turns on if an error was detected at mode switching In this case the error code is stored in the SD504 12 Out of sync warning flag M2046 Status signal a This signal turns on mode when a discrepancy of synchronized positions between the drive module and output module occurs during the virtual mode It is used as judgement for va...

Page 84: ...ror factor and turn the Multiple CPU system s power supply on again or reset 14 JOG operation simultaneous start command M2048 Command signal a When M2048 turns on JOG operation simultaneous start based on the JOG operation execution axis set in the JOG operation simultaneous start axis setting register D710 to D713 b When M2048 turns OFF the operating axis decelerates to a stop 15 All axes servo ...

Page 85: ...gnored Default value is invalid OFF REMARK Note Refer to the Q173D S CPU Q172D S CPU Motion controller User s Manual for P1 to P3 connector of the Q173DPX 17 Operation cycle over flag M2054 Status signal This flag turns on when the time concerning motion operation exceeds the operation cycle of the Motion CPU setting SD523 Perform the following operation in making it turn off Turn the power supply...

Page 86: ...e completion Speed after speed change 0 to 4ms t The speed change accepting flag list is shown below Axis No Device No Axis No Device No Axis No Device No Axis No Device No 1 M2061 9 M2069 17 M2077 25 M2085 2 M2062 10 M2070 18 M2078 26 M2086 3 M2063 11 M2071 19 M2079 27 M2087 4 M2064 12 M2072 20 M2080 28 M2088 5 M2065 13 M2073 21 M2081 29 M2089 6 M2066 14 M2074 22 M2082 30 M2090 7 M2067 15 M2075 2...

Page 87: ...rol Automatic decelerating flag ON OFF P1 P2 P3 t V Automatic decelerating flag ON OFF P1 P3 t V P2 The automatic decelerating flag is turns on after the execution of positioning to final point P3 even if automatic deceleration processing start while executing the positioning to P2 POINT Set a travel value in which automatic deceleration processing can be started at the final positioning point the...

Page 88: ...2141 22 M2149 30 M2157 7 M2134 15 M2142 23 M2150 31 M2158 8 M2135 16 M2143 24 M2151 32 M2159 Note The following range is valid Q172DSCPU Axis No 1 to 16 Q172DCPU S1 Axis No 1 to 8 20 Speed change 0 accepting flag M2240 to M2271 Status signal This flag turns on while a speed change request to speed 0 or negative speed change request is being accepted It turns on when the speed change request to spe...

Page 89: ...72DCPU S1 Axis No 1 to 8 REMARK 1 Even if it has stopped when the start accept flag M2001 to M2032 is ON state the state where the request of speed change 0 is accepted is indicated Confirm by this speed change 0 accepting flag 2 During interpolation the flags corresponding to the interpolation axes are set 3 In any of the following cases the speed change 0 request is invalid After deceleration by...

Page 90: ...on start Start accept flag Speed change 0 accepting flag V t Speed change 0 OFF Automatic deceleration start d Even if it is speed change 0 after the automatic deceleration start to the command address speed change 0 accepting flag turns on Start accept flag Speed change 0 accepting flag V t Speed change 0 Automatic deceleration start Speed change V2 Command address P1 Command address P2 P1 P2 ON ...

Page 91: ...changing command ON OFF Fully closed loop control change ON OFF OFF ON Semi closed loop control change Control loop changing command M3218 20n Control loop monitor status M2272 n The Control loop monitor status list is shown below Axis No Device No Axis No Device No Axis No Device No Axis No Device No 1 M2272 9 M2280 17 M2288 25 M2296 2 M2273 10 M2281 18 M2289 26 M2297 3 M2274 11 M2282 19 M2290 27...

Page 92: ...points D800 Virtual servomotor axis monitor device 6 points 32 axes Note 1 Current value after virtual servomotor axis main shaft s differential gear 4 points 32 axes Note 1 Backup D1120 Synchronous encoder axis monitor device 6 points 12 axes Backup Note 2 to Current value after synchronous encoder axis main shaft s differential gear 4 points 12 axes D1240 to Cam axis monitor device 10 points 32 ...

Page 93: ...e unused axis areas in the mechanical system program can be used as a user side 3 Note 2 It is valid for the version Refer to Section 1 4 that supports synchronous encoder current value monitor in real mode 4 This manual describes only details for data registers used in the virtual mode If it is required refer to the Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual REAL MODE ...

Page 94: ...380 to D399 13 M code 21 D400 to D419 14 Torque limit value Operation cycle 22 D420 to D439 23 D440 to D459 15 Data set pointer for constant speed control At start during start Monitor device 24 D460 to D479 16 25 D480 to D499 17 Unusable Note 1 26 D500 to D519 18 27 D520 to D539 19 Real current value at stop input Backup Operation cycle Monitor device 28 D540 to D559 Valid Invalid 29 D560 to D579...

Page 95: ... 14 D666 D667 15 D668 D669 16 D670 D671 17 D672 D673 18 D674 D675 19 D676 D677 20 D678 D679 21 D680 D681 22 D682 D683 23 D684 D685 24 D686 D687 25 D688 D689 26 D690 D691 27 D692 D693 28 D694 D695 29 D696 D697 30 D698 D699 31 D700 D701 32 D702 D703 POINT 1 The following range is valid Q172DSCPU Axis No 1 to 16 Q172DCPU S1 Axis No 1 to 8 2 The following device area can be used as a user device Q172D...

Page 96: ... to D919 6 13 D920 to D929 14 D930 to D939 7 Current value after virtual servomotor axis main shaft s differential gear 15 D940 to D949 8 Error search output axis No 16 D950 to D959 17 D960 to D969 9 Data set pointer for constant speed control Backup Operation cycle Monitor device 18 D970 to D979 Valid Invalid 19 D980 to D989 20 D990 to D999 21 D1000 to D1009 22 D1010 to D1019 23 D1020 to D1029 24...

Page 97: ... 9 D1200 to D1209 5 Unusable 10 D1210 to D1219 6 11 D1220 to D1229 7 Current value after synchronous encoder axis main shaft s differential gear 12 D1230 to D1239 8 Error search output axis No Backup Operation cycle Monitor device 9 Unusable Valid Note 1 It is valid for the version Refer to Section 1 4 that supports synchronous encoder current value monitor in real mode POINT 1 It is unusable in t...

Page 98: ...on cycle Monitor device 10 D1330 to D1339 6 11 D1340 to D1349 7 12 D1350 to D1359 8 13 D1360 to D1369 9 Unusable 14 D1370 to D1379 Valid 15 D1380 to D1389 16 D1390 to D1399 17 D1400 to D1409 18 D1410 to D1419 19 D1420 to D1429 20 D1430 to D1439 21 D1440 to D1449 22 D1450 to D1459 23 D1460 to D1469 24 D1470 to D1479 25 D1480 to D1489 26 D1490 to D1499 27 D1500 to D1509 28 D1510 to D1519 29 D1520 to...

Page 99: ... setting register At start D761 D714 D762 D715 Manual pulse generator axis 1 No setting register D763 D716 D764 D717 Manual pulse generator axis 2 No setting register D765 D718 D766 D719 Manual pulse generator axis 3 No setting register D767 D720 Axis 1 D768 D721 Axis 2 D769 D722 Axis 3 D770 D723 Axis 4 D771 D724 Axis 5 D772 D725 Axis 6 D773 D726 Axis 7 D774 D727 Axis 8 D775 D728 Axis 9 D776 D729 ...

Page 100: ...ck is performed on this feed current value data c Roller cycle speed is stored The storage range for cycle speed the roller cycle speed storage register is shown below Setting Units Storage Range Real Roller Cycle Speed mm 0 01 to 6000000 00 mm min inch 1 to 600000000 0 001 to 600000 000 inch min 2 Real current value storage register D2 20n D3 20n Monitor device a This register stores the real cur...

Page 101: ...error reset command M3207 20n 6 Servo error code storage register D8 20n Monitor device a This register stores the corresponding error code Refer to APPENDIX 1 5 at the servo error occurrence If another servo error occurs after error code storing the previous error code is overwritten by the new error code b It returns to the real mode by the servo error 7 Torque limit value storage register D14 2...

Page 102: ...686 Axis 25 Axis 26 Axis 27 Axis 28 Axis 29 Axis 30 Axis 31 Axis 32 JOG speed setting register D689 D688 D691 D690 D693 D692 D695 D694 D697 D696 D699 D698 D701 D700 D703 D702 Note The following range is valid Q172DSCPU Axis No 1 to 16 Q172DCPU S1 Axis No 1 to 8 1 JOG speed setting registers D640 2n D641 2n Command device a This register stores the JOG speed at the JOG operation b Setting range of ...

Page 103: ... off or resetting of the Multiple CPU system 2 Minor error code storage register D802 10n Monitor device a This register stores the corresponding error code refer to APPENDIX 1 4 and 1 6 at the minor error occurrence in the virtual servomotor or output module If another minor error occurs after error code storing the previous error code is overwritten by the new error code b Minor error codes in t...

Page 104: ... code storing the previous error code is overwritten by the new error code b Major error codes in the virtual servomotor can be cleared by an error reset command Note 1 of the drive module Major error codes in the output module can be cleared by an error reset command Note 2 of the output module REMARK Note 1 Refer to Section 4 1 4 for details of the error reset command for the virtual servomotor ...

Page 105: ...side at the virtual mode switching b When the current value change is executed toward the drive module current value of the main shaft side the current value after main shaft s differential gear is also simultaneous changed to the specified current value c If the differential gear is not connected with the main shaft drive module feed current value of the main shaft side is always stored in the cu...

Page 106: ...r search output axis No storage register Resetting the error of the corresponding output axis stores the other error occurrence output axis No connected to the same main shaft 2 Searching the auxiliary input axis for error If either a minor or major error has occurred at the output axis connected to the auxiliary input axis the corresponding output axis No is stored into the error search output ax...

Page 107: ...nor error codes in the output module can be cleared by an error reset command Note 2 of the output module REMARK Note 1 Refer to Section 4 1 6 for details of the error reset command for the synchronous encoder axis Note 2 Refer to Section 4 1 2 for details of the error reset command for the output module 3 Major error code storage register D1123 10n Monitor device a This register stores the corres...

Page 108: ...aft side at the virtual mode switching b When the current value change is executed toward the drive module current value of the main shaft side the current value after main shaft s differential gear is also simultaneous changed to the specified current value c If the differential gear is not connected with the main shaft drive module current value of the main shaft side is always stored in the cur...

Page 109: ...or search output axis No storage register Resetting the error of the corresponding output axis stores the other error occurrence output axis No connected to the same main shaft 2 Searching the auxiliary input axis for error If either a minor or major error has occurred at the output axis connected to the auxiliary input axis the corresponding output axis No is stored into the error search output a...

Page 110: ...is not cleared even if cam control is completed 2 Execute stroke amount storage register D1242 10n D1243 10n Monitor device a This register stores the stroke amount currently being controlled 3 Current value within 1 cam shaft revolution storage register D1244 10n D1245 10n Monitor device a This register stores the current value within 1 cam shaft revolution set in the parameter The current value ...

Page 111: ...ous start axis setting registers D710 to D713 Command device a These registers set the virtual servomotor axis No and direction which start simultaneously the JOG operation b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 2...

Page 112: ...tor setting with 1 0 1 Specified axis 0 Unspecified axis Note 2 The following range is valid Q172DSCPU Axis No 1 to 16 Q172DCPU S1 Axis No 1 to 8 Note 3 Refer to APPENDIX 1 1 for the expression method of axis No corresponding to each bit of word data b Refer to Section 6 22 of the Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual REAL MODE for details of the manual pulse gener...

Page 113: ...al pulse generator 2 P2 D753 Manual pulse generator 3 P3 D754 0 to 59 b When the smoothing magnification is set the smoothing time constant is as indicated by the following expression Smoothing time constant t Smoothing magnification 1 56 8 ms c Operation OFF ON V Manual pulse generator input V1 t t t t Manual pulse generator enable flag M2051 Output speed V1 PLS s Number of input pulses s Manual ...

Page 114: ...fier power on 5 8080 to 8099 1 Motor current 6 8100 to 8119 2 7 8120 to 8139 3 Motor speed Operation cycle 1 7 ms or less Operation cycle Operation cycle 3 5 ms or more 3 5 ms 8 8140 to 8159 4 9 8160 to 8179 5 Command speed Operation cycle 10 8180 to 8199 6 11 8200 to 8219 7 Home position return re travel value At home position return re travel 12 8220 to 8239 13 8240 to 8259 8 Servo amplifier dis...

Page 115: ... is stored at linear servo use d Command speed 8004 20n 8005 20n Monitor device This register stores the speed signed at which command value to the servo amplifier for every operation cycle is converted into PLS s e Home position return re travel value 8006 20n 8007 20n Monitor device If the position stopped in the position specified with the travel value after proximity dog ON using MT Developer2...

Page 116: ...N Servo ON Control mode Servo alarm In position Torque limit Absolute position lost Servo warning READY ON b0 Indicates the ready ON OFF Servo ON b1 Indicates the servo ON OFF Control mode b2 b3 Indicates the control mode of servo amplifier b3 b2 Control mode 0 0 Position control mode 0 1 Speed control mode 1 0 Torque control mode Servo alarm b7 Turn ON during the servo alarm In position b12 The d...

Page 117: ...status3 8012 20n QDS Monitor device This register stores the servo status read from the servo amplifier Note The 0 1 is stored in the servo status 3 0 OFF 1 ON b6 b15 b14 b13 b12 b11 b10 b9 b8 b7 b5 b4 b3 b2 b1 b0 8012 20n Continuous operation to torque control mode Continuous operation to torque control mode b14 Turn ON when the continuous operation to torque control mode 2 Product information li...

Page 118: ...racter S V 2 2 j V E R 3 0 0 A Space b Motion CPU module serial number 8744 to 8751 Monitor device The serial number of Motion CPU displayed on the system monitor product information list of GX Works2 GX Developer is stored in ASCII code Example Serial number A7Z123015 Device No 8744 8745 8746 8747 8748 8749 8750 8751 Low High Low High Low High Low High Low High Low High Low High Low High ASCII co...

Page 119: ...n cycle SM508 Amplifier less operation status flag SM510 TEST mode request error flag SM512 Motion CPU WDT error flag SM513 Manual pulse generator axis setting error flag SM516 Servo program setting error flag Main cycle Status signal 1 PCPU READY complete flag SM500 Status signal This flag is used as judgement of the normal or abnormal in the Motion CPU side using the sequence program a At leadin...

Page 120: ... is established because the all axes servo ON command M2042 turns off When the rapid stop deceleration time has elapsed after input of the forced stop signal the feed current value returns to the value at the point when the emergency stop was initiated 2 If the forced stop is reset before the emergency stop deceleration time has elapsed a servo error occurs 4 Digital oscilloscope executing flag SM...

Page 121: ...has turn on reset the Multiple CPU system If SM512 remains on after resetting there is a fault at the Motion CPU side The error cause is stored in the Motion CPU WDT error cause SD512 Refer to Section 4 5 7 9 Manual pulse generator axis setting error flag SM513 Status signal a This flag is use as judgement of normal or abnormal setting of the manual pulse generator axis No setting registers D714 t...

Page 122: ...5 SD506 Real mode virtual mode switching error information SV22 At virtual mode transition SD508 SSCNET control status Main cycle SD510 SD511 Test mode request error information At test mode request SD512 Motion CPU WDT error cause At Motion CPU WDT error occurrence SD513 SD514 SD515 Manual pulse generator axis setting error information At the manual pulse generator enable flag SD516 Error program...

Page 123: ... axis Note 2 Refer to APPENDIX 1 1 for the expression method of axis No corresponding to each bit of word data Note 1 The following range is valid Q172DSCPU Axis No 1 to 16 Q172DCPU S1 Axis No 1 to 8 3 Servo amplifier loading information SD502 SD503 Monitor device The mounting status of the servo amplifier is checked at the power supply on or reset of the Multiple CPU system and its results are st...

Page 124: ...among the error codes stored in SD504 to SD506 is shown below Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17 b15 b0 SD505 SD506 SD504 Error Erroneous axis bit 1 Example For 8 axes error Decimal 128 an...

Page 125: ...SCPU Axis No 1 to 16 Q172DCPU S1 Axis No 1 to 8 Note 2 Refer to APPENDIX 1 1 for the expression method of axis No corresponding to each bit of word data 7 Motion CPU WDT error cause SD512 Monitor device This register is used as judgement of the error contents in the Motion CPU Error code Error cause Operation when error occurs Action to take 1 S W fault 1 2 Operation cycle time over Reset the Mult...

Page 126: ...r Axis setting in each digit is except 1 to 32 Store the smoothing magnification setting errors of the manual pulse generators connected to P1 to P3 of Q173DPX 0 Normal 1 Setting error Axis setting in each digit is except 0 to 59 SD513 All turn to 0 SD514 SD515 Store the unused setting errors of the manual pulse generators connected to P1 to P3 of Q173DPX 0 Normal 1 The manual pulse generator enab...

Page 127: ... support an operation cycle of 0 4 ms 0 8 ms is used as the real operation cycle even if 0 4 ms is set in the system setting 13 Maximum Motion operation cycle SD524 QDS Monitor device The maximum time for motion operation is stored every motion operation cycle in µs unit 14 System setting error information SD550 SD551 QDS Monitor device The error code and error individual information are stored at...

Page 128: ...ommand 1 to 32 Disconnect command of SSCNET communication 10 Re connect command of SSCNET communication 20 Start command 1 of amplifier less operation EMI invalid 21 Start command 2 of amplifier less operation EMI valid 25 Release command of amplifier less operation 2 Execute command Refer to the Q173DCPU Q172DCPU Motion controller Programming Manual COMMON for details of the SSCNET control functi...

Page 129: ...4 90 4 POSITIONING DEDICATED SIGNALS MEMO ...

Page 130: ...osed to software and same operation control is performed The mechanical system program is composed with the mechanical module connection diagram and mechanical module parameter The mechanical module connection diagram shows the virtual mechanical system which connected the virtual mechanical modules The mechanical module parameters are used to control of the mechanical modules used at the mechanic...

Page 131: ...on direction Virtual main shaft input axis 1 system 1 block Gear Drive module Transmission module Drive module Virtual axis Synchronous encoder Cam Drive module Output axis Transmission module Output module Virtual auxiliary Synchronous encoder Synchronous encoder Virtual servomotor Virtual servomotor Connection axis Differential gear Speed change gear Fig 5 1 Configuration of the Mechanical Modul...

Page 132: ...in shaft The number of blocks connectable with one system is up to 32 blocks 3 Transmission module connections There are 3 transmission module connection patterns Pattern 1 Without a differential gear Pattern 2 Without a speed change gear at the output side of the differential gear Pattern 3 With a speed change gear at the output side of the differential gear B Gear A Output module Pattern 1 Gear ...

Page 133: ... gear and clutch speed change gear can be connected at A and B 2 If a clutch speed change gear are used connection constraints have not restrictions Clutch Speed change gear Clutch Speed change gear Clutch Speed change gear b Transmission module which can be connected at C pattern 3 Only a clutch can be connected at C ...

Page 134: ...5 5 5 MECHANICAL SYSTEM PROGRAM MEMO ...

Page 135: ... Number Per Motion CPU module Number Per System Connection Shaft Side Auxiliary Input Axis Side Number Per Motion CPU module Number Per System Connection Axis Side Auxiliary Input Axis Side Virtual servomotor 32 32 16 16 Drive module Synchronous encoder 12 Total 44 12 Total 34 12 Total 28 12 Total 18 Virtual main shaft 32 32 16 16 Virtual axis Virtual auxiliary input axis 32 Total 64 32 16 Total 3...

Page 136: ...axis A setting gear ratio is applied to the travel value pulse input from the drive module and then transmits to the output axis that it becomes in the setting rotation direction Section 7 1 64 64 1 1 16 16 1 1 Transmit or separate the drive module rotation to the output module There are a direct clutch transmitted directly and the smoothing clutch which performs the acceleration deceleration and ...

Page 137: ... Block Classification Name Appearance Number Per Motion CPU module Number Per System Connection Shaft Side Auxiliary Input Axis Side Number Per Motion CPU module Number Per System Connection Axis Side Auxiliary Input Axis Side Roller 32 32 16 16 Ball screw 32 32 16 16 Rotary table 32 32 16 16 Output module Cam 32 Total 32 32 Total 32 1 1 16 Total 16 16 Total 16 1 1 ...

Page 138: ...s Side Function Description Section 32 32 8 8 It is used to perform the speed control at the final output Section 8 1 32 32 8 8 It is used to perform the linear positioning control at the final output Section 8 2 32 32 8 8 It is used to perform the angle control at the final output Section 8 3 32 Total 32 32 Total 32 1 1 8 Total 8 8 Total 8 1 1 It is used to perform the position control based on t...

Page 139: ...5 10 5 MECHANICAL SYSTEM PROGRAM MEMO ...

Page 140: ...e module Virtual servomotor Refer to Section 6 1 Synchronous encoder Refer to Section 6 2 POINT Set the travel value of drive module so large as possible to prevent the speed fluctuation of output module in the mechanical system program If the travel value of drive module is small the speed fluctuation of output module may occur depending on the setting for transmission module ...

Page 141: ... the servo program or JOG operation a Start using the servo program The servo program of Motion SFC program motion control step is executed At this time the start accept flag Note 1 M2001 to M2032 of the starting axis turns on Example of the Motion SFC program is shown below Positioning speed 1000 PLS s 1 axis linear positioning control Wait until PX000 and switching status turn on and axis 1 star...

Page 142: ...idual start program Mechanical system program Set the JOG operation speed to D640 D641 D640L K100000 M2044 M2001 Wait until the switching status turn on and axis 1 start accept flag turn off JOG operation Individual start SET M4802 PX003 M4803 RST M4802 PX003 SET M4803 PX004 M4802 RST M4803 PX004 P1 P1 1 axis forward reverse JOG operation 1 axis forward JOG command SET RST 1 axis reverse JOG comma...

Page 143: ...peration JOG operation execution by turning on the JOG operation simultaneous start command G20 G10 F10 When the 2 axes simultaneous start switch PX000 turn on the following JOG operation is executed with speed of 150000 mm min PX000 1 axis reverse 2 axes forward Note Example of the above Motion SFC program is started using the automatic start or sequence program REMARK Note 1 Refer to Section 6 2...

Page 144: ...vomotor of the output module connected to the virtual servomotor is operated while the power supply of the Multiple CPU system turns off continuation operation is impossible even if the absolute position system is being used At this time the virtual mode continuation operation disabled warning signal Note 1 turns on Set the virtual servomotor or servomotor of output module to the position which sy...

Page 145: ...ation at the major error occurrence b Clutch OFF If a major error occurs with the output module the clutch within 1 system turns off and stops connected output modules The smoothing processing is executed by the clutch setting At this time the clutch ON OFF command device does not turn off However the clutch status storage device turns off regardless of the clutch ON OFF command device s ON OFF st...

Page 146: ...be start in a direction that exceeds 32 bits Fixed pitch feed It starts in the specified direction it also can be start in a direction that exceeds 32 bits Position follow up The command address is controlled by the absolute method so it does not start in a direction that exceeds the 32 bits range Speed JOG Manual pulse generator Test mode Stroke is invalid It is ignored Moves in the specified dir...

Page 147: ...e parameter Parameter block No 1 1 to 64 7 Operation mode at error occurrence Continuation Continuation Clutch OFF 1 Virtual axis No setting The virtual axis No is set in the servo program at the virtual mode operation The axis No of the virtual servomotor connected to the virtual main shaft or virtual auxiliary input axis 2 Upper lower stroke limit value settings The stroke limit range of the vir...

Page 148: ... bit ring address 2147483648 2147483647 The following operations are possible by the control mode Control mode Control contents Positioning Linear Speed switching Constant speed Linear When the ABS command is used at the start it starts in a direction within the 32 bits range It does not start in a direction that exceeds the 32 bits range When the INC command is used at the start it starts in the ...

Page 149: ...shown below a JOG speed restriction This is the maximum speed setting at the JOG operation for virtual axis If the JOG speed exceeds the JOG speed restriction the JOG speed is controlled with the JOG speed restriction b Parameter block No setting This is the parameter block No setting at the JOG operation The following parameter block data items are valid in the JOG operation Acceleration time Dec...

Page 150: ...put module Example Relation between an operation cycle number of input side gear teeth and maximum speed Speed Unit PLS s Number of input side gear teeth Operation cycle ms 1 10000 65535 0 22 QDS 900000000 137331200 0 44 450000000 68665600 0 88 225000000 34332800 1 77 112500000 17166400 3 55 56250000 8583200 7 11 28125000 4291600 14 2 QD 2147483647 14062500 2145800 REMARK Regardless of the speed l...

Page 151: ... error permissible range PLS only Note 1 Valid Invalid Note 1 If it is set except for the PLS or PLS s the program operation is executed as PLS automatically Note 2 It is set for every output module with a parameter of output module Example Item Specified parameter block setting value Value used for the program operation Interpolation control unit mm PLS Speed limit value 2000 00 mm min 200000 PLS...

Page 152: ... axis command signal Refer to Section 4 1 4 for details of the virtual servomotor axis command signals 3 Virtual servomotor axis monitor device Refer to Section 4 2 3 for details of the virtual servomotor axis monitor devices 4 Current value after virtual servomotor axis main shaft s differential gear Refer to Section 4 2 4 for details of the current value after virtual servomotor axis main shaft ...

Page 153: ...to virtual mode Note 4 a The input pulse is input from the external synchronous encoder at the switching from real mode to virtual mode Real mode virtual mode Note 1 switching request flag M2043 OFF ON OFF ON 231 Real mode Real mode virtual mode Note 1 switching status flag M2044 Input pulse from the external synchronous encoder Feed current value of the synchronous encoder axis Virtual mode 231 1...

Page 154: ...nput pulse from the external synchronous encoder Operation stop of the synchronous encoder axis Operation start of the synchronous encoder axis 231 231 1 Feed current value of the synchronous encoder axis PLS Real mode virtual mode Note 1 switching request flag M2043 b The control mode Note 3 of a clutch is operation in the case of external input mode Operation of the synchronous encoder and clutc...

Page 155: ...iple CPU system turned on Note 4 a When the output module is using the absolute position system continuation operation is possible However if the servomotor of the output module connected to the synchronous encoder or synchronous encoder for the absolute data method is operated by 180 or more while the power supply of the Multiple CPU system turns off continuation operation is impossible even if t...

Page 156: ...or errors occurred with the output modules per 1 system The following control is executed based on the parameter settings Refer to Table 6 2 of the synchronous encoder connected to the virtual main shaft 1 Continuation Even if a major error occurs with the output module the output module continues operation At this time the error detection signal M2407 20n turns on and the applicable error code is...

Page 157: ...ODULE During operation Operation at major error occurrence Clutch ON Clutch ON Clutch ON Major error occurrence Major error occurrence Clutch OFF Clutch OFF Clutch OFF Stop Operation continuation Synchronous encoder ...

Page 158: ...ng item Default value Setting range 1 Synchronous encoder No Q173DSCPU Q172DSCPU Q173DCPU S1 1 to 12 Q172DCPU S1 1 to 8 2 Error time operation mode Continuation Continuation Clutch OFF 1 Synchronous encoder No The synchronous encoder No is set connected to the Q172DEX Q173DPX built in interface in Motion CPU DI QDS Connecting position Synchronous encoder No P1 1 P2 2 P3 3 P4 4 P5 5 P6 6 P7 7 P8 8 ...

Page 159: ...axis command signal Refer to Section 4 1 6 for details of the synchronous encoder axis command signals 3 Synchronous encoder axis monitor device Refer to Section 4 2 5 for details of the synchronous encoder axis monitor devices 4 Current value after synchronous encoder axis main shaft s differential gear Refer to Section 4 2 6 for details of the current value after synchronous encoder axis main sh...

Page 160: ...ontrol change 1 Control change registers Axis No Device No Signal name 1 D640 D641 2 D642 D643 3 D644 D645 Signal name Real Virtual Refresh cycle Fetch cycle Signal direction 4 D646 D647 0 5 D648 D649 1 JOG speed setting At start Command device 6 D650 D651 Valid 7 D652 D653 8 D654 D655 9 D656 D657 10 D658 D659 11 D660 D661 12 D662 D663 13 D664 D665 14 D666 D667 15 D668 D669 16 D670 D671 17 D672 D6...

Page 161: ...r to Section 6 21 of the Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual REAL MODE for details of the JOG operation 2 Current value change a Current value change by the CHGA instruction Motion SFC program for which executes the servo program is shown below Current value change program of the virtual servomotor When 1 axis feed current value of the virtual servomotor is chang...

Page 162: ...ram a The current value to change uses the following devices Indirect setting Data register D Link register W Motion register Multiple CPU area device U G Direct setting Decimal constant K b Precautions When the synchronous encoder current value is changed in the real mode an error occurs and the current value change is not executed Note 1 The synchronous encoder current value change can be execut...

Page 163: ...6 24 6 DRIVE MODULE MEMO ...

Page 164: ...ice Range Clutch OFF address setting device 2 D 0 to 8191 Slippage setting device 2 W 0000 to 1FFF 0 to 7999 Clutch Slippage in position range setting device 2 Input axis side tooth count 1 U G 10000 to 10000 p 1 Note 2 Gear Output axis side tooth count 1 Speed change gear Speed change ratio setting device 1 Note 1 The range of PXn 4 to PXn F cannot be used fixed at 0 for the input device PXn 0 to...

Page 165: ...status Operation cycle Note Mode setting device Clutch ON address setting device Clutch OFF address setting device Input for every operation cycle Note Slippage setting device Clutch Slippage in position range setting device Input for every operation cycle Note Input axis side tooth count Gear Output axis side tooth count Input when the current value change of the connection source drive module vi...

Page 166: ...eters Output axis Drive module Input axis Gear gear ratio REMARK Refer to Section 7 1 2 for details of the gear parameters 7 1 2 Parameters The gear parameters are shown in Table 7 1 and the parameters shown in this table are explained in items 1 to 2 below Refer to the help of MT Developer2 for the gear parameter setting method Table 7 1 Gear Parameter List Setting range No Setting Item Default D...

Page 167: ...ard and reverse 1 Forward When the input axis rotates to the address increase direction the output axis also rotates to the address increase direction Drive module Gear Output axis rotates to the address increase direction Input axis rotates to the address increase direction 2 Reverse When the input axis rotates to the address increase direction the output axis rotates to the address decrease dire...

Page 168: ...ystem Exponential function system Linear acceleration deceleration system b Direct clutch When the clutch is switched on off output to the output axis without the acceleration deceleration processing V V V V B A t Input to clutch Output to output axis by the smoothing clutch for time constant system Clutch ON Acceleration by the smoothing processing Acceleration by the smoothing processing Clutch ...

Page 169: ...output axis Clutch OFF state The state in which pulses inputted to the clutch are not output to the output axis 2 Smoothing processing a Time constant system 1 Since the time constant is fixed the slippage of clutch changes according to the speed of drive module VAX 0 63 VBX 0 63 V VA VB SA SB t VA VB Drive module speed VA Slippage PLS at VA VB Slippage PLS at VB SA SB Smoothing time constant Clut...

Page 170: ...status signal Smoothing completion Travel value after the main shaft s differential gear t Smoothing time constant b Slippage system There are following two systems for slippage system Exponential function system Linear acceleration deceleration system 1 Exponential function system a Set the slippage indicated by the shaded area in the diagram below Slippage is recommended to be set greater than i...

Page 171: ...ssing is not executed at that point and output directly V V t t Slippage PLS Smoothing completion Smoothing processing is not executed Slippage PLS Smoothing completion Input to clutch Internal clutch status Clutch status signal Travel value after the main shaft s differential gear Output to output axis by the smoothing clutch for exponential function system d The smoothing clutch complete signal ...

Page 172: ...h Slippage PLS Clutch status ON OFF V t b Execute the smoothing processing so that the slippage may become the shaded area by the linear acceleration deceleration system at clutch ON OFF c Since the slippage remains constant even if the drive module speed changes the clutch ON OFF position can be controlled without any influence from speed changes V VA VB t tA tB SB SA VA VB Drive module speed tA ...

Page 173: ...fferential gear Output to output axis by the smoothing clutch for linear acceleration deceleration system V V t t Slippage PLS Smoothing completion Smoothing processing is not executed Smoothing completion Slippage PLS e The smoothing clutch complete signal turns ON after completion of smoothing processing ON Remainder slippage Slippage in position range OFF Smoothing processing start Clutch ON OF...

Page 174: ...s that the incremental synchronous encoder manual pulse generator is set as drive module can be set Clutch ON OFF control is executed by turning the clutch ON OFF command device on off and an external input TREN signal Synchronous encoder start signal Operations for every clutch mode are shown below 1 ON OFF mode a The clutch ON OFF control is executed by turning the clutch ON OFF command device o...

Page 175: ... When the clutch ON OFF command device is ON and the current value of virtual axis reaches an address set in the clutch ON address setting device the clutch is set to the ON state 2 When the clutch ON OFF command device is OFF and the current value of virtual axis reaches an address set in the clutch OFF address setting device the clutch is set to the OFF state b The clutch ON OFF control differs ...

Page 176: ...peration cycle OFF 0 ON ON 1 OFF OFF ON Note Refer to Section 7 2 2 Parameters for details Clutch ON OFF command device Note Clutch status signal Current value of output axis Mode setting device value ON OFF mode Address mode Clutch OFF state Clutch OFF state Clutch ON state Clutch ON address Note Clutch OFF address Note Current value of virtual axis input axis Continuance from current value at cl...

Page 177: ...FF command device is OFF the clutch is turned off and the above control b is not executed Therefore the above control is resumed by turning the clutch ON OFF command device on 2 Clutch ON OFF command device Note Clutch status signal Mode setting device value Clutch status Clutch ON address Note Clutch ON address Note Clutch OFF address Note Clutch OFF address Note 1 1 1 1 2 2 Control by address mo...

Page 178: ...nput axis 2 When the clutch status signal is ON and the current value passes through an address set in the clutch ON OFF address setting device ON Clutch status signal Clutch status Clutch ON address Note 2 Clutch OFF address Note 2 Operation cycle Number of pulses in this area are transmitted Note 1 Note 1 Number of all pulses are transmitted when the clutch OFF address clutch ON address Note 2 R...

Page 179: ... mode setting device is 3 the clutch ON OFF command device becomes valid and the following controls are executed based on the clutch ON address setting device setting travel value after clutch ON clutch OFF address setting device setting travel value before clutch ON by the clutch ON OFF command device 1 When the clutch ON OFF command device switches from OFF to ON The clutch is set to the ON stat...

Page 180: ...N OFF command device The clutch ON OFF processing of one shot mode starts at leading edge of this device Clutch ON address setting device The transmitted travel value setting travel value after clutch ON of connected drive module from turning on clutch to turning off is set A positive travel value is stored to indicate a positive direction travel value from the point of clutch ON and a negative va...

Page 181: ...g travel value that the clutch status turns from off to on to off for 1 operation cycle OFF Clutch status signal Clutch status 1 Number of pulses in this area are transmitted Note Operation cycle Note There is no transmission value when 1 is 0 OFF ON Current value of virtual axis input axis f When the mode setting device becomes 3 the clutch ON OFF control starts based on the setting data while th...

Page 182: ...sing of one shot mode it becomes valid by turning the next clutch ON OFF command device off to on j When the drive module stops during the clutch ON OFF processing by turning the clutch ON OFF command device on or if the clutch ON OFF command device is turned on though the drive module stops the one shot mode clutch does not end until the travel value condition set to the setting travel value befo...

Page 183: ...put module connected as follows 1 For a ball screw or roller The clutch ON OFF control is executed by the current travel value of virtual axis connected When a differential gear is connected to the main shaft the clutch ON OFF control is executed by the current travel value after the main shaft s differential gear 2 For a rotary table or cam The clutch ON OFF control is executed by the travel valu...

Page 184: ...command becomes valid 2 Execute the axis servo OFF command or the power supply OFF of servo amplifier off q The procedure to resume an operation after the axis servo OFF or the power supply OFF of servo amplifier during operation is shown below 1 Turn the power supply of servo amplifier on 2 Execute the axis servo ON command 3 Turn the clutch ON OFF command device on The clutch control of one shot...

Page 185: ...nal ON OFF is refreshed by the operation cycle d The current value of input axis synchronous encoder changes at the clutch ON state only OFF OFF OFF ON ON ON ON Input pulse from synchronous encoder Clutch ON OFF command device Note Clutch status signal External input TREN signal Current value of input axis Synchronous encoder Current value of output axis Clutch OFF state Clutch OFF state Clutch ON...

Page 186: ...Note The range of synchronous encoder No P1 to P8 is valid in the Q172DCPU S1 g Set all clutches connected to the same encoder No to the external input mode to use the clutch connected to an encoder in the external input mode However it is permissible to use a combination of direct clutches and smoothing clutches Example 1 Synchronous encoder is connected to a drive axis When an external input mod...

Page 187: ...F devices to the same setting Set both to external input mode Also set clutch ON OFF device to the same setting Synchronous encoder No 1 Synchronous encoder No 1 Example 3 Same synchronous encoder is connected to a drive axis and auxiliary input axis Set all the connected clutches to the external input mode Refer to examples 1 and 2 Set all to external input mode Synchronous encoder No 1 Synchrono...

Page 188: ...7 Smoothing method Time constant system Time constant system slippage system Exponential function system Linear acceleration deceleration system 8 Smoothing time constant 1 to 65535 ms 9 Slippage setting device 2 words Word device 10 Slippage in position range setting device 2 words Word device 11 Address mode clutch control system Current value within 1 virtual axis revolution Current value withi...

Page 189: ...lue are as follows Mode setting device No Name 0 ON OFF mode 1 Address mode 2 Address mode 2 3 4 One shot mode The mode setting device of except for 0 to 4 is regarded as an error and an operation is continued at the previous setting value b The following devices can be used as the mode setting device Name Setting range Data register D0 to D8191 Note 1 Link register W0 to W1FFF Motion register 0 t...

Page 190: ...ultiple CPU high speed transmission area for each CPU 4 Clutch status a This device is used to indicate the clutch ON OFF state b The following devices can be used as the clutch status Name Setting range Input X0 to X1FFF Note 1 Output Y0 to Y1FFF Internal relay M0 to M8191 Note 2 Note 3 Link relay B0 to B1FFF Annunciator F0 to F2047 Multiple CPU area device U G10000 0 to U G 10000 p 1 F Note 4 No...

Page 191: ...are dedicated devices of virtual servomotor axis synchronous encoder axis and output module cam in the virtual mode Unused areas of virtual servomotor axis and cam axis can be used as a user device Note 3 p indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU c The clutch ON OFF address settings range is as follows 1 The output module is a ball screw...

Page 192: ...s encoder Select between the following depending on the setting for address mode clutch Current value of virtual axis Current value within 1 virtual axis revolution Drive module travel value Gear ratio Nc Remainder operator Nc Number of pulses within 1 cam axis revolution Example Drive module Differential gear Clutch Cam Gear Virtual servomotor synchronous encoder Drive module travel value Gear ra...

Page 193: ...ea for each CPU c The setting range for slippage is 0 to 2147483647 PLS 9 Slippage in position range setting device 2 words a This device is used to set the remainder slippage range for judge as smoothing completion b The following devices can be used as the slippage in position range setting device Name Setting range Note 1 Data register D0 to D8191 Note 2 Link register W0 to W1FFF Motion registe...

Page 194: ...tion range setting device to use the smoothing clutch complete signal 3 Operation for smoothing clutch a Exponential function system Input to clutch V V t t Travel value after main shaft s differential gear Internal clutch status Smoothing clutch complete signal Output of output axis by slippage smoothing clutch Clutch status signal ON by acceleration smoothing completion OFF by smoothing clutch s...

Page 195: ... start e When 0 is set in the slippage in position range setting device when a clutch is connected disconnected completely Remainder slippage 0 the smoothing clutch complete signal turns on f Slippage in position range can be changed at any time g When the slippage in position range setting device is not set the smoothing clutch complete signal does not turns on h When the setting value for slippa...

Page 196: ... clutch complete signal a This device is used to confirm the completion of smoothing processing b The following devices can be used as the smoothing clutch complete signal Name Setting range Input X0 to X1FFF Note 1 Output Y0 to Y1FFF Internal relay M0 to M8191 Note 2 Note 3 Link relay B0 to B1FFF Annunciator F0 to F2047 Multiple CPU area device U G10000 0 to U G 10000 p 1 F Note 4 Note 5 Note 1 T...

Page 197: ...parameters required to use it are shown below 7 3 1 Operation This section describes the operation of speed change gear 1 The speed that the input axis speed multiplied by a speed change ratio set in the speed change ratio setting device is transmitted to output axis Speed change ratio Output axis speed Input axis speed 10000 PLS s Speed change gear Speed change ratio Output module Output axis ...

Page 198: ...re shown in Table 7 3 and the parameters shown in this table are explained in items 1 to 3 below Refer to the help of MT Developer2 for the speed change gear parameter setting method Table 7 3 Speed Change Gear Parameter List No Setting Item Default Setting range 1 Speed change ratio upper limit value 10000 0 to 65535 2 Speed change ratio lower limit value 1 0 to 65535 D0 to D8191 W0 to W1FFF 0 to...

Page 199: ...range of 0 to 65535 i e 100 times the settings actually made 0 00 to 655 35 d Set the speed change ratio upper lower limit value as formula below 0 Speed change ratio lower limit value Speed change ratio upper limit value 65535 2 Speed change ratio setting device a The device to set a speed change ratio of speed change gear b The following devices can be used as the speed change ratio setting devi...

Page 200: ...PLS Output module Drive module Output axis Differential gear Input axis Virtual main shaft Clutch Auxiliary input axis b When the input axis clutch is OFF Individual operation is possible using the auxiliary input axis since the differential gear transmits only the travel value from the auxiliary input axis to the output axis 2 When the differential gear is used to connect to the virtual main shaf...

Page 201: ...7 38 7 TRANSMISSION MODULE MEMO ...

Page 202: ... if necessary Roller Section 8 1 Ball screw Section 8 2 Rotary table Section 8 3 Cam Section 8 4 1 Output module types Output module types are shown below Module Details Applications Roller The speed control is executed with the final output axis Roller Ball screw The linear position control is executed with the final output axis Ball screw Rotary table The angle control is executed with the final...

Page 203: ...ide 2 Device Range D 0 to 8191 Number of pulses per cam shaft revolution Nc QDS 2 W 0 to 1FFF Cam No setting device 1 0 to 7999 Stroke amount setting device 2 U G 10000 to 10000 p 1 Note 1 Torque limit value setting device 1 Lower stroke limit value storage device 2 Current value within 1 virtual axis revolution storage device Main shaft side 2 Current value within 1 virtual axis revolution storag...

Page 204: ...irtual mode switching During the Virtual mode operation Refresh cycle Roller Torque limit value setting device Ball screw Torque limit value setting device Torque limit value setting device Input for every operation cycle Note Current value within 1 virtual axis revolution storage device Main shaft side Rotary table Current value within 1 virtual axis revolution storage device Auxiliary input axis...

Page 205: ...4 8 OUTPUT MODULE REMARK Note The operation cycle is set in the operation cycle setting of system basic setting Refer to the Q173D S CPU Q172D S CPU Motion controller Programming Manual COMMON for details ...

Page 206: ...tion 1 Operation a The roller is controlled with the speed that the speed travel value of drive module multiplied by a gear ratio speed change ratio of transmission module and it rotates for the travel value Roller speed Drive module speed PLS s Gear ratio Speed change ratio PLS s Number of roller revolution Drive module travel value PLS Gear ratio Speed change ratio PLS The speed travel value of ...

Page 207: ...r parameters are shown in Table 8 1 and the parameters shown in this table are explained in items 1 to 6 below Refer to the help of MT Developer2 for the roller parameter setting method Table 8 1 Roller Parameter List No Setting item Default Setting range 1 Output axis No 0 Q173DSCPU Q173DCPU S1 1 to 32 Q172DSCPU 1 to 16 Q172DCPU S1 1 to 8 2 Output unit mm mm inch 3 Roller diameter L 0 0 1 to 2147...

Page 208: ...Calculated value 100 inch Calculated value 1000 3 Permissible droop pulse value a This device is used to set the permissible droop pulse value of deviation counter b The deviation counter value is continually checked and if it becomes larger than the permissible droop pulse value the error detection signal M2407 20n turns on However since the roller axis operation continues execute the error proce...

Page 209: ...chronous encoder axis and output module cam in the virtual mode Unused areas of virtual servomotor axis and cam axis can be used as a user device Note 2 p indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU c The setting range for torque limit value is 1 to 1000 6 Comment a This device is used to create a comment such as purpose of roller axis Made ...

Page 210: ...e ball screw is commanded to the servo amplifier Drive module Clutch Ball screw Gear Gear ratio b When a clutch is used the ball screw is controlled at clutch ON 2 Control details a Feed current value is continued even if it switches from the real mode to virtual mode from the virtual mode to real mode b Backlash compensation processing is continued with the settings value of fixed parameters even...

Page 211: ...48 to 21474 83647 inch 8 Speed limit value VL 0 0 01 to 6000000 00 mm min 0 001 to 600000 000 inch min 9 Torque limit value setting device 1 word 300 word device D W U G 10 Comment None 32 characters 1 Output unit a This device is used to set the unit mm inch of ball screw b Set the same unit as used in the real mode unit in the fixed parameters for the ball screw unit If the ball screw unit diffe...

Page 212: ...nge in the virtual mode b When it exceeds the stroke range during operation the error detection signal M2407 20n turns on However a stop processing of ball screw axis is not executed 5 Speed limit value VL a This device is used to set the maximum speed of ball screw axis b Set the speed limit value within the following range 1 Unit mm VL 104 NP 1 60 P 2147483647 PLS s 2 Unit inch VL 105 NP 1 60 P ...

Page 213: ...o W1FFF Motion register 0 to 7999 Multiple CPU area device U G10000 to U G 10000 p 1 Note 2 Note 1 D800 to D1559 are dedicated devices of virtual servomotor axis synchronous encoder axis and output module Cam in the virtual mode Unused areas of virtual servomotor axis and cam axis can be used as a user device Note 2 p indicates the user setting area points of the Multiple CPU high speed transmissi...

Page 214: ...tary table travel value Drive module travel value PLS Gear ratio PLS The speed travel value of drive module transmitted to the rotary table is commanded to the servo amplifier Drive module Clutch Gear Gear ratio Rotary table b When a clutch is used the rotary table is controlled at clutch ON 2 Control details a Feed current value is continued even if it switches from the real mode to virtual mode ...

Page 215: ...ote 1 7 Torque limit value setting device 1 word 300 word device D W U G 8 Comment None 32 characters 9 Current value within 1 virtual axis revolution storage device Main shaft side 2 words word device D W U G 10 Current value within 1 virtual axis revolution storage device Auxiliary input axis side 2 words word device D W U G Note 1 When the speed control 10 multiplied speed setting for degree ax...

Page 216: ... the stroke range in the virtual mode The upper lower stroke limit setting determines whether the stroke limit is valid or not If the upper stroke limit value is equal to the lower stroke limit value the stroke limit is invalid b When it exceeds the stroke range during operation the error detection signal M2407 20n turns on However a stop processing of rotary table axis is not executed 4 Speed lim...

Page 217: ... user setting area points of the Multiple CPU high speed transmission area for each CPU c The setting range for torque limit value is 1 to 1000 6 Comment a This device is used to create a comment such as purpose of rotary table axis Made comment can be displayed at monitoring using MT Developer2 b Comments up to 32 characters long can be created 7 Current value within 1 virtual axis revolution sto...

Page 218: ... value within 1 virtual axis revolution range of 0 to ND 1 PLS Therefore set the address value within the range of 0 to ND 1 PLS in the clutch ON OFF address setting device e The current value within 1 virtual axis revolution reference position 0 is set by turning the address clutch reference setting command M3213 20n on and switching to the virtual mode The current values within 1 virtual axis re...

Page 219: ...xis revolution storage device Auxiliary input axis side 2 words This parameter is set when the address mode clutch is set at the rotary table auxiliary input axis side Drive module Current value within 1 virtual axis revolution Address mode clutch Rotary table Drive module a By setting the current value within 1 virtual axis revolution of rotary table auxiliary input axis side for the current valu...

Page 220: ... value within 1 virtual axis revolution range of 0 to ND 1 PLS Therefore set the address value within the range of 0 to ND 1 PLS in the clutch ON OFF address setting device e The current value within 1 virtual axis revolution reference position 0 is set by turning the address clutch reference setting command M3213 20n on and switching to the virtual mode The current values within 1 virtual axis re...

Page 221: ...s side Synchronous encoder Current value within 1 virtual axis revolution of auxiliary input axis side Set the clutch status Clutch ON address 0 Clutch OFF address 10000 Output axis current value Current value within 1 output axis revolution Note The rotation of output axis is reversed by differential gear degree 359 99999 Operation example Main shaft side clutch OFF POINT When the number of pulse...

Page 222: ...ead point Upper dead point Stroke amount Same operation Pulse generator Servo motor Reduction gear Moving part Stroke amount Servo amplifier Q61P Q03UD CPU Q173D CPU QX41 Q172D LX QX41 2 The following two types data required to use a cam Settings item at cam data creation It is set at cam data cam curve creation using the MT Developer2 Refer to Section 8 4 2 Cam parameters These are the parameters...

Page 223: ...ue lower stroke limit value stroke amount and cam No cam pattern at the switching from real mode to virtual mode 3 Operation A value calculated by the stroke ratio of cam data table based on the current value within 1 cam shaft revolution is output Feed current value Lower stroke limit value Stroke amount Stroke ratio The current value within 1 cam shaft revolution is set by the travel value that ...

Page 224: ...amount is outside the range of 1 to 2147483647 231 1 Lower stroke limit value Stroke amount 2147483647 231 1 is not satisfied in the two way cam mode The control mode of cam No is not same 2 Processing for the cam No stroke amount error If the error occurs at switching from the real mode to virtual mode it does not switch to the virtual mode If the error occurs at reaching the preset stroke amount...

Page 225: ...ge Motion SFC program for which executes the current value change CHGA C is shown below CHGA C Axis 1 1000PLS END PX000 M2001 Current value change CHGA C PX000 M2043 M2044 M2001 G10 G20 K10 Current value change Wait until PX000 real mode virtual mode switching request and switching status turn on and axis 1 start accept flag turn off Current value within 1 cam shaft revolution change control Axis ...

Page 226: ...g cam No stroke amount during operation Motion SFC program for switching cam No or stroke amount is shown below D2000 K1 D2002L K60000 END PX001 Cam data value setting example Cam data value setting Cam data value setting condition PX001 turn on Cam No setting device set Stroke amount setting device set G10 F10 Note Example of the above Motion SFC program is started using the automatic start or se...

Page 227: ...order to output the all point data of resolution correctly Number of pulses per cam revolution Nc Resolution Time required per cam revolution Operation cycle Resolution 3 Stroke amount cam No change point a This device is used to set a position at which the stroke amount cam No is switched during operation b When the set switching position range 0 to resolution 1 is reached if the stroke amount ca...

Page 228: ...ode With the lower stroke limit value lower dead point as the operation start position positioning is executed by feeding one stroke amount per cycle in a fixed direction Stroke amount 1 cycle 1 cycle 1 cycle Current value Lower stroke limit value Lower dead point V t t Cam pattern Operation example Stroke amount 1 cycle Stroke amount 1 cycle 1 cycle 1 cycle Output value Address Resolution 1 Lower...

Page 229: ...o 32767 divisions in the set resolution 32767 0 Stroke amount 1 cycle Stroke ratio Lower stroke limit value Lower dead point Cam curve t 0 Output value Address b The cam data table is automatically created by creating the cam curve using MT Developer2 The cam curves which can be used in the Motion CPU are shown in Section 8 4 4 ...

Page 230: ...oke amount setting device 2 words Word device D W U G 7 Torque limit value setting device 1 word 300 word device D W U G 8 Comment None 32 characters 9 Lower stroke limit value storage device 2 words word device D W U G 10 Current value within 1 virtual axis revolution storage device Main shaft side 2 words word device D W U G 11 Current value within 1 virtual axis revolution storage device Auxili...

Page 231: ...y which the cam No to control b The following devices can be set as the cam No setting device Name Setting range Data register D0 to D8191 Note 1 Link register W0 to W1FFF Motion register 0 to 7999 Multiple CPU area device U G10000 to U G 10000 p 1 Note 2 Note 1 D800 to D1559 are dedicated devices of virtual servomotor axis synchronous encoder axis and output module Cam in the virtual mode Unused ...

Page 232: ...synchronous encoder axis and output module Cam in the virtual mode Unused areas of virtual servomotor axis and cam axis can be used as a user device Note 3 p indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU c Set the stroke amount within the following range Setting range in the two way cam mode Unit Setting range mm Lower stroke limit value Strok...

Page 233: ...et the torque control is executed with the preset device value In the virtual mode the torque limit setting is always valid If the device is not set the torque limit is set at 300 b The following devices can be set as the torque limit value setting device Name Setting range Data register D0 to D8191 Note 1 Link register W0 to W1FFF Motion register 0 to 7999 Multiple CPU area device U G10000 to U G...

Page 234: ...er setting area points of the Multiple CPU high speed transmission area for each CPU Note 4 Only device of the self CPU can be used c The lower stroke limit value is range of 2147483648 231 to 2147483647 231 1 The lower stroke limit value is determined as follows for each unit setting Unit Setting range mm Lower stroke limit value 10 1 µm inch Lower stroke limit value 10 5 inch degree QDS Lower st...

Page 235: ...rent value within 1 virtual axis revolution range of 0 to NC 1 PLS Therefore set the address value within the range of 0 to NC 1 PLS in the clutch ON OFF address setting device e The current value within 1 virtual axis revolution reference position 0 is set by turning the address clutch reference setting command M3213 20n on and switching to the virtual mode The current values within 1 virtual axi...

Page 236: ... 10000 PLS Cam Set the clutch ON OFF in this current value Current value within 1 virtual axis revolution Virtual servomotor current value Synchronous encoder Current value within 1 virtual axis revolution Set the clutch status Clutch ON address 0 Clutch OFF address 0 Cam pattern Stroke amount Current value within 1 output axis revolution Operation example ...

Page 237: ...in 1 virtual axis revolution of auxiliary input axis side is updated regardless of clutch ON OFF b The following devices can be set as the current value within 1 virtual axis revolution storage device Name Setting range Note 1 Data register D0 to D8191 Note 2 Link register W0 to W1FFF Motion register 0 to 7999 Multiple CPU area device U G10000 to U G 10000 p 1 Note 3 Note 4 Note 1 Set an even numb...

Page 238: ... the main shaft and the auxiliary input axis is set to 0 at this time If the address clutch reference setting command M3213 20n is turned off and it switches to the virtual mode the following processing is executed depending on the drive module If the drive module is a virtual servomotor or an incremental synchronous encoder operation will be continued from the current value within 1 virtual axis ...

Page 239: ...n Stroke amount Current value within 1 output axis revolution Main shaft side clutch OFF Set the clutch ON OFF in this current value Current value within 1 virtual axis revolution Virtual servomotor current value of auxiliary input axis side Synchronous encoder Current value within 1 virtual axis revolution of auxiliary input axis side Note The rotation of output axis is reversed by differential g...

Page 240: ...meters to use the device M5488 to M5519 allocated to Q17 CPUN Q17 HCPU Note 4 p indicates the user setting area points of the Multiple CPU high speed transmission area for each CPU c The following operation is executed depending on the setting unit by turning the cam ball screw switching command on corresponding to each output axis No mm Same operation as ball screw inch Same operation as ball scr...

Page 241: ...code 5000 will occur f Continue Virtual Mode is set for operation on servo error if the feed current value of output axis is outside the range of cam operation Lower stroke limit value to Stroke amount by servo error for two way cam return the output axis to within cam operation range 1 Remove servo error cause 2 Turn the cam ball screw switching command ON 3 Execute the servo error reset M3208 20...

Page 242: ...0 8 00 4 00 1 09 5th curve 1 88 5 77 6 69 3 52 1 19 Cycloid 2 00 6 28 8 16 4 00 1 26 Distorted trapezoid 2 00 4 89 8 09 4 00 1 20 Ta 1 8 Distorted sine 1 76 5 53 5 46 3 10 1 13 Ta 1 8 Symmetrical curves Distorted constant speed 1 28 8 01 5 73 1 63 1 07 Ta 1 16 Ta 1 4 Trapecloid 2 18 6 17 10 84 4 76 1 28 m 1 Two dwelling curve Asymmetrical curves Reverse trapecloid 2 18 6 17 10 84 4 76 1 28 m 1 One...

Page 243: ... Phase compensation processing valid flag Bit X0 to X1FFF Note 4 Y0 to Y1FFF M0 to M8191 Note 5 F0 to F2047 B0 to B1FFF U G10000 0 to U G 10000 p 1 F Note 3 4 Compensation amount monitor device 2 D0 to D8191 Note 1 Note 2 W0 to W1FFF Note 2 U G10000 to U G 10000 p 1 Note 2 Note 3 Note 6 Note 1 D800 to D1559 are dedicated devices of virtual servomotor axis synchronous encoder axis and output module...

Page 244: ... to set to execute leading edge trailing edge smoothly so that a servomotor does not make rapid acceleration deceleration at phase compensation Set the number of operation cycles as setting unit Example For operation cycle is 0 88 ms and phase compensation time constant is 50 times The phase compensation time constant becomes 0 88 50 44 ms Phase compensation time constant is input at the phase com...

Page 245: ...ide the setting range a minor error 6300 will occur for applicable axis a phase compensation is executed without soothing processing POINT 1 It must be reduced a phase compensation time constant to use for delay compensation of synchronous encoder 2 When driving 2 axes synchronizing with virtual servomotor even if the position control gains 1 of each axis differ it can be compensated to eliminate ...

Page 246: ...urning the M2043 ON 2 Real mode virtual mode confirmation The current control mode state real or virtual can be confirmed by turning the real mode virtual mode switching status flag M2044 ON OFF M2044 OFF Real mode state M2044 ON Virtual mode state 9 1 Switching from the Real Mode to Virtual Mode When the real mode to virtual mode switching is requested M2043 OFF ON the following check is executed...

Page 247: ...cam data using the Motion SFC program changed NO YES Has the mechanical system program been registered YES NO 4 Does the axis No set in the system settings match the output axis set in the mechanical system program YES NO 5 Is the all axes servo ON command M2042 ON ON OFF 6 Does not the servo start processing by the servo error reset executed at the servo amplifier axis used Comple tion During pro...

Page 248: ...value to stroke amount YES NO 2 Does not lower stroke limit value stroke amount exceed 2147483647 231 1 in the two way cam mode YES NO When the clutch connected to between the drive module and synchronous encoder is external input mode are the clutch ON OFF device the same device YES NO 3 When the clutch connected to between the drive module and synchronous encoder is external input mode are the e...

Page 249: ... real mode and switch to virtual mode again b When an error is detected the error detection signal M2407 20n of the applicable output module turns on and the error code is stored in the minor major error code storage register Table 9 3 Check Items List for Synchronous Encoder Axis Applicable synchronous encoder Check sequence Check item External synchronous encoder Output module Normal condition A...

Page 250: ...4 Check Items for VIRTUAL Mode to REAL Mode Switching Check item Normal condition Abnormal condition Is the virtual axis stopped M2001 to M2032 of virtual axis OFF Virtual axis OFF Virtual axis ON even if 1 axis Virtual axis and real mode axis stopped M2001 to M2032 OFF Operating system software version 00G or before in the Q17 DCPU S1 OFF ON even if 1 axis 9 2 2 Switching by the operating system ...

Page 251: ...error in virtual mode are shown below Operation mode Details Operation on servo error Operation for other axes Return condition to virtual mode Return to real mode Motion CPU switches to real mode Rapid stop After error release in real mode Continue virtual mode Virtual mode continues Only axis on servo error is servo OFF and servomotor coasts Operation continues After error release in virtual mod...

Page 252: ... Real mode to virtual mode switching request Virtual mode to real mode switching request Real mode virtual mode switching request M2043 Real mode virtual mode switching status M2044 Real mode Virtual mode Real mode OFF OFF ON ON Note 1 Virtual mode to real mode switching processing Motion SFC program for which executes the motion control step of real mode and virtual mode is shown below Program Ex...

Page 253: ...X000 and axis 1 start accept flag turn off Note Example of the above Motion SFC program is started using the automatic start or sequence program 2 M2043 processing during the TEST mode using MT Developer2 M2043 ON OFF Real mode virtual mode switching request is ignored during the test mode using MT Developer2 Real mode virtual mode switching can be executed using MT Developer2 during TEST mode ope...

Page 254: ...d stop deceleration time of parameter block Immediate stop Immediate stop without deceleration Because the synchronous encoder axis becomes the input immediate stop operation should be executed after the synchronous encoder axis has been stopped from the external input except for abnormal stops such as the forced stop or a servo error occurrence etc Example M2000 is OFF All axes servo OFF command ...

Page 255: ...rvo OFF command M2042 OFF Command using MT Developer2 in the TEST mode Deceleration stop Immediate input stop Note 1 4 PLC ready flag M2000 OFF Deceleration stop Immediate input stop Note 1 5 Motion CPU stop Deceleration stop Immediate input stop Note 1 6 All axes rapid stop from MT Developer2 Rapid stop Immediate input stop Note 1 7 Stop from MT Developer2 in the TEST mode All axes Deceleration s...

Page 256: ...on discrepancy between the virtual axis and output module and stop After release the forced stop re align the output module in the real mode switch the synchronization discrepancy warning M2046 OFF then switch back to the virtual mode to resume operation Applicable output module Servo error Servo error code set Servo OFF state after immediate stop for error axis only Operation is different accordi...

Page 257: ...9 12 9 REAL MODE VIRTUAL MODE SWITCHING AND STOP RE START MEMO ...

Page 258: ...ed in the mixed function of virtual mode real mode a positioning control of axis which is not used in the mechanical system program can be executed simultaneously during the mechanical system program Example of program is shown below Real mode G100 M2049 Servo ON accept K10 Real 1 INC 1 Axis 5 20000 PLS Speed 200000 PLS s END Motion SFC program Transfer Servo program Servo amplifier Axis 5 Servomo...

Page 259: ...al mode axis setting in the mechanical system program editor 2 When a fixed parameter of each axis is changed be sure to execute Mechanical System Program Conversion 3 Axis No set in the Real mode axis setting cannot be set as virtual servomotor axis No And the output axis No set in the mechanical system program cannot be also set as real mode axis No 4 Operation cycle over may occur for default o...

Page 260: ...vo instructions High speed oscillation OSC Ver Positioning control with the torque limit value set in the servo program parameter block JOG operation Control with JOG operation data Speed torque control QDS Control with speed torque control data Manual pulse generator operation Ver Current value change D P CHGA Jn Note CHGA Speed change D P CHGV CHGV Torque limit value change D P CHGT CHGT Torque ...

Page 261: ...o for parameter setting Refer to the Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual REAL MODE for details Current value change Use D P CHGA Jn Note CHGA instruction Set a real mode axis No as axis No When the D P CHGA Cn Note instruction is executed the instruction is ignored When the CHGA C instruction is executed to real mode axis the instruction is ignored Speed change U...

Page 262: ...P on during operation External upper LS signal FLS turns off during travel to forward direction address increase direction Major error error code 11030 occurs Operation continues for axis without clutch Operation is controlled based on the operation mode on error for axis with clutch Major error error code 1001 occurs by turning the external upper LS signal FLS off at start to forward direction an...

Page 263: ...7 DCPU S1 Invalid during positioning control 6 Cautions a For the operating system software version 00G or before in the Q17 DCPU S1 axis operation current value speed and torque limit value cannot be changed for all axes during mode switching b When the feed current value of real mode axis is outside the stroke limit range at virtual mode switching an error will occur at start of real mode axis U...

Page 264: ...dule is valid c Control the command torque by setting torque command value in the torque command device set in speed torque control data same as real mode Torque limit value change request D P CHGT CHGT is invalid no operation and the torque limit value to servo amplifier can be changed within the range of torque limit value at speed torque control by the value of torque limit value setting device...

Page 265: ...re stroke limit A minor error error code 6030 will occur The position of motor reached to hardware stroke limit A major error error code 11030 11040 will occur and operation continues for axis without clutch Operation is controlled based on the operation mode on error for axis with clutch The PLC ready flag M2000 turned OFF An error at real mode virtual mode switching error code 4094 F002 will occ...

Page 266: ... executed in the real mode axis In this case the control follows the control during real mode The real mode axis can be switched from virtual to real mode during speed torque control Refer to the Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual REAL MODE for details of operation during real mode ...

Page 267: ...10 10 10 AUXILIARY AND APPLIED FUNCTIONS MEMO ...

Page 268: ...erroneous servo program is stored in the error program No storage register SD516 The error code is stored in the error item information register SD517 2 Positioning error a Positioning errors occurs at the positioning start or during positioning control There are minor errors major errors and servo errors 1 Minor errors These errors occur in the Motion SFC program or servo program and the error co...

Page 269: ...inor error code D6 D26 D46 D66 D86 D106 D126 D146 D166 D186 D206 D226 Major error code D7 D27 D47 D67 D87 D107 D127 D147 D167 D187 D207 D227 Output module Servo error code D8 D28 D48 D68 D88 D108 D128 D148 D168 D188 D208 D228 Error code storage register Device Error class Axis13 Axis14 Axis15 Axis16 Axis17 Axis18 Axis19 Axis20 Axis21 Axis22 Axis23 Axis24 Minor error code D922 D932 D942 D952 D962 D...

Page 270: ...on to off When the check shown in Section 9 1 and 9 2 is executed and if error is detected it is as follows It remains the current mode without the real mode virtual mode switching The real mode virtual mode switching error detection flag M2045 turns on The error codes are stored in the real mode virtual mode switching error information SD504 to SD506 POINT The axis error code among the error code...

Page 271: ...Axis No 1 to 16 Q172DCPU S1 Axis No 1 to 8 1 Axis 8 Test mode request error The controlling signal 1 is stored in SD510 b7 axis 8 Decimal Hexadecimal b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 SD510 SD511 SD510 128 0080H SD511 0 0000H 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 Axis 12 20 Test mode request error The controlling signal 1 is stored in SD510 b11 axis ...

Page 272: ...start by the output module error also cannot operate System 1 Drive module A Start impossible Output module a Output module b Output module c Drive module B Differential gear Errors System 2 Drive module C Differential gear Output module e Output module d Drive module A System 3 Drive module B Output module f Output module g 1 If an error occurs at any of the output module a b c for system 1 a dri...

Page 273: ...d during the speed switching control or constant speed control a deceleration stop is made 3 If an error occurs in one servo program all servo programs do not execute during the simultaneous start 2 Set the travel value within the range of 0 to 231 1 1 The command speed is outside the range of 1 to the speed limit value 2 The command speed is outside the setting range Unit Speed setting range mm 1...

Page 274: ... range degree 0 to 35999999 10 5 degree 1 If the control unit is degree set the central point address within the range of 0 to 35999999 n10 Note Central point setting error At the central point specified circular interpolation At the central point specified helical interpolation 2 The central point is set to 2147483648 H80000000 at the positioning start for incremental data method Positioning cont...

Page 275: ...starting axis of the specified servo program overlap 3 Do not overlap the starting axis 4 The real mode program and virtual mode program are mixed 4 Do not allow mixture of the real mode program and virtual mode program 19 START instruction setting error 5 The real axis program and command generation axis program are mixed 5 Do not allow mixture of the real axis program and command generation axis...

Page 276: ...ng control does not start Review the devices of home position return data for indirect setting 45 The acceleration section 1 ratio is outside the range of 0 0 to 100 0 46 The acceleration section 2 ratio is outside the range of 0 0 to 100 0 47 The deceleration section 1 ratio is outside the range of 0 0 to 100 0 48 The deceleration section 2 ratio is outside the range of 0 0 to 100 0 49 Accelerati...

Page 277: ...ruction of Motion dedicated instruction 1 Unused axis of the system setting is set in the servo program start 2 It was started by setting the real mode axis in the virtual servo program 3 It was started in the condition that the real mode axis had been mixed with virtual axis in the interpolation axis 906 Axis No setting error 4 It was started by setting the virtual axis in the real mode program i...

Page 278: ...nge by the home position return or current value change 106 Note Positioning is outside the range of stroke limit Perform the positioning within the range of stroke limit The address that does not generate an arc is set at auxiliary point specified circular interpolation or auxiliary point specified helical interpolation Relationship between the start point auxiliary point and end point Correct th...

Page 279: ...tion Relationship between the start point central point and end point Correct the addresses of the servo program The central point specified circular interpolation or central point specified helical interpolation was started in the control unit degree axis which is stroke limit invalid Make the stroke limit valid for the control unit degree axis starts the central point specified circular interpol...

Page 280: ... for the position command device of position follow up control 151 Not allowed axis started in the virtual mode It cannot be started with error at real mode virtual mode switching 152 It started at the virtual mode and during deceleration by all axes servo OFF M2042 OFF 153 It started at the virtual mode and during deceleration by occurrence of the output module servo error Positioning control doe...

Page 281: ...the reverse direction was set during the speed switching control Set the speed switching point between the previous speed switching point address and the end point address 215 The same servo program was executed again Rapid stop Correct the Motion SFC program When the control unit is degree during the position follow up control the command address exceeded the range of 0 to 35999999 When the contr...

Page 282: ...eleration deceleration 2 Advanced S curve acceleration deceleration Do not execute the target position change to the program where the FIN acceleration deceleration or the advanced S curve acceleration deceleration is set Set the acceleration deceleration system of the parameter block or the servo program to the trapezoid S curve acceleration deceleration 264 In reference axis specified linear int...

Page 283: ...which was not compatible with target position change Target position is not changed Change the target position for the axes operated by the following servo instructions 1 Linear interpolation control 2 Fixed pitch feed operation 3 Constant speed control Q172DEX or encoder hardware error Check replace the Q172DEX or encoder Disconnected encoder cable Immediate input stop Check the encoder cable 115...

Page 284: ...rvo amplifier display servo error code 8008 20n is the same as the LED of servo amplifier Ver CAUTION If a controller servo amplifier self diagnosis error occurs check the points stated in this manual and clear the error List of servo errors are shown in next page or later Refer to the Servo amplifier Instruction Manual for details Servo amplifier type Instruction manual name MR J4 B SSCNET H inte...

Page 285: ... error 7 14 8 Control process error 8 14 9 Control process error 9 2014 14 A Control process error Control process error 10 15 1 EEP ROM error at power on 2015 15 2 Memory error 2 EEP ROM EEP ROM error during operation 16 1 Encoder initial communication Receive data error 1 16 2 Encoder initial communication Receive data error 2 16 3 Encoder initial communication Receive data error 3 16 5 Encoder ...

Page 286: ...cation error 1 Encoder normal communication Receive data error 5 21 1 Encoder error 1 21 2 Encoder data update error 21 3 Encoder data waveform error 21 4 Encoder non signal error 21 5 Encoder hardware error 1 21 6 Encoder hardware error 2 2021 21 9 Encoder normal communication error 2 Encoder error 2 24 1 Ground fault detected at hardware detection circuit 2024 24 2 Main circuit error Ground faul...

Page 287: ... error by position deviation 42 2 Servo control error by speed deviation 42 3 Servo control error Servo control error by torque thrust deviation 42 8 Fully closed loop control error by position deviation 42 9 Fully closed loop control error by speed deviation 2042 42 A Fully closed loop control error Fully closed loop control error by position deviation during command stop 2045 45 1 Main circuit d...

Page 288: ... timing error STO2 off 1E 1 Encoder malfunction 2063 1E 2 Encoder initial communication error 2 Load side encoder malfunction 1F 1 Incompatible encoder 2064 1F 2 Encoder initial communication error 3 Incompatible load side encoder 70 1 Load side encoder initial communication Receive data error 1 70 2 Load side encoder initial communication Receive data error 2 70 3 Load side encoder initial commun...

Page 289: ... 1 72 6 Load side encoder hardware error 2 2072 72 9 Load side encoder normal communication error 2 Load side encoder data error 2 2088 888 Watchdog Watchdog 2091 91 1 Servo amplifier overheat warning Main circuit device overheat warning 95 1 STO1 off detection 2095 95 2 STO warning STO2 off detection 92 1 Encoder battery cable disconnection warning 2102 92 3 Battery cable disconnection warning Ba...

Page 290: ...rning MR J4W B use 2152 EC 1 Overload warning 2 Overload warning 2 2153 ED 1 Output watt excess warning Output watt excess warning F0 1 Instantaneous power failure tough drive warning 2160 F0 3 Tough drive warning Vibration tough drive warning F2 1 Drive recorder Area writing time out warning 2162 F2 2 Drive recorder Miswriting warning Drive recorder Data miswriting warning 2163 F3 1 Oscillation d...

Page 291: ...r excessive 2060 1A Motor combination error 2082 82 Master slave operation error 1 2088 888 Watchdog 2102 92 Battery cable disconnection warning 2106 96 Home position setting warning 2116 9F Battery warning 2140 E0 Excessive regeneration warning 2141 E1 Overload warning 1 2143 E3 Absolute position counter warning 2146 E6 Servo forced stop warning 2147 E7 Controller forced stop warning 2148 E8 Cool...

Page 292: ...B02 Vibration suppression control tuning mode advanced vibration suppression control 2360 2660 PB41 2322 2622 PB03 For manufacturer setting 2361 2661 PB42 2323 2623 PB04 Feed forward gain 2362 2662 PB43 2324 2624 PB05 For manufacturer setting 2363 2663 PB44 For manufacturer setting 2325 2625 PB06 Ratio of load inertia moment to servo motor inertia moment 2364 2664 PB45 Vibration suppression contro...

Page 293: ...730 PE02 2392 2692 PC28 2431 2731 PE03 2393 2693 PC29 2432 2732 PE04 2394 2694 PC30 2433 2733 PE05 2395 2695 PC31 2434 2734 PE06 2396 2696 PC32 2435 2735 PE07 2397 2697 PD01 2436 2736 PE08 2398 2698 PD02 2437 2737 PE09 2399 2699 PD03 2438 2738 PE10 2400 2700 PD04 2439 2739 PE11 2401 2701 PD05 2440 2740 PE12 2402 2702 PD06 For manufacturer setting 2441 2741 PE13 2403 2703 PD07 Output signal device ...

Page 294: ...t 2 3 2463 2763 PE35 2457 2757 PE29 Filter coefficient 2 4 2464 2764 PE36 2458 2758 PE30 Filter coefficient 2 5 2465 2765 PE37 2459 2759 PE31 Filter coefficient 2 6 2466 2766 PE38 2460 2760 PE32 Filter coefficient 2 7 2467 2767 PE39 2461 2761 PE33 Filter coefficient 2 8 2468 2768 PE40 For manufacturer setting Note The details are different when using the servo amplifiers with a large capacity Refe...

Page 295: ...data error 3 17 1 AD converter error 17 2 Current feedback data error 17 3 Custom IC error 17 4 Amplifier detection signal error 17 5 Rotary switch error 2017 17 6 Board error DIP switch error 19 1 Flash ROM error 1 2019 19 2 Memory error 3 Flash ROM Flash ROM error 2 20 1 Encoder receive data error 1 20 2 Encoder receive data error 2 20 3 Encoder receive data error 3 20 5 Encoder transmission dat...

Page 296: ...tion function during a stop 2033 33 1 Overvoltage Main circuit voltage error 34 1 SSCNET receive data error 34 2 SSCNET communication connector connection error 34 3 Communication data error 2034 34 4 SSCNET receive error 1 Hardware error signal detection 2035 35 1 Command frequency error Command frequency error 2036 36 1 SSCNET receive error 2 Continuous communication data error Linear servo cont...

Page 297: ... Note 2 2060 1A 1 Motor combination error Motor combination error 2A 1 Linear encoder side error 1 2A 2 Linear encoder side error 2 2A 3 Linear encoder side error 3 2A 4 Linear encoder side error 4 2A 5 Linear encoder side error 5 2A 6 Linear encoder side error 6 2A 7 Linear encoder side error 7 2061 2A 8 Linear encoder error 1 Linear encoder side error 8 Linear servo motor use 2063 1E 1 Encoder i...

Page 298: ...ion warning Decreased cooling fan speed warning E9 1 Ready on signal on at main circuit off E9 2 Bus voltage drop during low speed operation Note 1 2149 E9 3 Main circuit off warning Servo on signal on at main circuit off 2151 EB 1 The other axis fault warning The other axis fault warning 2152 EC 1 Overload warning 2 Overload warning 2 2153 ED 1 Output watt excess warning Output watt excess 2301 t...

Page 299: ...ting 2357 2657 PB38 2319 2619 PA19 Parameter write inhibit 2358 2658 PB39 2320 2620 PB01 Adaptive tuning mode adaptive filter 2359 2659 PB40 2321 2621 PB02 Vibration suppression control tuning mode advanced vibration suppression control 2360 2660 PB41 2322 2622 PB03 For manufacturer setting 2361 2661 PB42 2323 2623 PB04 Feed forward gain 2362 2662 PB43 2324 2624 PB05 For manufacturer setting 2363 ...

Page 300: ...r manufacturer setting 2396 2696 PC32 2485 2785 Po01 Function selection O 1 2397 2697 PD01 2486 2786 Po02 Axis selection for graphing analog data MR Configurator 2398 2698 PD02 2487 2787 Po03 Axis selection for graphing digtal data MR Configurator 2399 2699 PD03 2488 2788 Po04 Function selection O 2 2400 2700 PD04 2489 2789 Po05 2401 2701 PD05 2490 2790 Po06 2402 2702 PD06 For manufacturer setting...

Page 301: ...quency alarm 2036 36 Receive error 2 2042 42 Linear servo control error 2045 45 Main circuit device overheat 2046 46 Linear servo motor overheat 2047 47 Cooling fan alarm 2050 50 Overload 1 2051 51 Overload 2 2052 52 Error excessive 2061 2A Linear encoder error 1 2088 888 Watchdog 2106 96 Home position setting error 2140 E0 Excessive regeneration warning 2141 E1 Overload warning 1 2142 E2 Linear s...

Page 302: ...9 2619 PA19 Parameter write inhibit 2359 2659 PB40 2320 2620 PB01 Adaptive tuning mode adaptive filter 2360 2660 PB41 2321 2621 PB02 Vibration suppression control tuning mode advanced vibration suppression control 2361 2661 PB42 2322 2622 PB03 For manufacturer setting 2362 2662 PB43 2323 2623 PB04 Feed forward gain 2363 2663 PB44 For manufacturer setting 2324 2624 PB05 For manufacturer setting 236...

Page 303: ...tion 1 CN3 13 2449 2749 PE21 2404 2704 PD08 Output signal device selection 2 CN3 9 2450 2750 PE22 2405 2705 PD09 Output signal device selection 3 CN3 15 2451 2751 PE23 2406 2706 PD10 For manufacturer setting 2452 2752 PE24 2407 2707 PD11 Input filter setting 2453 2753 PE25 For manufacturer setting 2408 2708 PD12 2454 2754 PE26 Filter coefficient 2 1 2409 2709 PD13 For manufacturer setting 2455 275...

Page 304: ...n level 2521 2821 PS21 2508 2808 PS08 Linear function selection 3 2522 2822 PS22 2509 2809 PS09 Magnetic pole detection voltage level 2523 2823 PS23 2510 2810 PS10 At magnetic pole detection current detection method Identification signal frequency 2524 2824 PS24 2511 2811 PS11 At magnetic pole detection current detection method Identification signal amplitude 2525 2825 PS25 2512 2812 PS12 2526 282...

Page 305: ... 2 2042 42 Fully closed control error detection 2045 45 Main circuit device overheat 2046 46 Servo motor overheat 2047 47 Cooling fan alarm 2050 50 Overload 1 2051 51 Overload 2 2052 52 Error excessive 2060 1A Motor combination error 2061 2A Linear encoder error 1 2070 70 Load side encoder error 1 2071 71 Load side encoder error 2 2088 888 Watchdog 2106 96 Home position setting error 2140 E0 Exces...

Page 306: ...59 2659 PB40 2320 2620 PB01 Adaptive tuning mode adaptive filter 2360 2660 PB41 2321 2621 PB02 Vibration suppression control tuning mode advanced vibration suppression control 2361 2661 PB42 2322 2622 PB03 For manufacturer setting 2362 2662 PB43 2323 2623 PB04 Feed forward gain 2363 2663 PB44 For manufacturer setting 2324 2624 PB05 For manufacturer setting 2364 2664 PB45 Vibration suppression cont...

Page 307: ...ck filter 2396 2696 PC32 2437 2737 PE09 For manufacturer setting 2397 2697 PD01 2438 2738 PE10 Fully closed loop selection 3 2398 2698 PD02 2439 2739 PE11 2399 2699 PD03 2440 2740 PE12 2400 2700 PD04 2441 2741 PE13 2401 2701 PD05 2442 2742 PE14 2402 2702 PD06 For manufacturer setting 2443 2743 PE15 2403 2703 PD07 Output signal device selection 1 CN3 13 2444 2744 PE16 2404 2704 PD08 Output signal d...

Page 308: ...899 error detail Continued Error code Parameter No Name Error code Parameter No Name 2463 2763 PE35 Fully closed loop feedback pulse electronic gear 2 denominator 2466 2766 PE38 2464 2764 PE36 2467 2767 PE39 2465 2765 PE37 For manufacturer setting 2468 2768 PE40 For manufacturer setting ...

Page 309: ...device overheat 2046 46 Direct drive motor overheat 2047 47 Cooling fan alarm 2050 50 Overload 1 2051 51 Overload 2 2052 52 Error excessive 2060 1A Motor combination error 2064 1F Encoder combination error 2088 888 Watchdog 2102 92 Battery cable disconnection warning 2106 96 Home position setting error 2116 9F Battery warning 2140 E0 Excessive regeneration warning 2141 E1 Overload warning 1 2142 E...

Page 310: ...39 2320 2620 PB01 Adaptive tuning mode adaptive filter 2359 2659 PB40 2321 2621 PB02 Vibration suppression control tuning mode advanced vibration suppression control 2360 2660 PB41 2322 2622 PB03 For manufacturer setting 2361 2661 PB42 2323 2623 PB04 Feed forward gain 2362 2662 PB43 2324 2624 PB05 For manufacturer setting 2363 2663 PB44 For manufacturer setting 2325 2625 PB06 Ratio of load inertia...

Page 311: ...evice selection 1 CN3 13 2450 2750 PE22 2404 2704 PD08 Output signal device selection 2 CN3 9 2451 2751 PE23 2405 2705 PD09 Output signal device selection 3 CN3 15 2452 2752 PE24 2406 2706 PD10 For manufacturer setting 2453 2753 PE25 For manufacturer setting 2407 2707 PD11 Input filter setting 2454 2754 PE26 Filter coefficient 2 1 2408 2708 PD12 2455 2755 PE27 Filter coefficient 2 2 2409 2709 PD13...

Page 312: ...ection level 2521 2821 PS21 2508 2808 PS08 Special function selection 3 2522 2822 PS22 2509 2809 PS09 Magnetic pole detection voltage level 2523 2823 PS23 2510 2810 PS10 2524 2824 PS24 2511 2811 PS11 2525 2825 PS25 2512 2812 PS12 2526 2826 PS26 2513 2813 PS13 2527 2827 PS27 2514 2814 PS14 2528 2828 PS28 2515 2815 PS15 2529 2829 PS29 2516 2816 PS16 For manufacturer setting 2530 2830 PS30 2517 2817 ...

Page 313: ...lly closed control error detection 2045 45 Main circuit device overheat 2046 46 Servo motor overheat 2047 47 Cooling fan error 2050 50 Overload 1 2051 51 Overload 2 2052 52 Error excessive 2056 56 Forced stop error 2070 70 Load side encoder error 1 2071 71 Load side encoder error 2 2060 1A Motor combination error 2061 2A Linear encoder error 1 2063 63 STO timing error 2088 888 Watchdog 2095 95 STO...

Page 314: ...rvo error 2000 to 2999 list MR J3 B Safety Continued Error code Servo amplifier LED display Name Remarks 2601 to 2899 37 Parameter error Refer to the table 1 15 2948 8A USB communication time out error 2952 8E USB communication error ...

Page 315: ...8 PB39 2320 2620 PB01 Adaptive tuning mode adaptive filter 2359 2659 PB40 2321 2621 PB02 Vibration suppression control tuning mode advanced vibration suppression control 2360 2660 PB41 2322 2622 PB03 For manufacturer setting 2361 2661 PB42 2323 2623 PB04 Feed forward gain 2362 2662 PB43 2324 2624 PB05 For manufacturer setting 2363 2663 PB44 For manufacturer setting 2325 2625 PB06 Ratio of load ine...

Page 316: ...ting 2436 2736 PE08 Fully closed loop dual feedback filter 2395 2695 PC31 Vertical axis freefall prevention compensation amount 2437 2737 PE09 For manufacturer setting 2396 2696 PC32 2438 2738 PE10 Fully closed loop selection 3 2397 2697 PD01 2439 2739 PE11 2398 2698 PD02 2440 2740 PE12 2399 2699 PD03 2441 2741 PE13 2400 2700 PD04 2442 2742 PE14 2401 2701 PD05 2443 2743 PE15 2402 2702 PD06 For man...

Page 317: ...899 error detail Continued Error code Parameter No Name Error code Parameter No Name 2463 2763 PE35 Fully closed loop feedback pulse electronic gear 2 denominator 2466 2766 PE38 2464 2764 PE36 2467 2767 PE39 2465 2765 PE37 For manufacturer setting 2468 2768 PE40 For manufacturer setting ...

Page 318: ...for high speed reading 5000 The feed current value is outside the stroke limit range For cam the feed current value is outside the range of lower stroke limit value to stroke amount when the cam ball screw switching command device is turned ON to OFF at real virtual mode switching or in virtual mode The current value within 1 cam shaft revolution cannot be calculated at the two way cam mode For ca...

Page 319: ...310 The device set to Clutch ON OFF command setting device is outside the range Correct the device set to clutch ON OFF command 5320 The device set to Speed change ratio setting device is outside the range Related system cannot be started Correct the device set to speed change ratio 5330 The device set to Amount of slip setting device is outside the range Amount of slip 0 control as the direct clu...

Page 320: ... Smoothing clutch complete signal device is outside the range Correct the device set to Smoothing clutch complete signal device 5460 The device set to Clutch status device is outside the range Correct the device set to Clutch status device 5480 The device set to Cam ball screw switching command device is outside the range Correct the device set to Cam ball screw switching command device 5490 When ...

Page 321: ...ange of 1 to 2147483647 Lower stroke limit value stroke amount 2147483647 is outside the range Operation continues with the current stroke amount Operation continues with the current cam No and stroke amount Correct the stroke amount setting 6060 A control mode feed two way does not match at cam No switching Operation continues Correct the control mode after stopping the drive module 6080 The torq...

Page 322: ...uted with an invalid value specified in the control mode setting device Correct the value of the control mode setting device When switching the mode from the continuous operation to torque control mode to another return the mode to the previous one 6200 The control mode switching request was executed during the zero speed was OFF Operation continues without switching the control mode Switch the co...

Page 323: ... direction torque limit value outside the range of 0 1 to 1000 0 was set in the torque limit value individual change request CHGT2 Set the change request within the range of 0 1 to 1000 0 for the positive direction torque limit value or the negative direction torque limit value 6280 The torque limit value individual change request D P CHGT2 CHGT2 was made for the axis that had not been started The...

Page 324: ...ule Error class Error code Roller Ball screw Rotary table Cam Error cause Processing Corrective action 10000 The home position return request signal M2409 20n is ON Return to the real mode and execute a home position return If position is not established after executing a home position return at all axes the virtual mode operation cannot be executed 10010 The servo error detection signal M2408 20n...

Page 325: ...er supply was OFF 11020 The stop signal STOP turned on 11030 The upper limit switch signal FLS turned off during forward address increase direction travel 11040 The lower limit switch signal RLS turned off during reverse address decrease direction travel Major error 11050 At the switching request to the continuous operation to torque control the servo amplifier is not compatible with the continuou...

Page 326: ...lifier power supply on Depending on the version of operating system and servo amplifier home position return signal turns ON Check the motor and encoder cables If the home position return request signal is turning ON execute a home position return in the real mode 12030 The amount of change in encoder current value during operation holds the following expression Amount of change in encoder current...

Page 327: ... OFF The real mode axis can be switched in even operation Operation system software version 00H or later 256 0100 Real mode virtual mode switching request flag M2043 turned ON OFF in the state which virtual axis has not stopped Real mode virtual mode switching request flag M2043 turned ON OFF in the state which output module is speed torque control Turn real mode virtual mode switching request fla...

Page 328: ...cam data has not registered although the cam is set to the output module Write the cam data to the Motion CPU 2048 0800 Real mode virtual mode switching request flag M2043 turned OFF ON without the cam No setting to the cam No setting device Cam No setting device is 0 Turn real mode virtual mode switching request flag M2043 OFF ON after writing the cam No set in the cam No used of cam parameter to...

Page 329: ...on 1 ratio 1 Acceleration section 2 ratio 1 Deceleration section 1 ratio 1 Advanced S curve acceleration deceleration Deceleration section 2 ratio 1 Torque limit value 1 Deceleration processing on STOP input 1 Parameter block Allowable error range for circular interpolation 2 Command speed Constant speed 2 FIN acceleration deceleration 1 Fixed position stop acceleration deceleration time 1 Repetit...

Page 330: ...g to device and start completion The procedures by start method for setting data to devices and cautions are shown below Start method Setting method Notes Start by the servo program Set data in indirect setting devices Start the servo program Do not change the indirect setting device before the positioning start complete signal of the starting axis turns on Set the loop FOR NEXT point data for CPS...

Page 331: ...ogram start processing time Note 1 Dedicated instruction D P SVST from the PLC CPU 1 4 to 2 3 2 2 to 3 1 3 5 to 4 4 5 3 to 6 2 8 8 to 9 7 16 0 to 16 9 Instruction CHGV from the Motion SFC 0 4 to 0 9 0 8 to 1 3 1 7 to 2 6 2 6 to 4 4 4 4 to 8 0 8 0 to 15 1 Speed change response time Dedicated instruction D P CHGV from the PLC CPU 1 4 to 2 3 1 7 to 2 6 2 6 to 3 5 3 5 to 4 4 5 3 to 6 2 8 9 to 9 8 Inst...

Page 332: ... SFC 0 8 to 1 3 1 7 to 2 6 2 6 to 4 4 4 4 to 8 0 4 4 to 11 5 4 4 to 18 6 Torque limit value change response time Dedicated instruction D P CHGT from the PLC CPU 1 7 to 2 6 2 6 to 3 5 3 5 to 4 4 5 3 to 6 2 5 3 to 9 7 5 3 to 16 0 Time from PLC ready flag M2000 ON to PCPU READY complete flag SM500 ON 22 to 28 Note 1 FEED instruction varies greatly depending on the condition whether other axes are ope...

Page 333: ...9 Home position return request Main cycle 20 M2780 to M2799 21 M2800 to M2819 10 Home position return complete Operation cycle 22 M2820 to M2839 11 FLS 23 M2840 to M2859 12 RLS 24 M2860 to M2879 13 STOP 25 M2880 to M2899 14 External signals DOG CHANGE Main cycle 26 M2900 to M2919 15 Servo ready 27 M2920 to M2939 16 Torque limiting Operation cycle Status signal 28 M2940 to M2959 17 Unusable 29 M296...

Page 334: ...al stop input disable at start command At start Command signal 22 M3620 to M3639 10 23 M3640 to M3659 11 Unusable 24 M3660 to M3679 25 M3680 to M3699 12 Feed current value update command At start 26 M3700 to M3719 27 M3720 to M3739 13 Address clutch reference setting command Note 1 28 M3740 to M3759 29 M3760 to M3779 14 Cam reference position setting command Note 1 At virtual mode transition 30 M3...

Page 335: ...nal 11 M4200 to M4219 5 12 M4220 to M4239 6 Unusable 13 M4240 to M4259 14 M4260 to M4279 7 Error detection Backup Immedi ately Status signal 15 M4280 to M4299 8 16 M4300 to M4319 9 17 M4320 to M4339 10 18 M4340 to M4359 11 19 M4360 to M4379 12 20 M4380 to M4399 13 21 M4400 to M4419 14 22 M4420 to M4439 15 23 M4440 to M4459 16 24 M4460 to M4479 17 25 M4480 to M4499 18 Unusable 26 M4500 to M4519 27 ...

Page 336: ...ommand Main cycle Command signal 14 M5060 to M5079 5 15 M5080 to M5099 6 Unusable 16 M5100 to M5119 17 M5120 to M5139 7 Error reset command Main cycle Command signal 18 M5140 to M5159 8 Unusable 19 M5160 to M5179 20 M5180 to M5199 21 M5200 to M5219 9 External stop input disable at start command At start Command signal 22 M5220 to M5239 10 23 M5240 to M5259 11 24 M5260 to M5279 12 25 M5280 to M5299...

Page 337: ...CPU S1 is replaced with Q173DSCPU Q172DSCPU Q173DCPU S1 this area cannot be used 6 Synchronous encoder axis command signal list Axis No Device No Signal name 1 M5440 to M5443 2 M5444 to M5447 3 M5448 to M5451 Signal name Real Virtual Refresh cycle Fetch cycle Signal direction 4 M5452 to M5455 5 M5456 to M5459 0 Error reset Note 1 Main cycle Status signal 6 M5460 to M5463 1 7 M5464 to M5467 2 8 M54...

Page 338: ...mmand signal M3080 M2090 Axis 30 M2036 M2091 Axis 31 M2037 Unusable 2 points M2092 Axis 32 Speed change accepting flag Operation cycle Status signal Note 1 Note 2 Note 3 Note 4 M2038 Motion SFC debugging flag At debugging mode transition M2093 M2039 Motion error detection flag Immediate Status signal M2094 M2040 Speed switching point specified flag At start Command signal M3073 M2095 M2041 System ...

Page 339: ...Axis 11 M2207 M2139 Axis 12 M2208 M2140 Axis 13 M2209 M2141 Axis 14 M2210 M2142 Axis 15 M2211 M2143 Axis 16 M2212 M2144 Axis 17 M2213 M2145 Axis 18 M2214 M2146 Axis 19 M2215 M2147 Axis 20 M2216 M2148 Axis 21 M2217 M2149 Axis 22 M2218 M2150 Axis 23 M2219 M2151 Axis 24 M2220 M2152 Axis 25 M2221 M2153 Axis 26 M2222 M2154 Axis 27 M2223 Unusable 45 points Note 7 M2155 Axis 28 M2224 M2156 Axis 29 M2225 ...

Page 340: ... Axis 30 M2305 M2270 Axis 31 M2306 M2271 Axis 32 Speed change 0 accepting flag M2307 M2272 Axis 1 M2308 M2273 Axis 2 M2309 M2274 Axis 3 M2310 M2275 Axis 4 M2311 M2276 Axis 5 M2312 M2277 Axis 6 M2313 M2278 Axis 7 M2314 M2279 Axis 8 M2315 M2280 Axis 9 M2316 M2281 Axis 10 M2317 M2282 Axis 11 M2318 M2283 Axis 12 Control loop monitor status Operation cycle Status signal Note 1 Note 2 Note 3 Note 4 M231...

Page 341: ...55 points Note 1 The state of a device is not in agreement when the device of a remark column is turned ON OFF directly In addition when the request from a data register and the request from the above device are performed simultaneously the request from the above device becomes effective Note 2 It can also be ordered the device of a remark column Note 3 Do not use it as a user device It can be use...

Page 342: ...9 13 M code 21 D400 to D419 14 Torque limit value Operation cycle 22 D420 to D439 23 D440 to D459 15 Data set pointer for constant speed control At start during start Monitor device 24 D460 to D479 16 25 D480 to D499 17 Unusable Note 1 26 D500 to D519 18 27 D520 to D539 19 Real current value at stop input Backup Operation cycle Monitor device 28 D540 to D559 Valid Invalid 29 D560 to D579 30 D580 t...

Page 343: ...D667 15 D668 D669 16 D670 D671 17 D672 D673 18 D674 D675 19 D676 D677 20 D678 D679 21 D680 D681 22 D682 D683 23 D684 D685 24 D686 D687 25 D688 D689 26 D690 D691 27 D692 D693 28 D694 D695 29 D696 D697 30 D698 D699 31 D700 D701 32 D702 D703 POINT 1 The following range is valid Q172DSCPU Axis No 1 to 16 Q172DCPU S1 Axis No 1 to 8 2 The following device area can be used as a user device Q172DSCPU 17 a...

Page 344: ...6 13 D920 to D929 14 D930 to D939 7 Current value after virtual servomotor axis main shaft s differential gear 15 D940 to D949 8 Error search output axis No 16 D950 to D959 17 D960 to D969 9 Data set pointer for constant speed control Backup Operation cycle Monitor device 18 D970 to D979 Valid Invalid 19 D980 to D989 20 D990 to D999 21 D1000 to D1009 22 D1010 to D1019 23 D1020 to D1029 24 D1030 to...

Page 345: ...to D1209 5 Unusable 10 D1210 to D1219 6 11 D1220 to D1229 7 Current value after synchronous encoder axis main shaft s differential gear 12 D1230 to D1239 8 Error search output axis No Backup Operation cycle Monitor device 9 Unusable Valid Note 1 It is valid for the version Refer to Section 1 4 that supports synchronous encoder current value monitor in real mode POINT 1 It is unusable in the SV22 r...

Page 346: ...Monitor device 10 D1330 to D1339 6 11 D1340 to D1349 7 12 D1350 to D1359 8 13 D1360 to D1369 9 Unusable 14 D1370 to D1379 Valid 15 D1380 to D1389 16 D1390 to D1399 17 D1400 to D1409 18 D1410 to D1419 19 D1420 to D1429 20 D1430 to D1439 21 D1440 to D1449 22 D1450 to D1459 23 D1460 to D1469 24 D1470 to D1479 25 D1480 to D1489 26 D1490 to D1499 27 D1500 to D1509 28 D1510 to D1519 29 D1520 to D1529 30...

Page 347: ...register At start D761 D714 D762 D715 Manual pulse generator axis 1 No setting register D763 D716 D764 D717 Manual pulse generator axis 2 No setting register D765 D718 D766 D719 Manual pulse generator axis 3 No setting register D767 D720 Axis 1 D768 D721 Axis 2 D769 D722 Axis 3 D770 D723 Axis 4 D771 D724 Axis 5 D772 D725 Axis 6 D773 D726 Axis 7 D774 D727 Axis 8 D775 D728 Axis 9 D776 D729 Axis 10 D...

Page 348: ...0 to 8279 9 Parameter error No QDS Main cycle 15 8280 to 8299 10 Servo status1 QDS 16 8300 to 8319 11 Servo status2 QDS 17 8320 to 8339 12 Servo status3 QDS Operation cycle 1 7 ms or less Operation cycle Operation cycle 3 5 ms or more 3 5 ms Monitor device 18 8340 to 8359 13 19 8360 to 8379 14 20 8380 to 8399 15 21 8400 to 8419 16 22 8420 to 8439 17 23 8440 to 8459 18 24 8460 to 8479 19 Unusable 2...

Page 349: ...plifier loading information At power supply on operation cycle SD504 SD505 SD506 Real mode virtual mode switching error information SV22 At virtual mode transition SD508 SSCNET control status Main cycle SD510 SD511 Test mode request error information At test mode request SD512 Motion CPU WDT error cause At Motion CPU WDT error occurrence SD513 SD514 SD515 Manual pulse generator axis setting error ...

Page 350: ...ncorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry 4 A failure which may be regarded as avoidable if consumable parts designated in the instruction manual etc are duly maintained and replaced 5 Any replacement of consumable parts battery fan etc 6 A failure caused by e...

Page 351: ...ed and we assume no responsibility for any failure caused by these applications when used In addition applications which may be substantially influential to human lives or properties for such as airlines medical treatments railway service incineration and fuel systems man operated material handling equipment entertainment machines safety machines etc are not recommended and we assume no responsibi...

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