SAFETY PRECAUTIONS

(Read these precautions before using.)

When using this equipment, thoroughly read this manual and the associated manuals introduced in this manual. Also pay careful attention to safety and handle the module properly.

These precautions apply only to this equipment. Refer to the Q173HCPU/Q172HCPU Users manual for a description of the Motion controller safety precautions.

These SAFETY PRECAUTIONS classify the safety precautions into two categories: "DANGER" and "CAUTION".

Depending on circumstances, procedures indicated by ! CAUTION may also be linked to serious results.

In any case, it is important to follow the directions for usage.

Store this manual in a safe place so that you can take it out and read it whenever necessary. Always forward it to the end user.

A - 1

For Safe Operations

1. Prevention of electric shocks

! DANGER

Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks.

Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks.

Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF. The insides of the Motion controller and servo amplifier are charged and may lead to electric shocks.

When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and then check the voltage with a tester, etc.. Failing to do so may lead to electric shocks.

Be sure to ground the Motion controller, servo amplifier and servomotor. (Ground resistance : 100 or less) Do not ground commonly with other devices.

The wiring work and inspections must be done by a qualified technician.

Wire the units after installing the Motion controller, servo amplifier and servomotor. Failing to do so may lead to electric shocks or damage.

Never operate the switches with wet hands, as this may lead to electric shocks.

Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this may lead to electric shocks.

Do not touch the Motion controller, servo amplifier or servomotor terminal blocks while the power is ON, as this may lead to electric shocks.

Do not touch the built-in power supply, built-in grounding or signal wires of the Motion controller and servo amplifier, as this may lead to electric shocks.

2. For fire prevention

! CAUTION

Install the Motion controller, servo amplifier, servomotor and regenerative resistor on inflammable material. Direct installation on flammable material or near flammable material may lead to fire.

If a fault occurs in the Motion controller or servo amplifier, shut the power OFF at the servo amplifier???s power source. If a large current continues to flow, fire may occur.

When using a regenerative resistor, shut the power OFF with an error signal. The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead to fire.

Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may lead to fire.

A - 2

3. For injury prevention

CAUTION

Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may lead to destruction or damage.

Do not mistake the terminal connections, as this may lead to destruction or damage.

Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.

Do not touch the servo amplifier's heat radiating fins, regenerative resistor and servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this timing, these parts become very hot and may lead to burns.

Always turn the power OFF before touching the servomotor shaft or coupled machines, as these parts may lead to injuries.

Do not go near the machine during test operations or during operations such as teaching. Doing so may lead to injuries.

4. Various precautions

Strictly observe the following precautions.

Mistaken handling of the unit may lead to faults, injuries or electric shocks.

(1) System structure

! CAUTION

Always install a leakage breaker on the Motion controller and servo amplifier power source.

If installation of an electromagnetic contactor for power shut off during an error, etc., is specified in the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor.

Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off.

Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the combi- nations listed in the instruction manual. Other combinations may lead to fire or faults.

If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller, servo amplifier and servomotor, make sure that the safety standards are satisfied.

Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system.

In systems where coasting of the servomotor will be a problem during the forced stop, emergency stop, servo OFF or power supply OFF, use dynamic brakes.

Make sure that the system considers the coasting amount even when using dynamic brakes.

In systems where perpendicular shaft dropping may be a problem during the forced stop, emergency stop, servo OFF or power supply OFF, use both dynamic brakes and electromagnetic brakes.

The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF. These brakes must not be used for normal braking.

A - 3

CAUTION

The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications, and must not be used for normal braking.

The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max. speed.

Use wires and cables that have a wire diameter, heat resistance and bending resistance compatible with the system.

Use wires and cables within the length of the range described in the instruction manual.

The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor.

Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation.

There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure (when the ball screw and servomotor are connected with a timing belt, etc.). Install a stopping device to ensure safety on the machine side.

(2) Parameter settings and programming

! CAUTION

Set the parameter values to those that are compatible with the Motion controller, servo amplifier, servomotor and regenerative resistor model and the system application. The protective functions may not function if the settings are incorrect.

The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode, servo amplifier and servo power supply module. The protective functions may not function if the settings are incorrect.

Set the mechanical brake output and dynamic brake output validity parameters to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.

Set the stroke limit input validity parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect.

Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect.

Set the servomotor capacity and type (standard, low-inertia, flat, etc.) parameter to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.

Set the servo amplifier capacity and type parameters to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. Use the program commands for the program with the conditions specified in the instruction manual.

A - 4

! CAUTION

Set the sequence function program capacity setting, device capacity, latch validity range, I/O assignment setting, and validity of continuous operation during error detection to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.

Some devices used in the program have fixed applications, so use these with the conditions specified in the instruction manual.

The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error, etc. Thus, an error correspondence interlock program specified in the instruction manual must be used.

Use the interlock program specified in the special function module's instruction manual for the program corresponding to the special function module.

(3) Transportation and installation

CAUTION

Transport the product with the correct method according to the mass.

Use the servomotor suspension bolts only for the transportation of the servomotor. Do not transport the servomotor with machine installed on it.

Do not stack products past the limit.

When transporting the Motion controller or servo amplifier, never hold the connected wires or cables.

When transporting the servomotor, never hold the cables, shaft or detector.

When transporting the Motion controller or servo amplifier, never hold the front case as it may fall off.

When transporting, installing or removing the Motion controller or servo amplifier, never hold the edges.

Install the unit according to the instruction manual in a place where the mass can be withstood.

Do not get on or place heavy objects on the product.

Always observe the installation direction.

Keep the designated clearance between the Motion controller or servo amplifier and control panel inner surface or the Motion controller and servo amplifier, Motion controller or servo amplifier and other devices.

Do not install or operate Motion controller, servo amplifiers or servomotors that are damaged or that have missing parts.

Do not block the intake/outtake ports of the servomotor with cooling fan.

Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the Motion controller, servo amplifier or servomotor.

The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or apply strong impacts on them.

A - 5

CAUTION

Securely fix the Motion controller and servo amplifier to the machine according to the instruction manual. If the fixing is insufficient, these may come off during operation.

Always install the servomotor with reduction gears in the designated direction. Failing to do so may lead to oil leaks.

Store and use the unit in the following environmental conditions.

When coupling with the synchronization encoder or servomotor shaft end, do not apply impact such as by hitting with a hammer. Doing so may lead to detector damage.

Do not apply a load larger than the tolerable load onto the servomotor shaft. Doing so may lead to shaft breakage.

When not using the module for a long time, disconnect the power line from the Motion controller or servo amplifier.

Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store. When storing for a long time, please contact with our sales representative.

A - 6

(4) Wiring

! CAUTION

Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the

servomotor.

After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF)

each unit, the encoder cable or PLC expansion cable while the power is ON.

Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may lead to the cables combing off during operation.

Do not bundle the power line or cables.

(5) Trial operation and adjustment

CAUTION

Confirm and adjust the program and each parameter before operation. Unpredictable movements may occur depending on the machine.

Extreme adjustments and changes may lead to unstable operation, so never make them. When using the absolute position system function, on starting up, and when the Motion controller or absolute value motor has been replaced, always perform a home position return.

A - 7

CAUTION

If an error occurs, remove the cause, secure the safety and then resume operation after alarm release.

The unit may suddenly resume operation after a power failure is restored, so do not go near the machine. (Design the machine so that personal safety can be ensured even if the machine restarts suddenly.)

(8) Maintenance, inspection and part replacement

CAUTION

Perform the daily and periodic inspections according to the instruction manual.

Perform maintenance and inspection after backing up the program and parameters for the Motion controller and servo amplifier.

Do not place fingers or hands in the clearance when opening or closing any opening.

Periodically replace consumable parts such as batteries according to the instruction manual.

Do not touch the lead sections such as ICs or the connector contacts.

Do not place the Motion controller or servo amplifier on metal that may cause a power leakage or wood, plastic or vinyl that may cause static electricity buildup.

Do not perform a megger test (insulation resistance measurement) during inspection.

When replacing the Motion controller or servo amplifier, always set the new module settings correctly.

When the Motion controller or absolute value motor has been replaced, carry out a home position return operation using one of the following methods, otherwise position displacement could occur.

1)After writing the servo data to the Motion controller using programming software, switch on the power again, then perform a home position return operation.

2)Using the backup function of the programming software, load the data backed up before

replacement.

After maintenance and inspections are completed, confirm that the position detection of the absolute position detector function is correct.

Do not short circuit, charge, overheat, incinerate or disassemble the batteries.

The electrolytic capacitor will generate gas during a fault, so do not place your face near the Motion controller or servo amplifier.

The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary damage from faults. Replacements can be made by our sales representative.

A - 9

(9) About processing of waste

When you discard Motion controller, servo amplifier, a battery (primary battery) and other option articles, please follow the law of each country (area).

! CAUTION

This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life.

When considering this product for operation in special applications such as machinery or systems used in passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating applications, please contact your nearest Mitsubishi sales representative. Although this product was manufactured under conditions of strict quality control, you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident.

(10) General cautions

! CAUTION

All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections. When operating the product, always return the covers and partitions to the designated positions, and operate according to the instruction manual.

A - 10

REVISIONS

Japanese Manual Number IB(NA)-0300091

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

?? 2005 MITSUBISHI ELECTRIC CORPORATION

A - 11

INTRODUCTION

Thank you for choosing the Q173HCPU/Q172HCPU Motion Controller.

Please read this manual carefully so that equipment is used to its optimum.

A - 14

About Manuals

The following manuals are related to this product.

Referring to this list, please request the necessary manuals.

Related Manuals

(1) Motion controller

A - 15

(2) PLC

(3) Servo amplifier

A - 16

1 OVERVIEW

1. OVERVIEW

This programming manual describes the common items of each operating system software, such as the Multiple CPU system of the operating system software packages "SW5RN-SVQ", "SW6RN-SVQ" for Motion CPU module (Q173HCPU/Q172HCPU).

In this manual, the following abbreviations are used.

1 - 1

1 OVERVIEW

1.2 Features

The Motion CPU and Multiple CPU system have the following features.

1.2.1Features of Motion CPU

(1)Q series PLC Multiple CPU system

(a)The load of control processing for each CPU can be distributed by controlling the complicated servo control with the Motion CPU, and the machine control or information control with the PLC CPU, and flexible system configuration can be realized.

(b)The Motion CPU and PLC CPU are selected flexibly, and the Multiple CPU system up to 4 CPU modules can be realized.

The Motion CPU module for the number of axis to be used can be selected.

The PLC CPU module for the program capacity to be used can be selected. (One or more PLC CPU is necessary with the Multiple CPU system.)

(c)The device data access of the Motion CPU and the Motion SFC program (SV13/SV22)/Motion program (SV43) start can be executed from PLC CPU by the Motion dedicated PLC instruction.

(2)High speed operation processing

(a)The minimum operation cycle of the Motion CPU is made 0.44[ms] (so far, the ratio of 2 times), and it correspond with high frequency operation.

(Note): The minimum operation cycle of Q173CPU(N)/Q172CPU(N) is 0.88[ms].

(b)High speed PLC control is possible by the Q series PLC CPU. (For LD instruction)

Q02HCPU, Q06HCPU, Q12HCPU, Q25HCPU

Q02CPU

Q00CPU

Q01CPU

1 - 3

1 OVERVIEW

1.2.2 Basic specifications of Q173HCPU/Q172HCPU

(1) Module specifications

(Note) : Current consumption 0.26[A] of the teaching unit is included.

(2)SV13/SV22 Motion control specifications/performance specifications

(a) Motion control specifications

1 - 5

1 OVERVIEW

Motion control specifications (continued)

(Note-1) : The servo amplifiers for SSCNET cannot be used.

(Note-2) : When using the incremental synchronous encoder (SV22 use), you can use above number of modules. When connecting the manual pulse generator, you can use only 1 module.

1 - 6

1 OVERVIEW

(3)SV43 Motion control specifications/performance specifications

(a)Motion control specifications

(Note-1) : The servo amplifiers for SSCNET cannot be used.

1 - 8

1 OVERVIEW

(b) Motion program performance specifications

1 - 9

1 OVERVIEW

CAUTION

Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system.

The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor.

Set the parameter values to those that are compatible with the Motion controller, servo amplifier, servomotor and regenerative resistor model and the system application. The protective functions may not function if the settings are incorrect.

When a teaching unit is used, the cable for the teaching unit is necessary between the Motion CPU (Q173HCPU-T/Q172HCPU-T) and teaching unit. And, connect the short-circuit connector for teaching unit, after removing the teaching unit or when not using it.

1 - 13

1 OVERVIEW

CAUTION

Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system.

The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor.

Set the parameter values to those that are compatible with the Motion controller, servo amplifier, servomotor and regenerative resistor model and the system application. The protective functions may not function if the settings are incorrect.

When a teaching unit is used, the cable for the teaching unit is necessary between the Motion CPU (Q173HCPU-T/Q172HCPU-T) and teaching unit. And, connect the short-circuit connector for teaching unit, after removing the teaching unit or when not using it.

1 - 15

1 OVERVIEW

1.3.4Software packages

(1)Software packages

(a)Operating system software packages

(b) Integrated start-up support software package

(2) Operating environment of personal computer

1 - 16

1 OVERVIEW

It is necessary the following capacity depending on the installed software.

in the United States and/or other countries.

(Note-2) : Pentium R are trademarks or registered trademarks of Intel Corporation or its subsidiaries in the United States and other countries.

(3)Operating system(OS) type/version

(a)Confirmation method in the operating system(OS)

Example) When using the Q173HCPU, SV13 and version A.

1)SW6RN-SV13QK

2)BCD-B14W311

3)A

(b)Confirmation method in the SW6RN-GSVP

The operating system(OS) type/version of the connected CPU is displayed on the installation screen of the SW6RN-GSVP.

1 - 17

1 OVERVIEW

1.3.5Restrictions on motion systems

(1)It is not allowed to use the Motion CPU as the control CPU of a module installed on the QA1S6B extension base unit. PLC CPU must be used as the control CPU.

(2)Motion CPU module cannot be used as standalone module. It must always be used in combination with the PLC CPU module (version that supports Multiple CPU systems). Moreover, it must be installed on the right side of PLC CPU module. PLC CPU module cannot be installed in a position to the right of Motion CPU module.

(3)Personal computer CPU unit must be installed on the right side of Motion CPU module. Motion CPU module cannot be installed in a position to the right of personal computer CPU unit.

(4)Make sure to use the PLC CPU module in the "Q mode."

(5)Motion CPU module cannot be set as the control CPU of intelligent function module or Graphic Operation Terminal (GOT).

(6)SSCNET cable which connects the Motion CPU and servo amplifier, and the

teaching unit connecting cable which connects the Motion CPU and A31TU- D3/A31TU-DN (Note-1) are pulled from the bottom part of unit. Make sure to secure sufficient space for pulling out the cable when designing the control panel.

(7)Motion CPU module is one module element of Q series multiple PLC system. It must be set the parameters of Q series multiple PLC system for each PLC CPU. Motion CPU module must also be set to support the Multiple CPU system in the system settings.

(8)Make sure to use the Motion CPU as the control CPU of motion modules dedicated for Motion CPU (e.g., Q172LX, Q172EX(Note-2), Q173PX). They will not operate correctly if PLC CPU is set and installed as the control CPU by mistake. Motion CPU is treated as a 32-point intelligent module by PLC CPU of other CPU. It cannot be accessed from other CPU.

(9)When a Multiple CPU system is configured, make sure to configure the modules so that the total current consumption of individual modules on the CPU base does not exceed the 5VDC output capacity of power supply module.

(10)Motion modules (Q172LX, Q172EX, Q173PX) is to do selection whether to be necessary referring to the "3. DESIGN" of the "Q173HCPU/Q172HCPU User's Manual" for the system design.

1 - 19

2 MULTIPLE CPU SYSTEM

2. MULTIPLE CPU SYSTEM

2.1 Multiple CPU System

2.1.1 Overview

Multiple (up to 4 modules) PLC CPUs and Motion CPUs are installed to the CPU base unit, and each CPU controls the I/O modules and intelligent function modules of the CPU base unit/extension base unit slot by slot in the Multiple CPU system.

Each Motion CPU controls the servo amplifiers connected by SSCNET cable.

(2)Distributed system configuration

(a)By distributing such tasks as servo control, machine control and information control among multiple processors, the flexible system configuration can be realized.

(b)You can increase the number of control axes by using a multiple Motion CPUs. It is possible to control up to 96 axes by using three Q173HCPUs.

(c)You can reduce the PLC scan time of the overall system by using a multiple PLC CPUs and distributing the PLC control load among them.

(3)Communication among the CPUs in the Multiple CPU system

(a)Transmission of data among the CPUs in the Multiple CPU system is performed automatically using the multiple CPU automatic refresh function. This makes it possible to use the device data of the other CPUs as the device data of the self CPU.

(b)You can access the device data and start the Motion SFC program (SV13/SV22)/Motion program (SV43) from the PLC CPU to the Motion CPU by Motion dedicated PLC instruction.

2 - 1

2 MULTIPLE CPU SYSTEM

2.1.3 Precautions for using Q series I/O modules and intelligent function modules

(1) Modules controllable by the Motion CPU

I/O modules (QX, QY, QH, QXY, Q6AD, Q6DA, interrupt module (QI60) and motion modules (Q172LX, Q172EX, Q173PX) can be controlled by the Motion CPU.

(2)Compatibility with the Multiple CPU system

(a)All I/O modules (QX, QY, QH, QXY, Q6AD, Q6DA) support the Multiple CPU system.

(b)The interrupt module (QI60), which is currently not subject to function upgrade, supports the Multiple CPU system.

(c)The intelligent function modules support the Multiple CPU system only when their function version is B or later. These modules cannot be controlled by the Motion CPU, so be sure to use the PLC CPU as a control CPU.

(d)All motion modules (Q172LX, Q172EX, Q173PX) support the Multiple CPU system. These modules cannot be controlled by the PLC CPU, so be sure to use the Motion CPU as a control CPU.

(3)Access range from a non-control CPU

(a)The Motion CPU can access only the modules controlled by the self CPU. It cannot access the modules controlled by other CPUs.

(b)Access range from a non-control CPU for the modules controlled by the Motion CPU are shown below.

REMARK

???The function version of an intelligent function module can be checked on the rated plate of the intelligent function module or in the GX Developer's system monitor product information list.

???Refer to the "Q173HCPU/Q172HCPU User's Manual" for the model name which can be controlled by the Motion CPU.

2 - 3

2 MULTIPLE CPU SYSTEM

2.1.4Modules subject to installation restrictions

(1)Modules subject to installation restrictions in the Motion CPU are sown below. Use within the restrictions listed below.

(a) SV13/SV22

(Note-1) : When the Manual pulse generator and the serial encoder are used at the same time with the SV22, the Q173PX installed in the slot of the smallest number is used for manual pulse generator input.

(Note-2) : SV22 only.

(b) SV43

(2)Modules controlled by a Motion CPU cannot be installed in the extension base unit QA1S6B. Install them in the CPU base unit Q3B or extension base unit Q6B.

2 - 4

2MULTIPLE CPU SYSTEM

(3)A total of eight base units including one CPU base unit and seven extension base units can be used. However, the usable slots (number of modules) are limited to 64 per system including vacant slots. If a module is installed in slot 65 or subsequent slot, an error (SP. UNIT LAY ERROR) will occur. Make sure all modules are installed in slots 1 to 64. (Even when the total number of slots provided by the CPU base unit and extension base units exceeds 65 (such as when six 12-slot base units are used), an error does not occur as long as the modules are installed within slots 1 to 64.)

2 - 5

2 MULTIPLE CPU SYSTEM

2.1.5Processing time of the Multiple CPU system

(1)Processing of the Multiple CPU system

Each CPU module of the Multiple CPU system accesses to the modules controlled by self CPU with which the CPU base unit or extension base unit is installed, and the other CPU through the bus (base unit patterns and extension cables). However, a multiple CPU module cannot use the bus simultaneously. When a multiple CPUs have accessed the bus simultaneously, the CPUs which performed buss access later remain in "waiting state" until the CPU currently using the bus completes its processing. In a Multiple CPU system, the above waiting time (duration while a CPU remains in waiting state) causes an I/O delay or prolonged scan time.

(2) When the waiting time becomes the longest

In the Multiple CPU system, the wait time of self CPU becomes the longest in the following conditions:

???When is using a total of four PLC CPUs/Motion CPUs are used in the Multiple CPU system.

???When the extension base units are used.

???When the intelligent function modules handling large volumes of data are installed in the extension base unit(s).

???When a total of four CPUs are used and the four CPUs have simultaneously accessed a module installed in an extension base unit.

???When there are many automatic refresh points between a PLC CPU and a Motion CPU.

(3)When shortening the processing time of the Multiple CPU system

The processing time of the Multiple CPU system can be shortened in the following methods:

???Install all modules with many access points such as MELSECNET/10(H) and CC-Link refreshes together in the CPU base unit.

???Control all modules with many access points such as MELSECNET/10(H) and CC-Link refreshes using only one PLC CPU so that they are not accessed by two or more CPUs simultaneously.

???Reduce the number of refresh points of MELSECNET/10(H), CC-Link, etc.

???Reduce the number of automatic refresh points of the PLC CPUs/Motion CPUs.

2 - 6

2 MULTIPLE CPU SYSTEM

2.1.7Processing at a CPU DOWN error occurrence by a PLC CPU or Q173HCPU/ Q172HCPU

In the Multiple CPU system, the system operates differently when CPU No. 1 generated a CPU DOWN error as compared with when CPU No. 2, 3 or 4 did.

(1)When CPU No. 1 generated a CPU DOWN error

(a)When the PLC CPU of CPU No. 1 generated a CPU DOWN error, all PLC CPU/Q173HCPU/Q172HCPU of CPU Nos. 2, 3 and 4 generate a MULTI CPU DOWN error (error code: 7000) and the Multiple CPU system stops. (Note-1)

(b)Recover the system using the procedure below:

1)Check the cause of the error that occurred in CPU No. 1 using the PC diagnostic function of GX Developer.

2)Remove the cause of the error.

3)Reset the PLC CPU of CPU No. 1 or restart the power.

Resetting the PLC CPU of CPU No. 1 or restarting the power resets all

CPUs in the Multiple CPU system and the system is recovered.

(2) When CPU No. 2, 3 or 4 generated a CPU DOWN error

If the PLC CPU, Q173HCPU or Q172HCPU of CPU No. 2, 3 or 4 generated a CPU DOWN error, the entire system may or may not stop depending on the setting of "Operation Mode" in the Multiple CPU Settings tab.

By default value, all CPUs will stop when any of the CPUs generates a CPU stop error. If you do not wish to stop all CPUs following an error generated in the PLC CPU, Q173HCPU or Q172HCPU of a specific CPU or CPUs, click and uncheck the CPU or CPUs that will not stop all CPUs upon generating an error. (See arrow A.)

2 - 8

2MULTIPLE CPU SYSTEM

(a)When a CPU DOWN error occurs in the CPU of the CPU in a checked "Stop all CPUs upon error in CPU No. n" item, all PLC CPU/Q173HCPU/ Q172HCPU of the other CPUs will generate a MULTI CPU DOWN error (error code: 7000) and the Multiple CPU system will stop. (Note-1)

(b)When a CPU DOWN error occurs in the CPU of the PLC in an unchecked "Stop all CPUs upon error in CPU No. n" item, all CPUs of the other CPUs will generate a MULTI CPU ERROR (error code: 7020) and continue their operation.

POINT

(Note-1) : When a CPU DOWN error occurs, the CPU detecting the error will generate a MULTI CPU DOWN error.

Therefore, the system may enter a MULTI CPU DOWN mode after detecting the CPU DOWN error in the CPU generating a MULTI CPU DOWN error, instead of the error in the CPU that generated the CPU DOWN error in the first place. In this case, the common error-data area may store a CPU number different from one corresponding to the CPU that generated the CPU DOWN error first.

When recovering the system, remove the cause of the error present in the CPU not stopped by a MULTI CPU DOWN error.

In the screen below, the cause of the error present in CPU No. 2, which does not have a MULTI CPU DOWN error, should be removed.

2 - 9

2MULTIPLE CPU SYSTEM

(c)Use the following procedure to recover the system:

1)Check the CPU generating the error and cause of the error using the PC diagnostic function of GX Developer.

2)If the error occurred in a Q173HCPU/Q172HCPU and the error code is 10000, check the cause of the error using error list of SW6RN-GSVP.

3)Remove the cause of the error.

4)Reset the PLC CPU of CPU No. 1 or restart the power.

5)Resetting the PLC CPU of CPU No. 1 or restarting the power resets all CPUs in the Multiple CPU system and the system will be recovered.

(3) Operation at a Motion CPU error

Operations at a Motion CPU error are shown below.

2 - 10

2 MULTIPLE CPU SYSTEM

Processing details of CPU No.2 (Motion CPU) at main cycle processing.

2): Data of transmitting devices B20 to B3F for CPU No.2 is transferred to the automatic refresh area of shared memory in the self CPU.

3): Data in the automatic refresh area of shared memory in CPU No.1 is transferred to B0 to B1F in the self CPU.

By the above operations, the data written to B0 to B1F in CPU No.1 can be read as B0 to B1F of CPU No.2, while the data written to B20 to B3F in CPU No.2 can be read as B20 to B3F of CPU No.1. B0 to B1F of CPU No.1 can be read or written freely using CPU No.1, but B20 to B3F correspond to the refresh area for the data of CPU No.2 and can only be read, not written, by CPU No. 1. Similarly, B20 to B3F of CPU No.2 can be read or written freely using CPU No.2, but B0 to B1F correspond to the refresh area for the data of CPU No.1 and thus can only be read, not written, by CPU No.2.

(b)Executing the automatic refresh function

The automatic refresh function can be executed regardless of whether the applicable PLC CPU and Motion CPU are in the RUN or STOP state. When a CPU DOWN error will occur in the PLC CPU or Motion CPU, the automatic refresh function is not executed.

When one CPU generated a CPU DOWN error, the other CPU free from CPU DOWN error retains the data saved immediately before the CPU DOWN error occurred. For example, if CPU No.2 generated a CPU DOWN error while B20 was ON in the operation block diagram in (a), B0 of CPU No.1 remains ON. If necessary, interlocking is performed using other-CPU DOWN detection signals M9244 to M9247.

(c)To execute the automatic refresh function, for the Motion CPU the number of transmitting points for the CPU and the devices whose data is stored (devices to which the automatic refresh function is executed) must be set in Multiple CPU Settings of System Settings. For the PLC CPU, the applicable parameters must be set identically in Multiple CPU Settings of PC parameters.

CAUTION

If necessary, perform interlocking during the execution of the automatic refresh function using other CPU DOWN detection signals M9244 to M9247.

2 - 14

2MULTIPLE CPU SYSTEM

4)The shared CPU memory to be occupied during execution of the automatic refresh function covers all areas corresponding to settings 1 to 4.

When the number of transmitting points is set, the first and last addresses of the shared CPU memory to be used are indicated in hexadecimals.

The CPU for which the number of transmitting points is set in settings 1 and 2 use the last address of shared CPU memory in setting 2. (In the example below, CPU No.1 and No.2 are using the area up to 811H, while CPU No.4 is using the area up to 821H.)

The CPU for which the number of transmitting points is set only in setting 1 use the last address of shared CPU memory in setting 1. (In the example below, CPU No.3 is using the last address in setting 1).

???Send range for CPU No.1

??? Last address of

CPU-side device

??? Last address of the shared CPU memory for each CPU

5)Set the same number of transmitting points for all CPUs in the Multiple CPU system.

If any of the CPUs has a different number of transmitting points, a PARAMETER ERROR will be occurred.

(c)CPU-side device

The following devices can be used for automatic refresh. (Other devices cannot be set in SW6RN-GSVP.)

1)As for the CPU-side devices, the devices corresponding to the total number of transmitting points set for CPU No.1 to 4 in one setting range are used in succession starting from the device No. to be set.

Set a device number that ensures enough devices for the set transmitting points.

When bit device is specified for the CPU-side device, the number of transmitting points is multiplied by 16.

2 - 16

2MULTIPLE CPU SYSTEM

(3)Automatic refresh settings 2 (Manual setting)

(a)When the automatic refresh setting (Manual setting) of Motion CPU is used, there are the following advantages.

1)A device setting which executes the automatic refresh setting between the PLC CPU and Motion CPU can be performed flexibly.

2)Because it is made not to execute the automatic refresh setting between the Motion CPU using a dummy setting, it is not necessary to use the user device for the automatic refresh vainly, and a main cycle can also be shortened.

3)It is possible to execute the automatic refresh of Motion device (#) to the PLC CPU directly. Similarly, it is possible to execute the automatic refresh for data of the PLC CPU to the Motion device (#) directly.

Refer to the "QCPU User's Manual (Functions Explanation/Program

Fundamentals)" about the setting for the PLC CPU.

??? The first device can be arbitrarily set up for every CPU. "DUMMY(*)" can be set to the first device except the self CPU.

??? The motion device (#) can be set as a first device.

(b)Setting selection/send range (refresh range) for each CPU

1)The refresh setting of four ranges can be set by setting selection.

For example, ON/OFF data may be refreshed using bit-device setting, while other data may be refreshed word device setting.

2)The number of points in the shared CPU memory is set in units of 2 points (2 words) is set in the send range for each CPU. (2 points if word device is specified for the CPU-side device, or 32 points if bit device is specified.)

Data of the CPU for which "0" is set as the number of points representing the transmitting range of the CPU may not be refreshed.

3)The maximum number of transmitting points combining all four ranges is 2k words per CPU (PLC CPU or Motion CPU) or 8k points (8k words) for all CPUs.

4)If "*" is set as the first device setting column A of each automatic refresh setting, the first device for every CPU can be arbitrarily set up by the user in the column of B.

2 - 20

2MULTIPLE CPU SYSTEM

5)"DUMMY" setting can be set to the first device column B of the automatic refresh setting. ("DUMMY" setting cannot be set to the self CPU.) "DUMMY" setting should set "*" as the first devise column B. The self CPU does not execute the automatic refresh to the other CPU which carried out "DUMMY(*)" setting.

A

B

??? A white portion can be set.

6)Set the same number of transmitting points for all CPUs in the Multiple CPU system.

If any of the CPUs has a different number of transmitting points, a PARAMETER ERROR will be occurred.

2 - 21

2MULTIPLE CPU SYSTEM

(c)CPU-side device

The following devices can be used for automatic refresh. (Other devices cannot be set in SW6RN-GSVP.)

???Self CPU (CPU No.2) Refresh setting 1

??? If the device No. does not overlap, it is right.

??? The device of CPU No.4 at setting 1 is not refreshed by the CPU No.2.

???Self CPU (CPU No.2) Refresh setting 2

??? If the device No. does not overlap, it is right.

??? The device of CPU No.4 at setting 2 is not refreshed by the CPU No.2.

2 - 22

2 MULTIPLE CPU SYSTEM

2.3.2Control Instruction from the PLC CPU to The Motion CPU (Motion dedicated instructions)

Control can be instructed from the PLC CPU to the Motion CPU using the Motion dedicated PLC instructions listed in the table below.

Refer to the "Q173HCPU/Q172HCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)" or "Q173HCPU/Q172HCPU Motion controller (SV43) Programming Manual" for the details of each instruction.

(Control may not be instructed from the Motion CPU to another Motion CPU.)

By using the S(P).SFCS instruction of the Motion dedicated instruction, the Motion

SFC of the Motion CPU from the PLC CPU can be started.

POINT

One PLC CPU can execute a total of up to 32 "Motion dedicated instructions" and "dedicated instructions excluding the S(P).GINT" simultaneously.

When Motion dedicated instructions and dedicated instructions excluding the "S(P).GINT" are executed simultaneously, the instructions will be processed in the order received.

If the command which has not completed processing becomes 33 or more, an OPERATION ERROR (error code: 4107) will be occurred.

2 - 39

2 MULTIPLE CPU SYSTEM

2.3.3 Reading/Writing Device Data

Device data can be written or read to/from the Motion CPU by the PLC CPU using the dedicated instructions listed in the table below.

Refer to the "Q173HCPU/Q172HCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)" or "Q173HCPU/Q172HCPU Motion controller (SV43) Programming Manual for the details of each instruction.

(Data cannot be written or read to/from the PLC CPU by another PLC CPU, to/from the PLC CPU by the Motion CPU, or to/from a Motion CPU by another Motion CPU.)

For example, by using the S(P). DDWR dedicated instruction, the device data of the

PLC CPU can be written to the device data of the Motion CPU.

<Example>

Read device memory

POINT

(1)One PLC CPU can execute a total of up to 32 "Motion dedicated instructions" and "dedicated instructions excluding the S(P).GINT" simultaneously.

When Motion dedicated instructions and dedicated instructions excluding the S(P).GINT are executed simultaneously, the instructions will be processed in the order received.

If the command which has not completed processing becomes 33 or more, an OPERATION ERROR (error code: 4107) will be occurred.

(2)Data refresh via the S(P).DDRD/S(P).DDWR is not synchronized with data refresh via the automatic refresh function of shared CPU memory.

Do not issue S(P).DDRD/S(P).DDWR instructions to the devices whose data in shared CPU memory is being refreshed.

2 - 40

2 MULTIPLE CPU SYSTEM

2.3.4 Shared CPU Memory

Shared CPU memory is used to transfer data between the CPUs in the Multiple CPU system and has a capacity of 4096 words from 0H to FFFH.

Shared CPU memory has four areas: "self CPU operation data area", "system area", "automatic refresh area" and "user-defined area".

When the automatic refresh function of shared CPU memory is set, the area corresponding to the number of automatic refresh points starting from 800H is used as the automatic refresh area.

The user-defined area begins from the address immediately next to the last address of the automatic refresh area.

If the number of automatic refresh points is 18 (12H points), the area from 800H to 811H becomes the automatic refresh area and the area after 812H becomes the user- defined area.

The diagram below shows the structure of shared CPU memory and accessibility from a PLC program.

REMARK

(Note-1) : Use the S. TO instruction to write to the user-defined area of the self CPU in the PLC CPU.

Use the MULTW instruction to write to the user-defined area of the self CPU in the PLC CPU.

(Note-2) : Use the FROM instruction/intelligent function module device (U\G) to read the shared memory of the Motion CPU from the PLC CPU.

Use the MULTR instruction to read the shared memory of other CPU in the Motion CPU.

2 - 41

2MULTIPLE CPU SYSTEM

(1)Self CPU operation data area (0H to 1FFH)

(a)The following data of the self CPU are stored in the Multiple CPU system,

Table 2.1 Table of Contents Stored in the Self CPU Operation Data Area

(Note) : Refer to the corresponding special register for details.

(b)The self CPU operation data area is refreshed every time the applicable register has been changed.

However, the refresh timing may be delayed by up to the main cycle time. (It updates using idle time during motion control. The maximum main cycle time: several milliseconds to several hundred milliseconds).

(c)The data of the self CPU operation data area can be read from the PLC CPU of the other CPU by the FROM instruction.

However, since there is a delay in data update, use the data that has been read as an object for monitoring only.

(d)Self CPU operation data area used by Motion dedicated PLC instruction

(30H to 33H)

The complete status of the to self CPU high speed interrupt accept flag from CPUn is stored in the following address.

Table 2.2 Self CPU Operation data Area used by the Motion Dedicated PLC Instruction

2 - 42

2MULTIPLE CPU SYSTEM

(2)System area (200H to 7FFH)

This area is used by the operating systems (OS) of the PLC CPU/Motion CPU. OS uses this area when executing dedicated Multiple CPU communication instructions.

???System area used by Motion dedicated PLC instruction (204H to 20DH) The complete status is stored in the following.

Table 2.3 Table of System Area used by the Motion Dedicated PLC Instruction

Shared

memoryNameDescription address

The start accept flag is stored by the 1 to 32 axis, each bit.

(As for a bit's actually being set Q173HCPU : J1 to J32/ 204H(516) Start accept flag (Axis1 to 16)Q172HCPU : J1 to J8.)

OFF : Start accept flag usable

ON : Start accept flag disable

The speed changing flag is stored by the 1 to 32 axis, each bit.

(As for a bit's actually being set Q173HCPU : J1 to J32/ 206H(518) Speed changing flag (Axis1 to 16) Q172HCPU : J1 to J8.)

OFF : Start accept usable

ON : Start accept disable

(Note-1): Usable in SV22.

2 - 43

2 MULTIPLE CPU SYSTEM

2.4 Multiple CPU Error Codes

2.4.1 Self-diagnosis error code

This section explains the self-diagnosis error code. A self-diagnosis error code is stored in D9008.

And, it can be confirmed with device monitor of the PC diagnosis/SW6RN-GSVP of GX Developer.

Each digit is defined as the error code as follows.

The characteristic error of Motion CPU is 10000 (the error code which occurs except the PLC CPU).

2 - 45

2 MULTIPLE CPU SYSTEM

Table 2.4 Multiple CPU errors which occurs in the Motion CPU (1000 to 10000)

(Note-1) : CPU No. is stored in slot No. of the common information classification.

(Note-2) : Base No. in "common information classification code" of "error information classification code" is 0 : CPU base, 1 to 7 : Number of extension bases.

(Note-3) : Because a stop error or CPU No. except CPU No. that it was reset becomes MULTI CPU DOWN simultaneously, a stop error or CPU No. except CPU No. that it was reset may store in the classification of error information depending on timing.

(Note-4) : When an error occurs in the Motion CPU and so on except PLC CPU, if a PC diagnosis is made in the CPU except PLC CPU from GX Developer via PLC CPU, the error code "10000" is indicated.

(Note-5) : The Motion SFC error detection signal (M2039) turned on at the error detection (SV13/SV22). A self-diagnosis error flag (M9008) and a diagnosis error flag (M9010) do not turn on at the error detection. The error code "10000" being set in D9008 is reset in the Motion SFC error detection signal (M2039) ON OFF (SV13/SV22).

(Note-6) : MOTION RUN LED turns off at the stop error occurrence. (The condition of RUN LED does not change.)

(Note-7) : Operating status of CPU at the error occurrence can be set in the parameter. (LED display also changes continuously.)

2 - 46

2 MULTIPLE CPU SYSTEM

2 - 47

2 MULTIPLE CPU SYSTEM

Table 2.4 Multiple CPU errors which occurs in the Motion CPU (1000 to 10000) (continued)

(Note-1) : CPU No. is stored in slot No. of the common information classification.

(Note-2) : Base No. in "common information classification code" of "error information classification code" is 0 : CPU base, 1 to 7 : Number of extension bases.

(Note-3) : Because a stop error or CPU No. except CPU No. that it was reset becomes MULTI CPU DOWN simultaneously, a stop error or CPU No. except CPU No. that it was reset may store in the classification of error information depending on timing.

(Note-4) : When an error occurs in the Motion CPU and so on except PLC CPU, if a PC diagnosis is made in the CPU except PLC CPU from GX Developer via PLC CPU, the error code "10000" is indicated.

(Note-5) : The Motion SFC error detection signal (M2039) turned on at the error detection (SV13/SV22). A self-diagnosis error flag (M9008) and a diagnosis error flag (M9010) do not turn on at the error detection. The error code "10000" being set in D9008 is reset in the Motion SFC error detection signal (M2039) ON OFF (SV13/SV22).

(Note-6) : MOTION RUN LED turns off at the stop error occurrence. (The condition of RUN LED does not change.)

2 - 48

2 MULTIPLE CPU SYSTEM

2 - 49

2 MULTIPLE CPU SYSTEM

2.4.2 Release of self-diagnosis error

The CPU can perform the release operation for errors only when the errors allow the CPU to continue its operation.

To release the errors, follow the steps shown below.

(1)Eliminate the error cause.

(2)Store the error code to be released in the special register D9060.

(3)Turn the special relay M9060 off to on.

(4)The target error is released.

After the CPU is reset by the release of error, the special relays, special registers and LEDs for the error are returned to the states under which the error occurred.

If the same error occurs again after the release of the error, it will be registered again.

2 - 50

3 COMMON PARAMETERS

3. COMMON PARAMETERS

3.1 System Settings

In the Multiple CPU system, the common system parameters and individual parameters are set for each CPU and written to each CPU.

3 - 1

3 COMMON PARAMETERS

3.1.1 System data settings

Base setting

Multiple CPU Common setting system

parameters

Motion slot setting

Basic system setting

Individual parameters

3COMMON PARAMETERS

(2)Parameters common throughout the Multiple CPU system

In the Motion CPU, during initialization the parameters in the table below are verified against the parameters in the PLC CPU of CPU No. 1. Unmatched parameters generate a PARAMETER ERROR (error code: 3012), so the parameters show below must be set identically between Motion CPUs and the PLC CPU of CPU No.1. (If the system settings are changed in a Motion CPU, it is necessary to reset. Therefore, the parameters are checked only during initialization.)

PLC CPUs can use the parameters of the other CPUs via "Multiple CPU parameter utilization" in GX Developer. Since Motion CPUs don't have this function, however, the common parameters must be set for each Motion CPU.

Table of Parameters common throughout the Multiple CPU system

3 - 4

3COMMON PARAMETERS

(a)Multiple CPU settings

Set the following items identically in Multiple CPU Settings (Motion CPU setting) in SW6RN-GSVP and in Multiple CPU Settings (PLC CPU setting) in GX Developer.

???Number of CPU modules

???Operation mode when a CPU stop error occurred

???Number of automatic refresh points (Settings 1 to 4 must be the same for all CPUs)

???Multiple CPU Settings (Motion CPU setting) in SW6RN-GSVP

Number of CPU modules

Error operation made at the stop of CPU

Number of automatic refresh points

??? Multiple PLC Setting (PLC CPU setting) in GX Developer

3 - 5

3COMMON PARAMETERS

(b)Motion slot settings

Set the modules controlled by the self CPU by the Motion Slot Settings (Motion CPU setting) in SW6RN-GSVP. In GX Developer, set the slot for Motion CPU control as the CPU number of the Motion CPU in I/O Assignment Settings (PLC CPU setting).

???Motion Slot Setting (Motion CPU setting) in SW6RN-GSV P

Control CPU No.

??? I/O Assignment Setting (PLC CPU setting) in GX Developer

(Note): Motion slot setting items are different depending on the operating system software.

3 - 6

3COMMON PARAMETERS

(c)Base settings

Set the total number of bases and number of slots in each base identically between Base Settings (Motion CPU setting) in SW6RN-GSVP and I/O Assignment Settings (PLC CPU setting) in GX Developer. In GX Developer, the detailed settings may be omitted by setting the base mode "Automatic".

??? Base Settings (Motion CPU setting) in SW6RN-GSVP

Total number of bases and number of slots in each base

??? I/O Assignment Settings (PLC CPU setting) in GX Developer

(Note) : Only the Motion CPU may be set without setting the PLC CPU.

3 - 7

3 COMMON PARAMETERS

POINT

GOT is recognized as an intelligent function modules "16 points10 slots" on the base (number of extension bases and slot No. are set in the GOT parameter.) for bus connection with GOT.

Set the one extension base (16 points10 slots) for connection with GOT, then set "10 slots" as number of extension bases for connection with GOT in the system setting (base setting).

<Example>

When the "2nd stage" of extension base is set as connection with GOT. (Set "10" slot as "2nd stage" of extension base in the base setting.)

If the bus connection with GOT is executed without above settings in the base setting of system setting, "SP.UNIT LAY ERROR" (error code: 2124) will occur.

3 - 8

3 COMMON PARAMETERS

3.1.3Individual parameters

(1)Basic system settings

The following explains each item to be set in Basic System Settings.

(a)Operation cycle setting

1)Set the of motion operation cycle (cycles at which a position command is computed and sent to the servo amplifier).

The setting range is 0.4ms/0.8ms/1.7ms/3.5ms/7.1ms/14.2ms/Automatic setting. The actual operation cycle corresponding to 0.4ms is 0.444...ms. Similarly, 0.8ms corresponds to 0.888???ms, 1.7ms to 1.777...ms, 3.5ms to 3.555...ms, 7.1ms to 7.111...ms, and 14.2ms to 14.222???ms, respectively.

2)The default value is "Automatic setting". When "Automatic setting" is selected, the operation cycle is set according to the table below based on the number of axes for servo amplifier set in the System Settings.

3)If the duration of motion operation has exceeded the operation cycle, the operation cycle over flag (M2054) turns ON. Even when "Automatic setting" is selected, the duration of motion operation may exceed the operation cycle depending on the control conditions. The actual duration of motion operation (unit:??s) is stored in the D9188, and the current setting of operation cycle (unit:??s) is stored in the D9197. Monitor these special registers and adjust the set value of operation cycle so that the actual duration of motion operation will not exceed the set operation cycle. (A WDT or other error may occur in the Motion CPU.)

(b)Operation setting upon STOP RUN

Set the condition in which the "PLC ready" flag (M2000) turns ON. Select one of the following:

1)M2000 ON upon switching (STOP RUN) (default)

Condition in which the M2000 turns from OFF to ON

???Change the RUN/STOP switch from the STOP side to the RUN side.

???With the RUN/STOP switch set to the RUN side, turn ON the power or cancel the reset.

3 - 9

3 COMMON PARAMETERS

Condition in which the M2000 turns from ON to OFF

???Change the RUN/STOP switch from the RUN side to the STOP side.

2)M2000 ON upon switching (STOP RUN) + 1 set in setting register (The M2000 turns ON when the switch is set to the RUN side and 1 is

set in the setting register.)

Condition in which the M2000 turns from OFF to ON

???With the RUN/STOP switch set to the RUN side, set 1 in the setting register for "PLC ready" flag (D704). (The Motion CPU detects a change from 0 to 1 in the lowest bit in the D704).

Condition in which the M2000 turns from ON to OFF

???With the RUN/STOP switch set to the RUN side, set 0 in the setting register for "PLC ready" flag (D704). (The Motion CPU detects a change from 1 to 0 in the lowest bit in the D704).

???Change the RUN/STOP switch from the RUN side to the STOP side.

(c)Forced stop input setting

Specify the bit device used for executing a forced stop in which all servo- amplifier axes are stopped immediately.

Either X (PX) or M can be specified. No default value has been set. The set bit device is designated as contact B and performs the following control in response to ON/OFF of the device.

???Bit device is turned OFF ??? Forced stop input is ON (forced stop)

???Bit device is turned ON ??? Forced stop input is OFF (forced stop is released.)

(d)Latching range setting

Set the following latching ranges for M, B, F, D and W, respectively.

???Range in which the latch can be cleared with the latch clear key (Latch (1))

???Range in which the latch cannot be cleared with the latch clear key (Latch (2))

3 - 10

3COMMON PARAMETERS

(2)Individual module settings

The setting items for each module are shown below.

Setting items for each module

3 - 11

3 COMMON PARAMETERS

Setting items for each module (Continued)

3 - 12

3COMMON PARAMETERS

(4)System setting errors

Motion CPUs generate a system configuration error under the following conditions:

(Note-1) : The error code stored in the diagnosis error area of the self operation information area in the Multiple CPU shared memory.

(Note-2) : When an error code 10000 is displayed, the M2041 ("System setting error" flag) turns ON and an applicable error name shown above is displayed on the error list monitor of the programming software package.

(Note-3) : Base settings must be performed in System Settings of the Motion CPU even for those bases in which the modules controlled by the self CPU are not installed.

3 - 14

3COMMON PARAMETERS

(3)Setting of the Motion CPU control modules by the PLC CPU

Follow the table below when Motion CPU control modules are set in I/O

Assignment Settings of the PLC CPU. (The PLC CPU handles the Q172LX,

Q172EX and Q173PX as intelligent function modules having 32 occupied points.)

Type and number of points may be left unset.

POINT

(1)Set the I/O device of the Motion CPU within the range from PX/PY000 to PX/PYFFF. Set the number of real I/O points within 256 points. (I/O No. may not be consecutive.)

(2)As for the Motion CPU, the Q172LX, Q172EX, Q173PX and QI60 are not included in the number of real I/O points.

3 - 16

3 COMMON PARAMETERS

3.2.2 I/O No. of PLC CPU and Q173HCPU/Q172HCPU

In the Multiple CPU system, I/O No. is assigned to the PLC CPU/Motion CPU to enable communication between the PLC CPU and Motion CPU using the following instructions:

???The Multiple CPU dedicated instructions

???The Motion CPU dedicated instructions

???The Multiple CPU communication dedicated instructions

The I/O No. of the PLC CPU/Motion CPU are fixed based on the installed slots and cannot be changed.

The table below lists the I/O No. of the PLC CPU/Motion CPU installed in the CPU base unit of the Multiple CPU system.

The I/O No. of the PLC CPU/Motion CPU are used in the following cases:

???When writing data to the shared CPU memory of the self CPU using the S. TO instruction.

???When reading data from the shared CPU memory of the other CPU using the FROM instruction.

???When reading data from the shared CPU memory of the other CPU using an intelligent function module device (U\G)

???When reading device data directly from the Motion CPU from the PLC CPU using the "S(P).DDRD" instruction.

???When writing device data directly to the Motion CPU from the PLC CPU using the "S(P).DDWR" instruction.

REMARK

???Refer to Section "2.3 Communication between the PLC CPU and the Motion CPU in the Multiple CPU System" for communication between the PLC CPU and the Motion CPU.

3 - 17

3 COMMON PARAMETERS

3.2.3 Setting I/O No.

The procedure for the I/O No. setting for the Motion CPU in System Settings of SW6RN-GSVP is shown below. In the Motion CPU, by setting a module used in each CPU base or extension base slot in System Settings, the control CPU of the applicable slot is assigned as the self CPU. Input modules, output modules and composite I/O modules require an I/O No. to be set.

Refer to the help of SW6RN-GSVP for the detailed operating procedure on the System Settings screen.

<System Settings>

1) Double-click the slot position, display the Motion Slot Settings dialog box.

<Motion Slot Settings>

2) Select the I/O module.

5) Set the first I/O No. (PX No., PY No.).

6) Click [OK].

(Note): Display of system setting and motion slot setting are different depending on the operating system software.

POINT

I/O No.s cannot be assigned automatically, unlike a PLC CPU for which I/O No. are assigned automatically if such setting is omitted in the Motion CPU. In the Motion CPU, be sure to set the first I/O No. in System Settings for each module used.

3 - 18

3 COMMON PARAMETERS

3.3Servo Parameters

(1)The servo parameters control the data fixed by the specifications of the servo amplifier and servomotor controlled in the parameter set for each axis and the control of the servomotor.

(2)The servo parameters are set by the Setup software (MR Configurator).

3.3.1 Servo parameters of servo amplifier

The servo parameters to be set are shown in Tables 3.1 to 3.4.

Refer to the "Servo amplifier Instruction Manual" for details of the servo parameters.

Instruction Manual list is shown below.

Refer to the help for handling of the Setup software (MR Configurator).

???Set the presence/absence of absolute position detection system.

3 - 19

3 COMMON PARAMETERS

Table 3.1 Servo parameter (Basic setting parameters) list (Continued)

3 - 20

3 COMMON PARAMETERS

Table 3.1 Servo parameter (Basic setting parameters) list (Continued)

???Set the encoder pulses (A-phase, B-phase) output by the servo amplifier by the number of output pulses per servomotor revolution or output division ratio. (after multiplication by 4)

???Select the number of output pulses per

???The number of A/B-phase pulses actually output is 1/4 times greater than the preset value. The maximum output frequency is 4.6[Mpps] (after multiplication by 4). Use this parameter within this range.

POINTS

(1)When the items marked "" in the above table has changed, make the Multiple CPU system reset or power supply OFF to ON. And, once turn OFF the servo amplifier power supply and then turn ON it again.

3 - 21

3COMMON PARAMETERS

(2)Gain/filter parameters

Table 3.2 Servo parameter (Gain/filter parameters) list

3 - 22

3 COMMON PARAMETERS

Table 3.2 Servo parameter (Gain/filter parameters) list (Continued)

3 - 23

3 COMMON PARAMETERS

Table 3.2 Servo parameter (Gain/filter parameters) list (Continued)

3 - 24

3 COMMON PARAMETERS

Table 3.2 Servo parameter (Gain/filter parameters) list (Continued)

3 - 25

3 COMMON PARAMETERS

Table 3.2 Servo parameter (Gain/filter parameters) list (Continued)

POINTS

(1)When the items marked "" in the above table has changed, make the Multiple CPU system reset or power supply OFF to ON. And, once turn OFF the servo amplifier power supply and then turn ON it again.

3 - 26

3 COMMON PARAMETERS

(3) Extension setting parameters

Table 3.3 Servo parameter (Extension setting parameters) list

3 - 27

3 COMMON PARAMETERS

Table 3.3 Servo parameter (Extension setting parameters) list (Continued)

0: Invalid

1: Valid

(When alarm history clear is made valid, the

PC21 BPS Alarm history clear ??? Clear the alarm history.3.3.24 alarm history is cleared at next power-on. After

the alarm history is cleared, the setting is automatically made invalid (reset to 0).)

POINTS

(1)When the items marked "" in the above table has changed, make the Multiple CPU system reset or power supply OFF to ON. And, once turn OFF the servo amplifier power supply and then turn ON it again.

3 - 28

3COMMON PARAMETERS

(4)I/O Setting Parameters

Table 3.4 Servo parameter (I/O Setting Parameters) list

3 - 29

3 COMMON PARAMETERS

Table 3.4 Servo parameter (I/O Setting Parameters) list (Continued)

POINTS

(1)When the items marked "" in the above table has changed, make the Multiple CPU system reset or power supply OFF to ON. And, once turn OFF the servo amplifier power supply and then turn ON it again.

3 - 30

3 COMMON PARAMETERS

3.3.2 Regenerative brake option

This parameter is set to use the regenerative brake option.

0 0

Selection of regenerative brake option

00 : Regenerative brake option is not used.

EMR-J3-10B: Regenerative brake resistor is not used.

EMR-J3-20B or more and -700B or less: Built-in regenerative brake resistor is used.

ESupplied regenerative brake resistors or regenerative brake option is used with the MR-J3-11KB(4) or more servo amplifier.

01 : FR-BU(-H)FR-RC(-H)FR-CV(-H)

02 : MR-RB032

03 : MR-RB12

04 : MR-RB32

05 : MR-RB30

06 : MR-RB50

08 : MR-RB31

09 : MR-RB51

FA : When regenerative brake resistors or regenerative brake option supplied to MR-J3-11KB(4) or more are cooled by fans to increase capability.

3.3.3 Absolute position detection system

This parameter is set to use the absolute (absolute position) system in the position control mode.

0:Invalid (Used in incremental system)

1:Valid (Used in absolute system)

3.3.4Function selection A-1

This parameter is set to use the forced stop input of servo amplifier.

Selection of servo forced stop

0:Valid (Forced stop (EM1) is used.)

1:Invalid (Forced stop (EM1) is not used.)

When not using the forced stop of servo amplifier, set the selection of servo forced stop to "1: Invalid".

The forced stop automatically turns on inside the servo amplifier.

3.3.5 Auto tuning mode

This parameter is used to select the gain adjustment mode.

3 - 31

3 COMMON PARAMETERS

3.3.8 Rotation direction selection

This parameter is used to set the rotation direction at load side of the servomotor.

3.3.9 Encoder output pulse

This parameter is used to set the encoder pulses (A-phase, B-phase) output by the servo amplifier. Set the value 4 times greater than the A-phase or B-phase pulses. Setting range is 1 to 65535[PLS/rev].

"PC03: Encoder output pulse selection" can be used to select the output pulse setting or output division ratio setting. The number of A/B-phase pulses actually output is 1/4 times greater than the preset value. The maximum output frequency is 4.6[Mpps] (after multiplication by 4). Use this parameter within this range.

(1)For output pulse designation

Set "0000h" (initial value) to "PC03: Encoder output pulse selection". Set the number of pulses per servomotor revolution.

Output pulse Setting value [PLS/rev]

For example, set "5600h" to "PA15: Encoder output pulse", the actually output A/B-phase pulses are shown below.

A/B-phase output pulses = 5600 = 1400[PLS] 4

(2) For output division ratio setting

Set "001h" (initial value) to "PC03: Encoder output pulse selection".

The number of pulses per servomotor revolution is divided by the setting value.

Output pulse = Resolution per servomotor revolution [PLS/rev]

Setting value

For example, set "8h" to "PA15: Encoder output pulse", the actually output A/B- phase pulses are shown below:

3 - 33

3 COMMON PARAMETERS

3.3.10 Adaptive tuning mode

3.3.11 Vibration suppression control tuning mode

This parameter is used to set the vibration suppression control tuning mode.

3.3.12 Feed forward gain

This parameter is used to improve the trackability in response of servo amplifier.

Setting range is 0 to 100[%]. (Servo amplifier use)

3.3.13 Notch shape selection 1

This parameter is used to select the machine resonance suppression filter 1 (Notch shape selection 1).

3 - 34

3 COMMON PARAMETERS

3.3.14 Notch shape selection 2

This parameter is used to select the machine resonance suppression filter 2 (Notch shape selection 2).

0

Machine resonance suppression filter 2 selection

1:Invalid

2:Valid

3.3.15 Low pass filter selection

This parameter is used to select the low pass filter.

Low pass filter selection

0:Automatic setting

1:Manual setting (Setting value of "PB18: Low pass filter setting")

3.3.16Slight vibration suppression control selection

This parameter is used to select the slight vibration suppression control and PI-PID switching.

0 0

Slight vibration suppression control selection

0:Invalid

1:Valid

PI-PID control switch over selection 0: PI control is valid

3: PI control is always valid

3 - 35

3 COMMON PARAMETERS

3.3.17 Gain changing selection

This parameter is used to select the gain changing condition.

0 0

Gain changing selection

Under any of the following conditions, the gains change based on the setting value of servo parameter PB29 to PB32.

0:Invalid

1:Control instructions from Motion CPU

2:Command frequency (Setting value of "PB27: Gain changing condition")

3:Droop pulse value (Setting value of "PB27: Gain changing condition")

4:Servomotor speed (Setting value of "PB27: Gain changing condition")

Gain changing condition

0: Valid at more than condition

(For control instructions from Motion CPU, valid with gain changing command ON) 1: Valid at less than condition

(For control instructions from Motion CPU, valid with gain changing command OFF)

3.3.18 Encoder output pulse selection

This parameter is used to select the encoder output pulse direction and encoder pulse output setting.

0 0

Encoder pulse output phase changing

Changing the phases of a, B-phase encoder pulses output.

Encoder output pulse setting selection

0:Output pulse designation

1:Division ratio setting

3.3.19 Function selection C-1

This parameter is used to select the serial encoder cable.

0 0 0

Serial encoder cable communication system selection

0:2-wire type

1:4-wire type

The following serial encoder cables are 4-wire type. MR-EKCBL30M-L

MR-EKCBL30M-H

MR-EKCBL40M-H

MR-EKCBL50M-H

The other all serial encoder cables are 2-wire type.

Incorrect setting will result in an encoder error 1 (Error code: 2016) or

encoder error 2 (Error code: 2020).

3 - 36

3 COMMON PARAMETERS

3.3.20 Function selection C-2

This parameter is used to select the motor-less operation.

0 0 0

Motor-less operation selection

0:Valid

1:Invalid

If motor-less operation is set to valid, the output signal can be output and status display is possible as well as the case in which the motor operates actually without connecting the servomotor.

It can be checked the Motion SFC program (SV13/SV22)/Motion program (SV43) of Multiple CPU system without connecting a motor.

POINT

Function selection C-2 (Motor-less operation selection)

Motor-less operation differs from operation in which an actual motor is run in that, in response to signals input in motor-less operation, motor operation is simulated and output signals and state display data are created under the condition that the load torque zero and moment of load inertia are the same as the motor's moment of inertia. Accordingly, the acceleration/deceleration time and effective torque or the peak load display value and the regenerative load ratio is always "0", which is not the case when the real motor is operated.

3.3.21 Analog monitor 1 output

This parameter is used to output the operating status of servo amplifier to analog monitor in real time. The operating status can be checked by anaolg output. This function is used to monitor the status of servo amplifier using an ammeter or synchronize the torque/speed with the other servo amplifiers.

Set the signal provided to the analog monitor 1 output.

0 0 0

Analog monitor 1 output

0Servomotor speed (??8V/max. speed)

1Torque (??8V/max. torque) (Note-2)

2Servomotor speed (+8V/max. speed)

3Torque (+8V/max. torque) (Note-2)

4Current command (??8V/max. current command)

5Speed command (??8V/max. speed command)

6Droop pulses (??10V/1 102[PLS]) (Note-1)

7Droop pulses (??10V/1 103[PLS]) (Note-1)

8Droop pulses (??10V/1 104[PLS]) (Note-1)

9Droop pulses (??10V/1 105[PLS]) (Note-1)

AFeedback position (??10V/1 106[PLS]) (Note-1,3),

BFeedback position (??10V/1 107[PLS]) (Note-1,3)

CFeedback position (??10V/1 108[PLS]) (Note-1,3)

DBus voltage (??8V/400V)

(Note-1): Encoder pulse unit

(Note-2): 8[V] is output at the maximum torque.

(Note-3): It can be used by the absolute (absolute position) system.

3 - 37

3 COMMON PARAMETERS

3.3.22 Analog monitor 2 output

This parameter is used to output the operating status of servo amplifier to analog monitor in real time. The operating status can be checked by anaolg output. This function is used to monitor the status of servo amplifier using an ammeter or synchronize the torque/speed with the other servo amplifiers.

Set the signal provided to the analog monitor 1 output.

0 0 0

Analog monitor 2 output

0Servomotor speed (??8V/max. speed)

1Torque (??8V/max. torque) (Note-2)

2Servomotor speed (+8V/max. speed)

3Torque (+8V/max. torque) (Note-2)

4Current command (??8V/max. current command)

5Speed command (??8V/max. speed command)

6Droop pulses (??10V/1 102[PLS]) (Note-1)

7Droop pulses (??10V/1 103[PLS]) (Note-1)

8Droop pulses (??10V/1 104[PLS]) (Note-1)

9Droop pulses (??10V/1 105[PLS]) (Note-1)

AFeedback position (??10V/1 106[PLS]) (Note-1,3),

BFeedback position (??10V/1 107[PLS]) (Note-1,3)

CFeedback position (??10V/1 108[PLS]) (Note-1,3)

DBus voltage (??8V/400V)

(Note-1): Encoder pulse unit

(Note-2): 8[V] is output at the maximum torque.

(Note-3): It can be used by the absolute (absolute position) system.

3.3.23 Function Selection C-4

This parameter is used to set the home position setting condition.

It is set when using the absolute position encoder.

0 0 0

Selection of home position setting condition

0:Need to pass motor Z phase after the power supply is switched on.

1:Not need to pass motor Z phase after the power supply is switched on.

3.3.24 Alarm history clear

This parameter is used to clear the alarm history.

0 0 0

Alarm history clear

0:Invalid

1:Valid

When alarm history clear is made valid, the alarm history is cleared at

next power-on. After the alarm history is cleared, the setting is automatically made invalid (reset to 0).

3 - 38

3 COMMON PARAMETERS

3.3.25 Output signal device selection 1

This parameter is used to set the signal output to the connector (CN3-13 pin) of servo amplifier. The device that can be assigned changes depending on the control mode.

0 0 0

Select the output device of the CN3-13 pin.

The devices that can be assigned in each control mode are shown below.

If any other device is set, it is invalid.

(Note): Encoder pulse unit For manufacturer setting. Never change this setting.

3.3.26 Output signal device selection 2

This parameter is used to set the signal output to the connector (CN3-9 pin) of servo amplifier. The device that can be assigned changes depending on the control mode. Refer to the table of Section 3.3.25 for the devices that can be assigned.

3.3.27 Output signal device selection 3

This parameter is used to set the signal output to the connector (CN3-15 pin) of servo amplifier. The device that can be assigned changes depending on the control mode. Refer to the table of Section 3.3.25 for the devices that can be assigned.

3 - 39

3 COMMON PARAMETERS

3.3.28 Function selection D-3

This parameter is used to set the ALM output signal at warning occurrence.

3 - 40

4AUXILIARY AND APPLIED FUNCTIONS

(4)When the multiple watch data, ON region, output enable/disable bit and forced output bit are set to the same output device, the logical add of output results of the settings is output.

4 - 3

4 AUXILIARY AND APPLIED FUNCTIONS

4.1.2 Limit output setting data

Limit output data list are shown below.

Up to 32 points of output devices can be set.

(The following items of No.1 to No.5 are set together as one point.)

(1)Output device

(a)Set the bit device which outputs the ON/OFF signal toward the preset watch data.

(b)As the output device, the following devices can be used.

(Note-1) : PX is write-disabled and it cannot be used as the output device. For X, only the free No. of the input card non-loading can be used.

(Note-2) : The real output device range (PY) is also included.

(Note-3) : M2001 to M2032 cannot be used to the output device.

Be careful because it affect a positioning operation, when the positioning dedicated devices are set.

4 - 4

4AUXILIARY AND APPLIED FUNCTIONS

(2)Watch data

(a)This data is used to perform the limit switch output function. This data is comparison data to output the ON/OFF signal. The output device is ON/OFF-controlled according to the ON region setting.

(b)As the watch data, motion control data or optional word device data can be used.

1)Motion control data

a)SV13/SV22

b) SV43

2) Word device data

4 - 5

4AUXILIARY AND APPLIED FUNCTIONS

3)When the optional device data is set, the following data type is set as the data type to be compared.

(3)ON region setting

(a)The data range which makes the output device turn ON/OFF toward the watch data.

(b)The following devices can be used as the ON Value and OFF Value of the data range.

The data type of device/constant to be set is the same as the type of watch data.

(4)Output enable/disable bit

(a)Set the status of output enable/disable bit when the limit switch output is forbidden during operation.

1)The following control is exercised.

(b) Usable devices

4 - 6

4AUXILIARY AND APPLIED FUNCTIONS

(5)Forced output bit

(a)Set the "forced output bit" when you want to forcibly provide the limit switch outputs during operation.

1)The following control is exercised.

(b) Usable devices

4 - 7

4 AUXILIARY AND APPLIED FUNCTIONS

4.2 Absolute Position System

The positioning control for absolute position system can be performed using the absolute-position-compatible servomotors and servo amplifiers.

If the machine position is set at the system starting, home position return is not necessary because the absolute position is detected at the power on.

The machine position is set with the home position return using the Motion SFC program (SV13/SV22)/Motion program (SV43) or a peripheral device.

(1)Conditions of the absolute position system start

Perform a home position return after machine adjustment at the absolute position system start.

(2)In the absolute positioning system, the absolute position may be lost in the following cases:

Set the absolute position with a home position return.

(a)The battery unit is removed or replaced.

(b)The battery error of the servo amplifier occurs. (It is detected at the servo amplifier power on).

(c)The machine system is disturbed by a shock.

(d)The cable between servo amplifier and encoder is removed, or the servo amplifier or encoder is replaced.

(3)The current value history can be monitored using of the "System setting mode- allowable travel during power off" or "Monitor mode" using a peripheral device. (Refer to the help of SW6RN-GSVP to be used "Allowable travel during power off" and "Monitor mode".)

CAUTION

After removing or replacing the battery unit, correctly install the new unit and set the absolute position.

After a servo battery error occurs, eliminate the cause of the error and ensure operation is safe before setting the absolute position.

After the mechanical system is disturbed by a shock, make the necessary checks and repairs, and ensure operation is safe before setting the absolute position.

4 - 8

4 AUXILIARY AND APPLIED FUNCTIONS

4.2.1 Current value control

The current value when using the ABS encoder is controlled by following functions.

(1)The validity of an encoder data during operation is checked.

(a)Checks that the amount of change of the encoder in a 3.5[ms] is within 180 degrees at the motor axis. (An error is displayed at the abnormal.)

(b)Checks that adjustment of the encoder data and feed-back positions controlled with the servo amplifier. (An error is displayed at the abnormal.)

(2)The following values can be monitored by the current value history using the peripheral devices.

(a)Current value history monitor Month/day/hour/minute

The time such as at the completion of home position return and servo amplifier power supply ON/OFF is indicated.

In order to indicate the time correctly, turn on M9028 (clock data read request) in the Motion SFC program (SV13/SV22)/Motion program (SV43) after setting the clock data of special register.

(b)Encoder current value

When using the MR-J3-B, the multiple revolution data and within-one- revolution data read from the encoder is indicated.

(Note) : For the encoder current value in the home position data area, the encoder current value when the motor is within the in-position range at the completion of home position return is displayed (not encoder value of home position).

(c) Servo command value

The command value issued to the servo amplifier is indicated.

(d) Monitor current value

The current value controlled in the Motion CPU is indicated.

(Note) : A value near the feed current value/machine value is indicated. However, because the monitor current value and feed current value/machine value are different data, it is not abnormal even if a different value is indicated.

(e) Alarms

When an error for current value restoration occurs at the servo amplifier power on, an error code is indicated.

(3)By setting of the "Allowable travel during power off", if the encoder data changes exceeding the setting range during power-off, it checks at servo amplifier power- on. (An error is displayed at the abnormal.)

"Allowable travel during power off" cannot be set for the Linear servo amplifier.

4 - 10

4 AUXILIARY AND APPLIED FUNCTIONS

4.3 High-Speed Reading of Specified Data

This function is used to store the specified positioning data in the specified device (D, W). The signal from input module controlled in the Motion CPU is used as a trigger. It can be set in the system setting of SW6RN-GSVP.

(1)Positioning data that can be set

(a)SV13/SV22

(b) SV43

(2) Modules and signals to be used

(Note) : Only one PLC input module can be used.

4 - 11

4 AUXILIARY AND APPLIED FUNCTIONS

4.4 ROM Operation Function

This function is used to store beforehand the user programs and parameters in the internal FLASH ROM memory built-in the Motion CPU module, and operate it based on the data of internal FLASH ROM memory.

4.4.1 About the ROM operation function

The outline procedure of ROM operation function is shown below.

(1)Turn on or reset the power supply of Multiple CPU system in the "Mode operated by RAM".

(2)Execute a trial run and adjustment by creating the system setting, programs and parameters using SW6RN-GSVP.

(3)Turn on or reset the power supply of Multiple CPU system in the "Installation mode ??? mode written in ROM".

(4)Write the system setting, programs and parameters of SRAM built-in the Motion CPU module to the internal FLASH ROM by performing the ROM writing request using SW6RN-GSVP.

(5)Start a normal operation by starting the Motion CPU in the "Mode operated by ROM" after reading the system setting, programs and parameters written in the internal FLASH ROM to the internal SRAM.

POINT

(1)Switch the operation mode using a DIP switches of Motion CPU module.

(2)Confirm the operation mode with "Mode LED" and "BOOT LED" of Motion CPU module.

Outline of processing is shown next page.

4 - 12

4 AUXILIARY AND APPLIED FUNCTIONS

4 - 16

4 AUXILIARY AND APPLIED FUNCTIONS

4.4.3ROM operation function details

(1)Operation mode

"Operation mode" of CPU is set by the state of DIP switch 2, 3, 5 of Motion CPU module at the power supply on or reset of Multiple CPU system.

DIP switch setting, operation mode and operation mode overview are shown below.

(a) DIP switch setting and operation mode

(Note-1) : It operates in the "Installation mode ??? mode written in ROM" for wrong setting.

(Note-2) : It operates in the "Mode operated by RAM" for wrong setting.

4 - 17

4 AUXILIARY AND APPLIED FUNCTIONS

POINT

Do not change the DIP switch setting during operation.

Be sure to turn off the power supply of the Multiple CPU system to change the DIP switch setting.

(2)Applicable data into ROM

The data contents batch written to the internal FLASH ROM by ROM writing are shown below. Backup data except the followings (current position of servomotor in absolute position system, home position and latch device, etc.) cannot be written to the internal FLASH ROM.

(a)Content of applicable data into ROM

(Note-1) : Mechanical system program and cam data are "applicable data into ROM", when using the SV22.

4 - 18

4 AUXILIARY AND APPLIED FUNCTIONS

4.4.4 Operating procedure of "ROM writing"

The operating procedure of ROM writing using the SW6RN-GSVP is shown below.

(1) SV13/SV22

System setting screen

Operating procedure

1) Display "ROM/RAM" communication dialog screen after clicking on "Communication" - "Transfer" of the system setting menu screen. (Note) : Select "Transfer" at the ROM writing.

4) Select "Write" of "When selecting the ROM" screen. (Note) : ALL data are batch-written at the ROM

writing.

Not select these items.

Mechanical system program and cam data cannot be written to the ROM when using the SW6RN-GSV13P.

The above items are not displayed on the window.

POINT

Be sure to write the all data beforehand to the RAM of

Motion CPU at the ROM writing.

4 - 23

4 AUXILIARY AND APPLIED FUNCTIONS

4.5 Security Function

This function is used to protect the user data of Motion CPU by registering a password. The following user data can be protected in this function.

"Write Protection" or "Read/Write Protection" can be set every user data.

4.5.1 Password registration/change

There are two following methods to register/change a password.

???[Communication] [Password] [Register/Change]

???Password [Register/Change] key of the communication setting screen displayed by "[Communication] [Transfer]".

<SV13/SV22>

<SV43>

4 - 25

4 AUXILIARY AND APPLIED FUNCTIONS

4.5.2 Password clearance

There are two following methods to delete a password.

???[Communication] [Password] [Delete]

???Password [Delete] key of the communication setting screen displayed by "[Communication] [Transfer]".

<SV13/SV22>

<SV43>

(1)Procedure for password clearance

(a)The password data set in the Motion CPU are displayed.

(b)Enter old password in the password column, and push [Execute] key.

(c)A password set in the Motion CPU will be deleted by success of password check. (A blank is displayed in the registration column.)

POINT

(1)When a password is deleted, the password data in the project is also deleted. Be sure to save a password.

(2)When an operation is stopped while a clearance of password by reset or power OFF of Motion CPU, the data may not be deleted. In this case, delete a password again to restore the user data.

4 - 27

4 AUXILIARY AND APPLIED FUNCTIONS

4.5.3 Password check

When the user data program set in a password is corrected, the password check screen is displayed automatically.

<SV13/SV22>

<SV43>

(1)Procedure for password check

(a)Enter old password in the password column, and push [Execute] key.

(b)A password protection set in the Motion CPU will be released temporarily by success of password check, and the user data program can be corrected.

(c)A password is memorized until SW6RN-GSVP ends. (Since a password is released automatically at the user data correction, a password check screen is not displayed.)

POINT

A password memorized by success of password check is valid even if the project change is executed while SW6RN-GSVP is running. (A password check screen is not displayed.)

4 - 28

4 AUXILIARY AND APPLIED FUNCTIONS

4.5.4 Password save

There are two following methods to save a password in the project data.

???Registration/change or clearance password

???A password read with user data by [Transfer] [Read].

A password saved in the project data can be registered with user data, when the user data are written in the Motion CPU that does not set password by [Transfer] [Write].

The updated password data is saved in the project data by the following operations.

???Password [Save] key of communication setting screen displayed by "[Communication] [Transfer]".

???Password [Save] key of password registration/change/clearance screen.

???When the password registration/change/clearance screen ends, if there is non-saved password data, select "Yes" of save check screen.

(1)A password and registration conditions for each operation

The password data in the project is not saved in the project before password save.

POINT

Save a password after delete of password to delete the password data in the project. Or, create new project and divert user data from the project with password data to create the project without password data.

4 - 29

4 AUXILIARY AND APPLIED FUNCTIONS

4.6 Clear All

This function is used to clear the all user data, password setting, and backup area in Motion CPU.

Clear all can be executed in the following operation.

???Select "[Option] [Clear All]" of the communication screen displayed by "[Communication] [Transfer]".

POINT

(1)Turn off the PLC ready flag (M2000) and test mode ON flag (M9075) to execute "Clear All".

(2)Turn off the power supply of servo amplifier.

(3)All user data and password setting are cleared at the "Clear All". Backup of user data and password setting data is recommended before clearance.

4 - 30

4 AUXILIARY AND APPLIED FUNCTIONS

4.7 Communication via Network

The communication between the personal computer and the Motion CPU is possible via Q series Network module (MELSECNET/10(H), Ethernet, CC-Link and etc.) in the Motion CPU (Q173HCPU/Q172HCPU).

Refer to the following manuals for the specifications of each network modules of MELSECNET/10(H), Ethernet, CC-Link and Serial communication, the handling method.

(1) MELSECNET/10(H) module : QJ71LP21-25, QJ71LP21G, QJ71BR11, QJ72LP25-25, QJ72LP25G, QJ72BR15

???QCPU User's Manual(Hardware Design, Maintenance and Inspection)

???Q Corresponding MELSECNET/H Network System Reference Manual(PLC to PLC network)

???Q Corresponding MELSECNET/H Network System Reference Manual(Remote I/O network)

(2)Ethernet interface module : QJ71E71, QJ71E71-B2, QJ71E71-100

???Q Corresponding Ethernet Interface Module User's Manual(Hardware)

???Q Corresponding Ethernet Interface Module User's Manual(Basic)

???Q Corresponding Ethernet Interface Module User's Manual(Application)

???Q Corresponding Ethernet Interface Module User's Manual(Web function)

???Q Corresponding MELSEC Communication Protocol Reference Manual

(3)CC-Link module : QJ61BT11

???QJ61BT11 Control & Communication Link System Master/Local Module User's Manual (Hardware)

???GX Configurator-CC Version 1 Operating Manual

???CC-Link System Master/Local Module User's Manual

(4)Serial communication module : QJ71C24, QJ71C24-R2

???Serial Communication Module User's Manual(Hardware)

???Q Corresponding Serial Communication Module User's Manual(Basic)

???Q Corresponding Serial Communication Module User's Manual(Application)

???Q Corresponding MELSEC Communication Protocol Reference Manual

4 - 31

4 AUXILIARY AND APPLIED FUNCTIONS

4.7.2Access range of the communications via network

(1)Network configuration via the MELSECNET/10(H) or the Ethernet

(a)It can access the other CPU via the network from the programming software (GX Developer, SW6RN-GSVP, etc.) of the personal computer connected with the CPU or serial communication module in USB/RS-232.

(b)It can access the other CPU via the network from the programming software in the personal computer by connecting the personal computer equipped with Ethernet to MELSECNET/10(H) or Ethernet board to the Ethernet to MELSECNET/10(H) or Ethernet.

(c)The access range of above (1) and (2) can be accessed to 8 network points by setting the routing parameter to the control CPU of the network module and the CPU which connected the personal computer.

4 - 33

4AUXILIARY AND APPLIED FUNCTIONS

(2)Network configuration via the CC-Link

(a)It can access the other CPU via the CC-link from the programming software (GX Developer, SW6RN-GSVP, etc.) of the personal computer connected with the CPU or serial communication module in USB/RS-232.

(b)It can access the other CPU via the CC-Link from the programming software in the personal computer by connecting the personal computer equipped with CC-Link board to the CC-Link.

(c)The access range of above (1) is only the CPU on the CC-Link which a system connects it to, and it can select a CC-Link network to connect by specifying the I/O No. of the CC-Link module.

(d)The access range of above (2) is only the CPU of the connected the CC- Link.

: Communication is possible

: Communication is possible (Setting of the routing parameter is necessary.)

: Communication is impossible

4 - 35

4AUXILIARY AND APPLIED FUNCTIONS

(3)Network configuration via the RS422/485

(a)It can access the other CPU via the RS-422/485 from the programming software (GX Developer, SW6RN-GSVP, etc.) of the personal computer connected with the CPU or serial communication module in USB/RS-232.

(b)The access range of above (1) is only the CPU on the RS-422/485 which a system connects it to, and it can select RS-422/485 network to connect by specifying the I/O No. of the C24 module.

: Communication is possible

: Communication is possible (Setting of the routing parameter is necessary.)

: Communication is impossible

4 - 36

4 AUXILIARY AND APPLIED FUNCTIONS

: Communication is possible

: Communication is possible (Setting of the routing parameter is necessary.)

: Communication is impossible

4 - 38

4 AUXILIARY AND APPLIED FUNCTIONS

4.8Monitor Function of the Main Cycle

(1)Information for main cycle of the Motion CPU processing (process cycle executed at free time except for motion control) is stored to the special register.

(2)Since the automatic refresh of shared CPU memory and normal task of Motion SFC program (SV13/SV22)/Motion program (SV43) are executed in the main cycle, make it reference for process time, etc. to program.

(3)There are following methods to shorten a main cycle.

(a)Lengthen an operation cycle setting.

(b)Reduce the number of event task programs to execute in the Motion SFC program. (SV13/SV22)

(c)Reduce the number of normal task programs to execute simultaneously in the Motion SFC program. (SV13/SV22)

(d)Reduce the number of automatic refresh points of shared CPU memory. (SV43)

(4)When a main cycle is lengthened (more than 1.6[s]), a WDT error may occur in the Motion CPU.

(5)Details of main cycle monitor register is shown below.

4 - 39

4 AUXILIARY AND APPLIED FUNCTIONS

4.9Servo Parameter Reading Function

(1)When the servo parameters are changed, the Motion CPU will be automatically read the servo parameters and reflected them to the servo parameter storage area in the Motion CPU. Therefore, an operation to read servo parameters is unnecessary in the following cases.

(a)The parameters are changed by auto tuning.

(b)The parameters are changed by connecting directly MR Configurator to the servo amplifier.

POINT

If the power supply of Motion CPU is turned off/reset or the power supply of servo amplifier is turned off immediately after change, it may not be reflected.

(2)After executing the servo parameter reading function, when it needs to reflect the servo parameters changed to the SW6RN-GSVP, read the servo parameters from the Motion CPU and save data.

4 - 40

4 AUXILIARY AND APPLIED FUNCTIONS

4.10 Optional Data Monitor Function

This function is used to store the data (refer to following table) up to three points per axis to the specified devices (D, W, #) and monitor them.

POINT

(1)The updating cycle of data is every operation cycle.

(2)Set an even number as device setting in the two word data.

4 - 41

4 AUXILIARY AND APPLIED FUNCTIONS

4.11 Connect/Disconnect Function

This function is used to connect/disconnect the SSCNET communication temporarily, when the servo amplifier or SSCNET cable on the SSCNET system are exchanged during the power supply ON of Motion CPU. An user side requires connect/disconnect to a system, and a system side stores the states of command accept waiting or execute waiting for connect/disconnect. Moreover, also use this device to re-connect the servo amplifier shut off by the connect/disconnect device. When the power supply for axis 1 is turned OFF/ON on the SSCNET system, a connect/disconnect processing is unnecessary.

(1) Setting value/monitor value of connect/disconnect device are shown below

4AUXILIARY AND APPLIED FUNCTIONS

(2)Procedure for connect/disconnect function to exchange the servo amplifier or SSCNET cable are shown below.

(a)Operation procedure to disconnect

1)Set the axis No. of servo amplifier to disconnect in D9112. (1 to 32)

2)Check that D9112 is "-1: Disconnect execute waiting".

(Disconnect execute waiting)

3)Set "-2: Disconnect execute command" in D9112.

4)Check that D9112 is "0: Disconnect command accept waiting". (Completion of disconnection)

5)After checking the LED display "AA" of servo amplifier to be disconnected, turn the power supply of servo amplifier OFF.

(b)Operation procedure to re-connect

1)Turn the power supply of servo amplifier ON.

2)Set "-10: Re-connect command" in D9112.

3)Check that D9112 is "-1: Re-connect execute waiting".

(Re-connect execute waiting)

4)Set "-2: Re-connect execute command" in D9112.

5)Check that D9112 is "0: Re-connect command accept waiting". (Completion of re-connection)

6)After checking the servo ready (M2415+20n) of servo amplifier to re- connect, resume operation of servo amplifier.

POINT

(1)After completion of SSCNET communication disconnect processing, check the LED display of servo amplifier is "AA",and then turn the power supply of servo amplifier OFF.

(2)When the power supply for axis 1 is turned OFF/ON on the SSCNET system, a connect/disconnect processing is unnecessary.

(3)If the power supply of servo amplifier connected after axis 2 of SSCNET system is turned OFF, operation failure may occur in the other axes. Be sure to use a disconnect function to turn OFF the power supply of servo amplifier.

4 - 43

4AUXILIARY AND APPLIED FUNCTIONS

(3)Flow of device value for connect/disconnect operation are shown below.

(a)Disconnect operation

(b) Re-connect operation

POINT

When the power supply of non-setting axis is turned OFF in the system setting, execute the disconnect processing toward system setting axis near a terminus from the axis. If a following axis is disconnected, non-setting axis is disconnected automatically.

4 - 44

4 AUXILIARY AND APPLIED FUNCTIONS

MEMO

4 - 47

WARRANTY

Please confirm the following product warranty details before using this product.

1. Gratis Warranty Term and Gratis Warranty Range

If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.

However, if repairs are required onsite at domestic or overseas location, expenses to send an engineer will be solely at the customer's discretion. Mitsubishi shall not be held responsible for any re-commissioning, maintenance, or testing on-site that involves replacement of the failed module.

[Gratis Warranty Term]

Note that an installation period of less than one year after installation in your company or your customer???s premises or a period of less than 18 months (counted from the date of production) after shipment from our company, whichever is shorter, is selected.

[Gratis Warranty Range]

(1)Diagnosis of failure

As a general rule, diagnosis of failure is done on site by the customer.

However, Mitsubishi or Mitsubishi service network can perform this service for an agreed upon fee upon the customer???s request.

There will be no charges if the cause of the breakdown is found to be the fault of Mitsubishi.

(2)Breakdown repairs

There will be a charge for breakdown repairs, exchange replacements and on site visits for the following four conditions, otherwise there will be a charge.

1)Breakdowns due to improper storage, handling, careless accident, software or hardware design by the customer

2)Breakdowns due to modifications of the product without the consent of the manufacturer

3)Breakdowns resulting from using the product outside the specified specifications of the product

4)Breakdowns that are outside the terms of warranty

Since the above services are limited to Japan, diagnosis of failures, etc. are not performed abroad.

If you desire the after service abroad, please register with Mitsubishi. For details, consult us in advance.

2. Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability

Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi; opportunity loss or lost profits caused by faults in the Mitsubishi products; damage, secondary damage, accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other than Mitsubishi products; and to other duties.

3. Onerous Repair Term after Discontinuation of Production

Mitsubishi shall accept onerous product repairs for seven years after production of the product is discontinued.

4. Delivery Term

In regard to the standard product, Mitsubishi shall deliver the standard product without application settings or adjustments to the customer and Mitsubishi is not liable for on site adjustment or test run of the product.

5.Precautions for Choosing the Products

(1)These products have been manufactured as a general-purpose part for general industries, and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life.

(2)Before using the products for special purposes such as nuclear power, electric power, aerospace, medicine, passenger movement vehicles or under water relays, contact Mitsubishi.

(3)These products have been manufactured under strict quality control. However, when installing the product where major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the system.

(4)When exporting any of the products or related technologies described in this catalogue, you must obtain an export license if it is subject to Japanese Export Control Law.