Mitsubishi Electric Q172CPU Q173CPU Programming Manual v3 PDF

Q173CPU(N)/Q172CPU(N) Motion Controller (SV22) Programming Manual (VIRTUAL MODE)

-Q172CPU -Q173CPU -Q172CPUN -Q173CPUN

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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 Q173CPU(N)/Q172CPU(N) Users manual for a description of the Motion controller safety precautions. These SAFETY PRECAUTIONS classify the safety precautions into two categories: "DANGER" and "CAUTION".

! DANGER

CAUTION!

Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight personal injury or physical damage.

Depending on circumstances, procedures indicated by ! CAUTION 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.

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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 amplifiers 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.

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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.

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! CAUTION 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.

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.

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! CAUTION 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.

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.

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! CAUTION 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.

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.

Conditions Environment

Motion controller/Servo amplifier Servomotor

Ambient temperature

According to each instruction manual. 0C to +40C (With no freezing)

(32F to +104F)

Ambient humidity According to each instruction manual. 80% RH or less

(With no dew condensation) Storage temperature

According to each instruction manual. -20C to +65C (-4F to +149F)

Atmosphere Indoors (where not subject to direct sunlight).

No corrosive gases, flammable gases, oil mist or dust must exist

Altitude 1000m (3280.84ft.) or less above sea level Vibration According to each instruction manual

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.

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(4) Wiring

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

After wiring, install the protective covers such as the terminal covers to the original positions.

Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier.

Correctly connect the output side (terminals U, V, W). Incorrect connections will lead the servomotor to operate abnormally.

Do not connect a commercial power supply to the servomotor, as this may lead to trouble.

Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control signal output of brake signals, etc. Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning.

Do not connect or disconnect the connection cables between each unit, the encoder cable or PLC expansion cable while the power is ON.

Servo amplifier

VIN (24VDC)

Control output signal RA

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.

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(6) Usge methods

! CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amplifier or servomotor.

Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection.

The units must be disassembled and repaired by a qualified technician.

Do not make any modifications to the unit.

Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the Motion controller or servo amplifier.

When using the CE Mark-compliant equipment, refer to the "EMC Installation Guidelines" (data number IB(NA)-67339) for the Motion controllers and refer to the corresponding EMC guideline information for the servo amplifiers, inverters and other equipment.

Use the units with the following conditions.

Conditions Item

Q61P-A1 Q61P-A2 Q62P Q63P Q64P +10% +10% +10% +30% +10%100 to 120VAC -15%

200 to 240VAC -15%

100 to 240VAC -15%

24VDC -35%

100 to 120VAC -15%

/ +10%

200 to 240VAC -15% Input power

(85 to 132VAC) (170 to 264VAC) (85 to 264VAC) (15.6 to 31.2VDC) (85 to 132VAC/ 170 to 264VAC)

Input frequency 50/60Hz 5% Tolerable momentary power failure

20ms or less

(7) Corrective actions for errors

! CAUTION If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the check details according to the instruction manual, and restore the operation.

If a dangerous state is predicted in case of a power failure or product failure, use a servomotor with electromagnetic brakes or install a brake mechanism externally.

Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally.

Electro- magnetic brakes

Servomotor

24VDC

RA1 EMG

Shut off with servo ON signal OFF, alarm, magnetic brake signal.

Shut off with the emergency stop signal(EMG).

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! 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.

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(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.

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REVISIONS

The manual number is given on the bottom left of the back cover. Print Date Manual Number Revision Mar., 2003 IB(NA)-0300044-A First edition Jun., 2004 IB(NA)-0300044-B [Addition model]

Q172EX-S1, Q173PX-S1, FR-V5 0- [Addition function] For Home position return function

[Additional correction/partial correction] Safety precautions, About processing of waste, Error code list, etc.

Mar., 2006 IB(NA)-0300044-C [Addition model] Q62P, Q172EX-S2, Q172EX-S3, Q170ENC

[Addition function] Cam axis command signal, Smoothing clutch complete signal, Gain changing signal, Real mode axis information register, Mechanical system program - Clutch for slippage system (linear acceleration/deceleration system), Mixed function of virtual mode with real mode

[Additional correction/partial correction] Safety precautions, Error code list, Warranty, Manual model code (1CT783 1XB783), etc.

Japanese Manual Version IB(NA)-0300025

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.

2003 MITSUBISHI ELECTRIC CORPORATION

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INTRODUCTION

Thank you for choosing the Q173CPU(N)/Q172CPU(N) Motion Controller. Please read this manual carefully so that equipment is used to its optimum.

CONTENTS

Safety Precautions .........................................................................................................................................A- 1 Revisions ........................................................................................................................................................A-11 Contents .........................................................................................................................................................A-12 About Manuals ...............................................................................................................................................A-15

1. OVERVIEW 1- 1 to 1- 4

1.1 Overview................................................................................................................................................... 1- 1 1.2 Motion Control in SV13/SV22 Real Mode............................................................................................... 1- 3 1.3 Motion Control in SV22 Virtual Mode ...................................................................................................... 1- 4

2. STARTING UP THE MULTIPLE CPU SYSTEM 2- 1 to 2- 8

2.1 Starting Up the System............................................................................................................................ 2- 1 2.2 Differences Between Incremental System and Absolute System.......................................................... 2 - 3

2.2.1 Operation for incremental system..................................................................................................... 2 - 3 2.2.2 Operation for absolute (absolute position) system........................................................................... 2 - 4

2.3 Differences Between Real Mode and Virtual Mode................................................................................ 2 - 5 2.3.1 Positioning data................................................................................................................................. 2 - 5 2.3.2 Positioning devices............................................................................................................................ 2 - 5 2.3.3 Servo programs................................................................................................................................. 2 - 6 2.3.4 Control change (Current value change/speed change)................................................................... 2 - 7

3. PERFORMANCE SPECIFICATIONS 3- 1 to 3- 2

4. POSITIONING DEDICATED SIGNALS 4- 1 to 4-88

4.1 Internal Relays ......................................................................................................................................... 4- 2 4.1.1 Axis statuses ..................................................................................................................................... 4-17 4.1.2 Axis command signals ...................................................................................................................... 4-23 4.1.3 Virtual servomotor axis statuses....................................................................................................... 4-27 4.1.4 Virtual servomotor axis command signals ...................................................................................... 4-32 4.1.5 Synchronous encoder axis statuses ............................................................................................... 4-37 4.1.6 Synchronous encoder axis command signals.................................................................................. 4-39 4.1.7 Cam axis command signals.............................................................................................................. 4-40 4.1.8 Smoothing clutch complete signals .................................................................................................. 4-41 4.1.9 Common devices .............................................................................................................................. 4-43

4.2 Data Registers.......................................................................................................................................... 4-57 4.2.1 Axis monitor devices ......................................................................................................................... 4-65 4.2.2 Control change registers................................................................................................................... 4-67 4.2.3 Virtual servomotor axis monitor devices........................................................................................... 4-68

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4.2.4 Current value after virtual servomotor axis main shaft's differential gear ....................................... 4-70 4.2.5 Synchronous encoder axis monitor devices..................................................................................... 4-72 4.2.6 Current value after synchronous encoder axis main shaft's differential gear ................................. 4-73 4.2.7 Cam axis monitor devices................................................................................................................. 4-75 4.2.8 Common devices .............................................................................................................................. 4-76

4.3 Motion registers (#) .................................................................................................................................. 4-80 4.4 Special relays (SP.M) .............................................................................................................................. 4-81 4.5 Special registers (SP.D)........................................................................................................................... 4-83

5. MECHANICAL SYSTEM PROGRAM 5- 1 to 5- 6

5.1 Mechanical Module Connection Diagram ............................................................................................... 5- 2 5.2 Mechanical Module List ........................................................................................................................... 5- 5

6. DRIVE MODULE 6- 1 to 6-24

6.1 Virtual Servomotor ................................................................................................................................... 6- 1 6.1.1 Operation description ........................................................................................................................ 6- 1 6.1.2 Parameter list .................................................................................................................................... 6-11 6.1.3 Virtual servomotor axis devices (Internal relays, data registers)..................................................... 6-15

6.2 Synchronous Encoder.............................................................................................................................. 6-16 6.2.1 Operation description ........................................................................................................................ 6-16 6.2.2 Parameter list .................................................................................................................................... 6-20 6.2.3 Synchronous encoder axis devices (Internal relays, data registers)............................................... 6-21

6.3 Virtual Servomotor/Synchronous Encoder Control Change................................................................... 6-22 6.3.1 Virtual servomotor control change.................................................................................................... 6-22 6.3.2 Synchronous encoder control change.............................................................................................. 6-24

7. TRANSMISSION MODULE 7- 1 to 7-38

7.1 Gear.......................................................................................................................................................... 7- 3 7.1.1 Operation........................................................................................................................................... 7- 3 7.1.2 Parameters ........................................................................................................................................ 7- 3

7.2 Clutch........................................................................................................................................................ 7- 5 7.2.1 Operation........................................................................................................................................... 7-11 7.2.2 Parameters ........................................................................................................................................ 7-28

7.3 Speed Change Gear ................................................................................................................................ 7-34 7.3.1 Operation........................................................................................................................................... 7-34 7.3.2 Parameters ........................................................................................................................................ 7-35

7.4 Differential Gear ....................................................................................................................................... 7-37 7.4.1 Operation........................................................................................................................................... 7-37 7.4.2 Parameters (Must be not set) ........................................................................................................... 7-37

8. OUTPUT MODULE 8- 1 to 8-38

8.1 Rollers....................................................................................................................................................... 8- 4 8.1.1 Operation........................................................................................................................................... 8- 4 8.1.2 Parameter list .................................................................................................................................... 8- 5

8.2 Ball Screw................................................................................................................................................. 8- 9 8.2.1 Operation........................................................................................................................................... 8- 9

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8.2.2 Parameter list .................................................................................................................................... 8-10 8.3 Rotary Tables ........................................................................................................................................... 8-13

8.3.1 Operation........................................................................................................................................... 8-13 8.3.2 Parameter list .................................................................................................................................... 8-14

8.4 Cam .......................................................................................................................................................... 8-21 8.4.1 Operation........................................................................................................................................... 8-22 8.4.2 Settings items at cam data creating ................................................................................................. 8-25 8.4.3 Parameter list .................................................................................................................................... 8-29 8.4.4 Cam curve list.................................................................................................................................... 8-37

9. REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START 9- 1 to 9-12

9.1 Switching from the Real to Virtual Mode ................................................................................................. 9- 1 9.2 Switching from the Virtual to Real Mode ................................................................................................. 9- 5

9.2.1 Switching from the virtual to real mode by user side ....................................................................... 9- 5 9.2.2 Switching from the virtual to real mode by operating system software ........................................... 9- 5 9.2.3 Continuous operation on servo error in virtual mode....................................................................... 9- 6

9.3 Precautions at Real/Virtual Mode Switching ........................................................................................... 9- 7 9.4 Stop and re-start....................................................................................................................................... 9- 9

9.4.1 Stop operation/stop causes during operation and re-starting operation list.................................... 9-10

10. AUXILIARY AND APPLIED FUNCTIONS 10- 1 to 10- 8

10.1 Mixed Function of Virtual Mode with Real Mode ................................................................................ 10- 1 10.2 Cam/Ball Screw Switching Function.................................................................................................... 10- 7

APPENDICES APP- 1 to APP-75

APPENDIX 1 Cam Curves........................................................................................................................APP- 1 APPENDIX 2 Error Codes Stored Using The Motion CPU ...................................................................APP- 5

APPENDIX 2.1 Expression Method for Word Data Axis No................................................................APP- 8 APPENDIX 2.2 Related Systems and Error Processing......................................................................APP- 9 APPENDIX 2.3 Servo program setting errors (Stored in D9190) ........................................................APP-10 APPENDIX 2.4 Drive module errors.....................................................................................................APP-15 APPENDIX 2.5 Servo errors.................................................................................................................APP-20 APPENDIX 2.6 PC link communication errors .....................................................................................APP-36 APPENDIX 2.7 Output Module Errors ..................................................................................................APP-37 APPENDIX 2.8 Errors at Real/Virtual Mode Switching........................................................................APP-43

APPENDIX 3 Special Relays/special registers ........................................................................................APP-45 APPENDIX 3.1 Special relays ..............................................................................................................APP-45 APPENDIX 3.2 Special registers ..........................................................................................................APP-49

APPENDIX 4 Setting Range for Indirect Setting Devices........................................................................APP-53 APPENDIX 5 Processing Times of the Motion CPU ...............................................................................APP-55

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About Manuals

This manual is only to explain hardware of the Motion controller.

The following manuals are related to this product.

Referring to this list, please request the necessary manuals.

This User's Manual do not describes hardware specification and handling methods of the PLC CPU modules, power supply modules, base unit and I/O module in details.

The above contents, refer to the QCPU User's Manual and Building Block I/O Module User's Manual.

Related Manuals

(1) Motion controller

Manual Name Manual Number (Model Code)

Q173CPU(N)/Q172CPU(N) Motion controller User's Manual This manual explains specifications of the Motion CPU modules, Q172LX Servo external signal interface

module, Q172EX Serial absolute synchronous encoder interface module, Q173PX Manual pulse

generator interface module, Teaching units, Power supply modules, Servo amplifiers, SSCNET cables,

synchronous encoder cables and others.

(Optional)

IB-0300040 (1XB780)

Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual

(Motion SFC) This manual explains the Multiple CPU system configuration, performance specifications, functions,

programming, error codes and others of the Motion SFC.

(Optional)

IB-0300042 (1XB781)

Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual

(REAL MODE) This manual explains the servo parameters, positioning instructions, device list, error list and others.

(Optional)

IB-0300043 (1XB782)

Q173CPU(N)/Q172CPU(N) Motion controller (SV43) Programming Manual This manual describes the dedicated instructions to execute the positioning control by Motion program of

EIA language (G-code).

This manual explains the Multiple CPU system configuration, performance specifications, functions,

programming, debugging, servo parameters, positioning instructions device list and error list and others.

(Optional)

IB-0300070 (1CT784)

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(2) PLC

Manual Name Manual Number (Model Code)

QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains the specifications of the QCPU modules, power supply modules, base modules,

extension cables, memory card battery and others.

(Optional)

SH-080483ENG (13JR73)

QCPU User's Manual (Function Explanation, Program Fundamentals) This manual explains the functions, programming methods and devices and others to create programs

with the QCPU.

(Optional)

SH-080484ENG (13JR74)

QCPU User's Manual (Multiple CPU System) This manual explains the functions, programming methods and cautions and others to construct the

Multiple CPU system with the QCPU.

(Optional)

SH-080485ENG (13JR75)

QCPU (Q Mode)/QnACPU Programming Manual (Common Instructions) This manual explains how to use the sequence instructions, basic instructions, application instructions and

micro computer program.

(Optional)

SH-080039 (13JF58)

QCPU (Q Mode)/QnACPU Programming Manual (PID Control Instructions) This manual explains the dedicated instructions used to exercise PID control.

(Optional)

SH-080040 (13JF59)

QCPU (Q Mode)/QnACPU Programming Manual (SFC) This manual explains the system configuration, performance specifications, functions, programming,

debugging, error codes and others of MELSAP3.

(Optional)

SH-080041 (13JF60)

I/O Module Type Building Block User's Manual This manual explains the specifications of the I/O modules, connector, connector/terminal block

conversion modules and others.

(Optional)

SH-080042 (13JL99)

1 - 1

1 OVERVIEW

1

1. OVERVIEW

1.1 Overview

This programming manual describes the dedicated instructions, positioning control parameters and positioning dedicated devices for mechanical system program comprised of a virtual main shaft or mechanical module required to execute the synchronous control in the Motion controller (SV22 virtual mode). The following positioning control is possible in the Motion controller (SV22 virtual mode).

Applicable CPU Number of positioning control axes

Q173CPU(N) (32 axes) Up to 32 axes

Q172CPU(N) (8 axes) Up to 8 axes

In this manual, the following abbreviations are used.

Generic term/abbreviation Description

Q173CPU(N)/Q172CPU(N), Motion CPU or Motion CPU module

Q173CPUN/Q172CPUN/Q173CPUN-T/Q172CPUN-T/Q173CPU/Q172CPU Motion CPU module

Q172LX/Q172EX/Q173PX or Motion module

Q172LX Servo external signals interface module/ Q172EX(-S1/-S2/-S3) Serial absolute synchronous encoder interface module(Note-1)/ Q173PX(-S1) Manual pulse generator interface module

MR-H-BN Servo amplifier model MR-H BN

MR-J2 -B Servo amplifier model MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-03B5

AMP or Servo amplifier General name for "Servo amplifier model MR-H BN/MR-J2S- B/MR-J2M-B/ MR-J2- B/MR-J2-03B5, Vector inverter FREQROL-V500 series"

QCPU, PLC CPU or PLC CPU module

Qn(H)CPU

Multiple CPU system or Motion system

Abbreviation for "Multiple PLC system of the Q series"

CPUn Abbreviation for "CPU No.n (n= 1 to 4) of the CPU module for the Multiple CPU system"

Programming software package General name for "MT Developer" and "GX Developer"

Operating system software General name for "SW RN-SV Q "

SV13 Operating system software for conveyor assembly use (Motion SFC) : SW6RN-SV13Q

SV22 Operating system software for automatic machinery use (Motion SFC) : SW6RN-SV22Q

MT Developer Abbreviation for Integrated start-up support software package "MT Developer"

GX Developer Abbreviation for MELSEC PLC programming software package "GX Developer (Version 6 or later)"

Manual pulse generator or MR-HDP01

Abbreviation for "Manual pulse generator (MR-HDP01)"

Serial absolute synchronous encoder or MR-HENC/Q170ENC

Abbreviation for "Serial absolute synchronous encoder (MR-HENC/Q170ENC)"

SSCNET (Note-2) High speed serial communication between Motion controller and servo amplifier

1 - 2

1 OVERVIEW

Generic term/abbreviation Description

Absolute position system General name for "System using the servomotor and servo amplifier for absolute position"

Cooling fan unit Cooling fan unit (Q170FAN)

Dividing unit Dividing unit (Q173DV) Battery unit Battery unit (Q170BAT)

A 0BD-PCF A10BD-PCF/A30BD-PCF SSC I/F board SSC I/F communication cable Abbreviation for "Cable for SSC I/F board/card"

Intelligent function module Abbreviation for "MELSECNET/H module/Ethernet module/CC-Link module/Serial communication module"

Vector inverter (FR-V500) Vector inverter FREQROL-V500 series

(Note-1) : Q172EX can be used in SV22.

(Note-2) : SSCNET: Servo System Controller NETwork

REMARK

For information about the each module, design method for program and parameter, refer to the following manuals relevant to each module.

Item Reference Manual

Motion CPU module/Motion unit Q173CPU(N)/Q172CPU(N) Users Manual PLC CPU, peripheral devices for PLC program design, I/O modules and intelligent function module

Manual relevant to each module

Operation method for MT Developer Help of each software

Multiple CPU system configuration Performance specification Design method for common parameter Auxiliary and applied functions

Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC)

SV13/SV22

Design method for positioning control program in the real mode

Design method for positioning control parameter

Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)

! CAUTION When designing the system, provide external protective and safety circuits to ensure safety in the event of trouble with the Motion controller. There are electronic components which are susceptible to the effects of static electricity mounted on the printed circuit board. When handling printed circuit boards with bare hands you must ground your body or the work bench. Do not touch current-carrying or electric parts of the equipment with bare hands. Make parameter settings within the ranges stated in this manual. Use the program instructions that are used in programs in accordance with the conditions stipulated in this manual. Some devices for use in programs have fixed applications: they must be used in accordance with the conditions stipulated in this manual.

1 - 3

1 OVERVIEW

1.2 Motion Control in SV13/SV22 Real Mode

(1) System with servomotor is controlled directly using the servo program in (SV13/SV22) real mode.

(2) Setting of the positioning parameter and creation of the servo program/Motion

SFC program are required. (3) The procedure of positioning control is shown below:

1) Motion SFC program is requested to start using the S(P). SFCS instruction of the PLC program. (Motion SFC program can also be started automatically by parameter setting.)

2) Execute the positioning control using the specified Motion SFC program.

(Output to the servo amplifier)

3) The servomotor is controlled.

PLC program

SP.SFCS K0

Motion SFC program

Positioning control parameters

System settings Fixed parameters Servo parameters

JOG operation data

Parameter blocks Home position return data

Limit switch output data

Servo amplifier

Servomotor (Note) : Motion SFC program can also be started automatically by parameter setting.

1)

Program structure in SV13/SV22 real mode

2)

3)

Transfer

[G100] M2049//servo ON accept ?

[K10: real] 1 INC-2 Axis 1, 10000 PLS Axis 2, 20000 PLS Combined-speed 30000 PLS/s

END

Servo program Motion SFC program start request instruction

Specification of starting program No.

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1 OVERVIEW

1.3 Motion Control in SV22 Virtual Mode

(1) Synchronous control with software is performed using the mechanical system program comprised by virtual main shaft and mechanical module in (SV22) virtual mode.

(2) Mechanical system programs is required in addition to the positioning parameter,

servo program/Motion SFC program used in real mode. (3) The procedure of positioning control in virtual model is shown below:

1) Motion SFC program for virtual mode is requested to start using the S(P). SFCS instruction of the PLC program. (Motion SFC program can also be started automatically by parameter setting.)

2) The virtual servomotor of the mechanical system program is started.

3) Output the operation result obtained through the transmission module to the

servo amplifier set as the output module.

4) The servomotor is controlled.

Program structure in SV22 virtual mode

Servo amplifier

Servomotor

Mechanical system program Drive module (Virtual servomotor)

Transmission module

(Axis 1)

Output module

Home position return data is not used, since home position return cannot be executed in virtual mode. (Home position return is executed in real mode.) JOG operation in virtual mode is controlled using the JOG operation data set by drive module parameters. Servo amplifier

Servomotor

SP.SFCS K0

(Note) : Motion SFC program can also be started automatically by parameter setting.

Specification of starting program No.

Motion SFC program

Transfer

[G200] M2044//on virtual mode?

[K100: virtual] 1 VF Axis 1, Speed # 0 PLS/s

END

4)

3) 3)

1)

2)

Positioning control parameters

System settings Fixed parameters

Servo parameters Parameter blocks

Limit switch output data

Servo program

PLC program

4)

Motion SFC program start request instruction

2 - 1

2 STARTING UP THE MULTIPLE CPU SYSTEM

2

2. STARTING UP THE MULTIPLE CPU SYSTEM

The procedure for virtual mode positioning control is shown below. 2.1Starting Up the System

The procedure to start up for virtual mode system is shown below.

System settings

START

Refer to Section "1.5 System Settings" of the Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC).

Starting up SW6RN-GSV22P

Set the following positioning parameters

Execute the relative check, and correct the setting errors

Will cam be used ?

Install SW6RN-GSV22P, SW3RN-CAMP(When cam is used)

Starting up SW3RN-CAMP

YES

NO

Create the mechanical system program

Cam data settings

Check the mechanical system program, and correct the setting errors

1)

Fixed parameters Servo parameters Parameter blocks

Refer to Chapter "4 PARAMETERS FOR POSITIONING CONTROL" of the Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE).

Refer to Section "1.5 System Settings" of the Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC).

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2 STARTING UP THE MULTIPLE CPU SYSTEM

Create the Motion SFC program and servo program

Turn the power supply of Multiple CPU system ON

Write the following data to the Motion CPU using a peripheral device

1)

Align the virtual mode operation start position

Starting up the servo amplifier using a peripheral device

Execute the JOG operation, manual pulse generator operation and home position return test

Adjust cam setting axis (When cam is used) (Bottom dead point, stroke value, etc.)

Set data in the parameter setting device

Switch from real mode to virtual mode

Start drive module operation

Check operation state with the servo monitor or mechanical system monitor

END

Real mode

Virtual mode

System setting data Servo setting data Motion SFC parameter Motion SFC program Servo program Mechanical system program Cam data(When cam is used)

Refer to Section "1.5 System Settings" of the Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC).

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2 STARTING UP THE MULTIPLE CPU SYSTEM

2.2 Differences Between Incremental System and Absolute System

The procedure for virtual mode operation is shown below.

2.2.1 Operation for incremental system

The operation procedure for incremental system is shown below.

Execute the home position return

Turn the power supply of Multiple CPU system ON

Execute the all axes servo start request (Turn M2042 on)

Align the virtual mode operation start position

Set data in the parameter setting device

Switch from real mode to virtual mode

Execute virtual mode operation

START

Real mode

Virtual mode

Set the operation start address by the current value change

Refer to Section "1.5 System Settings" of the Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC).

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2 STARTING UP THE MULTIPLE CPU SYSTEM

2.2.2 Operation for absolute (absolute position) system

The operation procedure for absolute system is shown below.

YES

NO

START

NO Execute the home position return

Align the virtual mode operation start position

Set data in the parameter setting device

Switch from real mode to virtual mode

Execute virtual mode operation

Set the operation start address by the current value change

YES

Refer to Section "1.5 System Settings" of the Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC).

Real mode

Virtual mode

Turn the power supply of Multiple CPU system ON

Execute the all axes servo start request (Turn M2042 on)

Is the home position return request signal ON ?

Is the continua- tion disabled warning signal ON ?

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2 STARTING UP THE MULTIPLE CPU SYSTEM

2.3 Differences Between Real Mode and Virtual Mode

Specifications of the positioning data, positioning devices and servo programs, etc. used in the real mode differ in part in the virtual mode. When using them in the virtual mode, refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)" after checking about a different point in the real mode.

2.3.1 Positioning data

Positioning data used in the virtual mode are shown in Table 2.1 below.

Table 2.1 Positioning Data List Item Real mode Virtual mode Remark

System settings

Fixed parameters Usable units differ according to the output module.

Servo parameters

Parameter blocks Only [PLS] usable.

Home position return data

JOG operation data

Limit switch output data

: Used : Used (Restrictions in part) : Not used

2.3.2 Positioning devices

The operating ranges of positioning devices used in virtual mode are shown in Table 2.2 below.

Table 2.2 Operating Range of Positioning Devices

Device name Real mode Virtual mode

Internal relays M2000 to M3839 M4640 to M4687 M5440 to M5487

M2000 to M5599

Special relays M9073 to M9079

Data registers D0 to D799

D1120 to D1239 D0 to D1559

Special registers D9180 to D9201

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2 STARTING UP THE MULTIPLE CPU SYSTEM

2.3.3 Servo programs

(1) Servo program area (a) The same servo program (Kn) No. cannot be used in both the real and virtual

modes. The range of the servo program (Kn) used in the virtual mode must be set in advance. (The range is set using a peripheral device which started SW6RN-GSV22P.)

(2) Servo instructions

(a) The home position return, speed control ( ), speed/position switching control and high-speed oscillation control among the controls which can be used in the real mode cannot be used in the virtual mode.

(b) Control units of the parameter block and the torque limit value among the

positioning data which can be set using the servo program are not used.

(3) Differences of the servo instruction between real mode and virtual mode are shown in Table 2.3 below.

Table 2.3 Differences of Servo Instruction List

Item Real mode

Virtual mode

Remark

VPF

VPR Speed/position control

VPSTART

VVF Speed control ( )

VVR

Home position return

ZERO

Switch to virtual mode after home position return in the real mode.

Servo instruction

High-speed oscillation

OSC

Control units

Fixed as

"PLS"

Positioning data

Parameter block

Torque limit value

The torque limit value is set with the "drive module parameter".

: Used : Unusable : Not used

(Note) : It is common in the real mode and virtual mode about instructions except for the above table.

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2 STARTING UP THE MULTIPLE CPU SYSTEM

2.3.4 Control change (Current value change/speed change)

When a control change is executed in the virtual mode, the feed current value/speed of the drive module is changed. Control changes are not possible for the output module (except for cam). Differences between control changes in the real and virtual modes are shown in Table 2.4 below.

Table 2.4 Differences List of Control Change

Virtual mode

Drive module Output module Item Real mode Virtual

servomotor Synchronous

encoder Roller

Ball screw

Rotary table

Cam

Current value change

Speed change (Note-1) : Used : Unusable

(Note-1) : If the output module is a roller which uses a speed change gear, a speed change can be executed by changing the speed change gear ratio.

REMARK

1) Refer to the following Chapters for details of the drive and output modules. Drive module : Chapter 5 and 6 Output module : Chapter 5 and 8

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2 STARTING UP THE MULTIPLE CPU SYSTEM

MEMO

3 - 1

3 PERFORMANCE SPECIFICATIONS

3. PERFORMANCE SPECIFICATIONS

Performance specifications of the Motion CPU are shown in Table 3.1 below.

Table 3.1 Motion CPU Performance Specifications (Virtual Mode)

Item Q173CPUN(-T)/Q173CPU Q172CPUN(-T)/Q172CPU

Number of control axes Up to 32 axes

(Simultaneous : 2 to 4 axes) (Independent : 32 axes)

Up to 8 axes (Simultaneous : 2 to 4 axes)

(Independent : 8 axes)

Control method Synchronous control, PTP (Point to Point), speed control, fixed-pitch feed, constant-speed control,

position follow-up control, speed-switching control Virtual servomotor

Drive module Synchronous encoder

PLS

Roller Ball screw

mm, inch

Rotary table Fixed as "degree"

Control units Output module

Cam mm, inch, PLS Program language Dedicated instructions (Servo program + mechanical system program)

Capacity 14k steps (14334 steps) (Note-2) Servo program Number of

positioning points Total of 3200 points (It changes with programs, indirect specification is possible.)

Number of modules which can be set per CPU Virtual module 32 axes 8 axes

Drive modules Synchronous

encoder 12 axes 8 axes

Main shaft 32 8 Virtual axes Auxiliary input

axis 32 8

Gear 64 16 Clutch 64 16 Speed change gear

64 16

Differential gear 32 8

Transmis- sion modules

Differential gear to main shaft

32 8

Roller 32 8 Ball screw 32 8 Rotary table 32 8

M ec

ha ni

ca l s

ys te

m p

ro gr

am

Output modules

Cam 32

Total of 32

8

Total of 8

Program setting method WindowsNT R 4.0/ Windows R 98/ Windows R 2000/ Windows R XP which started SW6RN-GSV22P Types Up to 256 (Note-3) Resolution per cycle 256 512 1024 2048 (Note-3) Memory capacity 132k bytes Storage memory for cam data CPU internal RAM memory Stroke resolution 32767

C am

Control mode Two-way cam/feed cam Cam data setting method WindowsNT R 4.0/ Windows R 98/ Windows R 2000/ Windows R XP which started SW3RN-CAMP

3

3 - 2

3 PERFORMANCE SPECIFICATIONS

Table 3.1 Motion CPU Performance Specifications (Virtual Mode) (Continued)

Item Q173CPUN(-T)/Q173CPU Q172CPUN(-T)/Q172CPU

Interpolation functions Linear interpolation (2 to 4 axes), circular interpolation (2 axes)

Control methods PTP (Point to Point), speed control, fixed-pitch feed, constant-speed control,

position follow-up control

Method

PTP : Selection of absolute or incremental data method Fixed-pitch feed : Incremental data method Constant-speed control : Both absolute and incremental data method can be used together Position follow-up control : Absolute data method

Position command Address setting range : 2147483648 to 2147483647 [PLS]

Positioning

Speed command Speed setting range : 1 to 10000000 [PLS/s]

Acceleration-fixed acceleration/deceleration Time-fixed acceleration/deceleration

Acceleration time : 1 to 65535 [ms]

Deceleration time : 1 to 65535 [ms] Acceleration/deceleration time:1 to 5000 [ms] (Only constant-speed control is possible.)

Automatic trapezoidal acceleration/ deceleration

Acceleration/ deceleration control

S-curve acceleration/ deceleration

S-curve ratio : 0 to 100[%]

JOG operation function Provided

M-function (with mode) M-code output function provided, M-code complete wait function provided

Vi rtu

al s

er vo

m ot

or

Manual pulse generator operation function (Test mode only)

Up to 3 units can be connected. Up to 3 axes can be operated simultaneously. Setting of magnification : 1 to 10000 (Note-4)

Setting of smoothing magnification provided. (Note-1) : When the TREN input signal is used as "external input mode clutch", the high speed reading function cannot be used. (Note-2) : Capacity matching the servo program for real mode. (Note-3) : Relation between a resolution per cycle of cam and type are shown below.

Resolution per cycle 256 512 1024 2048

Type 256 128 64 32

(Note-4) : The setting range of 1 to 100 is valid in the SW6RN-SV22Q (Ver. 00B or before).

4 - 1

4 POSITIONING DEDICATED SIGNALS

4

4. POSITIONING DEDICATED SIGNALS

The internal signals of the Motion CPU and the external signals to the Motion CPU are used as positioning signals.

(1) Internal signals

The following five devices of the Motion CPU are used as the internal signals of the Motion CPU. Internal relay (M) .............................. M2000 to M5599 (3600 points) Special relay (SP.M) ........................ M9073 to M9079 (7 points) Data register (D) .............................. D0 to D1599 (1600 points) Motion register (#) ........................... #8000 to #8191 (192 points) Special register (SP.D) .................... D9180 to D9201 (22 points)

(2) External signals

The external input signals to the Motion CPU are shown below. Upper/lower limit switch input.......... The upper/lower limit of the positioning

range is controlled. Stop signal ....................................... Stop signal for speed control. Proximity dog signal......................... ON/OFF signal from the proximity dog. Speed/position switching signal ...... Signal for switching from speed to position. Manual pulse generator input .......... Signal from the manual pulse generator.

Configuration between modules

Sensor, solenoid, etc. (DI/O)

Motion CPU

Shared CPU memory

1)

PLC CPU

Device memory

PLC control processor

Motion control dedicated I/F (DOG signal, manual pulse generator)

Device memory

2)

M M

SSCNET

Servo amplifier

Servomotor

PLC bus

Note) : Device memory data : 1) = 2)

Shared CPU memory

Motion control processor

PLC intelligent function module (A/D, D/A, etc.)

Fig.4.1 Flow of the internal signals/external signals

4 - 2

4 POSITIONING DEDICATED SIGNALS

The positioning dedicated devices are shown below. It indicates the device refresh cycle of the Motion CPU for status signal with the positioning control, and the device fetch cycle of the Motion CPU for command signal with the positioning control. The operation cycle and main cycle of the Motion CPU are shown below. (a) Operation cycle

Item Q173CPU(N) Q172CPU(N)

Number of control axes Up to 32 axes Up to 8 axes

Operation cycle (Default)

SV22

0.88[ms] / 1 to 4 axes 1.77[ms] / 5 to 12 axes 3.55[ms] / 13 to 24 axes 7.11[ms] / 25 to 32 axes

0.88[ms] / 1 to 4 axes 1.77[ms] / 5 to 8 axes

(b) Main cycle is not fixed-cycle as operation cycle. The cycle is dozens[ms] to

hundreds[ms]. 4.1 Internal Relays

(1) Internal relay list

Q173CPU(N) Q172CPU(N)

Device No. Purpose Real Virtual Device No. Purpose Real Virtual

M0 M0 to

User device (2000 points)

to

User device (2000 points)

M2000 M2000 to

Common device (320 points) to

Common device (320 points)

M2320 M2320 to

Special relay allocated device (Status) (80 points)

to Special relay allocated device (Status) (80 points)

M2400 M2400

to

Axis status (20 points 32 axes) Real mode ... Each axis Virtual mode Output module

to

Axis status (20 points 8 axes) Real mode ... Each axis Virtual mode Output module

M3040 M2560

to

Unusable

to

Unusable

M3072 M3072

to

Common device (Command signal) (64 points)

to

Common device (Command signal) (64 points)

M3136 M3136

to

Special relay allocated device (Command signal) (64 points)

to

Special relay allocated device (Command signal) (64 points)

M3200 M3200

to

Axis command signal (20 points 32 axes) Real mode ... Each axis Virtual mode Output module

to

Axis command signal (20 points 8 axes) Real mode ... Each axis Virtual mode Output module

M3840 M3360

to

Unusable

to

Unusable

Real/

virtual

community

4 - 3

4 POSITIONING DEDICATED SIGNALS

Internal relay list (Continued)

Q173CPU(N) Q172CPU(N)

Device No. Purpose Real Virtual Device No. Purpose Real Virtual

M4000 (Note-1) M4000 (Note-1)

to Virtual servomotor axis status (20 points 8 axes) (Note-2)

Back up

M4160 (Note-1) to

Virtual servomotor axis status (20 points 32 axes) (Note-2)

Back up

to Unusable

M4640 (Note-

1)to Synchronous encoder axis status (4 points 12 axes)

M4640 (Note-1)

to Synchronous encoder axis status (4 points 8 axes)

M4688 (Note-1) M4672 (Note-1)

to Unusable to

Unusable

M4800 (Note-1)M4800 (Note-1)

to

Virtual servomotor axis command signal (20 points 8 axes) (Note-2)

M4960 (Note-1)to

Virtual servomotor axis command signal (20 points 32 axes) (Note-2)

to Unusable

M5440 (Note-1) M5440 (Note-1)

to

Synchronous encoder axis command signal (4 points 8 axes)

M5472 (Note-1)

to

Synchronous encoder axis command signal (4 points 12 axes)

to

Unusable

M5488 (Note-1) M5488 (Note-1)

to Cam axis command signal (1 point 8 axes) (Note-3)

M5496

to Cam axis command signal (1 point 32 axes) (Note-3)

to Unusable

M5520 to

Smoothing clutch complete signal (2 points 32 axes)

M5520 to

Smoothing clutch complete signal (2 points 8 axes)

M5584 to

Unusable

M5536 to

Unusable

M5600 M5600 to to M8191

User device (2592 points)

M8191

User device (2592 points)

: Valid, : Invalid

It can be used as an user device.

POINT Total number of user device points

4592 points (Note-1) : Do not set M4000 to M5599 as the latch range in virtual mode. (Note-2) : "Virtual servomotor axis status/command signal" occupy only the area of

the axis set in the mechanical system program. The unused axis areas in the mechanical system program can be used as an user device.

(Note-3) : Unused axis of cam axis command signal can be used as an user device. (Note-4) : As for "axis status (M2400 to)" and "axis command signal (M3200 to)",

only details for internal relays used in the virtual mode are described in this manual. If it is required, refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)".

Virtual

4 - 4

4 POSITIONING DEDICATED SIGNALS

(2) Axis status list

Axis No. Device No. Signal name

1 M2400 to M2419

2 M2420 to M2439 Virtual 3 M2440 to M2459 4 M2460 to M2479 5 M2480 to M2499

Signal name Real Roller

Ball screw

Rotary table

Cam Real Mode axis

Refresh cycle

Fetch cycle

Signal direction

6 M2500 to M2519 0 Positioning start complete 7 M2520 to M2539 1 Positioning complete

OFF

8 M2540 to M2559 9 M2560 to M2579

2 In-position

10 M2580 to M2599 3 Command in-position 11 M2600 to M2619 4 Speed controlling 12 M2620 to M2639 13 M2640 to M2659

5 Speed / position switching latch

OFF

14 M2660 to M2679 6 Zero pass

Operation cycle

15 M2680 to M2699 7 Error detection Immediately 16 M2700 to M2719 17 M2720 to M2739

8 Servo error detection Operation

cycle

18 M2740 to M2759 19 M2760 to M2779

9 Home position return request

Main cycle

20 M2780 to M2799 21 M2800 to M2819

10 Home position return complete

Operation cycle

22 M2820 to M2839 11 FLS 23 M2840 to M2859 12 RLS 24 M2860 to M2879 13 STOP 25 M2880 to M2899 14

External signals

DOG/CHANGE

Main cycle

26 M2900 to M2919 15 Servo ready 27 M2920 to M2939 16 Torque limiting

Operation cycle

Status signal

28 M2940 to M2959

17 Unusable

29 M2960 to M2979 30 M2980 to M2999 31 M3000 to M3019

18 Virtual mode continuation operation disable warning signal (Note-1)

At virtual mode

transition

32 M3020 to M3039

19 M-code outputting signal

OFF

Operation

cycle

Status signal

: Valid (Note-1) : It is unusable in the SV22 real mode. (Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-3) : Device area of 9 axes or more is unusable in the Q172CPU(N).

REMARK

(Note-1) : Details except for internal relays used in the virtual mode are not described in this manual. If it is required, refer to Section "3.1.1 Axis statuses" of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)".

4 - 5

4 POSITIONING DEDICATED SIGNALS

(3) Axis command signal list

Axis No. Device No. Signal name

1 M3200 to M3219

2 M3220 to M3239 Virtual

3 M3240 to M3259

4 M3260 to M3279 5 M3280 to M3299

Signal name Real

Roller Ball

screw Rotary table

Cam Real mode axis

Refresh cycle

Fetch cycle

Signal direction

6 M3300 to M3319 0 Stop command 7 M3320 to M3339 1 Rapid stop command

Operation cycle

8 M3340 to M3359 9 M3360 to M3379

2 Forward rotation JOG start command

10 M3380 to M3399 11 M3400 to M3419

3 Reverse rotation JOG start command

12 M3420 to M3439 13 M3440 to M3459

4 Complete signal OFF command

Main cycle

14 M3460 to M3479 15 M3480 to M3499

5 Speed/position switching enable command

Operation cycle

Command signal

16 M3500 to M3519 6 Unusable 17 M3520 to M3539 7 Error reset command 18 M3540 to M3559 19 M3560 to M3579

8 Servo error reset command

Main cycle

20 M3580 to M3599 21 M3600 to M3619

9 External stop input disable at start command

At start

Command signal

22 M3620 to M3639 10 23 M3640 to M3659 11

Unusable 24 M3660 to M3679 25 M3680 to M3699

12 Feed current value update request command At start

26 M3700 to M3719 27 M3720 to M3739

13 Address clutch reference setting command (Note-1)

28 M3740 to M3759

29 M3760 to M3779 14

Cam reference position setting command (Note-1)

At virtual mode

transition

30 M3780 to M3799 31 M3800 to M3819

15 Servo OFF command Operation

cycle

32 M3820 to M3839

16 Gain changing command

Operation cycle

(Note-4)

Command signal

17 18

Unusable

19 FIN signal

Operation cycle

Command signal

: Valid, : Invalid (Note-1) : It is unusable in the SV22 real mode. (Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-3) : Device area of 9 axes or more is unusable in the Q172CPU(N). (Note-4) : Operation cycle 7.1[ms] or more: Every 3.5[ms]

REMARK

(Note-1) : Details except for internal relays used in the virtual mode are not described in this manual. If it is required, refer to Section "3.1.2 Axis command signals" of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)".

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4 POSITIONING DEDICATED SIGNALS

(4) Virtual servomotor axis status list

Axis No. Device No. Signal name

1 M4000 to M4019

2 M4020 to M4039 Virtual 3 M4040 to M4059 4 M4060 to M4079 5 M4080 to M4099

Signal name Real

Roller Ball

screw Rotary table

Cam Real mode axis

Refresh cycle

Fetch cycle

Signal direction

6 M4100 to M4119 0 Positioning start complete 7 M4120 to M4139 1 Positioning complete

Backup Operation

cycle

Status signal

8 M4140 to M4159 2 Unusable 9 M4160 to M4179 3 Command in-position 10 M4180 to M4199 4 Speed controlling

Backup Operation

cycle

Status signal

11 M4200 to M4219 5 12 M4220 to M4239

6

Unusable

13 M4240 to M4259 14 M4260 to M4279

7 Error detection Backup Immedi-

ately

Status signal

15 M4280 to M4299 8 16 M4300 to M4319 9 17 M4320 to M4339 10 18 M4340 to M4359 11 19 M4360 to M4379 12 20 M4380 to M4399 13 21 M4400 to M4419 14

22 M4420 to M4439 15 23 M4440 to M4459 16

24 M4460 to M4479 17 25 M4480 to M4499

18

Unusable

26 M4500 to M4519 27 M4520 to M4539

19 M-code outputting signal Backup Operation

cycle

Status signal

28 M4540 to M4559 : Valid, : Invalid

29 M4560 to M4579

30 M4580 to M4599 31 M4600 to M4619 32 M4620 to M4639

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : The unused axis areas in the mechanical system program can be used as an user device.

4 - 7

4 POSITIONING DEDICATED SIGNALS

(5) Virtual servomotor axis command signal list

Axis No. Device No. Signal name

1 M4800 to M4819

2 M4820 to M4839 Virtual

3 M4840 to M4859

4 M4860 to M4879 5 M4880 to M4899

Signal name Real

Roller Ball

screw Rotary table

Cam Real mode axis

Refresh cycle

Fetch cycle

Signal direction

6 M4900 to M4919 0 Stop command 7 M4920 to M4939 1 Rapid stop command

Operation cycle

8 M4940 to M4959 9 M4960 to M4979

2 Forward rotation JOG start command

10 M4980 to M4999 11 M5000 to M5019

3 Reverse rotation JOG start command

12 M5020 to M5039 13 M5040 to M5059

4 Complete signal OFF command

Main cycle

14 M5060 to M5079 5

15 M5080 to M5099

6 Unusable

16 M5100 to M5119 17 M5120 to M5139

7 Error reset command Main cycle

Command signal

18 M5140 to M5159 8 Unusable 19 M5160 to M5179 20 M5180 to M5199 21 M5200 to M5219

9 External stop input disable at start command

At start Command

signal

22 M5220 to M5239 10 23 M5240 to M5259 11 24 M5260 to M5279 12 25 M5280 to M5299 13 26 M5300 to M5319 14

27 M5320 to M5339 15 28 M5340 to M5359 16

29 M5360 to M5379 17 30 M5380 to M5399

18

Unusable

31 M5400 to M5419

32 M5420 to M5439 19 FIN signal

Operation cycle

Command signal

: Valid, : Invalid

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : The unused axis areas in the mechanical system program can be used as an user device.

4 - 8

4 POSITIONING DEDICATED SIGNALS

(6) Synchronous encoder axis status list

Axis No. Device No. Signal name

1 M4640 to M4643

2 M4644 to M4647 3 M4648 to M4651

Signal name Real Virtual Refresh

cycle Fetch cycle

Signal direction

4 M4652 to M4655 0 Error detection Immediately 5 M4656 to M4659 1 External signal TREN 6 M4660 to M4663

7 M4664 to M4667 2

Virtual mode continuation operation disable warning

Main cycle

Status signal

8 M4668 to M4671 3 Unusable

9 M4672 to M4675 : Valid 10 M4676 to M4679 11 M4680 to M4683

12 M4684 to M4687 (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

(7) Synchronous encoder axis command signal list

Axis No. Device No. Signal name

1 M5440 to M5443

2 M5444 to M5447 3 M5448 to M5451

Signal name Real Virtual Refresh

cycle Fetch cycle

Signal direction

4 M5452 to M5455 5 M5456 to M5459

0 Error reset Main cycle Status signal

6 M5460 to M5463 1

7 M5464 to M5467 2

8 M5468 to M5471

3

Unusable

9 M5472 to M5475 : Valid, : Invalid 10 M5476 to M5479

11 M5480 to M5483 12 M5484 to M5487

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

4 - 9

4 POSITIONING DEDICATED SIGNALS

(8) Cam axis command signal list

Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark

M5488 Axis-1 cam/ball screw switching

M5489 Axis-2 cam/ball screw switching

M5490 Axis-3 cam/ball screw switching

M5491 Axis-4 cam/ball screw switching

M5492 Axis-5 cam/ball screw switching

M5493 Axis-6 cam/ball screw switching

M5494 Axis-7 cam/ball screw switching

M5495 Axis-8 cam/ball screw switching

M5496 Axis-9 cam/ball screw switching

M5497 Axis-10 cam/ball screw switching

M5498 Axis-11 cam/ball screw switching

M5499 Axis-12 cam/ball screw switching

M5500 Axis-13 cam/ball screw switching

M5501 Axis-14 cam/ball screw switching

M5502 Axis-15 cam/ball screw switching

M5503 Axis-16 cam/ball screw switching

M5504 Axis-17 cam/ball screw switching

M5505 Axis-18 cam/ball screw switching

M5506 Axis-19 cam/ball screw switching

M5507 Axis-20 cam/ball screw switching

M5508 Axis-21 cam/ball screw switching

M5509 Axis-22 cam/ball screw switching

M5510 Axis-23 cam/ball screw switching

M5511 Axis-24 cam/ball screw switching

M5512 Axis-25 cam/ball screw switching

M5513 Axis-26 cam/ball screw switching

M5514 Axis-27 cam/ball screw switching

M5515 Axis-28 cam/ball screw switching

M5516 Axis-29 cam/ball screw switching

M5517 Axis-30 cam/ball screw switching

M5518 Axis-31 cam/ball screw switching

M5519 Axis-32 cam/ball screw switching

Main cycle Command signal

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

4 - 10

4 POSITIONING DEDICATED SIGNALS

(9) Smoothing clutch complete signal list

Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark

M5520 Main shaft side M5521

Output axis 1 Auxiliary input side

M5522 Main shaft side M5523

Output axis 2 Auxiliary input side

M5524 Main shaft side M5525

Output axis 3 Auxiliary input side

M5526 Main shaft side M5527

Output axis 4 Auxiliary input side

M5528 Main shaft side M5529

Output axis 5 Auxiliary input side

M5530 Main shaft side M5531

Output axis 6 Auxiliary input side

M5532 Main shaft side M5533

Output axis 7 Auxiliary input side

M5534 Main shaft side M5535

Output axis 8 Auxiliary input side

M5536 Main shaft side M5537

Output axis 9 Auxiliary input side

M5538 Main shaft side M5539

Output axis 10 Auxiliary input side

M5540 Main shaft side M5541

Output axis 11 Auxiliary input side

M5542 Main shaft side M5543

Output axis 12 Auxiliary input side

M5544 Main shaft side M5545

Output axis 13 Auxiliary input side

M5546 Main shaft side M5547

Output axis 14 Auxiliary input side

M5548 Main shaft side M5549

Output axis 15 Auxiliary input side

M5550 Main shaft side M5551

Output axis 16 Auxiliary input side

M5552 Main shaft side M5553

Output axis 17 Auxiliary input side

M5554 Main shaft side M5555

Output axis 18 Auxiliary input side

M5556 Main shaft side M5557

Output axis 19 Auxiliary input side

M5558 Main shaft side M5559

Output axis 20 Auxiliary input side

M5560 Main shaft side M5561

Output axis 21 Auxiliary input side

M5562 Main shaft side M5563

Output axis 22 Auxiliary input side

M5564 Main shaft side M5565

Output axis 23 Auxiliary input side

M5566 Main shaft side M5567

Output axis 24 Auxiliary input side

M5568 Main shaft side M5569

Output axis 25 Auxiliary input side

M5570 Main shaft side M5571

Output axis 26 Auxiliary input side

M5572 Main shaft side M5573

Output axis 27 Auxiliary input side

M5574 Main shaft side

M5575 Output axis 28

Auxiliary input side M5576 Main shaft side M5577

Output axis 29 Auxiliary input side

M5578 Main shaft side M5579

Output axis 30 Auxiliary input side

M5580 Main shaft side M5581

Output axis 31 Auxiliary input side

M5582 Main shaft side M5583

Output axis 32 Auxiliary input side

Operation cycle Status signal

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

4 - 11

4 POSITIONING DEDICATED SIGNALS

(10) Common device list

Device

No. Signal name Refresh cycle Fetch cycle

Signal

direction

Remark

(Note-5)

Device

No. Signal name Refresh cycle Fetch cycle

Signal

direction

Remark

(Note-5)

M2000 PLC ready flag Main cycle Command

signal (Note-4)

M3072

M2053 Manual pulse generator 3 enable flag

Main cycle Command

signal (Note-4)

M3079

M2001 Axis 1

M2002 Axis 2 M2054 Operation cycle over flag Operation cycle

Status signal

M2003 Axis 3 M2055

M2004 Axis 4 M2056

M2005 Axis 5 M2057

M2006 Axis 6 M2058

M2007 Axis 7 M2059

M2008 Axis 8 M2060

Unusable (6 points)

M2009 Axis 9 M2061 Axis 1

M2010 Axis 10 M2062 Axis 2

M2011 Axis 11 M2063 Axis 3

M2012 Axis 12 M2064 Axis 4

M2013 Axis 13 M2065 Axis 5

M2014 Axis 14 M2066 Axis 6

M2015 Axis 15 M2067 Axis 7

M2016 Axis 16 M2068 Axis 8

M2017 Axis 17 M2069 Axis 9

M2018 Axis 18 M2070 Axis 10

M2019 Axis 19 M2071 Axis 11

M2020 Axis 20 M2072 Axis 12

M2021 Axis 21 M2073 Axis 13

M2022 Axis 22 M2074 Axis 14

M2023 Axis 23 M2075 Axis 15

M2024 Axis 24 M2076 Axis 16

M2025 Axis 25 M2077 Axis 17

M2026 Axis 26 M2078 Axis 18

M2027 Axis 27 M2079 Axis 19

M2028 Axis 28 M2080 Axis 20

M2029 Axis 29 M2081 Axis 21

M2030 Axis 30 M2082 Axis 22

M2031 Axis 31 M2083 Axis 23

M2032 Axis 32

Start accept flag Operation cycle

Status signal

(Note-1), (Note-2)

M2084 Axis 24

M2033 Unusable M2085 Axis 25

M2086 Axis 26 M2034

Personal computer link communication error flag

Operation cycle Status signal

M2087 Axis 27

M2088 Axis 28 M2035

Motion SFC error history clear request flag (Note-6)

Main cycle Command

signal M3080

M2089 Axis 29

M2036 M2090 Axis 30

M2037 M2091 Axis 31

M2038

Unusable (3 points)

M2092 Axis 32

Speed changing flag Operation cycle

Status signal

(Note-1), (Note-2)

M2093 M2039

Motion SFC error detection flag

Immediate Status signal

M2094

M2095

M2096M2040 Speed switching point specified flag

At start Command

signal (Note-4)

M3073

M2097

M2098 M2041 System setting error flag Operation cycle

Status signal

M2099

M2042 All axes servo ON command Operation cycle M3074 M2100

Unusable (8 points)

M2101 Axis 1 M2043

Real/virtual mode switching request (Virtual mode only)

At virtual mode transition

Command signal

(Note-4) M3075

M2102 Axis 2

M2103 Axis 3 M2044

Real/virtual mode switching status (Virtual mode only) M2104 Axis 4

M2105 Axis 5

M2106 Axis 6 M2045 Real/virtual mode switching error detection (Virtual mode only) M2107 Axis 7

M2046 Out-of-sync warning

At virtual mode transition

M2108 Axis 8

M2109 Axis 9 M2047 Motion slot fault detection flag Operation cycle

Status signal

M2110 Axis 10

M2111 Axis 11

M2112 Axis 12

Synchronous encoder current value changing flag (Note-3) (12 axes)

Operation cycle

Status signal

(Note-1), (Note-2)

M2048 JOG operation simultaneous start command

Main cycle Command

signal (Note-4)

M3076

M2113

M2049 All axes servo ON accept flag M2114

M2050 Start buffer full Operation cycle

Status signal

M2115

M2116 M2051

Manual pulse generator 1 enable flag

M3077 M2117

M2118

Unusable (6 points)

M2052 Manual pulse generator 2 enable flag

Main cycle Command

signal (Note-4) M3078

4 - 12

4 POSITIONING DEDICATED SIGNALS

Common device list (Continued)

Device

No. Signal name Refresh cycle Fetch cycle

Signal

direction

Remark

(Note-5)

Device

No. Signal name Refresh cycle Fetch cycle

Signal

direction

Remark

(Note-5)

M2119 M2180 Main shaft side

M2120

M2121 M2181

Output axis 11 Auxiliary input

side

M2122 M2182 Main shaft side

M2123

M2124 M2183

Output axis 12

Auxiliary input side

M2125 M2184 Main shaft side

M2126

M2127

Unusable (9 points)

M2185

Output axis 13

Auxiliary input side

M2128 Axis 1 M2186 Main shaft side

M2129 Axis 2

M2130 Axis 3 M2187

Output axis 14

Auxiliary input side

M2131 Axis 4 M2188 Main shaft side

M2132 Axis 5

M2133 Axis 6 M2189

Output axis 15

Auxiliary input side

M2134 Axis 7 M2190 Main shaft side

M2135 Axis 8

M2136 Axis 9 M2191

Output axis 16

Auxiliary input side

M2137 Axis 10 M2192 Main shaft side

M2138 Axis 11

M2139 Axis 12 M2193

Output axis 17

Auxiliary input side

M2140 Axis 13 M2194 Main shaft side

M2141 Axis 14

M2142 Axis 15 M2195

Output axis 18

Auxiliary input side

M2143 Axis 16 M2196 Main shaft side

M2144 Axis 17

M2145 Axis 18 M2197

Output axis 19

Auxiliary input side

M2146 Axis 19 M2198 Main shaft side

M2147 Axis 20

M2148 Axis 21 M2199

Output axis 20

Auxiliary input side

M2149 Axis 22 M2200 Main shaft side

M2150 Axis 23

M2151 Axis 24 M2201

Output axis 21

Auxiliary input side

M2152 Axis 25 M2202 Main shaft side

M2153 Axis 26

M2154 Axis 27 M2203

Output axis 22

Auxiliary input side

M2155 Axis 28 M2204 Main shaft side

M2156 Axis 29

M2157 Axis 30 M2205

Output axis 23

Auxiliary input side

M2158 Axis 31 M2206 Main shaft side

M2159 Axis 32

Automatic deceleration flag

M2160 Main shaft side M2207

Output axis 24

Auxiliary input side

M2208 Main shaft side M2161

Output axis 1

Auxiliary input side

M2162 Main shaft side M2209

Output axis 25

Auxiliary input side

M2210 Main shaft side M2163

Output axis 2

Auxiliary input side

M2164 Main shaft side M2211

Output axis 26

Auxiliary input side

M2212 Main shaft side M2165

Output axis 3

Auxiliary input side

M2166 Main shaft side M2213

Output axis 27

Auxiliary input side

M2214 Main shaft side M2167

Output axis 4

Auxiliary input side

M2168 Main shaft side M2215

Output axis 28

Auxiliary input side

M2216 Main shaft side M2169

Output axis 5

Auxiliary input side

M2170 Main shaft side M2217

Output axis 29

Auxiliary input side

M2218 Main shaft side M2171

Output axis 6

Auxiliary input side

M2172 Main shaft side M2219

Output axis 30

Auxiliary input side

M2220 Main shaft side M2173

Output axis 7

Auxiliary input side

M2174 Main shaft side M2221

Output axis 31

Auxiliary input side

M2222 Main shaft side M2175

Output axis 8

Auxiliary input side

M2176 Main shaft side M2223

Output axis 32

Auxiliary input side

C lu

tc h

st at

us (N

ot e-

3)

Operation cycle

Status signal

(Note-1), (Note-2)

M2224 M2177

Output axis 9

Auxiliary input side M2225

M2178 Main shaft side M2226

M2227 M2179

Output axis 10

Auxiliary input side

C lu

tc h

st at

us (N

ot e-

3)

Operation cycle

Status signal

(Note-1), (Note-2)

M2228

Unusable (5 points)

4 - 13

4 POSITIONING DEDICATED SIGNALS

Common device list (Continued)

Device

No. Signal name Refresh cycle Fetch cycle

Signal

direction

Remark

(Note-5)

Device

No. Signal name Refresh cycle Fetch cycle

Signal

direction

Remark

(Note-5)

M2229 M2275

M2230 M2276

M2231 M2277

M2232 M2278

M2233 M2279

M2234 M2280

M2235 M2281

M2236 M2282

M2237 M2283

M2238 M2284

M2239

Unusable (11 points)

M2285

M2240 Axis 1 M2286

M2241 Axis 2 M2287

M2242 Axis 3 M2288

M2243 Axis 4 M2289

M2244 Axis 5 M2290

M2245 Axis 6 M2291

M2246 Axis 7 M2292

M2247 Axis 8 M2293

M2248 Axis 9 M2294

M2249 Axis 10 M2295

M2250 Axis 11 M2296

M2251 Axis 12 M2297

M2252 Axis 13 M2298

M2253 Axis 14 M2299

M2254 Axis 15 M2300

M2255 Axis 16 M2301

M2256 Axis 17 M2302

M2257 Axis 18 M2303

M2258 Axis 19 M2304

M2259 Axis 20 M2305

M2260 Axis 21 M2306

M2261 Axis 22 M2307

M2262 Axis 23 M2308

M2263 Axis 24 M2309

M2264 Axis 25 M2310

M2265 Axis 26 M2311

M2266 Axis 27 M2312

M2267 Axis 28 M2313

M2268 Axis 29 M2314

M2269 Axis 30 M2315

M2270 Axis 31 M2316

M2271 Axis 32

Speed change "0" accepting flag

Operation cycle

Status signal

(Note-1), (Note-2)

M2317

M2272 M2318

M2273 M2319

Unusable (45 points)

M2274

Unusable (3 points)

4 - 14

4 POSITIONING DEDICATED SIGNALS

Explanation of the request register

No. Function Bit device Request register

1 PLC ready flag M2000 D704

2 Speed switching point specified flag M2040 D705

3 All axes servo ON command M2042 D706

4 Real/virtual mode switching request (SV22 only) M2043 D707

5 JOG operation simultaneous start command M2048 D708

6 Manual pulse generator 1 enable flag M2051 D755

7 Manual pulse generator 2 enable flag M2052 D756

8 Manual pulse generator 3 enable flag M2053 D757

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N). (Note-3) : This signal is unusable in the SV22 real mode. (Note-4) : Handling of D704 to D708 and D755 to D757 registers

Because cannot be turn ON/OFF for every bit from the PLC CPU, the above bit devices are assigned to D register, and each bit device becomes on with the lowest rank bit 0 1 of each register, and each bit device becomes off with 1 0. Use it when the above functions are requested from the PLC CPU using the S(P).DDRD and S(P).DDWR instruction. Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for the S(P).DDRD and S(P).DDWR instruction. The direct bit device ON/OFF is possible in the Motion SFC program.

(Note-5) : It can also be ordered the device of a remark column. (Note-6) : M3080 does not turn off automatically. Turn it off as an user side.

CAUTION The data executed later becomes effective when the same device is executed in the Motion SFC program and PLC program.

4 - 15

4 POSITIONING DEDICATED SIGNALS

(11) Special relay allocated device list (Status)

Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark (Note-1)

M2320 Fuse blown detection M9000

M2321 AC / DC DOWN detection M9005

M2322 Battery low M9006

M2323 Battery low latch M9007

M2324 Self-diagnostic error M9008

M2325 Diagnostic error

Error occurrence

M9010

M2326 Always ON M9036

M2327 Always OFF

Main operation M9037

M2328 Clock data error M9026

M2329 PCPU WDT error flag

Error occurrence M9073

M2330 PCPU READY complete flag M9074

M2331 Test mode ON flag At request

M9075

M2332 External forced stop input flag Operation

cycle M9076

M2333 Manual pulse generator axis setting error flag

M9077

M2334 TEST mode request error flag M9078

M2335 Servo program setting error flag

Error occurrence

M9079

M2336 CPU No.1 reset flag M9240

M2337 CPU No.2 reset flag M9241

M2338 CPU No.3 reset flag M9242

M2339 CPU No.4 reset flag M9243

M2340 CPU No.1 error flag M9244

M2341 CPU No.2 error flag M9245

M2342 CPU No.3 error flag M9246

M2343 CPU No.4 error flag

At status change

M9247

M2344 Servo parameter reading flag At request M9105

M2345 CPU No.1 MULTR complete flag M9216

M2346 CPU No.2 MULTR complete flag M9217

M2347 CPU No.3 MULTR complete flag M9218

M2348 CPU No.4 MULTR complete flag

At instruction completion

Status signal

M9219

M2349

to Unusable

M2399

(Note-1) : The same status as a remark column is output.

4 - 16

4 POSITIONING DEDICATED SIGNALS

(12) Common device list (Command signal)

Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark

(Note-1) , (Note-2)

M3072 PLC ready flag Main cycle M2000

M3073 Speed switching point specified flag At start M2040

M3074 All axes servo ON command Operation

cycle M2042

M3075 Real/virtual mode switching request At virtual mode

transition M2043

M3076 JOG operation simultaneous start command

M2048

M3077 Manual pulse generator 1 enable flag M2051

M3078 Manual pulse generator 2 enable flag M2052

M3079 Manual pulse generator 3 enable flag M2053

M3080 Motion SFC error history clear request flag (Note-3)

Main cycle

Command signal

M2035

M3081

to

M3135

Unusable

(Note-1) : The device of a remarks column turns ON by OFF to ON of the above device, and the device of a remarks column turns

OFF by ON to OFF of the above device. The state of a device is not in agreement when the device of a remarks column is turned on directly. In addition, when the request from a data register and the request from the above device are performed simultaneously, the request from the above device becomes valid.

(Note-2) : It can also be ordered the device of a remark column. (Note-3) : M3080 does not turn off automatically. Turn it off as an user side.

(13) Special relay allocated device list (Command signal)

Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark

(Note-1), (Note-2)

M3136 Clock data set request M9025

M3137 Clock data read request M9028

M3138 Error reset M9060

M3139 Servo parameter read request flag

Main cycle Command

signal

M9104

M3140

to

M3199

Unusable

(Note-1) : The device of a remarks column turns ON by OFF to ON of the above device, and the device of a remarks column turns

OFF by ON to OFF of the above device. The state of a device is not in agreement when the device of a remarks column is turned on directly.

(Note-2) : It can also be ordered the device of a remark column.

4 - 17

4 POSITIONING DEDICATED SIGNALS

4.1.1 Axis statuses

(1) In-position signal (M2402+20n) ................................... Status signal (a) This signal turns on when the number of droop pulses in the deviation

counter becomes below the "in-position range" set in the servo parameters. It turns off at the start.

Number of droop pulses

In-position signal (M2402+20n)

In-position range

OFF

ON

t

(b) An in-position check is performed in the following cases. When the servo power supply is turned on. After the automatic deceleration is started during

positioning control. After the deceleration is started with the JOG start signal

OFF. During the manual pulse generator operation. After the proximity dog ON during a home position return. After the deceleration is started with the stop command. When the speed change to a speed "0" is executed. Anytime................................................................................ At virtual mode

(2) Zero pass signal (M2406+20n) ................................... Status signal

This signal turns on when the zero point is passed after the power supply on of the servo amplifier. Once the zero point has been passed, it remains on state until the CPU has been reset. However, in the home position return method of proximity dog, count, dog cradle or limit switch combined type, this signal turns off once at the home position return in real mode start and turns on again at the next zero point passage.

At real mode

4 - 18

4 POSITIONING DEDICATED SIGNALS

(3) Error detection signal (M2407+20n) .......................... Status signal

(a) This signal turns on with detection of a minor error or major error, and it is used as judgement of the error available/not available. The applicable error code (Note-1) is stored in the minor error code storage register with detection of a minor error. (Refer to Section 4.2.1 (4)) The applicable error code (Note-1) is stored in the major error code storage register with detection of a major error. (Refer to Section 4.2.1 (5))

(b) This signal turns off when the error reset command (M3207+20n) turns on.

Error detection signal (M2407+20n)

Error reset command (M3207+20n)

ON

OFF

OFF

ON

Error detection

REMARK

(Note-1) : Refer to APPENDIX 2 for the error codes with detection of major/minor errors.

(4) Servo error detection signal (M2408+20n) ................. Status signal

(a) This signal turns on when an error occurs at the servo amplifier side (except for errors cause of alarms and emergency stops) (Note-1), and it is used as judgement of the servo error available/not available. When an error is detected at the servo amplifier side, the applicable error code (Note-1) is stored in the servo error code storage register (Refer to Section 4.2.1).

(b) This signal turns off when the servo error reset command (M3208+20n)

turns on or the servo power supply turns on again.

Servo error detection signal (M2408+20n)

Servo error reset command (M3208+20n)

Servo error detection ON

OFF

OFF

ON

REMARK

(Note-1) : Refer to APPENDIX 2.5 for the error codes on errors detected at the servo amplifier side.

4 - 19

4 POSITIONING DEDICATED SIGNALS

(5) Home position return request signal (M2409+20n)

........... Status signal This signal turns on when it is necessary to confirm the home position address at the power supply on or during positioning control. (a) When not using an absolute position system

1) This signal turns on in the following cases: Motion CPU power supply on or reset During a home position return

2) This signal turns off by the completion of home position return.

(b) When using an absolute position system 1) This signal turns on in the following cases:

During a home position return Backup data (reference value) sum check error occurence (power supply on).

2) This signal turns off by the completion of home position return.

CAUTION 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 in real mode. In the case of the absolute position system, use the PLC program to check the home position return request before performing the positioning operation. Failure to observe this could lead to an accident such as a collision.

(6) Home position return complete signal (M2410+20n)

........... Status signal (a) This signal turns on when the home position return operation using the

servo program has been completed normally.

(b) This signal turns off at the positioning start, JOG operation start and manual pulse generator operation start.

(c) If the home position return of proximity dog, dog cradle or stopper type

using the servo program is executed during this signal on, the "continuous home position return start error (minor error: 115)" occurs and it cannot be start the home position return.

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4 POSITIONING DEDICATED SIGNALS

(7) FLS signal (M2411+20n) ........................................... Status signal

(a) This signal is controlled by the ON/OFF state for the upper stroke limit switch input (FLS) of the Q172LX. Upper stroke limit switch input OFF ...... FLS signal: ON Upper stroke limit switch input ON ........ FLS signal: OFF

(b) The state for the upper stroke limit switch input (FLS) when the FLS signal

is ON/OFF is shown below.

FLS signal : ON FLS signal : OFF Q172LX Q172LX

FLS FLS

COM

FLS FLS

COM

(8) RLS signal (M2412+20n) ............................................ Status signal (a) This signal is controlled by the ON/OFF state for the lower stroke limit

switch input (RLS) of the Q172LX. Lower stroke limit switch input OFF ...... RLS signal: ON Lower stroke limit switch input ON ........ RLS signal: OFF

(b) The state of the lower stroke limit switch input (RLS) when the RLS signal is

ON/OFF is shown below.

RLS signal : ON Q172LX

RLS RLS

COM

RLS signal : OFF Q172LX

RLS RLS

COM

(9) STOP signal (M2413+20n) ......................................... Status signal (a) This signal is controlled by the ON/OFF state for the stop signal input

(STOP) of the Q172LX. Stop signal input of the Q172LX OFF ..... STOP signal: OFF Stop signal input of the Q172LX ON ....... STOP signal: ON

(b) The state of the stop signal input (STOP) of the Q172LX when the STOP

signal input is ON/OFF is shown below.

STOP signal : ON Q172LX

STOP STOP

COM

STOP signal : OFF Q172LX

STOP STOP

COM

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4 POSITIONING DEDICATED SIGNALS

(10) DOG / CHANGE signal (M2414+20n) ...................... Status signal

(a) This signal turns on/off by the proximity dog input (DOG) of the Q172LX at the home position return in the real mode. This signal turns on/off by the speed/position switching input (CHANGE) of the Q172LX at the speed/position switching control in the real mode.

(b) "Normally open contact input" and "Normally closed contact input" of the

system setting can be selected. The state of the speed/position switching input (CHANGE) when the CHANGE signal is ON/OFF is shown below.

DOG/CHANGE signal : ON

Q172LX

DOG/CHANGE DOG/CHANGE

COM

DOG/CHANGE signal : OFF Q172LX

DOG/CHANGE

DOG/CHANGE

COM

(11) Servo ready signal (M2415+20n) .............................. Status signal (a) This signal turns on when the servo amplifiers connected to each axis are in

the READY state.

(b) This signal turns off in the following cases. M2042 is off Servo amplifier is not installed Servo parameter is not set It is received the forced stop input from an external source Servo OFF by the servo OFF command (M3215+20n) ON Servo error occurs

Refer to APPENDIX 2.5 "Servo errors" for details.

Q61P Q02H CPU

Q38B

Communication is normal

Servo ready signal : ON

M

Q172 LX

Q172 CPU (N)

AMP

M

AMP

POINT When the part of multiple servo amplifiers connected to the SSCNET becomes a servo error, only an applicable axis becomes the servo OFF state.

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4 POSITIONING DEDICATED SIGNALS

(12) Torque limiting signal (M2416+20n) ......................... Status signal

This signal turns on while torque limit is executed. The signal toward the torque limiting axis turns on.

(13) Virtual mode continuation operation disable warning signal

(M2418+20n) ............................................................. Status signal When the difference between the final servo command value in previous virtual mode last time and the servo current value at virtual mode switching next time exceeds the "Allowable travel value during power off ( Number of feedback pulses)" set in the "System setting", "Virtual mode continuation operation disable warning signal device" of the applicable axis is turned on as warning of being uncontinuable in virtual mode operation.

It checks for the following cases. No. Check Remark

1 Servo amplifier power supply ON for absolute axis.

A minor error [901] (power supply on in real mode)/[9010] (power supply on in virtual mode) are also set.

2 Anytime during real mode operation.

It also turns on at the following cases. 1) Home position return 2) Current value change 3) Fixed-pitch feed, speed control ( ), ( )

or speed/position switching control. Reset the "Virtual mode continuation operation disable warning signal device" using the Motion SFC program.

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4 POSITIONING DEDICATED SIGNALS

4.1.2 Axis command signals

(1) Error reset command (M3207+20n) ..................... Command signal This command is used to clear the minor/major error code storage register of an axis for which the error detection signal has turn on (M2407+20n: ON), and reset the error detection signal (M2407+20n).

ON

OFF

OFF

ON

00

00

**

**

Error detection signal (M2407+20n)

Error reset command (M3207+20n)

Minor error code storage register (D6+20n)

Major error code storage register (D7+20n)

** : Error code

(2) Servo error reset command (M3208+20n) ) ......... Command signal This command is used to clear the servo error code storage register of an axis for which the servo error detection signal has turn on (M2408+20n: ON), and reset the servo error detection signal (M2408+20n).

Servo error detection signal (M2408+20n)

Servo error reset command (M3208+20n)

Servo error code storage register

ON

OFF

OFF

ON

00**

** : Error code

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4 POSITIONING DEDICATED SIGNALS

(3) Address clutch reference setting command (M3213+20n)

.......... Command signal This signal is only effective when the output module is a cam connected an address mode clutch or a rotary table, and it is used to specify the "0" reference position for the current value within 1 virtual axis revolution. The following processings are executed based on the ON/OFF state of the address clutch reference setting command at the switching request from real to virtual mode. (a) M3213+20n : ON

Virtual mode operation starts as "0" for the current value within 1 virtual axis revolution of the main shaft and auxiliary input axis.

(b) M3213+20n : OFF

If the drive module is a virtual servomotor or an incremental synchronous encoder, operation will be continued from the current value within 1 virtual axis revolution for the main shaft and auxiliary input axis in the previous virtual mode.

If the drive module is an absolute synchronous encoder, operation will be continued from the current value within 1 virtual axis revolution for the main shaft and auxiliary input axis calculated from the current value of synchronous encoder.

(4) Cam reference position setting command (M3214+20n)

.......... Command signal This signal is only effective when the output module is a cam, and it is used to specify the cam reference position. The following processings are executed based on the ON/OFF state of the cam reference position setting command at the switching request from real to virtual mode. (a) M3214+20n : ON

The current value is cam reference position. The current feed current value is lower stroke limit value (bottom dead

point). Moreover, a cam table search is conducted from the beginning of a cycle, and the bottom dead point (0) is specified as the current value within 1 cam shaft revolution.

Stroke amount

0 Number of pulses within 1 cam shaft revolution-1

Lower stroke limit Feed current value (bottom dead point) when M3214+20n is ON.

1 cycle

Current value within 1 cam shaft revolution = 0 After the bottom dead point alignment of cam is completed at the system

start-up, it must be turned on at the first real to virtual mode switching. Once the bottom dead point setting is set, operation will be continued with M3214+20n ON by switching from real to virtual mode. (The bottom dead point position is stored in the backup memory.)

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4 POSITIONING DEDICATED SIGNALS

(b) M3214+20n : OFF

(Final servo command value in previous virtual mode operation) (Current servo current value) (In-position) .1)

For formura 1)

Operation will be continued by making the lower stroke limit value and current value within 1 cam sfaft revolution into the lower stroke limit value and current value within 1 cam sfaft revolution at the previous virtual mode operation.

(Final servo command value in previous virtual mode operation) (Current servo current value) > (In-position) .2)

For formura 2)

Current value within 1 cam sfaft revolution for current feed current value is calculated and operation will be continued by making the lower stroke limit value into the lower stroke limit value at the previous virtual mode operation.

[Calculation of current value within 1 cam shaft revolution]

(Feed current value) = (Stroke amount) (Stroke ratio) (Lower stroke limit value)

The stroke ratio(y) used as above formula is calculated, the cam table of the setting cam No. is searched from the beginning of a cycle, and the current value within 1 cam shaft revolution for applicable point is calculated. Because the current value within 1 cam shaft revolution is serched always from the beginning of a cycle, beware of cases where the same stroke ratio appears more than once in the cycle. (Make the necessary position adjustment at the switching from the real to virtual mode.)

Number of pulses within 1 cam shaft revolution-1

32767

A B

y

Lower stroke limit

1 cycle (1 cam shaft revolution)

In the figure at left, there are 2 relevant points (A and B) for the calculated stroke ratio "y", but only point "A" is recognized.

Stroke amount Stroke ratio

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4 POSITIONING DEDICATED SIGNALS

(5) Servo OFF command (M3215+20n) .................... Command signal

This command is used to execute the servo OFF state (free run state). M3215+20n : OFF ......... Servo ON M3215+20n : ON ........... Servo OFF (free run state) This command becomes invalid during positioning, and should therefore be executed after completion of positioning. When the servo OFF command is executed in virtual mode, the clutch will be disengaged first. If it is executed while a "clutch ON" state, a minor error occurs and the servo OFF command becomes invalid.

CAUTION Turn the power supply of the servo amplifier side off before touching a servomotor, such as machine adjustment.

(6) Gain changing command (M3216+20n) ) ............ Command signal

This signal is used to change gain of servo amplifier in the Motion controller by gain changing command ON/OFF. ON ... Gain changing valid (Gain changing value set in the servo parmeter) OFF ... Gain changing invalid (Normal gain) The servo amplifier version and software version of servo amplifier which can be used the gain changing function are shown below.

Servo amplifier type Software version of servo amplifier

MR-J2S- B Ver. B2 or later MR-J2M-B Ver. A0 or later

Refer to the Servo Amplifier Instruction Manual for details of gain changing function. Instruction Manual list is shown below.

Servo amplifier type Instruction manual name

MR-J2S- B MR-J2S- B Servo Amplifier Instruction Manual (SH-030007) MR-J2M-B MR-J2M-B Servo Amplifier Instruction Manual (SH-030012)

REMARK

It can be used in the SW6RN-SV22Q (Ver.00R or later).

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4 POSITIONING DEDICATED SIGNALS

4.1.3 Virtual servomotor axis statuses

(1) Positioning start complete signal (M4000+20n) (Note-1)

........... Status signal (a) This signal turns on with the start completion for the positioning control of

the axis specified with the servo program. It does not turn on at the starting using JOG operation or speed control. It can be used to read a M-code (Note-2) at the positioning start.

(b) This signal turns off at turning the complete signal OFF command

(M4804+20n) (Note-1) off to on or positioning completion. When the complete signal OFF command (M4804+20n) turns off to on.

Servo program start

Start accept flag (M2001 to M2032)

Positioning start complete signal (M4000+20n)(Note-1)

Complete signal OFF command (M4804+20n)(Note-1)

Dwell time V

t

OFF

OFF

OFF ON

ON

ON

When the positioning is completed.

Servo program start

Dwell time

Positioning completion

OFF

OFF ON

ON

V

t

Start accept flag (M2001 to M2032)

Positioning start complete signal (M4000+20n)(Note-1)

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4 POSITIONING DEDICATED SIGNALS

REMARK

(Note-1) : In the front page descriptions, "n" in "M4000+20n"or "M4804+20n" etc. indicates a value corresponding to axis No. such as the following tables.

Axis No. n Axis No. n Axis No. n Axis No. n

1 0 9 8 17 16 25 24 2 1 10 9 18 17 26 25 3 2 11 10 19 18 27 26 4 3 12 11 20 19 28 27 5 4 13 12 21 20 29 28 6 5 14 13 22 21 30 29 7 6 15 14 23 22 31 30 8 7 16 15 24 23 32 31

Calculate as follows for the device No. corresponding to each axis. (Example) For axis 32

M4000+20n (Positioning start complete) = M4000+20 31=M4620 M4804+20n (Complete signl OFF command) = M4804+20 31=M5424

The range (n=0 to 7) of axis No.1 to 8 is valid in the Q172CPU(N).

(Note-2) : Refer to Section "7.1 M-code Output Function" of the "Q173CPU(N)/ Q172CPU(N) Motion controller (SV13/SV22) Programming manual (REAL MODE)".

4 - 29

4 POSITIONING DEDICATED SIGNALS

(2) Positioning complete signal (M4001+20n) .................. Status signal

(a) This signal turns on with the completion for the positioning control of the axis specified with the servo program. It does not turn on at the start or stop on the way using JOG operation or speed control. It does not turn on at the stop on the way during positioning. It can be used to read a M-code at the positioning completion. (Refer to Section 7.1 of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV/13/SV22) Programming Manual (REAL MODE)".)

(b) This signal turns off at turning the complete signal OFF command

(M4804+20n) off to on or positioning start. When the complete signal OFF command (M4804+20n) turns off to on.

Dwell time

OFF ON

ON OFF

ON OFF

V

t

Servo program start

Start accept flag (M2001 to M2032)

Positioning complete signal (M4001+20n)

Complete signal OFF command (M4804+20n)

ON OFF

When the next positioning starts.

Dwell time

OFF ON

V

t

ON

OFF

Positioning completion Positioning start

Servo program start

Start accept flag (M2001 to M2032)

Positioning complete signal (M4001+20n)

ON OFF

(3) Command in-positioning signal (M4003+20n) ............ Status signal (a) This signal turns on when the absolute value of the difference between the

command position and the feed current value becomes below the "command in-position range" set in the parameters of virtual servomotor (Refer to Section 6.1.2). This signal turns off in the following cases. Positioning control start Speed control JOG operation

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4 POSITIONING DEDICATED SIGNALS

(b) Command in-position check is continually executed during position control.

This check is not executed during speed control.

Command in-position (M4003+20n)

Position control start

Command in-position setting Speed control start

Execution of command in-position check

ON

OFF

t

V

(4) Speed controlling signal (M4004+20n) ....................... Status signal (a) This signal turns on during speed control, and it is used as judgement of

during the speed control or position control. The speed controlling signal that turned on with speed control turns off at the positioning control start of following figure.

(b) This signal turns off at the power supply on and during position control.

At speed control At position control

Speed control start Positioning start

Speed controlling signal (M4004+20n)

OFF

t

(5) Error detection signal (M4007+20n) ........................ Status signal (a) This signal turns on when a minor error or major error is detected in a virtual

servomotor or output module connected to a virtual servomotor. It is used as judgement of the error available/not available by turning the error detection signal on/off.

(b) When the error detection signal turns on, the applicable error code is stored

in the error code storage register. Minor error code (Note-1) ... Stored in the minor error code storage register

(Note-2). Major error code (Note-1) ... Stored in the major error code storage register

(Note-2). The judgement of the virtual servomotor/output module for detected error can be confirmed by the error code details or turning the error detection signal of output module on/off.

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4 POSITIONING DEDICATED SIGNALS

(c) When the error reset command (M4807+20n) turns on in the state where

the virtual servomotor or output module connected to the virtual servomotor turns on is normal, the error detection signal turns off.

REMARK

(Note-1) : Refer to APPENDIX 2.4 for details of the virtual servomotor minor/major error codes. Refer to APPENDIX 2.7 for details of the output module minor/major error codes.

(Note-2) : Refer to Section 4.2.3 for details of the minor/major error code storage register.

(6) M-code outputting signal (M4019+20n) ...................... Status signal

(a) This signal turns during M-code is outputting.

(b) This signal turns off when the stop command, cancel signal, skip signal or FIN signal are inputted.

FIN signal (M4819+20n)

M-code

M-code outputting signal (M4019+20n)

M1 M2 M3

OFF

OFF

ON

ON

POINT (1) The FIN signal and M-code outputting signal are both signal for the FIN signal

wait function. (2) The FIN signal and M-code outputting signal are effective only when FIN

acceleration/deceleration is designated in the servo program. Otherwise, the FIN signal wait function is disabled, and the M-code outputting signal does not turn on.

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4 POSITIONING DEDICATED SIGNALS

4.1.4 Virtual servomotor axis command signals

(1) Stop command (M4800+20n) (Note-1) .................. Command signal (a) This command stops a starting axis from an external source and becomes

effective at the turning signal off to on. (An axis for which the stop command is turning on cannot be started.)

Stop command (M4800+20n)

Setting speed

OFF

ON

V Stop command for specified axis

Control when stop command turns off

Deceleration stop processing

Stop

t

(b) It can also be used as the stop command during the speed control. (Refer to Section "6.13 Speed Control ( )" of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details of the speed control.

(c) Stop processing details when the stop command turned on is shown in

Table 4.1.

Table 4.1 Stop Processing at Stop command ON Processing at the turning stop command on Control details

during execution During control During deceleration stop processing

Positioning control Speed control JOG operation

The axis decelerates to a stop in the deceleration time set in the parameter block or servo program.

The stop command is ignored and deceleration stop processing is continued.

(d) The stop command in a dwell time is invalid. (After a dwell time, the start

accept flag (M2001+n) turns OFF, and the positioning complete signal (M4001+20n) turns ON.)

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4 POSITIONING DEDICATED SIGNALS

REMARK

(Note-1) : In the above descriptions, "n" in "M4800+20n", etc. indicates a value corresponding to axis No. such as the following tables.

Axis No. n Axis No. n Axis No. n Axis No. n

1 0 9 8 17 16 25 24 2 1 10 9 18 17 26 25 3 2 11 10 19 18 27 26 4 3 12 11 20 19 28 27 5 4 13 12 21 20 29 28 6 5 14 13 22 21 30 29 7 6 15 14 23 22 31 30 8 7 16 15 24 23 32 31

Calculate as follows for the device No. corresponding to each axis. (Example) For axis 32

M4800+20n (Stop command) = M4800+20 31 = M5420 The range (n=0 to 7) of axis No.1 to 8 is valid in the Q172CPU(N).

(2) Rapid stop command (M4801+20n) ..................... Command signal

(a) This command is a signal which stop a starting axis rapidly from an external source and becomes effective when the signal turns off to on. (An axis for which the rapid stop command turns on cannot be started.)

Rapid stop command (M4801+20n)

Setting speed

OFF

ON

V Rapid stop command for specified axis

Control when rapid stop command turns off

Stop

t Rapid stop processing

(b) The details of stop processing when the rapid stop command turns on are

shown in Table 4.2.

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4 POSITIONING DEDICATED SIGNALS

Table 4.2 Details of stop processing when the rapid stop command turns on

Processing at the turning rapid stop command on Control details during execution During control During deceleration stop processing

Positioning control Speed control

JOG operation

Rapid stop processing is executed.

Parameter (Speed limit value)

Stop cause

Operation speed

Real deceleration time Rapid stop deceleration time of the parameter block

Stop

Deceleration processing is stopped and rapid stop processing is executed.

Setting speed

Deceleration stop processing

Rapid stop cause

Rapid stop deceleration processing

Stop

(c) The rapid stop command in a dwell time is invalid. (After a dwell time, the

start accept flag (M2001+n) turns OFF, and the positioning complete signal (M4001+20n) turns ON.)

REMARK

(Note-1) : Rapid stop processing is deceleration stop with deceleration time set in the parameter block or servo program.

(3) Forward rotation JOG start command (M4802+20n)/Reverse

rotation JOG start command (M4803+20n) ......... Command signal (a) JOG operation to the address increase direction is executed while forward

rotation JOG start command (M4802+20n) is turning on. When M4802+20n is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.

(b) JOG operation to the address decrease direction is executed while reverse

rotation JOG start command (M4803+20n) is turning on. When M4803+20n is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.

POINT

Take an interlock so that the forward rotation JOG start command (M4802+20n) and reverse rotation JOG start command (M4803+20n) may not turn on simultaneously.

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4 POSITIONING DEDICATED SIGNALS

(4) Complete signal OFF command (M4804+20n)

.......... Command signal (a) This command is used to turn off the positioning start complete signal

(M4000+20n) and positioning complete signal (M4001+20n).

OFF

OFF

OFF

ON

ON

ON

t

ON

ON ON Positioning start complete signal (M4000+20n) Positioning complete signal (M4001+20n)

Complete signal OFF command (M4804+20n)

Dwell timeDwell time

POINT Do not turn the complete signal OFF command on with a PLS instruction. If it is turned on with a PLS instruction, it cannot be turned off the positioning start complete signal (M4000+20n) and the positioning complete signal (M4001+20n).

(5) Error reset command (M4807+20n) ..................... Command signal

(a) This command is used to clear the minor/major error code storage register of an axis for which the error detection signal has turn on (M4007+20n : ON), and reset the error detection signal (M4007+20n).

(b) The following processing is executed when the error reset command turns

on. If the virtual servomotor and output module are normal, the minor/major

error code storage registers are cleared and the error detection signal (M4007+20n) is reset.

If the virtual servomotor and output module error has not been canceled, the error code is again stored in the minor/major error code storage register. In this case, the error detection signal (M4007+20n) remains on.

(6) External stop input disable at start command (M4809+20n)

.......... Command signal This command is used to set the external stop signal input valid or invalid. ON......... External stop input is set as invalid, and even axes which stop input is

turning on can be started. OFF .......External stop input is set as valid, and axes which stop input is

turning on cannot be started.

POINT When it stops an axis with the external stop input after it starts by turning on the external stop input disable at command (M4809+20n), switch the external stop input from OFF ON (If the external stop input is turning on at the starting, switch it from ON OFF ON).

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4 POSITIONING DEDICATED SIGNALS

(7) FIN signal (M4819+20n) ....................................... Command signal

When a M-code is set in a servo program, transit to the next block does not execute until the FIN signal changes as follows: OFF ON OFF. Positioning to the next block begins after the FIN signal changes as above. It is effective, only when the FIN accelaration/deceleration is set and FIN signal wait function is selected.

Point

M-code

M-code outputting signal (M4019+20n) FIN signal (M4819+20n)

1 WAIT 2

10 11

CPSTART2 Axis Axis Speed FIN acceleration/ deceleration ABS-2 Axis Axis M-code ABS-2 Axis Axis M-code ABS-2 Axis Axis M-code ABS-2 Axis Axis CPEND

1

2

3

4

1 2

1, 2,

1, 2,

1, 2,

1, 2,

10000 100

200000 200000

10

300000 250000

11

350000 300000

12

400000 400000

Point

Virtual

Timing Chart for Operation Description 1. When the positioning of point 1 starts, M-code 10 is output

and the M-code outputting signal turns on. 2. FIN signal turns on after performing required processing in the

Motion SFC program. Transition to the next point does not execute until the FIN signal turns on.

3. When the FIN signal turns on, the M-code outputting signal turns off.

4. When the FIN signal turns off after the M-code outputting signal turns off, the positioning to the next point 2 starts.

POINT

(1) The FIN signal and M-code outputting signal are both signal for the FIN signal wait function.

(2) The FIN signal and M-code outputting signal are valid only when FIN

acceleration/deceleration is designated in the servo program. Otherwise, the FIN signal wait function is disabled, and the M-code outputting signal does not turn on.

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4 POSITIONING DEDICATED SIGNALS

4.1.5 Synchronous encoder axis statuses

(1) Error detection signal (M4640+4n) (Note-1) ................... Status signal (a) This signal turns on when a minor error or major error is detected in a

synchronous encoder or output module connected to the synchronous encoder. It is used as judgement of the error available/not available by turning the error detection signal on/off.

(b) When the error detection signal turns on, the applicable error code is stored

in the error code storage register. Minor error code (Note-2) Stored in the minor error code storage register

(Note-3).

Major error code (Note-2) Stored in the major error code storage register (Note-3).

The judgement of the synchronous encoder/output module for detected error can be confirmed by the error code details or turning the error detection signal of output module on/off.

(c) When the error reset command (M5440+4n) turns on in the state where the

synchronous encoder or output module connected to the synchronous encoder is normal, the error detection signal turns off.

(2) External signal TREN (M4641+4n) (Note-1) .................... Status signal

(a) This signal is used for clutch control in the external input mode. It turns on by turning on the Q172EX/Q173PX "TREN" input terminal, and indicates the input ON/OFF state of the "TREN" terminal.

(3) Virtual mode continuation operation disabled warning signal

(M4642+4n) (Note-1) ....................................................... Status signal (a) When the inputted current value at the power supply on of the Multiple CPU

system differs from the memorized current value (Final current value in virtual mode operation) at the power supply off of the Multiple CPU system, like the absolute synchronous encoder is moved during the power supply off of the Multiple CPU system, this signal turns on. The validity of continuation operation in virtual mode can be confirmed at the power supply on or resetting of the Multiple CPU system.

4 - 38

4 POSITIONING DEDICATED SIGNALS

REMARK

(Note-1) : "n" in M4640+4n, M4641+4n and M4642+4n indicates a value corresponding to the synchronous encoder No. such as the following tables.

Synchronous encoder No. n Synchronous encoder No. n

P1 / E1 0 P7 / E7 6 P2 / E2 1 P8 / E8 7 P3 / E3 2 P9 / E9 8 P4 / E4 3 P10 / E10 9 P5 / E5 4 P11 / E11 10 P6 / E6 5 P12 / E12 11

The range of synchronous encoder No. P1/E1 to P8/E8 is valid in the Q172CPU(N). (Note-2) : Refer to APPENDIX 2.4 for details of the minor/major error code for the

synchronous encoder. Refer to APPENDIX 2.7 for details of the minor/major error code for the output module.

(Note-3) : Refer to Section 4.2.5 for details of the minor/major error code storage register.

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4 POSITIONING DEDICATED SIGNALS

4.1.6 Synchronous encoder axis command signals

(1) Error reset command (M5440+4n) ....................... Command signal (a) This command is used to clear the minor/major error code storage register

of synchronous encoder of an axis for which the error detection signal has turn on (M4640+4n : ON), and reset the error detection signal (M4640+4n).

(b) The following processing is executed when the error reset command turns

on. If the synchronous encoder and output module are normal, the

minor/major error code storage registers are cleared and the error detection signal (M4640+4n) is reset.

If the synchronous encoder and output module error has not been canceled, the error code is again stored in the minor/major error code storage register. In this case, the error detection signal (M4640+4n) remains on.

4 - 40

4 POSITIONING DEDICATED SIGNALS

4.1.7 Cam axis command signals

(1) Cam/ball screw switching command (M5488+n) ........... Command signal

(a) This command is used when a cam is set as output module in the mechanical system program. Cam executes the same operation as a ball screw by turning ON the cam/ ball screw switching command corresponding to each output axis No.. OFF Specified cam pattern operation ON .. Same operaion as ball screw

(Command to servo amplifier [PLS] = Preset command to servo amplifier + Drive module travel value [PLS] Electronic gear ratio) Feed current value is calculated based on the travel value per pulse set in the fixed parameter.

Therefore, it is invalid to turn ON the cam/ball screw switching command to axis that except cam axis is set as output module. If the cam/ball screw switching command is turned OFF outside the range of "lower stroke limit value to stroke amount for cam", a minor error (error code: 5000) will occur. The current value within 1 cam shaft revolution is calculated based on the feed current value, lower stroke limit value, stroke amount and cam No. (cam pattern) by turning OFF the cam/ball screw switching command.

REMARK

It can be used in the SW6RN-SV22Q (Ver.00R or later).

4 - 41

4 POSITIONING DEDICATED SIGNALS

4.1.8 Smoothing clutch complete signals

(1) Smoothing clutch complete signals (M5520+2n, M5521+2n) ........... Status signal

(a) ON/OFF state of smoothing clutch is indicated. (Only exponential function system and linear acceleration/deceleration system(Note-1) are valid.) ON .."(Remainder slippage) < (Slippage in-position range)" OFF. Smoothing processing start (Clutch ON/OFF)

(b) Set the slippage in-position range setting device(Note-2) to use the smoothing clutch complete signal.

Smoothing clutch complete signals are shown below.

Connected module Applicable device Connected module Applicable device

Main shaft side M5520 Main shaft side M5552 Output module for axis 1

Auxiliary input axis side M5521 Output module for axis 17

Auxiliary input axis side M5553

Main shaft side M5522 Main shaft side M5554 Output module for axis 2

Auxiliary input axis side M5523 Output module for axis 18

Auxiliary input axis side M5555

Main shaft side M5524 Main shaft side M5556 Output module for axis 3

Auxiliary input axis side M5525 Output module for axis 19

Auxiliary input axis side M5557

Main shaft side M5526 Main shaft side M5558 Output module for axis 4

Auxiliary input axis side M5527 Output module for axis 20

Auxiliary input axis side M5559

Main shaft side M5528 Main shaft side M5560 Output module for axis 5

Auxiliary input axis side M5529 Output module for axis 21

Auxiliary input axis side M5561

Main shaft side M5530 Main shaft side M5562 Output module for axis 6

Auxiliary input axis side M5531 Output module for axis 22

Auxiliary input axis side M5563

Main shaft side M5532 Main shaft side M5564 Output module for axis 7

Auxiliary input axis side M5533 Output module for axis 23

Auxiliary input axis side M5565

Main shaft side M5534 Main shaft side M5566 Output module for axis 8

Auxiliary input axis side M5535 Output module for axis 24

Auxiliary input axis side M5567

Main shaft side M5536 Main shaft side M5568 Output module for axis 9

Auxiliary input axis side M5537 Output module for axis 25

Auxiliary input axis side M5569

Main shaft side M5538 Main shaft side M5570 Output module for axis 10

Auxiliary input axis side M5539 Output module for axis 26

Auxiliary input axis side M5571

Main shaft side M5540 Main shaft side M5572 Output module for axis 11

Auxiliary input axis side M5541 Output module for axis 27

Auxiliary input axis side M5573

Main shaft side M5542 Main shaft side M5574 Output module for axis 12

Auxiliary input axis side M5543 Output module for axis 28

Auxiliary input axis side M5575

Main shaft side M5544 Main shaft side M5576 Output module for axis 13

Auxiliary input axis side M5545 Output module for axis 29

Auxiliary input axis side M5577

Main shaft side M5546 Main shaft side M5578 Output module for axis 14

Auxiliary input axis side M5547 Output module for axis 30

Auxiliary input axis side M5579

Main shaft side M5548 Main shaft side M5580 Output module for axis 15

Auxiliary input axis side M5549 Output module for axis 31

Auxiliary input axis side M5581

Main shaft side M5550 Main shaft side M5582 Output module for axis 16

Auxiliary input axis side M5551 Output module for axis 32

Auxiliary input axis side M5583

(Note) : The range of output module for axis No. 1 to 8 is valid in the Q172CPU(N).

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4 POSITIONING DEDICATED SIGNALS

(c) Operation for smoothing clutch

1) Exponential function system

Input to clutch

V

V

t

t

Travel value after main shaft's differential gear

Internal clutch status

Smoothing clutch complete signal

Output of output axis by slippage smoothing clutch

Clutch status signal

ON by acceleration smoothing completion

OFF by smoothing clutch start ON by

deceleration smoothing completion

OFF by smoothing clutch start

ON by acceleration smoothing completion

Slippage in-position range

Acceleration smoothing completion

Deceleration smoothing completion

Acceleration smoothing completion

Slippage in-position range

2) Linear acceleration/deceleration system V

V

t

t

Input to clutch

Travel value after main shaft's differential gear

Internal clutch status

Smoothing clutch complete signal

Output of output axis by slippage smoothing clutch

Clutch status signal

ON by acceleration smoothing completion

OFF by smoothing clutch start ON by

deceleration smoothing completion

OFF by smoothing clutch start

Slippage in-position range

Acceleration smoothing completion

Deceleration smoothing completion

Acceleration smoothing completion

ON by acceleration smoothing completion

Slippage in-position range

REMARK

(Note-1) : Refer to Section 7.2 for exponential function system/linear acceleration/ deceleration system of smoothing clutch.

(Note-2) : Refer to Section 7.2.2 for slippage in-position range setting device. (Note-3) : It can be used in the SW6RN-SV22Q (Ver.00R or later).

4 - 43

4 POSITIONING DEDICATED SIGNALS

4.1.9 Common devices

POINT (1) Internal relays for positioning control are not latched even within the latch range.

In this manual, in order to indicate that internal relays for positioning control are not latched, the expression used in this text is "M2000 to M2319".

(2) The range devices allocated as internal relays for positioning control cannot be

used by the user even if their applications have not been set.

(1) PLC ready flag (M2000) ............... Command signal

(a) This signal informs the Motion CPU that the PLC CPU is normal. 1) The positioning control, home position return or JOG operation using the

servo program which performs the Motion SFC program when the M2000 is ON.

2) The above 1) control is not performed even if the M2000 is turned on

during the test mode [TEST mode ON flag (M9075) : ON] using a peripheral device.

(b) The setting data such as the fixed parameters, servo parameters and limit

switch output data can be changed using a peripheral device when the M2000 is OFF only. The above data using a peripheral device cannot be written when the M2000 is ON.

(c) The following processings are performed when the M2000 turns OFF to

ON. 1) Processing details

Transfer the servo parameters to the servo amplifier. Clear the M-code storage area of all axes. Turn the PCPU READY complete flag (M9074) on.

(Motion SFC program can be executed.) Start to execute the Motion SFC program of the automatic starting from

the first. 2) If there is a starting axis, an error occurs, and the processing in above (c)

1) is not executed. 3) The processing in above (c) 1) is not executed during the test mode.

It is executed when the test mode is cancelled and M2000 is ON.

4 - 44

4 POSITIONING DEDICATED SIGNALS

PLC ready flag (M2000)

PCPU READY complete flag (M9074)

Set the servo parameters to the servo amplifiers, clear a M-code.

V

Positioning start Deceleration stop

OFF

OFF

ON

ON

PCPU READY complete flag (M9074) does not turn on because during deceleration.

t

(d) The following processings are performed when the M2000 turns ON to OFF. 1) Processing details

Turn the PCPU READY complete flag (M9074) off. Deceleration stop of the starting axis. Stop to execute the Motion SFC program. Turn all points of the real output PY off.

(e) Operation setting at STOP RUN

The condition which the PLC ready flag (M2000) turns on is set in the sysytem setting. Select the following either. 1) M2000 turns on by the switch (STOP RUN). (Default)

The condition which M2000 turns OFF to ON. Move the RUN/STOP switch from STOP to RUN. Turn the power supply on or release to reset where the RUN/STOP

switch is moved to RUN.

The condition which M2000 turns ON to OFF. Move the RUN/STOP switch from RUN to STOP.

2) M2000 turns on by set "1" to the switch (STOP RUN) + setting register. (M2000 is turned on by set "1" to the switch RUN setting register.) The condition which M2000 is turned ON to OFF.

Set "1" to the setting register (D704) of the PLC ready flag where the RUN/STOP switch is moved to RUN. (The Motion CPU detects the change of the lowest rank bit 0 1 in D704.)

The condition which M2000 is turned on to off.

Set "0" to the setting register (D704) of the PLC ready flag where the RUN/STOP switch is moved to RUN. (The Motion CPU detects the change of the lowest rank bit 1 0 in D704.)

Move the RUN/STOP switch from RUN to STOP.

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4 POSITIONING DEDICATED SIGNALS

(2) Virtual servo start accept flag (M2001 to M2032)

........... Status signal (a) This flag turns on when the servo program is started. The start accept flag

corresponding to an axis specified with the servo program turns on.

(b) The ON/OFF processing of the start accept flag is shown below. 1) When the servo program is started using the Motion SFC program or

Motion dedicated PLC instruction (S(P).SVST), the start accept flag corresponding to an axis specified with the servo program turns on and it turns off at the positioning completion. This flag also turns off when it is made to stopping on the way. (When it is made to stop on the way by the speed change to speed "0", this flag remains on.)

Normal positioning completion

Dwell time

ON

OFF

ON

OFF

V

Positioning completion

t

Servo program start

Start accept flag (M2001+n)

Positioning complete signal (M4001+20n)

Positioning start complete signal (M4000+20n)

Servo program start

Start accept flag (M2001+n)

Positioning complete signal (M4001+20n)

Positioning start complete signal (M4000+20n)

Positioning stop during control

ON

OFF

V

t

OFF

ON

Positioning start

Positioning stop completion

2) This flag turns on at the positioning control by turning on the JOG start command (M4802+20n or M4803+20n), and turns off at the positioning stop by turning off the JOG start command.

3) This flag turns on during the manual pulse generator enable (M2051 to M2053: ON), and turns off at the manual pulse generator disable (M2051 to M2053: OFF).

4) This flag turns on during a current value change by the CHGA instruction of servo program or Motion dedicated PLC instruction (S(P).CHGA), and turns off at the completion of the current value change.

OFF

ON CHGA instruction

Start accept flag (M2001 to M2032)

Current value changing processing

Turns off at the completion of current value change.

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4 POSITIONING DEDICATED SIGNALS

CAUTION Do not turn the start accept flags ON/OFF in the user side.

If the start accept flag is turned off using the Motion SFC program or peripheral devices while this flag is on, no error will occur but the positioning operation will not be reliable. Depending on the type of machine, it might operate in an unanticipated operation.

If the start accept flag is turned on using the Motion SFC program or peripheral devices while this flag is off, no error will occur but the "start accept on error" will occur at the next starting and cannot be started.

(3) Personal computer link communication error flag (M2034) ........... Status signal

This flag turns on when the communication error occurs in the personal computer link communication. ON : Personal computer link communication error occurs OFF: No personal computer link communication error

(It turns off if normal communication is resumed.) Refer to APPENDIX 2.6 for details on the PC link communication errors.

(4) Motion SFC error history clear request flag (M2035)

.. Command signal This flag is used to clear the backed-up Motion SFC error history (#8000 to #8063). The Motion SFC error history is cleared at the turning M2035 OFF to ON. After detection of the turning M2035 OFF to ON, the Motion SFC error history is cleared, and then the M2035 is automatically turned OFF.

REMARK

It can be used in the SW6RN-SV22Q (Ver.00N or later).

(5) Motion SFC error detection flag (M2039) ........ Status signal This flag turns on with error occurrence at the execution of the Motion SFC program. When turned off this flag, execute it by the user side after checking the error contents.

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4 POSITIONING DEDICATED SIGNALS

(6) Speed switching point specified flag (M2040) ...... Command signal

This flag is used when the speed change is specified at the pass point of the constant speed control. (a) By turning M2040 on before the starting of the constant speed control

(before the servo program is started), control with the change speed can be executed from the first of pass point. OFF .......... Speed is changed to the specified speed from the pass point

of the constant speed control. ON .......... Speed has been changed to the specified speed at the pass

point of the constant speed control.

Pass points of the constant speed control (When the speed change is specified with P3.)

Speed switching point specified flag (M2040)

Servo program start

Start accept flag (M2001+n)

OFF

ON

OFF

V

P1 P2 P3 P4

t

M2040 OFF

OFF

ON

V

P1 P2 P3 P4

t

M2040 ON

ON

OFF

Speed switching point specified flag (M2040)

Servo program start

Start accept flag (M2001+n)

Pass points of the constant speed control (When the speed change is specified with P3.)

(7) System setting error flag (M2041) ................................ Status signal This flag set the "system setting data" and performs an adjustment check with a real installation state (CPU base unit/extension base units) at the power supply on or resetting of the Motion CPU. ON ........... Error OFF ......... Normal (a) When an error occurs, the ERR.LED at the front of the CPU turns on.

The error contents can be confirmed using the error list monitor of a peripheral device started by SW6RN-GSV P.

(b) When M2041 is on, positioning cannot be started. Remove an error factor,

and turn the power supply on again or reset the Multiple CPU system.

REMARK

Even if the module which is not set as the system setting with the peripheral device is installed in the slot, it is not set as the object of an adjustment check. And the module which is not set as the system setting cannot be used in the Motion CPU.

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4 POSITIONING DEDICATED SIGNALS

(8) All axes servo ON command (M2042) .................. Command signal

This command is used to enable servo operation. (a) Servo operation enabled M2042 turns on while the servo OFF command

(M3215+20n) is off and there is no servo error.

(b) Servo operation disable ......... M2042 is off The servo OFF command (M3215+20n) is on Servo error state

OFF

ON

OFF

ON

All axes servo ON command (M2042)

All axes servo ON accept flag (M2049)

Each axis servo ready state

ON

OFF (Note)

(Note): Refer to Section "3.1.1 Axis statuses "Servo ready signal"" of the Q173CPU(N)/Q172CPU(N) Motion controller

(SV13/SV22) Programming Manual (REAL MODE) for details.

POINT

When M2042 turns on, it is not turned off even if the CPU is set in the STOP state.

(9) Real/virtual mode switching request flag (M2043) .......... Command signal

This flag is used for switching between the real and virtual modes. (a) Turn the M2043 on after the PCPU READY flag has turn on for switching

from the real to virtual mode. An error check is executed when the M2043 is switched from off to on.

If no error is detected, switch to the virtual mode, and the real/virtual mode status switching status flag (M2044) turns on.

If an error is detected, not switch to the virtual mode. In this case, the real/virtual mode switching error detection flag (M2045) turns on, and the error code is stored in the real/virtual mode switching error code storage register (D9193).

(b) Turn the M2043 off for switching from the virtual to real mode.

If all axes of the virtual servomotors stopped, switch to the real mode, and M2044 turns off.

If the virtual servomotor is operating also with 1 axis, not switch to the real mode. In this case, the M2045 turns on, and the error code is stored in the D9193.

(c) Refer to Chapter 9 for switching between the real and virtual modes.

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4 POSITIONING DEDICATED SIGNALS

(10) Real/virtual mode switching status flag (M2044)

........... Status signal This flag checks the switching competion between the real and virtual modes, and the current mode. This flag turns off with during the real mode or switching completion from the

virtual to real mode. This flag turns on with switching completion from the real to virtual mode.

It can be used as an interlock for the servo program start or control change

(speed change, current value change).

(11) Real/virtual mode switching error detection flag (M2045) ........... Status signal

This flag is used as judgement of the error available/not available at the mode switching (between the real and virtual modes). This flag remains off if no error was detected at mode switching. This flag turns on if an error was detected at mode switching.

In this case, the error code is stored in the D9193.

(12) Out-of-sync warning flag (M2046) ............................. Status signal

(a) This signal turns on mode when a discrepancy of synchronized positions between the drive module and output module occurs during the virtual mode. It is used as judgement for validity of the continuation operation when the drive module has stopped. M2046 : ON...............Continuation operation disabled M2046 : OFF .............Continuation operation enabled

(b) This flag turns on the following cases.

Stop by the forced stop. The servo error in the output module.

(c) When the out-of-sync warning flag turns on, resume operation by the

following procedure. 1) Return to the real mode and eliminate the error cause.

2) Synchronize the axes.

3) Turn the out-of-sync warning flag (M2046) off.

4) Switch to the virtual mode.

5) Resume operation.

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4 POSITIONING DEDICATED SIGNALS

(13) Motion slot fault detection flag (M2047) ..................... Status signal

This flag is used as judgement which modules installed in the motion slot of the CPU base unit is "normal" or "abnormal". ON................Installing module is abnormal OFF .............Installing module is normal The module information at the power supply on and after the power supply injection are always checked, and errors are detected. (a) Perform the disposal (stop the starting axis, servo OFF, etc.) of error

detection using the Motion SFC program.

(14) JOG operation simultaneous start command (M2048) .......... Command signal

(a) When M2048 turns on, JOG operation simultaneous start based on the JOG operation execution axis set in the JOG operation simultaneous start axis setting register (D710 to D713).

(b) When M2048 turns off, the axis during operation decelerates to a stop.

(15) All axes servo ON accept flag (M2049) .................... Status signal

This flag turns on when the Motion CPU accepts the all axes servo ON command (M2042). Since the servo ready state of each axis is not checked, confirm it in the servo ready signal (M2415+20n).

OFF

ON

OFF

ON

ON

OFF

All axes servo ON command (M2042)

All axes servo ON accept flag (M2049)

Each axis servo ready state (Note)

(Note) : Refer to Section "3.1.1 Axis statuses "Servo ready signal"" of the Q173CPU(N)/Q172CPU(N) Motion controller

(SV13/SV22) Programming Manual (REAL MODE) for details.

(16) Manual pulse generator enable flag (M2051 to M2053)

.......... Command signal This flag set the enabled or disabled state for positioning with the pulse input from the manual pulse generators connected to P1 to P3 (Note) of the Q173PX. ON ........ Positioning control is executed by the input from the manual pulse

generators. OFF ...... Positioning control cannot be executed by the manual pulse

generators because of the input from the manual pulse generators is ignored.

Default value is invalid (OFF). 1

REMARK

(Note) : Refer to the "Q173CPU(N)/Q172CPU(N) User's Manual" for P1 to P3 connector of the Q173PX.

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4 POSITIONING DEDICATED SIGNALS

(17) Operation cycle over flag (M2054) ............................ Status signal

This flag turns on when the time concerning motion operation exceeds the operation cycle of the Motion CPU setting. Perform the following operation, in making it turn off. Turn the power supply of the Multiple CPU system on to off Reset the Multiple CPU system Reset using the user program [Error measures]

1) Change the operation cycle into a large value in the system setting. 2) The number of instruction completions of an event task or NMI task in

the Motion SFC program.

(18) Speed changing flag (M2061 to M2092) .................... Status signal This flag turns on during speed change by the control change (CHGV) instruction (or Motion dedicated PLC instruction (S(P).CHGV)) of the Motion SFC program.

CHGV instruction

Speed changing flag

Setting speed

OFF

ON

Speed change

Speed change completion

Speed after speed change

0 to 4ms

t

The speed changing flag list is shown below. Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No.

1 M2061 9 M2069 17 M2077 25 M2085 2 M2062 10 M2070 18 M2078 26 M2086 3 M2063 11 M2071 19 M2079 27 M2087 4 M2064 12 M2072 20 M2080 28 M2088 5 M2065 13 M2073 21 M2081 29 M2089 6 M2066 14 M2074 22 M2082 30 M2090 7 M2067 15 M2075 23 M2083 31 M2091 8 M2068 16 M2076 24 M2084 32 M2092

(Note) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

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4 POSITIONING DEDICATED SIGNALS

(19) Automatic decelerating flag (M2128 to M2159) ... Status signal

This signal turns on while automatic deceleration processing is performed at the positioning control or position follow-up control. (a) This flag turns on during automatic deceleration processing to the

command address at the position follow-up control, but it turns off if the command address is changed.

(b) When the normal start is completed at the control in all control system, it

turns off.

(c) In any of the following cases, this flag does not turn off. During deceleration by the JOG signal off During manual pulse generator operation At deceleration on the way due to stop command or stop cause

occurrence When travel value is 0

Automatic deceleration flag (Note) OFF

ON

V

t

The automatic deceleration flag list is shown below. Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No.

1 M2128 9 M2136 17 M2144 25 M2152 2 M2129 10 M2137 18 M2145 26 M2153 3 M2130 11 M2138 19 M2146 27 M2154 4 M2131 12 M2139 20 M2147 28 M2155 5 M2132 13 M2140 21 M2148 29 M2156 6 M2133 14 M2141 22 M2149 30 M2157 7 M2134 15 M2142 23 M2150 31 M2158 8 M2135 16 M2143 24 M2151 32 M2159

(Note) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

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4 POSITIONING DEDICATED SIGNALS

(20) Clutch status (M2160 to M2223) ................................ Status signal

Clutch ON/OFF state is indicated. ON: Clutch ON state OFF: Clutch OFF state

The clutch status list is shown below.

Connected Module Applicable Device Connected Module Applicable Device

Main shaft side M2160 Main shaft side M2192 Output module for axis 1

Auxiliary input axis side M2161 Output module for axis 17

Auxiliary input axis side M2193

Main shaft side M2162 Main shaft side M2194 Output module for axis 2

Auxiliary input axis side M2163 Output module for axis 18

Auxiliary input axis side M2195

Main shaft side M2164 Main shaft side M2196 Output module for axis 3

Auxiliary input axis side M2165 Output module for axis 19

Auxiliary input axis side M2197

Main shaft side M2166 Main shaft side M2198 Output module for axis 4

Auxiliary input axis side M2167 Output module for axis 20

Auxiliary input axis side M2199

Main shaft side M2168 Main shaft side M2200 Output module for axis 5

Auxiliary input axis side M2169 Output module for axis 21

Auxiliary input axis side M2201

Main shaft side M2170 Main shaft side M2202 Output module for axis 6

Auxiliary input axis side M2171 Output module for axis 22

Auxiliary input axis side M2203

Main shaft side M2172 Main shaft side M2204 Output module for axis 7

Auxiliary input axis side M2173 Output module for axis 23

Auxiliary input axis side M2205

Main shaft side M2174 Main shaft side M2206 Output module for axis 8

Auxiliary input axis side M2175 Output module for axis 24

Auxiliary input axis side M2207

Main shaft side M2176 Main shaft side M2208 Output module for axis 9

Auxiliary input axis side M2177 Output module for axis 25

Auxiliary input axis side M2209

Main shaft side M2178 Main shaft side M2210 Output module for axis 10

Auxiliary input axis side M2179 Output module for axis 26

Auxiliary input axis side M2211

Main shaft side M2180 Main shaft side M2212 Output module for axis 11

Auxiliary input axis side M2181 Output module for axis 27

Auxiliary input axis side M2213

Main shaft side M2182 Main shaft side M2214 Output module for axis 12

Auxiliary input axis side M2183 Output module for axis 28

Auxiliary input axis side M2215

Main shaft side M2184 Main shaft side M2216 Output module for axis 13

Auxiliary input axis side M2185 Output module for axis 29

Auxiliary input axis side M2217

Main shaft side M2186 Main shaft side M2218 Output module for axis 14

Auxiliary input axis side M2187 Output module for axis 30

Auxiliary input axis side M2219

Main shaft side M2188 Main shaft side M2220 Output module for axis 15

Auxiliary input axis side M2189 Output module for axis 31

Auxiliary input axis side M2221

Main shaft side M2190 Main shaft side M2222 Output module for axis 16

Auxiliary input axis side M2191 Output module for axis 32

Auxiliary input axis side M2223

(Note) : The range of output module for axis No.1 to 8 is valid in the Q172CPU(N).

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4 POSITIONING DEDICATED SIGNALS

(21) Speed change "0" accepting flag (M2240 to M2271)

........... Status signal This flag turns on while a speed change request to speed "0" or negative speed change is being accepted. It turns on when the speed change request to speed "0" or negative speed change is accepted during a start. After that, this signal turns off when a speed change is accepted or on completion of a stop due to a stop cause.

Start accept flag

OFF

ON

V

Speed change "0" accepting flag

Positioning complete signal

Speed change "0"

Speed change V2

Deceleration stop at the speed change "0" accept.

Thereafter, by changing speed to except "0", it starts continuously.V1

V2

t

The speed change "0" accepting flag list is shown below. Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No.

1 M2240 9 M2248 17 M2256 25 M2264 2 M2241 10 M2249 18 M2257 26 M2265 3 M2242 11 M2250 19 M2258 27 M2266 4 M2243 12 M2251 20 M2259 28 M2267 5 M2244 13 M2252 21 M2260 29 M2268 6 M2245 14 M2253 22 M2261 30 M2269 7 M2246 15 M2254 23 M2262 31 M2270 8 M2247 16 M2255 24 M2263 32 M2271

(Note) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

REMARK

(1) Even if it has stopped, when the start accept flag (M2001 to M2032) is ON state, the state where the request of speed change "0" is accepted is indicated. Confirm by this speed change "0" accepting flag.

(2) During interpolation, the flags corresponding to the interpolation axes are set. (3) In any of the following cases, the speed change "0" request is invalid.

After deceleration by the JOG signal off After positioning automatic deceleration start After deceleration due to stop cause

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4 POSITIONING DEDICATED SIGNALS

(a) The flag turns off if a speed change request occurs during deceleration to a

stop due to speed change "0".

Start accept flag

Speed change "0" accepting flag

OFF

ON

V V1

V2

t

Speed change "0"

Speed change V2

(b) The flag turns off if a stop cause occurs after speed change "0" accept.

Start accept flag

Speed change "0" accepting flag

OFF

ON

V

t

Speed change "0"

Stop cause

(c) The speed change "0" accepting flag does not turn on if a speed change "0" occurs after an automatic deceleration start.

Start accept flag

Speed change "0" accepting flag

V

t

Speed change "0"

(OFF)

Automatic deceleration start

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4 POSITIONING DEDICATED SIGNALS

(d) Even if it is speed change "0" after the automatic deceleration start to the

"command address", speed change "0" accepting flag turns on.

Start accept flag

Speed change "0" accepting flag

V

t

Speed change "0"

Automatic deceleration start

Speed change V2

Command address P1

Command address P2

P1 P2

ON

OFF

V1

V2

REMARK

It does not start, even if the "command address" is changed during speed change "0" accepting.

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4 POSITIONING DEDICATED SIGNALS

4.2 Data Registers

(1) Data register list Q173CPU(N) Q172CPU(N)

Device No. Purpose Real Virtual Device No. Purpose Real Virtual

D0 D0

to

Axis monitor device (20 points 8 axes) Real mode ........... Each axis Virtual mode ........ Output module

D160 to

Axis monitor device (20 points 32 axes) Real mode ........... Each axis Virtual mode ........ Output module

to Unusable (480 points)

D640 D640 to

Control change register (2 points 8 axes)

D656 to

Control change register (2 points 32 axes)

to Unusable (48 points)

D704 D704

to

Common device (Command signal) (54 points)

to

Common device (Command signal) (54 points)

D758 D758 to

Common device (Monitor) (42 points) to

Common device (Monitor) (42 points)

D800 D800 Virtual servomotor axis monitor device (6 points 32 axes) (Note-1)

Virtual servomotor axis monitor device (6 points 8 axes) (Note-1)

to

Current value after virtual servomotor axis main shaft's differential gear (4 points 8 axes) (Note-1)

Back up

D880

Current value after virtual servomotor axis main shaft's differential gear (4 points 32 axes) (Note-1)

to

Unusable (240 points)

D1120 D1120 Synchronous encoder axis monitor device (6 points 12 axes)

Synchronous encoder axis monitor device (6 points 8 axes)

to Current value after synchronous encoder axis main shaft's differential gear (4 points 8 axes)

Back up

D1200

to

Current value after synchronous encoder axis main shaft's differential gear (4 points 12 axes)

to

Unusable (40 points)

D1240 D1240

to

Cam axis monitor device (10 points 8 axes) (Note-1)

Back up

D1320

to

Cam axis monitor device (10 points 32 axes) (Note)

Back up

to

Unusable (6872 points)

D1560 D1560 to to D8191

User device (6632 points)

D8191

User device (6632 points)

Usable in the user device.

: Valid

Real/

virtual

community

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4 POSITIONING DEDICATED SIGNALS

POINT

Total number of points for the user devices 6632 points

(Note-1) : "The virtual servomotor axis/cam axis monitor device" occupy only the areas of the axes set in the mechanical system program. The unused axis areas in the mechanical system program can be used as an user side.

(Note-2) : Only details for data registers used in the virtual mode are described in this manual. If it is required, refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)".

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(2) Axis monitor device list

Axis No. Device No. Signal name

1 D0 to D19

2 D20 to D39 Virtual 3 D40 to D59 4 D60 to D79 5 D80 to D99

Signal name Real

Roller Ball

screw Rotary table

Cam Real mode axis

Refresh cycle

Fetch cycle

Signal direction

6 D100 to D119 0 7 D120 to D139 1

Feed current value/roller cycle speed

8 D140 to D159 2 9 D160 to D179 3

Real current value

10 D180 to D199 4 11 D200 to D219 5

Deviation counter value

Operation cycle

12 D220 to D239

6 Minor error code

13 D240 to D259 7 Major error code Immediately

14 D260 to D279

8 Servo error code

Main cycle

15 D280 to D299 16 D300 to D319

9 Home position return re-travel value

Backup

17 D320 to D339 10 18 D340 to D359

11

Travel value after proximity dog ON

Backup Operation

cycle

19 D360 to D379 12 Execute program No. At start 20 D380 to D399 13 M-code 21 D400 to D419 14 Torque limit value

Operation cycle

22 D420 to D439 23 D440 to D459

15 Data set pointer for constant-speed control

At start/ during start

Monitor device

24 D460 to D479 16 25 D480 to D499 17

Travel value change register

Operation cycle

Command device

26 D500 to D519 18 27 D520 to D539

19

Real current value at stop input

Backup

Operation cycle

Monitor device

28 D540 to D559 : Valid, : Invalid 29 D560 to D579 30 D580 to D599

31 D600 to D619 32 D620 to D639

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

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4 POSITIONING DEDICATED SIGNALS

(3) Control change register list

Axis No. Device No. Signal name

1 D640, D641

2 D642, D643 3 D644, D645

Signal name Real Virtual Refresh

cycle Fetch cycle

Signal direction

4 D646, D647 0 5 D648, D649

1

JOG speed setting At start Command

device

6 D650, D651 : Valid 7 D652, D653 8 D654, D655 9 D656, D657

10 D658, D659

11 D660, D661 12 D662, D663

13 D664, D665 14 D666, D667 15 D668, D669

16 D670, D671 17 D672, D673 18 D674, D675 19 D676, D677 20 D678, D679

21 D680, D681 22 D682, D683

23 D684, D685 24 D686, D687

25 D688, D689 26 D690, D691

27 D692, D693 28 D694, D695 29 D696, D697 30 D698, D699 31 D700, D701

32 D702, D703 (Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

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(4) Virtual servomotor axis monitor device list

Axis No. Device No. Signal name

1 D800 to D809

2 D810 to D819 Virtual 3 D820 to D829 4 D830 to D839 5 D840 to D849

Signal name Real

Roller Ball

screw Rotary table

Cam Real mode axis

Refresh cycle

Fetch cycle

Signal direction

6 D850 to D859 0 7 D860 to D869

1

Feed current value Operation

cycle 8 D870 to D879 2 Minor error code 9 D880 to D889 3 Major error code

Immediately

10 D890 to D899 4 Execute program No. At start 11 D900 to D909

12 D910 to D919 5 M-code

13 D920 to D929

6

14 D930 to D939 15 D940 to D949

7

Current value after virtual servomotor axis main shaft's differential gear

16 D950 to D959

8 Error search output axis No.

17 D960 to D969

18 D970 to D979 9

Data set pointer for constant-speed control

Backup

Operation cycle

Monitor device

19 D980 to D989 : Valid, : Invalid

20 D990 to D999

21 D1000 to D1009

22 D1010 to D1019 23 D1020 to D1029 24 D1030 to D1039

25 D1040 to D1049 26 D1050 to D1059

27 D1060 to D1069 28 D1070 to D1079

29 D1080 to D1089

30 D1090 to D1099

31 D1100 to D1109 32 D1100 to D1119

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : The unused axis areas in the mechanical system program can be used as an user side.

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(5) Synchronous encoder axis monitor device list

Axis No. Device No. Signal name

1 D1120 to D1129

2 D1130 to D1139 3 D1140 to D1149

Signal name Real Virtual Refresh

cycle Fetch cycle

Signal direction

4 D1150 to D1159 0 5 D1160 to D1169

1

Current value Operation

cycle 6 D1170 to D1179 2 Minor error code 7 D1180 to D1189 3 Major error code

Backup Immediately

Monitor device

8 D1190 to D1199 4 9 D1200 to D1209 5

Unusable

10 D1210 to D1219 6

11 D1220 to D1229

7

Current value after synchronous encoder axis main shaft's differential gear

12 D1230 to D1239 8 Error search output axis No.

Backup Operation

cycle

Monitor device

9 Unusable

: Valid (Note-1) : It is unusable in the SV22 real mode. (Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-3) : Device area of 9 axes or more is unusable in the Q172CPU(N).

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(6) Cam axis monitor device list

Axis No. Device No. Signal name

1 D1240 to D1249

2 D1250 to D1259 3 D1260 to D1269

Signal name Real Virtual Refresh

cycle Fetch cycle

Signal direction

4 D1270 to D1279 0 Unusable 5 D1280 to D1289

1 Execute cam No.

6 D1290 to D1299 2 7 D1300 to D1309 3

Execute stroke amount

8 D1310 to D1319 4 9 D1320 to D1329 5

Current value within 1 cam shaft revolution

Backup Operation

cycle

Monitor device

10 D1330 to D1339 6

11 D1340 to D1349

7

12 D1350 to D1359 8 13 D1360 to D1369

9

Unusable

14 D1370 to D1379 : Valid 15 D1380 to D1389 16 D1390 to D1399

17 D1400 to D1409 18 D1410 to D1419 19 D1420 to D1429 20 D1430 to D1439 21 D1440 to D1449

22 D1450 to D1459 23 D1460 to D1469

24 D1470 to D1479 25 D1480 to D1489

26 D1490 to D1499 27 D1500 to D1509

28 D1510 to D1519 29 D1520 to D1529 30 D1530 to D1539 31 D1540 to D1549 32 D1550 to D1559

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : The unused axis areas in the mechanical system program can be used as an user side.

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4 POSITIONING DEDICATED SIGNALS

(7) Common device list

Device No.

Signal name Refresh cycle

Fetch cycle Signal direction

Device No.

Signal name Refresh

cycle Fetch cycle

Signal direction

D704 PLC ready flag request

D705 Speed switching point specified flag request

D753 Manual pulse generator 2 smoothing magnification setting register

D706

All axes servo ON command request

D754

Manual pulse generator 3 smoothing magnification setting register

At the manual pulse generator enable flag

D707 Real/virtual mode switching request (Note-1) (SV22)

D755 Manual pulse generator 1 enable flag request

D756

Manual pulse generator 2 enable flag request D708

JOG operation simultaneous start command request

Main cycle Command

device

D709 Unusable D757

Manual pulse generator 3 enable flag request

Main cycle

Command device

D710 D758 Unusable D711

D712 D759

PCPU ready complete flag status

Main cycle Monitor device

D713

JOG operation simultaneous start axis setting register

At start

D760 D714 D761 D715

Manual pulse generator axis 1 No. setting register D762

D716 D763 D717

Manual pulse generator axis 2 No. setting register D764

D718 D765 D719

Manual pulse generator axis 3 No. setting register D766

D720 Axis 1 D767 D721 Axis 2 D768 D722 Axis 3 D769 D723 Axis 4 D770 D724 Axis 5 D771 D725 Axis 6 D772 D726 Axis 7

D773 D727 Axis 8 D774 D728 Axis 9 D775 D729 Axis 10 D776 D730 Axis 11 D777 D731 Axis 12 D778 D732 Axis 13 D779 D733 Axis 14 D780 D734 Axis 15 D781 D735 Axis 16 D782 D736 Axis 17 D783 D737 Axis 18 D784 D738 Axis 19 D785 D739 Axis 20 D786 D740 Axis 21 D787 D741 Axis 22 D788 D742 Axis 23 D789

Unusable (30 points)

D743 Axis 24 D790 D744 Axis 25 D791

Real mode axis information register (SV22) (Note-1) Main cycle

D745 Axis 26 D792 D746 Axis 27 D793 D747 Axis 28 D794 D748 Axis 29 D795 D749 Axis 30 D796 D750 Axis 31 D797 D751 Axis 32

Manual pulse generators 1-pulse input magnification setting register (Note-2),(Note-3)

D798 D799

Servo amplifier type At

power-on

Monitor device

D752 Manual pulse generator 1 smoothing magnification setting register

At the manual pulse

generator enable flag

Command device

(Note-1) : It is unusable in the SV22 real mode. (Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-3) : Device area of 9 axes or more is unusable in the Q172CPU(N).

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4.2.1 Axis monitor devices

The monitoring data area is used by the Motion CPU to store data such as the feed current value during positioning control, the real current value and the number of droop pulses in the deviation counter. It can be used to check the positioning control state using the Motion SFC program. The user cannot write data to the monitoring data area (except the travel value change register). Refer to APPENDIX 5 "Processing Times of the Motion CPU" for the delay time between a positioning device (input, internal relay and special relay) turning on/off and storage of data in the monitor data area. (1) Feed current value/roller cycle speed storage register

(D0+20n, D1+20n) ................................................... Monitor device (a) The target address which is output to the servo amplifier is stored in this

register. The target address is based on the command address calculated from the mechanical system program settings.

(b) The stroke range check is performed on this feed current value data.

(c) Roller cycle speed is stored.

The storage range for cycle speed the roller cycle speed storage register is shown below. Setting Units Storage Range Real Roller Cycle Speed

mm 0.01 to 6000000.00 [mm/min]

inch 1 to 600000000

0.001 to 600000.000 [inch/min]

(2) Real current value storage register (D2+20n, D3+20n)

........... Monitor device (a) This register stores the real current value which took the droop pulses of the

servo amplifier into consideration to the feed current value.

(b) The "feed current value" is equal to the "real current value" in the stopped state.

(3) Deviation counter value storage register (D4+20n, D5+20n)

........... Monitor device This register stores the droop pulses read from the servo amplifier.

(4) Minor error code storage register (D6+20n) ..... Monitor device

(a) This register stores the corresponding error code (Refer to APPENDIX 2.4 and 2.7) at the minor error occurrence. If another minor error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Minor error codes can be cleared by an error reset command (M3207+20n).

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4 POSITIONING DEDICATED SIGNALS

(5) Major error code storage register (D7+20n) ....... Monitor device

(a) This register stores the corresponding error code (Refer to APPENDIX 2.4 and 2.7) at the major error occurrence. If another major error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Major error codes can be cleared by an error reset command (M3207+20n).

(6) Servo error code storage register (D8+20n) ......... Monitor device

(a) This register stores the corresponding error code (Refer to APPENDIX 2.5) at the servo error occurrence. If another servo error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) It returuns to the real mode by the servo error.

(7) Torqrue limit value storage register (D14+20n) ....... Monitor device

This register stores the torque limit value imposed on the servo amplifier. The default value "300[%]" is stored at the power supply of servo amplifier ON.

POINT

When the vector inverter is used, set the suitable torque limit value for each vector inverter in the following methods. Set the suitable torque limit value to the torque limit value setting device of output

module.

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4 POSITIONING DEDICATED SIGNALS

4.2.2 Control change registers

This area stores the JOG operation speed data of the virtual servomotor axis.

Table 4.3 Data storage area for control change list Name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

D641, D640 D643, D642 D645, D644 D647, D646 D649, D648 D651, D650 D653, D652 D655, D654 Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16

D657, D656 D659, D658 D661, D660 D663, D662 D665, D664 D667, D666 D669, D668 D671, D670 Axis 17 Axis 18 Axis 19 Axis 20 Axis 21 Axis 22 Axis 23 Axis 24

D673, D672 D675, D674 D677, D676 D679, D678 D681, D680 D683, D682 D685, D684 D687, D686 Axis 25 Axis 26 Axis 27 Axis 28 Axis 29 Axis 30 Axis 31 Axis 32

JOG speed setting register

D689, D688 D691, D690 D693, D692 D695, D694 D697, D696 D699, D698 D701, D700 D703, D702 (Note): The range of axis No.1 to 8 is valid in the Q172CPU(N).

(1) JOG speed setting registers (D640+2n) ...... Command device

(a) This register stores the JOG speed at the JOG operation.

(b) Setting range of the JOG speed is shown below. PLS Unit

Item Setting Range Unit

JOG speed 1 to 10000000 [PLS/s]

(c) The JOG speed is the value stored in the JOG speed setting registers when

the JOG start signal turns off to on. Even if data is changed during JOG operation, JOG speed cannot be changed.

(d) Refer to Section 6.20 of the "Q173CPU(N)/Q172CPU(N) Motion controller

(SV13/SV22) Programming Manual (REAL MODE) " for details of the JOG operation.

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4.2.3 Virtual servomotor axis monitor devices

(1) Feed current value storage register (D800+10n) (Note-1)

........... Monitor device (a) This register stores the target address output to the servo amplifier based

on the positioning address/travel value specified with the servo program.

(b) The stroke range check is performed on this feed current value data.

(c) Ring address is 2147483648 (-231) [PLS] to 2147483647 (231-1) [PLS] in the infinite operation.

(231-1)

-231

Feed current value

(d) The date of feed current value storage register is also stored in a backup

memory at the power supply off or resetting of the Multiple CPU system.

(2) Minor error code storage register (D802+10n) ........... Monitor device

(a) This register stores the corresponding error code (refer to APPENDIX 2.4, 2.7) at the minor error occurrence in the virtual servomotor or output module. If another minor error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Minor error codes in the virtual servomotor can be cleared by an error reset

command (Note-2) of the drive module. Minor error codes in the output module can be cleared by an error reset command (Note-3) of the output module.

REMARK

(Note-1) : In the above descriptions, "n" in "D800+10n", etc. indicates a value corresponding to axis No. such as the following tables.

Axis No. n Axis No. n Axis No. n Axis No. n

1 0 9 8 17 16 25 24 2 1 10 9 18 17 26 25 3 2 11 10 19 18 27 26 4 3 12 11 20 19 28 27 5 4 13 12 21 20 29 28 6 5 14 13 22 21 30 29 7 6 15 14 23 22 31 30 8 7 16 15 24 23 32 31

Calculate as follows for the device No. corresponding to each axis. (Example) For axis 32

D800+10n (Feed current value storage register) = D800+10 31 = D1110 The range (n = 0 to 7) of axis No.1 to 8 is valid in the Q172CPU(N).

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4 POSITIONING DEDICATED SIGNALS

(Note-2) : Refer to Section 4.1.4 for details of the error reset command for the virtual

servomotor axis. (Note-3) : Refer to Section 4.1.2 for details of the error reset command for the

output module.

(3) Major error code storage register (D803+10n) ........... Monitor device

(a) This register stores the corresponding error code (refer to APPENDIX 2.4, 2.7) at the major error occurrence in the virtual servomotor or output module. If another major error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Major error codes in the virtual servomotor can be cleared by an error reset

command (Note-1) of the drive module. Major error codes in the output module can be cleared by an error reset command (Note-2) of the output module.

REMARK

(Note-1) : Refer to Section 4.1.4 for details of the error reset command for the virtual servomotor axis.

(Note-2) : Refer to Section 4.1.2 for details of the error reset command for the output module.

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4.2.4 Current value after virtual servomotor axis main shaft's differential gear

(1) Current value after virtual servomotor axis main shafts differential gear storage register (D806+10n, D807+10n) (Note-1)

........... Monitor device

Virtual servomotor or Synchronous encoder

Current value after virtual servomotor axis main shaft's differential gear

Current value after virtual servomotor axis main shaft's differential gear

Differential gear is connected with the main shaft.

Virtual servomotor

Differential- gear

Differential gear is not connected with the main shaft.

Virtual servomotor

(a) The current value will be the same as the drive module current value of the main shaft side at the virtual mode switching.

(b) When the current value change is executed toward the drive module current

value of the main shaft side, the current value afte main shaft's differential gear is also simultaneous changed to the specified current value.

(c) If the differential gear is not connected with the main shaft, drive module

feed current value of the main shaft side is always stored in the current value storage register after main shafts differential gear.

REMARK

(Note-1) : In the above descriptions, "n" in "D806+10n", "D807+10n" indicates a value corresponding to axis No. such as the following tables.

Axis No. n Axis No. n Axis No. n Axis No. n

1 0 9 8 17 16 25 24 2 1 10 9 18 17 26 25 3 2 11 10 19 18 27 26 4 3 12 11 20 19 28 27 5 4 13 12 21 20 29 28 6 5 14 13 22 21 30 29 7 6 15 14 23 22 31 30 8 7 16 15 24 23 32 31

Calculate as follows for the device No. corresponding to each axis. (Example) For axis 32

D806+10n = D806+10 31 = D1116 The range (n = 0 to 7) of axis No.1 to 8 is valid in the Q172CPU(N).

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4 POSITIONING DEDICATED SIGNALS

(2) Error search output axis No. storage register (D808+10n)

........... Monitor device (a) This register stores the axis No. of the output module in error by the error

search function in the virtual mode.

(b) If there are no errors at the virtual servomotor axes of the main shaft and auxiliary input axis, the error occurrence output axis No. is stored into the error search output axis No. storage register of the corresponding drive module No. when a minor or major error occurs at the connected output axis.

(c) Error search and error reset

1) Searching the main shaft for error The output axes connected to the main shaft are searched for an error in order of lower to higher numbers. If either a minor or major error has occurred, the corresponding output axis No. is stored into the error search output axis No. storage register. Resetting the error of the corresponding output axis stores the other error occurrence output axis No. connected to the same main shaft.

2) Searching the auxiliary input axis for error

If either a minor or major error has occurred at the output axis connected to the auxiliary input axis, the corresponding output axis No. is stored into the error search output axis No. storage register. However, when the differential gear (for virtual main shaft connection) is used to provide auxiliary input to the main shaft, the output axis connected to the auxiliary input axis is not searched for an error. Use the main shaft side error search output axis No. storage register to confirm the error occurrence output axis No.

(d) When error occurs at the drive module axis

When an error occurs at the main shaft/auxiliary input axis to which the output axis is connected, "0" (no error) is stored into the error search output axis No.storage device if an error occurred at the output axis.

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4.2.5 Synchronous encoder axis monitor devices

(1) Current value storage register (D1120+10n, D1121+10n) ........... Monitor device

(a) This register stores the synchronous encoder current value of the drive module.

(b) Ring address is "-2147483648 ( -231) to 2147483647 (231-1)" [PLS].

(c) The current value storage register data is also stored in a backup memory

at the power supply off or resetting of the Multiple CPU system.

(2) Minor error code storage register (D1122+10n) ...... Monitor device (a) This register stores the corresponding error code (refer to APPENDIX 2.4,

2.7) at the minor error occurrence in the synchronous encoder or output module. If another minor error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Minor error codes in the synchronous encoder can be cleared by an error

reset command (Note-1) of the synchronous encoder axis. Minor error codes in the output module can be cleared by an error reset command (Note-2) of the output module.

REMARK

(Note-1) : Refer to Section 4.1.6 for details of the error reset command for the synchronous encoder axis.

(Note-2) : Refer to Section 4.1.2 for details of the error reset command for the output module.

(3) Major error code storage register (D1123+10n) ...... Monitor device

(a) This register stores the corresponding error code (refer to APPENDIX 2.4, 2.7) at the major error occurrence in the synchronous encoder or output module. If another major error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Major error codes in the synchronous encoder axis can be cleared by an

error reset command (Note-1) of the synchronous encoder. Major error codes in the output module can be cleared by an error reset command (Note-2) of the output module.

REMARK

(Note-1) : Refer to Section 4.1.6 for details of the error reset command for the synchronous encoder axis.

(Note-2) : Refer to Section 4.1.2 for details of the error reset command for the output module.

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4.2.6 Current value after synchronous encoder axis main shaft's differential gear

(1) Current value after synchronous encoder axis main shafts differential gear storage registers (D1126+10n, D1127+10n)

........... Monitor device

Virtual servomotor or Synchronous encoder

Current value after synchronous encoder axis main shaft's differential gear

Current value after synchronous encoder axis main shaft's differential gear

Differential gear is connected with the main shaft.

Synchronous encoder

Differential- gear

Differential gear is not connected with the main shaft.

Synchronous encoder

(a) The current value will be the same as the drive module current value of the main shaft side at the virtual mode switching.

(b) When the current value change is executed toward the drive module current

value of the main shaft side, the current value afte main shaft's differential gear is also simultaneous changed to the specified current value.

(c) If the differential gear is not connected with the main shaft, drive module

current value of the main shaft side is always stored in the current value storage register after main shafts differential gear.

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4 POSITIONING DEDICATED SIGNALS

(2) Error search output axis No. storage register (D1128+10n)

........... Monitor device (a) This register stores the axis No. of the output module in error by the error

search function in the virtual mode.

(b) If there are no errors at the virtual servomotor axes of the main shaft and auxiliary input axis, the error occurrence output axis No. is stored into the error search output axis No. storage register of the corresponding drive module No. when a minor or major error occurs at the connected output axis.

(c) Error search and error reset

1) Searching the main shaft for error The output axes connected to the main shaft are searched for an error in order of lower to higher numbers. If either a minor or major error has occurred, the corresponding output axis No. is stored into the error search output axis No. storage register. Resetting the error of the corresponding output axis stores the other error occurrence output axis No. connected to the same main shaft.

2) Searching the auxiliary input axis for error

If either a minor or major error has occurred at the output axis connected to the auxiliary input axis, the corresponding output axis No. is stored into the error search output axis No. storage register. However, when the differential gear (for virtual main shaft connection) is used to provide auxiliary input to the main shaft, the output axis connected to the auxiliary input axis is not searched for an error. Use the main shaft side error search output axis No. storage register to confirm the error occurrence output axis No.

(d) When error occurs at the drive module axis

When an error occurs at the main shaft/auxiliary input axis to which the output axis is connected, "0" (no error) is stored into the error search output axis No.storage device if an error occurred at the output axis.

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4 POSITIONING DEDICATED SIGNALS

4.2.7 Cam axis monitor devices

(1) Execute cam No. storage register (D1241+10n) ... Monitor device (a) This register stores the cam No. currently being controlled.

(b) Cam No. of the execute cam No. storage register is held until next cam is

executed. (Cam No. is not cleared, even if cam control is completed.)

(2) Execute stroke amount storage register (D1242+10n, D1243+10n) ........... Monitor device

(a) This register stores the cam No. currently being controlled.

(3) Current value within 1 cam shaft revolution storage register (D1244+10n, D1245+10n) ....................................... Monitor device (a) This register stores the current value within 1 cam shaft revolution set in the

parameter. The current value is a ring address of "0 to [Number of pulses per cam shaft revolution (Nc)-1]".

0

(NC-1)

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4 POSITIONING DEDICATED SIGNALS

4.2.8 Common devices

(1) Common bit device SET/RST request register (D704 to D708, D755 to D757) .............................................. Command device Because cannot be turn on/off in every bit from the PLC CPU, the bit device is assigned to D register, and each bit device turns on with the lowest rank bit 0 to 1 and each bit device becomes off with 1 to 0. The details of request register are shown below. (Refer to Section "4.1.9 Common devices" for the bit device M2000 to M2053.)

Details of the request register

No. Function Bit device Request register

1 PLC ready flag M2000 D704

2 Speed switching point specified flag M2040 D705

3 All axes servo ON command M2042 D706

4 Real/virtual mode switching request M2043 D707

5 JOG operation simultaneous start command

M2048 D708

6 Manual pulse generator 1 enable flag M2051 D755

7 Manual pulse generator 2 enable flag M2052 D756

8 Manual pulse generator 3 enable flag M2053 D757

(2) JOG operation simultaneous start axis setting registers

(D710 to D713) ................................................ Command device (a) These registers set the virtual servomotor axis No. and direction which start

simultaneously the JOG operation.

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

Forward rotation JOG

Reverse rotation JOG

D710

D711

D712

D713

(Note-1) : Make JOG operation simultaneous start axis setting with 1/0. 1 : Simultaneous start execution 0 : Simultaneous start not execution

(Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-3) : Refer to APPENDIX 2.1 for the expression method of axis No. corresponding to the each bit of word data.

(b) Refer to Section 6.20.3 of the "Q173CPU(N)/Q172CPU(N) Motion controller

(SV13/SV22) Programming Manual (REAL MODE)" for details of the JOG operation simultaneous start.

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4 POSITIONING DEDICATED SIGNALS

(3) Manual pulse generator axis No. setting registers (D714 to D719)

.......... Command signal (a) These registers stores the virtual servomotor axis No. controlled with the

manual pulse generator. b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

D714

D715

D716

D717

D718

D719

P1

P2

P3

(Note-1) : Make the axis No. controlled with the manual pulse generator setting with 1/0. 1 : Specified axis 0 : Unspecified axis

(Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-3) : Refer to APPENDIX 2.1 for the expression method of axis No. corresponding to the each bit of word data.

(b) Refer to Section 6.21 of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details of the mamual pulse generator operation.

(4) Manual pulse generator 1-pulse input magnification setting

registers (D720 to D751) ..................................... Command device (a) These register set the magnification (1 to 10000) per pulse of number of the

input pulses from manual pulse generator at the pulse generator operation. 1-pulse input magnification

setting register Axis No. Setting range

1-pulse input magnification

setting register Axis No. Setting range

D720 Axis 1 D736 Axis 17 D721 Axis 2 D737 Axis 18 D722 Axis 3 D738 Axis 19 D723 Axis 4 D739 Axis 20 D724 Axis 5 D740 Axis 21 D725 Axis 6 D741 Axis 22 D726 Axis 7 D742 Axis 23 D727 Axis 8 D743 Axis 24 D728 Axis 9 D744 Axis 25 D729 Axis 10 D745 Axis 26 D730 Axis 11 D746 Axis 27 D731 Axis 12 D747 Axis 28 D732 Axis 13 D748 Axis 29 D733 Axis 14 D749 Axis 30 D734 Axis 15 D750 Axis 31 D735 Axis 16

1 to 10000 (Note-2)

D751 Axis 32

1 to 10000 (Note-2)

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : The setting range (1 to 100) is valid in the SW6RN-SV22Q (Ver.00B or before).

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4 POSITIONING DEDICATED SIGNALS

(b) Refer to Section 6.21 of the "Q173CPU(N)/Q172CPU(N) Motion controller

(SV13/SV22) Programming Manual (REAL MODE)" for details of the mamual pulse generator operation.

(5) Manual pulse generator smoothing magnification setting registers

(D752 to D754) .................................................... Command device (a) These registers set the smoothing time constants of manual pulse

generators. Manual pulse generator smoothing

magnification setting register Setting range

Manual pulse generator 1 (P1): D752 Manual pulse generator 2 (P1): D753 Manual pulse generator 3 (P1): D754

0 to 59

(b) When the smoothing magnification is set, the smoothing time constant is as

indicated by the following expression. Smoothing time constant (t) = (Smoothing magnification + 1) 56.8 [ms]

(c) Operation

OFF

ON

V

Manual pulse generator input

V1

t t t t

Manual pulse generator enable flag (M2051)

Output speed (V1) [PLS/s] = (Number of input pulses/s) (Manual pulse generator 1-pulse input magnification setting)

Travel value (L) = (Number of input pulses) (Manual pulse generator 1-pulse

input magnification setting)

(d) The manual pulse operation in the virtual mode is effctive at the only test mode.

REMARK

(1) The smoothing time constant is 56.8[ms] to 3408[ms].

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4 POSITIONING DEDICATED SIGNALS

(6) Real mode axis information register (D790, D791)

.................................................... Monitor device This signal is used to store the information used as a real mode axis at the time of switching from real mode to virtual mode. The real mode axis information does not change at the time of switching from virtual mode to real mode.

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

Real mode axis information

D790

D791

(Note-1): The range of axis No.1 to 8 is valid in the Q172CPU(N).

0 : Real mode axis 1 : Except real mode axis

(Note-2): Refer to APPENDIX 2.1 for the expression method of the axis No. corresponding to each bit of word data.

REMARK

It is valid with SW6RN-SV22Q (Ver.00R or later).

(7) Servo amplifier type storage register (D792 to D799) ........... Monitor device

The servo amplifier type set in the system settings is stored at the power supply on or resetting of the Motion CPU.

b15 to b12 b11 to b8 b7 to b4 b3 to b0 D792

D793

D794

D795

D796

D797

D798

D799

Axis 4 Axis 3 Axis 2 Axis 1

Axis 8 Axis 7 Axis 6 Axis 5

Axis 12 Axis 11 Axis 10 Axis 9

Axis 16 Axis 15 Axis 14 Axis 13

Axis 20 Axis 19 Axis 18 Axis 17

Axis 24 Axis 23 Axis 22 Axis 21

Axis 28 Axis 27 Axis 26 Axis 25

Axis 32 Axis 31 Axis 30 Axis 29

Servo amplifier type 0 . . . . . Axis unused 2 . . . . . Servo amplifier

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4 POSITIONING DEDICATED SIGNALS

4.3 Motion registers (#)

There are motion registers (#0 to #8191) in the Motion CPU. #8000 to #8063 are used as the Motion SFC dedicated device and #8064 to #8191 are used as the servo monitor device. Refer to the "Q173CPU(N)/Q172CPU(N) Motion Controller (SV13/SV22) Programming Manual (Motion SFC)" for details of the motion registers and Motion SFC dedicated device.

(1) Servo monitor devices (#8064 to #8191) ................. Monitor device

Information about "servo amplifier type", "motor current" and "motor speed" for each axis is stored the servo monitor devices. The details of the storage data are shown below.

Axis No.

Device No. Signal name

1 #8064 to #8067

2 #8068 to #8071

3 #8072 to #8075 Signal name(Note-1) Signal description Refresh cycle Signal direction

4 #8076 to #8079 5 #8080 to #8083 6 #8084 to #8087 7 #8088 to #8091

+0 Servo amplifier type

0 : Unused 1 : MR-H-BN 2 : MR-J-B 3 : MR-J2-B

4 : MR-J2S-B 5 : MR-J2-M 6 : MR-J2-03B5 65 : FR-V500

When the servo amplifier power-on

8 #8092 to #8095 +1 Motor current -5000 to 5000 ( 0.1[%] ) 9 #8096 to #8099 +2 10 #8100 to #8103 +3

Motor speed -50000 to 50000 ( 0.1[r/min] ) 3.55[ms]

Monitor device

11 #8104 to #8107 (Note-1) : The value that the lowest servo monitor device No. was added "+0, +1" on each axis is shown. 12 #8108 to #8111 13 #8112 to #8115 14 #8116 to #8119 15 #8120 to #8123 16 #8124 to #8127 17 #8128 to #8131 18 #8132 to #8135 19 #8136 to #8139 20 #8140 to #8143 21 #8144 to #8147 22 #8148 to #8151 23 #8152 to #8155 24 #8156 to #8159 25 #8160 to #8163 26 #8164 to #8167 27 #8168 to #8171 28 #8172 to #8175 29 #8176 to #8179 30 #8180 to #8183 31 #8184 to #8187 32 #8188 to #8191

REMARK

The servo monitor devices (#8064 to #8191) are valid with SW6RN-SV22Q (Ver.00D or later).

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4 POSITIONING DEDICATED SIGNALS

4.4 Special relays (SP.M)

There are 256 special relay points of M9000 to M9255 in the Motion CPU. Of these, 7 points of the M9073 to M9079 are used for the positioning control, and their applications are indicated in Table 4.4. (Refer to APPENDIX 3.1 "Special relays" for the applications of the special relays except M9073 to M9079.)

Table 4.4 Special relay list

Device No. Signal name Refresh cycle Signal type

M9073 PCPU WDT error flag M9074 PCPU REDAY complete flag M9075 TEST mode ON flag M9076 External forced stop input flag M9077 Manual pulse generator axis setting error flag M9078 TEST mode request error flag M9079 Servo program setting error flag

Main cycle Status signal

(1) PCPU WDT error flag (M9073) ................................... Status signal

This flag turns on when a "watchdog timer error" is detected of the Motion CPU self-diagnosis function. When the Motion CPU detects a WDT error, it executes an immediate stop without deceleration of the operating axes. If the Motion CPU WDT error flag has turn on, reset the Motion CPU. If M9073 remains on after resetting, there is a fault at the Motion CPU side. The error cause is stored in the "Motion CPU WDT error cause (D9184)". (Refer to Section 4.5(2)).

(2) PCPU REDAY complete flag (M9074) ......... Status signal

This flag is used as judgement of the normal or abnormal in the Motion CPU side using the PLC program. (a) When the PLC ready flag (M2000) turns off to on, the fixed parameters,

servo parameters and limit switch output data are checked, and if error is not detected, this flag turns on. The servo parameters are written to the servo amplifiers and the M-codes are cleared.

(b) This flag turns off when the PLC ready flag (M2000) turns off.

PLC ready flag (M2000)

PCPU READY complete flag (M9074) The servo parameters are

written to the servo amplifiers and the M-codes are cleared.

t

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4 POSITIONING DEDICATED SIGNALS

(3) TEST mode ON flag (M9075) .............................. Status signal

(a) This flag is used as judgement of during the test mode or not using a peripheral. Use it for an interlock, etc. at the starting of the servo program using the Motion SFC program. OFF ........ Except the test mode ON .......... During the test mode

(b) If the test mode request is executed in the test mode request from the

peripheral device, the TEST mode request error flag (M9078) turns on.

(4) External forced stop input flag (M9076) .... Status signal This flag checks the external forced stop input signal ON/OFF. OFF ..... During the external forced stop input on ON ........... During the external forced stop input off

POINT

(1) If the forced stop signal is input during positioning, the feed current value is advanced within the rapid stop deceleration time set in the parameter block. At the same time, the servo OFF state is established because the all axes servo ON command (M2042) turns off. When the rapid stop deceleration time has elapsed after input of the forced stop signal, the feed current value returns to the value at the point when the emergency stop was initiated.

(2) If the forced stop is reset before the emergency stop deceleration time has

elapsed, a servo error occurs.

(5) Manual pulse generator axis setting error flag (M9077) ........... Status signal

(a) This flag is use as judgement of normal or abnormal setting of the manual pulse generator axis No. setting registers (D714 to D719). OFF ......... D714 to D719 is normal ON ........... D714 to D719 is abnormal

(b) When M9077 turns on, the error contents are stored in the manual pulse

generator axis setting error information (D9185 to D9187).

(6) TEST mode request error flag (M9078) ........... Status signal (a) This flag turns on when the test mode is not executed in the test mode

request using a peripheral device.

(b) When M9078 turns on, the error contents are stored in the test mode request error information (D9182, D9183).

(7) Servo program setting error flag (M9079) ............... Status signal

This flag is used as judgement of normal or abnormal for the servo program positioning data. OFF ...... Normal ON ........ Abnormal

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4 POSITIONING DEDICATED SIGNALS

4.5 Special registers (SP.D)

There are 256 special register points of D9000 to D9255 in the Motion CPU. Of these, 22 points of the D9180 to D9201 are used for the positioning control. The special registers used for positioning are shown below. (Refer to APPENDIX 3.2 "Special registers" for the applications of the special registers except D9180 to D9201.)

Table 4.5 Special register list

Device No. Signal name Refresh cycle Fetch cycle Signal

direction

D9180

D9181 Unusable

D9182 D9183

Test mode request error information At test mode request

D9184 Motion CPU WDT error cause At Motion CPU WDT error

occurrence D9185 D9186 D9187

Manual pulse generator axis setting error information

At the manual pulse generator enable flag

D9188 Motion operation cycle Operation cycle D9189 Error program No. D9190 Error item information

At start

D9191 D9192

Servo amplifier loading information At power supply on/

operation cycle

D9193 D9194 D9195

Real/virtual mode switching error information

At virtual mode transition

D9196 PC link communication error codes Operation cycle D9197 Operation cycle of the Motion CPU setting At power supply on

Monitor device

D9198 D9199

Unusable

D9200 State of switch Main cycle D9201 State of LED Immediate

Monitor device

(1) Test mode request error information (D9182, D9183)

........... Monitor device If there are operating axis at a test mode request from a peripheral device, a test mode request error occurs, the test mode request error flag (M9078) turns on, and the during operation/stop data of the each axis are stored.

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

Stores the during operation/stop data of each axis

D9182

D9183

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Refer to APPENDIX 2.1 for the expression method of axis No. corresponding to the each bit of word data.

0 : During stop 1 : During operation

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4 POSITIONING DEDICATED SIGNALS

(2) Motion CPU WDT error cause (D9184) ......... Monitor device

This register is used as judgement of the error contents in the Motion CPU.

Error code Error cause Operation when error

occurs Action to take

1 S/W fault 1

2

Operation cycle time over Reset with the reset key. If the error reoccurs after resetting, 1) Change the operation cycle into a large value in the system setting. 2) Reduce the number of command execution of the event task or NMI task in the system setting.

3

Q bus WDT error Reset with the reset key. If the error reoccurs after resetting, the relevant module or the relevant slot (base unit) is probably faulty: replace the module/base unit.

4 WDT error

30

Information processor H/W error Reset with the reset key. If the error reoccurs after resetting, explain the error symptom and get advice from our sales representaitive.

201 to 215

Q bus H/W fault

201

Error contents 01 : Q bus error 1 02 : Q bus error 2 04 : Q bus error 4 08 : Q bus error 8

Error code = Total of the error contents + 200

250 to 253

Servo amplifier interface H/W fault

250

Faulty SSCNET No. 0 : SSCNET 1 1 : SSCENT 2 2 : SSCNET 3 3 : SSCNET 4

Error code = Total of the faulty SSCNET No. + 250

Reset with the reset key. If the error reoccurs after resetting, the relevant module or the relevant slot (base unit) is probably faulty: replace the module/base unit.

300 S/W fault3 Reset with the reset key. 8 or more points of CPSTART instruction were used to start programs in excess of simultaneously startable program.

Number of simultaneous startable programs 14

301

Reset with the reset key. Use 8 or more points of CPSTART instruction to start programs within the number of simultaneously startable programs.

302 During ROM operation, the system setting data, programs and parameters written to internal FLASH ROM are fault.

All axes stop immediately, after which operation cannot be started.

Write the system setting data, programs and parameters to the internal FLASH ROM.

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4 POSITIONING DEDICATED SIGNALS

(3) Manual pulse generator axis setting error information

(D9185 to D9187) ................................................. Monitor device The setting information is checked when the manual pulse generator enable signal turns off to on, if an error is found, the following error information is stored into D9185 to D9187 and the manual pulse generator axis setting error flag (M9077) turns on.

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

0 0 0 0 0 0 0 0 0 0 P3 P2 P1 P3 P2 P1

All turn to 0.

(Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

D9185

D9186

D9187

Store the axis setting errors of the manual pulse generators connected to P1 to P3 of Q173PX.

0 : Normal 1 : Setting error

Store the smoothing magnification setting errors of the manual pulse generators connected to P1 to P3 of Q173PX.

0 : Normal 1 : Setting error

(Axis setting in each digit is except 1 to 32)

(Axis setting in each digit is except 0 to 59)

Store the 1-pulse input magnification setting errors of the axes.

0 : Normal 1 : Setting error

(Input magnification of each axis is except 1 to 10000) (Note-1)

(Note-1) : The setting range (1 to 100) is valid in the SW6RN-SV22Q (Ver. 00B or before).

(Note-3) : Refer to APPENDIX 2.1 for the expression method of axis No. corresponding to the each bit of word data.

(4) Motion operation cycle (D9188) ..... Monitor device The time which motion operation took for every motion operation cycle is stored in [s] unit.

(5) Error program No. (D9189) ........................... Monitor device

(a) When the servo program error occurs at the servo program operation, the program setting error flag (M9079) turns on and the error servo program No. (0 to 4095).

(b) If an error occurs in another servo program when error program No. has

been stored, the program No. of the new error is stored.

(6) Error item information (D9190) ..................... Monitor device When the servo program error occurs at the servo program operation, the program setting error flag (M9079) turns on and the error code corresponds to the error setting item is stored. Refer to APPENDIX 2.3 for details of servo program setting errors.

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(7) Servo amplifier loading information (D9191 to D9192)

........... Monitor device The installation state of the servo amplifier is checked at the power supply on or resetting of the Motion CPU and its results are stored in this device. The axis which turn from non-installation to installation state after power-on becomes installation state. However, the axis which turn from installation to non- installation state remains as installed.

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D9191

D9192

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Refer to APPENDIX 2.1 for the expression method of axis No. corresponding to the each bit of word data.

Servo amplifier installation state Installation Non-installation

. . . . . . . . 1 . . . . 0

(a) Servo amplifier installation state 1) Installation/non-installation state

"Installation" state ....... The servo amplifier is normal. (Communication with the servo amplifier is normal.)

"Non-installation" state ... No servo amplifier is installed. The servo amplifier power is off.

Normal communication with the servo amplifier is not possible due to a connecting cable fault, etc.

2) The system settings and servo amplifier installation states are shown below.

Servo amplifier System Settings

Installation Non-installation

Used (axis No. setting) 1 is stored 0 is stored Unused 0 is stored

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4 POSITIONING DEDICATED SIGNALS

(8) Real/virtual mode switching error information (D9193 to D9195)

........... Monitor device When a mode switching error occurs in real-to-virtual or virtual-to-real mode switching, or a mode continuation error occurs in the virtual mode, its error information is stored. Refer to APPENDIX 2.8 for details of the stored error code.

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

b15 b0

D9194

D9195

D9193 Error

Erroneous axis bit "1" For 8 axes error (Decimal) "128" and (Hexadecimal) "0080H" is stored in the D9194, (Decimal) "0" and (Hexadecimal) "0000H" is stored in the D9195, and the error code is stored in the D9193.

(9) PC link communication error codes (D9196) ........... Monitor device

When an error occurs during the PC link communication, the error code is stored in this device. PC communication error code storage register Contents

D9196

00: No error 01: Receiving timing error 02: CRC error 03: Communication response code error 04: Received frame error 05: Communication task start error

(Each error code is reset to "00" when normal communication is restarted.)

Refer to APPENDIX 2.6 for details of the PC link communication errors.

(10) Operation cycle of the Motion CPU setting (D9197)

........... Monitor device The setting operation cycle is stored in [s] unit. When the "Automatic setting" is set in the system setting, the operation cycle corresponding to the number of setting axes. When "0.8[ms] / 1.7[ms] / 3.5[ms] / 7.1[ms] /14.2[ms]" is set in the system setting, the operation cycle corresponding to each setting. (Note): MR-H BN does not support an operation cycle of 0.8[ms]. If the MR-

H BN is set in the system setting, 1.7[ms] is used as the real operation cycle even if 0.8[ms] is set.

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4 POSITIONING DEDICATED SIGNALS

(11) State of switch (D9200) .. Monitor device

The switch state of CPU is stored in the form of the following.

Switch state of CPU

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1

Memory card switch Always OFF (All setting of each digit is "0".)

b0

D9200

No used

0 : RUN 1 : STOP 2 : L.CLR

0 : OFF 1 : ON

b8 to b12 corresponds to SW1 to SW5 of the system setting switch. (b13 to b15 : Not used)

(12) State of LED (D9201) . Monitor device It stores whether the LED of CPU is in which state in next by the following bit patterns. 0 is OFF, 1 is ON and 2 is Flicker.)

RUN

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D9201

ERROR

M.RUN

BAT.ALARM

BOOT

Not used

MODE 0 : OFF 1 : Green 2 : Orange

(Note) : Indicate the following setting. 0 : OFF 1 : ON 2 : Flicker

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5 MECHANICAL SYSTEM PROGRAM

5. MECHANICAL SYSTEM PROGRAM

This section describes the mechanical system program in the virtual mode.

In the mechanical system program (Mechanical support language), what was performing synchronous control by hardware using the gear, shaft, belt, pulley, cam or infinitely variable speed changer, etc. is transposed to software, and same operation control is performed. The mechanical system program is composed with the mechanical module connection diagram and mechanical module parameter.

The mechanical module connection diagram shows the virtual mechanical system

which connected the virtual mechanical modules. The mechanical module parameters are used to control of the mechanical modules

used at the mechanical module connection diagram.

Refer to the mechanical module parameter lists shown in Chapters 6 to 8 for the mechanical module parameters.

5

5 - 2

5 MECHANICAL SYSTEM PROGRAM

5.1 Mechanical Module Connection Diagram

The mechanical module connection diagram shows a virtual system diagram which arranged the mechanical modules and was composed. Configuration of the mechanical module connection is shown in Fig. 5.1 below.

Virtual servomotor

Roller

Differential gear

Gear

Speed change gear

Clutch

Ball screw

Rotary table

Clutch

Differential gear

Indicates rotation direction

Virtual main shaft

Connection axis

input axis

1 system

1 block

Gear

Drive module Transmission module

Drive module

Virtual axis

Synchronous encoder

Cam

Drive module

O ut

pu t a

xi s

Speed change gear

Tr an

sm is

si on

m od

ul e

O ut

pu t m

od ul

e

Virtual auxiliarySynchronous encoder

Synchronous encoder

Virtual servomotor

Virtual servomotor

Fig. 5.1 Configuration of the Mechanical Module Connection

POINT

(1) Either a virtual servomotor or a synchronous encoder can be connected in the drive module.

(2) One of the cam, roller, ball screw or rotary table can be connected in the

output module.

5 - 3

5 MECHANICAL SYSTEM PROGRAM

(1) Block

The term "block" is one relation from the virtual transmission module (gear) connected to the virtual main shaft to the output module. Refer to Section 5.2 for the number of mechanical modules which can be connected in one block.

(2) System

The term "system" is a generic term of multiple blocks connected to one virtual main shaft. The number of blocks connectable with one system is up to 32 blocks.

(3) Transmission module connections

There are 3 transmission module connection patterns: Pattern 1....... Without a differential gear. Pattern 2....... Without a speed change gear at the output side of the differential

gear. Pattern 3....... With a speed change gear at the output side of the differential

gear.

B

Gear

A

Output module

Pattern 1

Gear

A

Differential gear

Pattern 2

Gear

Drive module

Output module

B

Gear

C

Differential gear

Pattern 3

Gear

Drive module

Output module

A C

Speed change

gear

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5 MECHANICAL SYSTEM PROGRAM

(a) Transmission modules which can be connected at "A" and "B" above

1) A clutch, speed change gear, and "clutch + speed change gear" can be connected at "A" and "B".

2) If a "clutch + speed change gear" are used, connection constraints have not restrictions.

Clutch Speed change gear Clutch Speed

change gear

ClutchSpeed change gear

(b) Transmission module which can be connected at "C" (pattern 3) Only a clutch can be connected at "C".

5 - 5

5 MECHANICAL SYSTEM PROGRAM

5.2 Mechanical Module List

An overview of the mechanical modules used at the mechanical module connection diagrams in the virtual mode is shown in Tables 5.1. Refer to Chapter 6 to 8 for details of the each mechanical module.

Table 5.1 Mechanical Module List

Maximum Number of Usable Mechanical Module Q173CPU(N) Q172CPU(N)

Number Per Block Number Per Block Classifi- cation

Name Appearance

Number Per

Motion CPU

module

Number Per

System Connection Shaft Side

Auxiliary Input

Axis Side

Number Per

Motion CPU

module

Number Per

System Connection Axis Side

Auxiliary Input

Axis Side

Function Description Section

Virtual

servomotor

32 32 - - 8 8 - -

It is used to drive the virtual axis of mechanical system program by the servo program or JOG operation.

Section

6.1 Drive

module Synchronous

encoder

12

Total

44

12

Total

34

- - 8

Total

16 8

Total

10

- -

It is used to drive the virtual axis by the input pulses from the external synchronous encoder.

Section

6.2

Virtual main

shaft - 32 32 - - 8 8 - -

This is a virtual "link shaft". Drive module rotation is transferred to

the transmission module. -

Virtual

axis Virtual auxiliary input axis

- 32

Total

64 32 - - 8

Total

16 8 - -

This is the auxiliary input axis for input to the differential gear of transmission module.

It is automatically displayed when a differential gear and gear are connected.

-

Gear

64 64 1 1 16 16 1 1

The drive module rotation is transmitted to the output axis.

A setting gear ratio is applied to the travel value (pulse) input from the drive module, and then transmits to the output axis that it becomes in the setting rotation direction.

Section 7.1

Direct clutch

Smoothing clutch

64 64 1 1 16 16 1 1

Transmit or separate the drive module rotation to the output module.

There are a direct clutch transmitted directly and the smoothing clutch which performs the acceleration/deceleration and transmission by the smoothing time constant setting at the switching ON/OFF of the clutch.

It can be selected the ON/OFF mode, address mode or the external input mode depending on the application.

Time constant system or slippage system can be selected as a smoothing method.

Section

7.2

Speed change

gear

64 64 1 1 16 16 1 1

It is used to change the speed of output module (roller).

The setting speed change ratio is applied to input axis speed, and transmits to the output axis.

Section

7.3

32 32 1 8 8 1

Auxiliary input axis rotation is subtracted from virtual main shaft rotation and the result is transmitted to the output axis.

Trans- mission module

Differential gear

32 1 -

-

8 1 -

- Auxiliary input axis rotation is subtracted from virtual main shaft rotation, and the result is transmitted to the output axis. (Connected to the virtual main shaft)

Section 7.4

Roller

32 32 8 8

It is used to perform the speed control at the final output. Section

8.1

Ball screw

32 32 8 8

It is used to perform the linear positioning control at the final output. Section

8.2

Rotary table

32 32 8 8

It is used to perform the angle control at the final output. Section

8.3

Output module

Cam

32

Total 32

32

Total 32

1 1

8

Total 8

8

Total 8

1 1

It is used to control except the above. Position control is executed based on the cam pattern setting data.

There are 2 cam control modes: the two-way cam and feed cam.

Section

8.4

5 - 6

5 MECHANICAL SYSTEM PROGRAM

MEMO

6 - 1

6 DRIVE MODULE

6. DRIVE MODULE

The drive module is the source of drive for the virtual axis (virtual main shaft, virtual auxiliary input axis). There are following 2 types drive module. Virtual servomotor ....................... Refer to Section 6.1 Synchronous encoder ................. Refer to Section 6.2

6.1 Virtual Servomotor

The virtual servomotor is used to operate the virtual axis (virtual main shaft, virtual auxiliary input axis) using the servo program or JOG operation. Virtual servomotor operation and parameters are shown below.

6.1.1 Operation description

(1) Operation When the virtual servomotor is started, the pulses are transmitted to the virtual axis (virtual main shaft, virtual auxiliary input axis) by the start conditions. The transmitted pulses are transmitted to the output module connected via the transmission module (gear, differential gear, clutch, speed change gear).

(2) Starting method

The virtual servomotor is started using the servo program or JOG operation. (a) Start using the servo program

The servo program of Motion SFC program (motion control step) is executed. At this time, the start accept flag (Note) (M2001 to M2032) of the starting axis turns on. Example of the Motion SFC program is shown below.

ABS-1 Axis 1, 10000PLS Speed 1000PLS/s

Starting method

END

!PX000*!M2001

1 axis linear positioning control

Wait until PX000 and switching status turn on, and axis 1 start accept flag turn off.

Motion SFC program

PX000*M2044*!M2001

Positioning speed . . . . .1000[PLS]

[Virtual axis1]

Virtual servo motor

Mechanical system program

G10

K10

G20

Control

Used axis . . . . . . . . Axis 1 End address . . . . . .10000[PLS]

Wait until PX000 and axis 1 start accept flag turn on.

(Note) : Example of the above Motion SFC program is started using the automatic start or PLC program.

REMARK

(Note) : Refer to Section 4.1.9 (2) for details of the start accept flag.

6

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6 DRIVE MODULE

(b) Start using the JOG operation

An individual start and simultaneous start can be executed in the JOG operation (Note-1).

1) Individual start .......It is started by turning on the forward/reverse JOG command (Note-2)

of each axis.

Motion SFC program for which executes the JOG operation is shown below.

M2044*!M2001

JOG operation - Individual start

Virtual axis1 individual start program

1 axis forward/reverse JOG operation.

P1

P1

SET M4802=PX003*!M4803 RST M4802=!PX003 SET M4803=PX004*!M4802 RST M4803=!PX004

Virtual servomotor

Mechanical system program

Forward JOG

Reverse JOG

G10

F20

Wait until the switching status turn on, and axis 1 start accept flag turn off.

F10

D640L=K100000 Set the JOG operation speed to D640, D641.

1 axis forward JOG command SET/RST. 1 axis reverse JOG command SET/RST.

(Note) : Example of the above Motion SFC program is started using the automatic start or PLC program.

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6 DRIVE MODULE

2) Simultaneous start

.......The simultaneous start axis No. and directions (forward/reverse) are set by the JOG operation simultaneous start axis setting register (D710 to D713) (Note-3), and it is started by turning on the JOG operation simultaneous start command flag (M2048) (Note-3).

Virtual axis 1, 2 simultaneous program

PX001*M2044*!M2001*!M2002

D710=H0002 D712=H0001 D640L=K150000 D642L=K150000 SET M2048

RST M2048

PX000

P0

P0

[Virtual axis 1]

Virtual servomotor

Mechanical system program

[Virtual axis 2] JOG operation

G20

F10

G10

Simultaneous start

Wait until PX000 and switching status turn on, and axis 1, 2 start accept flag turn off.

JOG operation execution by turning on the JOG operation simultaneous start command

When the 2 axes simultaneous start switch (PX000) turn on, the following JOG operation is executed with speed of 150000 [mm/min]. [PX000 : 1 axis reverse, 2 axes forward]

(Note) : Example of the above Motion SFC program is started using the automatic start or PLC program.

REMARK

(Note-1) : Refer to Section "6.20 JOG Operation" of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details of the JOG operation.

(Note-2) : Refer to Section 4.1.4 for details of the forward/reverse JOG start commands.

(Note-3) : Refer to Section 4.2.8 (2) for details of the JOG operation simultaneous start axis setting registers, and Section 4.1.9 (14) for details of the JOG operation simultaneous start command.

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6 DRIVE MODULE

(3) Stopping method during operation

When the virtual servomotor is stopped during operation after the start, turn the stop command (M4800+20n)/rapid stop command (M4801+20n) on using the Motion SFC program. (There are no external stop causes (STOP, FLS, RLS) for the virtual servomotor.)

(4) Control items

(a) It is controlled as the virtual servomotor backlash compensation amount "0" at the positioning control.

(b) The deviation counter value and the real current value are not stored, so that

the virtual servomotor has no feedback pulse.

(c) The feed current value of virtual servomotor is recorded in a backup memory, and it is restored at the switching from real to virtual mode after the power supply of the Multiple CPU system turned on. 1) When the output module is using the absolute position system,

continuation operation is possible. However, if the servomotor of the output module connected to the virtual servomotor is operated while the power supply of the Multiple CPU system turns off, continuation operation is impossible even if the absolute position system is being used. At this time, the virtual mode continuation operation disabled warning signal (Note-1) turns on. Set the virtual servomotor or servomotor of output module to the position which synchronous operation is possible.

2) When the output module is not using the absolute position system, correct the feed current value of virtual servomotor by the current value change switching from real to virtual mode.

(5) Control change

The following control changes are possible for the virtual servomotor. Current value change Speed change Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for details of the current value change or speed change.

REMARK

(Note-1) : Refer to Section 4.1.5 (3) for details of the virtual mode continuation operation disabled warning signal.

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6 DRIVE MODULE

(6) Error time operation mode

The processings are shown below when major errors occurred with the output modules per 1 system. The following control is executed based on the parameter settings (Refer to Section 6.1.2) of the virtual servomotor connected to the virtual main shaft. (a) Continuation

Even if a major error occurs with the output module, the output module continues operation. At this time, the error detection signal (M2407+20n) turns on, and the applicable error code is stored in the major error code storage register. Use the Motion SFC program for continue/stop of the system and the output module operation at the major error occurrence.

(b) Clutch OFF

If a major error occurs with the output module, the clutch within 1 system turns off and stops connected output modules. (The smoothing processing is executed by the clutch setting.) At this time, the clutch ON/OFF command device does not turn off. However, the clutch status storage device turns off regardless of the clutch ON/OFF command device's ON/OFF status. Operation continues at axes where no clutch is connected. Use the Motion SFC program to stop the drive module. Eliminate the error cause, then turn the clutch ON/OFF command device off to on to resume the operation.

[During operation] [Operation at major error occurrence]

Major error occurrence Clutch OFF

Clutch OFF

Clutch OFF

Operation continuation

Stop

Clutch ON

Clutch ON

Clutch ON

Virtual servomotor

Major error occurrence

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6 DRIVE MODULE

(7) Virtual servomotor axis infinite operation

By setting the upper stroke limit value and lower stroke limit value of the virtual servomotor parameters such that the "upper stroke limit value = lower stroke limit value", the stroke limit becomes invalid and infinite operation becomes possible. When the stroke limit is invalid, it is also possible for the start of the feed current value to take place in a direction that exceeds 32 bits. In this case, the feed current value is converted to a 32 bits ring address.

-2147483648......2147483647

The following operations are possible by the control mode. Control mode Control contents

Positioning (Linear) Speed-switching

Constant-speed (Linear)

When the ABS command is used for the start, it starts in a direction within the 32 bits range. It does not start in a direction that exceeds the 32 bits range.

When the INC command is used for the start, it starts in the specified direction, so it also can be start in a direction that exceeds 32 bits.

Fixed-pitch feed It starts in the specified direction, it also can be start in a

direction that exceeds 32 bits.

Position follow-up The command address is controlled by the absolute

method so it does not start in a direction that exceeds the 32 bits range.

Speed

JOG Manual pulse generator (Test mode)

Stroke is invalid. (It is ignored.) Moves in the specified direction.

Positioning (Circular, Helical) Constant-speed (Circular, Helical)

A start error (107, 108, 109) accompanies the ABS, ABH, INC or INH command and start is not possible.

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6 DRIVE MODULE

(8) Reverse return during positioning

By specifying a negative speed and making a speed change request by the CHGV instruction during the start, allow the axis start deceleration at that point and return in the opposite direction upon completion of deceleration. The following operations by the servo instruction are shown below.

Control mode Servo instruction Operation

Linear control

ABS 1 INC 1

ABS 2 INC 2

ABS 3 INC 3

ABS 4 INC 4

Circular/helical interpolation control

ABS circular ABH circular

INC circular INH circular

Fixed-pitch feed FEED 1 FEED 2 FEED 3

On completion of deceleration, the axis reverses its travel direction, returns to the positioning start point at the absolute value of the specified speed, and stops (waits). For circular interpolation, the axis returns in the circular path.

Constant-speed control

CPSTART1 CPSTART2

CPSTART3 CPSTART4

On completion of deceleration, the axis reverses its travel direction, returns to the preceding point at the absolute value of the specified speed, and stops (waits).

Speed control ( ) VF VR

On completion of deceleration, the axis reverses its travel direction at the absolute value of the specified speed. The axis does not stop until a stop instruction is input.

Position follow-up control

PFSTART

Speed-switching control

VSTART

JOG operation

The axis cannot return. The speed change request is regarded as a

normal speed change request. Minor error [305] (Note) occurs and the axis is

controlled at the speed limit value.

(Note) : Minor error [305]: The setting speed is outside the range of 0 to the speed limit value.

6 - 8

6 DRIVE MODULE

[Control contents]

(1) If a speed change is made to a negative speed, control is executed with the control mode during the start as indicated in the front page.

(2) The returning command speed is the absolute value of the change speed. If it

exceeds the speed limit value, the minor error [305] occurs, and it is controlled the speed limit value.

(3) When the axis is waiting at the return position

(a) Signal states Start accept (M2001+n).. ON (Unchanged from before

execution of CHGV instruction)

Positioning start complete (M4000+20n) ON (Unchanged from before execution of CHGV instruction)

Positioning complete (M4001+20n) OFF Command in-position (M4003+20n) . OFF Speed change "0" accepting flag (M2240+n) ON

(b) Make a speed change to a positive speed for a restart. (c) Turn on the stop command to end the positioning. (d) A negative speed change again is ignored.

(4) While the axis is reversion in the speed control mode

(a) Make a speed change to a positive speed to change the travel direction again.

(b) Turn on the stop command to make a stop. (c) A speed change is made in the opposite direction if a negative speed

change is made again. [Error contents]

(1) During the start of control mode which can return, if the absolute value of the negative changed speed exceeds the speed limit, the minor error [305] occurs and reversion control is executed with the speed limit value.

(2) During the constant-speed control, if the absolute value of the negative changed

speed exceeds the speed set in the servo program, reversion control is executed with the speed set in the program. (Speed clamp control for a speed change during constant-speed control) At this time, an error will not occur.

(3) Not enabled after the initial automatic deceleration. Minor error [303] occurs.

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6 DRIVE MODULE

[Operation at the constant-speed control]

The operation when a reverse return is requested for the constant-speed control is shown below.

If a speed change to a negative speed is made during execution of positioning to P2 as shown above, the axis returns to P1 along the program specified locus and waits at P1.

P1

P2

P3

CPSTART2 Axis 1 Axis 2 Speed 1000 ABS-2 Axis 1, 10000 Axis 2, 0 ABS-2 Axis 1, 10000 Axis 2, 10000 ABS-2 Axis 1, 20000 Axis 2, 10000 CPEND

-1000 1000

Waiting at point P1 Return operation to point P1

Stat request

Start accept flag M2001+n Speed change request CHGV

Change speed

Combined-speed

Command in-position (OFF) Speed change "0" accepting flag

Negative speed change

P1

P2 P3

Axis 1

Axis 2

Starting point

[ Servo program ] [Locus]

6 - 10

6 DRIVE MODULE

POINT

Precautions at the speed change (1) A speed change may be invalid if the speed change is executed until the

"positioning start complete signal" status changes to ON at the servo program start request . When making a speed change at almost the same timing as a start, always create a program which will execute the speed change after the "positioning start complete signal" has turned on.

(2) When the M-code FIN signal wait function is used in the constant-speed

control and reverse return is requested during stop in the FIN wait, it is ignored.

(3) In the above example, if reverse return is requested before P2 and the axis

passes through P2 during deceleration, it return to P2.

(4) There will be a delay of time equivalent to an operation cycle at the maximum in the response time from when the CHGV instruction is executed until the speed begins to change actually.

P2 P3 Axis 2

Starting point

Reverse return is

requested here.

P1

Axis 1

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6 DRIVE MODULE

6.1.2 Parameter list

The virtual servomotor parameters are shown in Table 6.1 and the parameters shown in this table are explained in items (1) to (4) below. Refer to the help of SW6RN-GSV22P for the parameter setting method of virtual servomotor. A parameter is requested except for the above for program operation of the virtual servomotor. Refer to the item (5) for precautions of the parameter blocks.

Table 6.1 Virtual Servomotor Parameter List

No. Setting item Default value Setting range

1 Virtual axis No. Q173CPU(N) : 1 to 32 Q172CPU(N) : 1 to 8

2 Upper stroke limit value 2147483647 PLS -2147483648 to 2147483647 PLS 3 Lower stroke limit value 0 PLS -2147483648 to 2147483647 PLS 4 Command in-position range 100 PLS 1 to 32767 PLS

5 JOG speed restriction 200000 PLS/s 1 to 10000000 PLS/s

6

JOG operation-time parameter Parameter block No. 1 1 to 64

7 Operation mode at error occurrence Continuation Continuation/Clutch OFF

(1) Virtual axis No. setting

The virtual axis No. is set in the servo program at the virtual mode operation. The axis No. of the virtual servomotor connected to the virtual main shaft or virtual auxiliary input axis.

(2) Upper/lower stroke limit value settings

The stroke limit range of the virtual servomotor axis is set. (a) When the stroke limit value is made valid:

Set the stroke range of the "Lower stroke limit value < upper stroke limit value". The stroke limit check and control details at the start/during start are shown below.

Error check (Note) At start During start Control mode

106 207 208 220

Remarks

Linear Positioning Circular

Fixed-pitch feed Speed-switching Constant-speed/Helical Position follow-up

Start in the return direction in a stroke limit range from outside the stroke limit range is possible.

Speed Stroke limit is invalid.

JOG

Manual pulse generator

Start in the return direction in a stroke limit range from outside the stroke limit range is possible.

(Note) : Code detected at the error check.

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6 DRIVE MODULE

Error code Contents Operation

106 Command position is outside the stroke limit range at start.

Operation does not start.

Error code Contents Operation

207 Feed current value is outside the stroke limit range during start.

208 Feed current value of another axis is outside the stroke limit range at the circular interpolation start.

220 Command address is outside the stroke limit range during position follow-up control.

Deceleration stop.

(b) When the stroke limit value is invalid.

Set the stroke range of the "Lower stroke limit value = upper stroke limit value". When the stroke limit is invalid, feed current value startup in a direction that exceeds 32 bits is possible. In such a case the feed current value is converted to a 32 bit ring address.

-2147483648......2147483647

The following operations are possible by the control mode. Control mode Control contents

Positioning (Linear) Speed-switching

Constant-speed (Linear)

When the ABS command is used at the start, it starts in a direction within the 32 bits range. It does not start in a direction that exceeds the 32 bits range.

When the INC command is used at the start, it starts in the specified direction, so it also can be start in a direction that exceeds 32 bits.

Fixed-pitch feed It starts in the specified direction, it also can be start in a

direction that exceeds 32 bits.

Position follow-up The command address is controlled by the absolute

method so it does not start in a direction that exceeds the 32 bits range.

Speed

JOG

Manual pulse generator

Stroke is invalid. (It is ignored.) Travel in the specified direction.

Positioning (Circular, Helical) Constant-speed (Circular, Helical)

A start error (107, 108, 109) occurs in the ABS, ABH, INC or INH command and start is not possible.

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6 DRIVE MODULE

(3) Command in-position range

The command in-position is the difference between the positioning address (command position) and feed current value. Once the value for the command in-position has been set, the command in- position signal (M2403 + 20n) turns on when the difference between the command position and the feed current value enters the set range [(command position - feed current value) (command in-position range)]. The command in-position check is executed, continuously during position control. (The command in-position range is not checked during the speed control and JOG operation.)

Command in-position (M4003+20n)

Position control start

Command in-position setting value Speed

control start

ON

OFF

Execution of command in-position check

V

t

Fig. 6.1 Command in-position range

(4) Setting of the JOG speed restriction and parameter block No.

The JOG speed restriction and parameter block No. used in the JOG operation are shown below. (a) JOG speed restriction

This is the maximum speed setting at the JOG operation for virtual axis. If the JOG speed exceeds the JOG speed restriction, the JOG speed is controlled with the JOG speed restriction.

(b) Parameter block No. setting This is the parameter block No. setting at the JOG operation. The following parameter block data items are valid in the JOG operation. Acceleration time Deceleration time Rapid stop deceleration time

Speed Speed limit value

Rapid stop cause occurrence

Positioning speed set in the servo program

1) Real accele- ration time

Set acceleration time

Set rapid stop deceleration time

3) Real deceleration time

Set deceleration time

Time

Real acceleration time Time take to reach the positioning speed set in the servo program.

Real rapid stop deceleration time Time taken to effect a rapid stop from the positioning speed set in the servo program.

Real deceleration time Time taken to stop from the positioning speed set in the servo program.

2) Real rapid stop deceleration time

1)

2)

3)

Fig. 6.2 Relationships between the JOG speed restriction, acceleration

time, deceleration time and rapid stop time

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6 DRIVE MODULE

POINT

Unit is fixed at [PLS] regardless of the interpolation control unit setting of parameter block in the JOG operation.

(5) The parameter block No. for the program operation of virtual servomotor is set in

the servo program for virtual mode. (If the parameter block No. setting is omitted, it is controlled with the contents of parameter block No.1.)

The valid parameter block data are shown below.

Item Control unit

Interpolation control unit [PLS] only (Note-1)

Speed limit value [PLS/s] only (Note-1)

Acceleration time

Deceleration time

Rapid stop deceleration time

S-curve ratio

Torque limit value (Note-2)

STOP input-time deceleration processing

Circular interpolation error permissible range [PLS] only (Note-1)

: Valid, : Invalid (Note-1) : If it is set except for the [PLS] or [PLS/s], the program operation is executed as

[PLS] automatically. (Note-2) : It is set for every output module with a parameter of output module.

Item Specified parameter block setting value

Value used for the program operation

Interpolation control unit [mm] [PLS]

Speed limit value 2000.00[mm/min] 200000[PLS/s]

Acceleration time 1000[ms] 1000[ms]

Deceleration time 1000[ms] 1000[ms]

Rapid stop deceleration time 1000[ms] 1000[ms]

S-curve ratio 0[%] 0[%]

Torque limit value 300[%]

STOP input-time deceleration processing Deceleration stop

Circular interpolation error permissible range 0.0100[mm] 100[PLS]

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6 DRIVE MODULE

6.1.3 Virtual servomotor axis devices (Internal relays, data registers)

(1) Virtual servomotor axis status Refer to Section 4.1.3 for details of the virtual servomotor axis statuses.

(2) Virtual servomotor axis command signal

Refer to Section 4.1.4 for details of the virtual servomotor axis command signals.

(3) Virtual servomotor axis monitor device Refer to Section 4.2.3 for details of the virtual servomotor axis monitor devices.

(4) Current value after virtual servomotor axis main shafts differential

gear Refer to Section 4.2.4 for details of the current value after virtual servomotor axis main shafts differential gear.

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6 DRIVE MODULE

6.2 Synchronous Encoder

The synchronous encoder is used to operate the virtual axis (virtual main shaft, virtual auxiliary input axis) with the external input pulse. Synchronous encoder operation and parameters are shown below.

6.2.1 Operation description

(1) Operations Although a synchronous encoder does not need to start using the servo program etc. in order to operate it by external devices, it needs cautions for the timing which begins to input the input pulse from a synchronous encoder. The input timing from a synchronous encoder is shown below.

(a) Operation start

The input timing of input pulse from an external synchronous encoder is shown below. At the switching from real to virtual mode At the external signal (Note-2) (TREN : Synchronous encoder input start

signal) input 1) When the input pulse is started to input at the switching from real mode

to virtual mode. a) The input pulse is inputted from the external synchronous encoder at

the switching from real mode to virtual mode. Real/virtual mode (Note-1)

switching request flag (M2043)

OFF

ON OFF

ON

(-231)

Real mode

Real/virtual mode (Note-1)

switching status flag (M2044)

Input pulse from the external synchronous encoder

Feed current value of the synchronous encoder axis

Virtual mode

(231-1)

Operation start of the synchronous encoder axis

b) The control mode (Note-3) of a clutch is operation in the case of ON/OFF mode and address mode. It can be used with the synchronous encoder for the incremental/absolute data method.

c) It depends on the state of connected clutch whether synchronous encoder operation is transmitted or not to the output module. Clutch ON ........ Transmit to the output module. Clutch OFF ...... Not transmit to the output module.

CAUTION If the mode is switched from real to virtual mode in the state of clutch ON, use the smoothing clutch. If the direct clutch is used and the mode is switched from real to virtual mode in the state of clutch ON, the rapid acceleration occurs at the output module axis, causing a servo error, and the machine will be subjected to a jolt.

6 - 17

6 DRIVE MODULE

2) When the input pulse is inputted from an external synchronous encoder.

a) The input pulse is started to input from the external synchronous encoder, when the clutch is switched on.

OFF ON

OFF ON

OFF

ON ON OFF

OFF ON

Clutch ON/OFF command device

External signal(TREN)

Real/virtual mode (Note-1)

switching status flag (M2044)

Input pulse from the external synchronous encoder

Operation stop of the synchronous encoder

Operation start of the synchronous encoder (-231)

(231-1)

Real/virtual mode (Note-1)

switching request flag (M2043)

Feed current value of the synchronous encoder axis

Real mode Virtual mode

b) The control mode (Note-3) of a clutch is operation in the case of external input mode. Operation of the synchronous encoder and clutch corresponds. It can be used with the synchronous encoder for the incremental data method only.

(b) Operation end

1) Operation of the synchronous encoder axis is executed the real/virtual mode switching request (M2043 : ON OFF) and ends at the switching to real mode.

2) The procedure for ending operation of the synchronous encoder axis is

shown below. a) Stop the output module

Stop the external synchronous encoder.

Switch the connected clutch OFF.

b) Switch from the virtual to real mode.

CAUTION If the mode is switched from virtual to real mode while the synchronous encoder and connected output module are operating, the rapid stop occurs at the output module axis, causing a servo error, and the machine will be subjected to a jolt.

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6 DRIVE MODULE

REMARK

(Note-1) : Refer to Section 4.1.9 (9) and 4.1.9 (10) for details of the real/virtual mode switching request flag and real/virtual mode switching status flag. Refer to Chapter 9 for switching of the real to virtual mode.

(Note-2) : The synchronous encoder input start signal is inputted to the Q173PX "TREN" terminal. Refer to the "Q173CPU(N)/Q172CPU(N) User's Manual" for details of the Q173PX "TREN" terminal.

(Note-3) : Refer to Section 7.2.1 for details of the clutch control mode.

(c) Stopping method Stop the external synchronous encoder for stopping the external synchronous encoder. There are no external inputs (FLS, RLS, STOP) or stop command/rapid stop command from the Motion SFC program for the synchronous encoder.

(d) Control items

1) The deviation counter value and the real current value are not stored, so that the synchronous encoder has no feedback pulse.

2) The current value of synchronous encoder is recorded in a backup

memory, and it is restored at the switching from real to virtual mode after the power supply of the Multiple CPU system turned on. a) When the output module is using the absolute position system,

continuation operation is possible. However, if the servomotor of the output module connected to the synchronous encoder or synvhronoue encoder is operated while the power supply of the Multiple CPU system turns off, continuation operation is impossible even if the absolute position system is being used. At this time, the virtual mode continuation operation disabled warning signal turns on. Set the servomotor of output module to the position which synchronous operation is possible.

b) When the output module is not using the absolute position system, correct the feed current value by the current value change switching from real to virtual mode.

(e) Control change

The following current value change is possible for the synchronous encoder. Refer to Section 9.3 of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for details of the current value change.

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6 DRIVE MODULE

(f) Error-time operation mode

The processings are shown below when major errors occurred with the output modules per 1 system. The following control is executed based on the parameter settings (Refer to Table 6.2) of the synchronous encoder connected to the virtual main shaft. 1) Continuation

Even if a major error occurs with the output module, the output module continues operation. At this time, the error detection signal (M2407+20n) turns on, and the applicable error code is stored in the major error code storage register. Use the Motion SFC program for continue/stop of the system and the output module operation at the major error occurrence.

2) Clutch OFF

If a major error occurs with the output module, the clutch within 1 system turns off and stops connected output modules. At this time, the clutch ON/OFF command device does not turn off. However, the clutch status storage device turns off regardless of the clutch ON/OFF command device's ON/OFF status. Operation continues at axes where no clutch is connected. Use the Motion SFC program to stop the drive module. Eliminate the error cause, then turn the clutch ON/OFF command device off to on to resume the operation.

[During operation] [Operation at major error occurrence]

Synchronous encoder

Clutch ON

Clutch ON Major error occurrence

Clutch ON

Major error occurrence Clutch OFF

Clutch OFF

Clutch OFF

Operation continuation

Stop

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6 DRIVE MODULE

6.2.2 Parameter list

The synchronous encoder parameters are shown in Table 6.2 and the parameters shown in this table are explained in items (1) below. Refer to the help of SW6RN-GSV22P for the parameter setting method of synchronous encoder.

Table 6.2 Synchronous Encoder Parameter List

No. Setting item Default value Setting range

1 Synchronous encoder No. Q173CPU(N) : 1 to 12 Q172CPU(N) : 1 to 8

2 Error-time operation mode Continuation Continuation/ Clutch OFF

(1) Synchromous encoder No. The synchronous encoder No. is set connected to the Q172EX/Q173PX.

Connecting position of the Q172EX/Q173PX Synchronous encoder No.

P1/E1 1 P2/E2 2 P3/E3 3 P4/E4 4 P5/E5 5 P6/E6 6 P7/E7 7 P8/E8 8 P9/E9 9

P10/E10 10 P11/E11 11 P12/E12 12

P1 to P12: Connect to the Q173PX.

This is incremental type synchronous encoders. E1 to E12: Connect to the Q172EX.

This is absolute synchronous encoder.

REMARK

(Note-1) : The absolute and incremental synchronous encoders can be used (set) together.

(Note-2) : The synchronous encoder No.1 to 8 are valid in the Q172CPU(N).

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6 DRIVE MODULE

6.2.3 Synchronous encoder axis devices (Internal relays, data registers)

(1) Synchronous encoder axis status Refer to Section 4.1.5 for details of the synchronous encoder axis statuses.

(2) Synchronous encoder axis command signal

Refer to Section 4.1.6 for details of the synchronous encoder axis command signals.

(3) Synchronous encoder axis monitor device

Refer to Section 4.2.5 for details of the synchronous encoder axis monitor devices.

(4) Current value after synchronous encoder axis main shaft's

differential gear Refer to Section 4.2.6 for details of the current value after synchronous encoder axis main shafts differential gear.

POINT

When the tracking synchronou (synchronous operation) is executed, the phase compensation will occur by the the following causes in the servomotor shaft end for synchronous encoder.

The time lag from the direction of synchronous encoder position to the command to servo amplifier.

Droop pulse of servo amplifier In this case, it must be created the application program to compensate for delay.

Examples compensated in the auxilialy virtual servomotor are shown below.

(1) All output modules are compensated identically.

Synchronous encoder

Differential gear

Auxiliary virtual servomotor

Output module

(2) The individual output module is compensated.

Synchronous

encoder

Differential gear

Auxiliary virtual servomotor

Output module

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6 DRIVE MODULE

6.3 Virtual Servomotor/Synchronous Encoder Control Change

The current value change and JOG speed change of the virtual servomotor and the current value of synchronous encoder. Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for details of the current value change/speed change.

6.3.1 Virtual servomotor control change

(1) Control change registers Axis No.

Device No. Signal name

1 D640, D641

2 D642, D643

Signal name REAL VIRTUAL Refresh cycle Fetch cycle Singnal direction

3 D644, D645 0 4 D646, D647

5 D648, D649

1

JOG speed setting At start Command signal

6 D650, D651 : Valid 7 D652, D653 8 D654, D655

9 D656, D657

10 D658, D659

11 D660, D661 12 D662, D663 13 D664, D665 14 D666, D667

15 D668, D669 16 D670, D671 17 D672, D673 18 D674, D675 19 D676, D677 20 D678, D679

21 D680, D681 22 D682, D683 23 D684, D685

24 D686, D687 25 D688, D689 26 D690, D691 27 D692, D693 28 D694, D695 29 D696, D697

30 D698, D699 31 D700, D701

32 D702, D703

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N). (Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

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6 DRIVE MODULE

(a) JOG speed setting registers (D640+2n, D641+2n) ..... Command device

1) This register stores the JOG speed at the JOG operation. 2) Setting range of the JOG speed is 1 to 10000000 [PLS/s]. 3) The JOG speed is the value stored in the JOG speed setting registers

when the JOG start signal turns off to on. Even if data is changed during JOG operation, JOG speed cannot be changed.

(Note) : Refer to Section 6.20 of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details of the JOG operation.

(2) Current value change

(a) Current value change by the CHGA instruction Motion SFC program for which executes the servo program is shown below. Current value change program of the virtual servomotor (When 1 axis feed current value of the virtual servomotor is changed to 1000 PLS.)

CHGA Axis 1, 1000PLS

END

!PX000*!M2001

Virtual servomotor axis current value change control.

Current value change CHGA

PX000*M2043*M2044*!M2001

Current value change

Wait until PX000, real/virtual mode switching request and switching status turn on, and Axis 1 start accept flag turn off.

Used axis . . . . . . . . . . . . . . . Axis 1 Current value to change. . . . 1000[PLS]

Wait until PX000 and axis 1 start accept flag turns off.

G10

G20

K10

(Note) : Example of the above Motion SFC program is started using the automatic start or PLC program.

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6 DRIVE MODULE

6.3.2 Synchronous encoder control change

(1) Current value change by the CHGA-E instruction Motion SFC program for which executes the servo program is shown below.

CHGA-E Axis 1, 20000PLS

END

!PX000*!M2101

Synchronous encoder axis current value change control.

Current value change CHGA-E

PX000*M2043*M2044*!M2101

Current value change

Wait until PX000, real/virtual mode switching request and switching status turn on, and current value changing flag turns off.

Used axis . . . . . . . . . . . . . . . Axis 1 Current value to change. . . . 20000[PLS]

Wait until PX000 and current value changing flag turns off.

G10

G20

K10

(Note) : Example of the above Motion SFC program is started using the automatic start or PLC program.

(a) The current value to change uses the following devices.

Indirect setting....... Data register (D) Link register (W) 2 word Motion register (#)

Direct setting ......... Decimal constant (K)

(b) Precautions When the synchronous encoder current value is changed in the real mode,

an error occurs and the current value change is not executed. The synchronous encoder current value change can be executed even

during operation in the virtual mode operation (during pulse input from the synchronous encoder). When the current value is changed, the synchronous encoder current value will be continued from the changed value.

Even if a synchronous encoder current value is changed, it will have no effect on the output module current value.

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7 TRANSMISSION MODULE

7. TRANSMISSION MODULE

The transmission module transmits the pulse outputted from the drive module to output module. There are following 4 types transmission modules. Gear .................................. Section 7.1 Clutch ................................ Section 7.2 Speed change gear .......... Section 7.3 Differential gear ................ Section 7.4 The device range and setting procedure for indirect setting in the parameter setting of the transmission module are show below.

(1) Device range

The number of device words and device range at the indirect setting are shown below.

Module Item Number of

device words Device setting range Remark

Device Range

X 0000 to 1FFF

Y 0000 to 1FFF

M/L 0 to 8191

M 9000 to 9255

B 0000 to 1FFF

F 0 to 2047

Clutch ON/OFF command device Bit

Mode setting device 1

Clutch ON address setting device 2

Clutch OFF address setting device 2 Device Range

Slippage setting device 2

Clutch

Slippage in-position range setting device

2

Input axis side tooth count 1

D 800 to 3069 3080 to 8191

Gear Output axis side tooth count 1 W 0000 to 1FFF

Speed change gear Speed change ratio setting device 1

POINT (1) Be sure to set an even-numbered device for the items set as 2-word. And, when

the data is set to device in the Motion SFC program, set it as 32-bit integer type. (2) When a 2-word monitor device is read in the Motion SFC program, read it as

32-bit integer type.

7

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7 TRANSMISSION MODULE

(2) Device data input

The all device data set indirectly is inputted as "initial value" at the switching from real to virtual mode, thereafter the input control for module is executed during the virtual mode operation. The input timing of each setting device and refresh cycle of setting device are shown below.

Device input timing

Module Item Input

device Refresh device

Real Virtual mode

switching

During the virtual mode operation

Refresh cycle

Clutch ON/OFF command device

Mode setting device Clutch ON address setting device

Clutch OFF address setting device

Input for every operation cycle (Note).

Slippage setting device

Clutch

Slippage in-position range setting device

Input axis side tooth count

Gear Output axis side tooth count

Input when the current value change of the connection source drive module (virtual servomotor axis/synchronous encoder axis) is executed and the gear ratio is changed.

Speed change gear

Speed change ratio setting device

Input for every operation cycle (Note).

REMARK

(Note) : The operation cycle is set in the "operation cycle setting" of system basic setting. Refer to Section "1.5.3 Individual parameters" of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for details of setting contents. The operation cycle of Motion CPU is shown below.

Item Q173CPU(N) Q172CPU(N)

Number of control axes Up to 32 axes Up to 8 axes

Operation cycle (Default)

SV22

0.88[ms] / 1 to 4 axes 1.77[ms] / 5 to 12 axes 3.55[ms] / 13 to 24 axes 7.11[ms] / 25 to 32 axes

0.88[ms] / 1 to 4 axes 1.77[ms] / 5 to 8 axes

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7 TRANSMISSION MODULE

7.1 Gear

This section describes the gear operation and the parameters required to use a gear. 7.1.1 Operation

Relation between the number of pulses outputted from the synchronous encoder or virtual servomotor and the output module is adjusted by parameter setting of the encoder resolution of servomotor, the gear ratio in consideration of the deceleration ratio for machine system etc. and rotation direction. The gear operation is shown below.

(1) The gear transmits the number of pulses which applied the gear ratio set in the

gear parameter to the travel value (number of pulses) of drive module (virtual servomotor, synchronous encoder).

Number of output axis pulses =

Number of input axis pulses [Gear ratio] [PLS]

(2) The rotation direction of output axis is set in the gear parameters.

Output axis

Drive module

Input axis Gear (gear ratio)

REMARK

Refer to Section 7.1.2 for details of the gear parameters. 7.1.2 Parameters

The gear parameters are shown in Table 7.1 and the parameters shown in this table are explained in items (1) to (2) below. Refer to the help of SW6RN-GSV22P for the gear parameter setting method.

Table 7.1 Gear Parameter List

Setting range No. Setting Item Default

Direct setting Indirect setting

D800 to D3069 (Note) D3080 to D8191

Input axis side tooth count (GI)

1 1 to 65535

W0 to W1FFF

D800 to D3069 (Note) D3080 to D8191

1 Gear ratio

Output axis side tooth count (GO)

1 1 to 65535

W0 to W1FFF

2 Rotation direction of output axis

Forward rotation Forward rotation Reverse rotation

(Note) : D800 to D1559 are dedicated devices of the virtual servomotor axis, synchronous encoder axis and output module "Cam" in the virtual mode. Unused areas of virtual servomotor axis and cam axis can be used as an user device.

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7 TRANSMISSION MODULE

(1) Gear ratio

(a) The number of pulses transmitted to the output axis through 1 pulse outputted from the drive module by the gear module is set in the gear ratio.

(b) The gear ratio is based on the settings for the input axis side tooth count (GI)

and output axis side tooth count (GO).

Input axis side tooth count (GI) Gear ratio = Output axis side tooth count (GO)

(2) Rotation direction of output axis

(a) The rotation direction of the output axis forward the rotation direction of the input axis is set.

(b) There are two types for rotation directions of the output axis: forward and

reverse. 1) Forward

When the input axis rotates to the address increase direction, the output axis also rotates to the address increase direction.

Drive module

Gear

Output axis rotates to the address increase direction.

Input axis rotates to the address increase direction.

2) Reverse When the input axis rotates to the address increase direction, the output axis rotates to the address decrease direction.

Drive module

Output axis rotates to the address decrease direction.

Gear

Input axis rotates to the address increase direction.

POINT If the gear ratio is set indirectly, the timing that the gear ratio set in Motion SFC program becomes valid is shown below. (1) When the real mode is switched to virtual mode. (2) When the current value of the drive module is changed in the virtual mode.

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7 TRANSMISSION MODULE

7.2 Clutch

The clutch is used to transmit/disengage the command pulse from drive module side to output module side, and to control the operation/stop of servomotor. There are two types for clutch: smoothing clutch and direct clutch. These two clutches operate in the same way, but these have the difference in whether the acceleration/deceleration processing by the smoothing processing is executed or not at the switching of the clutch on/off.

(1) Smoothing clutch and direct clutch

(a) Smoothing clutch When the clutch is switched on/off, output to the output axis with the acceleration/deceleration processing (smoothing processing) set in the clutch parameters. There are following three systems for smoothing clutch. 1) Time constant system 2) Slippage system

Exponential function system Linear acceleration/deceleration system (Note): Refer to Section 1.3.4 of the "Q173CPU(N)/Q172CPU(N) Motion

controller (SV13/SV22) Programming Manual (Motion SFC)" for correspondence software version.

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7 TRANSMISSION MODULE

(b) Direct clutch

When the clutch is switched on/off, output to the output axis without the acceleration/deceleration processing.

V

V

V

V

BA

t *

Input to clutch

Output to output axis by the smoothing clutch for time constant system

Clutch ON

Acceleration by the smoothing processing

Acceleration by the smoothing processing

Clutch OFF

Deceleration by the smoothing processing

Deceleration by the smoothing processing

Output to output axis by the smoothing clutch for slippage system (Exponential function system)

Slippage

* t: Smoothing time constant

t = 100 = 63 [%] A B

Time until it becomes

Output to output axis by the direct clutch

t

t

t

t

Output to output axis by the smoothing clutch for slippage system (Linear acceleration/deceleration system)

V

Acceleration by the smoothing processing Deceleration by the smoothing processing

t Slippage

Fig. 7.1 Output to the Output axis by the Smoothing and Direct Clutch

REMARK

(1) Clutch ON/OFF state is shown below.

Input side (Input axis) to the clutch

Clutch

Output axis

Clutch ON state..........The state in which pulses inputted to the clutch are output to the output axis.

Clutch OFF state........The state in which pulses inputted to the clutch are not output to the output axis.

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7 TRANSMISSION MODULE

(2) Smoothing processing

(a) Time constant system 1) Since the time constant is fixed, the slippage of clutch changes

according to the speed of drive module.

VAX

0.63 VBX

0.63

V

VA

VB

SA

SB

t

VA, VB : Drive module speed VA : Slippage [PLS] at VA

VB : Slippage [PLS] at VB

SA

SB

Smoothing time constant

Clutch status

2) If input to clutch (travel value after the main shaft's differential gear) changes after smoothing completion, the smoothing processing is executed at that point.

V

V

t

t

*t *t *t *t

Output to output axis by the smoothing clutch for time constant system

Input to clutch

Internal clutch status

Clutch status signal

Smoothing completion

Travel value after the main shaft's differential gear

*t : Smoothing time constant

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7 TRANSMISSION MODULE

(b) Slippage system

There are following two systems for slippage system. Exponential function system Linear acceleration/deceleration system

1) Exponential function system a) Set the slippage indicated by the shaded area in the diagram below.

Slippage is recommended to be set greater than input to clutch (travel value after the main shaft's differential gear).

V

ON

t

OFF

Slippage [PLS]

Input to clutch

Clutch status

b) Since the slippage remains constant even if the drive module speed changes, the clutch ON/OFF position can be controlled without any influence from speed changes.

V

VA

VB

SA

SB

t tA

tB

VA, VB : Drive module speed tA, tB : Smoothing complete time : Slippage [PLS] at VA

: Slippage [PLS] at VB

SA

SB

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7 TRANSMISSION MODULE

c) If input to clutch (travel value after the main shaft's differential gear)

changes after smoothing completion, the smoothing processing is not executed at that point and output directly.

V

V

t

t

Slippage [PLS]

Smoothing completion Smoothing completion

Smoothing processing is not executed.

Slippage [PLS]

Input to clutch

Internal clutch status

Clutch status signal

Travel value after the main shaft's differential gear

Output to output axis by the smoothing clutch for exponential function system

d) The smoothing clutch complete signal (M5520+2n, M5521+2n) turns ON after completion of smoothing processing. ON ."(Remainder slippage) < (Slippage in-position range)" OFF Smoothing processing start (Clutch ON/OFF)

The smoothing clutch complete signal (M5520+2n, M5521+2n) is used to check the completion of smoothing processing, etc.

2) Linear acceleration/deceleration system

a) Set the slippage indicated by the shaded area in the diagram below. Slippage is recommended to be set greater than input to clutch (travel value after the main shaft's differential gear).

Input to clutch

Slippage [PLS]

Clutch status ON

OFF

V

t

b) Execute the smoothing processing so that the slippage may become the shaded area by the linear acceleration/deceleration system at clutch ON/OFF.

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7 TRANSMISSION MODULE

c) Since the slippage remains constant even if the drive module speed

changes, the clutch ON/OFF position can be controlled without any influence from speed changes.

V

VA

VB

t tA

tB

SB

SA

VA, VB : Drive module speed tA, tB : Smoothing complete time : Slippage [PLS] at VA

: Slippage [PLS] at VB

SA

SB

d) If input to clutch (travel value after the main shaft's differential gear) changes after smoothing completion, the smoothing processing is not executed and output directly.

Input to clutch

Internal clutch status

Clutch status signal

Travel value after the main shaft's differential gear

Output to output axis by the smoothing clutch for linear acceleration/ deceleration system

V

V

t

t

Slippage [PLS]

Smoothing completion

Smoothing processing is not executed.

Smoothing completion

Slippage [PLS]

e) The smoothing clutch complete signal (M5520+2n, M5521+2n) turns ON after completion of smoothing processing. ON ."(Remainder slippage) < (Slippage in-position range)" OFF Smoothing processing start (Clutch ON/OFF) The smoothing clutch complete signal (M5520+2n, M5521+2n) is used to check the completion of smoothing processing, etc.

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7 TRANSMISSION MODULE

7.2.1 Operation

There are following five clutch operation modes. Operation mode Description

ON/OFF mode Clutch ON/OFF control is executed by turning the clutch ON/OFF command device on/off.

Address mode Clutch ON/OFF control is executed by turning the clutch ON/OFF command device on/off and an address of clutch ON/OFF address setting device.

Address mode 2 After clutch ON/OFF command device turns on, Clutch ON/OFF control by an address of clutch ON/OFF address setting device.

One-shot mode

Clutch ON/OFF control is executed based on the drive module current value, setting travel value before clutch ON and setting travel value after clutch ON after the clutch ON/OFF command device from off to on.

External input mode

Only axis that the incremental synchronous encoder (manual pulse generator) is set as drive module can be set. Clutch ON/OFF control is executed by turning the clutch ON/OFF command device on/off and an external input (TREN signal: Synchronous encoder start signal).

Operations for every clutch mode are shown below.

(1) ON/OFF mode

(a) The clutch ON/OFF control is executed by turning the clutch ON/OFF command device on/off.

Conditions Clutch operation

Clutch ON/OFF command device: ON ON

Clutch ON/OFF command device: OFF OFF

(b) It takes a time for maximum operation cycle until a clutch will be in the

ON/OFF state after turning the clutch ON/OFF command device on/off. If greater accuracy is required, use the "address mode".

POINT

(1) The mode setting device of except "0 to 4" is regarded as an error, and it controls continuously at the previous setting value.

(2) Clutch operation mode can be changed at any time.

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7 TRANSMISSION MODULE

(c) The clutch ON/OFF state can be checked by the clutch status signal. Connected module Applicable device Connected module Applicable device

Main shaft side M2160 Main shaft side M2192 Output module for axis 1

Auxiliary input axis side M2161 Output module for axis 17

Auxiliary input axis side M2193

Main shaft side M2162 Main shaft side M2194 Output module for axis 2

Auxiliary input axis side M2163 Output module for axis 18

Auxiliary input axis side M2195

Main shaft side M2164 Main shaft side M2196 Output module for axis 3

Auxiliary input axis side M2165 Output module for axis 19

Auxiliary input axis side M2197

Main shaft side M2166 Main shaft side M2198 Output module for axis 4

Auxiliary input axis side M2167 Output module for axis 20

Auxiliary input axis side M2199

Main shaft side M2168 Main shaft side M2200 Output module for axis 5

Auxiliary input axis side M2169 Output module for axis 21

Auxiliary input axis side M2201

Main shaft side M2170 Main shaft side M2202 Output module for axis 6

Auxiliary input axis side M2171 Output module for axis 22

Auxiliary input axis side M2203

Main shaft side M2172 Main shaft side M2204 Output module for axis 7

Auxiliary input axis side M2173 Output module for axis 23

Auxiliary input axis side M2205

Main shaft side M2174 Main shaft side M2206 Output module for axis 8

Auxiliary input axis side M2175 Output module for axis 24

Auxiliary input axis side M2207

Main shaft side M2176 Main shaft side M2208 Output module for axis 9

Auxiliary input axis side M2177 Output module for axis 25

Auxiliary input axis side M2209

Main shaft side M2178 Main shaft side M2210 Output module for axis 10

Auxiliary input axis side M2179 Output module for axis 26

Auxiliary input axis side M2211

Main shaft side M2180 Main shaft side M2212 Output module for axis 11

Auxiliary input axis side M2181 Output module for axis 27

Auxiliary input axis side M2213

Main shaft side M2182 Main shaft side M2214 Output module for axis 12

Auxiliary input axis side M2183 Output module for axis 28

Auxiliary input axis side M2215

Main shaft side M2184 Main shaft side M2216 Output module for axis 13

Auxiliary input axis side M2185 Output module for axis 29

Auxiliary input axis side M2217

Main shaft side M2186 Main shaft side M2218 Output module for axis 14

Auxiliary input axis side M2187 Output module for axis 30

Auxiliary input axis side M2219

Main shaft side M2188 Main shaft side M2220 Output module for axis 15

Auxiliary input axis side M2189 Output module for axis 31

Auxiliary input axis side M2221

Main shaft side M2190 Main shaft side M2222 Output module for axis 16

Auxiliary input axis side M2191 Output module for axis 32

Auxiliary input axis side M2223

(Note) : The range of output module for axis No. 1 to 8 is valid in the Q172CPU(N).

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7 TRANSMISSION MODULE

(d) Refer to APPENDIX 5 for the refresh cycle of clutch status signal.

OFF

ON

Clutch ON/OFF command device (Note)

OFF

ON

Clutch status signal

Current value of virtual axis (input axis)

Current value of output axis

Maximum 1 operation cycle

Maximum 1 operation cycle

Maximum 1 operation cycle

Continuance from current value at clutch OFF

(Note) : Refer to Section "7.2.2 Parameters" for details.

Continuance from current value at clutch OFF

Clutch OFF state Clutch ON state Clutch OFF state

Fig. 7.2 Operation Timing for the ON/OFF Mode

(2) Address mode

(a) When the current value of virtual axis reaches an address of clutch ON/OFF address setting device, the clutch ON/OFF is executed. (Mode setting device is "1".) 1) When the clutch ON/OFF command device is ON and the current value

of virtual axis reaches an address set in the clutch ON address setting device, the clutch is set to the ON state.

2) When the clutch ON/OFF command device is OFF and the current value of virtual axis reaches an address set in the clutch OFF address setting device, the clutch is set to the OFF state.

(b) The clutch ON/OFF control differs according to the output module connected

as follows. 1) For a ball screw or roller

The ON/OFF control is executed by the current value of virtual axis. When a differential gear is connected to the main shaft, the ON/OFF control is executed by the current value after the main shaft's differential gear.

2) For a rotary table or cam The ON/OFF control is executed by the current value within 1 virtual axis revolution. (Refer to a rotary table or cam of output module for details.)

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7 TRANSMISSION MODULE

(c) Turn the clutch ON/OFF command device on/off after setting an address of

clutch ON/OFF address setting device. 1) When the clutch ON/OFF command device is OFF, even if the current

value of virtual axis reaches an address of clutch ON address setting device, the clutch is not set to the ON state.

2) When the clutch ON/OFF command device is ON, even if the current value of virtual axis reaches an address of clutch OFF address setting device, the clutch is not set to the OFF state.

(d) The clutch ON/OFF state can be checked by the clutch status signal.

Connected module Applicable device Connected module Applicable device

Main shaft side M2160 Main shaft side M2192 Output module for axis 1

Auxiliary input axis side M2161 Output module for axis 17

Auxiliary input axis side M2193

Main shaft side M2162 Main shaft side M2194 Output module for axis 2

Auxiliary input axis side M2163 Output module for axis 18

Auxiliary input axis side M2195

Main shaft side M2164 Main shaft side M2196 Output module for axis 3

Auxiliary input axis side M2165 Output module for axis 19

Auxiliary input axis side M2197

Main shaft side M2166 Main shaft side M2198 Output module for axis 4

Auxiliary input axis side M2167 Output module for axis 20

Auxiliary input axis side M2199

Main shaft side M2168 Main shaft side M2200 Output module for axis 5

Auxiliary input axis side M2169 Output module for axis 21

Auxiliary input axis side M2201

Main shaft side M2170 Main shaft side M2202 Output module for axis 6

Auxiliary input axis side M2171 Output module for axis 22

Auxiliary input axis side M2203

Main shaft side M2172 Main shaft side M2204 Output module for axis 7

Auxiliary input axis side M2173 Output module for axis 23

Auxiliary input axis side M2205

Main shaft side M2174 Main shaft side M2206 Output module for axis 8

Auxiliary input axis side M2175 Output module for axis 24

Auxiliary input axis side M2207

Main shaft side M2176 Main shaft side M2208 Output module for axis 9

Auxiliary input axis side M2177 Output module for axis 25

Auxiliary input axis side M2209

Main shaft side M2178 Main shaft side M2210 Output module for axis 10

Auxiliary input axis side M2179 Output module for axis 26

Auxiliary input axis side M2211

Main shaft side M2180 Main shaft side M2212 Output module for axis 11

Auxiliary input axis side M2181 Output module for axis 27

Auxiliary input axis side M2213

Main shaft side M2182 Main shaft side M2214 Output module for axis 12

Auxiliary input axis side M2183 Output module for axis 28

Auxiliary input axis side M2215

Main shaft side M2184 Main shaft side M2216 Output module for axis 13

Auxiliary input axis side M2185 Output module for axis 29

Auxiliary input axis side M2217

Main shaft side M2186 Main shaft side M2218 Output module for axis 14

Auxiliary input axis side M2187 Output module for axis 30

Auxiliary input axis side M2219

Main shaft side M2188 Main shaft side M2220 Output module for axis 15

Auxiliary input axis side M2189 Output module for axis 31

Auxiliary input axis side M2221

Main shaft side M2190 Main shaft side M2222 Output module for axis 16

Auxiliary input axis side M2191 Output module for axis 32

Auxiliary input axis side M2223

(Note) : The range of output module for axis No. 1 to 8 is valid in the Q172CPU(N).

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7 TRANSMISSION MODULE

(e) The refresh cycle of clutch status signal is an operation cycle.

OFF

0

ON

ON

1

OFF

OFF

ON

(Note) : Refer to Section "7.2.2 Parameters" for details.

Clutch ON/OFF command device (Note)

Clutch status signal

Current value of output axis

Mode setting device value

ON/OFF mode Address mode

Clutch OFF state Clutch OFF stateClutch ON state

Clutch ON address (Note)

Clutch OFF address (Note)

Current value of virtual axis (input axis) Continuance from

current value at clutch OFF

1 operation cycle required

1 operation cycle required

Fig. 7.3 Operation Timing for Address Mode

POINT

(1) The mode setting device of except for "0 to 4" is regarded as an error, and control is continued at the previous setting value.

(2) Clutch operation mode changes are valid at any time. (3) Clutch ON/OFF address setting device changes are valid at any time. Since

they have 2-word data, set it as 32-bit integer type data.

(3) Address mode 2

(a) When the current value of virtual axis reaches an address of clutch ON/OFF address setting device, the clutch ON/OFF is executed. (Mode setting device is "2".)

(b) When the clutch ON/OFF command device is ON, the following controls are

executed according to the current clutch status. 1) When the current clutch status is OFF.

When the current value of virtual axis reaches an address set in the clutch ON address setting device, the clutch is set to the ON state. After that, it is set the state in 2).

2) When the current clutch status is ON. When the current value of virtual axis reaches an address set in the clutch OFF address setting device, the clutch is set to the OFF state. After that, it is set the state in 1).

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7 TRANSMISSION MODULE

(c) When the clutch ON/OFF command device is OFF, the clutch is turned off

and the above control (b) is not executed. Therefore, the above control is resumed by turning the clutch ON/OFF command device on.

2

Clutch ON/OFF command device (Note)

Clutch status signal

Mode setting device value

Drive module current value

Clutch status

Clutch ON address (Note)

Clutch ON address (Note)

Clutch OFF address (Note)

Clutch OFF address (Note)

1) 1) 1) 1) 2)2)

Control by address mode 2

1)

2) Clutch OFF address is monitored for control.

Clutch ON address is monitored for control.

ON

ON

ON

OFF

OFF

OFF

(Note) : Refer to Section "7.2.2 Parameters" for details. Fig. 7.4 Operation Timing for Address Mode 2

POINT

(1) The mode setting device of except for "0 to 4" is regarded as an error, and control is continued at the previous setting value.

(2) Clutch control mode changes are valid at any time. (3) Clutch ON/OFF address setting device changes are valid at any time. Since

they have 2-word data, set it as 32-bit integer type data.

(d) The clutch ON/OFF control is executed for every operation cycle. When the

current value passes through an address set in the clutch ON/OFF address setting device for 1 operation cycle, the internal control is executed correctly but the clutch status signal does not change. 1) When the clutch status signal is OFF and the current value passes

through an address set in the clutch ON/OFF address setting device.

OFF

Operation cycle

Clutch status signal

Drive module current value

Clutch status

Clutch ON address (Note-2)

Clutch OFF address (Note-2)

Number of pulses in this area are transmitted.(Note-1)

(Note-1) : "0" is transmitted when the "clutch ON address" = "clutch OFF address". (Note-2) : Refer to Section "7.2.2 Parameters" for details.

OFF

ON

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7 TRANSMISSION MODULE

2) When the clutch status signal is ON and the current value passes

through an address set in the clutch ON/OFF address setting device.

ONClutch status signal

Drive module current value

Clutch status

Clutch ON address (Note-2)Clutch OFF

address (Note-2)

Operation cycle

Number of pulses in this area are transmitted.(Note-1)

(Note-1) : Number of all pulses are transmitted when the "clutch OFF address" = "clutch ON address". (Note-2) : Refer to Section "7.2.2 Parameters" for details.

ON

OFF

(e) When the "Clutch OFF" is set in the parameter "Error-time operation mode" of drive module and a major error occurs in the output module, the operating system software turns off the clutch. The procedure to resume an operation after an error occurrence is shown below. 1) Remove a major error factor. 2) Turn the clutch ON/OFF command device off.

It returns to normal state. 3) Turn the clutch ON/OFF command device on.

The clutch ON address is monitored and control is resumed.

(f) The procedure to execute the axis servo OFF or power supply OFF of servo amplifier during operation is shown below. 1) Turn the clutch ON/OFF command device off.

The clutch status is set to the OFF state. After that, the axis servo OFF command becomes valid.

2) Execute the axis servo OFF command or the power supply OFF of servo amplifier.

(g) The procedure to resume an operation after the axis servo OFF or power

supply OFF of servo amplifier during operation is shown below. 1) Turn the power supply of servo amplifier on. 2) Execute the axis servo ON command. 3) Turn the clutch ON/OFF command device on.

The clutch ON address is monitored and control is resumed.

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7 TRANSMISSION MODULE

(4) One-shot mode

(a) When the mode setting device is "3: One-shot mode clutch ON command is valid" or "4: One-shot mode clutch ON command is invalid", it switches to one-shot mode control.

(b) When the mode setting device is "3", the clutch ON/OFF command device

becomes valid, and the following controls are executed based on the clutch ON address setting device (setting travel value after clutch ON)/clutch OFF address setting device (setting travel value before clutch ON) by the clutch ON/OFF command device. 1) When the clutch ON/OFF command device switches from OFF to ON.

The clutch is set to the ON state after moving the travel value set in the setting travel value before clutch ON, and it is set to the OFF state after moving the travel value set in the setting travel value after clutch ON.

2) When the clutch ON/OFF command device switches from ON to OFF. It has no influence on the clutch processing. The clutch state is held.

3

Clutch ON/OFF command device (Note-2)

Clutch status signal

Mode setting device value

Drive module current value

Clutch status

1)

2)

ON

ON

ON

OFF

OFF

OFF

(Note-1) : 1) Setting travel value after clutch ON. 2) Setting travel value before clutch ON. (Note-2) : Refer to Section "7.2.2 Parameters" for details.

Fig. 7.5 Operation Timing for One-shot Mode

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7 TRANSMISSION MODULE

(c) When the mode setting device is "4", the clutch ON/OFF command device

becomes invalid, and the clutch remains OFF. However, when the mode setting device is changed from "3" to "4" during execution of clutch ON/OFF processing by turning the clutch ON/OFF command device on, the clutch ON/OFF processing in execution is executed till the end and the next clutch ON/OFF command or later becomes invalid. The clutch ON/OFF command device becomes valid by changing the mode setting device value to "3" again.

3 4

Clutch ON/OFF command device (Note-2)

Clutch status signal

Mode setting device value

Drive module current value

Clutch status

1)

2)

(Note-1) : 1) Setting travel value after clutch ON. 2) Setting travel value before clutch ON. (Note-2) : Refer to Section "7.2.2 Parameters" for details.

ON

ON

ON

OFF

OFF

OFF

(d) The details for setting items are shown below. Setting items Description

Clutch ON/OFF command device

The clutch ON/OFF processing of one-shot mode starts by turning this device on.

Clutch ON address setting device

The transmitted travel value (setting travel value after clutch ON) of connected drive module from turning on clutch to turning off is set. A positive travel value is stored to indicate a positive direction travel value from the point of clutch ON, and a negative value to indicate a negative travel direction travel value. (Setting range: -2147483648 (-231) to 2147483647 (231-1) [PLS])

Clutch OFF address setting device

The travel value (setting travel value before clutch ON) of connected drive module from turning on clutch ON/OFF command device to turning on the clutch actually is set. A positive travel value is stored to indicate a positive direction travel value from the point of clutch ON, and a negative value to indicate a negative travel direction travel value. (Setting range: -2147483648 (-231) to 2147483647 (231-1) [PLS])

(Note) : When the setting travel value before clutch ON is "0", the clutch also becomes ON state simultaneously by turning the clutch ON/OFF command device off to on.

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7 TRANSMISSION MODULE

POINT

(1) The mode setting device of except for "0 to 4" is regarded as an error, and control is continued at the previous setting value.

(2) Clutch control mode changes are valid at any time. (3) Clutch ON/OFF address setting device changes are valid at any time. Since

they have 2-word data, set it as 32-bit integer type data.

(e) The clutch ON/OFF control is executed for every operation cycle. The

internal control is executed correctly but the clutch status signal does not change for the setting travel value that the clutch status turns from off to on to off for 1 operation cycle.

OFFClutch status signal

Drive module current value

Clutch status

1)

Number of pulses in this area are transmitted.(Note)

Operation cycle

(Note) : There is no transmission value, when 1) is "0".

OFF

ON

(f) When the mode setting device becomes "3", the clutch ON/OFF control starts based on the setting data while the clutch ON/OFF command device is ON.

3

Clutch status

Drive module current value

Clutch ON/OFF command device (Note-2)

Mode setting device value

1)

2)

(Note-1) : 1) Setting travel value after clutch ON. 2) Setting travel value before clutch ON. (Note-2) : Refer to Section "7.2.2 Parameters" for details.

OFF

OFF

ON

ON

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7 TRANSMISSION MODULE

(g) When the mode setting device becomes "3", the clutch status turns OFF,

while the clutch ON/OFF command device is OFF and the clutch status is ON.

3

OFF

Clutch status

Drive module current value

Clutch ON/OFF command device (Note)

Mode setting device value

(Note) : Refer to Section "7.2.2 Parameters" for details.

OFF

ON

(h) When the mode setting device is changed from "except 3" to "4", the clutch status turns off regardless of the clutch ON/OFF command device.

(i) When the clutch ON/OFF address setting device data is changed during the

clutch processing of one-shot mode, it becomes valid by turning the next clutch ON/OFF command device off to on.

(j) When the drive module stops during the clutch ON/OFF processing by

turning the clutch ON/OFF command device on, or if the clutch ON/OFF command device is turned on though the drive module stops, the one-shot mode clutch does not end until the travel value condition set to the setting travel value before clutch ON or setting travel value after clutch ON is satisfied.

(k) When the current value change is made to the drive module during the

clutch ON/OFF processing by turning the clutch ON/OFF command device on, the clutch turns off at the position where the setting travel value before clutch ON or setting travel value after clutch ON from the clutch ON position is satisfied.

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7 TRANSMISSION MODULE

(l) When the travel direction of drive module changes during the clutch ON/OFF

processing by turning the clutch ON/OFF command device on, the clutch ON/OFF control is executed at the position in which not the travel value of drive module but the setting travel value before clutch ON/ setting travel value after clutch ON to the position where the clutch ON command is given was added.

3

Clutch status

Drive module current value

Clutch ON/OFF command device (Note-2)

Mode setting device value

1)

2)

ON

ON

OFF

OFF

(Note-1) : 1) Setting travel value after clutch ON. 2) Setting travel value before clutch ON. (Note-2) : Refer to Section "7.2.2 Parameters" for details.

(m) The setting travel value before clutch ON/setting travel value after clutch ON differs according to the output module connected as follows. 1) For a ball screw or roller

The clutch ON/OFF control is executed by the current travel value of virtual axis connected. When a differential gear is connected to the main shaft, the clutch ON/OFF control is executed by the current travel value after the main shaft's differential gear.

2) For a rotary table or cam The clutch ON/OFF control is executed by the travel value of current value within 1 virtual axis revolution. The setting travel value can be set outside the range of current value within 1 virtual axis revolution.

(n) When the travel direction set in the setting travel value before clutch ON/

setting travel value after clutch ON does not match the virtual axis or current value within 1 virtual axis revolution, note that the clutch will turn on/off even if the condition is not satisfied when the data found by subtracting the travel value from the specified travel value comes out of the range -2147483648 to 2147483647 [PLS] and changes from "+" to "-" or from "-" to "+".

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7 TRANSMISSION MODULE

(o) When the "Clutch OFF" is set in the parameter "Error-time operation mode"

of drive module and a major error occurs in the output module, the operating system software turns off the clutch. The procedure to resume an operation after an error occurrence is shown below. 1) Remove a major error factor. 2) Turn the clutch ON/OFF command device off.

It returns to normal state. 3) Turn the clutch ON/OFF command device on.

The clutch control of one-shot mode is resumed.

(p) The procedure to execute the axis servo ON/OFF or power supply OFF of servo amplifier during operation is shown below. 1) Turn the clutch ON/OFF command device off, when the clutch status is

ON state, wait until the clutch status becomes OFF. After the clutch status to be set to OFF state, the axis servo OFF command becomes valid.

2) Execute the axis servo OFF command or the power supply OFF of servo amplifier off.

(q) The procedure to resume an operation after the axis servo OFF or the power

supply OFF of servo amplifier during operation is shown below. 1) Turn the power supply of servo amplifier on. 2) Execute the axis servo ON command. 3) Turn the clutch ON/OFF command device on.

The clutch control of one-shot mode is resumed.

(5) External input mode (a) The clutch ON/OFF control is executed by turning the clutch ON/OFF

command device on/off and external input (TREN signal: Synchronous encoder start signal). Since the input pulses from synchronous encoder are counted by turning the external input off to on, a high-speed response and high accuracy clutch control is possible. 1) The clutch is set to the ON state by turning the external input off to on

(OFF ON) after the clutch ON/OFF command device turns on. 2) When the clutch ON/OFF command device turns off, the clutch is set to

the OFF state after maximum 2 operation cycles.

(b) Turn the external input (TREN signal) on after turning the clutch ON/OFF command device on. In this mode, a time for maximum 2 operation cycles is required to turn the external input on after the clutch ON/OFF command device turns on. 1) If the external input turns from off to on when the clutch ON/OFF

command device is OFF, the clutch is not set to the ON state.

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7 TRANSMISSION MODULE

2) If the clutch ON/OFF device turns on when the external input is ON, the

clutch is not set to the ON state. 3) If the external input turns off after the clutch is set to the ON state, the

clutch state remain ON.

(c) The clutch ON/OFF state can be checked by the clutch status signal. The clutch status signal ON/OFF is refreshed by the operation cycle.

Connected module Applicable

device Connected module

Applicable device

Main shaft side M2160 Main shaft side M2192 Output module for axis 1 Auxiliary input axis side M2161

Output module for axis 17 Auxiliary input axis side M2193

Main shaft side M2162 Main shaft side M2194 Output module for axis 2 Auxiliary input axis side M2163

Output module for axis 18 Auxiliary input axis side M2195

Main shaft side M2164 Main shaft side M2196 Output module for axis 3 Auxiliary input axis side M2165

Output module for axis 19 Auxiliary input axis side M2197

Main shaft side M2166 Main shaft side M2198 Output module for axis 4 Auxiliary input axis side M2167

Output module for axis 20 Auxiliary input axis side M2199

Main shaft side M2168 Main shaft side M2200 Output module for axis 5 Auxiliary input axis side M2169

Output module for axis 21 Auxiliary input axis side M2201

Main shaft side M2170 Main shaft side M2202 Output module for axis 6 Auxiliary input axis side M2171

Output module for axis 22 Auxiliary input axis side M2203

Main shaft side M2172 Main shaft side M2204 Output module for axis 7 Auxiliary input axis side M2173

Output module for axis 23 Auxiliary input axis side M2205

Main shaft side M2174 Main shaft side M2206 Output module for axis 8 Auxiliary input axis side M2175

Output module for axis 24 Auxiliary input axis side M2207

Main shaft side M2176 Main shaft side M2208 Output module for axis 9 Auxiliary input axis side M2177

Output module for axis 25 Auxiliary input axis side M2209

Main shaft side M2178 Main shaft side M2210 Output module for axis 10 Auxiliary input axis side M2179

Output module for axis 26 Auxiliary input axis side M2211

Main shaft side M2180 Main shaft side M2212 Output module for axis 11 Auxiliary input axis side M2181

Output module for axis 27 Auxiliary input axis side M2213

Main shaft side M2182 Main shaft side M2214 Output module for axis 12 Auxiliary input axis side M2183

Output module for axis 28 Auxiliary input axis side M2215

Main shaft side M2184 Main shaft side M2216 Output module for axis 13 Auxiliary input axis side M2185

Output module for axis 29 Auxiliary input axis side M2217

Main shaft side M2186 Main shaft side M2218 Output module for axis 14 Auxiliary input axis side M2187

Output module for axis 30 Auxiliary input axis side M2219

Main shaft side M2188 Main shaft side M2220 Output module for axis 15 Auxiliary input axis side M2189

Output module for axis 31 Auxiliary input axis side M2221

Main shaft side M2190 Main shaft side M2222 Output module for axis 16 Auxiliary input axis side M2191

Output module for axis 32 Auxiliary input axis side M2223

(Note) : The range of output module for axis No. 1 to 8 is valid in the Q172CPU(N).

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7 TRANSMISSION MODULE

(d) The current value of input axis (synchronous encoder) changes at the clutch

ON state only.

OFF

OFF

OFF

ON

ON

ON

ON

Input pulse from synchronous encoder

Clutch ON/OFF command device (Note)

Clutch status signal

External input (TREN signal)

Current value of input axis (Synchronous encoder)

Current value of output axis

Clutch OFF state Clutch OFF stateClutch ON state

(Note) : Refer to Section "7.2.2 Parameters" for details.

1 operation cycle required

2 operation cycle required

Continuance from the current value at the clutch OFF

Fig. 7.6 Operation Timing for External Input Mode

(e) Only axis that the incremental synchronous encoder (manual pulse

generator) is set as drive module can be used in this mode. When an absolute synchronous encoder is set as the drive module, it cannot be used.

(f) A synchronous encoder, external input and external input mode clutch can

be set in only 1:1 ratio. The relationship between the synchronous encoder and external input is shown in the table below.

Synchronous encoder No.

External input (TREN signal)

Synchronous encoder No.

External input (TREN signal)

P1/E1 TREN 1 P7/E7 TREN 7 P2/E2 TREN 2 P8/E8 TREN 8 P3/E3 TREN 3 P9/E9 TREN 9 P4/E4 TREN 4 P10/E10 TREN 10 P5/E5 TREN 5 P11/E11 TREN 11 P6/E6 TREN 6 P12/E12 TREN 12

(Note) : The range of synchronous encoder No. P1/E1 to P8/E8 is valid in the Q172CPU(N).

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7 TRANSMISSION MODULE

(g) Set all clutches connected to the same encoder No. to the external input

mode to use the clutch connected to an encoder in the external input mode. However, it is permissible to use a combination of direct clutches and smoothing clutches.

< Example 1 > Synchronous encoder is connected to a drive axis

When an external input mode clutch is used, set all clutches connected to the synchronous encoder to the external input mode. (Also set clutch ON/OFF devices to the same setting.)

Synchronous encoder

Set all to external input mode. (Also set clutch ON/OFF device to the same setting.)

< Example 2 > Same synchronous encoder is connected to auxiliary

input axis Set all the clutches connected to the same synchronous encoder set to the external input mode. (Also set clutch ON/OFF devices to the same setting.)

Set both to external input mode. (Also set clutch ON/OFF device to the same setting.) Synchronous encoder No.1Synchronous encoder No.1

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7 TRANSMISSION MODULE

< Example 3 > Same synchronous encoder is connected to a drive

axis and auxiliary input axis Set all the connected clutches to the external input mode. (Refer to examples 1 and 2)

Set all to external input mode.

Synchronous encoder No.1

Synchronous encoder No.1

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7 TRANSMISSION MODULE

7.2.2 Parameters

The clutch parameters are shown in Table 7.2 and the parameters shown in this table are explained in items (1) to (7) below. Refer to the help of SW6RN-GSV22P for the clutch parameter setting.

Table 7.2 Clutch Parameter List

No. Setting item Default value Setting range Setting possible

1 Operation mode ON/OFF

mode ON/OFF mode

ON/OFF mode Address mode Address mode 2 One-shot mode

combined use External input

mode Direct clutch

Smoothing clutch

2 Mode setting device (1 word)

- - Word device -

3 Clutch ON/OFF command device

- Bit device

4 Clutch ON address setting device (2 words)

5 Clutch OFF address setting device (2 words)

- - Word device -

6 Smoothing method Time constant

system Time constant system/Slippage system

(Exponential function system/Linear acceleration deceleration system)

7 Smoothing time constant - 1 to 65535 [ms]

8 Slippage setting device (2 words)

- Word device

9 Slippage in-position range setting device (2 words)

- Word device

10 Address mode clutch control system

Current value within 1 virtual axis revolution

Current value within 1 virtual axis revolution/ Current value of virtual axis

Valid when a cam/rotary table is set as the output

module.

: Enable

(1) Operation mode

(a) This device is used to set the mode to switch clutch ON/OFF. The following three modes can be set. ON/OFF mode ON/OFF mode, address mode, address mode 2 and one-shot mode

combined use External input mode Refer to Section "7.2.1 Operation" for each operation modes.

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7 TRANSMISSION MODULE

(b) If a synchronous encoder is used as the drive module, the operation modes

that can be set differ depending on the encoder interface connected to the Q173PX/Q172EX.

Clutch operation mode

Encoder interface ON/OFF mode

Address mode, Address mode 2, One-Shot mode

External input mode

Manual pulse generator input (INC) Serial encoder input (ABS)

: Enable, : Disable

(2) Mode setting device (only ON/OFF mode, address mode, address mode 2 and one-shot mode combined use, 1 word) (a) This device is used to switch the ON/OFF mode and address mode.

The mode by mode setting device value are as follows: Mode setting device No. Name

0 ON/OFF mode 1 Address mode

2 Address mode 2 3, 4 One-shot mode

The mode setting device of except for "0 to 4" is regarded as an error, and an operation is continued at the previous setting value.

(b) The following devices can be used as the mode setting device.

Name Setting range

Data register D800 to D3069 (Note-1)

D3080 to D8191 Link register W0 to W1FFF (Note-1) : D800 to D1559 are dedicated devices of virtual servomotor axis,

synchronous encoder axis and output module "cam" in the virtual mode. Unused areas of virtual servomotor axis and cam axis can be used as an user device.

(3) Clutch ON/OFF command device

(a) This device is used to execute the clutch ON/OFF command.

(b) The following devices can be used as the clutch ON/OFF command device. Name Setting range

Input X0 to X1FFF Output Y0 to Y1FFF

Internal relay/Latch relay M0/L0 to M/L8191

Special relay M9000 to M9255 Link relay B0 to B1FFF Annunciator F0 to F2047

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7 TRANSMISSION MODULE

(4) Clutch ON/OFF address setting device (only ON/OFF mode, address mode,

address mode 2 and one-shot mode combined use; 2 words) (a) This device is used to set an address to turn the clutch on/off in the address

mode.

(b) The following devices can be used as the clutch ON/OFF address setting devices.

Name Setting range (Note-1)

Data register D800 to D3068 (Note-2)

D3080 to D8190 Link register W0 to W1FFE (Note-1) : Set an even number as the first device. (Note-2) : D800 to D1559 are dedicated devices of virtual servomotor axis,

synchronous encoder axis and output module "cam" in the virtual mode. Unused areas of virtual servomotor axis and cam axis can be used as an user device.

(c) The clutch ON/OFF address settings range is as follows.

1) The output module is a ball screw/roller. -2147483648 (-231) to 2147483647 (231-1) [PLS]

2) The output module is a cam/rotary table. 0 to number of pulses within 1 output axis revolution -1 [PLS]

(d) The clutch ON/OFF address setting device value according to the output

module is as follows. Refer to Section 7.2.1 (1) to (5) for details of each mode operation.

Ball screw/Roller Rotary table/Cam

Current value of virtual axis If the differential gear is connected to the main shaft, the device is current value after virtual servomotor axis main shafts differential gear.

Current value within 1 virtual axis revolution (Drive module travel value Gear ratio %Nc) % : Remainder operator, Nc : Number of pulses within 1 cam axis revolution

Virtual servomotor/ synchronous encoder

Differential gear Current value after virtual servomotor axis main shaft's differential gear

Clutch

Roller

Gear

Drive module

Cam

Virtual servomotor/ synchronous encoder

Differential gear

Gear

Clutch

Drive module travel value Gear ratio

Drive module

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7 TRANSMISSION MODULE

(5) Smoothing method

(a) The method for smoothing processing of the clutch is set. The following two methods can be set: Time constant system Slippage system

Exponential function system Linear acceleration/deceleration system

(b) Refer to Section 7.2 for each system operation.

(6) Smoothing time constant This is the time taken to reach 63[%] of the output axis speed.

(7) Slippage setting device (2 words)

(a) This device is used to set the slippage of clutch.

(b) The following devices can be used as the slippage setting device. Name Setting range (Note-1)

Data register D800 to D3068 (Note-2)

D3080 to D8190 Link register W0 to W1FFE (Note-1) : Set an even number as the first device. (Note-2) : D800 to D1559 are dedicated devices of virtual servomotor axis,

synchronous encoder axis and output module "cam" in the virtual mode. Unused areas of virtual servomotor axis and cam axis can be used as an user device.

(c) The setting range for slippage is 0 to 2147483647 [PLS].

(8) Slippage in-position range setting device (2 words)

(a) This device is used to set the remainder slippage range for judge as smoothing completion.

(b) The following devices can be used as the slippage in-position range setting

device. Name Setting range (Note-1)

Data register D800 to D3068 (Note-2)

D3080 to D8190 Link register W0 to W1FFE (Note-1) : Set an even number as the first device. (Note-2) : D800 to D1559 are dedicated devices of virtual servomotor axis,

synchronous encoder axis and output module "cam" in the virtual mode. Unused areas of virtual servomotor axis and cam axis can be used as an user device.

(c) The setting range for remainder slippage is 0 to 2147483647 [PLS].

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7 TRANSMISSION MODULE

(d) When "(Remainder slippage) < (Slippage in-position range)" is set, the

smoothing clutch complete signal (M5520+2n, M5521+2n) turns on. The smoothing clutch complete signal ON/OFF is refreshed by the operation cycle.

Connected module Applicable device Connected module Applicable device

Main shaft side M5520 Main shaft side M5552 Output module for axis 1

Auxiliary input axis side M5521 Output module for axis 17

Auxiliary input axis side M5553

Main shaft side M5522 Main shaft side M5554 Output module for axis 2

Auxiliary input axis side M5523 Output module for axis 18

Auxiliary input axis side M5555

Main shaft side M5524 Main shaft side M5556 Output module for axis 3

Auxiliary input axis side M5525 Output module for axis 19

Auxiliary input axis side M5557

Main shaft side M5526 Main shaft side M5558 Output module for axis 4

Auxiliary input axis side M5527 Output module for axis 20

Auxiliary input axis side M5559

Main shaft side M5528 Main shaft side M5560 Output module for axis 5

Auxiliary input axis side M5529 Output module for axis 21

Auxiliary input axis side M5561

Main shaft side M5530 Main shaft side M5562 Output module for axis 6

Auxiliary input axis side M5531 Output module for axis 22

Auxiliary input axis side M5563

Main shaft side M5532 Main shaft side M5564 Output module for axis 7

Auxiliary input axis side M5533 Output module for axis 23

Auxiliary input axis side M5565

Main shaft side M5534 Main shaft side M5566 Output module for axis 8

Auxiliary input axis side M5535 Output module for axis 24

Auxiliary input axis side M5567

Main shaft side M5536 Main shaft side M5568 Output module for axis 9

Auxiliary input axis side M5537 Output module for axis 25

Auxiliary input axis side M5569

Main shaft side M5538 Main shaft side M5570 Output module for axis 10

Auxiliary input axis side M5539 Output module for axis 26

Auxiliary input axis side M5571

Main shaft side M5540 Main shaft side M5572 Output module for axis 11

Auxiliary input axis side M5541 Output module for axis 27

Auxiliary input axis side M5573

Main shaft side M5542 Main shaft side M5574 Output module for axis 12

Auxiliary input axis side M5543 Output module for axis 28

Auxiliary input axis side M5575

Main shaft side M5544 Main shaft side M5576 Output module for axis 13

Auxiliary input axis side M5545 Output module for axis 29

Auxiliary input axis side M55477

Main shaft side M5546 Main shaft side M5578 Output module for axis 14

Auxiliary input axis side M5547 Output module for axis 30

Auxiliary input axis side M5579

Main shaft side M5548 Main shaft side M5580 Output module for axis 15

Auxiliary input axis side M5549 Output module for axis 31

Auxiliary input axis side M5581

Main shaft side M5550 Main shaft side M5582 Output module for axis 16

Auxiliary input axis side M5551 Output module for axis 32

Auxiliary input axis side M5583

(Note) : The range of output module for axis No. 1 to 8 is valid in the Q172CPU(N).

(e) When "0" is set in the slippage in-position range setting device, when a

clutch is connected/disconnected completely (Remainder slippage=0), the smoothing clutch complete signal (M5520+2n, M5521+2n) turns on.

(f) Slippage in-position range can be changed at any time. (g) When the slippage in-position range setting device is not set, the smoothing

clutch complete signal (M5520+2n, M5521+2n) does not turns on.

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7 TRANSMISSION MODULE

(h) When the setting value for slippage in-position range setting device is

outside the range, a minor error [5430] of output module will occur at the time of switching from real mode to virtual mode. In this case, it controls as a setting value "0". Besides, the setting value for slippage in-position range is set outside the range during virtual mode operation, a minor error [6170] of output module will occur, and it controls as a setting value "0".

(9) Address mode clutch control system

(a) When a clutch is turned on by the setting value of ON/OFF address setting device in the address mode/address mode 2, the current value (current value within 1 virtual axis revolution/current value of virtual axis) of virtual axis to be used is selected. 1) Current value within 1 virtual axis revolution

.. The ON/OFF control is executed by the current value within 1 virtual axis revolution system.

2) Current value of virtual axis .. The ON/OFF control is executed by the current value of virtual

axis. When a differential gear is connected to the main shaft, the ON/OFF control is executed by the current value after the main shaft's differential gear.

(b) The output module connected to clutch is valid for cam/rotary table

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7 TRANSMISSION MODULE

7.3 Speed Change Gear

Speed change gear is used to change the rotation speed to output module and travel value during operation. The operation of speed change gear and parameters required to use it are shown below.

7.3.1 Operation

This section describes the operation of speed change gear.

(1) The speed that the input axis speed multiplied by a speed change ratio set in the speed change ratio setting device is transmitted to output axis.

[Speed change ratio] [Output axis speed] = [Input axis speed]

10000 [PLS]

Speed change gear (Speed change ratio)

Output moduleOutput axis

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7 TRANSMISSION MODULE

(2) When a speed change ratio changes, the acceleration/deceleration processing is

executed by the smoothing time constant (t) set in the speed change gear parameters.

t

E F

C D

2500 800010000

t

V

V

A B

Input axis

Speed change ratio

Output axis

Operation cycle

Operation cycle

t = 100A B t = 100C

D t = 100E F

Time until it becomes = 63[%]t = 100 = A B 100 = C

D 100E F

7.3.2 Parameters

The speed change gear parameters are shown in Table 7.3 and the parameters shown in this table are explained in items (1) to (3) below. Refer to the help of SW6RN-GSV22P for the speed change gear parameter setting method.

Table 7.3 Speed Change Gear Parameter List

No. Setting Item Default Setting range

1 Speed change ratio upper limit value 10000 1 to 10000 2 Speed change ratio lower limit value 1 1 to 10000

D800 to D3069 D3080 to D8191 3

Speed change ratio setting device (1 word)

W0 to W1FFF

4 Smoothing time constant 0 0 to 65535 [ms]

(1) Speed change ratio upper/lower limit value (a) The validate range (0.01 to 100[%]) of speed change ratio set in the speed

change ratio setting device is set.

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7 TRANSMISSION MODULE

(b) When the setting value of speed change ratio setting device is greater than

the speed change ratio upper limit value, an operation is executed by a speed change ratio clamped at the upper limit value. When the setting value of speed change ratio setting device is smaller than the speed change ratio lower limit value, an operation is executed by a speed change ratio clamped at the lower limit value.

1

10000

Speed change ratio

Speed change ratio upper limit value

Speed change ratio lower limit value

Clamp at speed change ratio upper limit value

Clamp at speed change ratio lower limit value

Operation by setting speed change ratio

(c) The speed change ratio upper/lower limit value is set in the range of 1 to 10000, i.e. 100 times the settings actually made: 0.01 to 100%.

(d) Set the speed change ratio upper/lower limit value as formula below.

1 (Speed change ratio lower limit value) (Speed change ratio upper limit value) 10000

(2) Speed change ratio setting device (a) The device to set a speed change ratio of speed change gear.

(b) The following devices can be used as the speed change ratio setting

devices. Name Setting range

Data register D800 to D3069 (Note)

D3080 to D8191 Link register W0 to W1FFF (Note) : D800 to D1559 are dedicated devices of virtual servomotor axis,

synchronous encoder axis and output module "cam" in the virtual mode. Unused areas of virtual servomotor axis and cam axis can be used as an user device.

(c) The setting range is "Speed change ratio lower limit value" to "Speed change

ratio upper limit value".

(3) Smoothing time constant This is the time taken to reach 63[%] of the output axis speed.

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7 TRANSMISSION MODULE

7.4 Differential Gear

The differential gear is used for the following purposes; Output module phase is shifted or alignment of operation start position is executed. Individual operation separated from the virtual main shaft is executed.

7.4.1 Operation

(1) When the output module phase is shifted or alignment of the operation start position is executed. (a) When the input axis clutch turned on.

The differential gear subtracts the auxiliary input shaft travel value from the input shaft travel value and transmits this to the output axis.

Output axis travel value =

Input axis travel value

Auxiliary input axis travel value [PLS]

Clutch

Virtual main shaft

Differential gear

Input axis

Output axis

Output module

Drive module

Auxiliary input axis

(b) When the input axis clutch turned off. Individual operation is possible using the auxiliary input axis since the differential gear transmits only the travel value from the auxiliary input axis to the output axis.

(2) When the differential gear is used to connect to the virtual main shaft.

This is used for operation in which the main shaft is switched or when the same drive module is used as auxiliary input to control all blocks.

Virtual main shaft

Differential gearInput axis

Output axis

Drive module

Auxiliary input axis

Virtual servomotor/ synchronous encoder

Set the different drive modules for virtual main shaft side and auxiliary input axis side.

7.4.2 Parameters (Must be not set)

No parameters must be not set for the differential gear.

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7 TRANSMISSION MODULE

MEMO

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8 OUTPUT MODULE

8. OUTPUT MODULE

The command pulse output from drive module is input to output module via the transmission module. The travel value of servomotor is controlled by the command pulse from output module. There are following four output modules. The parameters in accordance with that mechanism is set if necessary. Roller.................... Section 8.1 Ball screw............. Section 8.2 Rotary table.......... Section 8.3 Cam ..................... Section 8.4

(1) Output module types

Output module types are shown below.

Module Details Applications

Roller

The speed control is executed with the final output (axis).

Roller

Ball screw

The linear position control is executed with the final output (axis).

Ball screw

Rotary table

The angle control is executed with the final output (axis).

Rotary table

Cam

The electronic cam operation is executed with the final output (axis).

Cam (Electronic cam)

8

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8 OUTPUT MODULE

(2) Device range of output module parameters and device data input

The device range and setting method of items set in the indirect setting by devices among the output module parameters are shown below. (a) Device range

The number of device words and device range in the indirect setting are shown below.

Module Item Number of

device words Device range Remark

Roller Torque limit value setting device 1

Ball screw Torque limit value setting device 1

Torque limit value setting device 1

Current value within 1 virtual axis revolution storage device (Main shaft side)

2

Rotary table

Current value within 1 virtual axis revolution storage device (Auxiliary input axis side)

2

Device Range

Cam No. setting device 1 D 800 to 3069 3080 to 8191

Stroke amount setting device 2 W 0 to 1FFF

Torque limit value setting device 1 Lower stroke limit value storage device

2

Current value within 1 virtual axis revolution storage device (Main shaft side)

2

Cam

Current value within 1 virtual axis revolution storage device (Auxiliary input axis side)

2

POINT (1) Be sure to set an even-numbered device for the items set as 2-word. And, when

the data is set to device in the Motion SFC program, set it as 32-bit integer type. (2) When a 2-word monitor device is read in the Motion SFC program, read it as

32-bit integer type.

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8 OUTPUT MODULE

(b) Device data input

All indirect setting device data are input as "initial value" at the switching from real to virtual mode, thereafter the input control for module is executed during the virtual mode operation. The input timing and refresh cycle of setting device are shown below.

Device input timing

Module Item Input

device Refresh device

Real Virtual mode switching

During the Virtual mode operation

Refresh cycle

Roller Torque limit value setting device Ball screw Torque limit value setting device

Torque limit value setting device

Input for every operation cycle. (Note)

Current value within 1 virtual axis revolution storage device (Main shaft side)

Rotary table

Current value within 1 virtual axis revolution storage device (Auxiliary input axis side)

Operation cycle (Note)

Cam No. setting device

Stroke amount setting device

Input for every operation cycle. (Note) However, the cam No. and stroke amount switching position pass point are valid.

Torque limit value setting device Input for every operation cycle. (Note)

Lower stroke limit value storage device

Current value within 1 virtual axis revolution storage device (Main shaft side)

Cam

Current value within 1 virtual axis revolution storage device (Auxiliary input axis side)

Operation cycle (Note)

REMARK

(Note) : The operation cycle is set in the "operation cycle setting" of system basic setting. Refer to Section "1.5.3 Individual parameters" of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for details. The operation cycle of Motion CPU is shown below.

Item Q173CPU(N) Q172CPU(N)

Number of control axes Up to 32 axes Up to 8 axes

Operation cycle (Default)

SV22

0.88[ms] / 1 to 4 axes 1.77[ms] / 5 to 12 axes 3.55[ms] / 13 to 24 axes 7.11[ms] / 25 to 32 axes

0.88[ms] / 1 to 4 axes 1.77[ms] / 5 to 8 axes

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8 OUTPUT MODULE

8.1 Rollers

The rollers are used in the following cases. The machine connected to the servomotor is operated continuously. The system which does not need position control.

(It is used when the speed control (cycle speed/number of rotations) mainly is controlled without the current value and position data.)

This section describes the roller operation and parameters required to use a roller.

8.1.1 Operation

(1) Operation (a) The roller is controlled with the speed that the speed/travel value of drive

module multiplied by a gear ratio/speed change ratio of transmission module, and it rotates for the travel value.

Roller speed = (Drive module speed [PLS/s])

(Gear ratio) (Speed change ratio) [PLS/s]

Number of roller revolution

= (Drive module travel value [PLS])

(Gear ratio) (Speed change ratio) [PLS]

The speed/travel value of drive module transmitted to the roller is commanded to the servo amplifier.

Drive module

Gear(Gear ratio)

Clutch

Speed change gear (Speed change ratio)

Roller

(b) When a clutch is used, the roller is controlled at clutch ON.

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8 OUTPUT MODULE

(2) Control details

(a) The roller has no current value. However, when it switches from the virtual to real mode, it reaches the current value corresponding to the position moved in the virtual mode. The current value is a ring address within the range of -2147483648 (-231)

to 2147483647 (231-1) [PLS].

(231-1)

-231

Current value

(b) Backlash compensation processing is continued with the settings value of

fixed parameters even if it switches the real/virtual mode.

(c) The roller cycle speed can be monitored using a peripheral device and the roller cycle speed storage register. Refer to Section 8.1.2 for the calculation formula of roller cycle speed, and refer to Section 4.2.1 for details of the roller cycle speed storage register.

8.1.2 Parameter list

The roller parameters are shown in Table 8.1 and the parameters shown in this table are explained in items (1) to (6) below. Refer to the help of SW6RN-GSV22P for the roller parameter setting method.

Table 8.1 Roller Parameter List No. Setting item Default Setting range

1 Output axis No. 0 Q173CPU(N) : 1 to 32 Q172CPU(N) : 1 to 8

2 Output unit mm mm inch

3 Roller diameter (L) 0 0.1 to 214748364.7

[m] 0.00001 to 21474.83647

[inch]

4 Number of pulses per roller revolution (NL)

0 1 to 2147483647 [PLS]

5 Permissible droop pulse value 65535 1 to 65535 [PLS]

6 Speed limit value (VL) 0 0.01 to 6000000.00

[mm/min] 0.001 to 600000.000

[inch/min]

7 Torque limit value setting device (1 word)

-(300[%]) / word device (D, W)

8 Comment None 32 characters

(1) Output unit

(a) This device is used to set the unit ([mm]/[inch]) of roller.

(b) The unit (unit in the fixed parameter) for the axis which execute the roller setting in the real mode is permissible to use the any of [mm], [inch], [degree] and [PLS].

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8 OUTPUT MODULE

(2) Roller diameter (L)/Number of pulses per roller revolution (NL)

(a) The roller diameter connected to servomotor and the number of pulses per roller revolution are displayed.

Number of pulses per roller revolution (NL)

Roller diameter (L)

(b) The roller cycle speed is calculated by the roller diameter and number of

pulses per roller revolution as the formula below. 1) Unit : [mm]

2) Unit : [inch] The value calculated by calculations 1) and 2) is stored with an integer value in the roller cycle speed storage register. Output unit Roller cycle speed storage register

mm Calculated value 100 inch Calculated value 1000

(3) Permissible droop pulse value

(a) This device is used to set the permissible droop pulse value of deviation counter.

(b) The deviation counter value is continually checked, and if it becomes larger

than the permissible droop pulse value, the error detection signal (M2407+20n) turns on. However, since the roller axis operation continues, execute the error processing by user side.

(c) When the motor connected has feedback pulses of 131072 [PLS], set the

value which is found by dividing the actual permissible droop pulse value by 100.

L [Roller cycle speed] =

Number of input pulses per minute NL

[mm/min] L : [mm]

L [Roller cycle speed] =

Number of input pulses per minute NL

[inch/min] L : [inch]

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8 OUTPUT MODULE

(4) Speed control limit (VL)

(a) This device is used to set the maximum speed of roller axis.

(b) Set the speed limit value within the following range.

(c) When the roller axis speed exceeds the speed limit value, the error detection signal (M2407+20n) turns on. However, the roller axis speed is not clamped.

V Even if the speed limit value is exceeded, it controls with the setting speed.

Speed limit value

t

(5) Torque limit value setting device (1 word)

(a) This device is used to set the torque limit value of roller axis. When the device is set, the torque control is executed with the preset device value. In the virtual mode, the torque limit setting is always valid. If the device is not set, the torque limit is set at 300[%].

(b) The following devices can be set as the torque limit setting device.

Name Setting range

Data register D800 to D3069 (Note-1)

D3080 to D8191 Link register W0 to W1FFF (Note-1) : D800 to D1559 are dedicated devices of virtual servomotor axis,

synchronous encoder axis and output module "cam" in the virtual mode. Unused areas of virtual servomotor axis and cam axis can be used as an user device.

(c) The setting range for torque limit value is 1 to 500[%].

VL NL VL : [mm/min] or [inch/min] 1

60 L 10000000[PLS/s]

L : [mm] or [inch]

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8 OUTPUT MODULE

(6) Comment

(a) This device is used to create a comment such as purpose of roller axis. Made comment can be displayed at monitoring using a peripheral device.

(b) Comments up to 32 characters long can be created.

POINT

(1) "Roller diameter" or "number of pulses per roller revolution" set in the roller parameter is used for only the cycle speed monitor of servomotor, and it is not related to the rotation speed/travel value of servomotor.

(2) The roller cycle speed monitor device is the same for the "feed current value"

in the real mode. Therefore, the position address (current value) of roller axis cannot be monitored in the virtual mode. When it switches from the virtual to real mode, the certain value is stored in the position address (current value). The value at this time is an unfixed value.

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8 OUTPUT MODULE

8.2 Ball Screw

The ball screw is used to make a machine connected to servomotor operate linearly. This section describes the ball screw operation and parameters required to use ball screws.

8.2.1 Operation

(1) Operation (a) The ball screw is controlled with the speed that the speed/travel value of

drive module multiplied by a gear ratio of transmission module, and the travel value is output.

The speed/travel value of drive module transmitted to the ball screw is commanded to the servo amplifier.

Drive module

Clutch

Ball screw

Gear(Gear ratio)

(b) When a clutch is used, the ball screw is controlled at clutch ON.

(2) Control details

(a) Feed current value is continued, even if it switches from the real to virtual mode/from the virtual to real mode.

(b) Backlash compensation processing is continued with the settings value of

fixed parameters, even if it switches the real/virtual mode.

(c) The travel value per pulse is controlled with the travel value per pulse in the fixed parameters.

(Ball screw speed) = (Drive module speed [PLS/s]) (Gear ratio) [PLS/s]

(Ball screw travel value) = (Drive module travel value [PLS]) (Gear ratio) [PLS]

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8 OUTPUT MODULE

8.2.2 Parameter list

The ball screw parameters are shown in Table 8.2 and the parameters shown in this table are explained in items (1) to (7) below. Refer to the help of SW6RN-GSV22P for the ball screw parameter setting method.

Table 8.2 Ball Screw Parameter List

No. Setting Item Default value Setting range

1 Output axis No. 0 Q173CPU(N) : 1 to 32 Q172CPU(N) : 1 to 8

2 Output unit mm mm inch

3 Ball screw pith (P) 0 0.1 to 214748364.7

[m]

0.00001 to 21474.83647

[inch]

4 Number of pulses per ball screw revolution (NP)

0 1 to 2147483647 [PLS]

5 Permissible droop pulse value 65535 1 to 65535 [PLS] 6 Upper stroke limit value 214748364.7 7 Lower stroke limit value 0

-214748364.8 to 214748364.7 [m]

-21474.83648 to 21474.83647 [inch]

8 Speed limit value (VL) 0 0.01 to 6000000.00

[mm/min] 0.001 to 600000.000

[inch/min]

9 Torque limit value setting device (1 word)

-(300[%]) / word device (D, W)

10 Comment None 32 characters

(1) Output unit (a) This device is used to set the unit ([mm]/[inch]) of ball screw.

(b) Set the same unit as used in the real mode (unit in the fixed parameters) for

the ball screw unit. If the ball screw unit differs unit in the real mode, a mode switching error will occur at the switching from real to virtual mode.

(2) Ball screw pitch(P)/Number of pulses per ball screw revolution(NP)

(a) The ball screw pitch connected to the servomotor and number of pulses per ball screw revolution are displayed.

Ball screw

Ball screw pitch (P)Number of pulses per ball screw revolution (NP)

(b) The travel value per pulse is calculated by the ball screw pitch and number

of pulses per ball screw revolution as the formula below.

P [Travel value per pulse] =

NP

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8 OUTPUT MODULE

(3) Permissible droop pulse value

(a) This device is used to set the permissible droop pulse value of deviation counter.

(b) The deviation counter value is continually checked, and if it becomes larger

than the permissible droop pulse value, the error detection signal (M2407+20n) turns on. However, since the ball screw axis operation continues, execute the error processing by user side.

(c) When the motor connected has feedback pulses of 131072 [PLS], set the

value which is found by dividing the actual permissible droop pulse value by 100.

(4) Upper/lower stroke limit value

(a) This device is used to set the stroke range in the virtual mode.

(b) When it exceeds the stroke range during operation, the error detection signal (M2407+20n) turns on. However, a stop processing of ball screw axis is not executed.

(5) Speed limit value (VL)

(a) This device is used to set the maximum speed of ball screw axis.

(b) Set the speed limit value within the following range. 1) Unit : [mm]

VL 104 NP 1

60 P 10000000 [PLS/s]

2) Unit : [inch]

VL 105 NP 1

60 P 10000000 [PLS/s]

(c) When the ball screw axis speed exceeds the speed limit value, the error

detection signal (M2407+20n) turns on. However, the ball screw axis speed is not clamped.

V Even if the speed limit value is exceeded, it controls with the setting speed.

Speed limit value

t

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8 OUTPUT MODULE

(6) Torque limit value setting device (1 word)

(a) This device is used to set the torque limit value of ball screw axis. When the device is set, the torque control is executed with the preset device value. In the virtual mode, the torque limit setting is always valid. If the device is not set, the torque limit is set at 300[%].

(b) The following devices can be set as the torque limit value setting device.

Name Setting range

Data register D800 to D3069 (Note-1)

D3080 to D8191 Link register W0 to W1FFF (Note-1) : D800 to D1559 are dedicated devices of virtual servomotor axis,

synchronous encoder axis and output module "Cam" in the virtual mode. Unused areas of virtual servomotor axis and cam axis can be used as an user device.

(c) The setting range for the torque limit value is 1 to 500[%].

(7) Comment

(a) This device is used to create a comment such as purpose of ball screw axis. Made comment can be displayed at monitoring using a peripheral device.

(b) Comments up to 32 characters long can be created.

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8 OUTPUT MODULE

8.3 Rotary Tables

The rotary table is used to make a machine connected to servomotor gyrate. This section describes the rotary table operation and parameters required to use rotary table.

8.3.1 Operation

(1) Operation (a) The rotary table is controlled with the speed that the speed/travel value of

drive module multiplied by a gear ratio of transmission module, and the travel value is output.

(Rotary table speed) = (Drive module speed) [PLS/s] (Gear ratio) [PLS/s]

(Rotary table travel value) = (Drive module travel value) [PLS] (Gear ratio) [PLS]

The speed/travel value of drive module transmitted to the rotary table is commanded to the servo amplifier.

Drive module

Clutch

Gear(Gear ratio)

Rotary table

(b) When a clutch is used, the rotary table is controlled at clutch ON.

(2) Control details

(a) Feed current value is continued, even if it switches from the real to virtual mode/from the virtual to real mode.

(b) Backlash compensation processing is continued with the settings value of

fixed parameters, even if it switches the real/virtual mode.

(c) The travel value per pulse is controlled with the travel value per pulse in the fixed parameters.

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8 OUTPUT MODULE

8.3.2 Parameter list

The rotary table parameters are shown in Table 8.3 and the parameters shown in this table are explained in items (1) to (8) below. Refer to the help of SW6RN-GSV22P for the rotary table parameter setting method.

Table 8.3 Rotary Table Parameter List

No. Setting Item Default value

Setting range

1 Output axis No. 0 Q173CPU(N) : 1 to 32 Q172CPU(N) : 1 to 8

2 Number of pulses per rotary table revolution (ND)

0 1 to 1073741824 [PLS]

3 Permissible droop pulse value 65535 1 to 65535 [PLS] 4 Upper stroke limit value 0 0 to 359.99999 [degree] 5 Lower stroke limit value 0 0 to 359.99999 [degree] 6 Speed limit value (VL) 0 0.001 to 2147483.647 [degree/min]

7 Torque limit value setting device (1 word)

-(300[%]) / word device (D,W)

8 Comment None 32 characters

9 Current value within 1 virtual axis revolution storage device (Main shaft side) (2 words)

- / word device (D,W)

10

Current value within 1 virtual axis revolution storage device (Auxiliary input axis side) (2 words)

- / word device (D,W)

(1) Number of pulses per rotary table revolution (ND)

(a) The number of pulses per rotary table connected to the servomotor revolution is displayed.

Number of pulses per rotary table revolution (ND)

(b) The travel value per pulse is calculated from the number of pulses per rotary table revolution in accordance with the following formula:

360

[Travel value per pulse] = ND

[degree]

(2) Permissible droop pulse value

(a) This device is used to set the permissible droop pulse value of deviation counter.

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8 OUTPUT MODULE

(b) The deviation counter value is continually checked, and if it becomes larger

than the permissible droop pulse value, the error detection signal (M2407+20n) turns on. However, since the rotary table axis operation continues, execute the error processing by user side.

(c) When the motor connected has feedback pulses of 131072[PLS], set the

value which is found by dividing the actual permissible droop pulse value by 100.

(3) Upper/lower stroke limit value

(a) This device is used to set the stroke range in the virtual mode. The upper/lower stroke limit setting determines whether the stroke limit is valid or not. If the upper stroke limit value is equal to the lower stroke limit value, the stroke limit is invalid.

(b) When it exceeds the stroke range during operation, the error detection signal

(M2407+20n) turns on. However, a stop processing of rotary table axis is not executed.

(4) Speed limit value (VL)

(a) This device is used to set the maximum speed of rotary table axis.

(b) Set the speed limit value within the following range. VL 105 ND

1 60 360 105

10000000 [PLS/s]

(c) When the rotary table axis speed exceeds the speed limit value, the error

detection signal (M2407+20n) turns on. However, the rotary table axis speed is not clamped.

V Even if the speed limit value is exceeded, it controls with the setting speed.

Speed limit value

t

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8 OUTPUT MODULE

(5) Torque limit value setting device (1 word)

(a) This device is used to set the torque limit value of rotary table axis. When the device is set, the torque control is executed with the preset device value. In the virtual mode, the torque limit setting is always valid. If the device is not set, the torque limit is set at 300[%].

(b) The following devices can be set as the torque limit value setting device.

Name Setting range

Data register D800 to D3069 (Note-1)

D3080 to D8191 Link register W0 to W1FFF

(Note-1) : D800 to D1559 are dedicated devices of virtual servomotor axis, synchronous encoder axis and output module "Cam" in the virtual mode. Unused areas of virtual servomotor axis and cam axis can be used as an user device.

(c) The setting range for torque limit value is 1 to 500[%].

(6) Comment

(a) This device is used to create a comment such as purpose of rotary table axis. Made comment can be displayed at monitoring using a peripheral device.

(b) Comments up to 32 characters long can be created.

(7) Current value within 1 virtual axis revolution storage device

(Main shaft side) (2 words) This parameter is set when the address mode clutch is set at the rotary table main shaft side.

0 0 0 0

(ND-1) PLS

Drive module

Current value within 1 virtual axis revolution Address mode clutch

Rotary table

Current value within 1 virtual axis revolution = (Drive module travel value gear) %ND

(% : Remainder operator)

The reference position (0) for the current value within 1 virtual axis revolution is set with the address clutch reference setting command (M3213+20n).

(a) The current value within 1 virtual axis revolution of rotary table main shaft

side is stored in the preset device.

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8 OUTPUT MODULE

(b) The following devices can be set as the current value within 1 virtual axis

revolution storage device. Name Setting range (Note-1)

Data register D800 to D3069 (Note-2)

D3080 to D8191 Link register W0 to W1FFF

(Note-1) : Set an even number at the first device. (Note-2) : D800 to D1559 are dedicated devices of virtual servomotor axis,

synchronous encoder axis and output module "Cam" in the virtual mode. Unused areas of virtual servomotor axis and cam axis can be used as an user device.

(c) The current value within 1 virtual axis revolution is the range of 0 to (ND-1)

[PLS]. (ND: Number of pulses per rotary table revolution)

(d) The address mode clutch is turned on/off with the specified address of the

current value within 1 virtual axis revolution range of 0 to (ND-1) [PLS]. Therefore, set the address value within the range of 0 to (ND-1) [PLS] in the clutch ON/OFF address setting device.

(e) The current value within 1 virtual axis revolution reference position "0" is set

by turning the address clutch reference setting command (M3213+20n) on and switching to the virtual mode. The current values within 1 virtual axis revolution for both the main shaft and the auxiliary input axis is set to "0" at this time. If the address clutch reference setting command (M3213+20n) is turned off and it switches to the virtual mode, control continues from the current value within 1 virtual axis revolution of last virtual mode.

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8 OUTPUT MODULE

(f) An example of an address mode clutch operation is shown below.

10000 100000 0 0 20000

20000 10000

359.99999 [degree]

0

Set the clutch ON/OFF in this current value (Current value within 1 virtual axis revolution).

1 axis Number of pulses per revolution : 20000[PLS]

1 axis

Virtual servomotor current value (Synchronous encoder)

Current value within 1 virtual axis revolution

Set the clutch status Clutch ON address = 0 Clutch OFF address = 10000

Output axis current value

Current value within 1 output axis revolution

Operation example

(8) Current value within 1 virtual axis revolution storage device (Auxiliary input axis side) (2 words) This parameter is set when the address mode clutch is set at the rotary table auxiliary input axis side.

Drive module

Current value within 1 virtual axis revolution

Address mode clutch Rotary table

Drive module

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8 OUTPUT MODULE

(a) By setting the current value within 1 virtual axis revolution of rotary table

auxiliary input axis side for the current value within 1 virtual axis revolution is stored in the preset device.

Gear ratio Current value within 1 virtual axis revolution of auxiliary input axis side

= Drive module travel value of auxiliary input axis side

Number of pulses per rotary table revolution

(Note): Current value within 1 virtual axis revolution of auxiliary input axis side is updated regardless of clutch ON/OFF.

(b) The following devices can be set as the current value within 1 virtual axis

revolution storage device. Name Setting range (Note-1)

Data register D800 to D3069 (Note-2)

D3080 to D8191 Link register W0 to W1FFF

(Note-1) : Set an even number at the first device. (Note-2) : D800 to D1559 are dedicated devices of virtual servomotor axis,

synchronous encoder axis and output module "Cam" in the virtual mode. Unused areas of virtual servomotor axis and cam axis can be used as an user device.

(c) The current value within 1 virtual axis revolution is the range of 0 to (ND-1)

[PLS]. (ND: Number of pulses per rotary table revolution)

(d) The address mode clutch is turned on/off with the specified address of the

current value within 1 virtual axis revolution range of 0 to (ND-1) [PLS]. Therefore, set the address value within the range of 0 to (ND-1) [PLS] in the clutch ON/OFF address setting device.

(e) The current value within 1 virtual axis revolution reference position "0" is set

by turning the address clutch reference setting command (M3213+20n) on and switching to the virtual mode. The current values within 1 virtual axis revolution for both the main shaft and the auxiliary input axis is set to "0" at this time. If the address clutch reference setting command (M3213+20n) is turned off and it switches to the virtual mode, control continues from the current value within 1 virtual axis revolution of last virtual mode.

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8 OUTPUT MODULE

(f) An example of an address mode clutch operation is shown below.

10000 100000 0 0 20000

20000 10000

359.99999 [degree]

0

1 axis Number of pulses per revolution : 20000[PLS]

Set the clutch ON/OFF in this current value. (Current value within 1 virtual axis revolution)

1 axis

Virtual servomotor current value of auxiliary input axis side (Synchronous encoder)

Current value within 1 virtual axis revolution of auxiliary input axis side

Set the clutch status Clutch ON address = 0 Clutch OFF address = 10000

Output axis current value

Current value within 1 output axis revolution

Main shaft side clutch OFF

(Note): The rotation of output axis is reversed by differential gear.

POINT When the number of pulses per virtual axis revolution is not an integer value, a virtual axis revolution may not become a rotary table revolution.

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8 OUTPUT MODULE

8.4 Cam

Cam is used to make a machine connected to servomotor operate according to the preset cam pattern. (1) For axes at which the cam is set as the output module, the same operation as a

cam is executed using a ball screw as shown in the example below.

Q61P Q02H CPU

Q173 CPU (N)

Q172 LX

Cam

Upper dead point

Lower dead point

Upper dead point

Stroke amount

Same operation

Pulse generator

Servo motor

Reduction gear Moving part

Stroke amount AMP

(2) The following two types data required to use a cam. Settings item at cam data creation.

It is set at cam data (cam curve) creation by SW3RN-CAMP. (Refer to Section 8.4.2)

Cam parameters These are the parameters used to set to cam in the output module at mechanical system program creation. (Refer to Section 8.4.3)

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8 OUTPUT MODULE

8.4.1 Operation

This section describes the cam operation.

(1) Procedure for switching from the real to virtual mode Set the devices by the following procedure using the Motion SFC program at the switching from real to virtual mode. (a) Set the following details.

Set the cam No. and stroke amount in the "cam No. setting device" and "stroke amount setting device" set in the each cam shaft parameters.

Turn the cam reference position setting command (M3214+20n) on/off as required . (Refer to Section 4.1.2 (4))

(b) Execute from the real to virtual mode switching request.

(M2043: OFF ON)

(c) Start operation based on the cam pattern, stroke amount and cam reference setting command set in the each cam shaft.

(2) Processing at the switching from the real to virtual mode

The current value within 1 cam shaft revolution is indexed based on the cam reference position setting command (M3214+20n), feed current value, lower stroke limit value, stroke amount and cam No. (cam pattern) at the switching from real to virtual mode.

(3) Operation

A value calculated by the stroke ratio of cam data table based on the current value within 1 cam shaft revolution is output.

[Feed current value] = [Lower stroke limit value] + [Stroke amount] [Stroke ratio]

The current value within 1 cam shaft revolution is set by the travel value that the travel value of drive module multiplied by a gear ratio of transmission module. Number of pulses per stroke amount is controlled based on the travel value per pulse set in the fixed parameter in the real mode.

(4) Switching the stroke amount and cam No. during operation

(a) The cam stroke amount and execute cam No. can be changed using the Motion SFC program during cam operation.

(b) The stroke amount and cam No. are changed by the address set in the

"stroke amount, cam No. change point" at the creating cam data. When the "stroke amount, cam No. change point" is passed, the stroke amount/cam No. is changed based on the value of the stroke amount setting device and cam No. setting device set in the cam parameters.

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8 OUTPUT MODULE

< Example > Switching between cam No.1 and No.2, and switching timing

between stroke amount I1 and I2 when the stroke amount/cam No. change point is set as "0".

1 cycle

1

l2

1

l1

2

2

l2

Nc-1, 0 Nc-1, 0 Nc-1, 0

l1

Current value within 1 cam shaft revolution [PLS]

Nc : Number of pulses within 1 cam shaft revolution

Cam No. setting device value

Stroke amount setting device

Execute cam No.

Execute stroke amount

(c) Error causes at the changing stroke amount/cam No. during operation 1) The cam No. and stroke amount are always input at the switching from

real to virtual mode and in the virtual mode. A relative check is executed at the time of input. An error occurs in the following cases, the error detection signal (M2407+20n) turns on and the error code is stored in the minor error code storage register. The stroke amount is outside the range of 1 to 2147483647 (231-1).

"Lower stroke limit value + Stroke amount" "2147483647 (231-1)" is not satisfied in the two-way cam mode.

The control mode of cam No. is not same. 2) Processing for the cam No./stroke amount error

If the error occurs at switching from the real to virtual mode, it does not switch to the virtual mode.

If the error occurs at reaching the preset "stroke amount, cam No. change point" (during cam operation), operation continues without switching to the preset stroke amount/cam No. Reset the error detection signal and minor error code storage register by the error reset command (M3207+20n).

3) Processing for the error a) If the error occurs at switching from the real to virtual mode, correct by

the following procedure. Turn the real/virtual mode switching request flag (M2043) off. Correct the cam No. and stroke amount. Turn the real/virtual mode switching request flag on, and switch to

virtual mode. b) If the error occurs during cam operation, correct the cam No. and

stroke amount.

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8 OUTPUT MODULE

(5) Control details

(a) The cam feed current value is continued at switching from the real to virtual mode/from the virtual to real mode.

(b) Backlash compensation processing is continued with the settings value of

fixed parameters, even if switches the real/virtual mode.

(c) Upper/lower stroke limit value and speed limit value are not checked.

(6) Control change The current value within 1 cam shaft revolution can be changed to optional value for the cam as the control change during the virtual mode operation. Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for details of current value change.

Motion SFC program for which executes the current value change (CHGA-C) is shown below.

CHGA-C Axis 1, 10000PLS

END

!PX000*!M2001

Current value change CHGA-C

PX000*M2043*M2044*!M2001

G10

G20

K10

Current value change

Wait until PX000, real/virtual switching request and switching status turn on, and axis 1 start accept flag turn off.

Current value within 1 cam shaft revolution change control

Axis used ............................... Axis 1 Current value to be changed ... 1000[PLS]

Wait until PX000 and axis 1 start accept flag turn off.

(Note) : Example of the above Motion SFC program is started using the automatic start or PLC program.

[Operation]

1000

Stroke

Current value within 1 cam shaft revolutionChange Current value within 1 cam shaft revolution after the change

This stroke amount of lower stroke limit is changed so that the motor may not rotate even if the current value is changed.

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8 OUTPUT MODULE

(7) Program example

[Switching from real to virtual mode] Motion SFC program for switching from real to virtual mode is shown below.

D2000=K1 D2002L=K50000 SET M3214 SET M2043

END

PX000*!M2043*!M2044

Switching from real to virtual example

Switching from real to virtual

PX000 turn on, and real/virtual mode switching request and switching status turn off.

Cam No. setting device set Stroke amount setting device set Cam reference position setting command set Real/virtual switching request ON

G10

F10

(Note) : Example of the above Motion SFC program is started using the automatic start or PLC program.

[Switching cam No./stroke amount during operation] Motion SFC program for switching cam No. or stroke amount is shown below.

D2000=K1 D2002L=K60000

END

PX001

Cam data value setting example

Cam data value setting

Cam data value setting condition PX001 turn on.

Cam No. setting device set Stroke amount setting device set

G10

F10

(Note) : Example of the above Motion SFC program is started using the automatic start or PLC program.

8.4.2 Settings items at cam data creating

This section describes the setting items at cam data creating using a peripheral device.

Table 8.4 Table of Settings Items at cam Data Creating No. Setting item Default Setting range

1 Cam No. Refer to (1) 2 Resolution 256 256, 512, 1024, 2048

3 Stroke amount/ Cam No. change point

0 0 to (resolution-1)

4 Operation mode Two-way cam mode Two-way cam mode Feed cam mode

5 Cam data table 0 0 to 32767

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8 OUTPUT MODULE

(1) Cam No.

This device is used to set the No. (1 to 64) of created cam data. A cam No. is used with the number which offset value attached by the machine name sequence registered on mechanical system editing screen in the mechanical system program.

Machine name sequence Setting cam No.

1 1 to 64 2 101 to 164 3 201 to 264 4 301 to 364

(2) Resolution

(a) This device is used to set the number of index divisions in one cam cycle.

(b) The following conditions need to be satisfied in order to output the all point data of resolution correctly. Number of pulses per cam revolution (Nc) Resolution Time required per cam revolution Operation cycle Resolution

(3) Stroke amount/cam No. change point

(a) This device is used to set a position at which the stroke amount/cam No. is switched during operation.

(b) When the set switching position [range: 0 to (resolution -1)] is reached, if the

stroke amount/cam No. is normal, it is switched to the setting stroke amount and cam No.

(4) Operation mode

(a) This device is used to set the two-way cam mode/feed cam mode. 1) Two-way cam mode ....... A two-way operation is repeated between the

lower stroke limit value (lower dead point) and the range set in the stroke amount.

Stroke amount

Lower stroke limit value (Lower dead point)

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8 OUTPUT MODULE

32767

0 0

V

t

t

Stroke amount

1 cycle (1 cam shaft revolution)

Cam pattern Operation example

Stroke amount

Lower stroke limit value

Output value (Address)

Resolution-1

Lower stroke limit value

2) Feed cam mode .............With the lower stroke limit value (lower dead point) as the operation start position, positioning is executed by feeding one stroke amount per cycle in a fixed direction.

Stroke amount

1 cycle 1 cycle 1 cycle Current value

Lower stroke limit value (Lower dead point)

0 0

V

t

t

Cam pattern Operation example

Stroke amount

1 cycle Stroke amount

1 cycle 1 cycle 1 cycle

Output value (Address)

Resolution-1

Lower stroke limit value

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8 OUTPUT MODULE

(5) Cam data table

(a) This device is used to set the each point stroke ratio (when the stroke amount is divided into 32767 divisions) in the set resolution.

32767

0

Stroke amount

1 cycle

Stroke ratio Lower stroke limit value (Lower dead point)

Cam curve

t (0)

Output value (Address)

(b) The cam data table is automatically created by creating the cam curve using a peripheral device. The cam curves which can be used in the Motion CPU are shown in Section 8.4.4.

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8 OUTPUT MODULE

8.4.3 Parameter list

The cam parameters are shown in Table 8.5 and the parameters No.2 to No.11 shown in this table are explained in items (1) to (10) below. Refer to the help of SW6RN-GSV22P for the cam parameter setting method.

Table 8.5 Cam Parameter List

No. Setting item Default value Setting range

1 Output axis No. 0 Q173CPU(N) : 1 to 32 Q172CPU(N) : 1 to 8

2 Number of pulses per cam shaft revolution (NC)

0 1 to 1073741824 [PLS]

3 Cam No. setting device (1 word) Word device (D, W)

4 Permissible droop pulse value 65535 1 to 65535 [PLS]

5 Output unit mm mm inch PLS 6 Stroke amount setting device (2 words) Word device (D, W) 7 Torque limit value setting device (1 word) -(300[%]) / word device (D, W) 8 Comment None 32 characters

9 Lower stroke limit value storage device (2 words)

Word device (D, W)

10 Current value within 1 virtual axis revolution storage device (Main shaft side, 2 words)

- / word device (D, W)

11 Current value within 1 virtual axis revolution storage device (Auxiliary input axis side, 2 words)

- / word device (D, W)

(1) Number of pulses per cam shaft revolution (Nc)

(a) The number of pulses required to rotate the cam one cycle is displayed.

Number of pulses per cam shaft revolution (Nc)

(b) The setting for the number of pulses per cam shaft revolution is not related to the travel value per pulse (fixed parameter setting).

(2) Cam No. setting device (1 word)

(a) This device is used to set the device that sets in the Motion SFC program by which the cam No. to control.

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8 OUTPUT MODULE

(b) The following devices can be set as the cam No. setting device.

Name Setting range

Data register D800 to D3069 (Note-1)

D3080 to D8191 Link register W0 to W1FFF (Note-1) : D800 to D1559 are dedicated devices of virtual servomotor axis,

synchronous encoder axis and output module "Cam" in the virtual mode. Unused areas of virtual servomotor axis and cam axis can be used as an user device.

(c) When the cam No. setting device value is changed during operation, it

changes to the cam No. changed in the "stroke amount/cam No. switching position" set at the cam creating.

(3) Permissible droop pulse value

(a) This device is used to set the permissible droop pulse value of deviation counter.

(b) The deviation counter value is continually checked, and if it becomes larger

than the permissible droop pulse value, the error detection signal (M2407+20n) turns on. However, since the cam shaft operation continues, execute the error processing by user side.

(c) When the motor connected has feedback pulses of 131072 [PLS], set the

value which is found by dividing the actual permissible droop pulse value by 100.

(4) Output unit

(a) This device is used to set the unit ([mm]/[inch]/[PLS]) of cam.

(b) Set the same unit as used in the real mode (unit in the fixed parameters) for the cam shaft.

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8 OUTPUT MODULE

(5) Stroke amount setting device (2 words)

(a) This device is used to set the cam stroke amount.

(b) The following devices can be set as the stroke amount setting device. Name Setting range (Note-1)

Data register D800 to D3069 (Note-2)

D3080 to D8191 Link register W0 to W1FFF (Note-1) : Set an even number at the first device. (Note-2) : D800 to D1559 are dedicated devices of virtual servomotor axis,

synchronous encoder axis and output module "Cam" in the virtual mode. Unused areas of virtual servomotor axis and cam axis can be used as a user device.

(c) Set the stroke amount within the following range.

Setting range in the two-way cam mode [mm]: Lower stroke limit value + Stroke amount 2147483647 10-1 [m] [inch]: Lower stroke limit value + Stroke amount 2147483647 10-5 [inch] [PLS]: Lower stroke limit value + Stroke amount 2147483647 [PLS]

Setting range in the feed cam mode [mm]: 0 < Stroke amount 2147483647 10-1 [m] [inch]: 0 < Stroke amount 2147483647 10-5 [inch] [PLS]: 0 < Stroke amount 2147483647 [PLS]

(6) Torque limit value setting device (1 word)

(a) This device is used to set the torque limit value for cam shaft. When the device is set, the torque control is executed with the preset device value. In the virtual mode, the torque limit setting is always valid. If the device is not set, the torque limit is set at 300[%].

(b) The following devices can be set as the torque limit value setting device.

Name Setting range

Data register D800 to D3069 (Note-1)

D3080 to D8191 Link register W0 to W1FFF

(Note-1) : D800 to D1559 are dedicated devices of virtual servomotor axis, synchronous encoder axis and output module "Cam" in the virtual mode. Unused areas of virtual servomotor axis and cam axis can be used as an user device.

(c) The setting range for torque limit value is 1 to 500[%].

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8 OUTPUT MODULE

(7) Comment

(a) This device is used to create a comment such as purpose of cam shaft. Made comment can be displayed at monitoring using a peripheral device.

(b) Comments up to 32 characters long can be created.

(8) Lower stroke limit value storage device (2 words)

(a) This device is used to store the cam lower stroke limit value. The current lower stroke limit value is stored.

(b) The following devices can be set as the lower stroke limit value storage

device. Name Setting range (Note-1)

Data register D800 to D3069 (Note-2)

D3080 to D8191 Link register W0 to W1FFF (Note-1) : Set an even number at the first device. (Note-2) : D800 to D1559 are dedicated devices of virtual servomotor axis,

synchronous encoder axis and output module "Cam" in the virtual mode. Unused areas of virtual servomotor axis and cam axis can be used as a user device.

(c) The lower stroke limit value is range of -2147483648 (-231) to 2147483647

(231-1). 1) The lower stroke limit value is determined as follows for each unit setting:

[mm]: Lower stroke limit value 10-1 [m] [inch]: Lower stroke limit value 10-5 [inch] [PLS : Lower stroke limit value 1 [PLS]

(9) Current value within 1 virtual axis revolution storage device

(Main shaft side) (2 words) This parameter is set when the address mode clutch is set at the cam main shaft side.

0 0 0 0

Drive module

Current value within 1 virtual axis revolution Address mode clutch

Cam

(Nc-1) PLS

Current value within 1 virtual axis revolution = (Drive module travel value gear) %Nc

(% : Remainder operator)

(a) The current value within 1 virtual axis revolution of cam main shaft side is stored in the preset device.

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8 OUTPUT MODULE

(b) The following devices can be set as the current value within 1 virtual axis

revolution storage device. Name Setting range (Note-1)

Data register D800 to D3069 (Note-2)

D3080 to D8191 Link register W0 to W1FFF (Note-1) : Set an even number at the first device. (Note-2) : D800 to D1559 are dedicated devices of virtual servomotor axis,

synchronous encoder axis and output module "Cam" in the virtual mode. Unused areas of virtual servomotor axis and cam axis can be used as a user device.

(c) The current value within 1 virtual axis revolution is the range of 0 to (NC-1)

[PLS]. (NC: Number of pulses per cam shaft revolution)

(d) The address mode clutch is turned on/off with the specified address of the

current value within 1 virtual axis revolution range of 0 to (NC-1) [PLS]. Therefore, set the address value within the range of 0 to (NC-1) [PLS] in the clutch ON/OFF address setting device.

(e) The current value within 1 virtual axis revolution reference position "0" is set

by turning the address clutch reference setting command (M3213+20n) on and switching to the virtual mode. The current values within 1 virtual axis revolution for both the main shaft and the auxiliary input axis is set to "0" at this time. If the address clutch reference setting command (M3213+20n) is turned off and it switches to the virtual mode, control continues from the current value within 1 virtual axis revolution of last virtual mode.

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8 OUTPUT MODULE

(f) An example of an address mode clutch operation is shown below.

10000

10000 0

0 0 0

0

0 0

0 0 0 0

1 axis Number of pulses per revolution : 10000[PLS] Cam

Set the clutch ON/OFF in this current value. (Current value within 1 virtual axis revolution)

1 axis

Virtual servomotor current value (Synchronous encoder)

Current value within 1 virtual axis revolution

Set the clutch status Clutch ON address = 0 Clutch OFF address = 0

Cam pattern(Stroke amount)

Current value within 1 output axis revolution

Operation example

(10) Current value within 1 virtual axis revolution storage device (Auxiliary input axis side) (2 words)

This parameter is set when the address mode clutch is set at the cam auxiliary input axis side.

Drive module

Current value within 1 virtual axis revolution

Address mode clutch Cam

Drive module

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8 OUTPUT MODULE

(a) By setting the current value within 1 virtual axis revolution of auxiliary input

axis side, the current value within 1 virtual axis revolution is stored in the preset device.

Gear ratio Current value within 1 virtual axis revolution of auxiliary input axis side

= Drive module travel value of auxiliary input axis side Number of pulses per cam revolution

(Note): Current value within 1 virtual axis revolution of auxiliary input axis side is updated regardless of clutch ON/OFF.

(b) The following devices can be set as the current value within 1 virtual axis

revolution storage device. Name Setting range (Note-1)

Data register D800 to D3069 (Note-2)

D3080 to D8191 Link register W0 to W1FFF (Note-1) : Set an even number at the first device. (Note-2) : D800 to D1559 are dedicated devices of virtual servomotor axis,

synchronous encoder axis and output module "Cam" in the virtual mode. Unused areas of virtual servomotor axis and cam axis can be used as a user device.

(c) The current value within 1 virtual axis revolution is the range of 0 to (NC-1)

[PLS].

(d) The address mode clutch is turned on/off with the specified address of the current value within 1 virtual axis revolution range of 0 to (NC-1) [PLS]. Therefore, set the address value within the range of 0 to (NC-1) [PLS] in the clutch ON/OFF address setting device.

(e) The current value within 1 virtual axis revolution reference position "0" is set

by turning the address clutch reference setting command (M3213+20n) on and switching to the virtual mode. The current values within 1 virtual axis revolution for both the main shaft and the auxiliary input axis is set to "0" at this time. If the address clutch reference setting command (M3213+20n) is turned off and it switches to the virtual mode, control continues from the current value within 1 virtual axis revolution of last virtual mode.

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8 OUTPUT MODULE

(f) An example of an address mode clutch operation is shown below.

100000 0 0 20000

0

0 0 20000

2 axes Number of pulses per revolution : 20000[PLS] Cam

2 axes

Set the clutch status Clutch ON address = 0

Cam pattern(Stroke amount)

Current value within 1 output axis revolution

Main shaft side clutch OFF

Set the clutch ON/OFF in this current value. (Current value within 1 virtual axis revolution)

Virtual servomotor current value of auxiliary input axis side (Synchronous encoder)

Current value within 1 virtual axis revolution of auxiliary input axis side

(Note): The rotation of output axis is reversed by differential gear.

Operation example

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8 OUTPUT MODULE

8.4.4 Cam curve list

This section describes the cam curves which can be used in the virtual mode.

(1) Cam curve characteristics comparison The cam curve characteristics comparison is shown below.

Table 8.6 Cam Curve Characteristics Comparison Table

Class Cam curve

name Acceleration curve shape

Vm Am (A V)m (V V)m (S V)m Remark

Constant - speed 1.00 1.00 1.00

Discontinuity curves Constant- acceleration 2.00 4.00 8.00 4.00 1.09

5th curve 1.88 5.77 6.69 3.52 1.19

Cycloid 2.00 6.28 8.16 4.00 1.26

Distorted trapezoid 2.00 4.89 8.09 4.00 1.20 Ta = 1 / 8

Distorted sine 1.76 5.53 5.46 3.10 1.13 Ta = 1 / 8

Symmetrical curves

Distorted constant- speed

1.28 8.01 5.73 1.63 1.07 Ta = 1 / 16 Ta = 1 / 4

Trapecloid 2.18 6.17 10.84 4.76 1.28 m = 1

Two- dwelling curve

Asymmetrical curves Reverse

trapecloid 2.18 6.17 10.84 4.76 1.28 m = 1

One-dwelling curve Double hypotenuse 2.04

+ 5.55 - 9.87

+ 7.75 - 9.89

4.16 1.39

Non-dwelling curve Single hypotenuse 1.57 4.93 3.88 2.47 1.02

(2) Free-form curve

The spline interpolation function can be used to create free-form cam curves.

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8 OUTPUT MODULE

MEMO

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9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START

9. REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START

This section describes the check details and switching method for the real/virtual mode switching.

(1) Real/virtual mode switching

Real/virtual mode switching is executed by turning the real/virtual mode switching request flag (M2043) on/off. Real mode ......... Switching request to the real mode by turning the M2043 off. Virtual mode ...... Switching request to the virtual mode by turning the M2043 on.

(2) Real/virtual mode confirmation

The current control mode state (real or virtual) can be confirmed by turning the real/virtual mode switching status flag (M2044) on/off. M2044 : OFF ................ Real mode state M2044 : ON .................. Virtual mode state

9.1 Switching from the Real to Virtual Mode

When the real to virtual mode switching is requested (M2043 OFF ON), the following check is executed. (Confirm the check items in Table 9.1 to 9.3 for switching from real to virtual mode, and execute with all normal state.) Check to determine if switching to the virtual mode is possible.... Refer to Table 9.1 Output module check .................................................................... Refer to Table 9.2 Synchronous encoder axis check ................................................. Refer to Table 9.3

9

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9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START

(1) Check to determine if switching to the virtual mode is possible

(a) The items in Table 9.1 are checked to determine if switching to the virtual mode is possible. When all check items of Table 9.1 are normal, switching to the virtual mode is executed.

(b) If an error of at least one item of Table 9.1, the real/virtual mode switching

error detection flag (M2045) turns on, and the error code is stored in the real/virtual mode switching error information storage register (D9193 to D9195). Refer to APPENDIX 2.8 for the error codes which are stored in the D9193 to D9195.

Table 9.1 Check Items List for Real to Virtual Mode Switching

Applicable output module Check

sequence Check item

Roller Ball

screw Rotary table

Cam Real mode axis

Normal condition

Abnor- mal

condition

1 Are PLC ready flag (M2000) and PCPU

READY complete flag (M9074) ON ? ON OFF

2 Have all axes stopped ?

(M2001 to M2032 : OFF) YES NO

3 Has cam data using the Motion SFC

program changed ? NO YES

Has the mechanical system program been registered ?

YES NO

4 Does the axis No. set in the system settings match the output axis set in the mechanical system program ?

YES NO

5 Is the all axes servo ON command

(M2042) ON ? ON OFF

6 Does not the servo start processing by the

servo error reset executed at the servo amplifier (axis used) ?

Comple- tion

During proc-

essing

7 Is the external encoder normal ? YES NO

8 Is the external forced stop inputted ? NO YES

9 Are the all axes servo error detection

signal (M2408+20n) ON ? OFF

ON even if 1 axis

10 Are the home position return request flag

(M2409+20n) OFF ? (Excluding roller axis) OFF

ON even if 1 axis

11 Does the units set in the fixed parameters

match that set in the output module ? YES NO

12 Has the cam data been registered? YES NO

13 Has the cam No. been set at the "cam No.

setting device" set in the cam parameter ? YES NO

14 Has the stroke amount (1 to 2147483647)

been set at the "stroke amount setting device" set in the cam parameter ?

YES NO

15 Is the cam "stroke amount setting device"

an even number ? YES NO

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9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START

(2) Output module check

(a) The items in Table 9.2 below are checked to determine the output module state. If an error is detected, it switches to the virtual mode, but the applicable system cannot be started. Correct the error cause in the real mode, and switch to virtual mode again.

(b) When an error is detected, the error detection signal (M2407+20n) of

applicable output module turns on, and the error code is stored in the minor/major error code storage register.

Table 9.2 Check Items List for Output Module

Applicable output module Check

sequence Check item

Roller Ball

screw Rotary table

Cam Normal

condition Abnormal condition

Is the feed current value within the stroke limit range ?

1 Is the feed current value within the range of "[lower stroke limit value] to [stroke amount]" ?

YES NO

2 Does not "[lower stroke limit value] +

[stroke amount]" exceed 2147483647 (231-1) in the two-way cam mode ?

YES NO

When the clutch connected to between the drive module and synchronous encoder is "external input mode", are the clutch ON/OFF device the same device ?

YES NO

3 When the clutch connected to between the

drive module and synchronous encoder is "external input mode", are the encoder I/F the manual pulse generator input ?

YES

NO (Serial

encoder (ABS) input)

Is the output module where either a "no clutch" or "clutch ON command" in effect for the virtual main shaft or the virtual auxiliary input axis the servo ready (M2415+20n : ON)?

ON OFF

4 Is the external input signal "STOP" of

output module where either a "no clutch" or "clutch ON command" in effect for the main shaft or the auxiliary input axis OFF ?

OFF ON

5 Can the current value within 1 cam

revolution be calculated in the two-way cam mode ?

YES NO

6 Is the clutch ON/ OFF address setting

device for address mode clutch an even number ?

YES NO

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9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START

(3) Synchronous encoder axis check

(a) The items in Table 9.3 below are checked to determine the synchronous encoder state. If an error is detected, it switches to the virtual mode, but the applicable system cannot be started. Correct the error cause in the real mode, and switch to virtual mode again.

(b) When an error is detected, the error detection signal (M2407+20n) of the

applicable output module turns on, and the error code is stored in the minor/major error code storage register.

Table 9.3 Check Items List for Synchronous Encoder Axis

Applicable synchronous encoder

Check sequence Check item External synchronous

encoder

Output module

Normal condition

Abnormal condition

Not connected 1

Is the synchronous encoder connected to the Q172EX ?

Connected Cable break

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9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START

9.2 Switching from the Virtual to Real Mode

Switching from the virtual to real mode is executed by user side or operating system software. By user side ......... Turn the real/virtual mode switching request flag

(M2043) off. By operating system software ......... Switch automatically at the servo error detection.

9.2.1 Switching from the virtual to real mode by user side

(1) When the virtual to real mode switching is requested (M2043 ON OFF), the item in Table 9.4 is checked. If normal, it switches to the real mode. (Confirm the check items in Table 9.4 for the switching from virtual to real mode, and execute with all normal state.)

(2) The real/virtual mode switching error detection flag (M2045) turns on at the error

detection, and the error code is stored in the real/virtual mode switching error information storage register (D9193 to D9195). (Refer to APPENDIX 2.8)

Table 9.4 Check Items List for VIRTUAL to REAL Mode Switching

Check sequence Check item Normal condition Abnormal condition

1 Are all axes (Virtual axis and real mode axis)

stopped? (M2001 to M2032 : OFF) OFF ON even if 1 axis

9.2.2 Switching from the virtual to real mode by operating system software

(1) If the following items are detected in the virtual mode operation, the operating system software automatically switches back to the real mode. The forced stop is input. PLC ready flag (M2000) turns off. When "Return to Real Mode" is set as an operation on servo error, the servo error detection signal (M2408+20n) turns on even if 1 axis.

(2) The error code is stored in the real/virtual mode switching error information

storage register (D9193 to D9195) at the switching back from virtual to real mode. However, the real/virtual mode switching error detection flag (M2045) does not turn on.

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9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START

9.2.3 Continuous operation on servo error in virtual mode

(1) Processing on servo error in virtual mode can be set by MT Developer (mechanical system editor screen). (Default: "Return to Real Mode") Mechanical system editor screen

[Operation on Servo Error] key

Operation setting screen on servo error

Operation conditions for continuous operation on servo error in virtual mode are shown below.

Operation mode Details Operation on servo

error Operation for

other axes Return condition to

virtual mode

Return to Real Mode Motion CPU switches to real mode.

Rapid stop After error release in real mode

Continue Virtual Mode Virtual mode continues.

Only axis on servo error is servo OFF, and servomotor coasts.

Normal operation continues

After error release in virtual mode

POINT

When "Continue Virtual Mode" is selected, be sure to use a clutch in the mechanical system program. In addition, the drive module connected to output axis on servo error is also continuing operation. Be sure to release a servo error after clutch OFF.

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9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START

9.3 Precautions at Real/Virtual Mode Switching

This section describes the precautions at real/virtual mode switching.

(1) The motion control step and the torque limit value change instruction/speed change instruction during mode switching processing execution impossible The motion control step and the torque limit value change instruction/speed change instruction during the from real to virtual mode/from virtual to real mode switching processing (part of timing chart (Note-1) cannot execute. The real/virtual mode switching request flag (M2043) and real/virtual mode switching status flag (M2044) should be used as an interlock.

[Timing Chart]

Real to virtual mode switching request Virtual to real mode switching request

Real/virtual mode switching request (M2043) Real/virtual mode switching status (M2044)

(Note-1) : Real to virtual mode switching processing

(Note-1) : Virtual to real mode switching processing

Real mode Virtual mode Real mode

OFF

OFF

ON

ON

Motion SFC program for which executes the motion control step of real and virtual mode is shown below.

[Program Example]

(a) Motion control step in the virtual mode Example of Motion SFC program is shown below.

ABS-1 Axis 1, 10000PLS Speed 1000PLS/s

END

!PX000*!M2001

PX000*M2043*M2044*!M2001 G10

G20

K10

Virtual mode example

Virtual mode

1 axis linear control Axis used................ Axis 1 End address............ 10000[PLS]

Positioning speed......... 1000[PLS]

PX000, real/virtual switching request and switching status turn on, and axis 1 start accept flag turn off.

Wait until PX000 and axis 1 start accept flag turn off.

(Note) : Example of the above Motion SFC program is started using the automatic start or PLC program.

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9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START

(b) Motion control step in the real mode

Example of Motion SFC program is shown below.

ABS-1 Axis 1, 20000PLS Speed 2000PLS/s

END

!PX000*!M2001

PX000*!M2043*!M2044*!M2001 G10

G20

K10

Real mode example

Real mode

1 axis linear control Axis used................ Axis 1 End address............ 20000[PLS]

Positioning speed......... 2000[PLS]

PX000 turn on, real/virtual switching request and switching status turn off, and axis 1 start accept flag turn off.

Wait until PX000 and axis 1 start accept flag turn off.

(Note) : Example of the above Motion SFC program is started using the automatic start or PLC program.

REMARK

Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details.

(2) M2043 processing during the TEST mode using a peripheral device

M2043 ON/OFF (Real/virtual mode switching request) is ignored during the test mode using a peripheral device. Real/virtual mode switching can be executed using a peripheral device, during TEST mode operation using a peripheral device. The real/virtual mode switching status flag (M2044) is turned off/on with the real/virtual mode.

REMARK

The same check as the "M2043 (OFF ON/ON OFF)" is also executed at the real/virtual mode switching using a peripheral device. (Refer to Sections 9.1 and 9.2)

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9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START

9.4 Stop and re-start

The basic method for stopping the system (output module) in the virtual mode operation is to stop the main shaft. If an auxiliary input axis is used, also stop the auxiliary input axis.

(1) Virtual axis stop

The stop operation or causes of virtual axis, the stop processing and re-start after stop are shown below. The following three methods for the virtual servomotor axis stop processing. This processing is also valid for interpolation axes during the interpolation operation. Deceleration stop ..... Deceleration stop based on the "stop deceleration time"

of parameter block. Rapid stop ................ Deceleration stop based on the "rapid stop deceleration

time" of parameter block. Immediate stop . Immediate stop without deceleration.

Because the synchronous encoder axis becomes the input immediate stop, operation should be executed after the synchronous encoder axis has been stopped from the external input, except for abnormal stops such as the forced stop or a servo error occurrence, etc. (Example : M2000 is OFF, All axes servo OFF command etc,.) (The servo error occurs by the immediate stop of output module connected to the synchronous encoder axis, and the synchronization discrepancy may occurs.)

When the synchronization discrepancy occurs by the stop cause, the synchronization discrepancy warning (M2046) turns on. In this case, re-align the axes in the real mode, turn M2046 off, then continue the virtual mode operation.

The stop operation/stop causes during operation and re-starting operation after stop are shown in the next page.

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9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START

9.4.1 Stop operation/stop causes during operation and re-starting operation list

Table 9.5 Stop Operation/stop Causes during Operation and Re-starting Operation List Affected virtual axis Stop processing

No. Stop operation or stop

causes during operation

Virtual servomotor

axis

Synchronous encoder axis

All axes batch

Virtual servomotor axis

Synchronous encoder axis

Return to Real mode by operating system

software after all virtual axes stop completion

Synchronization discrepancy warning

(M2046) set

1 Stop command ON

(Applicable axis)

Deceleration stop

2 Rapid stop command ON

(Applicable

axis) Rapid stop

3

All-axes servo OFF command (M2042 OFF, Command using a peripheral device in the TEST mode)

Deceleration stop Immediate input stop

4 PLC ready flag (M2000) OFF Deceleration stop Immediate

input stop

5 Motion CPU stop Deceleration stop Immediate input stop

6 All-axes rapid stop key input from a peripheral device

Rapid stop Immediate input stop

7 Stop key input from peripheral device in the TEST mode

(All axes) Deceleration stop

8 Forced stop input Rapid stop Immediate input stop

9 Servo error at output module even if 1 axis Rapid stop Immediate

input stop

10 Motion CPU WDT error Immediate stop Immediate input stop

11 Motion CPU reset Immediate stop Immediate input stop

12 Motion CPU power OFF Immediate stop Immediate

input stop

13 Other errors during virtual axis operation Deceleration stop

14 Error detection at absolute synchronous encoder axis

Immediate input stop

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9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START

Error set Output module operation Operation continuation

enabled ( )/ disabled ( )

Re-start operation after stop

Deceleration stop based on the

smoothing time constant. Continuous operation is possible by turning the stop command off (not necessary when on) and starting.

Deceleration stop based on the

smoothing time constant. Continuous operation is possible by turning the stop command off (not necessary when on) and starting.

Servo OFF state after deceleration stop based on the smoothing time constant.

Continuous operation is possible by turning the all clutch off all axes servo on clutch on. (However, when the servomotor does not operate during the servo OFF. Also, the clutch OFF/ON is switched as required by the user side.)

For synchronous encoder axes, switch to the real mode, then back to the virtual mode to resume inputs.

Minor error (200) set (virtual axis)

Deceleration stop based on the smoothing time constant. Operation is possible by executing the real to virtual mode switching

request (M2043 ON), after turning the PLC ready flag (M2000) on.

Minor error (200) set (virtual axis)

Deceleration stop based on the smoothing time constant. Operation is possible by executing the real to virtual mode switching

request (M2043 ON), after starting the Motion CPU.

Deceleration stop based on the smoothing time constant.

Continuous operation is possible by starting after stop. For synchronous encoder axes, switch to the real mode, then back to the virtual mode to resume inputs.

Deceleration stop based on the smoothing time constant.

Continuous operation is possible by starting after stop.

Servo OFF state after immediate stop.

Continuous operation is not possible due to a synchronization discrepancy between the virtual axis and output module, and stop.

After release the forced stop, re-align the output module in the real mode, switch the synchronization discrepancy warning (M2046) OFF, then switch back to the virtual mode to resume operation.

Applicable output module (Servo error, Servo error code set)

Servo OFF state after immediate stop for error axis only.

All other axes are synchronized with the virtual axis, and are then stopped.

After executing a servo error reset in the real mode, re-align the axes, switch the synchronization discrepancy warning (M2046) OFF, then switch back to the virtual mode to resume operation.

M9073 (PCPU WDT error) ON

Servo OFF state after immediate stop.

Continuous operation is not possible due to a synchronization discrepancy between the virtual axis and output module, and stop.

After resetting the Motion CPU, re-align the output module, then switch to the virtual mode to resume operation.

Servo OFF state after immediate stop.

Continuous operation is not possible due to a synchronization discrepancy between the virtual axis and output module, and stop.

After resetting the Motion CPU, re-align the output module, then switch to the virtual mode to resume operation.

Servo OFF state after immediate stop.

Continuous operation is not possible due to a synchronization discrepancy between the virtual axis and output module, and stop.

After resetting the Motion CPU, re-align the output module, then switch to the virtual mode to resume operation.

Applicable error set

Deceleration stop based on the smoothing time constant.

Operation is possible by release the error cause.

Applicable error set

Deceleration stop based on the smoothing time constant.

Return to the real mode, re-align the axes, then switch to the virtual mode to resume operation.

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9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START

MEMO

10 - 1

10 AUXILIARY AND APPLIED FUNCTIONS

10

10. AUXILIARY AND APPLIED FUNCTIONS

This section describes the auxiliary and applied functions for positioning control in the Multiple CPU system. Items Details Applications

Mixed function of virtual mode with real mode

Positioning control for preset axis is executed during synchronous control/cam control in the mechanical system program.

It is used in the system for which conveys while executing synchronous control.

Cam/ball screw switching function

Cam axis operation is switched to ball screw operation in the mechanical system program.

When an error occurs during cam axis operation and it becomes outside the stroke range, it can be returned within the stroke range by switching from cam to ball screw.

10.1 Mixed Function of Virtual Mode with Real Mode

Refer to Section 1.3.4 of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for the correspondence software version. When the output axis No. to execute positioning control directly is selected in the mixed function of virtual mode with real mode, a positioning control of axis which is not used in the mechanical system program can be executed simultaneously during the mechanical system program. (1) Program example

[G100] M2049//Servo ON accept?

[K10 : Real] 1 INC-1 Axis 5, 20000 PLS/s Address 200000 PLS

END

Motion SFC program

Transfer

Servo program

Servo amplifier (Axis 5)

Servomotor

(Note): Motion SFC program can also be started automatically by parameter setting.

[G200] M2044//on virtual mode?

[K100 : Virtual] 1 VF Axis 1, Combined D 0 PLS/s

END

Motion SFC program

Transfer

Servo program

Mechanical system program Drive module (Virtual servomotor)

Transmission module

(Axis 1)

Output module

Servo amplifier (Axis 2)

Servo amplifier (Axis 3)

Servomotor Servomotor

10 - 2

10 AUXILIARY AND APPLIED FUNCTIONS

(2) Setting method

Set the axis to control as real mode axis in the [Option] [Real Mode Axis Setting] key of mechanical system program editor screen in SW6RN-GSV22P.

Mechanical system editor screen

[Real Mode Axis Setting] key

Real mode axis setting screen

POINT (1) Execute "Conversion and Save" after setting "Real mode axis setting" in the

mechanical system program editor. (2) Axis No. set in the "Real mode axis setting" cannot be set as virtual servomotor

axis No.. And, the output No. set in the mechanical system program cannot be also set as real mode axis No..

(3) When a fixed parameter of each axis is changed, be sure to execute

"Conversion and Save" in also the mechanical system program editor screen. (4) Operation cycle over may occur for default operation cycle depending on the

number of axes for real mode axis. In this case, change an operation cycle to a large value in the system setting.

10 - 3

10 AUXILIARY AND APPLIED FUNCTIONS

(a) Usable instructions and controls

Items Usable/unusable Remarks

Linear positioning control

Linear interpolation control

Circular interpolation control

Helical interpolation control

Fixed-pitch feed control

Speed control ( )

Speed control ( )

Speed-position switching control

Position follow-up control Constant-speed control

Simultaneous start

Home position return (ZERO)

Servo instructions

High-speed oscillation (OSC)

Positioning control with the torque limit value set in the servo program (parameter block)

JOG operation Control with JOG operation data

Manual pulse generator operation Test mode disable (Virtual mode)

Current value change (S(P).CHGA Jn (Note), CHGA)

Speed change (S(P).CHGV, CHGV)

Torque limit value change (S(P).CHGT, CHGT)

: Usable : Unusable (Note) : "n" shows the numerical value correspond to axis No..

10 - 4

10 AUXILIARY AND APPLIED FUNCTIONS

(b) Control methods

Items Control method Remarks

Servo program start

Use a Motion SFC program start or S(P).SVST instruction.

Set a real mode axis No. as axis No..

When the ZERO, OSC, CHGA-C or CHGA-E instruction is executed to real mode axis, "Servo program setting error" (error code: 905) occurs.

When the real mode axis is set to the virtual servo program and it starts, "Servo program setting error" (error code: 906) occurs.

When the real mode axis and virtual axis are set together to the interpolation axis if it starts, "Servo program setting error" (error code: 906) occurs.

Stop

Turn the stop command (M3200+20n) or rapid stop command (M3201+20n) ON in real mode.

Turn the external signal (STOP) ON. Use the deceleration stop or all axes

rapid stop (Test mode ON) from the peripheral device.

Change speed to "0".

Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)" for details of stop processing.

JOG operation

Use the forward rotation JOG start command (M3202+20n) or reverse rotation JOG start command (M3203+20n).

Control with parameter JOG operation data.

Current value change

Use S(P).CHGA Jn (Note), CHGA instruction.

Set a real mode axis No. as axis No..

When the S(P).CHGA Cn (Note) or CHGA En (Note) instruction is executed, the instruction is ignored.

When the CHGA-C or CHGA-E instruction is executed to real mode axis, "Servo program setting error" (error code: 905) occurs.

Speed change Use S(P).CHGV, CHGV instruction. Set a real mode axis No. as axis No..

Torque limit value change

Use S(P).CHGT, CHGT instruction. Set a real mode axis No. as axis No..

Torque limit value of real mode axis at switching from real to virtual mode continues the state in real mode.

(Note) : "n" shows the numerical value correspond to axis No..

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10 AUXILIARY AND APPLIED FUNCTIONS

(c) Error codes in real mode axis

Error codes at positioning control in the mixed function of virtual mode with real mode are shown below. 1) Minor error (1 to 999) 2) Major error (1000 to 1299) Minor error (4000 to 9990)/major error (10000 to 12990) code of output module in virtual mode are not set in minor/major error code storage register (D6+20n/D7+20n).

(d) Difference for operation between the output axis of mechanical system

program and real mode axis Operation details for "output axis of mechanical system program" and "real mode axis" on error are shown below.

Items Operation for output axis of mechanical

system program Operation for real mode axis

Feed current value exceeds the stroke limit range at switching from real mode to virtual mode.

Minor error (error code: 5000) occurs. Related system cannot be started.

Minor error (error code: 105) occurs at servo program start, and operation does not start.

Feed current value exceeds the stroke limit range during operation.

Minor error (error code: 6030) occurs. Operation continues.

Minor error (error code: 207) occurs, and deceleration stop is executed.

Output speed exceeds the speed limit value.

Minor error (error code: 6010) occurs. Speed cramp does not process by

speed limit value.

Servo program setting error or minor error occurs. Speed is controlled by speed limit value.

Stop signal (STOP) is ON.

Major error (error code: 11020) occurs.

Operation continues for axis without clutch.

Operation is controlled based on the operation mode on error for axis with clutch.

Major error (error code: 1000) occurs by turning the stop signal (STOP) on at start, and operation does not start.

Operation stops based on "deceleration processing at stop" of parameter block by turning the stop signal (STOP) on during operation.

External upper LS signal (FLS) turns off during travel to forward direction (address increase direction).

Major error (error code: 11030) occurs.

Operation continues for axis without clutch.

Operation is controlled based on the operation mode on error for axis with clutch.

Major error (error code: 1001) occurs by turning the external upper LS signal (FLS) off at start to forward direction, and operation does not start.

Major error (error code: 1101) occurs by turning the external upper LS signal (FLS) off during start to forward direction, operation stops based on "deceleration processing at stop" of parameter block.

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10 AUXILIARY AND APPLIED FUNCTIONS

Items Operation for output axis of mechanical

system program Operation for real mode axis

External lower LS signal (RLS) turns off during travel to reverse direction (address decrease direction).

Major error (error code: 11040) occurs.

Operation continues for axis without clutch.

Operation is controlled based on the operation mode on error for axis with clutch.

Major error (error code: 1002) occurs by turning the external lower LS signal (RLS) off at start to reverse direction, and operation does not start.

Major error (error code: 1102) occurs by turning the external lower LS signal (RLS) off during start to reverse direction, operation stops based on "deceleration processing at stop" of parameter block.

Change the torque limit value.

Any time valid by setting the torque limit value storage register (D14+20n) of output axis and changing preset value.

Torque limit value change instructions (S(P).CHGT, CHGT) are valid.

(e) Difference for operation between the real mode axis in virtual mode and real

mode When the servo OFF command (M3215+20n) turns on at using the mixed function of virtual mode with real mode in virtual mode, positioning control stops.

Items Operation for real mode axis

in virtual mode Operation for axis in real mode

Servo OFF command (M3215+20n)

Any time valid at using real mode axis in virtual mode.

Invalid during positioning control.

(f) Cautions

1) Axis operation, current value, speed and torque limit value cannot be changed for all axes during mode switching.

2) When the feed current value of real mode axis is outside the stroke limit range at virtual mode switching, an error will occur at start of real mode axis. Use the JOG operation to reverse within the stroke limit range.

3) Switching from virtual mode to real mode cannot be executed during positioning control of real mode axis. Switch a mode after stop the real mode axis.

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10 AUXILIARY AND APPLIED FUNCTIONS

10.2 Cam/Ball Screw Switching Function

Refer to Section 1.3.4 of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for the correspondence software version. When a cam is set as output module in the mechanical system program, a cam executes the same operation as ball screw by turning the cam/ball screw switching command (M5488+n) on corresponding to each output axis No.. (1) Operation of output axis by cam/ball screw switching command

Items Operation details

Cam/ball screw switching command (M5488+n) : OFF

Specified cam pattern operation

Same operation as ball screw

Command to servo amplifier = Preset command to servo amplifier +

Drive module travel value[PLS] Gear ratio Cam/ball screw switching command (M5488+n) : ON

(Note): Feed current value is calculated based on the travel value per pulse set in the fixed parameter.

(2) Cautions at cam/ball screw switching

The current value within 1 cam shaft revolution is calculated based on the feed current value, lower stroke limit value, stroke amount and cam No. (cam pattern) by turning off the cam/ball screw switching command. It is invalid to turn on the cam/ball screw switching command to axis that except cam axis. If the cam/ball screw switching command (M5488+n) is turned off outside the range of "lower stroke limit value to stroke amount" for cam a minor error (error code: 5000)will occur.

(3) Cam operation re-start procedure on servo error

"Continue Virtual Mode" is set for operation on servo error, if the feed current value of output axis is outside the range of cam operation ("Lower stroke limit value to Stroke amount") by servo error for two-way cam, return the output axis to within cam operation range. a) Remove servo error cause.

b) Turn the cam/ball screw switching command (M5488+n) ON.

c) Execute the servo error reset (M3208+20n).

d) Return the output axis position within cam operation range to within stroke

range by JOG operation, etc.

e) Turn the cam/ball screw switching command (M5488+n) OFF.

f) Re-start virtual mode.

10 - 8

10 AUXILIARY AND APPLIED FUNCTIONS

MEMO

APP - 1

APPENDICES

APP.

APPENDICES

APPENDIX 1 Cam Curves

The cam acceleration curve formulas used in the virtual mode are shown below.

(1) Acceleration curve formula A : Dimensionless acceleration Am : Dimensionless maximum acceleration T : Dimensionless time Ta, Tb, Tc : T borderlines when section divisions are used (a) Discontinuity curve

1) Constant-speed curve A = C0

2) Constant-acceleration curve Section (0 T 0.5)

A = 4 + C0 Section (0.5 < T 1)

A = 4 + C0 (b) Two-dwelling symmetrical curve

1) 5th curve A = 120T3 180T2 + 60T + C0

2) Cycloid curve Am = 2 A = 2 sin2 T + C0

3) Distorted trapezoid curve 1

Ta = 8

1 Am =

1 2

4 Ta +

Ta

Section (0 T Ta)

A = Amsin 2Ta

T + C0

Section (Ta < T 0.5 Ta) A = Am + C0

Section (0.5 Ta < T 0.5 + Ta)

(T 0.5 Ta) A = Amcos 2Ta

+ C0

Section (0.5 + Ta < T 1 Ta) A = Am + C0

Section (1 Ta < T 1) (T 1 Ta)

A = Amcos 2Ta

+ C0

APP - 2

APPENDICES

4) Distorted sine curve

1 Ta =

8

1 Am =

2Ta 2 8Ta

+

2 Section (0 T Ta)

A = Amsin

2Ta T + C0

Section (Ta < T 1 Ta) (T Ta)

A = Amcos 1 2Ta

+ C0

Section (1 Ta < T 1)

(T 1 + Ta) A = Amcos 2Ta

+ C0

5) Distorted constant-speed curve 1

Ta = 16

1 Tb =

4

1 Am =

2 8 4

(2

TaTb + (

2 )Tb2 + Tb

Section (0 T Ta)

A = Amsin 2Ta

T + C0

Section (Ta < T Tb) (T Ta)

A = Amcos 2 (Tb Ta)

+ C0

Section (Tb < T 1 Tb) A = 0 + A0

Section (1 Tb < T 1 Ta) (T 1 + Ta)

A = Amsin 2 (Tb Ta)

+ C0

Section (1 Ta < T 1) (T 1 + Ta)

A = Amcos 2Ta

+ C0

APP - 3

APPENDICES

(c) Two-dwelling asymmetrical curve

1) Trapecloid curve

TaTb + Tb2 Am = 1

3 2

4 4 2

2 21 2

4 2

Ta2 + (1 + ) ( ) (1 Tc) 2( + + )

Section (0 T Ta)

A = Amsin 2Ta

T + C0

Section (Ta < T Tb) A = Am + C0

Section (Tb < T Tc) (T 6T)

A = Amcos 2Ta

+ C0

Section (Tc < T 1) (T Tc)

A = Amcos 2 (1 Tc)

+ C0

2) Reverse trapecloid curve 1

Ta = 8

2 6Ta + Ta Tb =

2 +

2 2Ta + 3 Ta Tc =

2 +

TaTb + Tb2 Am = 1

3 2

4 4 2

2 21 2

4 2

Ta2 + (1 + ) ( ) (1 Tc) 2( + + )

2TaAm Va =

Vb = Am (Tb Ta) + Va

2Ta2Am 4Ta2 Sa = 2

Am Sb =

2 (Tb Ta)2 + Va (Tb Ta) + Sa

8Ta2Am Sc =

2 + 2VbTa + Sb

1 Ta =

8

2 6Ta + Ta Tb =

2 +

2 2Ta + 3 Ta Tc =

2 +

APP - 4

APPENDICES

Section (0 T 1 Tc)

(1 Tc T) A = Amcos

2 (1 Tc) + C0

Section (1 Tc < T 1 Tb)

Section (1 Tb < T 1 Ta) A = Am + C0

Section (1 Ta < T 1) (1 T)

A = Amsin 2Ta

+ C0

(d) One-dwelling curve

1) Double hypotenuse curve 2 A =

2 (cos T cos 2 T) + C0

(e) Non-dwelling curve

1) Single hypotenuse curve 2 A =

2 cos T + C0

(2) Cam curve coefficient

(a) Distorted trapezoid Section

0 < Section < 0.25 (1/4) Default Value : 0.125 (1/8) (b) Distorted sine

Section 0 < Section < 0.5 (1/2) Default Value : 0.125 (1/8)

(c) Distorted constant-speed (Section l < Section II) Section

0 < Section < 0.125 (1/4) Default Value : 0.0625 (1/16) Section

0 < Section < 0.5 (1/2) Default Value : 0.25 (1/4) (d) Trapecloid

Section 0 < Section < 0.25 (1/4) Default Value : 0.125 (1/8)

(e) Reverse trapecloid Section

0 < Section < 0.25 (1/4) Default Value : 0.125 (1/8)

(1 Tb T) A = Amcos

2Ta + C0

APP - 5

APPENDICES

APPENDIX 2 Error Codes Stored Using The Motion CPU

The following errors are detected in the Motion CPU. Servo program setting error Positioning error Control mode switching error Motion SFC error Motion SFC parameter error Multiple CPU related error

(1) Servo program setting errors

These are positioning data errors set in the servo program, and it checks at the start of the each servo program. They are errors that occur when the positioning data is set indirectly. The operations at the error occurrence are shown below. The servo program setting error flag (M9079) turns on. The erroneous servo program is stored in the error program No. storage

register (D9189). The error code is stored in the error item information register (D9190).

(2) Positioning error

(a) Positioning errors occurs at the positioning start or during positioning control. There are minor errors, major errors and servo errors. 1) Minor errors These errors occur in the Motion SFC program or servo

program, and the error codes (drive module : 1 to 999, output module : 4000 to 9990) are used. Check the error code, and remove the error cause by correcting the Motion SFC program or servo program.

2) Major errors These errors occur in the external input signals or control commands from the Motion SFC program, and the error codes (drive module : 1 to 1999, output module : 10000 to 11990) are used. Check the error code, and remove the error cause of the external input signal state or Motion SFC program.

3) Servo errors ...These errors detected in the servo amplifier or servo amplifier power supply, and the error codes 2000 to 2999 are used. Check the error code, and remove the error cause of the servo amplifier side.

Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for details.

APP - 6

APPENDICES

The error applicable range for each error class are shown below.

Error module Error class Erroneous category Drive module Output module

Setting data 1 to 99 4000 to 4990 At start 100 to 199 5000 to 5990 During operation 200 to 299 6000 to 6990

Minor error

At control change 300 to 399 At start 1000 to 1099 10000 to 10990 During operation 1100 to 1199 11000 to 11990 Major error System 15000 to 15990

Servo amplifier 2000 to 2799

(2100 to 2499 : warning) Servo error

Servo amplifier power supply module

2800 to 2999

(2900 or later : warning)

(b) The error detection signal of the erroneous axis turns on at the error

occurrence, and the error codes are stored in the minor error code, major error code or servo error code storage register.

Error code storage register Device Error class Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Axis 9 Axis10 Axis11 Axis12

Minor error code D802 D812 D822 D832 D842 D852 D862 D872 D882 D892 D902 D912 Virtual servomotor Major error code D803 D813 D823 D833 D843 D853 D863 D873 D883 D893 D903 D913

Minor error code D1122 D1132 D1142 D1152 D1162 D1172 D1182 D1192 D1202 D1212 D1222 D1232Synchronous encoder Major error code D1123 D1133 D1143 D1153 D1163 D1173 D1183 D1193 D1203 D1213 D1223 D1233

Minor error code D6 D26 D46 D66 D86 D106 D126 D146 D166 D186 D206 D226 Major error code D7 D27 D47 D67 D87 D107 D127 D147 D167 D187 D207 D227 Output module Servo error code D8 D28 D48 D68 D88 D108 D128 D148 D168 D188 D208 D228

Error code storage register Device Error class Axis13 Axis14 Axis15 Axis16 Axis17 Axis18 Axis19 Axis20 Axis21 Axis22 Axis23 Axis24

Minor error code D922 D932 D942 D952 D962 D972 D982 D992 D1002 D1012 D1022 D1032Virtual servomotor Major error code D923 D933 D943 D953 D963 D973 D983 D993 D1003 D1013 D1023 D1033

Minor error code Synchronous encoder Major error code

Minor error code D246 D266 D286 D306 D326 D346 D366 D386 D406 D426 D446 D466 Major error code D247 D267 D287 D307 D327 D347 D367 D387 D407 D427 D447 D467 Output module Servo error code D248 D268 D288 D308 D328 D348 D368 D388 D408 D428 D448 D468

Error code storage register Device Error class Axis25 Axis26 Axis27 Axis28 Axis29 Axis30 Axis31 Axis32

Error detection signal

Error reset command

Minor error code D1042 D1052 D1062 D1072 D1082 D1092 D1102 D1112Virtual servomotor Major error code D1043 D1053 D1063 D1073 D1083 D1093 D1103 D1113

M4007+20n M4807+20n

Minor error code Synchronous encoder Major error code

M4640+4n M5440+4n

Minor error code D486 D506 D526 D546 D566 D586 D606 D626 Major error code D487 D507 D527 D547 D567 D587 D607 D627

M2407+20n M3207+20n Output module

Servo error code D488 D508 D528 D548 D568 D588 D608 D628 M2408+20n M3208+20n

APP - 7

APPENDICES

(c) If another error occurs after an error code has been stored, the existing

error code is overwritten, deleting it. However, the error history can be checked using a peripheral device started with the SW6RN-GSV22P.

(d) Error detection signals and error codes are held until the error reset

command (M3207+20n) or servo error reset command (M3208+20n) turns on.

POINT

(1) Even if the servo error reset (M3208+20n) turns on at the servo error occurrence, the same error code might be stored again.

(2) Reset the servo error after removing the error cause of the servo amplifier side

at the servo error occurrence.

(3) Error at the real/virtual mode switching These errors are checked when the real/virtual mode switching request flag (M2043) turns off to on/on to off. When the check shown in Section 9.1 and 9.2 is executed, and if error is detected, it is as follows. It remains the current mode without the real/virtual mode switching. The real/virtual mode switching error detection flag (M2045) turns on. The error codes are stored in the real/virtual mode switching error information

(D9193 to D9195).

POINT The axis error code among the error codes stored in the D9193 to D9195 is shown below.

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

b15 b0

D9194

D9195

D9193 Error

Erroneous axis bit "1" For 8 axes error (Decimal) "128" and (Hexadecimal) "0080H" is stored in the D9194, (Decimal) "0" and (Hexadecimal) "0000H" is stored in the D9195, and the error code is stored in the D9193.

APP - 8

APPENDICES

APPENDIX 2.1 Expression Method for Word Data Axis No.

The axis No. may be expressed to correspond to each bit of word data for the positioning dedicated signal.

Example of the TEST mode request error information (D9182 to D9183) is shown below.

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

Stores the during operation/stop data of each axis

D9182

D9183

(Note) : The range of axis No.1 to 8 is valid in the Q172CPU(N). 0 : During stop 1 : During operation

(1) Axis 8 : Test mode request error

The controlling signal "1" is stored in D9182 "b7 (axis 8)".

Decimal Hexadecimalb15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0D9182

D9183

D9182 128 0080H

D9183 0 0000H0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

(2) Axis 12, 20 : Test mode request error

The controlling signal "1" is stored in D9182 "b11 (axis 12)" and D9183 "b3 (axis 20)".

Decimal Hexadecimalb15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0D9182

D9183

D9182 2048 0800H

D9183 8 0008H0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0

(3) Axis 4, 10 : Test mode request error

The controlling signal "1" is stored in D9182 "b3 (axis 4)" and D9182 "b9 (axis 10)".

Decimal Hexadecimalb15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0D9182

D9183

D9182 520 0208H

D9183 0 0000H0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0