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Mitsubishi Electric Q Series User Manual
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Q173D(S)CPU/Q172D(S)CPU
Motion Controller (SV13/SV22)
Programming Manual (Motion SFC)
-Q172D
CPU
-Q173D
CPU
-Q172DCPU-S1
-Q173DCPU-S1
-Q172D
SCPU
-Q173D
SCPU
2
Table of Contents
Default Chapter
2
Safety Precautions
2
Revisions
12
Table of Contents
14
About Manuals
20
1 Overview
24
Features
26
Features of Motion SFC Programs
26
Performance Specifications
27
Operation Control/Transition Control Specifications
31
Positioning Dedicated Devices
36
Restrictions by the Software's Version
101
Programming Software Version
107
2 Structure of the Motion Cpu Program
108
Motion Control in SV13/SV22 Real Mode
109
Motion Control in SV22 Virtual Mode
110
Motion Control in SV22 Advanced Synchronous Control
111
3 Motion Dedicated Plc Instruction
112
Outline of Motion Dedicated PLC Instruction
112
Motion SFC Start Request from the PLC CPU to the Motion CPU: D(P).SFCS (PLC Instruction: D(P).SFCS )
114
Servo Program Start Request from the PLC CPU to the Motion CPU: D(P).SVST (PLC Instruction: D(P).SVST )
118
Current Value Change Instruction from the PLC CPU to the Motion CPU: D(P).CHGA (PLC Instruction: D(P).CHGA )
124
Current Value Change Instruction of Command Generation Axis from the PLC CPU to the Motion CPU: D(P).CHGAS (PLC Instruction: D(P).CHGAS )
138
(SV22 Advanced Synchronous Control Only)
138
Speed Change Instruction from the PLC CPU to the Motion CPU: D(P).CHGV (PLC Instruction: D(P).CHGV )
144
Speed Change Instruction of Command Generation Axis from the PLC CPU to the Motion CPU: D(P).CHGVS (PLC Instruction: D(P).CHGVS ) (SV22 Advanced Synchronous Control Only)
150
Torque Limit Value Change Request Instruction from the PLC CPU to the Motion CPU: D(P).CHGT (PLC Instruction: D(P).CHGT )
156
Torque Limit Value Individual Change Request Instruction from the PLC CPU to the Motion CPU: D(P).CHGT2 (PLC Instruction: D(P).CHGT2 )
161
Write Device Data of the Self CPU to the Device of Other CPU: D(P).DDWR (PLC Instruction: D(P).DDWR )
166
Read Device Data of Other CPU to the Device of Self CPU
171
Interrupt Instruction to the Other CPU: D(P).GINT (PLC Instruction: D(P).GINT )
176
Precautions
180
4 Motion Sfc Programs
194
Motion SFC Program Configuration
194
Motion SFC Chart Symbol List
195
Branch and Coupling Chart List
198
Motion SFC Program Name
202
Steps
203
Motion Control Step
203
Operation Control Step
204
Subroutine Call/Start Step
205
Clear Step
207
Transitions
209
Jump, Pointer
212
End
212
Branches, Couplings
213
Series Transition
213
Selective Branch, Selective Coupling
214
Parallel Branch, Parallel Coupling
215
Y/N Transitions
217
Motion SFC Comments
221
5 Operation Control Programs
224
Device Descriptions
232
Constant Descriptions
235
Binary Operations
236
Substitution
236
Addition
238
Subtraction
239
Multiplication
240
Division
241
Remainder
242
Bit Operations
243
Bit Inversion (Complement)
243
Bit Logical and
244
Bit Logical or
245
Bit Exclusive Logical or
246
Bit Right Shift
247
Bit Left Shift
248
Sign Inversion (Complement of 2)
249
Standard Functions
250
Sine : sin
250
Cosine : COS
251
Tangent : tan
252
Arcsine : ASIN
253
Arccosine : ACOS
254
Arctangent : ATAN
255
Square Root : SQRT
256
Natural Logarithm : LN
257
Exponential Operation : EXP
258
Absolute Value : ABS
259
Round-Off : RND
260
Round-Down : FIX
261
Round-Up : FUP
262
Bcd
263
Bin
264
Type Conversions
265
Signed 16-Bit Integer Value Conversion : SHORT
265
Unsigned 16-Bit Integer Value Conversion : USHORT
266
Signed 32-Bit Integer Value Conversion : LONG
268
Unsigned 32-Bit Integer Value Conversion : ULONG
269
Signed 64-Bit Floating-Point Value Conversion : FLOAT
271
Unsigned 64-Bit Floating-Point Value Conversion : UFLOAT
272
Floating-Point Value Conversion 32-Bit into 64-Bit : DFLT
273
Floating-Point Value Conversion 64-Bit into 32-Bit : SFLT
274
Bit Device Statuses
276
ON (Normally Open Contact) : (None)
276
OFF (Normally Closed Contact)
277
Bit Device Controls
278
Device Set : SET
278
Device Reset : RST
280
Device Output : DOUT
282
Device Input : DIN
283
Bit Device Output : out
284
Logical Operations
285
Logical Acknowledgement : (None)
285
Logical Negation
286
Logical and
287
Logical or
288
Comparison Operations
289
Equal to
289
Not Equal to
290
Less than
291
Less than or Equal to
292
More than
293
More than or Equal to
294
Motion-Dedicated Functions
295
Speed Change Request : CHGV
295
Command Generation Axis Speed Change Request : CHGVS (SV22 Advanced Synchronous Control Only)
301
Torque Limit Value Change Request : CHGT
307
Torque Limit Value Individual Change Request : CHGT2
309
Target Position Change Request : CHGP
312
Other Instructions
321
Event Task Enable : EI
321
Event Task Disable : DI
322
No Operation : NOP
323
Block Transfer : BMOV
324
Same Data Block Transfer : FMOV
327
Write Device Data to CPU Shared Memory of the Self CPU: MULTW
329
Read Device Data from CPU Shared Memory: MULTR
332
Write Device Data to Intelligent Function Module : to
335
Read Device Data from Intelligent Function Module : from
337
Write Buffer Memory Data to Head Module : RTO
339
Read Buffer Memory Data from Head Module: RFROM
343
Time to Wait : TIME
347
Comment Statement
349
Vision System Dedicated Function
350
Open Line : MVOPEN
350
Load a Program : MVLOAD
352
Send an Image Acquisition Trigger : MVTRG
354
Start a Program : MVPST
356
Input Data : MVIN
358
Output Data : MVOUT
360
Reset a Status Storage Device : MVFIN
363
Close Line : MVCLOSE
364
Send a Command for Native Mode : MVCOM
365
Data Control
368
16-Bit Integer Type Scaling: SCL
368
32-Bit Integer Type Scaling: DSCL
372
Program Control
375
Conditional Branch Control: if - else - IEND
375
Selective Branch Control: SELECT - CASE - SEND
377
Repeat Control with Specified Count: for - NEXT
379
Forced Termination of Repeat Control: BREAK
382
Synchronous Control Dedicated Function (SV22 Advanced Synchronous Control Only)
383
Cam Data Read: CAMRD
383
Cam Data Write: CAMWR
387
Cam Data Write (Cam Open Area): CAMWR2
391
Cam Auto-Generation: CAMMK
394
Cam Position Calculation: CAMPSCL
404
6 Transition Programs
408
7 Motion Control Programs
410
Servo Instruction List
411
Servo Motor/Virtual Servo Motor Shaft/Command Generation Axis Current Value Change
423
Synchronous Encoder Shaft Current Value Change Control (SV22 Virtual Mode Only)
426
Cam Shaft Within-One-Revolution Current Value Change Control (SV22 Virtual Mode Only)
429
Programming Instructions
431
Cancel • Start
431
Indirect Designation Using Motion Devices
431
8 Motion Devices
432
Motion Registers (#0 to #12287)
432
Coasting Timer (FT)
435
9 Operation for Motion Sfc and Parameter
436
Task Definitions
436
Number of Consecutive Transitions and Task Operation
436
Number of Consecutive Transitions
436
Task Operation
437
Execution Status of the Multiple Task
441
How to Start the Motion SFC Program
442
Automatic Start
442
Start from the Motion SFC Program
442
Start by Motion Dedicated PLC Instruction from PLC (PLC Instruction: D(P).SFCS)
442
How to End the Motion SFC Program
442
How to Change from One Motion SFC Program to Another
443
Operation Performed at Multiple CPU System Power-Off or Reset
443
Operation Performed When CPU Is Switched from RUN/STOP
443
Operation Performed When PLC Ready Flag (M2000) Turns OFF/ON
444
Operation at the Error Occurrence
444
Task Parameters
445
Program Parameters
447
Task and Interrupt Processing
452
10 ONLINE CHANGE in the MOTION SFC PROGRM 10- 1 to
456
Online Change in the Motion SFC Program
456
Operating Method for the Online Change
458
Writing of Program
461
11 User Files
464
Project
464
User File List
465
12 Error Code Lists
468
Confirming Error Code
468
Motion Error Related Devices
469
Motion SFC Error Code List
474
Motion SFC Parameter Errors
489
Vision System Errors
490
Appendices
492
APPENDIX 1 Processing Times
492
APPENDIX 1.1 Processing Time of Operation Control/Transition Instruction
492
APPENDIX 1.2 Processing Time of Motion Dedicated PLC Instruction
514
APPENDIX 2 Sample Program
515
APPENDIX 2.1 Motion Control Example by Motion SFC Program
515
APPENDIX 2.2 Continuation Execution Example at the Subroutine Re-Start by the Motion SFC Program
525
APPENDIX 2.3 Continuation Execution Example after the Stop by the Motion SFC Program
529
APPENDIX 3 Vision System Connection Function
533
APPENDIX 3.1 Overview
533
APPENDIX 3.2 Vision System Parameter Setting
538
APPENDIX 3.3 Flow of Vision System Control
548
APPENDIX 3.4 Sample Program
550
4
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Mitsubishi Electric Q Series Specifications
General
Brand
Mitsubishi Electric
Model
Q Series
Category
Controller
Language
English
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