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Mitsubishi Electric Q172CPU Programming Manual
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Q173CPU(N)/Q172CPU(N)
Motion Controller (SV43)
Programming Manual
-Q172CPU
-Q173CPU
-Q172CPUN
-Q173CPUN
2
Table of Contents
Default Chapter
2
Safety Precautions
2
Revisions
12
Table of Contents
13
About Manuals
20
1 Overview
22
Features
24
Features of Motion CPU
24
Positioning Control by the Motion CPU
26
Basic Specifications of Q173CPU(N)/Q172CPU(N)
34
Differences between Q173CPU(N)/Q172CPU(N) and A173UHCPU/A172SHCPUN
37
Precautions at the Program Appropriation (Motion CPU a Series Q173CPU(N)/Q172CPU(N))
39
Hardware Configuration
41
Motion System Configuration
41
Q173CPU(N) System Overall Configuration
44
Q172CPU(N) System Overall Configuration
46
Software Packages
48
Restrictions on Motion Systems
51
Multiple CPU System
52
Overview
52
Installation of PLC CPU and Motion CPU
53
Precautions for Using Q Series I/O Modules and Intelligent Function Modules
54
Modules Subject to Installation Restrictions
55
Processing Time of the Multiple CPU System
56
How to Reset the Multiple CPU System
57
Processing at a CPU down Error Occurrence by a PLC CPU or Q173CPU(N)/Q172CPU(N)
58
System Settings
61
System Data Settings
61
Common System Parameters
62
Individual Parameters
68
Assignment of I/O no
72
I/O No. for I/O Modules and Intelligent Function Modules
72
I/O No. of PLC CPU and Q173CPU(N)/Q172CPU(N)
74
Setting I/O no
75
2 Starting up the Multiple Cpu System
76
Startup Flow of the Multiple CPU System
76
3 Communication between the Plc Cpu and the Motion Cpu in the Multiple Cpu System
78
Automatic Refresh Function of the Shared CPU Memory
78
Shared CPU Memory
96
4 Motion Dedicated Plc Instruction
100
Restriction Item of the Motion Dedicated PLC Instruction
100
Motion Program (Control Program) Start Request from the PLC CPU to the Motion CPU:S(P).SFCS (PLC Instruction: S(P).SFCS )
107
Motion Program (Axis Designation Program) Start Request from the PLC CPU to the Motion CPU:S(P).SVST (PLC Instruction: S(P).SVST )
112
Home Position Return Instruction from the PLC CPU to the Motion CPU: S(P).CHGA (PLC Instruction: S(P).CHGA )
118
Speed Change Instruction from the PLC CPU to the Motion CPU: S(P).CHGV (PLC Instruction: S(P).CHGV )
123
Torque Limit Value Change Request Instruction from the PLC CPU to the Motion CPU
131
Write from the PLC CPU to the Motion CPU: S(P).DDWR (PLC Instruction: S(P).DDWR )
134
Read from the Devices of the Motion CPU: S(P).DDRD (PLC Instruction: S(P).DDRD )
138
5 Positioning Dedicated Signals
142
Internal Relays
143
Axis Statuses
154
Axis Command Signals
166
Axis Statuses 2
173
Axis Command Signals 2
176
Common Devices
185
Data Registers
196
Axis Monitor Devices
204
Control Change Registers
207
Axis Monitor Devices 2
208
Control Program Monitor Devices
212
Control Change Registers 2
214
Tool Length Offset Data Setting Registers
215
Common Devices
216
Motion Registers (#)
220
Special Relays (SP.M)
221
Special Registers (SP.D)
224
6 Parameters for Positioning Control
227
System Settings
227
System Settings
230
Fixed Parameters
231
Number of Pulses/Travel Value Per Rotation
232
Backlash Compensation Amount
234
Upper/Lower Stroke Limit Value
234
Command In-Position Range
235
High-Speed Feed Rate Setting
236
Servo Parameters/Vector Inverter Parameters
237
Servo Parameters of Servo Amplifier
237
Position Control Gain 1, 2
239
Speed Control Gain 1, 2
239
Speed Integral Compensation
239
In-Position Range
247
Feed Forward Gain
247
Load Inertia Ratio
247
Automatic Tuning
247
Servo Responsiveness Setting
247
Notch Filter
248
Electromagnetic Brake Sequence
249
Monitor Output Mode
249
Optional Function 1
249
Optional Function 2
251
Monitor Output 1, 2 Offset
251
Pre-Alarm Data Selection
251
Zero Speed
252
Error Excessive Alarm Level
252
Optional Function 5
252
PI-PID Control Switching Position Droop
252
Torque Control Compensation Factor
252
Speed Differential Compensation
252
Servo Parameters of Vector Inverter (FR-V500)
253
Parameter Block
254
Relationships between the Speed Limit Value, Acceleration Time, Deceleration Time and Rapid Stop Deceleration Time
257
S-Curve Ratio
259
Allowable Error Range for Circular Interpolation
260
Work Coordinate Data
261
7 Motion Programs for Positioning Control
262
Motion Program Composition
264
Type of the Motion Program
265
G-Code List
266
M-Code List
268
Control Instruction List
269
Start/End Method
271
Number of Maximum Nesting for Program Call and Multi Startable Program
273
Motion Parameter
274
Caution at the Axis Designation Program Creation
275
Instruction Symbols/Characters List
280
Setting Method for Command Data
284
Direct Setting (Numerical Value)
284
Indirect Setting
285
Operational Data
292
Setting Range of Instruction Symbols List
302
Positioning Control Unit for 1 Axis
304
Control Units for Interpolation Control
305
Control in the Control Unit "Degree
307
About Coordinate Systems
309
G-Code
310
G00 Point-To-Point Positioning at the High-Speed Feed Rate
313
G01 Constant-Speed Positioning at the Speed Specified in F
315
G02 Circular Interpolation CW (Central Coordinates-Specified)
317
G03 Circular Interpolation CCW (Central Coordinates-Specified)
320
G02 Circular Interpolation CW (Radius-Specified)
323
G03 Circular Interpolation CCW (Radius-Specified)
325
G04 Dwell
327
G09 Exact Stop Check
329
G12 Helical Interpolation CW (Helical Central Coordinates-Specified)
331
G13 Helical Interpolation CCW (Helical Central Coordinates-Specified)
334
G12 Helical Interpolation CW (Helical Radius-Specified)
336
G13 Helical Interpolation CCW (Helical Radius-Specified)
338
G23 Cancel, Cancel Start Invalid
340
G24 Cancel, Cancel Start
341
G25 High-Speed Oscillation
344
G26 High-Speed Oscillation Stop
346
G28 Home Position Return
347
G30 Second Home Position Return
349
G32 Skip
351
G43 Tool Length Offset (+)
355
G44 Tool Length Offset
357
G49 Tool Length Offset Cancel
359
G53 Mechanical Coordinate System Selection
360
G54 to G59 Work Coordinate System Selection
362
G61 Exact Stop Check Mode
365
G64 Cutting Mode
367
G90 Absolute Value Command
369
G91 Incremental Value Command
371
G92 Coordinates System Setting
373
G98, G99 Preread Disable/Enable
375
G100, G101 Time-Fixed Acceleration/Deceleration, Acceleration-Fixed Acceleration/Deceleration Switching Command
377
M-Code
381
Special M-Code
382
M00 Program Stop
383
M01 Optional Program Stop
384
M02 Program End
385
M30 Program End
386
M98, M99 Subprogram Call, Subprogram End
387
M100 Preread Disable
389
Miscellaneous
390
Program Control Function (IF, GOTO Statement)
391
Program Control Function (IF, THEN, ELSE, END Statements)
393
Program Control Function (WHILE, DO, END Statements)
395
Four Fundamental Operators, Assignment Operator (+, -, *, /, MOD, =)
397
Trigonometric Functions (SIN, COS, TAN, ASIN, ACOS, ATAN)
399
Real Number to bin Value Conversion (INT)
400
BIN Value to Real Number Conversion (FLT)
401
Bit Real Number and 64-Bit Real Number Data Conversion (DFLT, SFLT)
402
Functions (SQRT, ABS, BIN, BCD, LN, EXP, RND, FIX, FUP)
403
Logical Operators (AND, OR, XOR, NOT, <<, >>)
404
Move Block Wait Functions (WAITON, WAITOFF)
406
Block Wait Functions (EXEON, EXEOFF)
408
Bit Set and Reset for Word Devices (BSET, BRST)
411
Parameter Block Change (PB)
412
Torque Limit Value Change (TL)
414
Home Position Return (CHGA)
416
Speed Change (CHGV)
417
Torque Limit Value Change (CHGT)
418
Bit Device Set, Reset Functions (SET, RST)
419
Bit Device Operation on Condition (IF, THEN, SET/RST/OUT)
420
Program Start (CALL)
422
Program Call 1 (GOSUB)
424
Program Call 2 (GOSUBE)
425
Control Program End (CLEAR)
428
Time to Wait (TIME)
430
Block Transfers (BMOV : 16-Bit Unit)
431
Block Transfer (BDMOV : 32-Bit Unit)
433
Identical Data Block Transfers (FMOV)
435
Write Device Data to Shared CPU Memory (MULTW)
437
Read Device Data from Shared CPU Memory of the Other CPU (MULTR)
439
Write Words Data to Intelligent Function Module/Special Function Module (TO)
441
Read Words Data from Intelligent Function Module/Special Function Module (FROM)
443
Conditional Branch Using Bit Device (ON, OFF)
445
8 Auxiliary and Applied Functions
448
Limit Switch Output Function
448
Limit Output Setting Data
451
Backlash Compensation Function
455
Torque Limit Function
457
Absolute Position System
459
Home Position Return
462
Home Position Return Data
463
Home Position Return by the Proximity Dog Type 1
469
Home Position Return by the Proximity Dog Type 2
472
Home Position Return by the Count Type 1
474
Home Position Return by the Count Type 2
476
Home Position Return by the Count Type 3
478
Home Position Return by the Data Set Type 1
480
Home Position Return by the Data Set Type 2
481
Home Position Return by the Dog Cradle Type
482
Home Position Return by the Stopper Type 1
486
Home Position Return by the Stopper Type 2
488
Home Position Return by the Limit Switch Combined Type
490
Home Position Return Retry Function
492
Home Position Shift Function
496
Condition Selection of Home Position Set
500
Execution of Home Position Return
502
Speed Change (CHGV Instruction)
503
JOG Operation
507
Individual Start
508
Simultaneous Start
513
Manual Pulse Generator Operation
516
Override Ratio Setting Function
522
FIN Signal Wait Function
524
Single Block Operation
528
High-Speed Reading of Specified Data
533
Control Program Stop Function from the PLC CPU
534
9 User Files
536
Projects
536
User File List
537
Specifications of LED • Switch
540
ROM Operation Function Details
542
Operating Procedure of "ROM Writing"
547
11 Communications Via Network
549
Specifications of the Communications Via Network
549
Access Range of the Communications Via Network
550
Network Configuration Via the CC-Link
552
Network Configuration Via the RS-422/485
553
Network Configuration Which MELSECNET/10 (H), Ethernet, CC-Link, RS-422/485 Were Mixed
554
13 Servo Parameter Reading Function
560
About the Servo Parameter Read Request Devices
560
APPENDIX 1 Multiple CPU Error Codes
562
APPENDIX 1.1 Self-Diagnosis Error Code
567
APPENDIX 1.2 Release of Self-Diagnosis Error
567
APPENDIX 2 Error Codes Stored Using the Motion CPU
568
APPENDIX 2.1 Motion Program Setting Errors (Stored in D9190)
570
APPENDIX 2.2 Minor Errors
571
APPENDIX 2.3 Major Errors
587
APPENDIX 2.4 Servo Errors
591
APPENDIX 2.5 PC Link Communication Errors
606
APPENDIX 3 Motion Dedicated Signal
607
APPENDIX 3.1 Internal Relay (M)
617
APPENDIX 3.2 Data Registers (D)
617
APPENDIX 3.3 Motion Registers (#)
624
APPENDIX 3.4 Special Relays
625
APPENDIX 3.5 Special Registers
629
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Mitsubishi Electric Q172CPU Specifications
General
Brand
Mitsubishi Electric
Model
Q172CPU
Category
Controller
Language
English
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