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Q173CPU
Mitsubishi Electric Q173CPU Programming Manual
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2
Table of Contents
Default Chapter
2
Safety Precautions
2
Revisions
12
Table of Contents
13
About Manuals
19
1 Overview
22
Features
24
Features of Motion CPU
24
Basic Specifications of Q173CPU(N)/Q172CPU(N)
27
Operation Control/Transition Control Specifications
30
Differences between Q173CPU(N)/Q172CPU(N)And A173UHCPU/A172SHCPUN
34
Positioning Dedicated Devices/Special Relays/Special Registers
36
Hardware Configuration
76
Motion System Configuration
76
Q173CPU(N) System Overall Configuration
82
Q172CPU(N) System Overall Configuration
84
Software Packages
86
Restrictions on Motion Systems
90
Multiple CPU System
92
Overview
92
Installation of PLC CPU and Motion CPU
93
Precautions for Using Q Series I/O Modules and Intelligent Function Modules
94
Modules Subject to Installation Restrictions
95
Processing Time of the Multiple CPU System
96
How to Reset the Multiple CPU System
97
Processing at a CPU down Error Occurrence by a PLC CPU or Q173CPU(N)/Q172CPU(N)
98
System Settings
101
System Data Settings
101
Common System Parameters
102
Individual Parameters
108
Assignment of I/O no
113
I/O No. for I/O Modules and Intelligent Function Modules
113
I/O No. of PLC CPU and Q173CPU(N)/Q172CPU(N)
116
Setting I/O no
117
2 Starting up the Multiple Cpu System
118
Startup Flow of the Multiple CPU System
118
3 Communication between the Plc Cpu and the Motion Cpu in the Multiple Cpu System
120
Automatic Refresh Function of the Shared CPU Memory
120
Control Instruction from the PLC CPU to the Motion CPU (Motion Dedicated Instructions)
139
Reading/Writing Device Data
140
Shared CPU Memory
141
4 Structure of the Motion Cpu Program
146
Motion Control in SV13/SV22 Real Mode
147
Motion Control in SV22 Virtual Mode
148
5 Motion Dedicated Plc Instruction
150
Restriction Item of the Motion Dedicated PLC Instruction
150
Motion SFC Start Request from the PLC CPU to the Motion CPU: S(P).SFCS (PLC Instruction: S(P).SFCS )
158
Servo Program Start Request from the PLC CPU to the Motion CPU: S(P).SVST (PLC Instruction: S(P).SVST )
161
Current Value Change Instruction from the PLC CPU to the Motion CPU: S(P).CHGA (PLC Instruction: S(P).CHGA )
166
Speed Change Instruction from the PLC CPU to the Motion CPU: S(P).CHGV (PLC Instruction: S(P).CHGV )
179
Torque Limit Value Change Request Instruction from the PLC CPU to the Motion CPU: S(P).CHGT (PLC Instruction: S(P).CHGT )
183
Write from the PLC CPU to the Motion CPU: S(P).DDWR (PLC Instruction: S(P).DDWR )
187
Setting Data
187
Read from the Devices of the Motion CPU: S(P).DDRD (PLC Instruction: S(P).DDRD )
191
Interrupt Instruction to the Other CPU: S(P).GINT (PLC Instruction: S(P).GINT )
195
6 Motion Sfc Programs
198
Motion SFC Program Configuration
198
Motion SFC Chart Symbol List
199
Branch and Coupling Chart List
202
Motion SFC Program Name
206
Steps
207
Motion Control Step
207
Operation Control Step
208
Subroutine Call/Start Step
209
Clear Step
211
Transitions
212
Program Parameters
214
Jump, Pointer
214
End
214
Branches, Couplings
215
Series Transition
215
Selective Branch, Selective Coupling
216
Parallel Branch, Parallel Coupling
217
Y/N Transitions
219
Motion SFC Comments
223
7 Operation Control Programs
226
Device Descriptions
232
Constant Descriptions
234
Binary Operations
235
Substitution
235
Addition
237
Subtraction
238
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
267
Unsigned 32-Bit Integer Value Conversion : ULONG
268
Signed 64-Bit Floating-Point Value Conversion : FLOAT
269
Unsigned 64-Bit Floating-Point Value Conversion : UFLOAT
270
Bit Device Statuses
271
ON (Normally Open Contact) : (None)
271
OFF (Normally Closed Contact)
272
Bit Device Controls
273
Device Set : SET
273
Device Reset : RST
275
Device Output : DOUT
277
Device Input : DIN
278
Bit Device Output : out
279
Logical Operations
281
Logical Acknowledgement : (None)
281
Logical Negation
282
Logical and
283
Logical or
284
Comparison Operations
285
Equal to
285
Not Equal to
286
Less than
287
Less than or Equal to
288
More than
289
More than or Equal to
290
Motion-Dedicated Functions(CHGV, CHGT)
291
Speed Change Request : CHGV
291
Torque Limit Value Change Request : CHGT
297
Other Instructions
299
Event Task Enable : EI
299
Event Task Disable : DI
300
No Operation : NOP
301
Block Transfer : BMOV
302
Same Data Block Transfer : FMOV
305
Write Device Data to Shared CPU Memory of the Self CPU: MULTW
307
Read Device Data from Shared CPU Memory of the Other CPU: MULTR
310
Write Device Data to Intelligent Function Module/Special Function Module : to
313
Read Device Data from Intelligent Function Module/Special Function Module : from
316
Time to Wait : TIME
319
Comment Statement
321
8 Transition Programs
322
9 Motion Control Programs
324
Servo Instruction List
325
Servomotor/Virtual Servomotor Shaft Current Value Change
337
Synchronous Encoder Shaft Current Value Change Control (SV22 Only)
340
Cam Shaft Within-One-Revolution Current Value Change Control (SV22 Only)
343
Programming Instructions
345
Cancel • Start
345
Indirect Designation Using Motion Devices
345
10 Motion Devices
346
Motion Registers (#0 to #8191)
346
Coasting Timer (FT)
351
11 Motion Sfc Parameter
352
Task Definitions
352
Number of Consecutive Transitions and Task Operation
353
Number of Consecutive Transitions
353
Task Operation
354
Execution Status of the Multiple Task
358
Task Parameters
359
Program Parameters
361
How to Start the Motion SFC Program
367
Automatic Start
367
Start from the Motion SFC Program
367
Start from PLC (PLC Instruction S(P).SFCS )
367
How to End the Motion SFC Program
368
How to Change from One Motion SFC Program to Another
368
How to Manage the Executing Program
368
Operation Performed at CPU Power-Off or Reset
369
Operation Performed When CPU Is Switched from RUN/STOP
369
Operation Performed When PLC Ready Flag (M2000) Turns OFF/ON
370
Operation at the Error Occurrence
371
12 User Files
372
Projects
372
User File List
373
Online Change in the Motion SFC Program
374
Operating Method for the Online Change
375
Transfer of Program
378
13 Limit Switch Output Function
380
Operations
380
Limit Output Setting Data
383
14 Rom Operation Function
388
About the ROM Operation Function
388
Specifications of LED • Switch
390
ROM Operation Function Details
392
Operating Procedure of "ROM Writing
398
15 Security Function
400
Password Registration/Change
400
Password Clearance
402
Password Check
403
Password Save
404
Clear All
405
16 Communications Via Network
406
Specifications of the Communications Via Network
407
Access Range of the Communications Via Network
408
Network Configuration Via the MELSECNET/10(H) or the Ethernet
408
Network Configuration Via the CC-Link
410
Network Configuration Via the RS422/485
411
17 Monitor Function of the Main Cycle
416
18 Servo Parameter Reading Function
418
About the Servo Parameter Read Request Devices
418
Operating Procedure of the Servo Parameter Reading Function
419
19 Error Code Lists
420
Reading Procedure for Error Codes
420
Motion SFC Error Code List
421
Motion SFC Parameter Errors
430
Multiple CPU Error Codes
432
Self-Diagnosis Error Code
432
Release of Self-Diagnosis Error
437
Appendices
438
APPENDIX 1 Processing Times
438
APPENDIX 1.1 Processing Time of Operation Control/Transition Instruction
438
APPENDIX 2 Sample Program
446
APPENDIX 2.1 Program Example to Execute the Multiple CPU Dedicated Instruction Continuously.app- 9
448
APPENDIX 2.2 the Program Example to Execute Plural Multiple CPU Instruction by the Instructions of One Time
448
APPENDIX 2.3 Motion Control Example by Motion SFC Program
450
APPENDIX 2.4 Continuation Execution Example at the Subroutine Re-Start by the Motion SFC Program
465
APPENDIX 2.5 Continuation Execution Example after the Stop by the Motion SFC Program
465
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Mitsubishi Electric Q173CPU Specifications
General
Brand
Mitsubishi Electric
Model
Q173CPU
Category
Controller
Language
English
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