Mitsubishi Electric Q173CPU Programming Manual

472 pages

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Default Chapter2
- Safety Precautions2
- Revisions12
- Table of Contents13
- About Manuals19
1 Overview22
- Features24
- Hardware Configuration76
- Multiple CPU System92
- System Settings101
- Assignment of I/O no113
2 Starting up the Multiple Cpu System118
- Startup Flow of the Multiple CPU System118
3 Communication between the Plc Cpu and the Motion Cpu in the Multiple Cpu System120
- Automatic Refresh Function of the Shared CPU Memory120
- Control Instruction from the PLC CPU to the Motion CPU (Motion Dedicated Instructions)139
- Reading/Writing Device Data140
- Shared CPU Memory141
4 Structure of the Motion Cpu Program146
- Motion Control in SV13/SV22 Real Mode147
- Motion Control in SV22 Virtual Mode148
5 Motion Dedicated Plc Instruction150
- Restriction Item of the Motion Dedicated PLC Instruction150
- 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 Data187
- 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 Programs198
- Motion SFC Program Configuration198
- Motion SFC Chart Symbol List199
- Branch and Coupling Chart List202
- Motion SFC Program Name206
- Steps207
- Transitions212
- Program Parameters214
- Jump, Pointer214
- End214
- Branches, Couplings215
- Y/N Transitions219
- Motion SFC Comments223
7 Operation Control Programs226
- Device Descriptions232
- Constant Descriptions234
- Binary Operations235
- Bit Operations243
- Standard Functions250
- Type Conversions265
- Bit Device Statuses271
  - ON (Normally Open Contact) : (None)271
  - OFF (Normally Closed Contact)272
- Bit Device Controls273
- Logical Operations281
- Comparison Operations285
- Motion-Dedicated Functions(CHGV, CHGT)291
  - Speed Change Request : CHGV291
  - Torque Limit Value Change Request : CHGT297
- Other Instructions299
- Comment Statement321
8 Transition Programs322
9 Motion Control Programs324
- Servo Instruction List325
- Servomotor/Virtual Servomotor Shaft Current Value Change337
- Synchronous Encoder Shaft Current Value Change Control (SV22 Only)340
- Cam Shaft Within-One-Revolution Current Value Change Control (SV22 Only)343
- Programming Instructions345
  - Cancel • Start345
  - Indirect Designation Using Motion Devices345
10 Motion Devices346
- Motion Registers (#0 to #8191)346
- Coasting Timer (FT)351
11 Motion Sfc Parameter352
- Task Definitions352
- Number of Consecutive Transitions and Task Operation353
  - Number of Consecutive Transitions353
  - Task Operation354
- Execution Status of the Multiple Task358
- Task Parameters359
- Program Parameters361
- How to Start the Motion SFC Program367
- How to End the Motion SFC Program368
- How to Change from One Motion SFC Program to Another368
- How to Manage the Executing Program368
- Operation Performed at CPU Power-Off or Reset369
- Operation Performed When CPU Is Switched from RUN/STOP369
- Operation Performed When PLC Ready Flag (M2000) Turns OFF/ON370
- Operation at the Error Occurrence371
12 User Files372
- Projects372
- User File List373
- Online Change in the Motion SFC Program374
  - Operating Method for the Online Change375
  - Transfer of Program378
13 Limit Switch Output Function380
- Operations380
- Limit Output Setting Data383
14 Rom Operation Function388
- About the ROM Operation Function388
- Specifications of LED • Switch390
- ROM Operation Function Details392
- Operating Procedure of "ROM Writing398
15 Security Function400
- Password Registration/Change400
- Password Clearance402
- Password Check403
- Password Save404
- Clear All405
16 Communications Via Network406
- Specifications of the Communications Via Network407
- Access Range of the Communications Via Network408
17 Monitor Function of the Main Cycle416
18 Servo Parameter Reading Function418
- About the Servo Parameter Read Request Devices418
- Operating Procedure of the Servo Parameter Reading Function419
19 Error Code Lists420
- Reading Procedure for Error Codes420
- Motion SFC Error Code List421
- Motion SFC Parameter Errors430
- Multiple CPU Error Codes432
  - Self-Diagnosis Error Code432
  - Release of Self-Diagnosis Error437
- Appendices438
- APPENDIX 1 Processing Times438
- APPENDIX 1.1 Processing Time of Operation Control/Transition Instruction438
- APPENDIX 2 Sample Program446
- APPENDIX 2.1 Program Example to Execute the Multiple CPU Dedicated Instruction Continuously.app- 9448
- APPENDIX 2.2 the Program Example to Execute Plural Multiple CPU Instruction by the Instructions of One Time448
- APPENDIX 2.3 Motion Control Example by Motion SFC Program450
- APPENDIX 2.4 Continuation Execution Example at the Subroutine Re-Start by the Motion SFC Program465
- APPENDIX 2.5 Continuation Execution Example after the Stop by the Motion SFC Program465

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Mitsubishi Electric Q173CPU Specifications

General

Type	Motion Controller
Processor	32-bit RISC
Power Supply	24 VDC
Operating Temperature	0 to 55 °C
Storage Temperature	-25 to 75°C
Control Method	Position Control, Speed Control, Torque Control
Positioning Command	Absolute
Communication Interface	Ethernet
Number of Controllable Axes	16 axes