Mitsubishi Electric Q173HCPU Dokumentacja

IB(NA)-0300115-A(0602)MEEPQMOTION CONTROLLER Qseries (SV43) Programming Manual (Q173HCPU/Q172HCPU)MOTION CONTROLLERSProgramming ManualMODELMODELCODEQ1

A - 9 ! CAUTION If an error occurs, remove the cause, secure the safety and then resume operation after alarm release. The unit may suddenly res

4 - 21 4 POSITIONING SIGNALS REMARK (Note-1): Refer to APPENDIX 1.4 for the error codes on errors detected at the servo amplifier side. (8) H

4 - 22 4 POSITIONING SIGNALS (9) Home position return complete signal (M2410+20n) (a) This signal turns on when the home position return ope

4 - 23 4 POSITIONING SIGNALS (11) RLS signal (M2412+20n) (a) This signal is controlled by the ON/OFF state for the lower stroke limit switch

4 - 24 4 POSITIONING SIGNALS (13) DOG/CHANGE signal (M2414+20n) (a) This signal turns on/off by the proximity dog input (DOG) of the Q172LX/

4 - 25 4 POSITIONING SIGNALS POINT When the part of multiple servo amplifiers connected to the SSCNET becomes a servo error, only an applicabl

4 - 26 4 POSITIONING SIGNALS 4.1.2 Axis command signals (1) Stop command (M3200+20n) (a) This command stops a starting axis from an external

4 - 27 4 POSITIONING SIGNALS (2) Rapid stop command (M3201+20n) (a) This command is a signal which stop a starting axis rapidly from an exte

4 - 28 4 POSITIONING SIGNALS (3) Forward rotation JOG start command (M3202+20n)/Reverse rotation JOG start command (M3203+20n) (a) JOG opera

4 - 29 4 POSITIONING SIGNALS (5) Error reset command (M3207+20n) (a) This command is used to clear the minor error code or major error code s

4 - 30 4 POSITIONING SIGNALS (6) Servo error reset command (M3208+20n) (a) This command is used to clear the servo error code storage registe

A - 10 (9) About processing of waste When you discard Motion controller, servo amplifier, a battery (primary battery) and other option articles, p

4 - 31 4 POSITIONING SIGNALS (7) External stop input disable at start command (M3209+20n) This signal is used to set the external STOP signal

4 - 32 4 POSITIONING SIGNALS (10) FIN signal (M3219+20n) When an M-code is set in a point during positioning, transit to the next block does n

4 - 33 4 POSITIONING SIGNALS 4.1.3 Axis statuses 2 (1) Automatic start signal (M4002+10n) When the axis used is specified in the SVST instruct

4 - 34 4 POSITIONING SIGNALS (2) Temporary stop signal (M4003+10n) (a) This signal turns on by the temporary stop command when the automatic

4 - 35 4 POSITIONING SIGNALS (3) Single block processing signal (M4009) (a) The single block is available in two modes: a mode where a singl

4 - 36 4 POSITIONING SIGNALS 4.1.4 Axis command signals 2 (1) Temporary stop command (M4400+10n) (a) The Motion program at the positioning s

4 - 37 4 POSITIONING SIGNALS (2) Optional program stop command (M4401+10n) This signal is used to select whether a block stop is made in a blo

4 - 38 4 POSITIONING SIGNALS (3) Optional block skip command (M4402+10n) This signal is used to select whether a block is executed or not in t

4 - 39 4 POSITIONING SIGNALS (4) Single block command (M4403+10n) This single block is ;used to set a single block before a program start. Ref

4 - 40 4 POSITIONING SIGNALS (5) Re-start command (M4404+10n) This command resumes block execution when it is turned on during a block stop by

A - 11 REVISIONS The manual number is given on the bottom left of the back cover. Print Date Manual Number Revision Feb., 2006 IB(NA)-0300115

4 - 41 4 POSITIONING SIGNALS (7) Axis interlock (Forward)/(Reverse) (M4406+10n/M4407+10n) This signal is used to select whether an axis is mad

4 - 42 4 POSITIONING SIGNALS [Motion program example] O0001; G90 G00 X200. ; G01 X300. F-100. ; M02; % Program No. Absolute value command

4 - 43 4 POSITIONING SIGNALS POINTS [The reasons for the servomotor travels minutely when the axis interlock signal turns on at a Motion progra

4 - 44 4 POSITIONING SIGNALS (8) Single block mode signal (M4408) (a) This signal validates a single block valid in the mode which executes

4 - 45 4 POSITIONING SIGNALS 4.1.5 Common devices POINTS (1) Internal relays for positioning control are not latched even within the latch rang

4 - 46 4 POSITIONING SIGNALS 3) The processing in above (c) 1) is not executed during the test mode. It is executed when the test mode is cancel

4 - 47 4 POSITIONING SIGNALS The condition which M2000 is turned on to off. • Set "0" to the setting register D704 of the PLC ready fl

4 - 48 4 POSITIONING SIGNALS (c) When M2000 is OFF, the start accept flag turns on by the Motion dedicated PLC instruction (S(P).SVST), and th

4 - 49 4 POSITIONING SIGNALS (5) All axes servo ON command (M2042) ... Command signal This command is used to enable servo oper

4 - 50 4 POSITIONING SIGNALS (8) All axes servo ON accept flag (M2049) ... Status signal This flag turns on when the Motion C

A - 12 INTRODUCTION Thank you for choosing the Q173HCPU/Q172HCPU Motion Controller. Please read this manual carefully so that equipment is used to

4 - 51 4 POSITIONING SIGNALS (12) Speed changing flag (M2061 to M2092) ... Status signal This flag turns on during speed chan

4 - 52 4 POSITIONING SIGNALS (13) Automatic decelerating flag (M2128 to M2159) ... Status signal This signal turns on while automatic de

4 - 53 4 POSITIONING SIGNALS (14) Speed change "0" accepting flag (M2240 to M2271) ...………. Status signal This flag turns on while a

4 - 54 4 POSITIONING SIGNALS REMARK (1) Even if it has stopped, when the start accept flag (M2001 to M2032) is ON state, the state where the req

4 - 55 4 POSITIONING SIGNALS (a) The flag turns off if a speed change request occurs during deceleration to a stop due to speed change "0

4 - 56 4 POSITIONING SIGNALS 4.2 Data Registers (1) Data register list Device No. Application D0 to Axis monitor device (20 points 32 axes

4 - 57 4 POSITIONING SIGNALS (2) Axis monitor device list Axis No. Device No. Signal name 1 D0 to D19 2 D20 to D39

4 - 58 4 POSITIONING SIGNALS (3) Control change register list Axis No. Device No. Signal name 1 D640, D641 2 D642, D64

4 - 59 4 POSITIONING SIGNALS (4) Axis monitor device 2 list Axis No. Device No. Signal name 1 D800 to D819 2 D820

4 - 60 4 POSITIONING SIGNALS (5) Control program monitor device list Device No. Signal name D1440 to D1445 D1446 t

A - 13 4.2.1 Axis monitor devices ...

4 - 61 4 POSITIONING SIGNALS (6) Control change register 2 list Axis No. Device No. Signal name 1 D1536 to D1538 2 D15

4 - 62 4 POSITIONING SIGNALS (7) Tool length offset data setting register list (Higher rank, lower rank) Device No. Signal name D1651, D1650

4 - 63 4 POSITIONING SIGNALS (8) Common device list Device No. Signal name Refresh cycle Fetch cycle Signal direction Device No. Signal nam

4 - 64 4 POSITIONING SIGNALS 4.2.1 Axis monitor devices The monitoring data area is used by the Motion CPU to store data such as the machine v

4 - 65 4 POSITIONING SIGNALS (6) Servo error code storage register (D8+20n) …... Monitor device (a) This register stores the correspon

4 - 66 4 POSITIONING SIGNALS (10) M-code storage register (D13+20n) ...……….. Monitor device (a) This register stores the M-code set t

4 - 67 4 POSITIONING SIGNALS 4.2.2 Control change registers This area stores the JOG operation speed data.

4 - 68 4 POSITIONING SIGNALS 4.2.3 Axis monitor devices 2 (1) Current value (D800+20n, D801+20n) ...………….. Monitor device (a) This regist

4 - 69 4 POSITIONING SIGNALS (2) Execute sequence No. (main) storage register (D802+20n) ...………... Monitor device This register stores the

4 - 70 4 POSITIONING SIGNALS (5) Execute sequence No. (sub) storage register (D805+20n) ...…..…….. Monitor device (a) This register sotre

A - 14 6.13 G-code...

4 - 71 4 POSITIONING SIGNALS (9) Tool length offset data storage register (D810+20n, D811+20n) ...…….…….. Monitor device (a) This register

4 - 72 4 POSITIONING SIGNALS 4.2.4 Control program monitor devices Up to 16 control programs can be executed simultaneously. When new control

4 - 73 4 POSITIONING SIGNALS (6) CLEAR request status storage register (D1445) ... Monitor device (a) When the control program specified in

4 - 74 4 POSITIONING SIGNALS 4.2.5 Control change registers 2 This area stores the override ratio setting data. Table 4.1 Control change regi

4 - 75 4 POSITIONING SIGNALS 4.2.6 Tool length offset data setting registers (1) Tool length offset data setting registers (D1650+2n) ...…

4 - 76 4 POSITIONING SIGNALS 4.2.7 Common devices (1) CLEAR request status storage (D1445) ..…….….. Monitor device (a) 0 No. of the conrol

4 - 77 4 POSITIONING SIGNALS (3) Manual pulse generator axis No. setting registers (D714 to D719) ...…….. Command device (a) These registers

4 - 78 4 POSITIONING SIGNALS (b) Refer to Section 7.6 for details of the manual pulse generator operation. (5) Manual pulse generator smoothi

4 - 79 4 POSITIONING SIGNALS 4.3 Motion Registers (#) There are motion registers (#0 to #8191) in the Motion CPU. #8000 to #8063 are used as SV4

4 - 80 4 POSITIONING SIGNALS 4.4 Special Relays (SP.M) There are 256 special relay points of M9000 to M9255 in the Motion CPU. Of these, 7 point

A - 15 6.16.8 32-bit real number and 64-bit real number data conversion (DFLT, SFLT) ...6-141 6.16.9 Functions (SQRT, A

4 - 81 4 POSITIONING SIGNALS (3) TEST mode ON flag (M9075) ...……... Status signal (a) This flag is used as judgement

4 - 82 4 POSITIONING SIGNALS (7) Motion program setting error flag (M9079) ...…... Status signal This flag is used as judgement of nor

4 - 83 4 POSITIONING SIGNALS 4.5 Special Registers (SP.D) There are 256 special register points of D9000 to D9255 in the Motion CPU. Of these, 2

4 - 84 4 POSITIONING SIGNALS (1) Connect/disconnect (D9112) ... Command device/Monitor device This

4 - 85 4 POSITIONING SIGNALS (3) Motion CPU WDT error cause (D9184) ………... Monitor device This register is used as judgement of the error

4 - 86 4 POSITIONING SIGNALS (4) Manual pulse generator axis setting error information (D9185 to D9187) ...

4 - 87 4 POSITIONING SIGNALS (8) Servo amplifier loading information (D9191 to D9192) ... Monitor device The installation state of the

4 - 88 4 POSITIONING SIGNALS (10) Operation cycle of the Motion CPU setting (D9197) ... Monitor device The setting operation cycle is

5 - 15 PARAMETERS FOR POSITIONING CONTROL 5 5. PARAMETERS FOR POSITIONING CONTROL 5.1 System Settings In the Multiple CPU

5 - 25 PARAMETERS FOR POSITIONING CONTROL 5.2 Fixed Parameters (1) The fixed parameters are set for each axis and their data is fixed based o

A - 16 7.5 JOG Operation ...

5 - 35 PARAMETERS FOR POSITIONING CONTROL 5.2.1 Number of pulses/travel value per rotation The "Electronic gear function" adjusts the

5 - 45 PARAMETERS FOR POSITIONING CONTROL Therefore, AP/AL is set so that the following expression of relations may be materialized in order to

5 - 55 PARAMETERS FOR POSITIONING CONTROL The travel value per motor rotation in this example is 0.000076 [mm]. For example, when ordering the

5 - 65 PARAMETERS FOR POSITIONING CONTROL (1) Stroke limit range check The stroke limit range is checked at the following start or during ope

5 - 75 PARAMETERS FOR POSITIONING CONTROL 5.2.4 Command in-position range The command in-position is the difference between the positioning add

5 - 85 PARAMETERS FOR POSITIONING CONTROL 5.2.5 High-speed feed rate setting The high-speed feed rate is the positioning speed used to perform

5 - 95 PARAMETERS FOR POSITIONING CONTROL 5.2.6 Speed control 10 multiplier setting for degree axis The setting range of command speed is 0.00

5 - 105 PARAMETERS FOR POSITIONING CONTROL An example for positioning control is shown below when the fixed parameter and parameter block ar

5 - 115 PARAMETERS FOR POSITIONING CONTROL POINTS (1) Axis set to "speed control 10 multiplier setting for degree axis is invalid".

5 - 125 PARAMETERS FOR POSITIONING CONTROL • An example for positioning control is shown below when the fixed parameter and parameter block a

A - 17 About Manuals The following manuals are related to this product. Referring to this list, please request the necessary manuals. Related Man

5 - 135 PARAMETERS FOR POSITIONING CONTROL 5.3 Parameter Block (1) The parameter blocks serve to make setting changes easy by allowing data s

5 - 145 PARAMETERS FOR POSITIONING CONTROL Table 5.2 Parameter Block list Setting range mm inch degree No. Item Setting range Units Setting ran

5 - 155 PARAMETERS FOR POSITIONING CONTROL POINTS The data set in the parameter block is used in the positioning control, home position return

5 - 165 PARAMETERS FOR POSITIONING CONTROL 5.3.1 Relationships between the speed limit value, acceleration time, deceleration time and rapid st

5 - 175 PARAMETERS FOR POSITIONING CONTROL (1) Acceleration-fixed acceleration/deceleration system (a) G01, G02, G03, G12, G13 or G32 during

5 - 185 PARAMETERS FOR POSITIONING CONTROL 5.3.2 S-curve ratio S-curve ratio can be set as the acceleration and deceleration processing method

5 - 195 PARAMETERS FOR POSITIONING CONTROL 5.3.3 Allowable error range for circular interpolation The locus of the arc calculated from the star

5 - 205 PARAMETERS FOR POSITIONING CONTROL 5.4 Work Coordinate Data (1) The work coordinate data is used to set the work coordinates and six

6 - 1 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6. MOTION PROGRAMS FOR POSITIONING CONTROL Motion program in the EIA language format is used as

6 - 2 6 MOTION PROGRAMS FOR POSITIONING CONTROL (2) Block A block is a collection of several words. It includes information necessary to perf

A - 18 (2) PLC Manual Name Manual Number (Model Code) QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains

6 - 3 6 MOTION PROGRAMS FOR POSITIONING CONTROL (3) Motion program A machine operation is commanded by several collection of blocks in the Mo

6 - 4 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.2 Type of The Motion Program There are following two types in the Motion program. Type of Mot

6 - 5 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.3 G-code List G-codes used in the Motion program are shown below. G-code List Type Instructi

6 - 6 6 MOTION PROGRAMS FOR POSITIONING CONTROL Class and group of G-code are shown below. Class Description Modal G-codes (Groups 01, 02, 03

6 - 7 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.4 M-code List M-codes used in the Motion program are shown below. M-code List Type Instructi

6 - 8 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.5 Control Instruction List Control instructions used in the Motion program are shown below.

6 - 9 6 MOTION PROGRAMS FOR POSITIONING CONTROL Control instruction list (Continued) Type Instruction Instruction description Control program

6 - 10 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.6 Start/End Method Start/end methods of the Motion program are shown below. Type Start/end

6 - 11 6 MOTION PROGRAMS FOR POSITIONING CONTROL Example for structure of program start/end O10;CALL P20;GOSUB P21;M02;%EndO11;CALL P22;GOSUB

6 - 12 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.7 Number of Maximum Nesting for Program Call and Multi Startable Program (1) The number of

A - 1 SAFETY PRECAUTIONS (Read these precautions before using.) When using this equipment, thoroughly read this manual and the associated manu

1 - 1 1 OVERVIEW 1 1. OVERVIEW 1.1 Overview This programming manual describes the operating system software packages "SW5RN-SV43Q" f

6 - 13 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.8 Motion parameter Set the following parameters for every Motion program. No. Item Settin

6 - 14 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.9 Caution at The Axis Designation Program Creation (1) A subprogram call from another subp

6 - 15 6 MOTION PROGRAMS FOR POSITIONING CONTROL IMPORTANT The Motion program which an axis overlapped cannot be started simultaneously. If i

6 - 16 6 MOTION PROGRAMS FOR POSITIONING CONTROL (b) Constant-speed operation 100. 200.FIN signal(M3219+20n)M-code outputting(M2419+20n)M-c

6 - 17 6 MOTION PROGRAMS FOR POSITIONING CONTROL (7) Acceleration/deceleration processing for G01 G91 G01 X100. Y100. F100. ; Y100. ; X1

6 - 18 6 MOTION PROGRAMS FOR POSITIONING CONTROL (11) Variable preread Variables in up to eight blocks including the one currently executed a

6 - 19 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.10 Instruction Symbols/Characters List Instruction symbols and characters used in Motion pro

6 - 20 6 MOTION PROGRAMS FOR POSITIONING CONTROL Table 6.1 Instruction Symbol/Character List (Continued) Symbol/character Function Description

6 - 21 6 MOTION PROGRAMS FOR POSITIONING CONTROL Table 6.1 Instruction Symbol/Characters List (Continued) Symbol/character Function Descriptio

6 - 22 6 MOTION PROGRAMS FOR POSITIONING CONTROL Table 6.1 Instruction Symbol/Characters List (Continued) Symbol/character Function Descriptio

1 - 2 1 OVERVIEW REMARK For information about the each module, design method for program and parameter, refer to the following manuals relevant

6 - 23 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.11 Setting Method for Command Data This section describes the setting method for command dat

6 - 24 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.11.2 Indirect setting (1) Variable representation The 16-bit integer type, 32-bit integer

6 - 25 6 MOTION PROGRAMS FOR POSITIONING CONTROL POINT (1) The data register is shown as "#D" or "#" in the Motion program

6 - 26 6 MOTION PROGRAMS FOR POSITIONING CONTROL Conversion format Description 64 bit to 32 bit The 64-bit double precision real number is con

6 - 27 6 MOTION PROGRAMS FOR POSITIONING CONTROL (c) How to handle variable as 64-bit double precision real number By handling a variable as

6 - 28 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Example] <Command address 1> G91; #@10:L=1.; G0 X#@10:L ; The travel value of X is any

6 - 29 6 MOTION PROGRAMS FOR POSITIONING CONTROL (6) Device setting (#Xx : Xx is device) The word device (D, W, #) and bit device (X, Y, M, B

6 - 30 6 MOTION PROGRAMS FOR POSITIONING CONTROL POINTS (1) The Motion program No. (O) cannot be set indirectly. (2) When the Motion program i

6 - 31 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.11.3 Operational data (1) Four fundamental operations (+, -, *, /, MOD) The data type comb

6 - 32 6 MOTION PROGRAMS FOR POSITIONING CONTROL No. Operation result Data 1 Data 2 10 #n (16 bit) 16-bit data is converted into 32-bit

1 - 3 1 OVERVIEW 1.2 Features The Motion CPU has the following features. 1.2.1 Performance specifications (1) Basic specifications of Q172HCP

6 - 33 6 MOTION PROGRAMS FOR POSITIONING CONTROL • For MOD No. Operation result Data 1 Data 2 28 #n (16 bit) 16-bit data is converted i

6 - 34 6 MOTION PROGRAMS FOR POSITIONING CONTROL (2) Logical operations (AND, OR, XOR, NOT), shift operators (<<, >>) • For AND,

6 - 35 6 MOTION PROGRAMS FOR POSITIONING CONTROL • For NOT The following table indicates the data type combinations and conversion methods for

6 - 36 6 MOTION PROGRAMS FOR POSITIONING CONTROL (3) Trigonometric functions (SIN, COS, TAN, ASIN, ACOS, ATAN) The data type combinations and

6 - 37 6 MOTION PROGRAMS FOR POSITIONING CONTROL (4) Floating-point type real number processing instructions (INT, FLT) The data type combina

6 - 38 6 MOTION PROGRAMS FOR POSITIONING CONTROL (5) Functions (SQRT, ABS, LN, EXP) The data type combinations and conversion methods for fun

6 - 39 6 MOTION PROGRAMS FOR POSITIONING CONTROL • For ABS No. Operation result Data 1 1 #n (16 bit) No conversion 2 #nL, #n:L (32

6 - 40 6 MOTION PROGRAMS FOR POSITIONING CONTROL (7) Functions (round-off (RND), round-down (FIX), round-up (FUP)) The data type combinations

6 - 41 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.11.4 Setting range of instruction symbols list Setting range of instruction symbols used in

6 - 42 6 MOTION PROGRAMS FOR POSITIONING CONTROL Table 6.2 Setting Range of Instruction Symbol List (Continued) Setting range Symbol Function

1 - 4 1 OVERVIEW Motion control specifications (continued) Item Q173HCPU Q172HCPU Number of programs 1024 Number of simultaneous start program

6 - 43 6 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK (1) Command unit A decimal point can be entered in the Motion program input informati

6 - 44 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.11.6 Control units for interpolation control (1) The interpolation control units specified

6 - 45 6 MOTION PROGRAMS FOR POSITIONING CONTROL (b) Unit mismatch ( 2) ) • The travel value and positioning speed are calculated for each ax

6 - 46 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.11.7 Control in the control unit "degree" If the control units are "degree&qu

6 - 47 6 MOTION PROGRAMS FOR POSITIONING CONTROL (3) Positioning control Positioning control method in the control unit "degree" is

6 - 48 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.12 About Coordinate Systems This section describes coordinate systems. There are two coordin

6 - 49 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13 G-code This section describes instruction codes to use in the Motion program. Each instru

6 - 50 6 MOTION PROGRAMS FOR POSITIONING CONTROL The arguments of G-code are shown in Table 6.3. Table 6.3 G-code arguments Axis command (No

6 - 51 6 MOTION PROGRAMS FOR POSITIONING CONTROL Table 6.3 G-code arguments (Continued) Axis command (Note-2) Radius command (R) Central po

6 - 52 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.1 G00 Point-to-point positioning at the high-speed feed rate Code G00 Function Point-to-p

1 - 5 1 OVERVIEW (Note-1) : Acceleration-fixed/time-fixed acceleration/deceleration method is switched as follows. Acceleration-fixed accelerat

6 - 53 6 MOTION PROGRAMS FOR POSITIONING CONTROL Travel with G01 Travel with G00 [Related Parameters] High-speed feed rate: The maximum feed

6 - 54 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.2 G01 Constant-speed positioning at the speed specified in F Code G01 Function Constant-s

6 - 55 6 MOTION PROGRAMS FOR POSITIONING CONTROL Constant-speed control is executed in this area. (8) If the G02 or G03 command is executed du

6 - 56 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.3 G02 Circular interpolation CW (Central coordinates-specified) Code G02 Function Circula

6 - 57 6 MOTION PROGRAMS FOR POSITIONING CONTROL (5) When this command is executed continuously, the acceleration or deceleration is not made

6 - 58 6 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK (1) The end point and circular arc central coordinates cannot be omitted. Always speci

6 - 59 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.4 G03 Circular interpolation CCW (Central coordinates-specified) Code G03 Function Circul

6 - 60 6 MOTION PROGRAMS FOR POSITIONING CONTROL (5) When this command is executed continuously, the acceleration or deceleration is not made

6 - 61 6 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK (1) The end point and circular arc central coordinates cannot be omitted. Always speci

6 - 62 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.5 G02 Circular interpolation CW (Radius-specified) Code G02 Function Circular interpolati

1 - 6 1 OVERVIEW 1.2.2 Differences between Q173HCPU/Q172HCPU and Q173CPU(N)/Q172CPU(N) Item Q173HCPU Q172HCPU Q173CPU(N) Q172CPU(N) Number of co

6 - 63 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Related Parameters] Speed limit value : The maximum feed rate of each axis

6 - 64 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.6 G03 Circular interpolation CCW (Radius-specified) Code G03 Function Circular interpolat

6 - 65 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Related Parameters] Speed limit value : The maximum feed rate of each axis

6 - 66 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.7 G04 Dwell Code G04 Function Dwell Execution of next block is waited for the specified p

6 - 67 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program in which dwell time is placed between positioning operation instr

6 - 68 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.8 G09 Exact stop check Code G09 Function Exact stop check The axes travel in the specifi

6 - 69 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program which uses the exact stop check for positioning. 1) G09 G01 X10

6 - 70 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.9 G12 Helical interpolation CW (Helical central coordinates-specified) Code G12 Function

6 - 71 6 MOTION PROGRAMS FOR POSITIONING CONTROL (7) The travel speed is the specified combined-speed for 2 axes circular interpolation axis.

6 - 72 6 MOTION PROGRAMS FOR POSITIONING CONTROL The example of the direction of the nozzle of controlling the normal for circular arc curve. 0

2 - 1 2 POSITIONING CONTROL BY THE MOTION CPU 2 2. POSITIONING CONTROL BY THE MOTION CPU 2.1 Positioning Control by the Motion CPU The positi

6 - 73 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.10 G13 Helical interpolation CCW (Helical central coordinates-specified) Code G13 Functio

6 - 74 6 MOTION PROGRAMS FOR POSITIONING CONTROL (7) The travel speed is the specified combined-speed for 2 axes circular interpolation axis.

6 - 75 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.11 G12 Helical interpolation CW (Helical radius-specified) Code G12 Function Helical inte

6 - 76 6 MOTION PROGRAMS FOR POSITIONING CONTROL (7) When this command is executed continuously, the acceleration or deceleration is not made

6 - 77 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.12 G13 Helical interpolation CCW (Helical radius-specified) Code G13 Function Helical in

6 - 78 6 MOTION PROGRAMS FOR POSITIONING CONTROL (6) If a complete round command (the starting point is the same as the end point) is specifie

6 - 79 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.13 G23 Cancel, cancel start invalid Code G23 Function Cancel, cancel start invalid G24 (

6 - 80 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.14 G24 Cancel, cancel start Code G24 Function Cancel, cancel start The executing program

6 - 81 6 MOTION PROGRAMS FOR POSITIONING CONTROL (9) When G24 exists at any point between continuous constant-speed positioning blocks, a dece

6 - 82 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program which cancels program operation during execution of "O0010&q

2 - 2 2 POSITIONING CONTROL BY THE MOTION CPU [Execution of the Motion program start (S(P).SVST instruction)] Positioning control is executed b

6 - 83 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.15 G25 High-speed oscillation Code G25 Function High-speed oscillation The specified axis

6 - 84 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program in which the X-axis oscillates in the Sine curve of 10[mm] amplit

6 - 85 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.16 G26 High-speed oscillation stop Code G26 Function High-speed oscillation stop function

6 - 86 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.17 G28 Home position return Code G28 Function Home position return When the home positio

6 - 87 6 MOTION PROGRAMS FOR POSITIONING CONTROL (7) When the control unit is [degree], operation from the mid point to the home position diff

6 - 88 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.18 G30 Second home position return Code G30 Function Second home position return The axi

6 - 89 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program which executes the second home position return from the current p

6 - 90 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.19 G32 Skip Code G32 Function Skip The axis travels at the specified feed rate, the remai

6 - 91 6 MOTION PROGRAMS FOR POSITIONING CONTROL (9) The absolute circular interpolation or the absolute helical interpolation of the next blo

6 - 92 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] (1) The program designed to make multiple skips under the control of extern

2 - 3 2 POSITIONING CONTROL BY THE MOTION CPU Servo amplifierServomotorMotion CPUMotion program No.15(Program No. specified with the S(P)

6 - 93 6 MOTION PROGRAMS FOR POSITIONING CONTROL CAUTION The following operation assumes that a skip (G32) is specified during constant-speed c

6 - 94 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.20 G43 Tool length offset (+) Code G43 Function Tool length offset (+) The axis travels

6 - 95 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program for which executes the positioning added the offset value to the

6 - 96 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.21 G44 Tool length offset (-) Code G44 Function Tool length offset (-) The axis travels

6 - 97 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program for which executes the positioning subtracted the offset value fr

6 - 98 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.22 G49 Tool length offset cancel Code G49 Function Tool length offset cancel The preset

6 - 99 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.23 G53 Mechanical coordinate system selection Code G53 Function Mechanical coordinate sys

6 - 100 6 MOTION PROGRAMS FOR POSITIONING CONTROL (7) Under the incremental value command (G91), the axes travel at the incremental value of th

6 - 101 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.24 G54 to G59 Work coordinate system selection Code G54, G55, G56, G57, G58, G59 Functio

6 - 102 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Related Parameters] Work coordinates system offset value : Specify the offset in the work coo

2 - 4 2 POSITIONING CONTROL BY THE MOTION CPU [Execution of the JOG operation] JOG operation of specified axis is executed using the Motion pro

6 - 103 6 MOTION PROGRAMS FOR POSITIONING CONTROL <Work coordinates system change> The program for which set the offset of the work coordi

6 - 104 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.25 G61 Exact stop check mode Code G61 Function Exact stop check mode It travels in the

6 - 105 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program for which executes the positioning in the exact stop check mode.

6 - 106 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.26 G64 Cutting mode Code G64 Function Cutting mode The next block continuously executes

6 - 107 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program for which executes the positioning in the cutting mode. 1) G64

6 - 108 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.27 G90 Absolute value command Code G90 Function Absolute value command The coordinates c

6 - 109 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] Example of comparison between the absolute value command and incremental val

6 - 110 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.28 G91 Incremental value command Code G91 Function Incremental value command The coordin

6 - 111 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] Example of comparison between the incremental value command and absolute val

6 - 112 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.29 G92 Coordinates system setting Code G92 Function Coordinates system setting The mecha

A - 2 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

2 - 5 2 POSITIONING CONTROL BY THE MOTION CPU Positioning control parameter . . . . . Servo amplifierServomotorSystem settingsFixed

6 - 113 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program for which set the work coordinate system to the specified positi

6 - 114 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.30 G98, G99 Preread disable/enable Code G98, G99 Function Preread disable/enable Preread

6 - 115 6 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK (1) Preread is disabled until G99 is executed after it blocks it modal G98, and being

6 - 116 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.31 G100, G101 Time-fixed acceleration/deceleration, acceleration-fixed acceleration/ dec

6 - 117 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program designed to make the acceleration-fixed acceleration/deceleratio

6 - 118 6 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK About locus of G100/G101 Locus commanded from the Motion controller is different by set

6 - 119 6 MOTION PROGRAMS FOR POSITIONING CONTROL (b) Locus of G101 Acceleration-fixed acceleration/deceleration method is used to enable the co

6 - 120 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.14 M-Code This section explains the M-codes used in the Motion programs. (1) M-codes When

6 - 121 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.15 Special M-Code The arguments of the special M-codes are shown in Table 6.4 below. Table

6 - 122 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.15.1 M00 Program stop Code M00 Function Program stop Execution of program is stopped. Form

2 - 6 2 POSITIONING CONTROL BY THE MOTION CPU [Executing Manual Pulse Generator Operation] When the positioning control is executed by the manu

6 - 123 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.15.2 M01 Optional program stop Code M01 Function Optional program stop When the optional p

6 - 124 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.15.3 M02 Program end Code M02 Function Program end Program is ended. Format 2;M0 [Explana

6 - 125 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.15.4 M30 Program end Code M30 Function Program end Program is ended. Format 0;M3 [Explana

6 - 126 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.15.5 M98, M99 Subprogram call, subprogram end Code M98, M99 Function Subprogram call, subp

6 - 127 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program designed to run the specified subprogram twice repeatedly, retur

6 - 128 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.15.6 M100 Preread disable Code M100 Function Preread disable Preread is not executed on the

6 - 129 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16 Miscellaneous The settable arguments in the first character are shown in Table 6.5 below.

6 - 130 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.1 Program control function (IF, GOTO statement) Code IF, GOTO Function Program control f

6 - 131 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program for which jumps the specified sequence No. if the condition is s

6 - 132 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.2 Program control function (IF, THEN, ELSE, END statements) Code IF, THEN, ELSE, END Fun

2 - 7 2 POSITIONING CONTROL BY THE MOTION CPU Servo amplifierServomotorPositioning control parameter . . . . .System settingsFixed p

6 - 133 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] O0001 ;N1 G91 ;N2 G01 X100. Y100. F2000 ;N3 X200. ;

6 - 134 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.3 Program control function (WHILE, DO, END statements) Code WHILE, DO, END Function Pro

6 - 135 6 MOTION PROGRAMS FOR POSITIONING CONTROL (4) The GOTO statement cannot cause execution to go into or come out of the DO statement. [

6 - 136 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.4 Four fundamental operators, assignment operator (+, -, *, /, MOD, =) Code +, -, *, /,

6 - 137 6 MOTION PROGRAMS FOR POSITIONING CONTROL (5) For MOD, the 16- or 32-bit type is used for operation. If operation data 1, 2 are the 64

6 - 138 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.5 Trigonometric functions (SIN, COS, TAN, ASIN, ACOS, ATAN) Code SIN, COS, TAN, ASIN, ACO

6 - 139 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.6 Real number to BIN value conversion (INT) Code INT Function Floating-point type real nu

6 - 140 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.7 BIN value to real number conversion (FLT) Code FLT Function Floating-point type real nu

6 - 141 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.8 32-bit real number and 64-bit real number data conversion (DFLT, SFLT) Code DFLT, SFLT

6 - 142 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.9 Functions (SQRT, ABS, BIN, BCD, LN, EXP, RND, FIX, FUP) Code SQRT, ABS, BIN, BCD, LN, E

2 - 8 2 POSITIONING CONTROL BY THE MOTION CPU (1) Positioning control parameters There are following seven types as positioning control parame

6 - 143 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.10 Logical operators (AND, OR, XOR, NOT, <<, >>) Code AND, OR, XOR, NOT, <

6 - 144 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] Operator Program example Operation #2010L = 00000000 00000000 00000000 011

6 - 145 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.11 Move block wait functions (WAITON, WAITOFF) Code WAITON, WAITOFF Function Move block

6 - 146 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program which executes the next block at the completion of condition. 1)

6 - 147 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.12 Block wait functions (EXEON, EXEOFF) Code EXEON, EXEOFF Function Block wait function

6 - 148 6 MOTION PROGRAMS FOR POSITIONING CONTROL (2) Axis designation program (a) Next block is travel block. EXEON/EXEOFFSET #M100 ;EXEON

6 - 149 6 MOTION PROGRAMS FOR POSITIONING CONTROL VtM100ONOFF(Example1)tM100ONOFFV(Example2)It is ignored.It does not become valid before preced

6 - 150 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.13 Bit set and reset for word devices (BSET, BRST) Code BSET, BRST Function Bit operation

6 - 151 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.14 Parameter block change (PB) Code PB Function Parameter block change The parameter bloc

6 - 152 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] (1) When a parameter block change is executed during point-to-point positi

2 - 9 2 POSITIONING CONTROL BY THE MOTION CPU (3) PLC program The positioning control by the Motion program can be executed using the Motion d

6 - 153 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.15 Torque limit value change (TL) Code TL Function Torque limit value change The torque

6 - 154 6 MOTION PROGRAMS FOR POSITIONING CONTROL (9) If specified in a move block, the torque limit value (TL) is made valid from that motion

6 - 155 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.16 Home position return (CHGA) Code CHGA Function Home position return A home position r

6 - 156 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.17 Speed change (CHGV) Code CHGV Function Speed change A speed change of the specified ax

6 - 157 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.18 Torque limit value change (CHGT) Code CHGT Function Torque limit value change A torqu

6 - 158 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.19 Bit device set, reset functions (SET, RST) Code SET, RST Function Bit device set, res

6 - 159 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.20 Bit device operation on condition (IF, THEN, SET/RST/OUT) Code IF, THEN, SET/RST/OUT

6 - 160 6 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK (1) The mark of the I/O modules is X and Y in SV43 regardless of installation/non-ins

6 - 161 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.21 Program start (CALL) Code CALL Function Program start The specified control program or

6 - 162 6 MOTION PROGRAMS FOR POSITIONING CONTROL Difference point of the program call and program start O0001 ;%CALL JXJY P10 ;M02 ;Progr

2 - 10 2 POSITIONING CONTROL BY THE MOTION CPU MEMO

6 - 163 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.22 Program call 1 (GOSUB) Code GOSUB Function Program call 1 The specified control progr

6 - 164 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.23 Program call 2 (GOSUBE) Code GOSUBE Function Program call 2 The specified control pro

6 - 165 6 MOTION PROGRAMS FOR POSITIONING CONTROL (9) The end of rol program by CLEAR instruction in the control program or the CLEAR requ

6 - 166 6 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK Error list which the main program ends by an error occurrence is shown below. Error

6 - 167 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.24 Control program end (CLEAR) Code CLEAR Function Control program end The specified con

6 - 168 6 MOTION PROGRAMS FOR POSITIONING CONTROL (4) The CLEAR at the program call as the following operation. O100 ; (Control program)A%GO

6 - 169 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.25 Time to wait (TIME) Code TIME Function Time to wait Time from the end of the block to

6 - 170 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.26 Block transfers (BMOV : 16-bit unit) Code BMOV Function Block transfers (16-bit unit)

6 - 171 6 MOTION PROGRAMS FOR POSITIONING CONTROL (2) Program which batch-transfers a contents for 5 words from absolute address (0x06000000)

6 - 172 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.27 Block transfer (BDMOV : 32-bit unit) Code BDMOV Function Block transfer (32-bit unit)

3 - 1 3 MOTION DEDICATED PLC INSTRUCTION 3 3. MOTION DEDICATED PLC INSTRUCTION 3.1 Motion Dedicated PLC Instruction (1) T

6 - 173 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] (1) Program which batch-transfers a contents for 4 words from D2000 to all

6 - 174 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.28 Identical data block transfers (FMOV) Code FMOV Function Identical data block transfe

6 - 175 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] (1) Program which batch-transfers a contents for from D0 to all data for 5

6 - 176 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.29 Write device data to shared CPU memory (MULTW) Code MULTW Function Write device data t

6 - 177 6 MOTION PROGRAMS FOR POSITIONING CONTROL An operation error will occur if : (a) Number of words (n) to be written is outside the ran

6 - 178 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.30 Read device data from shared CPU memory of the other CPU (MULTR) Code MULTR Function R

6 - 179 6 MOTION PROGRAMS FOR POSITIONING CONTROL (3) When data are read normally from the target CPU specified with (S1), the reading complet

6 - 180 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.31 Write words data to intelligent function module/special function module (TO) Code TO F

6 - 181 6 MOTION PROGRAMS FOR POSITIONING CONTROL (4) The following analogue modules can be used as the control module of Motion CPU. • Q62DA

6 - 182 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.32 Read words data from intelligent function module/special function module (FROM) Code

3 - 2 3 MOTION DEDICATED PLC INSTRUCTION Shared CPU memory address ( ) is decimal address Description Example of the reading (When target is t

6 - 183 6 MOTION PROGRAMS FOR POSITIONING CONTROL (3) The devices that may be set at (D), (S1), (S2) and (n) are shown below. Word devices (No

6 - 184 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.33 Conditional branch using bit device (ON, OFF) Code ON, OFF Function Bit device conditi

6 - 185 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] (1) When M100 is ON, a branch to line N03 is taken. N01 IF [ON #M100] GO

6 - 186 6 MOTION PROGRAMS FOR POSITIONING CONTROL MEMO

7 - 1 7 AUXILIARY AND APPLIED FUNCTIONS 7. AUXILIARY AND APPLIED FUNCTIONS 7.1 Backlash Compensation Function This function compensates for the

7 - 2 7 AUXILIARY AND APPLIED FUNCTIONS (2) Backlash compensation processing Details of backlash compensation processing are shown below. Tab

7 - 3 7 AUXILIARY AND APPLIED FUNCTIONS 7.2 Torque Limit Function This function restricts the generating torque of the servomotor within the set

7 - 4 7 AUXILIARY AND APPLIED FUNCTIONS (3) Motion program O10; G90; N1 G00 X100. Y100. ; TL100; N2 G00 X200. Y200. ; N3 G00 X300. Y300. ; M

7 - 5 7 AUXILIARY AND APPLIED FUNCTIONS 7.3 Home Position Return (1) Use the home position return at the power supply ON and other times where

7 - 6 7 AUXILIARY AND APPLIED FUNCTIONS 7.3.1 Home position return data This data is used to execute the home position return. Set this data usi

3 - 3 3 MOTION DEDICATED PLC INSTRUCTION (d) Use a flag in the shared CPU memory which correspond with each instruction not to execute multipl

7 - 7 7 AUXILIARY AND APPLIED FUNCTIONS Remarks Explanatory section • The home position return direction is set. • The home positio

7 - 8 7 AUXILIARY AND APPLIED FUNCTIONS (1) Travel value after proximity dog ON (a) The travel value after proximity dog ON is set to execut

7 - 9 7 AUXILIARY AND APPLIED FUNCTIONS (2) Home position return retry function/dwell time at the home position return retry (a) Valid/inval

7 - 10 7 AUXILIARY AND APPLIED FUNCTIONS (3) Home position shift amount/speed set at the home position shift (a) The shift (travel) amount fr

7 - 11 7 AUXILIARY AND APPLIED FUNCTIONS (d) Valid/invalid of the setting value for home position shift amount by the home position return me

7 - 12 7 AUXILIARY AND APPLIED FUNCTIONS (5) Operation setting for incompletion of home position return (a) Operation in selecting "0:

7 - 13 7 AUXILIARY AND APPLIED FUNCTIONS Operation example in starting the Motion program in the condition that the fixed parameter and home p

7 - 14 7 AUXILIARY AND APPLIED FUNCTIONS (6) Indirect setting of home position return data A part of home position return data can be executed

7 - 15 7 AUXILIARY AND APPLIED FUNCTIONS 3) G30 The second home position return address specified with the home position return data is read eve

7 - 16 7 AUXILIARY AND APPLIED FUNCTIONS 7.3.2 Home position return by the proximity dog type 1 [Control details] (1) Proximity dog type 1 Zer

3 - 4 3 MOTION DEDICATED PLC INSTRUCTION Program which executes directly multiple Motion dedicated PLC instructions because one contact-point tu

7 - 17 7 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) Keep the proximity dog ON during deceleration from the home position return speed to t

7 - 18 7 AUXILIARY AND APPLIED FUNCTIONS (3) When it does not pass (zero pass signal: M2406+20n ON) the zero point from home position return s

7 - 19 7 AUXILIARY AND APPLIED FUNCTIONS 7.3.3 Home position return by the proximity dog type 2 [Control details] (1) Proximity dog type 2 Zer

7 - 20 7 AUXILIARY AND APPLIED FUNCTIONS (3) Home position return execution Home position return by the proximity dog type 2 is executed using

7 - 21 7 AUXILIARY AND APPLIED FUNCTIONS 7.3.4 Home position return by the count type 1 [Control details] (1) Count type 1 After the proximity

7 - 22 7 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) Home position return and continuously start of home position return are also possible

7 - 23 7 AUXILIARY AND APPLIED FUNCTIONS 7.3.5 Home position return by the count type 2 [Control details] (1) Count type 2 After the proximity

7 - 24 7 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) Home position return and continuously start of home position return are also possible i

7 - 25 7 AUXILIARY AND APPLIED FUNCTIONS 7.3.6 Home position return by the count type 3 [Control details] (1) Count type 3 After the proximity

7 - 26 7 AUXILIARY AND APPLIED FUNCTIONS (3) Home position return execution Home position return by the count type 3 is executed using the CHG

A - 3 3. For injury prevention ! CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may

3 - 5 3 MOTION DEDICATED PLC INSTRUCTION POINT Access from the PLC CPU is processed before the communication processing of the Motion CPU. Ther

7 - 27 7 AUXILIARY AND APPLIED FUNCTIONS 7.3.7 Home position return by the data set type 1 [Control details] (1) Data set type 1 The proximity

7 - 28 7 AUXILIARY AND APPLIED FUNCTIONS 7.3.8 Home position return by the data set type 2 [Control details] (1) Data set type 2 The proximity

7 - 29 7 AUXILIARY AND APPLIED FUNCTIONS 7.3.9 Home position return by the dog cradle type [Control details] (1) Dog cradle type After deceler

7 - 30 7 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) When home position return retry function is not set, if home position return is execut

7 - 31 7 AUXILIARY AND APPLIED FUNCTIONS (3) When the proximity dog is set in the home position return direction, the proximity dog is turned O

7 - 32 7 AUXILIARY AND APPLIED FUNCTIONS (4) When it starts in the proximity dog, the zero point is not passed at the time of the proximity do

7 - 33 7 AUXILIARY AND APPLIED FUNCTIONS 7.3.10 Home position return by the stopper type 1 [Control details] (1) Stopper type 1 Position of st

7 - 34 7 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) A zero point does not must be passed (zero pass signal: M2406+20n ON) between turning o

7 - 35 7 AUXILIARY AND APPLIED FUNCTIONS 7.3.11 Home position return by the stopper type 2 [Control details] (1) Stopper type 2 Position of st

7 - 36 7 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) A zero point does not must be passed (zero pass signal: M2406+20n ON) between turning o

3 - 6 3 MOTION DEDICATED PLC INSTRUCTION (3) Complete status The error code is stored in the complete status at abnormal completion of the Mul

7 - 37 7 AUXILIARY AND APPLIED FUNCTIONS 7.3.12 Home position return by the limit switch combined type [Control details] (1) Limit switch comb

7 - 38 7 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) For the axis which executes the home position return by the limit switch combined type,

7 - 39 7 AUXILIARY AND APPLIED FUNCTIONS 7.3.13 Home position return retry function When a work has been exceeded home position during positioni

7 - 40 7 AUXILIARY AND APPLIED FUNCTIONS (2) Home position return retry operation setting a work outside the range of external limit switch (a)

7 - 41 7 AUXILIARY AND APPLIED FUNCTIONS (3) Dwell time setting at the home position return retry Reverse operation by detection of the extern

7 - 42 7 AUXILIARY AND APPLIED FUNCTIONS (2) Make a system for which does not execute the servo amplifier power off or servo OFF by the externa

7 - 43 7 AUXILIARY AND APPLIED FUNCTIONS 7.3.14 Home position shift function Normally, when the machine home position return is executed, a posi

7 - 44 7 AUXILIARY AND APPLIED FUNCTIONS [Control details] (1) Home position shift operation Operation for the home position shift function is

7 - 45 7 AUXILIARY AND APPLIED FUNCTIONS (2) Setting range of home position shift amount Set the home position shift amount within the range of

7 - 46 7 AUXILIARY AND APPLIED FUNCTIONS (b) Home position shift operation with the "creep speed" VHome positionreturn directionCr

3 - 7 3 MOTION DEDICATED PLC INSTRUCTION (4) Self CPU operation data area used by Motion dedicated instruction (30H to 33H) The complete statu

7 - 47 7 AUXILIARY AND APPLIED FUNCTIONS 7.3.15 Condition selection of home position set A home position return must be made after the servomoto

7 - 48 7 AUXILIARY AND APPLIED FUNCTIONS 7.3.16 Execution of home position return The home position return is executed using the CHGA instructio

7 - 49 7 AUXILIARY AND APPLIED FUNCTIONS 7.4 Speed Change (CHGV instruction) The speed change is executed at the positioning control or JOG oper

7 - 50 7 AUXILIARY AND APPLIED FUNCTIONS Command Speed after Execution of Speed Change No. Travel mode at speedchange (Note-1) Travel mode after

7 - 51 7 AUXILIARY AND APPLIED FUNCTIONS [Data setting] (1) The setting ranges to speed change registers are shown below. mm inch degree

7 - 52 7 AUXILIARY AND APPLIED FUNCTIONS (1) If a speed change is executed, the setting speed is ignored in the following cases. (An error wil

7 - 53 7 AUXILIARY AND APPLIED FUNCTIONS 7.5 JOG Operation The setting JOG operation is executed. Individual start or simultaneous start can be

7 - 54 7 AUXILIARY AND APPLIED FUNCTIONS 7.5.2 Individual start JOG operation for the specified axes is started. JOG operation is executed by th

7 - 55 7 AUXILIARY AND APPLIED FUNCTIONS (2) The setting range for JOG speed setting registers are shown below. Setting range JOG operation

7 - 56 7 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) If the forward JOG start command (M3202+20n) and reverse JOG start command (M3203+20n)

3 - 8 3 MOTION DEDICATED PLC INSTRUCTION 3.2 Motion program (Control program) Start Request from The PLC CPU to The Motion CPU:S(P).SFCS (PLC in

7 - 57 7 AUXILIARY AND APPLIED FUNCTIONS (3) JOG operation by the JOG operation command (M3202+20n/M3203+20n) is not executed during the test

7 - 58 7 AUXILIARY AND APPLIED FUNCTIONS (3) Motion program (Control program) O0100 SET #M2042; All axes servo ON command turns on. N10 IF[[

7 - 59 7 AUXILIARY AND APPLIED FUNCTIONS 7.5.3 Simultaneous start Simultaneous start JOG operation for specified multiple axes. [Control details

7 - 60 7 AUXILIARY AND APPLIED FUNCTIONS (3) The setting range for JOG speed setting registers are shown below. Setting range JOG operation

7 - 61 7 AUXILIARY AND APPLIED FUNCTIONS [Program Example] Program for simultaneous start of JOG operations are shown as the following condition

7 - 62 7 AUXILIARY AND APPLIED FUNCTIONS 7.6 Manual Pulse Generator Operation Positioning control based on the number of pulses inputted from th

7 - 63 7 AUXILIARY AND APPLIED FUNCTIONS (b) Output speed The output speed is the positioning speed corresponding to the number of pulses inpu

7 - 64 7 AUXILIARY AND APPLIED FUNCTIONS (5) The setting manual pulse generator 1-pulse input magnification checks the "1-pulse input mag

7 - 65 7 AUXILIARY AND APPLIED FUNCTIONS (7) Errors details at the data setting for manual pulse generator operation are shown below. Error d

7 - 66 7 AUXILIARY AND APPLIED FUNCTIONS (5) If the same manual pulse generator enable flag turns on again for axis during smoothing decelerat

3 - 9 3 MOTION DEDICATED PLC INSTRUCTION Set the control program No. to start in (n2). Usable range is shown below. (1) The control program No

7 - 67 7 AUXILIARY AND APPLIED FUNCTIONS [Program Example] Program executes manual pulse generator operation is shown as the following condition

7 - 68 7 AUXILIARY AND APPLIED FUNCTIONS 7.7 Override Ratio Setting Function The speed change can be executed by setting the override ratio to t

7 - 69 7 AUXILIARY AND APPLIED FUNCTIONS (2) When the speed is changed by the override ratio setting function, acceleration/deceleration proce

7 - 70 7 AUXILIARY AND APPLIED FUNCTIONS 7.8 FIN signal wait function By selecting the FIN signal wait function and setting a M-code at each exe

7 - 71 7 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) When the stop command (external, M3200+20n, M3201+20n), cancel signal or skip signal i

7 - 72 7 AUXILIARY AND APPLIED FUNCTIONS (6) The command in-position signal for FIN signal wait function is output as below. (a) When the au

7 - 73 7 AUXILIARY AND APPLIED FUNCTIONS POINTS (1) The fixed acceleration/deceleration time method is acceleration/deceleration processing t

7 - 74 7 AUXILIARY AND APPLIED FUNCTIONS 7.9 Single Block Operation This function is used to execute the program operation block-by-block and ch

7 - 75 7 AUXILIARY AND APPLIED FUNCTIONS (b) Single block mode (M4408) This signal makes a single block valid. (c) Single block start (M440

7 - 76 7 AUXILIARY AND APPLIED FUNCTIONS (4) How to start operation continuously during execution of single block Turn the single block mode s

3 - 10 3 MOTION DEDICATED PLC INSTRUCTION [Operation of the self CPU at execution of S(P).SFCS instruction] To self CPU high speed interrupt ac

7 - 77 7 AUXILIARY AND APPLIED FUNCTIONS (6) How to execute single block during continuous operation Turn the single block mode signal (M4408)

7 - 78 7 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) Single block mode signal (M4408) and single block command (M4403+10n) If the single bl

7 - 79 7 AUXILIARY AND APPLIED FUNCTIONS 7.10 Control Program Stop Function from The PLC CPU The No. of control program during execution is spec

7 - 80 7 AUXILIARY AND APPLIED FUNCTIONS MEMO

8 - 1 8 USER FILES 8 8. USER FILES A user file list and directory structure are shown below 8.1 Projects User files are m

8 - 2 8 USER FILES 8.2 User File List A user file list is shown below. Sfc(1)(2)(3) (7) (9)svgcode.bingsvp.cnfsvsystemH.binsvlatch.binsvdat

APP - 1 APPENDICES APP. APPENDICES APPENDIX 1 Error Codes Stored Using The Motion CPU The Motion program setting errors and positioning errors

APP - 2 APPENDICES Table 1.1 Error code storage registers, error detection signals Error code storage register Device Error c

APP - 3 APPENDICES APPENDIX 1.1 Motion program setting errors (Stored in D9190) The error codes, error contents and corrective actions for Motion

APP - 4 APPENDICES APPENDIX 1.2 Minor errors These errors are detected in the PLC program or Motion program, and the error codes of 1 to 999 are u

3 - 11 3 MOTION DEDICATED PLC INSTRUCTION [Errors] The abnormal completion in the case shown below, and the error code is stored in the device s

APP - 5 APPENDICES Table 1.3 Setting data error (1 to 99) list (Continued) Error codeErroneous data Check timing Error cause Error processing Cor

APP - 6 APPENDICES (2) Positioning control start errors (100 to 199) These errors are detected at the positioning control start. The error codes

APP - 7 APPENDICES Table 1.4 Positioning control start error (100 to 199) list (Continued) Control mode Error code Control program Axis designa

APP - 8 APPENDICES Table 1.4 Positioning control start error (100 to 199) list (Continued) Control mode Error code Control program Axis designa

APP - 9 APPENDICES (3) Positioning control errors (200 to 299) These are errors detected during the positioning control. The error codes, causes

APP - 10 APPENDICES Table 1.5 Positioning control error (200 to 299) list (Continued) Control mode Error code Control program Axis designation

APP - 11 APPENDICES Table 1.5 Positioning control error (200 to 299) list (Continued) Control mode Error code Control program Axis designation

APP - 12 APPENDICES (4) Speed change/torque limit value change errors (300 to 399) These are errors detected at speed change or torque limit val

APP - 13 APPENDICES (5) Motion program running errors (500 to 699) These errors are detected during Motion program execution. Check the execute

APP - 14 APPENDICES Table 1.7 Motion program running error (500 to 699) list (Continued) Control mode Error code Control program Axis designatio

3 - 12 3 MOTION DEDICATED PLC INSTRUCTION [Program example] M0X0 (1) This program starts the Motion program (Control program) No.10 of the Mot

APP - 15 APPENDICES Table 1.7 Motion program running error (500 to 699) list (Continued) Control mode Error code Control program Axis designatio

APP - 16 APPENDICES Table 1.7 Motion program running error (500 to 699) list (Continued) Control mode Error code Control program Axis designati

APP - 17 APPENDICES Table 1.7 Motion program running error (500 to 699) list (Continued) Control mode Error code Control program Axis designati

APP - 18 APPENDICES Table 1.7 Motion program running error (500 to 699) list (Continued) Control mode Error code Control program Axis designati

APP - 19 APPENDICES (6) System errors (900 to 999) Table 1.8 System error (900 to 999) list Control mode Error code Control program Axis de

APP - 20 APPENDICES APPENDIX 1.3 Major errors These errors occur by control command from the external input signal or Motion program, and the erro

APP - 21 APPENDICES (2) Positioning control errors (1100 to 1199) These errors are detected at the positioning control. The error codes, causes,

APP - 22 APPENDICES (3) Absolute position system errors (1200 to 1299) These errors are detected at the absolute positioning system. The error c

APP - 23 APPENDICES (4) System errors (1300 to 1399) These errors are detected at the power-on. The error codes, causes, processing and correcti

APP - 24 APPENDICES APPENDIX 1.4 Servo errors (1) Servo amplifier errors (2000 to 2899) These errors are detected by the servo amplifier, and th

3 - 13 3 MOTION DEDICATED PLC INSTRUCTION 3.3 Motion Program (Axis designation program) Start Request from The PLC CPU to The Motion CPU:S(P).SV

APP - 25 APPENDICES Table 1.13 Servo error (2000 to 2899) list Error cause Error code Name Description Error check Error processingCorrective acti

APP - 26 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCor

APP - 27 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCor

APP - 28 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCor

APP - 29 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCor

APP - 30 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCor

APP - 31 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCor

APP - 32 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCor

APP - 33 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Co

APP - 34 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Co

3 - 14 3 MOTION DEDICATED PLC INSTRUCTION [Description] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CP

APP - 35 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Co

APP - 36 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Co

APP - 37 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Co

APP - 38 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Co

APP - 39 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Co

APP - 40 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Co

APP - 41 APPENDICES APPENDIX 1.5 PC link communication errors Table 1.14 PC link communication error codes list Error codes stored in D9196 Error

APP - 42 APPENDICES APPENDIX 2 Motion dedicated signal APPENDIX 2.1 Internal relay (M) (1) Axis status list Axis No. Device No. Signal name

APP - 43 APPENDICES (2) Axis command signal list Axis No. Device No. Signal name 1 M3200 to M3219 2 M3220 to M3239 3 M32

APP - 44 APPENDICES (3) Axis status 2 list Axis No. Device No. Signal name 1 M4000 to M4009 2 M4010 to M4019 3 M

A - 4 ! CAUTION In systems where perpendicular shaft dropping may be a problem during the forced stop, emergency stop, servo OFF or power supply

3 - 15 3 MOTION DEDICATED PLC INSTRUCTION (2) S(P).SVST instruction accepting and normal/abnormal completion can be confirmed with the complet

APP - 45 APPENDICES (4) Axis command signal 2 list Axis No. Device No. Signal name 1 M4400 to M4409 2 M4410 to M4419 3

APP - 46 APPENDICES (5) Common device list Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark(Note-4) Device No. Signa

APP - 47 APPENDICES Common device list (Continued) Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark(Note-4) Device No.

APP - 48 APPENDICES Common device list (Continued) Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark(Note-4) Device No.

APP - 49 APPENDICES Explanation of the request register No. Function Bit device Request register 1 PLC ready flag M2000 D704 2 All axes se

APP - 50 APPENDICES (6) Special relay allocated device list (Status) Device No. Signal name Refresh cycle Fetch cycle Signal direction Rema

APP - 51 APPENDICES (7) Common device list (Command signal) Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark (Note-

APP - 52 APPENDICES APPENDIX 2.2 Data registers (D) (1) Axis monitor device list Axis No. Device No. Signal name 1 D0 to D19

APP - 53 APPENDICES (2) Control change register list Axis No. Device No. Signal name 1 D640, D641 2 D642, D643 3 D644

APP - 54 APPENDICES (3) Axis monitor device 2 list Axis No. Device No. Signal name 1 D800 to D819 2 D820 to D839

3 - 16 3 MOTION DEDICATED PLC INSTRUCTION (b) The sequence No. (N****) / parameter block No. in the control program is set It can be started i

APP - 55 APPENDICES (4) Control program monitor device list Device No. Signal name D1440 to D1445 D1446 to D1451

APP - 56 APPENDICES (5) Control change register 2 list Axis No. Device No. Signal name 1 D1536 to D1538 2 D1539 to D1541

APP - 57 APPENDICES (6) Tool length offset data setting register list (Higher rank, lower rank) Device No. Signal name D1651, D1650 Tool leng

APP - 58 APPENDICES (7) Common device list Device No. Signal name Refresh cycle Fetch cycle Signal direction Device No. Signal name Refresh

APP - 59 APPENDICES APPENDIX 2.3 Motion Registers (#) Motion registers (#) Axis No. Device No. Signal name 1 #8064 to #8067 2 #8068 to #

APP - 60 APPENDICES APPENDIX 2.4 Special Relays Special relays are internal relays whose applications are fixed in the Motion CPU. For this reason

APP - 61 APPENDICES Special relay list No. Name Meaning Details Set by (When set) RemarkM9000 Fuse blown detection OFF : Normal ON : Fuse

APP - 62 APPENDICES Special relay list (continued) No. Name Meaning Details Set by (When set) RemarkM9077 Manual pulse generator axis setting er

APP - 63 APPENDICES APPENDIX 2.5 Special Registers Special registers are internal registers whose applications are fixed in the Motion CPU. For th

APP - 64 APPENDICES Special register list No. Name Meaning Details Set by (When set) RemarkD9000 Fuse blown No. Module No. with blown fuse • Wh

3 - 17 3 MOTION DEDICATED PLC INSTRUCTION [Errors] The abnormal completion in the case shown below, and the error code is stored in the device s

APP - 65 APPENDICES Special register list (continued) No. Name Meaning Details Set by (When set) RemarkD9026 Clock data Clock data (Day, hour) •

APP - 66 APPENDICES Special register list (continued) No. Name Meaning Details Set by (When set) RemarkD9188 Motion operation cycle Motion opera

APP - 67 APPENDICES APPENDIX 3 Processing Times of the Motion CPU The processing time of each signal and each instruction for positioning control

WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any f

IB(NA)-0300115-A(0602)MEEPQMOTION CONTROLLER Qseries (SV43) Programming Manual (Q173HCPU/Q172HCPU)MOTION CONTROLLERSProgramming ManualMODELMODELCODEQ1

3 - 18 3 MOTION DEDICATED PLC INSTRUCTION [Program example] (1) Program which requests to start the Motion program (Axis designation program) N

3 - 19 3 MOTION DEDICATED PLC INSTRUCTION 3.4 Home position return instruction from The PLC CPU to The Motion CPU: S(P).CHGA (PLC instruction: S

3 - 20 3 MOTION DEDICATED PLC INSTRUCTION [Description] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CP

3 - 21 3 MOTION DEDICATED PLC INSTRUCTION (b) Status display device at the completion It is turned on/off according to the status of the instr

3 - 22 3 MOTION DEDICATED PLC INSTRUCTION [Errors] The abnormal completion in the case shown below, and the error code is stored in the device s

3 - 23 3 MOTION DEDICATED PLC INSTRUCTION [Program example] SP.CHGAK10 M0 D0H3E3RST M100M100To self CPUhigh speedinterrupt acceptflag from C

3 - 24 3 MOTION DEDICATED PLC INSTRUCTION 3.5 Speed Change Instruction from The PLC CPU to The Motion CPU: S(P).CHGV (PLC instruction: S(P).CHG

A - 5 ! CAUTION Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value that is compatible with the system

3 - 25 3 MOTION DEDICATED PLC INSTRUCTION [Description] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU

3 - 26 3 MOTION DEDICATED PLC INSTRUCTION [Setting range] (1) Setting of axis to execute the speed change. The axis to execute the speed chang

3 - 27 3 MOTION DEDICATED PLC INSTRUCTION [Errors] The abnormal completion in the case shown below, and the error code is stored in the device s

3 - 28 3 MOTION DEDICATED PLC INSTRUCTION Moving Backward during Positioning When a speed change is made to a negative speed by the CHGV inst

3 - 29 3 MOTION DEDICATED PLC INSTRUCTION (3) When the axis is standing by at the return position (a) Signal states • Start accept (M2001 +

3 - 30 3 MOTION DEDICATED PLC INSTRUCTION [Operation Example under G01] When a speed change is made to negative

3 - 31 3 MOTION DEDICATED PLC INSTRUCTION (4) In the above example, the axis returns to P2 even if the axis passes through P2 during a speed c

3 - 32 3 MOTION DEDICATED PLC INSTRUCTION 3.6 Torque Limit Value Change Request Instruction from The PLC CPU to The Motion CPU: S(P).CHGT (PLC i

3 - 33 3 MOTION DEDICATED PLC INSTRUCTION [Description] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CP

3 - 34 3 MOTION DEDICATED PLC INSTRUCTION (2) Setting of the torque limit value to change. (S2) usable range 1 to 1000 [Errors] The abnormal

A - 6 ! CAUTION Do not get on or place heavy objects on the product. Always observe the installation direction. Keep the designated clearance b

3 - 35 3 MOTION DEDICATED PLC INSTRUCTION [Program example] Program which changes the torque limit value of the axis No.1 of the Motion CPU

3 - 36 3 MOTION DEDICATED PLC INSTRUCTION 3.7 Write from The PLC CPU to The Motion CPU: S(P).DDWR (PLC instruction: S(P) .DDWR ) • Write instr

3 - 37 3 MOTION DEDICATED PLC INSTRUCTION [Controls] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU s

3 - 38 3 MOTION DEDICATED PLC INSTRUCTION [Operation of the self CPU at execution of S(P).DDWR instruction] S(P).DDWR instruction(First)To self

3 - 39 3 MOTION DEDICATED PLC INSTRUCTION The error flag (SM0) is turned on an operation error in the case shown below, and an error code is sto

3 - 40 3 MOTION DEDICATED PLC INSTRUCTION 3.8 Read from The Devices of The Motion CPU: S(P).DDRD (PLC instruction: S(P).DDRD ) • Read instructi

3 - 41 3 MOTION DEDICATED PLC INSTRUCTION [Control] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU sy

3 - 42 3 MOTION DEDICATED PLC INSTRUCTION [Operation of the self CPU at execution of S(P).DDRD instruction] tOFFOFFONOFFON ONONOFFENDEND END EN

3 - 43 3 MOTION DEDICATED PLC INSTRUCTION The error flag (SM0) is turned on an operation error in the case shown below, and an error code is sto

3 - 44 3 MOTION DEDICATED PLC INSTRUCTION MEMO

A - 7 (4) Wiring ! CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness af

4 - 1 4 POSITIONING SIGNALS 4. POSITIONING SIGNALS The internal signals of the Motion CPU and the external signals to the Motion CPU are used as

4 - 2 4 POSITIONING SIGNALS The positioning dedicated devices are shown below. It indicates the device refresh cycle of the Motion CPU for statu

4 - 3 4 POSITIONING SIGNALS (2) Axis status list Axis No. Device No. Signal name 1 M2400 to M2419 2 M2420 to M2439

4 - 4 4 POSITIONING SIGNALS (3) Axis command signal list Axis No. Device No. Signal name 1 M3200 to M3219 2 M3220 to M3239

4 - 5 4 POSITIONING SIGNALS (4) Axis status 2 list Axis No. Device No. Signal name 1 M4000 to M4009 2 M4010 to M401

4 - 6 4 POSITIONING SIGNALS (5) Axis command signal 2 list Axis No. Device No. Signal name 1 M4400 to M4409 2 M4410 to M44

4 - 7 4 POSITIONING SIGNALS (6) Common device list Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark(Note-4) Device

4 - 8 4 POSITIONING SIGNALS Common device list (Continued) Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark(Note-4) D

4 - 9 4 POSITIONING SIGNALS Common device list (Continued) Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark(Note-4) D

4 - 10 4 POSITIONING SIGNALS Explanation of the request register No. Function Bit device Request register 1 PLC ready flag M2000 D704 2

A - 8 (6) Usge methods ! CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo

4 - 11 4 POSITIONING SIGNALS (7) Special relay allocated device list (Status) Device No. Signal name Refresh cycle Fetch cycle Signal dir

4 - 12 4 POSITIONING SIGNALS (8) Common device list (Command signal) Device No. Signal name Refresh cycle Fetch cycle Signal direction Re

4 - 13 4 POSITIONING SIGNALS 4.1.1 Axis statuses (1) Positioning start complete signal (M2400+20n) (a) This signal turns on with the start c

4 - 14 4 POSITIONING SIGNALS REMARK (Note-1): In the above descriptions, "n" in"M3204+20n", etc. indicates a value correspon

4 - 15 4 POSITIONING SIGNALS (2) Positioning complete signal (M2401+20n) (a) This signal turns on with the completion for the positioning co

4 - 16 4 POSITIONING SIGNALS (3) In-position signal (M2402+20n) (a) This signal turns on when the number of droop pulses in the deviation co

4 - 17 4 POSITIONING SIGNALS (4) Command in-position signal (M2403+20n) (a) This signal turns on when the absolute value of difference betwe

4 - 18 4 POSITIONING SIGNALS POINTS Example 1, 2 are shown below about in-position signal and command in-position signal of the interpolation a

4 - 19 4 POSITIONING SIGNALS POINTS [Example2] G0 travel blockStart accept flag (M2001+n)In-position signal (M2402+20n)

4 - 20 4 POSITIONING SIGNALS (5) Zero pass signal (M2406+20n) This signal turns on when the zero point is passed after the power supply on of