Mitsubishi Electric Q172CPU Q173CPU Programming Manual v4

Q173CPU(N)/Q172CPU(N) Motion Controller (SV13/SV22) Programming Manual (REAL MODE)

-Q172CPU -Q173CPU -Q172CPUN -Q173CPUN

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SAFETY PRECAUTIONS (Read these precautions before using.)

When using this equipment, thoroughly read this manual and the associated manuals introduced in this manual. Also pay careful attention to safety and handle the module properly. These precautions apply only to this equipment. Refer to the Q173CPU(N)/Q172CPU(N) Users manual for a description of the Motion controller safety precautions. These SAFETY PRECAUTIONS classify the safety precautions into two categories: "DANGER" and "CAUTION".

! DANGER

CAUTION!

Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight personal injury or physical damage.

Depending on circumstances, procedures indicated by ! CAUTION may also be linked to serious results. In any case, it is important to follow the directions for usage.

Store this manual in a safe place so that you can take it out and read it whenever necessary. Always forward it to the end user.

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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 is running, as this may lead to electric shocks.

Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks.

Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF. The insides of the Motion controller and servo amplifier are charged and may lead to electric shocks.

When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and then check the voltage with a tester, etc.. Failing to do so may lead to electric shocks.

Be sure to ground the Motion controller, servo amplifier and servomotor. (Ground resistance : 100 or less) Do not ground commonly with other devices.

The wiring work and inspections must be done by a qualified technician.

Wire the units after installing the Motion controller, servo amplifier and servomotor. Failing to do so may lead to electric shocks or damage.

Never operate the switches with wet hands, as this may lead to electric shocks.

Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this may lead to electric shocks.

Do not touch the Motion controller, servo amplifier or servomotor terminal blocks while the power is ON, as this may lead to electric shocks.

Do not touch the built-in power supply, built-in grounding or signal wires of the Motion controller and servo amplifier, as this may lead to electric shocks.

2. For fire prevention

! CAUTION Install the Motion controller, servo amplifier, servomotor and regenerative resistor on inflammable material. Direct installation on flammable material or near flammable material may lead to fire.

If a fault occurs in the Motion controller or servo amplifier, shut the power OFF at the servo amplifiers power source. If a large current continues to flow, fire may occur.

When using a regenerative resistor, shut the power OFF with an error signal. The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead to fire.

Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may lead to fire.

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3. For injury prevention

! CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may lead to destruction or damage.

Do not mistake the terminal connections, as this may lead to destruction or damage.

Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.

Do not touch the servo amplifier's heat radiating fins, regenerative resistor and servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this timing, these parts become very hot and may lead to burns.

Always turn the power OFF before touching the servomotor shaft or coupled machines, as these parts may lead to injuries.

Do not go near the machine during test operations or during operations such as teaching. Doing so may lead to injuries.

4. Various precautions

Strictly observe the following precautions.

Mistaken handling of the unit may lead to faults, injuries or electric shocks.

(1) System structure

! CAUTION Always install a leakage breaker on the Motion controller and servo amplifier power source.

If installation of an electromagnetic contactor for power shut off during an error, etc., is specified in the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor.

Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off.

Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the combi- nations listed in the instruction manual. Other combinations may lead to fire or faults.

If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller, servo amplifier and servomotor, make sure that the safety standards are satisfied.

Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system.

In systems where coasting of the servomotor will be a problem during the forced stop, emergency stop, servo OFF or power supply OFF, use dynamic brakes.

Make sure that the system considers the coasting amount even when using dynamic brakes.

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! CAUTION In systems where perpendicular shaft dropping may be a problem during the forced stop, emergency stop, servo OFF or power supply OFF, use both dynamic brakes and electromagnetic brakes.

The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF. These brakes must not be used for normal braking.

The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications, and must not be used for normal braking.

The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max. speed.

Use wires and cables that have a wire diameter, heat resistance and bending resistance compatible with the system.

Use wires and cables within the length of the range described in the instruction manual.

The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor.

Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation.

There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure (when the ball screw and servomotor are connected with a timing belt, etc.). Install a stopping device to ensure safety on the machine side.

(2) Parameter settings and programming

! CAUTION Set the parameter values to those that are compatible with the Motion controller, servo amplifier, servomotor and regenerative resistor model and the system application. The protective functions may not function if the settings are incorrect.

The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode, servo amplifier and servo power supply module. The protective functions may not function if the settings are incorrect.

Set the mechanical brake output and dynamic brake output validity parameters to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.

Set the stroke limit input validity parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect.

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! CAUTION Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect.

Set the servomotor capacity and type (standard, low-inertia, flat, etc.) parameter to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.

Set the servo amplifier capacity and type parameters to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.

Use the program commands for the program with the conditions specified in the instruction manual.

Set the sequence function program capacity setting, device capacity, latch validity range, I/O assignment setting, and validity of continuous operation during error detection to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.

Some devices used in the program have fixed applications, so use these with the conditions specified in the instruction manual.

The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error, etc. Thus, an error correspondence interlock program specified in the instruction manual must be used.

Use the interlock program specified in the special function module's instruction manual for the program corresponding to the special function module.

(3) Transportation and installation

! CAUTION Transport the product with the correct method according to the mass.

Use the servomotor suspension bolts only for the transportation of the servomotor. Do not transport the servomotor with machine installed on it.

Do not stack products past the limit.

When transporting the Motion controller or servo amplifier, never hold the connected wires or cables.

When transporting the servomotor, never hold the cables, shaft or detector.

When transporting the Motion controller or servo amplifier, never hold the front case as it may fall off.

When transporting, installing or removing the Motion controller or servo amplifier, never hold the edges.

Install the unit according to the instruction manual in a place where the mass can be withstood.

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! CAUTION Do not get on or place heavy objects on the product.

Always observe the installation direction.

Keep the designated clearance between the Motion controller or servo amplifier and control panel inner surface or the Motion controller and servo amplifier, Motion controller or servo amplifier and other devices.

Do not install or operate Motion controller, servo amplifiers or servomotors that are damaged or that have missing parts.

Do not block the intake/outtake ports of the servomotor with cooling fan.

Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the Motion controller, servo amplifier or servomotor.

The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or apply strong impacts on them.

Securely fix the Motion controller and servo amplifier to the machine according to the instruction manual. If the fixing is insufficient, these may come off during operation.

Always install the servomotor with reduction gears in the designated direction. Failing to do so may lead to oil leaks.

Store and use the unit in the following environmental conditions.

Conditions Environment

Motion controller/Servo amplifier Servomotor

Ambient temperature

According to each instruction manual. 0C to +40C (With no freezing)

(32F to +104F)

Ambient humidity According to each instruction manual. 80% RH or less

(With no dew condensation) Storage temperature

According to each instruction manual. -20C to +65C (-4F to +149F)

Atmosphere Indoors (where not subject to direct sunlight).

No corrosive gases, flammable gases, oil mist or dust must exist

Altitude 1000m (3280.84ft.) or less above sea level Vibration According to each instruction manual

When coupling with the synchronization encoder or servomotor shaft end, do not apply impact such as by hitting with a hammer. Doing so may lead to detector damage.

Do not apply a load larger than the tolerable load onto the servomotor shaft. Doing so may lead to shaft breakage.

When not using the module for a long time, disconnect the power line from the Motion controller or servo amplifier.

Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store.

When storing for a long time, please contact with our sales representative.

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(4) Wiring

! CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor.

After wiring, install the protective covers such as the terminal covers to the original positions.

Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier.

Correctly connect the output side (terminals U, V, W). Incorrect connections will lead the servomotor to operate abnormally.

Do not connect a commercial power supply to the servomotor, as this may lead to trouble.

Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control signal output of brake signals, etc. Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning.

Do not connect or disconnect the connection cables between each unit, the encoder cable or PLC expansion cable while the power is ON.

Servo amplifier

VIN (24VDC)

Control output signal RA

Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may lead to the cables combing off during operation.

Do not bundle the power line or cables. (5) Trial operation and adjustment

! CAUTION Confirm and adjust the program and each parameter before operation. Unpredictable movements may occur depending on the machine.

Extreme adjustments and changes may lead to unstable operation, so never make them.

When using the absolute position system function, on starting up, and when the Motion controller or absolute value motor has been replaced, always perform a home position return.

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(6) Usge methods

! CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amplifier or servomotor.

Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection.

The units must be disassembled and repaired by a qualified technician.

Do not make any modifications to the unit.

Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the Motion controller or servo amplifier.

When using the CE Mark-compliant equipment, refer to the "EMC Installation Guidelines" (data number IB(NA)-67339) for the Motion controllers and refer to the corresponding EMC guideline information for the servo amplifiers, inverters and other equipment.

Use the units with the following conditions.

Conditions Item

Q61P-A1 Q61P-A2 Q62P Q63P Q64P +10% +10% +10% +30% +10%100 to 120VAC -15%

200 to 240VAC -15%

100 to 240VAC -15%

24VDC -35%

100 to 120VAC -15%

/ +10%

200 to 240VAC -15% Input power

(85 to 132VAC) (170 to 264VAC) (85 to 264VAC) (15.6 to 31.2VDC) (85 to 132VAC/ 170 to 264VAC)

Input frequency 50/60Hz 5% Tolerable momentary power failure

20ms or less

(7) Corrective actions for errors

! CAUTION If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the check details according to the instruction manual, and restore the operation.

If a dangerous state is predicted in case of a power failure or product failure, use a servomotor with electromagnetic brakes or install a brake mechanism externally.

Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally.

Electro- magnetic brakes

Servomotor

24VDC

RA1 EMG

Shut off with servo ON signal OFF, alarm, magnetic brake signal.

Shut off with the emergency stop signal(EMG).

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! CAUTION If an error occurs, remove the cause, secure the safety and then resume operation after alarm release.

The unit may suddenly resume operation after a power failure is restored, so do not go near the machine. (Design the machine so that personal safety can be ensured even if the machine restarts suddenly.)

(8) Maintenance, inspection and part replacement

! CAUTION Perform the daily and periodic inspections according to the instruction manual.

Perform maintenance and inspection after backing up the program and parameters for the Motion controller and servo amplifier.

Do not place fingers or hands in the clearance when opening or closing any opening.

Periodically replace consumable parts such as batteries according to the instruction manual.

Do not touch the lead sections such as ICs or the connector contacts.

Do not place the Motion controller or servo amplifier on metal that may cause a power leakage or wood, plastic or vinyl that may cause static electricity buildup.

Do not perform a megger test (insulation resistance measurement) during inspection.

When replacing the Motion controller or servo amplifier, always set the new module settings correctly.

When the Motion controller or absolute value motor has been replaced, carry out a home position return operation using one of the following methods, otherwise position displacement could occur.

1) After writing the servo data to the Motion controller using programming software, switch on the power again, then perform a home position return operation.

2) Using the backup function of the programming software, load the data backed up before replacement.

After maintenance and inspections are completed, confirm that the position detection of the absolute position detector function is correct.

Do not short circuit, charge, overheat, incinerate or disassemble the batteries.

The electrolytic capacitor will generate gas during a fault, so do not place your face near the Motion controller or servo amplifier.

The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary damage from faults. Replacements can be made by our sales representative.

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(9) About processing of waste

When you discard Motion controller, servo amplifier, a battery (primary battery) and other option articles, please follow the law of each country (area).

! CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life.

When considering this product for operation in special applications such as machinery or systems used in passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating applications, please contact your nearest Mitsubishi sales representative.

Although this product was manufactured under conditions of strict quality control, you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident.

(10) General cautions

! CAUTION All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections. When operating the product, always return the covers and partitions to the designated positions, and operate according to the instruction manual.

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REVISIONS

The manual number is given on the bottom left of the back cover. Print Date Manual Number Revision Oct., 2002 IB(NA)-0300043-A First edition Apr., 2004 IB(NA)-0300043-B [Addition model]

Q173CPUN-T/Q172CPUN-T, A31TU-D3K13/A31TU-DNK13, Q172EX-S1, Q173PX-S1, FR-V5 0- [Addition function] For Home position return function [Additional correction/partial correction] Safety precautions, About processing of waste, Error code list, etc.

Mar., 2006 IB(NA)-0300043-C [Addition model] Q62P, Q172EX-S2, Q172EX-S3, Q170ENC [Addition function] Operation setting for incompletion of home position return, Gain changing signal, Real mode axis information register [Additional correction/partial correction] Safety precautions, Error code list, Warranty, Manual model code (1CT782 1XB782), etc.

Japanese Manual Version IB(NA)-0300024

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

2002 MITSUBISHI ELECTRIC CORPORATION

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INTRODUCTION

Thank you for choosing the Q173CPU(N)/Q172CPU(N) Motion Controller. Please read this manual carefully so that equipment is used to its optimum.

CONTENTS

Safety Precautions .........................................................................................................................................A- 1 Revisions ........................................................................................................................................................A-11 Contents .........................................................................................................................................................A-12 About Manuals ...............................................................................................................................................A-16

1. OVERVIEW 1- 1 to 1- 6

1.1 Overview................................................................................................................................................... 1- 1 1.2 Features ................................................................................................................................................... 1- 3

1.2.1 Performance specifications............................................................................................................... 1- 3 1.2.2 Differences between Q173CPU(N)/Q172CPU(N) and A173UHCPU/A172SHCPUN................... 1- 5

2. POSITIONING CONTROL BY THE MOTION CPU 2- 1 to 2-14

2.1 Positioning Control by the Motion CPU................................................................................................... 2- 1

3. POSITIONING DEDICATED SIGNALS 3- 1 to 3-62

3.1 Internal Relays ......................................................................................................................................... 3- 2 3.1.1 Axis statuses ..................................................................................................................................... 3-12 3.1.2 Axis command signals ...................................................................................................................... 3-21 3.1.3 Common devices .............................................................................................................................. 3-28

3.2 Data Registers.......................................................................................................................................... 3-39 3.2.1 Axis monitor devices ......................................................................................................................... 3-43 3.2.2 Control change registers................................................................................................................... 3-49 3.2.3 Common devices .............................................................................................................................. 3-50

3.3 Motion Registers(#).................................................................................................................................. 3-54 3.4 Special Relays (SP.M) ............................................................................................................................. 3-55 3.5 Special Registers (SP.D) ......................................................................................................................... 3-57

4. PARAMETERS FOR POSITIONING CONTROL 4- 1 to 4-28

4.1 System Settings ....................................................................................................................................... 4- 1 4.2 Fixed Parameters..................................................................................................................................... 4- 2

4.2.1 Number of pulses/travel value per rotation....................................................................................... 4- 3 4.2.2 Backlash compensation amount....................................................................................................... 4- 5 4.2.3 Upper/lower stroke limit value........................................................................................................... 4- 5 4.2.4 Command in-position range.............................................................................................................. 4- 7

4.3 Servo Parameters/Vector Inverter Parameters....................................................................................... 4- 8 4.3.1 Servo parameters of servo amplifier................................................................................................. 4- 8 4.3.2 Position control gain 1, 2................................................................................................................... 4-16 4.3.3 Speed control gain 1, 2 ..................................................................................................................... 4-17 4.3.4 Speed integral compensation ........................................................................................................... 4-17

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4.3.5 In-position range................................................................................................................................ 4-18 4.3.6 Feed forward gain ............................................................................................................................. 4-18 4.3.7 Load inertia ratio................................................................................................................................ 4-18 4.3.8 Automatic tuning................................................................................................................................ 4-18 4.3.9 Servo responsiveness setting........................................................................................................... 4-18 4.3.10 Notch filter........................................................................................................................................ 4-19 4.3.11 Electromagnetic brake sequence ................................................................................................... 4-20 4.3.12 Monitor output mode ....................................................................................................................... 4-20 4.3.13 Optional function 1 .......................................................................................................................... 4-20 4.3.14 Optional function 2 .......................................................................................................................... 4-21 4.3.15 Monitor output 1, 2 offset ................................................................................................................ 4-22 4.3.16 Pre-alarm data selection ................................................................................................................. 4-22 4.3.17 Zero speed ...................................................................................................................................... 4-23 4.3.18 Error excessive alarm level............................................................................................................. 4-23 4.3.19 Optional function 5 .......................................................................................................................... 4-23 4.3.20 PI-PID control switching position droop.......................................................................................... 4-23 4.3.21 Torque control compensation factor............................................................................................... 4-23 4.3.22 Speed differential compensation .................................................................................................... 4-23 4.3.23 Servo parameters of vector inverter (FR-V500)............................................................................. 4-24

4.4 Parameter Block....................................................................................................................................... 4-25 4.4.1 Relationships between the speed limit value, acceleration time, deceleration time and rapid stop

deceleration time............................................................................................................................... 4-27 4.4.2 S-curve ratio ...................................................................................................................................... 4-27 4.4.3 Allowable error range for circular interpolation................................................................................. 4-28

5. SERVO PROGRAMS FOR POSITIONING CONTROL 5- 1 to 5-24

5.1 Servo Program Composition Area........................................................................................................... 5- 1 5.1.1 Servo program composition.............................................................................................................. 5- 1 5.1.2 Servo program area .......................................................................................................................... 5- 2

5.2 Servo Instructions .................................................................................................................................... 5- 3 5.3 Positioning Data ....................................................................................................................................... 5-16 5.4 Setting Method for Positioning Data........................................................................................................ 5-22

5.4.1 Setting method by specifying numerical values ............................................................................... 5-22 5.4.2 Indirect setting method by word devices (D, W and #) .................................................................... 5-23

6. POSITIONING CONTROL 6- 1 to 6-228

6.1 Basics of Positioning Control ................................................................................................................... 6- 1 6.1.1 Positioning speed.............................................................................................................................. 6- 1 6.1.2 Positioning speed at the interpolation control .................................................................................. 6- 2 6.1.3 Control units for 1 axis positioning control........................................................................................ 6- 7 6.1.4 Control units for interpolation control................................................................................................ 6- 7 6.1.5 Control in the control unit "degree"................................................................................................... 6- 9 6.1.6 Stop processing and restarting after stop........................................................................................ 6-11 6.1.7 Acceleration/deceleration processing............................................................................................... 6-17

6.2 1 Axis Linear Positioning Control............................................................................................................. 6-19 6.3 2 Axes Linear Interpolation Control ......................................................................................................... 6-22 6.4 3 Axes Linear Interpolation Control ......................................................................................................... 6-27 6.5 4 Axes Linear Interpolation Control ......................................................................................................... 6-33

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6.6 Auxiliary Point-Specified Circular Interpolation Control .......................................................................... 6-38 6.7 Radius-Specified Circular Interpolation Control ...................................................................................... 6-43 6.8 Central Point-Specified Circular Interpolation Control ............................................................................ 6-49 6.9 Helical Interpolation Control..................................................................................................................... 6-55

6.9.1 Circular interpolation specified method by helical interpolation....................................................... 6-56 6.10 1 Axis Fixed-Pitch Feed Control............................................................................................................ 6-77 6.11 Fixed-Pitch Feed Control Using 2 Axes Linear Interpolation ............................................................... 6-81 6.12 Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation ............................................................... 6-85 6.13 Speed Control ( ) ................................................................................................................................... 6-89 6.14 Speed Control ( )................................................................................................................................... 6-93 6.15 Speed/Position Switching Control ......................................................................................................... 6-96

6.15.1 Speed/position switching control start ............................................................................................ 6-96 6.15.2 Re-starting after stop during control .............................................................................................6-103

6.16 Speed-Switching Control .....................................................................................................................6-108 6.16.1 Speed-switching control start, speed-switching points and end specification ............................6-108 6.16.2 Specification of speed-switching points using repetition instructions..........................................6-115

6.17 Constant-Speed Control ......................................................................................................................6-121 6.17.1 Specification of pass points by repetition instructions .................................................................6-125 6.17.2 Speed-switching by instruction execution ....................................................................................6-130 6.17.3 1 axis constant-speed control .......................................................................................................6-135 6.17.4 2 to 4 axes constant-speed control...............................................................................................6-139 6.17.5 Constant speed control for helical interpolation ...........................................................................6-146 6.17.6 Pass point skip function ................................................................................................................6-149 6.17.7 FIN signal wait function.................................................................................................................6-151

6.18 Position Follow-Up Control ..................................................................................................................6-160 6.19 Simultaneous Start...............................................................................................................................6-166 6.20 JOG Operation .....................................................................................................................................6-169

6.20.1 JOG operation data.......................................................................................................................6-169 6.20.2 Individual start ...............................................................................................................................6-170 6.20.3 Simultaneous start ........................................................................................................................6-175

6.21 Manual Pulse Generator Operation ....................................................................................................6-178 6.22 Home Position Return..........................................................................................................................6-184

6.22.1 Home position return data.............................................................................................................6-185 6.22.2 Home position return by the proximity dog type 1 .......................................................................6-193 6.22.3 Home position return by the proximity dog type 2 .......................................................................6-196 6.22.4 Home position return by the count type 1 ....................................................................................6-198 6.22.5 Home position return by the count type 2 ....................................................................................6-200 6.22.6 Home position return by the count type 3 ....................................................................................6-201 6.22.7 Home position return by the data set type 1 ................................................................................6-203 6.22.8 Home position return by the data set type 2 ................................................................................6-204 6.22.9 Home position return by the dog cradle type ...............................................................................6-205 6.22.10 Home position return by the stopper type 1 ...............................................................................6-209 6.22.11 Home position return by the stopper type 2 ...............................................................................6-211 6.22.12 Home position return by the limit switch combined type............................................................6-213 6.22.13 Home position return retry function ............................................................................................6-215 6.22.14 Home position shift function........................................................................................................6-219 6.22.15 Condition selection of home position set....................................................................................6-223 6.22.16 Servo program for home position return ....................................................................................6-225

6.23 High-Speed Oscillation ........................................................................................................................6-227

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7. AUXILIARY AND APPLIED FUNCTIONS 7- 1 to 7-16

7.1 M-code Output Function .......................................................................................................................... 7- 1 7.2 Backlash Compensation Function........................................................................................................... 7- 4 7.3 Torque Limit Function .............................................................................................................................. 7- 6 7.4 Absolute Position System........................................................................................................................ 7- 8

7.4.1 Current Value Control ....................................................................................................................... 7-10 7.5 Skip Function in which Disregards Stop Command ............................................................................... 7-12 7.6 High-Speed Reading of Specified Data .................................................................................................. 7-14 7.7 Cancel of the Servo Program .................................................................................................................. 7-15

7.7.1 Cancel/start ....................................................................................................................................... 7-16

APPENDICES APP- 1 to APP-63

APPENDIX 1 Error Codes Stored Using The Motion CPU....................................................................APP- 1 APPENDIX 1.1 Servo program setting errors (Stored in D9190) ........................................................APP- 3 APPENDIX 1.2 Minor errors .................................................................................................................APP- 7 APPENDIX 1.3 Major errors .................................................................................................................APP-17 APPENDIX 1.4 Servo errors.................................................................................................................APP-21 APPENDIX 1.5 PC link communication errors .....................................................................................APP-37

APPENDIX 2 Special Relays/special registers ........................................................................................APP-38 APPENDIX 2.1 Special relays ..............................................................................................................APP-38 APPENDIX 2.2 Special registers ..........................................................................................................APP-42

APPENDIX 3 Example Programs.............................................................................................................APP-46 APPENDIX 3.1 Reading M-code..........................................................................................................APP-46 APPENDIX 3.2 Reading error code......................................................................................................APP-47

APPENDIX 4 Setting Range for Indirect Setting Devices........................................................................APP-49 APPENDIX 5 Processing Times of the Motion CPU ...............................................................................APP-51

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About Manuals

This manual is only to explain hardware of the Motion controller.

The following manuals are related to this product.

Referring to this list, please request the necessary manuals.

This User's Manual do not describes hardware specification and handling methods of the PLC CPU modules, power supply modules, base unit and I/O module in details.

The above contents, refer to the QCPU User's Manual and Building Block I/O Module User's Manual.

Related Manuals

(1) Motion controller

Manual Name Manual Number (Model Code)

Q173CPU(N)/Q172CPU(N) Motion controller User's Manual This manual explains specifications of the Motion CPU modules, Q172LX Servo external signal interface

module, Q172EX Serial absolute synchronous encoder interface module, Q173PX Manual pulse

generator interface module, Teaching units, Power supply modules, Servo amplifiers, SSCNET cables,

synchronous encoder cables and others.

(Optional)

IB-0300040 (1XB780)

Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual

(Motion SFC) This manual explains the Multiple CPU system configuration, performance specifications, functions,

programming, error codes and others of the Motion SFC.

(Optional)

IB-0300042 (1XB781)

Q173CPU(N)/Q172CPU(N) Motion controller (SV22) Programming Manual

(VIRTUAL MODE) This manual describes the dedicated instructions use to the synchronous control by virtual main shaft,

mechanical system program create mechanical module.

This manual explains the servo parameters, positioning instructions, device list, error list and others.

(Optional)

IB-0300044 (1XB783)

Q173CPU(N)/Q172CPU(N) Motion controller (SV43) Programming Manual This manual describes the dedicated instructions to execute the positioning control by Motion program of

EIA language (G-code).

This manual explains the Multiple CPU system configuration, performance specifications, functions,

programming, debugging, servo parameters, positioning instructions device list and error list and others.

(Optional)

IB-0300070 (1CT784)

A - 17

(2) PLC

Manual Name Manual Number (Model Code)

QCPU User's Manual (Hardware Design, Main