ユーザーズマニュアル目次SAFETY PRECAUTIONS2REVISIONS12INTRODUCTION13CONTENTS13About Manuals191. OVERVIEW221.1 Overview221.2 Features241.2.1 Features of Motion CPU241.2.2 Basic specifications of Q173CPU(N)/Q172CPU(N)271.2.3 Operation control/transition control specifications301.2.4 Differences between Q173CPU(N)/Q172CPU(N) and A173UHCPU/A172SHCPUN341.2.5 Positioning dedicated devices/special relays/special registers361.3 Hardware Configuration761.3.1 Motion system configuration761.3.2 Q173CPU(N) System overall configuration821.3.3 Q172CPU(N) System overall configuration841.3.4 Software packages861.3.5 Restrictions on motion systems901.4 Multiple CPU System921.4.1 Overview921.4.2 Installation of PLC CPU and Motion CPU931.4.3 Precautions for using Q series I/O modules and intelligent function modules941.4.4 Modules subject to installation restrictions951.4.5 Processing time of the Multiple CPU system961.4.6 How to reset the Multiple CPU system971.4.7 Processing at a CPU DOWN error occurrence by a PLC CPU or Q173CPU(N)/ Q172CPU(N)981.5 System Settings1011.5.1 System data settings1011.5.2 Common system parameters1021.5.3 Individual parameters1081.6 Assignment of I/O No.1131.6.1 I/O No. for I/O modules and intelligent function modules1131.6.2 I/O No. of PLC CPU and Q173CPU(N)/Q172CPU(N)1161.6.3 Setting I/O No.1172. STARTING UP THE MULTIPLE CPU SYSTEM1182.1 Startup Flow of the Multiple CPU System1183. COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM1203.1 Automatic Refresh Function of The Shared CPU Memory1203.2 Control Instruction from the PLC CPU to The Motion CPU (Motion dedicated instructions)1393.3 Reading/Writing Device Data1403.4 Shared CPU Memory1414. STRUCTURE OF THE MOTION CPU PROGRAM1464.1 Motion Control in SV13/SV22 Real Mode1474.2 Motion Control in SV22 Virtual Mode1485. MOTION DEDICATED PLC INSTRUCTION1505.1 Motion Dedicated PLC Instruction1505.1.1 Restriction item of the Motion dedicated PLC instruction1505.2 Motion SFC Start Request from The PLC CPU to The Motion CPU: S(P).SFCS (PLC instruction: [S(P).SFCS] )1585.3 Servo Program Start Request from The PLC CPU to The Motion CPU: S(P).SVST (PLC instruction: [S(P).SVST] )1615.4 Current Value Change Instruction from The PLC CPU to The Motion CPU: S(P).CHGA (PLC instruction: [S(P).CHGA] )1665.5 Speed Change Instruction from The PLC CPU to The Motion CPU: S(P).CHGV (PLC instruction: [S(P).CHGV] )1795.6 Torque Limit Value Change Request Instruction from The PLC CPU to The Motion CPU: S(P).CHGT (PLC instruction: [S(P).CHGT]1835.7 Write from The PLC CPU to The Motion CPU: S(P).DDWR (PLC instruction: [S(P).DDWR] )1875.8 Read from The Devices of The Motion CPU: S(P).DDRD (PLC instruction: [S(P).DDRD] )1915.9 Interrupt Instruction to The Other CPU: S(P).GINT (PLC instruction: [S(P).GINT] )1956. MOTION SFC PROGRAMS1986.1 Motion SFC Program Configuration1986.2 Motion SFC Chart Symbol List1996.3 Branch and Coupling Chart List2026.4 Motion SFC Program Name2066.5 Steps2076.5.1 Motion control step2076.5.2 Operation control step2086.5.3 Subroutine call/start step2096.5.4 Clear step2116.6 Transitions2126.7 Jump, Pointer2146.8 END2146.9 Branches, Couplings2156.9.1 Series transition2156.9.2 Selective branch, selective coupling2166.9.3 Parallel branch, parallel coupling2176.10 Y/N Transitions2196.11 Motion SFC Comments2237. OPERATION CONTROL PROGRAMS2267.1 Operation Control Programs2267.2 Device Descriptions2327.3 Constant Descriptions2347.4 Binary Operations2357.4.1 Substitution : =2357.4.2 Addition : +2377.4.3 Subtraction : -2387.4.4 Multiplication : *2407.4.5 Division : /2417.4.6 Remainder : %2427.5 Bit Operations2437.5.1 Bit inversion (Complement) : 2437.5.2 Bit logical AND : &2447.5.3 Bit logical OR : |2457.5.4 Bit exclusive logical OR : ^2467.5.5 Bit right shift : >>2477.5.6 Bit left shift : <<2487.5.7 Sign inversion (Complement of 2) : -2497.6 Standard Functions2507.6.1 Sine : SIN2507.6.2 Cosine : COS2517.6.3 Tangent : TAN2527.6.4 Arcsine : ASIN2537.6.5 Arccosine : ACOS2547.6.6 Arctangent : ATAN2557.6.7 Square root : SQRT2567.6.8 Natural logarithm : LN2577.6.9 Exponential operation : EXP2587.6.10 Absolute value : ABS2597.6.11 Round-off : RND2607.6.12 Round-down : FIX2617.6.13 Round-up : FUP2627.6.14 BCD -> BIN conversion : BIN2637.6.15 BIN -> BCD conversion : BCD2647.7 Type Conversions2657.7.1 Signed 16-bit integer value conversion : SHORT2657.7.2 Unsigned 16-bit integer value conversion : USHORT2667.7.3 Signed 32-bit integer value conversion : LONG2677.7.4 Unsigned 32-bit integer value conversion : ULONG2687.7.5 Signed 64-bit floating-point value conversion : FLOAT2697.7.6 Unsigned 64-bit floating-point value conversion : UFLOAT2707.8 Bit Device Statuses2717.8.1 ON (Normally open contact) : (None)2717.8.2 OFF (Normally closed contact) : !2727.9 Bit Device Controls2737.9.1 Device set : SET2737.9.2 Device reset : RST2757.9.3 Device output : DOUT2777.9.4 Device input : DIN2787.9.5 Bit device output : OUT2797.10 Logical Operations2817.10.1 Logical acknowledgement : (None)2817.10.2 Logical negation : !2827.10.3 Logical AND : *2837.10.4 Logical OR : +2847.11 Comparison Operations2857.11.1 Equal to : ==2857.11.2 Not equal to : !=2867.11.3 Less than : <2877.11.4 Less than or equal to: <=2887.11.5 More than : >2897.11.6 More than or equal to: >=2907.12 Motion-Dedicated Functions (CHGV, CHGT)2917.12.1 Speed change request : CHGV2917.12.2 Torque limit value change request : CHGT2977.13 Other Instructions2997.13.1 Event task enable : EI2997.13.2 Event task disable : DI3007.13.3 No operation : NOP3017.13.4 Block transfer : BMOV3027.13.5 Same data block transfer : FMOV3057.13.6 Write device data to shared CPU memory of the self CPU: MULTW3077.13.7 Read device data from shared CPU memory of the other CPU: MULTR3107.13.8 Write device data to intelligent function module/special function module : TO3137.13.9 Read device data from intelligent function module/special function module : FROM3167.13.10 Time to wait : TIME3197.14 Comment Statement : //3218. TRANSITION PROGRAMS3228.1 Transition Programs3229. MOTION CONTROL PROGRAMS3249.1 Servo Instruction List3249.2 Servomotor/Virtual Servomotor Shaft Current Value Change3379.3 Synchronous Encoder Shaft Current Value Change Control (SV22 only)3409.4 Cam Shaft Within-One-Revolution Current Value Change Control (SV22 only)3439.5 Programming Instructions3459.5.1 Cancel • start3459.5.2 Indirect designation using motion devices34510. MOTION DEVICES34610.1 Motion Registers (#0 to #8191)34610.2 Coasting Timer (FT)35111. MOTION SFC PARAMETER35211.1 Task Definitions35211.2 Number of Consecutive Transitions and Task Operation35311.2.1 Number of consecutive transitions35311.2.2 Task operation35411.3 Execution Status of The Multiple Task35811.4 Task Parameters35911.5 Program Parameters36111.6 How to Start The Motion SFC Program36711.6.1 Automatic start36711.6.2 Start from the Motion SFC program36711.6.3 Start from PLC (PLC instruction [S(P).SFCS] )36711.7 How to End The Motion SFC Program36811.8 How to Change from One Motion SFC Program to Another36811.9 How to Manage The Executing Program36811.10 Operation Performed at CPU Power-Off or Reset36911.11 Operation Performed when CPU is Switched from RUN/STOP36911.12 Operation Performed when PLC Ready flag (M2000) Turns OFF/ON37011.13 Operation at The Error Occurrence37112. USER FILES37212.1 Projects37212.2 User File List37312.3 Online Change in The Motion SFC Program37412.3.1 Operating method for The Online Change37512.3.2 Transfer of program37813. LIMIT SWITCH OUTPUT FUNCTION38013.1 Operations38013.2 Limit Output Setting Data38314. ROM OPERATION FUNCTION38814.1 About the ROM Operation Function38814.2 Specifications of LED • Switch39014.3 ROM Operation Function Details39214.4 Operating Procedure of "ROM writing"39815 SECURITY FUNCTION40015.1 Password Registration/change40015.2 Password Clearance40215.3 Password Check40315.4 Password Save40415.5 Clear All40516. COMMUNICATIONS VIA NETWORK40616.1 Specifications of The Communications via Network40716.2 Access Range of The Communications via Network40816.2.1 Network configuration via the MELSECNET/10(H) or the Ethernet40816.2.2 Network configuration via the CC-Link41016.2.3 Network configuration via the RS422/48541116.2.4 Network configuration which MELSECNET/10(H), Ethernet, CC-Link, RS-422/485 were mixed41217. MONITOR FUNCTION OF THE MAIN CYCLE41618. SERVO PARAMETER READING FUNCTION41818.1 About The Servo Parameter Read Request Devices41818.2 Operating Procedure of The Servo Parameter Reading Function41919. ERROR CODE LISTS42019.1 Reading Procedure for Error Codes42019.2 Motion SFC Error Code List42119.3 Motion SFC Parameter Errors43019.4 Multiple CPU Error Codes43219.4.1 Self-diagnosis error code43219.4.2 Release of self-diagnosis error437APPENDICES438APPENDIX 1 Processing Times438APPENDIX 1.1 Processing time of operation control/Transition instruction438APPENDIX 2 Sample Program446APPENDIX 2.1 Program example to execute the Multiple CPU dedicated instruction continuously446APPENDIX 2.2 The program example to execute plural Multiple CPU instruction by the instructions of one time448APPENDIX 2.3 Motion control example by Motion SFC program450APPENDIX 2.4 Continuation execution example at the subroutine re-start by the Motion SFC program461APPENDIX 2.5 Continuation execution example after the stop by the Motion SFC program465WARRANTY470サイズ： 4.23MBページ数： 472Language: Englishマニュアルを開く
