用户手册 — Mitsubishi Electronics Q172CPU(N)

目录

• SAFETY PRECAUTIONS

  2
• REVISIONS

  12
• INTRODUCTION

  13
• CONTENTS

  13
• About Manuals

  19
• 1. OVERVIEW

  22
  • 1.1 Overview

    22
  • 1.2 Features

    24
    • 1.2.1 Features of Motion CPU

      24
    • 1.2.2 Basic specifications of Q173CPU(N)/Q172CPU(N)

      27
    • 1.2.3 Operation control/transition control specifications

      30
    • 1.2.4 Differences between Q173CPU(N)/Q172CPU(N) and A173UHCPU/A172SHCPUN

      34
    • 1.2.5 Positioning dedicated devices/special relays/special registers

      36
  • 1.3 Hardware Configuration

    76
    • 1.3.1 Motion system configuration

      76
    • 1.3.2 Q173CPU(N) System overall configuration

      82
    • 1.3.3 Q172CPU(N) System overall configuration

      84
    • 1.3.4 Software packages

      86
    • 1.3.5 Restrictions on motion systems

      90
  • 1.4 Multiple CPU System

    92
    • 1.4.1 Overview

      92
    • 1.4.2 Installation of PLC CPU and Motion CPU

      93
    • 1.4.3 Precautions for using Q series I/O modules and intelligent function modules

      94
    • 1.4.4 Modules subject to installation restrictions

      95
    • 1.4.5 Processing time of the Multiple CPU system

      96
    • 1.4.6 How to reset the Multiple CPU system

      97
    • 1.4.7 Processing at a CPU DOWN error occurrence by a PLC CPU or Q173CPU(N)/ Q172CPU(N)

      98
  • 1.5 System Settings

    101
    • 1.5.1 System data settings

      101
    • 1.5.2 Common system parameters

      102
    • 1.5.3 Individual parameters

      108
  • 1.6 Assignment of I/O No.

    113
    • 1.6.1 I/O No. for I/O modules and intelligent function modules

      113
    • 1.6.2 I/O No. of PLC CPU and Q173CPU(N)/Q172CPU(N)

      116
    • 1.6.3 Setting I/O No.

      117
• 2. STARTING UP THE MULTIPLE CPU SYSTEM

  118
  • 2.1 Startup Flow of the Multiple CPU System

    118
• 3. COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU SYSTEM

  120
  • 3.1 Automatic Refresh Function of The Shared CPU Memory

    120
  • 3.2 Control Instruction from the PLC CPU to The Motion CPU (Motion dedicated instructions)

    139
  • 3.3 Reading/Writing Device Data

    140
  • 3.4 Shared CPU Memory

    141
• 4. STRUCTURE OF THE MOTION CPU PROGRAM

  146
  • 4.1 Motion Control in SV13/SV22 Real Mode

    147
  • 4.2 Motion Control in SV22 Virtual Mode

    148
• 5. MOTION DEDICATED PLC INSTRUCTION

  150
  • 5.1 Motion Dedicated PLC Instruction

    150
    • 5.1.1 Restriction item of the Motion dedicated PLC instruction

      150
  • 5.2 Motion SFC Start Request from The PLC CPU to The Motion CPU: S(P).SFCS (PLC instruction: [S(P).SFCS] )

    158
  • 5.3 Servo Program Start Request from The PLC CPU to The Motion CPU: S(P).SVST (PLC instruction: [S(P).SVST] )

    161
  • 5.4 Current Value Change Instruction from The PLC CPU to The Motion CPU: S(P).CHGA (PLC instruction: [S(P).CHGA] )

    166
  • 5.5 Speed Change Instruction from The PLC CPU to The Motion CPU: S(P).CHGV (PLC instruction: [S(P).CHGV] )

    179
  • 5.6 Torque Limit Value Change Request Instruction from The PLC CPU to The Motion CPU: S(P).CHGT (PLC instruction: [S(P).CHGT]

    183
  • 5.7 Write from The PLC CPU to The Motion CPU: S(P).DDWR (PLC instruction: [S(P).DDWR] )

    187
  • 5.8 Read from The Devices of The Motion CPU: S(P).DDRD (PLC instruction: [S(P).DDRD] )

    191
  • 5.9 Interrupt Instruction to The Other CPU: S(P).GINT (PLC instruction: [S(P).GINT] )

    195
• 6. MOTION SFC PROGRAMS

  198
  • 6.1 Motion SFC Program Configuration

    198
  • 6.2 Motion SFC Chart Symbol List

    199
  • 6.3 Branch and Coupling Chart List

    202
  • 6.4 Motion SFC Program Name

    206
  • 6.5 Steps

    207
    • 6.5.1 Motion control step

      207
    • 6.5.2 Operation control step

      208
    • 6.5.3 Subroutine call/start step

      209
    • 6.5.4 Clear step

      211
  • 6.6 Transitions

    212
  • 6.7 Jump, Pointer

    214
  • 6.8 END

    214
  • 6.9 Branches, Couplings

    215
    • 6.9.1 Series transition

      215
    • 6.9.2 Selective branch, selective coupling

      216
    • 6.9.3 Parallel branch, parallel coupling

      217
  • 6.10 Y/N Transitions

    219
  • 6.11 Motion SFC Comments

    223
• 7. OPERATION CONTROL PROGRAMS

  226
  • 7.1 Operation Control Programs

    226
  • 7.2 Device Descriptions

    232
  • 7.3 Constant Descriptions

    234
  • 7.4 Binary Operations

    235
    • 7.4.1 Substitution : =

      235
    • 7.4.2 Addition : +

      237
    • 7.4.3 Subtraction : -

      238
    • 7.4.4 Multiplication : *

      240
    • 7.4.5 Division : /

      241
    • 7.4.6 Remainder : %

      242
  • 7.5 Bit Operations

    243
    • 7.5.1 Bit inversion (Complement) : 

      243
    • 7.5.2 Bit logical AND : &

      244
    • 7.5.3 Bit logical OR : |

      245
    • 7.5.4 Bit exclusive logical OR : ^

      246
    • 7.5.5 Bit right shift : >>

      247
    • 7.5.6 Bit left shift : <<

      248
    • 7.5.7 Sign inversion (Complement of 2) : -

      249
  • 7.6 Standard Functions

    250
    • 7.6.1 Sine : SIN

      250
    • 7.6.2 Cosine : COS

      251
    • 7.6.3 Tangent : TAN

      252
    • 7.6.4 Arcsine : ASIN

      253
    • 7.6.5 Arccosine : ACOS

      254
    • 7.6.6 Arctangent : ATAN

      255
    • 7.6.7 Square root : SQRT

      256
    • 7.6.8 Natural logarithm : LN

      257
    • 7.6.9 Exponential operation : EXP

      258
    • 7.6.10 Absolute value : ABS

      259
    • 7.6.11 Round-off : RND

      260
    • 7.6.12 Round-down : FIX

      261
    • 7.6.13 Round-up : FUP

      262
    • 7.6.14 BCD -> BIN conversion : BIN

      263
    • 7.6.15 BIN -> BCD conversion : BCD

      264
  • 7.7 Type Conversions

    265
    • 7.7.1 Signed 16-bit integer value conversion : SHORT

      265
    • 7.7.2 Unsigned 16-bit integer value conversion : USHORT

      266
    • 7.7.3 Signed 32-bit integer value conversion : LONG

      267
    • 7.7.4 Unsigned 32-bit integer value conversion : ULONG

      268
    • 7.7.5 Signed 64-bit floating-point value conversion : FLOAT

      269
    • 7.7.6 Unsigned 64-bit floating-point value conversion : UFLOAT

      270
  • 7.8 Bit Device Statuses

    271
    • 7.8.1 ON (Normally open contact) : (None)

      271
    • 7.8.2 OFF (Normally closed contact) : !

      272
  • 7.9 Bit Device Controls

    273
    • 7.9.1 Device set : SET

      273
    • 7.9.2 Device reset : RST

      275
    • 7.9.3 Device output : DOUT

      277
    • 7.9.4 Device input : DIN

      278
    • 7.9.5 Bit device output : OUT

      279
  • 7.10 Logical Operations

    281
    • 7.10.1 Logical acknowledgement : (None)

      281
    • 7.10.2 Logical negation : !

      282
    • 7.10.3 Logical AND : *

      283
    • 7.10.4 Logical OR : +

      284
  • 7.11 Comparison Operations

    285
    • 7.11.1 Equal to : ==

      285
    • 7.11.2 Not equal to : !=

      286
    • 7.11.3 Less than : <

      287
    • 7.11.4 Less than or equal to: <=

      288
    • 7.11.5 More than : >

      289
    • 7.11.6 More than or equal to: >=

      290
  • 7.12 Motion-Dedicated Functions (CHGV, CHGT)

    291
    • 7.12.1 Speed change request : CHGV

      291
    • 7.12.2 Torque limit value change request : CHGT

      297
  • 7.13 Other Instructions

    299
    • 7.13.1 Event task enable : EI

      299
    • 7.13.2 Event task disable : DI

      300
    • 7.13.3 No operation : NOP

      301
    • 7.13.4 Block transfer : BMOV

      302
    • 7.13.5 Same data block transfer : FMOV

      305
    • 7.13.6 Write device data to shared CPU memory of the self CPU: MULTW

      307
    • 7.13.7 Read device data from shared CPU memory of the other CPU: MULTR

      310
    • 7.13.8 Write device data to intelligent function module/special function module : TO

      313
    • 7.13.9 Read device data from intelligent function module/special function module : FROM

      316
    • 7.13.10 Time to wait : TIME

      319
  • 7.14 Comment Statement : //

    321
• 8. TRANSITION PROGRAMS

  322
  • 8.1 Transition Programs

    322
• 9. MOTION CONTROL PROGRAMS

  324
  • 9.1 Servo Instruction List

    324
  • 9.2 Servomotor/Virtual Servomotor Shaft Current Value Change

    337
  • 9.3 Synchronous Encoder Shaft Current Value Change Control (SV22 only)

    340
  • 9.4 Cam Shaft Within-One-Revolution Current Value Change Control (SV22 only)

    343
  • 9.5 Programming Instructions

    345
    • 9.5.1 Cancel • start

      345
    • 9.5.2 Indirect designation using motion devices

      345
• 10. MOTION DEVICES

  346
  • 10.1 Motion Registers (#0 to #8191)

    346
  • 10.2 Coasting Timer (FT)

    351
• 11. MOTION SFC PARAMETER

  352
  • 11.1 Task Definitions

    352
  • 11.2 Number of Consecutive Transitions and Task Operation

    353
    • 11.2.1 Number of consecutive transitions

      353
    • 11.2.2 Task operation

      354
  • 11.3 Execution Status of The Multiple Task

    358
  • 11.4 Task Parameters

    359
  • 11.5 Program Parameters

    361
  • 11.6 How to Start The Motion SFC Program

    367
    • 11.6.1 Automatic start

      367
    • 11.6.2 Start from the Motion SFC program

      367
    • 11.6.3 Start from PLC (PLC instruction [S(P).SFCS] )

      367
  • 11.7 How to End The Motion SFC Program

    368
  • 11.8 How to Change from One Motion SFC Program to Another

    368
  • 11.9 How to Manage The Executing Program

    368
  • 11.10 Operation Performed at CPU Power-Off or Reset

    369
  • 11.11 Operation Performed when CPU is Switched from RUN/STOP

    369
  • 11.12 Operation Performed when PLC Ready flag (M2000) Turns OFF/ON

    370
  • 11.13 Operation at The Error Occurrence

    371
• 12. USER FILES

  372
  • 12.1 Projects

    372
  • 12.2 User File List

    373
  • 12.3 Online Change in The Motion SFC Program

    374
    • 12.3.1 Operating method for The Online Change

      375
    • 12.3.2 Transfer of program

      378
• 13. LIMIT SWITCH OUTPUT FUNCTION

  380
  • 13.1 Operations

    380
  • 13.2 Limit Output Setting Data

    383
• 14. ROM OPERATION FUNCTION

  388
  • 14.1 About the ROM Operation Function

    388
  • 14.2 Specifications of LED • Switch

    390
  • 14.3 ROM Operation Function Details

    392
  • 14.4 Operating Procedure of "ROM writing"

    398
• 15 SECURITY FUNCTION

  400
  • 15.1 Password Registration/change

    400
  • 15.2 Password Clearance

    402
  • 15.3 Password Check

    403
  • 15.4 Password Save

    404
  • 15.5 Clear All

    405
• 16. COMMUNICATIONS VIA NETWORK

  406
  • 16.1 Specifications of The Communications via Network

    407
  • 16.2 Access Range of The Communications via Network

    408
    • 16.2.1 Network configuration via the MELSECNET/10(H) or the Ethernet

      408
    • 16.2.2 Network configuration via the CC-Link

      410
    • 16.2.3 Network configuration via the RS422/485

      411
    • 16.2.4 Network configuration which MELSECNET/10(H), Ethernet, CC-Link, RS-422/485 were mixed

      412
• 17. MONITOR FUNCTION OF THE MAIN CYCLE

  416
• 18. SERVO PARAMETER READING FUNCTION

  418
  • 18.1 About The Servo Parameter Read Request Devices

    418
  • 18.2 Operating Procedure of The Servo Parameter Reading Function

    419
• 19. ERROR CODE LISTS

  420
  • 19.1 Reading Procedure for Error Codes

    420
  • 19.2 Motion SFC Error Code List

    421
  • 19.3 Motion SFC Parameter Errors

    430
  • 19.4 Multiple CPU Error Codes

    432
    • 19.4.1 Self-diagnosis error code

      432
    • 19.4.2 Release of self-diagnosis error

      437
• APPENDICES

  438
  • APPENDIX 1 Processing Times

    438
    • APPENDIX 1.1 Processing time of operation control/Transition instruction

      438
  • APPENDIX 2 Sample Program

    446
    • APPENDIX 2.1 Program example to execute the Multiple CPU dedicated instruction continuously

      446
    • APPENDIX 2.2 The program example to execute plural Multiple CPU instruction by the instructions of one time

      448
    • APPENDIX 2.3 Motion control example by Motion SFC program

      450
    • APPENDIX 2.4 Continuation execution example at the subroutine re-start by the Motion SFC program

      461
    • APPENDIX 2.5 Continuation execution example after the stop by the Motion SFC program

      465
• WARRANTY

  470