Mitsubishi MOTION CONTROLLERS Q172DCPU Bedienerhandbuch

Motion ControllersProgramming ManualCommonQ173DCPUQ172DCPUMITSUBISHI ELECTRICMITSUBISHI ELECTRIC01 01 2008B(NA)-0300134Version AINDUSTRIAL AUTOMATION

A - 9 (7) Corrective actions for errors CAUTION If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the

4 - 9 4 AUXILIARY AND APPLIED FUNCTIONS POINT (1) The address setting range of absolute position system is 2147483648 to 2147483647. It is no

4 - 10 4 AUXILIARY AND APPLIED FUNCTIONS 4.2.1 Current value control The current value when using the ABS encoder is controlled by following fun

4 - 11 4 AUXILIARY AND APPLIED FUNCTIONS 4.3 High-Speed Reading of Specified Data This function is used to store the specified positioning data

4 - 12 4 AUXILIARY AND APPLIED FUNCTIONS 4.4 ROM Operation Function This function is used to operate based on the data in the FLASH ROM built-in

4 - 13 4 AUXILIARY AND APPLIED FUNCTIONS (b) Operation mode overview Operation mode 7-segment LED Operation overview Mode operated by RAM •

4 - 14 4 AUXILIARY AND APPLIED FUNCTIONS 4.4.2 Outline of ROM operation When the ROM writing is requested to the Motion CPU module using the MT

4 - 15 4 AUXILIARY AND APPLIED FUNCTIONS (1) Write the programs and parameters written in the SRAM built-in Motion CPU module to the FLASH RO

4 - 16 4 AUXILIARY AND APPLIED FUNCTIONS <Operating procedure for ROM writing> Write the data of SRAM built-in Motion CPU module to the R

4 - 17 4 AUXILIARY AND APPLIED FUNCTIONS (2) Write the programs and parameters of the MT Developer to the SRAM built-in Motion CPU module, and

4 - 18 4 AUXILIARY AND APPLIED FUNCTIONS <Operating procedure for ROM writing> Write the data of MT Developer to the ROM. The operatin

A - 10 CAUTION When replacing the Motion controller or servo amplifier, always set the new module settings correctly. When the Motion controller

4 - 19 4 AUXILIARY AND APPLIED FUNCTIONS 4.4.3 Operating procedure of the ROM operation function The outline procedure of ROM operation function

4 - 20 4 AUXILIARY AND APPLIED FUNCTIONS (2) Operation at the "Mode operated by ROM" NOYESMode operated by ROM startIs the data wri

4 - 21 4 AUXILIARY AND APPLIED FUNCTIONS 4.5 Security Function This function is used to protect the user data of Motion CPU by registering a pas

4 - 22 4 AUXILIARY AND APPLIED FUNCTIONS (b) Enter new password in password column, and select registration condition (Write Protection, Read/

4 - 23 4 AUXILIARY AND APPLIED FUNCTIONS 4.5.2 Password delete Select menu [Online] [Register Password] [Delete] to delete a password. (1)

4 - 24 4 AUXILIARY AND APPLIED FUNCTIONS 4.5.3 Password check When operating the user data that sets password, the check password screen is disp

4 - 25 4 AUXILIARY AND APPLIED FUNCTIONS 4.5.4 Password save Registered/changed/deleted password or password read with user data from "Read

4 - 26 4 AUXILIARY AND APPLIED FUNCTIONS 4.6 All clear function This function is used to clear the all user data, password setting, backup area

4 - 27 4 AUXILIARY AND APPLIED FUNCTIONS 4.7 Communication via Network The communication between the personal computer and the Motion CPU is pos

4 - 28 4 AUXILIARY AND APPLIED FUNCTIONS 4.7.2 Access range of the communications via network (1) Network configuration via the MELSECNET/10(H

A - 11 REVISIONS The manual number is given on the bottom left of the back cover. Print Date Manual Number Revision Jan., 2008 IB(NA)-0300

4 - 29 4 AUXILIARY AND APPLIED FUNCTIONS (2) Network configuration via the CC-Link (a) It can access the other CPU via the CC-link from the

4 - 30 4 AUXILIARY AND APPLIED FUNCTIONS (3) Network configuration via the RS-422/485 (a) It can access the other CPU via the RS-422/485 fro

4 - 31 4 AUXILIARY AND APPLIED FUNCTIONS (4) Network configuration which MELSECNET/10(H), Ethernet, CC-Link, RS-422/485 were mixed (a) When

4 - 32 4 AUXILIARY AND APPLIED FUNCTIONS RS-232USB/RS-232C24MNETEther: Serial communication module: MELSECNET/10(H): Ethernet<Example 2>RS

4 - 33 4 AUXILIARY AND APPLIED FUNCTIONS 4.8 Monitor Function of the Main Cycle (1) Information for main cycle of the Motion CPU (process cycl

4 - 34 4 AUXILIARY AND APPLIED FUNCTIONS 4.9 Servo Parameter Reading Function (1) When the servo parameters are changed, the Motion CPU will b

4 - 35 4 AUXILIARY AND APPLIED FUNCTIONS 4.10 Optional Data Monitor Function This function is used to store the data (refer to following table)

4 - 36 4 AUXILIARY AND APPLIED FUNCTIONS 4.11 Connect/Disconnect Function This function is used to temporarily suspend SSCNET communication whil

4 - 37 4 AUXILIARY AND APPLIED FUNCTIONS POINT (1) After completion of SSCNET communication disconnect processing, be sure to check the LED d

4 - 38 4 AUXILIARY AND APPLIED FUNCTIONS (b) Operation procedure to connect 1) Turn ON the power supply of the servo amplifier. 2) Set "

A - 12 INTRODUCTION Thank you for choosing the Mitsubishi Motion controller Q173DCPU/Q172DCPU. Before using the equipment, please read this manual

4 - 39 4 AUXILIARY AND APPLIED FUNCTIONS <Program example> (1) Self CPU program which connects/disconnects servo amplifiers from Axis 5

4 - 40 4 AUXILIARY AND APPLIED FUNCTIONS (2) PLC CPU program which connects/disconnects servo amplifiers from Axis 5 on which is connected to

4 - 41 4 AUXILIARY AND APPLIED FUNCTIONS 4.12 Remote operation This function is used to control the following operation of Motion CPU using MT

4 - 42 4 AUXILIARY AND APPLIED FUNCTIONS POINT (1) Remote RUN cannot be executed if RUN/STOP switch sets to STOP. Operation after remote operat

4 - 43 4 AUXILIARY AND APPLIED FUNCTIONS 4.12.2 Remote latch clear Device data of Motion CPU that latched are cleared by MT Developer at PLC rea

4 - 44 4 AUXILIARY AND APPLIED FUNCTIONS MEMO

APP - 1 APPENDICES APP. APPENDICES APPENDIX 1 Special relays/Special registers APPENDIX 1.1 Special relays Special relays are

APP - 2 APPENDICES Table 1.1 Special relay list No. Name Meaning Details Set by (When set) RemarkSM0 Diagnostic error OFF : No error ON : Error

APP - 3 APPENDICES Table 1.1 Special relay list (Continued) No. Name Meaning Details Set by (When set) RemarkSM243 No.4 CPU resetting OFF : CP

APP - 4 APPENDICES Table 1.1 Special relay list (Continued) No. Name Meaning Details Set by (When set) RemarkSM528 No.1 CPU MULTR complete OFF t

A - 13 3.1.3 Individual parameters...

APP - 5 APPENDICES APPENDIX 1.2 Special registers Special registers are internal registers whose applications are fixed in the Motion CPU. For thi

APP - 6 APPENDICES Table 1.2 Special register list No. Name Meaning Details Set by (When set) RemarkSD0 Diagnostic errors Diagnostic error code

APP - 7 APPENDICES Table 1.2 Special register list (Continued) No. Name Meaning Details Set by (When set) RemarkSD16 SD17 SD18 SD19 • Individual

APP - 8 APPENDICES Table 1.2 Special register list (Continued) No. Name Meaning Details Set by (When set) RemarkSD210 Clock data (Year, Month) •

APP - 9 APPENDICES Table 1.2 Special register list (Continued) No. Name Meaning Details Set by (When set) RemarkSD395 Multiple CPU No. Multipl

APP - 10 APPENDICES Table 1.2 Special register list (Continued) No. Name Meaning Details Set by (When set) RemarkSD522 Motion operation cycle Mo

APP - 11 APPENDICES APPENDIX 1.3 Replacement of special relays/special registers When a project for Q173HCPU(-T)/Q172HCPU(-T)/Q173CPUN(-T)/Q172CPU

APP - 12 APPENDICES Table 1.4 Replacement of special registers Device No. Special relays for Q173HCPU(-T)/Q172HCPU(-T)/ Q173CPUN(-T)/Q172CPUN(-T)

APP - 13 APPENDICES APPENDIX 2 System Setting Errors Motion CPUs generate a system configuration error under the following conditions. Table 2.1

APP - 14 APPENDICES MEMO

A - 14 About Manuals The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below.

APP - 15 APPENDICES APPENDIX 3 Self-diagnosis error code Multiple CPU related errors are stored in the CPU shared memory "self CPU operation

APP - 16 APPENDICES (1) Multiple CPU related errors which occurs in Motion CPU Each digit of error code has been described as follows. DigitTho

APP - 17 APPENDICES Error code (SD0) Error contents and cause Corrective action 1000 1001 1002 1003 1004 1005 1006 1007 1008 100

APP - 18 APPENDICES Table 3.1 Multiple CPU related errors which occurs in Motion CPU (1000 to 9999) (Continued) Item Error code (SD0) Error messag

APP - 19 APPENDICES Error code (SD0) Error contents and cause Corrective action 1430 The error of self CPU is detected in the Multiple CPU

APP - 20 APPENDICES Table 3.1 Multiple CPU related errors which occurs in Motion CPU (1000 to 9999) (Continued) Item Error code (SD0) Error messag

APP - 21 APPENDICES Error code (SD0) Error contents and cause Corrective action 3001 The parameter settings are corrupted. (1) Check th

APP - 22 APPENDICES (2) Motion CPU-specific errors Each digit of error code has been described as follows. Refer to programming manuals for erro

APP - 23 APPENDICES Error code (SD0) Error contents and cause Corrective action 10003 Minor/major errors had occurred. 10004 Minor/m

APP - 24 APPENDICES (3) Self-diagnostic error information No. Name Meaning Details SD0 Diagnostic errors Diagnostic error code • Error codes

A - 15 (2) PLC Manual Name Manual Number (Model Code) QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains

APP - 25 APPENDICES (4) Release of Multiple CPU related error The release operation of errors that continues operation for CPU can be executed.

APP - 26 APPENDICES APPENDIX 4 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU APPENDIX 4.1 Differences Between Q173DCPU/Q172DCPU and

APP - 27 APPENDICES Table 4.1 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU (Continued) Item Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU Med

APP - 28 APPENDICES APPENDIX 4.2 Comparison of devices (1) Motion registers (a) Monitor devices Table 4.2 Motion registers (Monitor devices)

APP - 29 APPENDICES Table 4.3 Monitor devices list Device No. Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU Name Remark #8000 + 20n #8064 + 4n Servo ampli

APP - 30 APPENDICES (2) Special relays Table 4.6 Special relay list Device No. Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU Name Remark SM60 M9000/M232

APP - 31 APPENDICES (3) Special registers Table 4.7 Special registers list Device No. Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU Name Remark SD60 D90

APP - 32 APPENDICES Table 4.7 Special registers list (Continued) Device No. Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU Name Remark SD512 D9184 Motion C

APP - 33 APPENDICES (4) Other devices Table 4.8 Other devices list Item Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU M2320 to M2399 Unusable Special re

APP - 34 APPENDICES Table 4.8 Other devices list (Continued) Item Q173DCPU/Q172DCPU Q173HCPU/Q172HCPU X0 to X1FFF X0 to X1FFF Y0 to Y1FFF Y0 to

A - 16 MEMO

APP - 35 APPENDICES APPENDIX 4.3 Differences of each mode (1) Motion SFC Table 4.9 Differences in Motion SFC mode Item Q173DCPU/Q172DCPU Q173HC

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)-0300134-A(0801)MEEMODELMODELCODEQ173D-P-COM-E1XB928IB(NA)-0300134-A(0801)MEEWhen exported from Japan, this manual does not require application

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1 - 1 1 1 OVERVIEW 1. OVERVIEW 1.1 Overview This programming manual describes the common items of each operating system software, such as the

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

A - 1 SAFETY PRECAUTIONS (Please read these instructions before using this equipment.) Before using this product, please read this manual and

1 - 3 1 OVERVIEW 1.2 Features The Motion CPU and Multiple CPU system have the following features. 1.2.1 Features of Motion CPU (1) Q series

1 - 4 1 OVERVIEW (3) Connection between the Motion controller and servo amplifier with high speed synchronous network by SSCNET (a) High sp

1 - 5 1 OVERVIEW 1.2.2 Basic specifications of Q173DCPU/Q172DCPU (1) Module specifications Item Q173DCPU Q172DCPU Internal current consumptio

1 - 6 1 OVERVIEW Motion control specifications (continued) Item Q173DCPU Q172DCPU Absolute position system Made compatible by setting battery

1 - 7 1 OVERVIEW (b) Motion SFC Performance Specifications Item Q173DCPU/Q172DCPU Code total (Motion SFC chart + Operation control + Transition

1 - 8 1 OVERVIEW 1.3 Hardware Configuration This section describes the Q173DCPU/Q172DCPU system configuration, precautions on use of system, and

1 - 9 1 OVERVIEW (2) Peripheral device configuration for the Q173DCPU/Q172DCPU The following (a)(b) can be used. (a) USB configurationPLC CPU

1 - 10 1 OVERVIEW 1.3.2 Q173DCPU System overall configuration Manual pulse generator 3/module PLC CPU/ Motion CPU100/200VACQ173DCPU(Q3 DB)Q

1 - 11 1 OVERVIEW CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Mo

1 - 12 1 OVERVIEW 1.3.3 Q172DCPU System overall configuration d2d1MR-J3- B model Servo amplifier, Up to 8 axes d3EMEMEMEMSSCNET

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 i

1 - 13 1 OVERVIEW CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Mo

1 - 14 1 OVERVIEW 1.3.4 Software packages (1) Software packages (a) Operating system software Software package Application Q173DCPU Q172DCP

1 - 15 1 OVERVIEW (3) Operating system type/version (a) Confirmation method in the operating system (CD) 2) OS software version1)2)3)3) S

1 - 16 1 OVERVIEW POINTS (1) When the operation of Windows is not unclear in the operation of this software, refer to the manual of Windows o

1 - 17 1 OVERVIEW 1.3.5 Restrictions on motion systems (1) Combination of Multiple CPU system (a) Motion CPU module cannot be used as standa

1 - 18 1 OVERVIEW (2) Motion modules (a) Installation position of Q172DEX(Note-1) is only the main base unit. It cannot be used on the exte

1 - 19 1 OVERVIEW (3) Other restrictions (a) Motion CPU module cannot be set as the control CPU of intelligent function module (except some

1 - 20 1 OVERVIEW MEMO

2 - 1 2 MULTIPLE CPU SYSTEM 2 2. MULTIPLE CPU SYSTEM 2.1 Multiple CPU System 2.1.1 Overview (1) What is Multiple CPU system ? A Multiple CP

2 - 2 2 MULTIPLE CPU SYSTEM 2.1.2 Installation position of CPU module Up to four PLC CPUs and Motion CPUs can be installed from the CPU slot (th

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 l

2 - 3 2 MULTIPLE CPU SYSTEM 2.1.3 Precautions for using I/O modules and intelligent function modules (1) Modules controllable by the Motion C

2 - 4 2 MULTIPLE CPU SYSTEM 2.1.4 Modules subject to installation restrictions (1) Modules subject to install restrictions for the Motion CPU

2 - 5 2 MULTIPLE CPU SYSTEM 2.1.5 How to reset the Multiple CPU system The entire Multiple CPU system can be reset by resetting CPU No.1. The C

2 - 6 2 MULTIPLE CPU SYSTEM 2.1.6 Operation for CPU module stop error The entire system will behaves differently depending whether a stop error

2 - 7 2 MULTIPLE CPU SYSTEM (b) When a stop error occurs in the CPU module for which " All station stop by stop error of CPU 'n&apos

2 - 8 2 MULTIPLE CPU SYSTEM (3) Operation at a Motion CPU error Operations at a Motion CPU error are shown below. Category Type of error Op

2 - 9 2 MULTIPLE CPU SYSTEM 2.2 Starting Up the Multiple CPU System This section describes a standard procedure to start up the Multiple CPU sys

2 - 10 2 MULTIPLE CPU SYSTEM Refer to the Programming Manual of eachoperating system software for details of program.1)Refer to Section 3.1 for

2 - 11 2 MULTIPLE CPU SYSTEM 2.3 Communication between the PLC CPU and the Motion CPU in the Multiple CPU System 2.3.1 CPU shared Memory (1) S

2 - 12 2 MULTIPLE CPU SYSTEM (a) Self CPU operation information area (0H to 1FFH) 1) The following information of self CPU is stored as the

A - 4 CAUTION The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF. These brakes must not be u

2 - 13 2 MULTIPLE CPU SYSTEM (d) Multiple CPU high speed transmission area The area corresponding to the Multiple CPU high speed main base uni

2 - 14 2 MULTIPLE CPU SYSTEM 2.3.2 Multiple CPU high speed transmission (1) Multiple CPU high speed transmission Multiple CPU high speed trans

2 - 15 2 MULTIPLE CPU SYSTEM 1) Access to Multiple CPU high speed transmission area a) Description of Multiple CPU area device : U \ GC

2 - 16 2 MULTIPLE CPU SYSTEM (b) Example of using automatic refresh method INCSM400SM400PLC programCPU No.1 (PLC CPU)CPU shared memory(Automa

2 - 17 2 MULTIPLE CPU SYSTEM (3) Memory configuration of Multiple CPU high speed transmission area Memory configuration of Multiple CPU high

2 - 18 2 MULTIPLE CPU SYSTEM (4) Parameter setting The parameter setting list for use with the Multiple CPU high speed transmission is shown i

2 - 19 2 MULTIPLE CPU SYSTEM Table 2.7 Parameter setting items of Multiple CPU high speed transmission area setting Item Setting description

2 - 20 2 MULTIPLE CPU SYSTEM POINT Selecting "Advanced setting" enables the ability to change the number of points from 1k to 2k in t

2 - 21 2 MULTIPLE CPU SYSTEM (b) Automatic refresh setting Setting for use of the automatic refresh function in the Multiple CPU high speed tr

2 - 22 2 MULTIPLE CPU SYSTEM POINT The processing performance of automatic refresh improves when devices are transmitted in 2 word sets. Theref

A - 5 CAUTION Use the program commands for the program with the conditions specified in the instruction manual. Set the sequence function progra

2 - 23 2 MULTIPLE CPU SYSTEM POINT Set the following operation for automatic refresh setting using GX Developer. 1) Select tab "Multiple

2 - 24 2 MULTIPLE CPU SYSTEM (5) Precautions (a) Assurance of data sent between CPUs Due to the timing of data sent from the self CPU and au

2 - 25 2 MULTIPLE CPU SYSTEM 2.3.3 Multiple CPU high speed refresh function This function is used to update the data between internal devices of

2 - 26 2 MULTIPLE CPU SYSTEM (2) Operation example of Multiple CPU high speed refresh function (a) Parameter setting The automatic refresh s

2 - 27 2 MULTIPLE CPU SYSTEM POINT Set the following operation for automatic refresh setting using GX Developer. 1) Select tab "Multiple

2 - 28 2 MULTIPLE CPU SYSTEM (b) Operation example The example of operating Multiple CPU high speed refresh function is shown below. U3E1\G10

2 - 29 2 MULTIPLE CPU SYSTEM 2.3.4 Clock synchronization between Multiple CPU The clock of each CPU is synchronized with the clock of CPU No. 1.

2 - 30 2 MULTIPLE CPU SYSTEM 2.3.5 Multiple CPU synchronous startup Multiple CPU synchronous startup function synchronizes the startups of CPU N

2 - 31 2 MULTIPLE CPU SYSTEM 2.3.6 Control Instruction from PLC CPU to Motion CPU Control can be instructed from the PLC CPU to the Motion CPU u

2 - 32 2 MULTIPLE CPU SYSTEM MEMO

A - 6 CAUTION The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or apply strong impacts on them. Secu

3 - 1 3 COMMON PARAMETERS 3 3. COMMON PARAMETERS 3.1 System Settings In the Multiple CPU system, the common system parameters and individual

3 - 2 3 COMMON PARAMETERS 3.1.1 System data settings The table below lists the system data items to be set. Item Setting range Initial value

3 - 3 3 COMMON PARAMETERS Item Setting range Initial value Remark Q173DCPU: Up to 2 systems, 32 axes Q172DCPU: Up to 1 system, 8 axesNone Set

3 - 4 3 COMMON PARAMETERS 3.1.2 Common system parameters (1) Parameters for operating the Multiple CPU system In the Multiple CPU system, the

3 - 5 3 COMMON PARAMETERS (2) Parameters common throughout the Multiple CPU system In the Motion CPU, during initialization the parameters in

3 - 6 3 COMMON PARAMETERS (a) Multiple CPU settings Set the following items identically in Multiple CPU Settings (Motion CPU) in MT Developer

3 - 7 3 COMMON PARAMETERS (b) Motion slot settings Set the modules controlled by the self CPU by the Motion Slot Settings (Motion CPU) in MT D

3 - 8 3 COMMON PARAMETERS (c) Base settings Set the total number of bases and number of slots in each base identically between Base Settings (

3 - 9 3 COMMON PARAMETERS POINT GOT is recognized as an intelligent function modules "16 points 10 slots" on the base (number of exte

3 - 10 3 COMMON PARAMETERS 3.1.3 Individual parameters (1) System basic setting The following explains each item to be set in system basic set

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

3 - 11 3 COMMON PARAMETERS 3) If the duration of motion operation has exceeded the operation cycle, the operation cycle over flag (M2054) turn

3 - 12 3 COMMON PARAMETERS (d) Latch range Set the following latching ranges for M, B, F, D and W, respectively. • Latch (1) : It is possibl

3 - 13 3 COMMON PARAMETERS Setting items for each module (Continued) Number of usable modulesModule name Item Setting range Initial value Q17

3 - 14 3 COMMON PARAMETERS (3) External signal input Servo external signal (Upper stroke limit/Lower stroke limit/Stop signal/Proximity dog) c

3 - 15 3 COMMON PARAMETERS 3.2 I/O number assignment In the Multiple CPU system, I/O numbers are used for interactive transmission between the M

3 - 16 3 COMMON PARAMETERS (2) I/O number assignment of Motion CPU control module Mitsubishi recommends that I/O No. assignment be set as com

3 - 17 3 COMMON PARAMETERS 3.2.2 I/O number of each CPU modules In the Multiple CPU system, I/O numbers are assigned to each CPU module to speci

3 - 18 3 COMMON PARAMETERS 3.2.3 I/O number setting Set the modules installed in the each slot of the main base or extension base and assign the

3 - 19 3 COMMON PARAMETERS 3.3 Servo Parameters The servo parameters control the data fixed by the specifications of the servo amplifier and ser

3 - 20 3 COMMON PARAMETERS (2) Gain/filter parameters No. Symbol Name Initial value Unit PB01 FILT Adaptive tuning mode (Adaptive filter

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

3 - 21 3 COMMON PARAMETERS (3) Extension setting parameters No. Symbol Name Initial value Unit PC01 ERZ Error excessive alarm level 3

3 - 22 3 COMMON PARAMETERS (4) I/O Setting Parameters No. Symbol Name Initial value Unit PD01 0000h PD02 0000h PD03 0000h PD04 0000h P

4 - 1 4 AUXILIARY AND APPLIED FUNCTIONS 4 4. AUXILIARY AND APPLIED FUNCTIONS 4.1 Limit Switch Output Function This functio

4 - 2 4 AUXILIARY AND APPLIED FUNCTIONS 3) (ON Value) = (OFF Value) Output device ON region setting Watch data valueON Value OFF ValueOFF

4 - 3 4 AUXILIARY AND APPLIED FUNCTIONS (4) When the multiple watch data, ON region, output enable/disable bit and forced output bit are set t

4 - 4 4 AUXILIARY AND APPLIED FUNCTIONS 4.1.2 Limit output setting data Limit output data list are shown below. Up to 32 points of output devi

4 - 5 4 AUXILIARY AND APPLIED FUNCTIONS (2) Watch data (a) This data is used to perform the limit switch output function. This data is comp

4 - 6 4 AUXILIARY AND APPLIED FUNCTIONS (3) ON region setting (a) The data range which makes the output device turn ON/OFF toward the watch

4 - 7 4 AUXILIARY AND APPLIED FUNCTIONS (5) Forced output bit (a) Set the "forced output bit" when you want to forcibly provide t

4 - 8 4 AUXILIARY AND APPLIED FUNCTIONS 4.2 Absolute Position System The positioning control for absolute position system can be performed using