Mitsubishi Electric MELSEC iQ-R Series Reference Manual
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Mitsubishi Electric MELSEC iQ-R Series Reference Manual

Mitsubishi Electric MELSEC iQ-R Series Reference Manual

Inter-module synchronization function
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MELSEC iQ-R Inter-Module Synchronization
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  • Page 1 MELSEC iQ-R Inter-Module Synchronization Function Reference Manual...

  • Page 3: Safety Precautions

    SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using MELSEC iQ-R series programmable controllers, please read the manuals for the product and the relevant manuals introduced in those manuals carefully, and pay full attention to safety to handle the product correctly. Make sure that the end users read this manual and then keep the manual in a safe place for future reference.

  • Page 4: Introduction

    INTRODUCTION Thank you for purchasing the Mitsubishi Electric MELSEC iQ-R series programmable controllers. This manual describes the inter-module synchronization function, which controls multiple modules synchronously. Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC iQ-R series programmable controller to handle the product correctly.

  • Page 5: Table Of Contents

    CONTENTS SAFETY PRECAUTIONS ..............1 CONDITIONS OF USE FOR THE PRODUCT .
  • Page 6 A specific module is not synchronized............47 RAS Function.

  • Page 7: Relevant Manuals

    (Application) e-Manual [SH-081369ENG] e-Manual refers to the Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated tool. e-Manual has the following features: • Required information can be cross-searched in multiple manuals. • Other manuals can be accessed from the links in the manual.

  • Page 8: Chapter 1 Overview

    OVERVIEW The inter-module synchronization function adjusts the control timing for the signals between multiple modules. When this function is used, the synchronization target module can match the input or output timing to the inter-module synchronization cycle. The inter-module synchronization cycle is a fixed scan interval for the inter-module synchronization function. The multiple CPU system function's fixed communication interval and the CC-Link IE Field Network synchronous communication function can be coordinated with the inter-module synchronization cycle.
  • Page 9 MEMO 1 OVERVIEW...

  • Page 10: Chapter 2 System Configuration

    SYSTEM CONFIGURATION Shows the system configuration for the inter-module synchronization function. Precautions for System Configuration Lists precautions for configuring the inter-module synchronization function system. Item Description Modules targeted for inter-module synchronization function This function can be used only with the MELSEC iQ-R Series modules. (Page 10 Configuration Devices) Network compatible with inter-module synchronization Only CC-Link IE Field Network...

  • Page 11: Inter-Module Synchronous Master

    Inter-module synchronous master The inter-module synchronous master is a module that issues the inter-module synchronization command. Normally, the CPU module becomes the inter-module synchronous master. (For the multiple CPU system configuration, the CPU module on the extreme left, for which "Use" is set in "Use Inter-module Synchronization Function in System" of "Inter-module Synchronization Setting", becomes the inter-module synchronous master.) Note that if a module on the local station or a remote head module is used as the synchronization target, the inter-module synchronous master is as follows because the CC-Link IE Field Network module on the local station and the remote head module operate by receiving the command from...

  • Page 12: Configuration Devices

    Configuration Devices Shows the modules that can be synchronously controlled with the inter-module synchronization function. Part name Model name CPU module Programmable controller CPU • R00CPU • R01CPU • R02CPU • R04CPU • R04ENCPU • R08CPU • R08ENCPU • R16CPU •...
  • Page 13 Part name Model name Intelligent function module A/D converter module • R60AD4 • R60ADI8 • R60ADV8 • R60ADH4 D/A converter module • R60DA4 • R60DAI8 • R60DAV8 • R60DAH4 Simple motion module • RD77MS2 • RD77MS4 • RD77MS8 • RD77MS16 •...

  • Page 14: Chapter 3 Specifications

    SPECIFICATIONS Shows the specifications for the inter-module synchronization function. Performance Specifications Shows the performance specifications for the inter-module synchronization function. Item Performance value Inter-module synchronization cycle • R00CPU, R01CPU, R02CPU: 0.50 to 10.00ms • Safety CPU: 1.00 to 10.00ms • CPU modules other than the above: 0.10 to 10.00ms Inter-module synchronization accuracy Calculate the accuracy with the inter-module synchronization accuracy formula.
  • Page 15 Inter-module synchronization accuracy calculation formula Shows the calculation formula for the inter-module synchronization accuracy. Use as a guide to set the inter-module synchronization cycle. ■When not going through a network module 2.410 80+150 • T: Inter-module synchronization accuracy (ns) • T : Inter-module synchronization cycle (ns) •...

  • Page 16: Chapter 4 Procedures Before Operation

    PROCEDURES BEFORE OPERATION This section describes the procedures for using the inter-module synchronization function. Starting up the engineering tool Connect the personal computer in which the engineering tool is installed to the CPU module or remote head module, and start up the engineering tool.
  • Page 17 MEMO 4 PROCEDURES BEFORE OPERATION...

  • Page 18: Chapter 5 Function

    FUNCTION Shows the details of the inter-module synchronization function. Fixed Cycle Synchronization Function Multiple modules are synchronized at the inter-module synchronization cycle timing set with the parameters. The data is exchanged and the input/output is control at a fixed cycle. By using this function, the encoder input can be collected at a fixed- time so data is retrieved at an accurate speed.
  • Page 19 Inter-module synchronous interrupt The interrupt program is executed at the inter-module synchronization cycle timing set in the parameters. The interrupt program executed at each inter-module synchronization cycle is called the inter-module synchronous interrupt program. For details on the inter-module synchronous interrupt program, refer to the manual for each CPU module. •...

  • Page 20: Timing To Synchronize Each Module

    Timing to synchronize each module Shows the timing to synchronize each module. Input module The input module retrieves the input module at the inter-module synchronization cycle start timing, and holds the input value during the inter-module synchronization cycle. (The input value is retrieved only once during the inter-module synchronization cycle.) By reading the input value (input signal) from the inter-module synchronous interrupt program, multiple modules can read the retrieved value at the same timing.
  • Page 21 A/D converter module During the interval from the inter-module synchronization cycle start timing to execution of the inter-module synchronous interrupt program, the latest A/D conversion value is retrieved and stored in the synchronization latch digital operation value or synchronization digital output value. The synchronization latch digital operation value and synchronization digital output value are held during the inter-module synchronization cycle.
  • Page 22 High-speed counter module The value is latched in synchronization with the falling edge of the inter-module synchronization control signal. The latched value is stored in the buffer memory. The normal count operation is executed even when using the inter-module synchronization signal. The latch target and storage destination buffer memory differ according to the operation mode. Operation mode Latch timing Latch target...
  • Page 23 ■Pulse measurement mode (Synchronous pulse measurement function) The pulse measurement value of the function input terminal's input pulse is retrieved at the inter-module synchronization cycle start timing. The pulse measurement interval can be selected from four patterns: ON width, OFF width, rising edge to rising edge, or falling edge to falling edge.
  • Page 24 Flexible high-speed I/O control module The flexible high-speed I/O control module can synchronize external output timings by using the inter-module synchronization signal as a trigger. With this, command timings to external devices that are connected to more than one flexible high-speed I/ O control module can be synchronized with each other, enabling simultaneous control of outputs more than the number that one module can use.
  • Page 25 Output module The output module's external output value (ON/OFF) is updated at the inter-module synchronization cycle start timing. (The output value is updated only once during the inter-module synchronization cycle.) By setting the output value from the inter- module synchronous interrupt program, several modules can output the setting value externally at the same value. The external output value is updated at the start timing of the inter-module synchronization cycle after the output that is set in the inter-module synchronous interrupt program.
  • Page 26 Positioning module The pulse output is started at the inter-module synchronization cycle after the positioning start trigger is received. Note that the pulse output start timing is adjusted only to the inter-module synchronization cycle. After starting, each positioning module controls the positioning independently. Inter-module Inter-module Inter-module...
  • Page 27 Remote head module The remote head module receives the inter-module synchronization timing from the master station to perform each refreshing according to the inter-module synchronization cycle and transfer the timing to the mounted modules. With this, the input data can be retrieved and the output data can be written at the same inter-module synchronization cycle timing as that of the system of the master station.
  • Page 28 • The inter-module synchronization timing is adjusted to the inter-module synchronization timing of the master station by coordinating the inter-module synchronization function with the CC-Link IE Field Network synchronous communication function. Therefore, the CC-Link IE Field Network synchronous communication function must be set to use the inter-module synchronization function. ( Page 37 Settings in CC-Link IE Field Network) •...

  • Page 29: Coordination With Multiple Cpu System Function's Fixed Scan Communication Cycle

    Coordination with multiple CPU system function's fixed scan communication cycle The fixed scan communication cycle for the multiple CPU system function can be set to the inter-module synchronization cycle. When using C Controller module, refer to the following manual. MELSEC iQ-R C Controller Module User's Manual (Application) Programmable controller CPU By setting the fixed scan communication cycle for the multiple CPU system function to the inter-module synchronization cycle, modules with different control CPUs can input and output in synchronization.
  • Page 30 ■Program operation When the inter-module synchronization cycle is coordinated with the fixed scan communication cycle for the multiple CPU system function, the multiple CPU synchronous interrupt program (I45) and inter-module synchronous interrupt program (I44) are executed between the inter-module synchronization cycles. The programs are executed in the order of multiple CPU synchronous interrupt program (I45) and inter-module synchronous interrupt program (I44).
  • Page 31 ■Precautions This section describes the precautions for coordinating with the multiple CPU system function's fixed scan communication cycle. • Even if the input/output settings for other than the group are enabled with another CPU module's program, the input or output cannot be retrieved from the synchronization target's module. Data can be read with direct specifications such as the DX, DY, Un\Gn or FROM instructions, but the data might be inconsistent.
  • Page 32 ■Timing example 1 Synchronization with multiple CPU system function's fixed scan communication cycle Fixed scan communication timing Motion operation ■Timing example 2 When motion operation cycle and inter-module synchronization cycle are equal Fixed scan communication timing Inter-module synchronization timing Motion operation ■Timing example 3 When motion operation cycle is double the inter-module synchronization cycle Fixed scan...

  • Page 33: Cc-Link Ie Field Network Synchronous Communication Function

    CC-Link IE Field Network synchronous communication function When the devices in the CC-Link IE Field Network are communicating, the send side and receive side timing are synchronized with the inter-module synchronization cycle. The master station parameters must be set to use this function. (Page 37 Settings in CC-Link IE Field Network) The CC-Link IE Field Network synchronous communication function cannot be used with a redundant system station.
  • Page 34 If the local station is disconnected, the disconnected station cannot receive synchronous signals from the master station and this causes an error at the local station. When the error is detected, the CPU module continues or stops the operation according to the CPU module operating status setting for error detection. When the CPU module continues to operate, the inter-module synchronization in the local station continues.
  • Page 35 Network synchronous communication with slave station Using the CC-Link IE Field Network synchronous communication function, another slave station connected in the same network can be operated in synchronization with the inter-module synchronization cycle. Supporting Network Supporting Network Not supporting Network synchronous synchronous synchronous...

  • Page 36: Chapter 6 Parameter Settings

    PARAMETER SETTINGS This section describes the parameter settings required to use the inter-module synchronization function. Inter-Module Synchronization Setting Set the module configuration diagram with the engineering tool, and set the inter-module synchronization settings. [System Parameter]  "Inter-module Synchronization Setting"  "Inter-module Synchronization Setting" Operating procedure Select "Use"...
  • Page 37 Displayed items Item Description Setting range Default Use Inter-module Synchronization Function in System Sets whether to use the inter-module • Not Use Not Use synchronization function. • Use Select Inter-module Detailed Setting Sets the module to be synchronized. • Do Not Synchronize Do Not Synchronization Target •...

  • Page 38: Multiple Cpu Settings

    Multiple CPU Settings Set when coordinating the inter-module synchronization cycle to the multiple CPU system function's fixed scan communication cycle. [System Parameter]  [Multiple CPU Setting]  [Communication Setting between CPUs]  [Fixed Scan Communication Setting] Window Displayed items Item Description Setting range Default...

  • Page 39: Settings In Cc-Link Ie Field Network

    Settings in CC-Link IE Field Network Set this to synchronize with the inter-module synchronization cycle using the CC-Link IE Field network synchronous communication function. This setting is made in the master station. [Module Parameter]  "Basic Settings"  "Network Configuration Settings"  "Detailed Setting" Window Displayed items Item...

  • Page 40: Chapter 7 Program Examples

    PROGRAM EXAMPLES This section shows examples of the inter-module synchronization function. For Single CPU System Configuration An example of the program that starts at the inter-module synchronization cycle for multiple positioning modules is shown below. (This program starts axis 1 of each positioning module simultaneously.) System configuration The following system configuration is used.

  • Page 41: Applicable Labels

    Applicable labels This table shows the labels used in this program example. Classification Label name Description Device Module label RD75_1.bPLCReady RW: Programmable controller ready RD75_2.bPLCReady RW: Programmable controller ready RD75_1.bnBusy_Axis[0] R: BUSY RD75_2.bnBusy_Axis[0] R: BUSY RD75_1.stnAxisControlData_Axis_D[0].uPositioningStartNo_D RW: Positioning start number (direct) U0\G1500 RD75_2.stnAxisControlData_Axis_D[0].uPositioningStartNo_D RW: Positioning start number (direct)

  • Page 42: Program

    Program To shorten the inter-module synchronous interrupt program's processing time, perform the positioning start processing with the inter-module synchronous interrupt program, and perform the other processing with the normal program. 7 PROGRAM EXAMPLES 7.1 For Single CPU System Configuration...

  • Page 43: For Network Configuration

    For Network Configuration The following is an example of a program that outputs to the adjacent output module and multiple output modules via the network at the inter-module synchronization cycle timing. System configuration The following system configuration is used. Master station side •...

  • Page 44: Applicable Labels

    Local station side The table shows the details of the local station side parameters. ■Inter-module synchronization setting This table shows the details of the inter-module synchronization settings. Set the same details as the master station side. Item Description Use Inter-module Synchronization Function in System Select "Use".

  • Page 45: Program

    Program The master station CPU module instructs the local station system output, and with this instruction, the master station system output and local station system output are performed at the same inter-module synchronization cycle timing. It takes two inter- module synchronization cycles from when the master station CPU module instructs the local station CPU module until output is performed from the local station system.
  • Page 46 Master station side This section shows the master station side program. 7 PROGRAM EXAMPLES 7.2 For Network Configuration...
  • Page 47 Local station side This section shows the local station side program. 7 PROGRAM EXAMPLES 7.2 For Network Configuration...

  • Page 48: Chapter 8 Troubleshooting

    TROUBLESHOOTING This section describes troubleshooting for the inter-module synchronization function. Error Processing and Recovery Methods This section shows the abnormal process detection and recovery methods used when an error occurs with the inter-module synchronization function. The inter-module synchronization function's synchronization state can be confirmed on the system monitor.

  • Page 49: Inter-Module Synchronous Interrupt Program Does Not Run

    Inter-module synchronous interrupt program does not run Check the following if the inter-module synchronous interrupt program does not run. Confirmation items Action Is the inter-module synchronization setting enabled? Enable the inter-module synchronization setting if it is not enabled. (Page 34 Inter-Module Synchronization Setting) Does an inter-module synchronous interrupt program If the inter-module synchronous interrupt program is not present, add one.

  • Page 50: Ras Function

    RAS Function Shows the RAS functions related to the inter-module synchronization function. Inter-module synchronous interrupt program execution time monitor The error detection setting is used to monitor the inter-module synchronous interrupt program's execution time. Set whether to detect an error related to the inter-module synchronous interrupt program's execution time. When an error is detected, the number of cycle overs is stored in SD480.

  • Page 51: Appendix

    APPENDIX Appendix 1 Processing Time This section describes the processing time. Overhead time for executing interrupt program The overhead time for executing the inter-module synchronous interrupt program between modules differs according to each CPU module. Each CPU module manual Refresh processing time For details on the refresh processing time, refer to the following.

  • Page 52: Index

    INDEX ..... 5 ......49 A/D converter module Overhead time .
  • Page 53 MEMO...

  • Page 54: Revisions

    Japanese manual number: SH-081400-M This manual confers no industrial property 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.

  • Page 55: Warranty

    WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.

  • Page 56: Trademarks

    TRADEMARKS The company names, system names and product names mentioned in this manual are either registered trademarks or trademarks of their respective companies. In some cases, trademark symbols such as '™' or '®' are not specified in this manual. SH(NA)-081401ENG-M...
  • Page 58 SH(NA)-081401ENG-M(1904) MODEL: IMSF-R-E HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.

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