Page 1 Q173D(S)CPU/Q172D(S)CPU Motion Controller Programming Manual (Safety Observation) -Q172DCPU-S1 -Q173DCPU-S1 -Q172DSCPU -Q173DSCPU...
Page 2: Safety Precautions
SAFETY PRECAUTIONS (Please read these instructions before using this equipment.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. These precautions apply only to this product. Refer to the Q173D(S)CPU/Q172D(S)CPU Users manual for a description of the Motion controller safety precautions.
Page 3 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.
Page 4 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.
Page 5 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 used for normal braking. The brakes (electromagnetic brakes) assembled into the servo motor are for holding applications, and must not be used for normal braking.
Page 6 CAUTION Set the servo motor 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 servo motor capacity and type (standard, low-inertia, flat, etc.) parameter to values that are compatible with the system application.
Page 7 CAUTION Do not install or operate Motion controller, servo amplifiers or servo motors that are damaged or that have missing parts. Do not block the intake/outtake ports of the Motion controller, servo amplifier and servo motor 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 servo motor.
Page 8 (5) 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 servo motor. 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.
Page 9 (7) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amplifier or servo motor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized.
Page 10 (9) 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.
Page 11 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 Electric 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.
Page 12: Revisions
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.
Page 13: Table Of Contents
INTRODUCTION Thank you for choosing the Mitsubishi Motion controller Q173D(S)CPU/Q172D(S)CPU. Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the Motion controller you have purchased, so as to ensure correct use. CONTENTS Safety Precautions ............................
Page 14 2.4.12 Speed error detection check ......................2-16 2.5 Safe Speed Monitor (SSM) ........................2-17 2.6 Shut-off Function (STO/SS1) ........................2-18 2.6.1 Sequence program example for shut-off function (STO/SS1 (Stop category 1)) ......2-18 2.7 Standstill Monitoring (SOS, SS2) ......................2-20 2.7.1 Encoder consistency check by small oscillation during standstill monitoring .........
Page 15 4.3.5 Shared device list for safety communication ..................4-21 4.3.6 Detailed description of shared device for safety communication ............ 4-22 5. SEQUENCE INSTRUCTIONS FOR MOTION CPU 5- 1 to 5-78 5.1 Description of the Device for the Sequence Program ................5- 1 5.1.1 Input/output (X, Y) ..........................
Page 16 5.4.13 Block 16-bit data transfers: BMOV ....................5-46 5.4.14 Identical 16-bit data block transfers: FMOV ................... 5-47 5.4.15 Pointer branch instructions: CJ ....................... 5-48 5.4.16 End main routine program: FEND ....................5-50 5.4.17 Call/return of subroutine program: CALL, RET ................5-51 5.4.18 Logical products with 16-bit data: WAND ..................
Page 17: About Manuals
About Manuals The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below. Related Manuals (1) Motion controller Manual Number Manual Name (Model Code) Q173D(S)CPU/Q172D(S)CPU Motion controller User's Manual This manual explains specifications of the Motion CPU modules, Q172DLX Servo external signal interface IB-0300133 module, Q172DEX Synchronous encoder interface module, Q173DPX Manual pulse generator interface (1XB927)
Page 18 (2) PLC Manual Number Manual Name (Model Code) QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains the specifications of the QCPU modules, power supply modules, base units, SH-080483ENG (13JR73) extension cables, memory card battery, and the maintenance/inspection for the system, trouble shooting, error codes and others.
Page 19 (3) Servo amplifier Manual Number Manual Name (Model Code) SSCNET /H interface AC Servo MR-J4_B(-RJ)/MR-J4_B4(-RJ)/MR-J4_B1(-RJ) Servo amplifier Instruction Manual SH-030106 (1CW805) This manual explains the I/O signals, parts names, parameters, start-up procedure and others for AC Servo MR-J4_B(-RJ)/MR-J4_B4(-RJ)/MR-J4_B1(-RJ) MR-J4- B Servo amplifier. SSCNET /H interface Multi-axis AC Servo MR-J4W2-_B/MR-J4W3-_B Servo amplifier Instruction Manual SH-030105...
Page 20: Overview
1 OVERVIEW 1. OVERVIEW This manual describes the safety observation function and start-up procedure in Motion controller, and the devices and instructions for creating a sequence program for the safety circuit. In this manual, the following abbreviations are used. Generic term/Abbreviation Description Motion CPU built-in safety observation Q173DSCPU/Q172DSCPU/Q173DCPU-S1/Q172DCPU-S1 Motion CPU module...
Page 21 1 OVERVIEW Generic term/Abbreviation Description Safety signal input pulse for double feedback during speed monitoring External auxiliary pulse input Diagnostic function to check the consistency between the encoder feedback value Small oscillation and auxiliary pulse Function for communicating safety data between safety stations on the same Safety communication network.
Page 22: Functional Overview
1 OVERVIEW 1.1 Functional Overview Motion controller has safety observation functions such as safety signal comparison, speed monitoring function, safe speed monitor, shut-off function, standstill monitoring, and safe brake control in addition to the general purpose Motion control functions. Furthermore, for Motion CPUs that support safety communication function, a safety communication compatible servo amplifier and safety encoder may be included in the system.
Page 23 1 OVERVIEW (2) Safety specification Item Specification Category Cat 3 (EN ISO 13849-1:2015) Safety Integrity Level EN IEC 62061:2021(maximum SIL 2) Performance Level PL d (EN ISO13849-1:2015) MTTFd 169 years or longer 2.17×10 Safety signal comparison, Safety observation safety communication (IEC61784-3:2010), functions STO, SS1, SS2, SOS, SLS, SBC, SSM (IEC61800-5-2:2016) (Note): Only processing block is included in the scope of safety specifications.
Page 24: System Configuration
1 OVERVIEW 1.2 System Configuration Safety observation function is configured by Motion CPU built-in safety observation (Q17 DSCPU/Q17 DCPU-S1), PLC CPU and safety signal module (Q173DSXY). Wire two signals to the safety signal module for PLC CPU and Motion CPU. The safety observation is executed in the Motion CPU and PLC CPU individually.
Page 25 1 OVERVIEW System combinations that support safety observation function, and the safety observation functions that can be applied by the Motion CPU are shown below. Safety observation function Motion CPU Servo amplifier Encoder Standard encoder Not safety encoder Standard encoder and compatible external auxiliary pulse (Note-2)
Page 26: Q173Dsxy Safety Signal Module
1 OVERVIEW 1.2.1 Q173DSXY Safety signal module The safety signal module is the I/O combined module that has 20 input points ×2 lines and 12 output points ×2 lines. (Number of occupied I/O points: 32 points per slot) Up to three safety signal modules can be used. The safety signal module cannot be used on the extension base unit.
Page 27: Applicable Standard
For Declaration of Conformity (DoC), MITSUBISHI ELECTRIC EUROPE B.V., declares that the Motion controllers are in compliance with the necessary requirements and standards (2006/42/EC, 2014/30/EU and 2014/35/EU). For a copy of the Declaration of Conformity, please consult your local Mitsubishi Electric representative. 1 - 8...
Page 28: Risk Assessment
1 OVERVIEW 1.4 Risk Assessment Define all risk assessments and residual risks for the whole machine to ensure safety. The company and/or individuals who constructed the system take responsibility for everything in terms of safety system installation and commission. In addition, to correspond to EC Machinery Directive, the safety standard needs to be certified as the whole system.
Page 29: Safety Signal Comparison
1 OVERVIEW 1.4.1 Safety signal comparison (1) Make sure that the mounting location of the safety signal module, MT Developer2 number head device, and GX Works2/GX Developer I/O assignments are correctly set. (2) When a signal error occurs, make sure that safety is secured within the signal mismatch permissible time that is set by a parameter.
Page 30: Safe Speed Monitor (Ssm)
1 OVERVIEW (3) Safely-limited Speed function guarantees the motor control (the motor rotation speed), but it does not guarantee the actual machine safety speed. Make sure to set parameters so that the safety speed of the machine is the same as the safety speed of the motor.
Page 31: Shut-Off Function (Sto, Ss1)
1 OVERVIEW 1.4.4 Shut-off function (STO, SS1) (1) STO function disables energy supply to the servo motor by electrical shut-off. The function does not mechanically disconnect electricity from the motor. Therefore, it cannot prevent exposure to electric shock, install a magnet contactor or a molded case circuit breaker to the main circuit power supply (L1, L2, and L3) of the servo amplifier.
Page 32: Standstill Monitoring (Sos, Ss2)
1 OVERVIEW 1.4.5 Standstill monitoring (SOS, SS2) (1) The position dependent safety observation function (SOS) is based on two independent safety-related sensors. One of them is part of the motor, which has a built-in encoder (for functional motion control); the other must be provided by the customer's application (e.g.
Page 33: Safety Communication Function
1 OVERVIEW 1.4.7 Safety communication function (1) The safety communication function cannot detect an incorrect servo amplifier station number setting. Check that the station number setting for the Motion control program and the axis select rotary switch setting of servo amplifier match. (2) For servo amplifiers that support the safety communication function, check that safety communication is connected.
Page 34: Restrictions
1 OVERVIEW 1.5 Restrictions There are following restrictions to use this function. (1) Install Q173DSXY into the main base unit. It cannot be used on the extension base unit. (2) Q173DSXY is controlled by PLC CPU. Q173DSXY can be connected to only Motion CPU (CPU No.2) in the Multiple CPU system.
Page 35 1 OVERVIEW (11) It is recommended that operation cycle of Motion CPU is set to 0.8ms or more for safety observation function. If the operation cycle is set to shorter than 0.8ms, an operation cycle over will occur. (12) When safety observation function is enabled, the self-diagnostics of CPU module is executed after power supply ON.
Page 36: Equipment Configuration Of Safety Observation Function Compatible Motion Controller
1 OVERVIEW 1.6 Equipment Configuration of Safety Observation Function Compatible Motion Controller (1) Module list (safety observation function compatible product) Part name Model name Description Q03UDCPU Program capacity 30k steps, LD instruction processing speed 0.02μs Q04UDHCPU Program capacity 40k steps, LD instruction processing speed 0.0095μs Q06UDHCPU Program capacity 60k steps, LD instruction processing speed 0.0095μs Q10UDHCPU...
Page 37 1 OVERVIEW (3) Software package list Product name Model name Description Supported version SW8DNC-SV13QJ Conveyor assembly use (SV13), compatible with Q173DSCPU (Note-3) "00A" or later SW8DNC-SV13QL Conveyor assembly use (SV13), compatible with Q172DSCPU (Note-4) "00E" or later SW8DNC-SV22QJ Automatic machinery use (SV22), compatible with Q173DSCPU (Note-5) "00G"...
Page 38: Safety Observation Function
2 SAFETY OBSERVATION FUNCTION 2. SAFETY OBSERVATION FUNCTION This chapter describes the safety observation function performed by safety observation function compatible Motion CPU. 2.1 Configuration of Safety Observation Function The safety observation function is structured by the following: • Safety signal comparison which monitors the signal mismatch status with input/output signals on both CPUs side.
Page 39 2 SAFETY OBSERVATION FUNCTION (3) Safety communication function Communicates safety information with the servo amplifier by using the safety communication in a system compatible with safety communication. Also checks the operation and status of safety observation functions in the servo amplifier with the safety sequence program of the user.
Page 40: Sequence Programs For Safety Observation On Plc Cpu
2 SAFETY OBSERVATION FUNCTION 2.2 Sequence Programs for Safety Observation on PLC CPU This section describes the procedure that the Motion CPU transfers the sequence programs for safety observation to PLC CPU and executes the comparison. (1) Transfer of sequence programs for safety observation The sequence programs for safety observation is embedded in Motion CPU system.
Page 41 2 SAFETY OBSERVATION FUNCTION (a) Comparison procedure of sequence programs for safety observation at power ON Power ON Read PLC parameter of PLC CPU. (By Motion CPU) PLC CPU PLC paramaters check Safety observation error 34 occurs. Does PLC CPU have sequence programs for safety observation? Read device points of PLC parameter.
Page 42 2 SAFETY OBSERVATION FUNCTION (b) Comparison procedure of sequence programs for safety observation in 24- hour continuous operation 24-hour continuous operation Read PLC parameter of PLC CPU. (By Motion CPU) PLC CPU PLC parameters check Safety observation error 34 occurs. Read sequence programs for safety observation.
Page 43: Activity Check In Sequence Programs For Safety Observation
2 SAFETY OBSERVATION FUNCTION 2.2.1 Activity check in sequence programs for safety observation PLC CPU and Motion CPU execute an activity check to ensure that both CPUs execute the safety observation function correctly. One CPU checks if the counter of the other CPU is updated. If the counter is not updated within a certain period of time, an error will occur.
Page 44: Safety Signals Comparison
2 SAFETY OBSERVATION FUNCTION 2.3 Safety Signals Comparison The input/output signals on Motion CPU side and PLC CPU side are compared. If the mismatch status of input/output signal exceeds the setting allowance time, "Safety observation error (error code: 20)" occurs, and the shut-off signal is turned OFF.
Page 45: Speed Monitoring Function (Sls)
2 SAFETY OBSERVATION FUNCTION 2.4 Speed Monitoring Function (SLS) 2.4.1 System configuration of speed monitoring function (1) Functions Motion CPU and PLC CPU execute the following monitoring function. • Command speed monitoring : Command speed does not exceed the safety speed. •...
Page 46 2 SAFETY OBSERVATION FUNCTION The system configuration for speed monitoring function is shown below. PLC CPU Motion CPU Motor encoder data Safety Speed Speed Safety signal Safety signal communication Mutual check monitoring monitoring comparison comparison compatible servo amplifier Consistency check Consistency check External auxiliary...
Page 47 2 SAFETY OBSERVATION FUNCTION POINTS (1) Be sure to use A-phase/B-phase mode during standstill monitoring so that rotation information is acquired. (2) In the case of 1-phase mode, internal counter counts up regardless of rotating direction. In the case of an operation pattern where the inverse rotation for motor rotating direction is repeated in a short time, a speed monitoring error may occur because an internal counter miscounts by input pulse chattering.
Page 48: Timing Of Speed Monitoring Function
2 SAFETY OBSERVATION FUNCTION 2.4.2 Timing of speed monitoring function The speed monitoring function is started by the speed monitoring request signal. Turn on the speed monitoring request signal after the motor is decelerated to the safety motor speed or lower by the speed change instruction (CHGV) etc. in user program.
Page 49: Example Of Speed Monitoring Start Operation
2 SAFETY OBSERVATION FUNCTION 2.4.3 Example of speed monitoring start operation Safety door lock can be released only when the power is shut OFF for safety. However, in case that the door lock needs to be released without power shut-off such as in maintenance and preparation, speed monitoring function is required so that the device operate safely.
Page 50: Parameter Consistency Check
2 SAFETY OBSERVATION FUNCTION 2.4.4 Parameter consistency check The monitoring speed is set by the speed monitoring parameter (for each parameter block). Set the following two parameters that have different type of unit to prevent the mis-setting. • Safety speed : Load-side safety (limit) speed [mm/min, inch/min, pulse/s, degree/min] •...
Page 51: Feedback Speed Observation
2 SAFETY OBSERVATION FUNCTION 2.4.7 Feedback speed observation (Note-1) Both Motion CPU and PLC CPU monitor if the motor speed does not exceed the safety motor speed during speed monitoring. (Note-1) If the motor speed continues to exceed the safety motor speed over "speed monitoring error detection time", "Safety observation error (error code: 111)"...
Page 52: Speed Deviation Monitoring
2 SAFETY OBSERVATION FUNCTION 2.4.9 Speed deviation monitoring Both Motion CPU and PLC CPU monitor if the difference between the feedback (Note-1) (Note-2) speed and command speed of Motion CPU does not exceed the allowance value of speed deviation during speed monitoring. If the difference continues to exceed the allowance value over "speed monitoring error detection time", "Safety observation error (error code: 113)"...
Page 53: External Auxiliary Pulse Input Observation
2 SAFETY OBSERVATION FUNCTION 2.4.10 External auxiliary pulse input observation Both Motion CPU and PLC CPU monitor if the difference between the feedback position and cumulative position of external auxiliary input pulses, or safety encoder exceeds the allowance value of position deviation or not during speed monitoring. If the difference between the feedback position and cumulative position of external auxiliary input pulses, or safety encoder continues to exceed the allowance value over "speed monitoring error detection time", "Safety observation error (error code: 114)"...
Page 54: Safe Speed Monitor (Ssm)
2 SAFETY OBSERVATION FUNCTION 2.5 Safe Speed Monitor (SSM) The safe speed monitor signal (SSM signal) is turned ON if both the command speed and feedback speed are the safety speed or lower during speed monitoring. The output signals of safety signal module are used as SSM signal. If the command speed or feedback speed exceeds the safety speed, SSM signal output is turned ON to OFF regardless of the speed monitoring error detection time.
Page 55: Shut-Off Function (Sto/Ss1)
2 SAFETY OBSERVATION FUNCTION 2.6 Shut-off Function (STO/SS1) The power shut-off is required after timer delay processing for motor deceleration in user sequence program to correspond to the safe stop category 1 defined by EN 60204-1. Execute the ON/OFF control of shutoff signal (STO signal: output signal of safety signal module) and timer delay processing for motor deceleration time (SS1) using safety signal comparison process in user safety sequence program.
Page 56 2 SAFETY OBSERVATION FUNCTION (2) Program example *Start request P252 X200 X100 Safety Start Start switch switch switch ON to OFF input Start Start switch enable ON to OFF * SS1 delay timer X200 Stop Safety Start request switch enable input Stop SS1 delay...
Page 57: Standstill Monitoring (Sos, Ss2)
2 SAFETY OBSERVATION FUNCTION 2.7 Standstill Monitoring (SOS, SS2) SOS function is executed by setting the safety speed, safety motor speed and allowance value of position deviation to approximately "0". Execute the ON/OFF control of speed monitoring request signal and timer delay processing for motor deceleration time (SS2) using safety signal in user safety sequence program.
Page 58 2 SAFETY OBSERVATION FUNCTION If the difference between value of motor encoder and external auxiliary pulse input occurs, "Safety observation error (error code: 121)" occurs, and the shut-off signal is turned OFF. The positioning cannot be executed during small oscillation. If the positioning (JOG, servo program) is started during small oscillation, "Safety observation warning (error code: 201)"...
Page 59: Sequence Program Example For Standstill Monitoring (Sos, Ss2 (Stop Category 2))
2 SAFETY OBSERVATION FUNCTION 2.7.2 Sequence program example for standstill monitoring (SOS, SS2 (Stop category 2)) The user safety sequence program example (Motion CPU side) for corresponding to SOS/SS2 (stop category 2) is shown below. (1) Devices X101 (Normal signal) : Reset switch input (Note-1) X200...
Page 60 2 SAFETY OBSERVATION FUNCTION (3) Operation outline (a) When the safety switch input (X200) is turned OFF, the speed monitor request signal (SOS request signal) is turned ON after SS2 delay time (T17) elapse. (b) When SOS starts or the safety observation error is detected during SOS, the shut-off signal (Y20A/X20A) is turned OFF.
Page 61: Sequence Program Example For Small Oscillation During Standstill Monitoring
2 SAFETY OBSERVATION FUNCTION 2.7.3 Sequence program example for small oscillation during standstill monitoring Sequence program example (Motion CPU side) for small oscillation during standstill monitoring is shown below. The user safety sequence program for small oscillation on PLC CPU side is not required. (1) Devices (Note-1) X300...
Page 62: Sequence Program Example For Safe Break Control (Sbc)
2 SAFETY OBSERVATION FUNCTION 2.8 Safe Brake Control (SBC) Control the external brake ON/OFF by output signals for external brake control (output signal of safety signal module) of both CPUs in the user safety sequence program. Connect the relay for the brake to each of the output signals of Motion CPU and PLC CPU.
Page 63: Safety Communication
2 SAFETY OBSERVATION FUNCTION 2.9 Safety Communication Safety communication compatible Safety observation servo amplifier function (STO, SLS PLC CPU Motion CPU command etc.) (STO, SLS status etc.) Safety Safety communication communication Mutual check function function Servo motor Safety information is communicated by SSCNET /H between a Motion CPU and servo amplifier that support safety communication.
Page 64 2 SAFETY OBSERVATION FUNCTION The communication cycle of safety communication is set by parameter. When the processing time of safety communication exceeds the set communication cycle, a safety observation error occurs, and safety observation function is not executed. Review the PLC CPU processes and shorten the scan time, or change the communication cycle to a larger value.
Page 65 2 SAFETY OBSERVATION FUNCTION (3) The safety observation function parameters of the servo amplifier are not controlled by the Motion CPU. Refer to "Functional safety unit MR-D30 Instruction Manual" for details of safety observation function parameters and safety observation functions of the servo amplifier. (4) When the operating status of the PLC CPU is STOP, safety communication cannot be continued.
Page 66: Functional Safety Signal
2 SAFETY OBSERVATION FUNCTION 2.9.1 Functional safety signal For the functional safety signal, the status signal from the servo amplifier (functional safety status) and command signal to the servo amplifier (functional safety command) is used. When safety communication with the servo amplifier is established, the operation of the safety observation functions (SLS, STO, SS1, SS2, SOS, SBC etc.) in the servo amplifier can be controlled with the Y device (functional safety command) on the user safety sequence program.
Page 67 2 SAFETY OBSERVATION FUNCTION • SLS1 to SLS4 status : Turns ON when operating the SLS function of the servo amplifier with SLS1 to SLS4 command. Other than the above, SLS1 to SLS4 status is OFF. • Error status1 : Turns ON when an error relating to safety communication occurs in the servo amplifier.
Page 68 2 SAFETY OBSERVATION FUNCTION In the user safety sequence ladder program created in either the PLC CPU or Motion CPU, the functional safety command starts the safety observation function of the servo amplifier when the safety observation function changes to an operating status.
Page 69: Sequence Program Example For Shut-Off Function (Sto, Ss1 (Stop Category 1))
2 SAFETY OBSERVATION FUNCTION 2.9.2 Sequence program example for shut-off function (STO, SS1 (Stop category 1)) The following is an example of a user safety sequence program (Motion CPU side) that issues a STO signal. Create the user safety sequence program on the PLC CPU side with the same logic.
Page 70 2 SAFETY OBSERVATION FUNCTION (3) Operation outline (a) When the start switch (X100) is pushed after confirming safety (safety switch input (X200) is ON.), the STO signal (Y300) is output. (b) Create the program so that the start switch is enabled only when the switch is turned ON to OFF, preventing accidental start when the start switch is shorted or welded.
Page 71: Sequence Program Example For Standstill Monitoring (Sos, Ss2 (Stop Category 2))
2 SAFETY OBSERVATION FUNCTION 2.9.3 Sequence program example for standstill monitoring (SOS, SS2 (Stop category 2)) The following is an example of a user safety sequence program (Motion CPU side) for supporting the SS2 (stop category 2) of the servo amplifier. Create the user safety sequence program on the PLC CPU side with the same logic.
Page 72 2 SAFETY OBSERVATION FUNCTION (4) Timing chart The timing chart for this function is shown below. Safety input signal such as door signal etc. SS2 command SS2 status SOS status Standstill Deceleration monitoring monitoring (Note-1) (SOS state) Feedback speed Motor speed Command speed Standstill...
Page 73: Sequence Program Example For Speed Monitoring (Sls1 To Sls4)
2 SAFETY OBSERVATION FUNCTION 2.9.4 Sequence program example for speed monitoring (SLS1 to SLS4) The following is an example of a user safety sequence program (Motion CPU side) for supporting the SLS1 to SLS4 of the servo amplifier. Create the user safety sequence program on the PLC CPU side with the same logic.
Page 74 2 SAFETY OBSERVATION FUNCTION (4) Timing chart The timing chart for this function is shown below. Safety input signal such as door signal etc. SLS1 command SLS1 status SLS deceleration Speed monitoring time 1 monitoring Feedback speed Motor speed Command speed SLS speed 1 2 - 37...
Page 75: Checking The Connection Status Of Safety Communication
2 SAFETY OBSERVATION FUNCTION 2.9.5 Checking the connection status of safety communication For a servo amplifier that supports the safety communication function, a safety observation error does not occur when safety communication is disconnected. Check that safety communication is connected with the safety communication connection information special register (refer to Section 4.1), or the safety communication enabled bit in the shared device for safety communication (refer to Section 4.3.6 (7)).
Page 76: Sscnet Communication Condition Monitor
2 SAFETY OBSERVATION FUNCTION 2.9.6 SSCNET communication condition monitor When communicating by safety communication function, the status of safety communication can be checked on the MT Developer2 SSCNET communication condition monitor screen. 2 - 39...
Page 77: Self-Diagnosis Function
2 SAFETY OBSERVATION FUNCTION 2.10 Self-diagnosis Function 2.10.1 Safety signal output check function The safety signal cannot be controlled correctly in case of the transistor malfunction of the safety signal module. Ensure the safety by checking the output signal using the output off check function at power ON and output off check function every 24 hours.
Page 78 2 SAFETY OBSERVATION FUNCTION (2) Output off check function every 24 hours When all output signals have not stayed OFF for 24 hours, output off check incomplete signal is turned ON. Turn ON output off check signal in user program. When "Output off check signal"...
Page 79: Memory Check Function
2 SAFETY OBSERVATION FUNCTION CAUTION Without output off check, safety cannot be secured because a transistor failure of safety signal module cannot be detected, and safety signals may not be turned OFF. When the output off check is executed, all output signal points of safety signal module are turned OFF.
Page 80: Scan Time Check
2 SAFETY OBSERVATION FUNCTION 2.10.4 Scan time check Execute the scan time check to guarantee that the PLC CPU and Motion CPU execute the observation function within a certain process time during the safety observation function. Both Motion CPU and PLC CPU execute the scan time check. "Safety observation error"...
Page 81: Speed Monitoring Function Omitting External Auxiliary Pulse Input
2 SAFETY OBSERVATION FUNCTION 2.11 Speed Monitoring Function Omitting External Auxiliary Pulse Input The speed monitoring function conducts a double observation by monitoring the command speed and motor feedback speed with two CPUs. In order to maintain safety when stopped (command speed or motor feedback speed is 0), the motor rotation pulse generated from an external sensor is input and checked for consistency with the motor feedback position.
Page 82 2 SAFETY OBSERVATION FUNCTION (1) Speed monitoring parameter Item Description Setting range Set the input (X) device No. on the PLC CPU side (occupies two points) of the safety signal module which inputs pulses of the pulse output system connected mechanically to the servo axis performing speed monitor.
Page 83 2 SAFETY OBSERVATION FUNCTION MEMO 2 - 46...
Page 84: Start-Up Procedures
3 START-UP PROCEDURES 3. START-UP PROCEDURES 3.1 Start-up Procedures Flow Chart The start-up procedure of safety observation function is shown below. Start Module installation and wiring/connection Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion contoroller User's Manual". Install the modules required for the system configuration to the base unit and make a wiring of power and the safety signal.
Page 85 3 START-UP PROCEDURES Check errors "ERR" LED of PLC CPU is OFF, and check that "AL" LED is not displayed at 7-segment LED of Motion CPU. Refer to Section 3.3. (Note-1) Memory formatting Format the memory to be used by the (Note-1): Set a rotary switch 2 (SW2) at the front side of "Format PLC Memory".
Page 86: Communication Between Gx Works2/Gx Developer And Motion Cpu
3 START-UP PROCEDURES 3.2 Communication between GX Works2/GX Developer and Motion CPU Change the rotary switch setting at the front side of Motion CPU as the figure below to communicate with GX Works2/GX Developer for writing or monitoring of the user safety sequence program in Motion CPU.
Page 87: Plc Memory Formating
3 START-UP PROCEDURES 3.3 PLC Memory Formating Format the PLC memory of PLC CPU and Motion CPU with GX Works2/GX Developer at the first start. If the PLC memory format is not executed in Motion CPU, the user safety sequence program cannot be written.
Page 88: Parameters Setting
3 START-UP PROCEDURES 3.4 Parameters Setting 3.4.1 Parameter setting of Motion CPU (1) System configuration setting There are no items setting as the safety observation function. Do not set a safety signal module in the system configuration of Motion CPU because the safety signal module is set as PLC CPU control module (No.1).
Page 89 3 START-UP PROCEDURES (4) Parameters for safety observation function (a) Safety signal comparison parameter Set the parameter for safety signal. Item Description Setting range The Number of Safety Set the number of safety signal modules to be installed. 0 to 3 Signal Module When "0"...
Page 90 3 START-UP PROCEDURES (b) Speed monitoring parameter Set the even number as the Multiple CPU shared device start address of safety signal comparison parameter setting to use the speed monitoring function. If the odd number is set, "Safety observation error (error code: 27)" will occur.
Page 91 3 START-UP PROCEDURES Item Description Setting range Set the allowance value for the difference between the speed command value Allowance Value of Speed and the feedback speed (speed deviation value) while the speed monitor of the Deviation axis which performs the speed monitor is permitted. As a general guideline, set (Note-5) allowance speed deviation value to 90% of safety speed, Set the hysteresis width (speed width) for outputting safe speed monitor signals...
Page 92 3 START-UP PROCEDURES Item Description Setting range Set Motion CPU side device number of the flags (occupies two points for each X/Y) about the speed monitoring function. X device and Y device of the set Numbers are the device Numbers of the following flags.
Page 93 3 START-UP PROCEDURES (c) Safety communication parameter Set the parameter for safety communication function. Setting is only possible when the amplifier model in system settings is "MR-J4-(W)B(-RJ)". Item Description Setting range Servo Amplifier Function Set whether to use the servo amplifier functional safety unit or not. When using 0: Not use (Note-1) Safety Module...
Page 94: Parameter Settings For Plc Cpu
3 START-UP PROCEDURES 3.4.2 Parameter settings for PLC CPU (1) I/O assignment setting (a) Select "I/O Mix" of 32 points as the safety signal module type, and set the start device number of safety signal module. POINT If the start device number of safety signal module is different from the safety observation function parameter of Motion CPU, "Safety observation error (error code: 34)"...
Page 95 3 START-UP PROCEDURES (b) Following settings in safety signal module is Intelligent Function Module Detailed Setting. • Error Time Output Mode : "Clear" • I/O Response Time : "10ms" • Control PLC : "PLC No.1" POINT If the Error Time Output Mode of safety signal module is not set to "Clear", "Safety observation error (error code: 34)"...
Page 96 3 START-UP PROCEDURES (2) Safety observation sequence program setting Make sure to add the program name of sequence programs for safety observation (SSU_CMP: Safety signal comparison sequence program, SLS_CMP: Speed monitoring sequence program, SNT_CMP: Safety communication sequence program) to "Program setting" of PLC CPU to execute the safety observation function.
Page 97 3 START-UP PROCEDURES (3) Device setting Assign the device range (Refer to Section 4.2.) used in the sequence programs for safety observation in case of changing the device points setting. No restriction in the latch setting. When the setting of is changed, delete the sequence programs for safety observation once.
Page 98 3 START-UP PROCEDURES (4) PLC system setting Check that the value of High speed set in Timer limit setting is "10.00" (default value). P0 to P19 are used as local pointers in the safety observation sequence program. Use P20 or later as common pointers. If a common pointer No. is set to be a smaller number than P20, the "self-diagnostic error (error code: 4021) occurs in the PLC CPU, the PLC CPU will stop when the pointer is used.
Page 99 3 START-UP PROCEDURES (5) Multiple CPU setting Select "PLC No1" in "Host station". And, select the "No.1 (PLC CPU)" and "No.2 (Motion CPU)" in Target PLC of the Multiple CPU synchronous startup setting. 3 - 16...
Page 100: Creating User Safety Sequence Program
3 START-UP PROCEDURES 3.5 Creating User Safety Sequence Program Write the user safety sequence program to the both of Motion CPU and PLC CPU to operate a safety circuit. By writing the same-logic sequence program to the both CPUs, even when one CPU failure occurs, the other CPU can be controlled the input/output signals safely.
Page 101 3 START-UP PROCEDURES (3) User program size The following size is necessary for the sequence programs for safety observation. Secure the following area by the user program as an empty area. • Only safety signal comparison use: 17kbyte (approx. 4300 steps) •...
Page 102: Creating Motion Cpu Side User Safety Sequence Program
3 START-UP PROCEDURES 3.5.2 Creating Motion CPU side user safety sequence program Read this section to create a Motion CPU side user safety sequence program. The Motion CPU side user safety sequence program judges the safety signal inputs of Motion CPU to control the safety signal output of Motion CPU. Create a sequence program to release the forced stop when the operation setup conditions are satisfied from the safety signal status.
Page 103 3 START-UP PROCEDURES (3) Handling of user memory for sequence program The user memory area is stored in the built-in backup memory. The following operations are possible with MT Developer2. • ROM operation by "Export to ROM Format" function • Data clear by "Clear CPU Memory" function •...
Page 104 3 START-UP PROCEDURES (4) Available devices The following devices can be used. Refer to Chapter 5 for details. The local devices cannot be used. Status of each device is shared in all sequence programs. X/Y/M/F/SM/SD/D/W is also shared with the general control (positioning dedicated signal, Motion SFC etc.) of Motion CPU.
Page 105 3 START-UP PROCEDURES (5) Available sequence instructions The following sequence instructions can be used in the user safety sequence programs of Motion CPU side. The following pulse generation instructions ( P) cannot be used. If used, they are always processed in the same way as execution instructions. SFTP ...
Page 106 3 START-UP PROCEDURES (b) Comparison instruction Instruction Category Symbol Processing Details Steps Symbol Conductive status when (S1) = (S2) AND= Non-Conductive status when (S1)  (S2) > LD> BIN 16-bit data Conductive status when (S1) > (S2) > AND> comparisons Non-Conductive status when (S1) ≤...
Page 107 3 START-UP PROCEDURES (d) BCD ↔ BIN conversion instruction Instruction Category Symbol Processing Details Steps Symbol BCD conversions BIN(0 to 9999) BCD conversions BCD conversions (S+1,S) (D+1,D) DBCD DBCD BIN(0 to 99999999) BIN conversions BCD(0 to 9999) BIN conversions BIN conversions (S+1,S) (D+1,D) DBIN...
Page 108 3 START-UP PROCEDURES (g) Logical operation instruction Instruction Category Symbol Processing Details Steps Symbol WAND WAND (S1) (S2) → (D) Logical product DAND DAND (D+1, D) (S+1, S) → (D+1, D) 3 to 4 (S1) V (S2) → (D) Logical sum (D+1, D) V (S + 1, S) →...
Page 109 3 START-UP PROCEDURES (i) Data processing instruction Instruction Category Symbol Processing Details Steps Symbol (S2) (S1) (D): Match No. Data searches (D+1): Number of matches Bit checks (D): Number of 1s Decode form 8 to 256 DECO Decode DECO Decode bits 7-segment decode SEG 7SEG...
Page 110 3 START-UP PROCEDURES (6) Statement/note/comment Line space statement and note can be used only in "Peripheral" type. If they are used in "PLC" type, the sequence programs cannot be executed correctly and "Safety observation error (error code: 10) (Sequence program error)" will occur. In addition, a device comment of each program cannot be held in Motion CPU.
Page 111 3 START-UP PROCEDURES (8) Refresh timing of input/output signal Execute the refresh of input (X) and output (Y) of the user safety sequence program of Motion CPU as the following timing. Direct refresh is unavailable. Target module Refresh Timing Input (X) : Before execution of the sequence program that P252 label was set Safety signal module Output (Y) : At the END processing of the sequence program...
Page 112: Validation Of Parameter Or Program
3 START-UP PROCEDURES 3.6 Validation of Parameter or Program The following shows how to transfer safety observation function parameters and user safety sequence programs created by programming software to CPU modules. USB/ RS-232/ Motion CPU PLC CPU Ethernet Transfer Safety observation Safety observation MT Developer2 function parameter...
Page 113: How To Validate User Safety Sequence Program
3 START-UP PROCEDURES 3.6.2 How to validate user safety sequence program Check the user safety sequence programs created by programming software and user safety sequence programs written in the CPU module by using different tools (one of GX Developer/GX Works2/GOT Ladder monitor function) in writing or reading each. Lock user safety sequence programs by passwords to prevent from changing the setting.
Page 114: Dedicated Devices
4 DEDICATED DEVICES 4. DEDICATED DEVICES 4.1 Special Relay/Special Register for Safety Observation Function Special relays and registers listed below are available in user safety sequence programs on Motion CPU side or Motion SFC programs while the safety observation function is activated. Device No.
Page 115 4 DEDICATED DEVICES Device No. PLC side Type Name Description (Note-1) (Note-2) Checks the connection status of safety communication (Communicating: 1/Disconnected: 0), and stores the result SD42 Safety communication connection as bit data. — SD43 information SD42: b0 to b15 (Axis 1 to 16) Special SD43: b0 to b15 (Axis 17 to 32) register...
Page 116: Device Used In Sequence Programs For Safety Observation On Plc Cpu Side
4 DEDICATED DEVICES 4.2 Device Used in Sequence Programs for Safety Observation on PLC CPU Side The sequence programs for safety observation use the devices shown below. Do not use the devices in the list for user program of PLC CPU. Table 4.1 devices for safety observation (when SD980 is 0) Device range Used for the safety signal...
Page 117: Multiple Cpu Shared Device For Safety Observation Functions
4 DEDICATED DEVICES 4.3 Multiple CPU Shared Device for Safety Observation Functions PLC CPU and Motion CPU exchange information about the safety observation each other by using the high-speed transmission area among multiple CPUs. Monitoring this area by using the sampling trace function of GX Works2/GX Developer or digital oscilloscope function of MT Developer2 can be a help to perform the troubleshooting.
Page 118: Shared Device List For Safety Signal Comparison
4 DEDICATED DEVICES 4.3.1 Shared device list for safety signal comparison Table 4.3 Shared device list for safety signal comparison Device No. PLC CPU side Motion CPU side Signal types Multiple CPU Multiple CPU (Note-1) (Note-1) I/O device I/O device (Note-2) (Note-2) shared device...
Page 119: Detailed Description Of Shared Device For Safety Signal Comparison
4 DEDICATED DEVICES 4.3.2 Detailed description of shared device for safety signal comparison (1) Safety signal input status (Note-1) Device No. Signal name PLC CPU side Motion CPU side Safety signal module1 input status U3E0\G +00, U3E0\G +01 U3E1\G +00, U3E1\G +01 Safety signal module2 input status U3E0\G +02, U3E0\G +03 U3E1\G +02, U3E1\G +03...
Page 120 4 DEDICATED DEVICES (2) Safety signal input error (Note-1) Device No. Signal name PLC CPU side Motion CPU side Safety signal module1 input error U3E0\G +10, U3E0\G +11 U3E1\G +10, U3E1\G +11 Safety signal module2 input error U3E0\G +12, U3E0\G +13 U3E1\G +12, U3E1\G +13 Safety signal module3 input error U3E0\G +14, U3E0\G +15...
Page 121 4 DEDICATED DEVICES [Operation] Each bit corresponds to the following signals. If a signal is ON, the corresponding signal bit will be turned ON. Safety signal output 0A Safety signal output 0B Safety signal output 0F Safety signal output 1A Safety signal output 1B Safety signal output 1F (4) Safety signal output feedback comparison error...
Page 122 4 DEDICATED DEVICES (5) Safety signal comparison status 2 (Note-1) Device No. Signal name PLC CPU side Motion CPU side Safety signal comparison status 2 U3E0\G +29 U3E1\G +29 (Note-1): is Multiple CPU shared device start address of safety signal comparison parameter. [Function] The safety signal comparison status is stored.
Page 123 4 DEDICATED DEVICES (7) Safety signal comparison status (Note-1) Device No. Signal name PLC CPU side Motion CPU side Safety signal comparison status U3E0\G +31 U3E1\G +31 (Note-1): is Multiple CPU shared device start address of safety signal comparison parameter. [Function] The safety signal comparison status is stored.
Page 124 4 DEDICATED DEVICES • Bit 6: Initial signal comparison check complete This signal is turned ON when detects that both the Motion CPU and PLC CPU start to execute the safety signal comparison process (sequence program), and the signal status match at start- •...
Page 125 4 DEDICATED DEVICES (9) Safety signal mismatch allowance time (Note-1) Device No. Signal name PLC CPU side Motion CPU side Safety signal mismatch allowance time U3E0\G +33 U3E1\G +33 (Note-1): is Multiple CPU shared device start address of safety signal comparison parameter. [Function] The safety signal comparison mismatch allowance time of the safety signal module is stored.
Page 126: Shared Device List For Speed Monitoring
4 DEDICATED DEVICES 4.3.3 Shared device list for speed monitoring Table 4.4 Shared device list for speed monitoring (Note-1) Device No. Signal types PLC CPU side Motion CPU side Speed monitoring enabled flag U3E0\G +50, U3E0\G +51 U3E1\G +50, U3E1\G +51 Speed monitoring executing flag U3E0\G +52, U3E0\G +53 U3E1\G +52, U3E1\G +53...
Page 127: Detailed Description Of Shared Device For Speed Monitoring
4 DEDICATED DEVICES 4.3.4 Detailed description of shared device for speed monitoring (1) Speed monitoring enabled flag (Note-1) Device No. Signal name PLC CPU side Motion CPU side Speed monitoring enabled flag U3E0\G +50, U3E0\G +51 U3E1\G +50, U3E1\G +51 (Note-1): is Multiple CPU shared device start address of safety signal comparison parameter.
Page 128 4 DEDICATED DEVICES [Operation] This flag shows the executing status of the speed monitoring function. When the speed monitoring is processing, the bit of the corresponding parameter block No. will be turned on. Low side Speed monitoring parameter block No.1 Speed monitoring parameter block No.2 Speed monitoring parameter block No.16 High side...
Page 129 4 DEDICATED DEVICES (4) Speed monitoring error status (Note-1) Device No. Signal name PLC CPU side Motion CPU side Speed monitoring error status U3E0\G +60 to U3E0\G +91 U3E1\G +60 to U3E1\G +91 (Note-1): is Multiple CPU shared device start address of safety signal comparison parameter. [Function] The error status detected by speed monitoring function is stored.
Page 130 4 DEDICATED DEVICES • Bit 3: Allowance value of speed deviation over If the speed deviation exceeds the allowance value of speed deviation (factor of "Safety observation error (error code: 113)"), this bit will be turned ON. • Bit 4: External auxiliary pulse position deviation over If the difference between cumulative external auxiliary input pulse, or safety encoder and motor encoder value exceeds the allowance value (factor of "Safety observation error (error code: 114)"), this bit...
Page 131 4 DEDICATED DEVICES (5) Cumulative external input pulses (Note-1) Device No. Signal name PLC CPU side Motion CPU side Cumulative external input pulses U3E0\G +92 to U3E0\G +123 U3E1\G +92 to U3E1\G +123 Parameter block 1 to 32 (Note-1): is Multiple CPU shared device start address of safety signal comparison parameter. [Function] The cumulative pulse value (BIN 16 bit data) of external auxiliary input pulse, or safety encoder is stored.
Page 132 4 DEDICATED DEVICES (7) Speed monitoring parameter (Total 26 words per block) (Note-1) Device No. Signal name PLC CPU side Motion CPU side Speed monitoring parameter — U3E1\G +188 to U3E1\G +1019 (Note-1): is Multiple CPU shared device start address of safety signal comparison parameter. [Function] The setting data in the speed monitoring parameter is stored.
Page 133 4 DEDICATED DEVICES (8) Speed monitoring function control status (Total 10 words per axis) (Note-1) Device No. Signal name PLC CPU side Motion CPU side Speed monitoring function control status U3E1\G +1020 to — Axis 1 to 32 U3E1\G +1339 (Note-1): is Multiple CPU shared device start address of safety signal comparison parameter.
Page 134: Shared Device List For Safety Communication
4 DEDICATED DEVICES 4.3.5 Shared device list for safety communication Table 4.5 Shared devices for safety observation (Note-1) Device No. Signal types PLC CPU side Motion CPU side Servo amplifier functional safety unit — U3E1\G +0, U3E1\G +1 setting bit Encoder setting bit —...
Page 135: Detailed Description Of Shared Device For Safety Communication
4 DEDICATED DEVICES 4.3.6 Detailed description of shared device for safety communication (1) Servo amplifier functional safety unit setting bit (Note-1) Device No. Signal name PLC CPU side Motion CPU side Servo amplifier functional safety unit — U3E1\G +0, U3E1\G +1 setting bit (Note-1): is Multiple CPU shared device start address of safety communication parameter.
Page 136 4 DEDICATED DEVICES (2) Encoder setting bit (Note-1) Device No. Signal name PLC CPU side Motion CPU side Encoder setting bit — U3E1\G +2, U3E1\G +3 (Note-1): is Multiple CPU shared device start address of safety communication parameter. [Function] The encoder setting of the axis that conducts safety communication is stored. [Operation] When the safety encoder is used, the bits of the corresponding axis No.
Page 137 4 DEDICATED DEVICES (3) Functional safety signal start device number (Note-1) Device No. Signal name PLC CPU side Motion CPU side Functional safety signal start device — U3E1\G +4 to U3E1\G +67 number (Note-1): is Multiple CPU shared device start address of safety communication parameter. [Function] The functional safety signal start device number of the PLC CPU side and Motion CPU side for each axis is stored.
Page 138 4 DEDICATED DEVICES (4) Safety communication Multiple CPU shared device (PLC side) (Note-1) Device No. Signal name PLC CPU side Motion CPU side Safety communication Multiple CPU — U3E1\G +68 shared device (PLC side) (Note-1): is Multiple CPU shared device start address of safety communication parameter. [Function] The safety communication Multiple CPU shared device start number (PLC side) is stored.
Page 139 4 DEDICATED DEVICES (7) Safety communication enabled bit (Note-1) Device No. Signal name PLC CPU side Motion CPU side Safety communication enabled bit — U3E1\G +76, U3E1\G +77 (Note-1): is Multiple CPU shared device start address of safety communication parameter. [Function] The status of the safety communication function is stored.
Page 140 4 DEDICATED DEVICES (Note-1) (8) Functional safety command (Note) Device No. Signal name PLC CPU side Motion CPU side U3E0\G +662 to U3E1\G +662 to Functional safety command U3E0\G +725 U3E1\G +725 (Note): is Multiple CPU shared device start address of safety communication parameter. [Function] The status of the functional safety command of each axis is stored.
Page 141 4 DEDICATED DEVICES Axis (Note-1) Device No. Signal name U3E \G +662, U3E \G +663 U3E \G +664, U3E \G +665 U3E \G +666, U3E \G +667 Signal name U3E \G +668, U3E \G +669 Functional safety command U3E \G +670, U3E \G +671 U3E \G +672, U3E \G +673 U3E \G +674, U3E \G +675 U3E \G +676, U3E \G +677...
Page 142: Sequence Instructions For Motion Cpu
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5. SEQUENCE INSTRUCTIONS FOR MOTION CPU This chapter describes the devices and instructions used to create a sequence program for Motion CPU. 5.1 Description of the Device for the Sequence Program This section describes the devices available for the user safety sequence program of the Motion CPU.
Page 143: Internal Relays (M, F)
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU (2) Output (Y) (a) This outputs the results of the program control to the solenoid, magnetic switch, signal lamp or digital indicator, etc. (b) The output (Y) can be retrieved with the equivalent of one "A" contact. (c) There is no limit to the number of "A"...
Page 144: Special Relays (Sm)
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.1.3 Special relays (SM) Special relay has predetermined applications in the system. Do not use the special relay as a temporary memory like an internal relay. (1) This relay is cleared when the power is turned OFF. (2) There is no limit to the number of "A"...
Page 145 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU (2) 100ms timer (T16 to T95, T144 to T239) (a) When the input conditions are set, the count starts. When the set value is counted, that timer contact will turn ON. (b) If the input conditions are turned OFF, the 100ms timer count value will be set to 0, and the contact will turn OFF.
Page 146: Counter (C)
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.1.5 Counter (C) The counter counts up and detects the rising edge of the input conditions. Thus, the count will not take place when the input conditions are ON. (1) The value is set with a decimal, and can be designated from 1 to 32767. The data register (D) data can also be used as the setting value.
Page 147: Link Register (W)
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.1.7 Link register (W) Link register (W) can be used in the same way as data register (D). (1) Turning the power OFF clears this device. (Latch setting can be applied with the system setting.) (2) The link register number is expressed as a hexadecimal.
Page 148: Nesting (N)
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.1.9 Nesting (N) (1) This indicates the master control nesting structure. (2) The master control nesting (N) is used in order from smallest number. MC N0 M15 Execute when A conditions are set. MC N1 M16 Execute when A,B conditions are set.
Page 149: Pointer (P)
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.1.10 Pointer (P) The pointer indicates the branch instruction (CJ, CALL) jump destination. The pointer number assigned at the jump destination head is called the label. Pointer Jump to label CJ P20 P20 (step 501) when X13 turns ON.
Page 150: Decimal Constant (K)
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.1.12 Decimal constant (K) The decimal constant can be used in the following ways. (1) Timer counter setting value: Designate in the range of 1 to 32767. (2) Bit device digit designation: 1 to 8 (3) Basic instruction, function instruction, value setting •...
Page 151: Configuration Of Instructions
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.2 Configuration of Instructions The section describes configuration for sequence program instruction to be executed in the Motion CPU. For a list of available instructions, refer to Section 3.5.2. 5.2.1 How to read the instruction table The basic instruction and function instruction explanations are shown below.
Page 152: Number Of Steps
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.2.2 Number of steps The basic number of steps in the sequence instruction includes step 1 to step 6. Main examples of each step are shown below. Basic No. of steps Instruction (mnemonic) Circuit display LD, ANI, ANB, ORB, Step 1 FEND, RET, P**...
Page 153: End Instruction
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.2.3 END instruction With the END instruction, both the circuit mode and the list mode are automatically created, so programming is not necessary. 5.2.4 Index ornament (1) The index ornament is used to add an index (Z0, Z1) to a device, add the details of the directly designated device number and index register, and designate the device number.
Page 154: Digit Designation
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.2.5 Digit designation A digit may need to be designated for the bit device (X, Y, M, SM, F). How many points of 4-point unit bit devices are to be used with the 16-bit or 32-bit instruction is selected with this digit designation.
Page 155 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU (3) When a digit is designated on the source (S) side The values that can be handled as source data will be as shown below. Table 5.1 Table of digit designations and values that can be handled For 16-bit instruction For 32-bit instruction K1 (4 points)
Page 156 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU (4) When a digit is designated on the destination (D) side Number of points designated by the digit will be the target of the destination side. Source Program example Process data (S) H1234 MOV H1234 K2M0 Value Destination (D) side K2M0...
Page 157: Basic Instructions
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.3 Basic Instructions 5.3.1 Operation start, series connection, parallel connection: LD, LDI, AND, ANI, OR, ORI Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation ― : Usable Device No.
Page 158: Ladder Block Series Connection And Parallel Connection: Anb, Orb
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.3.2 Ladder block series connection and parallel connection: ANB, ORB Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation ― : Usable [Instruction] A block B block A block B block OR or ORI is used for the one contact...
Page 159: Out Instruction: Out (Excluding Timers, Counters)
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.3.3 Out instruction: OUT (excluding timers, counters) Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation ― : Usable Device No. [Instruction] Command Command [Function] (1) Operation results up to the OUT instruction are output to the designated device. OUT instruction Operation Contact...
Page 160: Timers: Out T
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.3.4 Timers: OUT T Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation Device Setting Value : Usable Setting value (1 to 32767 is valid) [Instruction] OUT T Setting value (1 to 32767 is valid for D1560...
Page 161 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU (5) The following processing is conducted when the OUT instruction is executed: • OUT T coil turned ON or OFF • OUT T contact turned ON or OFF • OUT T present value updated In cases where a JMP instruction or the like is used to jump to an OUT T instruction while the OUT T instruction is ON, no present value update or contact ON/OFF operation is conducted.
Page 162: Counter: Out C
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.3.5 Counter: OUT C Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation Device Setting Value : Usable Setting value (1 to 32767 is valid) [Instruction] OUT C Setting value (1 to 32767 is valid for D1560...
Page 163: Setting And Resetting Devices: Set, Rst
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.3.6 Setting and resetting devices: SET, RST Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation (Note-1) (Note-1) : Usable :Usable partly (Note-1): Only RST instruction [Instruction] Command Command [Setting data] Setting data...
Page 164: Setting And Resetting The Master Control: Mc, Mcr
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.3.7 Setting and resetting the master control: MC, MCR Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command Master control ladder [Setting data] Setting data Description Nesting (N0 to N7) Device number to be turned ON...
Page 165 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU • By changing the device designated by (D), the MC instruction can use the same nesting (N) number as often as desired. • Coils from devices designated by (D) are turned ON when the MC instruction is Further, using these same devices with the OUT instruction or other instructions will cause them to become double coils, so devices designated by (D) should not be used within other instructions.
Page 166: Leading Edge And Trailing Edge Outputs: Pls, Plf
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.3.8 Leading edge and trailing edge outputs: PLS, PLF Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command Command [Setting data] Setting data Description Pulse conversion device (bits) [Function] (1) Leading edge output (PLS)
Page 167: Bit Device Shifts: Sft
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.3.9 Bit device shifts: SFT Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command [Setting data] Setting data Description Device number to shift (bits) [Function] (1) Shifts to a device designated by (D) the ON/OFF status of the device immediately prior to the one designated by (D), and turns the prior device OFF.
Page 168: Operation Results Push, Read, Pop: Mps, Mrd, Mpp
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.3.10 Operation results push, read, pop: MPS, MRD, MPP Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation ― : Usable In the ladder display, MPS, MRD and MPP are not displayed. [Instruction] Command Command...
Page 169: Function Instructions
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4 Function Instructions 5.4.1 16-bit data comparisons: =, <, > Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation (S1) (S2) : Usable [Instruction] (S1) (S2) (S1) (S2) (S1) (S2) (Note):...
Page 170: 32-Bit Data Comparisons: D=, D<, D
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.2 32-bit data comparisons: D=, D<, D> Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation (S1) (S2) : Usable [Instruction] (S1) (S2) (S1) (S2) (S1) (S2) (Note): indicates an instruction symbol of "D=, D<, D>"...
Page 171: Bin 16-Bit Addition And Subtraction Operations
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.3 BIN 16-bit addition and subtraction operations: +, - Usable device Setting Digit data Bit device Word device Constant Pointer Level desig- Index (Note-1) nation (S1) (S2) : Usable (Note-1): Cannot specify the same device in (S1) and (D), or (S2) and (D). [Instruction] Command (S1)
Page 172 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU (2) BIN 16-bit subtraction operation (-) • Subtracts 16-bit BIN data designated by (S1) from 16-bit BIN data designated by (S2) and stores the result of the subtraction at the device designated by (D). •...
Page 173: Bin 32-Bit Addition And Subtraction Operations: D+, D
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.4 BIN 32-bit addition and subtraction operations: D+, D- Usable device Setting Digit data Bit device Word device Constant Pointer Level desig- Index (Note-1) nation (S1) (S2) : Usable (Note-1): Cannot specify the same device in (S1) and (D), or (S2) and (D). [Instruction] Command (S1)
Page 174 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU (2) BIN 32-bit subtraction operation (D-) • Subtracts 32-bit BIN data designated by (S1) from 32-bit BIN data designated by (S2) and stores the result of the subtraction at the device designated by (D). •...
Page 175: Bin 16-Bit Multiplication And Division Operations
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.5 BIN 16-bit multiplication and division operations: *, / Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation (S1) (S2) : Usable [Instruction] Command (S1) (S2) Command (S1) (S2) [Setting data] Setting data...
Page 176 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU (2) BIN 16-bit division operation (/) • Divides BIN 16-bit data designated by (S1) and BIN 16-bit data designated by (S2), and stores the result in the device designated by (D), (D) +1. • Result of the division operation is stored as 32 bits, and both the quotient and remainder are stored;...
Page 177: Bin 32-Bit Multiplication And Division Operations: D*, D
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.6 BIN 32-bit multiplication and division operations: D*, D/ Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation (S1) (S2) : Usable [Instruction] Command (S1) (S2) Command (S1) (S2) [Setting data] Setting data...
Page 178 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU (2) BIN 32-bit division operation (D/) • Divides BIN 32-bit data designated by (S1) and BIN 32-bit data designated by (S2), and stores the result in the device designated by (D), (D)+1, (D)+2, (D)+3. •...
Page 179: Incrementing And Decrementing 16-Bit Bin Data: Inc, Dec
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.7 Incrementing and decrementing 16-bit BIN data: INC, DEC Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command Command [Setting data] Setting data Description Number of devices for INC (+1)/DEC (-1) operation (BIN 16 bits) [Function] (1) Incrementing 16-bit BIN data (INC)
Page 180: Incrementing And Decrementing 32-Bit Bin Data: Dinc, Ddec
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.8 Incrementing and decrementing 32-bit BIN data: DINC, DDEC Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command DINC DINC Command DDEC DDEC [Setting data] Setting data Description Head number of devices for DINC(+1) or DDEC(-1) operation...
Page 181: Conversion From Bin To Bcd (16 Bits, 32Bits): Bcd, Dbcd
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.9 Conversion from BIN to BCD (16 bits, 32bits): BCD, DBCD Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable : Only BCD instruction (16 bits) [Instruction] Command Command...
Page 182 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU (2) Conversion from BIN to BCD (32 bits) (DBCD) • Converts BIN data (0 to 99999999) at the device designated by (S) to BCD data, and stores it at the device designated by (D). (S)+1 (Upper 16bits) (S) (Lower 16bits) (S) BIN 99999999...
Page 183: Conversion From Bcd To Bin (16 Bits, 32Bits): Bin, Dbin
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.10 Conversion from BCD to BIN (16 bits, 32bits): BIN, DBIN Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable : Only BIN instruction (16 bits) [Instruction] Command Command...
Page 184 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU (2) Conversion from BCD to BIN (32 bits) (DBIN) • Converts BCD data (0 to 99999999) at the device designated by (S) to BIN data, and stores it at the device designated by (D). (S)+1 8 4 2 1 8 4 2 1 8 4 2 1 8 4 2 1 8 4 2 1 8 4 2 1 8 4 2 1 8 4 2 1 (S) BCD 99999999...
Page 185: 16-Bit And 32-Bit Data Transfers: Mov, Dmov
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.11 16-bit and 32-bit data transfers: MOV, DMOV Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable :Usable partly (Note-1) (Note-1): Alone Z can not be use for (S). Only when the index is modified to the word device, it is possible to use it by (S). Refer to Section 5.2.4 for details.
Page 186: 16-Bit And 32-Bit Data Exchanges: Xch, Dxch
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.12 16-bit and 32-bit data exchanges: XCH, DXCH Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command (D1) (D2) Command DXCH DXCH (D1) (D2) [Setting data] Setting data Description...
Page 187: Block 16-Bit Data Transfers: Bmov
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.13 Block 16-bit data transfers: BMOV Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command BMOV BMOV [Setting data] Setting data Description Head number of the devices where the data to be transferred is stored (BIN 16 bits) Head number of the devices of transfer destination (BIN 16 bits) Number of transfers (BIN 16 bits)
Page 188: Identical 16-Bit Data Block Transfers: Fmov
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.14 Identical 16-bit data block transfers: FMOV Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command FMOV FMOV [Setting data] Setting data Description Data to be transferred or the head number of the devices where the data to be transferred is stored (BIN 16 bits) Head number of the devices of transfer destination (BIN 16 bits) Number of transfers (BIN 16 bits)
Page 189: Pointer Branch Instructions: Cj
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.15 Pointer branch instructions: CJ Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command [Setting data] Setting data Description Pointer number of jump destination (P0 to P249) [Function] (1) Executes the program specified by the pointer number within the same program file or the other program file, when the execution command is ON.
Page 190 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU • The devices skipped with CJ will not change. When XB turns ON, the program will CJ P19 jump to the P19 label. Even if XB, XC is turned ON/OFF during execution of the CJ instruction, Y43, Y49 will not change.
Page 191: End Main Routine Program: Fend
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.16 End main routine program: FEND Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation ― : Usable [Instruction] FEND FEND [Function] (1) The FEND instruction is used in cases where the CJ instruction or other instructions are used to cause a branch in the sequence program operations, and in cases where the main routine program is to be split from a subroutine program or an interrupt program.
Page 192: Call/Return Of Subroutine Program: Call, Ret
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.17 Call/return of subroutine program: CALL, RET Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command CALL CALL Subroutine program [Setting data] Setting data Description Head pointer number of a subroutine program (P0 to P249) [Function]...
Page 193: Logical Products With 16-Bit Data: Wand
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.18 Logical products with 16-bit data: WAND Usable device Setting Digit data Bit device Word device Constant Pointer Level desig- Index (Note-1) nation (S1) (S2) : Usable (Note-1): Cannot specify the same device in (S1) and (D), or (S2) and (D). [Instruction] Command WAND...
Page 194: Logical Product With 32-Bit Data: Dand
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.19 Logical product with 32-bit data: DAND Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command DAND DAND [Setting data] Setting data Description • Data to be logical product or head number of device where data is stored.
Page 195: Logical Sums With 16-Bit Data: Wor
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.20 Logical sums with 16-bit data: WOR Usable device Setting Digit data Bit device Word device Constant Pointer Level desig- Index (Note-1) nation (S1) (S2) : Usable (Note-1): Cannot specify the same device in (S1) and (D), or (S2) and (D). [Instruction] Command (S1)
Page 196: Logical Sum With 32-Bit Data: Dor
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.21 Logical sum with 32-bit data: DOR Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command [Setting data] Setting data Description • Data to be logical sum or head number of device where data is stored. •...
Page 197: 16-Bit Exclusive Or Operation: Wxor
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.22 16-bit exclusive OR operation: WXOR Usable device Setting Digit data Bit device Word device Constant Pointer Level desig- Index (Note-1) nation (S1) (S2) : Usable (Note-1): Cannot specify the same device in (S1) and (D), or (S2) and (D). [Instruction] Command WXOR...
Page 198: 32-Bit Exclusive Or Operation: Dxor
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.23 32-bit exclusive OR operation: DXOR Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command DXOR DXOR [Setting data] Setting data Description • Data to be exclusive OR or head number of device where data is stored. •...
Page 199: Complement Of 2 Of Bin 16-Bit Data: Neg
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.24 Complement of 2 of BIN 16-bit data: NEG Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command [Setting data] Setting data Description Head number of the devices where the data for which complement of 2 is performed is stored (BIN 16 bits) [Function] (1) Reverses the sign of the 16-bit device designated by (D) and stores at the device...
Page 200: Right Rotation Of 16-Bit Data: Ror, Rcr
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.25 Right rotation of 16-bit data: ROR, RCR Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command Command [Setting data] Setting data Description Number of device where right rotation data is stored. (BIN 16 bits) Times (0 to 15) [Function] (1) Right rotation of 16-bit data (Not include the carry flag) (ROR)
Page 201 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU (2) Right rotation of 16-bit data (Include the carry flag) (RCR) • Rotates 16-bit data of the device designated by (D), including the carry flag, n- bits to the right. The carry flag is ON or OFF depending on the status prior to the execution of the RCR instruction.
Page 202: Right Rotation Of 32-Bit Data: Dror, Drcr
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.26 Right rotation of 32-bit data: DROR, DRCR Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command DROR DROR Command DRCR DRCR [Setting data] Setting data Description Number of device where right rotation data is stored.
Page 203 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU (2) Right rotation of 32-bit data (Include the carry flag) (DRCR) • Rotates 32-bit data, including carry flag, at device designated by (D) n bits to the right. The carry flag goes ON or OFF depending on its status prior to the execution of the DRCR instruction.
Page 204: Left Rotation Of 16-Bit Data: Rol, Rcl
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.27 Left rotation of 16-bit data: ROL, RCL Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command Command [Setting data] Setting data Description Number of device where left rotation data is stored. (BIN 16 bits) Times (0 to 15) [Function] (1) Left rotation of 16-bit data (Not include the carry flag) (ROL)
Page 205 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU (2) Left rotation of 16-bit data (Include the carry flag) (RCL) • Rotates 16-bit data of the device designated by (D), including the carry flag, n- bits to the left. The carry flag is ON or OFF depending on the status prior to the execution of the RCL instruction.
Page 206: Left Rotation Of 32-Bit Data: Drol, Drcl
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.28 Left rotation of 32-bit data: DROL, DRCL Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command DROL DROL Command DRCL DRCL [Setting data] Setting data Description Number of device where left rotation data is stored.
Page 207 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU (2) Left rotation of 32-bit data (Include the carry flag) (DRCL) • Rotates 32-bit data of the device designated by (D), including the carry flag, n- bits to the left. The carry flag turns ON or OFF depending on its status prior to the execution of the DRCL instruction.
Page 208: N-Bit Shift To Right Or Left Of 16-Bit Data: Sfr, Sfl
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.29 n-bit shift to right or left of 16-bit data: SFR, SFL Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command Command [Setting data] Setting data Description Number of the devices where shift data is stored (BIN 16 bits)
Page 209 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU (2) n-bit shift to left of 16-bit data (SFL) • Shifts 16-bit data at device designated by n bits to the left. Bits starting from the lowest bit to n bit are filled with 0s. 16 bits n bits (D) before execution...
Page 210: 1-Word Shift To Right Or Left Of N-Word Data: Dsfr, Dsfl
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.30 1-word shift to right or left of n-word data: DSFR, DSFL Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command DSFR DSFR Command DSFL DSFL [Setting data]...
Page 211 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU [Error] The points specified in n exceed those of the corresponding device specified in (D), sequence program error occurs. Safety observation warnings (SM24) are turned ON and error code (SD32): 10, detail code (SD33): 8012H at DSFR or 8013H at DSFL are stored. 5 - 70...
Page 212: 16-Bit Data Searches: Ser
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.31 16-bit data searches: SER Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation (S1) (S2) : Usable [Instruction] Command (S1) (S2) [Setting data] Setting data Description (S1) Number of the devices where the search data is stored (BIN 16 bits) Head number of the devices where the data to be searched is stored (S2)
Page 213: 16-Bit Data Checks: Sum
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.32 16-bit data checks: SUM Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command [Setting data] Setting data Description Number of the devices where the total number of bits of "1" is counted (BIN 16 bits) Number of the devices where the total number of the bits will be stored (BIN 16 bits)
Page 214: Decoding From 8 To 256 Bits: Deco
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.33 Decoding from 8 to 256 bits: DECO Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command DECO DECO [Setting data] Setting data Description Number of the device where the data to be decoded is stored (BIN 16 bits) Number of the devices where the decoding result will be stored...
Page 215 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU [Program Example] (1) Program to decode the three bits 0 to 2 of D2020, and turn the bits corresponding in D2100 ON. DECO D2020 D2100 K3 b14b13b12b11b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 D2020 When bit 0 to 2 is Interpreted as 0...
Page 216: 7-Segment Decode: Seg
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.34 7-segment decode: SEG Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command [Setting data] Setting data Description Data to be decoded or head number of the devices where the data to be decoded is stored (BIN 16 bits) Head number of the devices where the decoding result will be stored (BIN 16 bits)
Page 217 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU (2) If (D) is a bit device, indicates the head number of the devices storing the 7-segment display data; if it is a word device, indicates the number of the device storing the data. Before execution After execution Bit device...
Page 218: Calculation Of Average Value: S.ave
5 SEQUENCE INSTRUCTIONS FOR MOTION CPU 5.4.35 Calculation of average value: S.AVE Usable device Digit Setting Bit device Word device Constant Pointer Level desig- Index data nation : Usable [Instruction] Command S.AVE S.AVE [Setting data] Setting data Description Head number of the devices where the data to be averaged are stored (BIN16 bits) Head number of the devices where the average will be stored (BIN 16 bits)
Page 219 5 SEQUENCE INSTRUCTIONS FOR MOTION CPU MEMO 5 - 78...
Page 220: Troubleshooting
6 TROUBLESHOOTING 6. TROUBLESHOOTING 6.1 Safety Observation Error List When errors which turn off the shut-off signal occur in the safety observation function, the safety observation error flag (SM57) turns ON and the error code (SD32) and detail code (SD33) are stored. Release the alarm depending on contents of error codes. The errors other than with (Note-2, Note-6) cannot be reset.
Page 221 6 TROUBLESHOOTING Table 6.1 Safety observation error list (Continued) Error Detail Relevant CPU code code Error contents Error cause Corrective action Motion Reset (SD32) (SD33) Data A data transfer request from Motion CPU to Explain the error symptom and get advice transfer PLC CPU was not correctly handled.
Page 222 6 TROUBLESHOOTING Table 6.1 Safety observation error list (Continued) Error Detail Relevant CPU code code Error contents Error cause Corrective action Motion Reset (SD32) (SD33) Sequence The sequence programs for safety Explain the error symptom and get advice  Error code programs for safety observation stored in the Motion CPU is from our sales representative.
Page 223 6 TROUBLESHOOTING Table 6.1 Safety observation error list (Continued) Error Detail Relevant CPU code code Error contents Error cause Corrective action Motion Reset (SD32) (SD33) Safety observation The Motion CPU may have a failure. device memory An error is detected in a device memory ...
Page 224 6 TROUBLESHOOTING Table 6.1 Safety observation error list (Continued) Error Detail Relevant CPU code code Error contents Error cause Corrective action Motion Reset (SD32) (SD33) The preliminary check before starting speed monitor is not finished within the Speed monitor specified time. Review the timing of when turning on the request timeout (Such as when the speed monitor request...
Page 225 6 TROUBLESHOOTING Relevant CPU Error Detail code code Error contents Error cause Corrective action Reset Motion (SD32) (SD33) Review the PLC parameter settings. • "SNT_CMP" is not registered in [PLC Set the safety communication cycle longer, parameter] → [Program] (when safety PLC CPU safety reduce the number of PLC CPU program communication function is being used).
Page 226 6 TROUBLESHOOTING Detail code Description Parameter type (SD33) Functional safety signal start device number error at the PLC CPU side Functional safety signal start device number error at the Motion CPU side H0082 Safety communication function multiple CPU shared device start number error at the PLC CPU side H0083 Safety communication function multiple CPU shared device start number error at the Motion CPU side H0084...
Page 227: Safety Observation Warning List
6 TROUBLESHOOTING 6.2 Safety Observation Warning List When errors which do not turn off the shut-off signal occurs in the safety observation function, the safety observation warning flag (SM24) turns ON and the error code (SD32) and detail code (SD33) are stored. Release the alarm depending on contents of error codes.
Page 228 6 TROUBLESHOOTING Table 6.2 Safety observation warning list (Continued) Relevant CPU Error Detail code code Error contents Error cause Corrective action Reset Motion (SD32) (SD33) Correct the program so that the small Small oscillation cannot be started since oscillation request signal is not turned on Small oscillation the axis to which the small oscillation has during positioning.
Page 229: How To Correct Errors Of Motion Cpu Side Sequence Program
6 TROUBLESHOOTING 6.3 How to Correct Errors of Motion CPU Side Sequence Program When PLC ready flag (M2000) of the Motion CPU turns from OFF to ON, check of the sequence program (detection of unavailable instructions, device range check, etc.) is performed.
Page 230 6 TROUBLESHOOTING (2) Confirmation of step No. where error occurred and correction of sequence program The step where an error occurred can be confirmed using the PLC comparison function. • Edit data : Select the original sequence program file of GX Works2/ GX Developer.
Page 231 6 TROUBLESHOOTING (3) Deletion of faulty sequence program Delete the sequence program file where an error occurred "ERRLAD- " by the PLC data deletion. If PLC ready flag (M2000) is turned ON from OFF without deleting this file, the safety observation error (error code: 10, detailed code 2700H) occurs.
Page 232: Troubleshooting When The Error "Can't Exe. Prg" Occurs In A Plc Cpu
6 TROUBLESHOOTING 6.4 Troubleshooting when the Error "CAN'T EXE. PRG." Occurs in a PLC CPU If a self-diagnostic error (error code: 2500) "CAN'T EXE. PRG." occurs in a PLC CPU and the cause is in a sequence programs for safety observation (file name: SSU_CMP.QPG, SLS_CMP.QPG, SNT_CMP.QPG), follow the procedure below.
Page 233 6 TROUBLESHOOTING MEMO 6 - 14...
Page 234: Appendices
APPENDICES APPENDICES APPENDIX 1 Functions of GX Works2/GX Developer available for Motion CPU Functions of GX Works2/GX Developer available for Motion CPU are shown below. Program type Support Ladder List MELSAP-L Function block : Available, : Unavailable APPENDIX 1.1 GX Works2 features support List of GX works2 common functions available for Motion CPU is shown below.
Page 235 APPENDICES Large item Middle item Small item Support Remarks Create Install Deinstall Reload Rename Library Open Close Change Password Save As Save Help Project Change Password Security User Management Data Security Setting Print Print Preview Print Window Print Window Preview Printer Setup Recently used files 1 to 4 Start GX Developer...
Page 236 APPENDICES Large item Middle item Small item Support Remarks Start/Stop Simulation Instructions Unsupported by Simulation Modify Value Forced Input Output Registration/ Debug Cancellation Device Test with Execution Condition Sampling Trace Scan Time Measurement PLC Diagnostics Ethernet Diagnostics CC IE Control Diagnostics Diagnostics MELSECNET Diagnostics CC-Link Diagnostics...
Page 237 APPENDICES (2) Functions for editing in ladder language Large item Middle item Small item Support Remarks Undo Delete Restore After Ladder Conversion Insert Row Delete Row Insert Column Delete Column NOP Batch Insert NOP Batch Delete Edit Line Delete Line Change TC Setting Open Contact Close Contact...
Page 238 APPENDICES Large item Middle item Small item Support Remarks Find Device Find Instruction Replace Device Replace Instruction Device Batch Replace Change Open/Close Contact Find/Replace Change Module I/O No. Switch Statement/Note Type (Note-1) Line Statement List Jump Jump to Next Ladder Block Start Jump to Previous Ladder Block Start Build Compile...
Page 239 APPENDICES (4) Device comment functions Large item Middle item Small item Support Remarks Undo Redo Edit Select All Import from Sample Comment Some available Clear All : Available, : Available with restrictions, : Unavailable (5) Setting connection destinations Large item Middle item Small item Support...
Page 240 APPENDICES Large item Middle item Small item Support Remarks (Note-1) Password/ Delete (Note-1) Keyword Disable (Note-1) Format PLC Memory (Note-7) PLC Memory Clear PLC Memory Operation Arrange PLC Memory Target Memory (Note-1) Delete PLC PLC Data (Program) Data Refresh/ Free volume Read PLC User Data PLC User Write PLC User Data...
Page 241: Appendix 1.2 Gx Developer Features Support
APPENDICES APPENDIX 1.2 GX Developer features support List of GX Developer common functions available for Motion CPU is shown below. The following table lists the details of GX Developer Version "8.68W". The functions that added "8.68W" or later are not described. (1) General section functions Large item Middle item...
Page 242 APPENDICES Large item Middle item Small item Support Remarks Paste Inditsert line Delete line Insert row Delete row Insert NOP batch Delete NOP batch Draw line Delete line Change TC setting Read mode Write mode Open contact Close contact Open branch Close branch Edit Coil...
Page 243 APPENDICES Large item Middle item Small item Support Remarks Comment Statement Note Alias Display device program Macro instruction format display Display current monitored values Comment format 4*8 characters/3*5 characters Replace device name and display/Arrange Alias format display with device and display Device program display mode Below/Right View...
Page 244 APPENDICES Large item Middle item Small item Support Remarks PLC error Special relay/register Help Key operation list Product information Connect to MELFANSweb : Available, : Available with restrictions, : Unavailable (Note-1): Online change cannot be executed to Motion CPU. Make the STOP state before writing. (2) Online section functions Large item Middle item...
Page 245 APPENDICES Large item Middle item Small item Support Remarks Target memory (Note-1) Title File selection Delete PLC data Refresh view Free space volume Create title Change PLC data attributes Read PLC user data PLC user data Read PLC user data Delete PLC user data ON/OFF state Monitor mode/Start/Stop...
Page 246 APPENDICES Large item Middle item Small item Support Remarks FORCE ON/OFF/Toggle force Device test Device Buffer memory (Note-5) Check/disable executional conditioned Execution device test Register executional conditioned device test/ Check/disable executional Executional conditioned device test conditioned device test/ Batch disable Debug executional conditioned device test Forced input output registration/...
Page 247: Appendix 2 Example Of Checklist For User Documentation
APPENDICES APPENDIX 2 Example of Checklist for User Documentation MITSUBISHI ELECTRIC Motion controller installation checklist for manufacturer/installer The following items must be satisfied by the initial test operation at least. The manufacturer/installer must be responsible for checking the standards in the items. Maintain and keep this checklist with related documents of machines to use this for periodic inspection.
Page 248 APPENDICES MEMO App - 15...
Page 249 WARRANTY Please confirm the following product warranty details before using this product. Gratis Warranty Term and Gratis Warranty Range We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
Page 250 We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation. (3) Mitsubishi Electric shall have no responsibility or liability for any problems involving programmable controller trouble and system trouble caused by DoS attacks, unauthorized access, computer viruses, and other...
Page 251 INFORMATION AND SERVICES For further information and services, please contact your local Mitsubishi Electric sales office or representative. Visit our website to find our locations worldwide. MITSUBISHI ELECTRIC Factory Automation Global Website Locations Worldwide www.MitsubishiElectric.com/fa/about-us/overseas/ TRADEMARKS Microsoft and Windows, are trademarks of the Microsoft group of companies.
Page 252 IB(NA)-0300183-D(2312)MEE MODEL: Q173D-P-ANZ-E MODEL CODE: 1XB945 HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, 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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Melsec -q172dcpu-s1 Melsec-q173dcpu-s1 Melsec-q172dscpu Melsec-q173dscpu

Mitsubishi Electric MELSEC Q Series Programming Manual

1 Overview

2 Safety Observation Function

3 Start-Up Procedures

4 Dedicated Devices

5 Sequence Instructions for Motion Cpu

6 Troubleshooting

APPENDIX 1 Functions of GX Works2/Gx Developer Available for Motion CPU

APPENDIX 1.1 GX Works2 Features Support

APPENDIX 1.2 GX Developer Features Support

APPENDIX 2 Example of Checklist for User Documentation

Quick Links

Troubleshooting

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Summary of Contents for Mitsubishi Electric MELSEC Q Series

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Table of Contents