Q173CPU(N)/Q172CPU(N)

Motion Controller (SV43)

Programming Manual

-Q172CPU
-Q173CPU
-Q172CPUN
-Q173CPUN
 SAFETY PRECAUTIONS
(Read these precautions before using.)

When using this equipment, thoroughly read this manual and the associated manuals introduced in this
manual. Also pay careful attention to safety and handle the module properly.
These precautions apply only to this equipment. Refer to the Q173CPU(N)/Q172CPU(N) Users manual
for a description of the Motion controller safety precautions.
These SAFETY PRECAUTIONS classify the safety precautions into two categories: "DANGER" and
"CAUTION".

Indicates that incorrect handling may cause hazardous conditions,

! DANGER resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,

! CAUTION resulting in medium or slight personal injury or physical damage.

Depending on circumstances, procedures indicated by ! CAUTION may also be linked to serious

results.
In any case, it is important to follow the directions for usage.

Store this manual in a safe place so that you can take it out and read it whenever necessary. Always
forward it to the end user.

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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.
Never open the front case or terminal cover at times other than wiring work or periodic
inspections even if the power is OFF. The insides of the Motion controller and servo amplifier are
charged and may lead to electric shocks.
When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and
then check the voltage with a tester, etc.. Failing to do so may lead to electric shocks.
Be sure to ground the Motion controller, servo amplifier and servomotor. (Ground resistance :
100 or less) Do not ground commonly with other devices.
The wiring work and inspections must be done by a qualified technician.
Wire the units after installing the Motion controller, servo amplifier and servomotor. Failing to do
so may lead to electric shocks or damage.
Never operate the switches with wet hands, as this may lead to electric shocks.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this
may lead to electric shocks.
Do not touch the Motion controller, servo amplifier or servomotor terminal blocks while the power
is ON, as this may lead to electric shocks.
Do not touch the built-in power supply, built-in grounding or signal wires of the Motion controller
and servo amplifier, as this may lead to electric shocks.

2. For fire prevention

! CAUTION
Install the Motion controller, servo amplifier, servomotor and regenerative resistor on inflammable
material. Direct installation on flammable material or near flammable material may lead to fire.
If a fault occurs in the Motion controller or servo amplifier, shut the power OFF at the servo
amplifier’s power source. If a large current continues to flow, fire may occur.
When using a regenerative resistor, shut the power OFF with an error signal. The regenerative
resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead
to fire.
Always take heat measures such as flame proofing for the inside of the control panel where the
servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may
lead to fire.

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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.
Do not touch the servo amplifier's heat radiating fins, regenerative resistor and servomotor, etc.,
while the power is ON and for a short time after the power is turned OFF. In this timing, these
parts become very hot and may lead to burns.
Always turn the power OFF before touching the servomotor shaft or coupled machines, as these
parts may lead to injuries.
Do not go near the machine during test operations or during operations such as teaching.
Doing so may lead to injuries.

4. Various precautions
Strictly observe the following precautions.
Mistaken handling of the unit may lead to faults, injuries or electric shocks.
(1) System structure
! CAUTION
Always install a leakage breaker on the Motion controller and servo amplifier power source.
If installation of an electromagnetic contactor for power shut off during an error, etc., is specified in
the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor.
Install the emergency stop circuit externally so that the operation can be stopped immediately and
the power shut off.
Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the combi-
nations listed in the instruction manual. Other combinations may lead to fire or faults.
If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller,
servo amplifier and servomotor, make sure that the safety standards are satisfied.
Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal
operation of the Motion controller or servo amplifier differ from the safety directive operation in the
system.
In systems where coasting of the servomotor will be a problem during the forced stop, emergency
stop, servo OFF or power supply OFF, use dynamic brakes.
Make sure that the system considers the coasting amount even when using dynamic brakes.
In systems where perpendicular shaft dropping may be a problem during the forced stop,
emergency stop, servo OFF or power supply OFF, use both dynamic brakes and electromagnetic
brakes.
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.

A-3
 ! CAUTION
The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications,
and must not be used for normal braking.
The system must have a mechanical allowance so that the machine itself can stop even if the
stroke limits switch is passed through at the max. speed.
Use wires and cables that have a wire diameter, heat resistance and bending resistance
compatible with the system.
Use wires and cables within the length of the range described in the instruction manual.
The ratings and characteristics of the parts (other than Motion controller, servo amplifier and
servomotor) used in a system must be compatible with the Motion controller, servo amplifier and
servomotor.
Install a cover on the shaft so that the rotary parts of the servomotor are not touched during
operation.
There may be some cases where holding by the electromagnetic brakes is not possible due to the
life or mechanical structure (when the ball screw and servomotor are connected with a timing belt,
etc.). Install a stopping device to ensure safety on the machine side.

(2) Parameter settings and programming

! CAUTION
Set the parameter values to those that are compatible with the Motion controller, servo amplifier,
servomotor and regenerative resistor model and the system application. The protective functions
may not function if the settings are incorrect.
The regenerative resistor model and capacity parameters must be set to values that conform to
the operation mode, servo amplifier and servo power supply module. The protective functions
may not function if the settings are incorrect.
Set the mechanical brake output and dynamic brake output validity parameters to values that are
compatible with the system application. The protective functions may not function if the settings
are incorrect.
Set the stroke limit input validity parameter to a value that is compatible with the system
application. The protective functions may not function if the setting is incorrect.
Set the servomotor 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 servomotor capacity and type (standard, low-inertia, flat, etc.) parameter to values that
are compatible with the system application. The protective functions may not function if the
settings are incorrect.
Set the servo amplifier capacity and type parameters to values that are compatible with the
system application. The protective functions may not function if the settings are incorrect.
Use the program commands for the program with the conditions specified in the instruction
manual.

A-4
 ! CAUTION
Set the sequence function program capacity setting, device capacity, latch validity range, I/O
assignment setting, and validity of continuous operation during error detection to values that are
compatible with the system application. The protective functions may not function if the settings
are incorrect.
Some devices used in the program have fixed applications, so use these with the conditions
specified in the instruction manual.
The input devices and data registers assigned to the link will hold the data previous to when
communication is terminated by an error, etc. Thus, an error correspondence interlock program
specified in the instruction manual must be used.
Use the interlock program specified in the special function module's instruction manual for the
program corresponding to the special function module.

(3) Transportation and installation

! CAUTION
Transport the product with the correct method according to the mass.
Use the servomotor suspension bolts only for the transportation of the servomotor. Do not
transport the servomotor with machine installed on it.
Do not stack products past the limit.
When transporting the Motion controller or servo amplifier, never hold the connected wires or
cables.
When transporting the servomotor, never hold the cables, shaft or detector.
When transporting the Motion controller or servo amplifier, never hold the front case as it may fall
off.
When transporting, installing or removing the Motion controller or servo amplifier, never hold the
edges.
Install the unit according to the instruction manual in a place where the mass can be withstood.
Do not get on or place heavy objects on the product.
Always observe the installation direction.
Keep the designated clearance between the Motion controller or servo amplifier and control panel
inner surface or the Motion controller and servo amplifier, Motion controller or servo amplifier and
other devices.
Do not install or operate Motion controller, servo amplifiers or servomotors that are damaged or
that have missing parts.
Do not block the intake/outtake ports of the servomotor 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 servomotor.
The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or
apply strong impacts on them.

A-5
 ! CAUTION
Securely fix the Motion controller and servo amplifier to the machine according to the instruction
manual. If the fixing is insufficient, these may come off during operation.
Always install the servomotor with reduction gears in the designated direction. Failing to do so
may lead to oil leaks.
Store and use the unit in the following environmental conditions.
Conditions
Environment
Motion controller/Servo amplifier Servomotor
Ambient 0°C to +40°C (With no freezing)
According to each instruction manual.
temperature (32°F to +104°F)
80% RH or less
Ambient humidity According to each instruction manual.
(With no dew condensation)
Storage -20°C to +65°C
According to each instruction manual.
temperature (-4°F to +149°F)
Indoors (where not subject to direct sunlight).
Atmosphere
No corrosive gases, flammable gases, oil mist or dust must exist
Altitude 1000m (3280.84ft.) or less above sea level
Vibration According to each instruction manual
When coupling with the synchronization encoder or servomotor shaft end, do not apply impact
such as by hitting with a hammer. Doing so may lead to detector damage.
Do not apply a load larger than the tolerable load onto the servomotor shaft. Doing so may lead
to shaft breakage.
When not using the module for a long time, disconnect the power line from the Motion controller
or servo amplifier.
Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store.
When storing for a long time, please contact with our sales representative.

A-6
(4) 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
servomotor.
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.
Correctly connect the output side (terminals U, V, W). Incorrect connections will lead the
servomotor to operate abnormally.
Do not connect a commercial power supply to the servomotor, as this may lead to trouble.
Do not mistake the direction of the surge absorbing diode
installed on the DC relay for the control signal output of brake Servo amplifier
signals, etc. Incorrect installation may lead to signals not being VIN
(24VDC)
output when trouble occurs or the protective functions not
functioning. Control output
RA
Do not connect or disconnect the connection cables between signal
each unit, the encoder cable or PLC expansion cable while the
power is ON.
Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may
lead to the cables combing off during operation.
Do not bundle the power line or cables.

(5) Trial operation and adjustment

! CAUTION
Confirm and adjust the program and each parameter before operation. Unpredictable
movements may occur depending on the machine.
Extreme adjustments and changes may lead to unstable operation, so never make them.
When using the absolute position system function, on starting up, and when the Motion
controller or absolute value motor has been replaced, always perform a home position return.

A-7
(6) Usage methods
! CAUTION
Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion
controller, servo amplifier or servomotor.
Always execute a test operation before starting actual operations after the program or
parameters have been changed or after maintenance and inspection.
The units must be disassembled and repaired by a qualified technician.
Do not make any modifications to the unit.
Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using
wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the
Motion controller or servo amplifier.
When using the CE Mark-compliant equipment, refer to the "EMC Installation Guidelines" (data
number IB(NA)-67339) for the Motion controllers and refer to the corresponding EMC guideline
information for the servo amplifiers, inverters and other equipment.
Use the units with the following conditions.
Conditions
Item
Q61P-A1 Q61P-A2 Q62P Q63P Q64P
+10% +10% +10% +30% +10%
100 to 120VAC 200 to 240VAC 100 to 240VAC 24VDC 100 to 120VAC /
-15% -15% -15% -35% -15%
+10%
Input power 200 to 240VAC -15%
(85 to 132VAC) (170 to 264VAC) (85 to 264VAC) (15.6 to 31.2VDC) (85 to 132VAC/
170 to 264VAC)
Input frequency 50/60Hz ±5%
Tolerable
momentary 20ms or less
power failure

(7) Corrective actions for errors

! CAUTION
If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the
check details according to the instruction manual, and restore the operation.
If a dangerous state is predicted in case of a power failure or product failure, use a servomotor
with electromagnetic brakes or install a brake mechanism externally.
Use a double circuit construction so that the electromagnetic brake operation circuit can be
operated by emergency stop signals set externally.
Shut off with the
Shut off with servo ON signal OFF, emergency stop
alarm, magnetic brake signal. signal(EMG).

Servomotor
RA1 EMG

Electro-
magnetic 24VDC
brakes

A-8
 ! CAUTION
If an error occurs, remove the cause, secure the safety and then resume operation after alarm
release.
The unit may suddenly resume operation after a power failure is restored, so do not go near the
machine. (Design the machine so that personal safety can be ensured even if the machine
restarts suddenly.)

(8) 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.
Do not touch the lead sections such as ICs or the connector contacts.
Do not place the Motion controller or servo amplifier on metal that may cause a power leakage or
wood, plastic or vinyl that may cause static electricity buildup.
Do not perform a megger test (insulation resistance measurement) during inspection.
When replacing the Motion controller or servo amplifier, always set the new module settings
correctly.
When the Motion controller or absolute value motor has been replaced, carry out a home position
return operation using one of the following methods, otherwise position displacement could occur.
1) After writing the servo data to the Motion controller using programming software, switch on the
power again, then perform a home position return operation.
2) Using the backup function of the programming software, load the data backed up before
replacement.
After maintenance and inspections are completed, confirm that the position detection of the
absolute position detector function is correct.
Do not short circuit, charge, overheat, incinerate or disassemble the batteries.
The electrolytic capacitor will generate gas during a fault, so do not place your face near the
Motion controller or servo amplifier.
The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary
damage from faults. Replacements can be made by our sales representative.

A-9
(9) About processing of waste
When you discard Motion controller, servo amplifier, a battery (primary battery) and other option articles,
please follow the law of each country (area).

! CAUTION
This product is not designed or manufactured to be used in equipment or systems in situations
that can affect or endanger human life.
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 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.

(10) General cautions

! CAUTION
All drawings provided in the instruction manual show the state with the covers and safety
partitions removed to explain detailed sections. When operating the product, always return the
covers and partitions to the designated positions, and operate according to the instruction manual.

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REVISIONS
The manual number is given on the bottom left of the back cover.
Print Date Manual Number Revision
Jan., 2004 IB(NA)-0300070-A First edition
May., 2006 IB(NA)-0300070-B [Additional correction/partial correction]
Safety precautions, Warranty, Model code change (1CT784 1XB784),
etc.

Japanese Manual Number IB(NA)-0300064

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.

© 2004 MITSUBISHI ELECTRIC CORPORATION

A - 11
 INTRODUCTION

Thank you for choosing the Q173CPU(N)/Q172CPU(N) Motion Controller.

Please read this manual carefully so that equipment is used to its optimum.

CONTENTS

Safety Precautions .........................................................................................................................................A- 1

Revisions ........................................................................................................................................................A-11
Contents .........................................................................................................................................................A-12
About Manuals ...............................................................................................................................................A-19

1. OVERVIEW 1- 1 to 1-54

1.1 Overview................................................................................................................................................... 1- 1
1.2 Features ................................................................................................................................................... 1- 3
1.2.1 Features of Motion CPU ................................................................................................................... 1- 3
1.2.2 Positioning control by the Motion CPU............................................................................................. 1- 5
1.2.3 Basic specifications of Q173CPU(N)/Q172CPU(N) ........................................................................ 1-13
1.2.4 Differences between Q173CPU(N)/Q172CPU(N) and A173UHCPU/A172SHCPUN................... 1-16
1.2.5 Precautions at the program appropriation (Motion CPU A series Q173CPU(N)/Q172CPU(N))
....................................................................................................................................................... 1-18
1.3 Hardware Configuration........................................................................................................................... 1-20
1.3.1 Motion system configuration ............................................................................................................. 1-20
1.3.2 Q173CPU(N) System overall configuration...................................................................................... 1-23
1.3.3 Q172CPU(N) System overall configuration...................................................................................... 1-25
1.3.4 Software packages............................................................................................................................ 1-27
1.3.5 Restrictions on motion systems ........................................................................................................ 1-30
1.4 Multiple CPU System ............................................................................................................................... 1-31
1.4.1 Overview............................................................................................................................................ 1-31
1.4.2 Installation of PLC CPU and Motion CPU ........................................................................................ 1-32
1.4.3 Precautions for using Q series I/O modules and intelligent function modules................................ 1-33
1.4.4 Modules subject to installation restrictions ....................................................................................... 1-34
1.4.5 Processing time of the Multiple CPU system ................................................................................... 1-35
1.4.6 How to reset the Multiple CPU system............................................................................................. 1-36
1.4.7 Processing at a CPU DOWN error occurrence by a PLC CPU or Q173CPU(N)/Q172CPU(N).... 1-37
1.5 System Settings ....................................................................................................................................... 1-40
1.5.1 System data settings......................................................................................................................... 1-40
1.5.2 Common system parameters ........................................................................................................... 1-41
1.5.3 Individual parameters........................................................................................................................ 1-47
1.6 Assignment of I/O No............................................................................................................................... 1-51
1.6.1 I/O No. for I/O modules and intelligent function modules ................................................................ 1-51
1.6.2 I/O No. of PLC CPU and Q173CPU(N)/Q172CPU(N)..................................................................... 1-53
1.6.3 Setting I/O No.................................................................................................................................... 1-54

2. STARTING UP THE MULTIPLE CPU SYSTEM 2- 1 to 2- 2

2.1 Startup Flow of the Multiple CPU System............................................................................................... 2- 1

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3. COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN THE MULTIPLE CPU
SYSTEM 3- 1 to 3-22

3.1 Automatic Refresh Function of The Shared CPU Memory .................................................................... 3- 1

3.2 Shared CPU Memory............................................................................................................................... 3-19

4. MOTION DEDICATED PLC INSTRUCTION 4- 1 to 4-42

4.1 Motion Dedicated PLC Instruction........................................................................................................... 4- 1

4.1.1 Restriction item of the Motion dedicated PLC instruction ................................................................ 4- 1
4.2 Motion program (Control program) Start Request from The PLC CPU to The Motion CPU:
S(P).SFCS (PLC instruction: S(P).SFCS )............................................................................................ 4- 8
4.3 Motion Program (Axis designation program) Start Request from The PLC CPU to The Motion CPU:
S(P).SVST (PLC instruction: S(P).SVST ) ............................................................................................ 4-13
4.4 Home position return instruction from The PLC CPU to The Motion CPU:
S(P).CHGA (PLC instruction: S(P).CHGA )........................................................................................... 4-19
4.5 Speed Change Instruction from The PLC CPU to The Motion CPU:
S(P).CHGV (PLC instruction: S(P).CHGV )........................................................................................... 4-24
4.6 Torque Limit Value Change Request Instruction from The PLC CPU to The Motion CPU:
S(P).CHGT (PLC instruction: S(P) .CHGT ).......................................................................................... 4-32
4.7 Write from The PLC CPU to The Motion CPU: S(P).DDWR (PLC instruction: S(P).DDWR ) .............. 4-35
4.8 Read from The Devices of The Motion CPU: S(P).DDRD (PLC instruction: S(P).DDRD ) ................. 4-39

5. POSITIONING DEDICATED SIGNALS 5- 1 to 5-88

5.1 Internal Relays ......................................................................................................................................... 5- 2

5.1.1 Axis statuses ..................................................................................................................................... 5-13
5.1.2 Axis command signals ...................................................................................................................... 5-25
5.1.3 Axis statuses 2 .................................................................................................................................. 5-32
5.1.4 Axis command signals 2 ................................................................................................................... 5-35
5.1.5 Common devices .............................................................................................................................. 5-44
5.2 Data Registers.......................................................................................................................................... 5-55
5.2.1 Axis monitor devices ......................................................................................................................... 5-63
5.2.2 Control change registers................................................................................................................... 5-66
5.2.3 Axis monitor devices 2 ...................................................................................................................... 5-67
5.2.4 Control program monitor devices ..................................................................................................... 5-71
5.2.5 Control change registers 2................................................................................................................ 5-73
5.2.6 Tool length offset data setting registers ........................................................................................... 5-74
5.2.7 Common devices .............................................................................................................................. 5-75
5.3 Motion Registers (#)................................................................................................................................. 5-79
5.4 Special Relays (SP.M) ............................................................................................................................. 5-80
5.5 Special Registers (SP.D) ......................................................................................................................... 5-83

6. PARAMETERS FOR POSITIONING CONTROL 6- 1 to 6-32

6.1 System Settings ....................................................................................................................................... 6- 1

6.2 Fixed Parameters..................................................................................................................................... 6- 2
6.2.1 Number of pulses/travel value per rotation ...................................................................................... 6- 3
6.2.2 Backlash compensation amount....................................................................................................... 6- 5
6.2.3 Upper/lower stroke limit value........................................................................................................... 6- 5
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 6.2.4 Command in-position range.............................................................................................................. 6- 6
6.2.5 High-speed feed rate setting............................................................................................................. 6- 7
6.3 Servo Parameters/Vector Inverter Parameters....................................................................................... 6- 8
6.3.1 Servo parameters of servo amplifier................................................................................................. 6- 8
6.3.2 Position control gain 1, 2................................................................................................................... 6-16
6.3.3 Speed control gain 1, 2 ..................................................................................................................... 6-17
6.3.4 Speed integral compensation ........................................................................................................... 6-17
6.3.5 In-position range................................................................................................................................ 6-18
6.3.6 Feed forward gain ............................................................................................................................. 6-18
6.3.7 Load inertia ratio................................................................................................................................ 6-18
6.3.8 Automatic tuning................................................................................................................................ 6-18
6.3.9 Servo responsiveness setting........................................................................................................... 6-18
6.3.10 Notch filter ....................................................................................................................................... 6-19
6.3.11 Electromagnetic brake sequence ................................................................................................... 6-20
6.3.12 Monitor output mode ....................................................................................................................... 6-20
6.3.13 Optional function 1 .......................................................................................................................... 6-20
6.3.14 Optional function 2 .......................................................................................................................... 6-21
6.3.15 Monitor output 1, 2 offset ................................................................................................................ 6-22
6.3.16 Pre-alarm data selection ................................................................................................................. 6-22
6.3.17 Zero speed ...................................................................................................................................... 6-23
6.3.18 Error excessive alarm level............................................................................................................. 6-23
6.3.19 Optional function 5 .......................................................................................................................... 6-23
6.3.20 PI-PID control switching position droop.......................................................................................... 6-23
6.3.21 Torque control compensation factor............................................................................................... 6-23
6.3.22 Speed differential compensation .................................................................................................... 6-23
6.3.23 Servo parameters of vector inverter (FR-V500)............................................................................. 6-24
6.4 Parameter Block....................................................................................................................................... 6-25
6.4.1 Relationships between the speed limit value, acceleration time, deceleration time and rapid
stop deceleration time ................................................................................................................... 6-28
6.4.2 S-curve ratio ...................................................................................................................................... 6-30
6.4.3 Allowable error range for circular interpolation................................................................................. 6-31
6.5 Work Coordinate Data ............................................................................................................................. 6-32

7. MOTION PROGRAMS FOR POSITIONING CONTROL 7- 1 to 7-186

7.1 Motion Program Composition .................................................................................................................. 7- 1

7.2 Type of The Motion Program................................................................................................................... 7- 4
7.3 G-code List ............................................................................................................................................... 7- 5
7.4 M-code List............................................................................................................................................... 7- 7
7.5 Control Instruction List ............................................................................................................................. 7- 8
7.6 Start/End Method ..................................................................................................................................... 7-10
7.7 Number of Maximum Nesting for Program Call and Multi Startable Program....................................... 7-12
7.8 Motion parameter ..................................................................................................................................... 7-13
7.9 Caution at The Axis Designation Program Creation............................................................................... 7-14
7.10 Instruction Symbols/Characters List...................................................................................................... 7-19
7.11 Setting Method for Command Data....................................................................................................... 7-23
7.11.1 Direct setting (numerical value) ...................................................................................................... 7-23
7.11.2 Indirect setting ................................................................................................................................. 7-24
7.11.3 Operational data.............................................................................................................................. 7-31

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 7.11.4 Setting range of instruction symbols list ......................................................................................... 7-41
7.11.5 Positioning control unit for 1 axis .................................................................................................... 7-43
7.11.6 Control units for interpolation control.............................................................................................. 7-44
7.11.7 Control in the control unit "degree"................................................................................................. 7-46
7.12 About Coordinate Systems.................................................................................................................... 7-48
7.13 G-code.................................................................................................................................................... 7-49
7.13.1 G00 Point-to-point positioning at the high-speed feed rate .......................................................... 7-52
7.13.2 G01 Constant-speed positioning at the speed specified in F....................................................... 7-54
7.13.3 G02 Circular interpolation CW (Central coordinates-specified) .................................................. 7-56
7.13.4 G03 Circular interpolation CCW (Central coordinates-specified)................................................. 7-59
7.13.5 G02 Circular interpolation CW (Radius-specified) ........................................................................ 7-62
7.13.6 G03 Circular interpolation CCW (Radius-specified) ..................................................................... 7-64
7.13.7 G04 Dwell....................................................................................................................................... 7-66
7.13.8 G09 Exact stop check .................................................................................................................... 7-68
7.13.9 G12 Helical interpolation CW (Helical central coordinates-specified).......................................... 7-70
7.13.10 G13 Helical interpolation CCW (Helical central coordinates-specified) ..................................... 7-73
7.13.11 G12 Helical interpolation CW (Helical radius-specified) ............................................................. 7-75
7.13.12 G13 Helical interpolation CCW (Helical radius-specified) .......................................................... 7-77
7.13.13 G23 Cancel, cancel start invalid .................................................................................................. 7-79
7.13.14 G24 Cancel, cancel start ............................................................................................................. 7-80
7.13.15 G25 High-speed oscillation.......................................................................................................... 7-83
7.13.16 G26 High-speed oscillation stop.................................................................................................. 7-85
7.13.17 G28 Home position return............................................................................................................ 7-86
7.13.18 G30 Second home position return............................................................................................... 7-88
7.13.19 G32 Skip....................................................................................................................................... 7-90
7.13.20 G43 Tool length offset (+) ............................................................................................................ 7-94
7.13.21 G44 Tool length offset (-)............................................................................................................. 7-96
7.13.22 G49 Tool length offset cancel...................................................................................................... 7-98
7.13.23 G53 Mechanical coordinate system selection ............................................................................ 7-99
7.13.24 G54 to G59 Work coordinate system selection ........................................................................ 7-101
7.13.25 G61 Exact stop check mode...................................................................................................... 7-104
7.13.26 G64 Cutting mode ...................................................................................................................... 7-106
7.13.27 G90 Absolute value command .................................................................................................. 7-108
7.13.28 G91 Incremental value command ............................................................................................. 7-110
7.13.29 G92 Coordinates system setting ............................................................................................... 7-112
7.13.30 G98, G99 Preread disable/enable............................................................................................. 7-114
7.13.31 G100, G101 Time-fixed acceleration/deceleration, acceleration-fixed acceleration/deceleration
switching command..................................................................................................................... 7-116
7.14 M-Code................................................................................................................................................. 7-120
7.15 Special M-Code.................................................................................................................................... 7-121
7.15.1 M00 Program stop....................................................................................................................... 7-122
7.15.2 M01 Optional program stop ........................................................................................................ 7-123
7.15.3 M02 Program end ........................................................................................................................ 7-124
7.15.4 M30 Program end........................................................................................................................ 7-125
7.15.5 M98, M99 Subprogram call, subprogram end ........................................................................... 7-126
7.15.6 M100 Preread disable ................................................................................................................. 7-128
7.16 Miscellaneous ...................................................................................................................................... 7-129
7.16.1 Program control function (IF, GOTO statement) ........................................................................ 7-130
7.16.2 Program control function (IF, THEN, ELSE, END statements) ................................................. 7-132

A - 15
 7.16.3 Program control function (WHILE, DO, END statements)......................................................... 7-134
7.16.4 Four fundamental operators, assignment operator (+, -, *, /, MOD, =)..................................... 7-136
7.16.5 Trigonometric functions (SIN, COS, TAN, ASIN, ACOS, ATAN).............................................. 7-138
7.16.6 Real number to BIN value conversion (INT)...............................................................................7-139
7.16.7 BIN value to real number conversion (FLT)................................................................................ 7-140
7.16.8 32-bit real number and 64-bit real number data conversion (DFLT, SFLT) ............................... 7-141
7.16.9 Functions (SQRT, ABS, BIN, BCD, LN, EXP, RND, FIX, FUP)................................................ 7-142
7.16.10 Logical operators (AND, OR, XOR, NOT, <<, >>) ................................................................... 7-143
7.16.11 Move block wait functions (WAITON, WAITOFF)..................................................................... 7-145
7.16.12 Block wait functions (EXEON, EXEOFF) .................................................................................. 7-147
7.16.13 Bit set and reset for word devices (BSET, BRST)..................................................................... 7-150
7.16.14 Parameter block change (PB) ................................................................................................... 7-151
7.16.15 Torque limit value change (TL).................................................................................................. 7-153
7.16.16 Home position return (CHGA) .................................................................................................... 7-155
7.16.17 Speed change (CHGV)............................................................................................................... 7-156
7.16.18 Torque limit value change (CHGT)............................................................................................. 7-157
7.16.19 Bit device set, reset functions (SET, RST) ............................................................................... 7-158
7.16.20 Bit device operation on condition (IF, THEN, SET/RST/OUT) ................................................. 7-159
7.16.21 Program start (CALL).................................................................................................................. 7-161
7.16.22 Program call 1 (GOSUB)............................................................................................................ 7-163
7.16.23 Program call 2 (GOSUBE) ......................................................................................................... 7-164
7.16.24 Control program end (CLEAR)................................................................................................... 7-167
7.16.25 Time to wait (TIME)..................................................................................................................... 7-169
7.16.26 Block transfers (BMOV : 16-bit unit) .......................................................................................... 7-170
7.16.27 Block transfer (BDMOV : 32-bit unit)......................................................................................... 7-172
7.16.28 Identical data block transfers (FMOV) ....................................................................................... 7-174
7.16.29 Write device data to shared CPU memory (MULTW) ............................................................... 7-176
7.16.30 Read device data from shared CPU memory of the other CPU (MULTR)............................... 7-178
7.16.31 Write words data to intelligent function module/special function module (TO)......................... 7-180
7.16.32 Read words data from intelligent function module/special function module (FROM) .............. 7-182
7.16.33 Conditional branch using bit device (ON, OFF) ....................................................................... 7-184

8. AUXILIARY AND APPLIED FUNCTIONS 8- 1 to 8-88

8.1 LIMIT SWITCH OUTPUT FUNCTION .................................................................................................... 8- 1

8.1.1 Operations ......................................................................................................................................... 8- 1
8.1.2 Limit Output Setting Data.................................................................................................................. 8- 4
8.2 Backlash Compensation Function........................................................................................................... 8- 8
8.3 Torque Limit Function .............................................................................................................................. 8-10
8.4 Absolute Position System ........................................................................................................................ 8-12
8.5 Home Position Return.............................................................................................................................. 8-15
8.5.1 Home position return data................................................................................................................. 8-16
8.5.2 Home position return by the proximity dog type 1............................................................................ 8-22
8.5.3 Home position return by the proximity dog type 2............................................................................ 8-25
8.5.4 Home position return by the count type 1 ........................................................................................ 8-27
8.5.5 Home position return by the count type 2 ........................................................................................ 8-29
8.5.6 Home position return by the count type 3 ........................................................................................ 8-31
8.5.7 Home position return by the data set type 1 .................................................................................... 8-33
8.5.8 Home position return by the data set type 2 .................................................................................... 8-34

A - 16
 8.5.9 Home position return by the dog cradle type ................................................................................... 8-35
8.5.10 Home position return by the stopper type 1 ................................................................................... 8-39
8.5.11 Home position return by the stopper type 2 ................................................................................... 8-41
8.5.12 Home position return by the limit switch combined type................................................................ 8-43
8.5.13 Home position return retry function ................................................................................................ 8-45
8.5.14 Home position shift function............................................................................................................ 8-49
8.5.15 Condition selection of home position set........................................................................................ 8-53
8.5.16 Execution of home position return................................................................................................. 8-55
8.6 Speed Change (CHGV instruction) ......................................................................................................... 8-56
8.7 JOG Operation ......................................................................................................................................... 8-60
8.7.1 JOG operation data........................................................................................................................... 8-60
8.7.2 Individual start ................................................................................................................................... 8-61
8.7.3 Simultaneous start............................................................................................................................. 8-66
8.8 Manual Pulse Generator Operation......................................................................................................... 8-69
8.9 Override Ratio Setting Function .............................................................................................................. 8-75
8.10 FIN signal wait function.......................................................................................................................... 8-77
8.11 Single Block Operation .......................................................................................................................... 8-81
8.12 High-Speed Reading of Specified Data ................................................................................................ 8-86
8.13 Control Program Stop Function from The PLC CPU............................................................................ 8-87

9. USER FILES 9- 1 to 9- 2

9.1 Projects..................................................................................................................................................... 9- 1
9.2 User File List ............................................................................................................................................ 9- 2

10. ROM OPERATION FUNCTION 10- 1 to 10-10

10.1 About the ROM Operating Function.................................................................................................... 10- 1

10.2 Specifications of LED • Switch............................................................................................................. 10- 3
10.3 ROM Operation Function Details ........................................................................................................ 10- 5
10.4 Operating Procedure of "ROM writing" ............................................................................................... 10-10

11. COMMUNICATIONS VIA NETWORK 11- 1 to 11-10

11.1 Specifications of The Communications via Network........................................................................... 11- 2

11.2 Access Range of The Communications via Network ......................................................................... 11- 3
11.2.1 Network configuration via the MELSECNET/10(H) or the Ethernet............................................ 11- 3
11.2.2 Network configuration via the CC-Link ......................................................................................... 11- 5
11.2.3 Network configuration via the RS-422/485................................................................................... 11- 6
11.2.4 Network configuration which MELSECNET/10 (H), Ethernet, CC-Link, RS-422/485
were mixed .................................................................................................................................. 11- 7

12. MONITOR FUNCTION OF THE MAIN CYCLE 12- 1 to 12- 2

A - 17
13. SERVO PARAMETER READING FUNCTION 13- 1 to 13- 2

13.1 About The Servo Parameter Read Request Devices......................................................................... 13- 1

13.2 Operating Procedure of The Servo Parameter Reading Function..................................................... 13- 2

APPENDICES APP- 1 to APP-71

APPENDIX 1 Multiple CPU Error Codes..................................................................................................APP- 1

APPENDIX 1.1 Self-diagnosis error code ............................................................................................APP- 1
APPENDIX 1.2 Release of self-diagnosis error ...................................................................................APP- 6
APPENDIX 2 Error Codes Stored Using The Motion CPU....................................................................APP- 7
APPENDIX 2.1 Motion program setting errors (Stored in D9190).......................................................APP- 9
APPENDIX 2.2 Minor errors .................................................................................................................APP-10
APPENDIX 2.3 Major errors .................................................................................................................APP-26
APPENDIX 2.4 Servo errors.................................................................................................................APP-30
APPENDIX 2.5 PC link communication errors .....................................................................................APP-45
APPENDIX 3 Motion dedicated signal ....................................................................................................APP-46
APPENDIX 3.1 Internal relay (M) .........................................................................................................APP-46
APPENDIX 3.2 Data Registers (D).......................................................................................................APP-56
APPENDIX 3.3 Motion Registers (#) ....................................................................................................APP-63
APPENDIX 3.4 Special Relays.............................................................................................................APP-64
APPENDIX 3.5 Special Registers.........................................................................................................APP-68

A - 18
About Manuals

There are following manuals for this product.

If it is required, please make this table reference and request it.

Related Manuals

(1) Motion controller

Manual Number
Manual Name
(Model Code)
Q173CPU(N)/Q172CPU(N) Motion controller User's Manual
This manual explains specifications of the Motion CPU modules, Q172LX Servo external signal interface
module, Q172EX Serial absolute synchronous encoder interface module, Q173PX Manual pulse IB-0300040
generator interface module, Teaching units, Power supply modules, Servo amplifiers, SSCNET cables, (1XB780)
synchronous encoder cables and others.
(Optional)

Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual

(Motion SFC)
IB-0300042
This manual explains the Multiple CPU system configuration, performance specifications, functions, (1XB781)
programming, error codes and others of the Motion SFC.
(Optional)

Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual

(REAL MODE) IB-0300043
This manual explains the servo parameters, positioning instructions, device list, error list and others. (1XB782)
(Optional)

Q173CPU(N)/Q172CPU(N) Motion controller (SV22) Programming Manual

(VIRTUAL MODE)
This manual describes the dedicated instructions use to the synchronous control by virtual main shaft, IB-0300044
mechanical system program create mechanical module. (1XB783)
This manual explains the servo parameters, positioning instructions, device list, error list and others.
(Optional)

A - 19
(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 modules, SH-080483ENG
extension cables, memory card battery and others. (13JR73)
(Optional)

QCPU User's Manual (Function Explanation, Program Fundamentals)

This manual explains the functions, programming methods and devices and others to create programs SH-080484ENG
with the QCPU. (13JR74)
(Optional)

QCPU User's Manual (Multiple CPU System)

This manual explains the functions, programming methods and cautions and others to construct the SH-080485ENG
Multiple CPU system with the QCPU. (13JR75)
(Optional)

QCPU (Q Mode)/QnACPU Programming Manual (Common Instructions)

This manual explains how to use the sequence instructions, basic instructions, application instructions and SH-080039
micro computer program. (13JF58)
(Optional)

QCPU (Q Mode)/QnACPU Programming Manual (PID Control Instructions)

SH-080040
This manual explains the dedicated instructions used to exercise PID control. (13JF59)
(Optional)

QCPU (Q Mode)/QnACPU Programming Manual (SFC)

This manual explains the system configuration, performance specifications, functions, programming, SH-080041
debugging, error codes and others of MELSAP3. (13JF60)
(Optional)

I/O Module Type Building Block User's Manual

This manual explains the specifications of the I/O modules, connector, connector/terminal block SH-080042
conversion modules and others. (13JL99)
(Optional)

A - 20
1 OVERVIEW

1. OVERVIEW

1.1 Overview 1

This programming manual describes the Multiple CPU system of the operating system
software packages "SW5RN-SV43Q " for Motion CPU
module(Q173CPU(N)/Q172CPU(N)).
In this manual, the following abbreviations are used.
Generic term/Abbreviation Description
Q173CPU(N)/Q172CPU(N) or
Q173CPUN/Q172CPUN/Q173CPU/Q172CPU Motion CPU module
Motion CPU (module)
Motion CPU (A series) A273UHCPU/A173UHCPU/A172SHCPU Motion CPU module
Q172LX Servo external signals interface module/
Q172LX/Q172EX/Q173PX (Note-1)
Q172EX(-S1/-S2/-S3) Serial absolute synchronous encoder interface module /
or Motion module
Q173PX(-S1) Manual pulse generator interface module
MR-H-BN Servo amplifier model MR-H BN
MR-J2 -B Servo amplifier model MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-03B5
General name for "Servo amplifier model MR-H BN/MR-J2S- B/MR-J2M-B/
AMP or Servo amplifier
MR-J2- B/MR-J2-03B5, Vector inverter FREQROL-V500 series"
QCPU, PLC CPU or
Qn(H)CPU
PLC CPU module
Multiple CPU system or
Abbreviation for "Multiple PLC system of the Q series"
Motion system
Abbreviation for "CPU No.n (n= 1 to 4) of the CPU module for the Multiple CPU
CPUn
system"
Programming software package General name for "MT Developer" and "GX Developer"
Operating system software General name for "SW RN-SV Q "
SV43 Operating system software for machine tool peripheral use: SW5RN-SV43Q
MT Developer Abbreviation for Integrated start-up support software package "MT Developer"
Abbreviation for MELSEC PLC programming software package "GX Developer
GX Developer
(Version 6 or later)"
Manual pulse generator
Abbreviation for "Manual pulse generator (MR-HDP01)"
or MR-HDP01
Serial absolute synchronous encoder
Abbreviation for "Serial absolute synchronous encoder (MR-HENC/Q170ENC)"
or MR-HENC/Q170ENC
(Note-2)
SSCNET High speed serial communication between Motion controller and servo amplifier
General name for "System using the servomotor and servo amplifier for absolute
Absolute position system
position"
Cooling fan unit Cooling fan unit (Q170FAN)
Dividing unit Dividing unit (Q173DV)
Battery unit Battery unit (Q170BAT)
A†0BD-PCF A10BD-PCF/A30BD-PCF SSC I/F board
SSC I/F communication cable Abbreviation for "Cable for SSC I/F board/card"
Abbreviation for MELSECNET/H module/Ethernet module/CC-Link module/
Intelligent function module
Serial communication module

1-1
1 OVERVIEW

Generic term/Abbreviation Description

Vector inverter (FR-V500) Vector inverter FREQROL-V500 series
(Note-1) : Q172EX can be used in SV22.
(Note-2) : SSCNET: Servo System Controller NETwork

REMARK
For information about the each module, design method for program and parameter,
refer to the following manuals relevant to each module.
Item Reference Manual
Motion CPU module/Motion unit Q173CPU(N)/Q172CPU(N) User’s Manual
PLC CPU, peripheral devices for PLC program design, I/O
Manual relevant to each module
modules and intelligent function module
Operation method for MT Developer Help of each software

! CAUTION
When designing the system, provide external protective and safety circuits to ensure safety in
the event of trouble with the Motion controller.
There are electronic components which are susceptible to the effects of static electricity
mounted on the printed circuit board. When handling printed circuit boards with bare hands you
must ground your body or the work bench.
Do not touch current-carrying or electric parts of the equipment with bare hands.
Make parameter settings within the ranges stated in this manual.
Use the program instructions that are used in programs in accordance with the conditions
stipulated in this manual.
Some devices for use in programs have fixed applications: they must be used in accordance
with the conditions stipulated in this manual.

1-2
1 OVERVIEW

1.2 Features

The Motion CPU and Multiple CPU system have the following features.

1.2.1 Features of Motion CPU

(1) Q series PLC Multiple CPU system

(a) The load of control processing for each CPU can be distributed by controlling
the complicated servo control with the Motion CPU, and the machine control
or information control with the PLC CPU, and flexible system configuration
can be realized.

(b) The Motion CPU and PLC CPU are selected flexibly, and the Multiple CPU
system up to 4 CPU modules can be realized.
The Motion CPU module for the number of axis to be used can be selected.
Q173CPU(N) : Up to 32 axes
Q172CPU(N) : Up to 8 axes

The PLC CPU module for the program capacity to be used can be selected.
(One or more PLC CPU is necessary with the Multiple CPU system.)
Q00CPU :8k steps
Q01CPU :14k steps
Q02CPU, Q02HCPU : 28k steps
Q06HCPU : 60k steps
Q12HCPU : 124k steps
Q25HCPU : 252k steps

(c) The device data of other CPU can be used as the device data of self CPU
because the Multiple CPU automatic refresh may do automatically data
giving and receiving between each CPU of the Multiple CPU system.

(d) The device data access of the Motion CPU and the Motion program start
can be executed from PLC CPU by the Motion dedicated PLC instruction.

(2) High speed operation processing

(a) The minimum operation cycle of the Motion CPU is made 0.88[ms] (so far,
the ratio of 4 times), and it correspond with high frequency operation.

(b) High speed PLC control is possible by the Q series PLC CPU.
(For LD instruction)
Q02HCPU, Q06HCPU, Q12HCPU, Q25HCPU : 0.034[µs]
Q02CPU : 0.079[µs]
Q00CPU : 0.16[µs]
Q01CPU : 0.10[µs]

1-3
1 OVERVIEW

(3) Connection between the Motion controller and servo amplifier with
high speed serial communication by SSCNET
High speed serial communication by SSCNET connect between the Motion
controller and servo amplifier, and batch control the charge of servo parameter,
servo monitor and test operation, etc.
It is also realized reduce the number of wires.

(4) The operating system software package for your application needs.
By installing the operating system software for applications in the internal flash
memory of the Motin CPU, the Motion controller switable for the machine can be
realized.
And, it also can correspond with the function improvement of the software
package.

(a) Conveyor assembly use (SV13)

Offer liner interpolation, circular interpolation, helical interpolation, constant-
speed control, speed control, fixed-pitch feed and etc. by the dedicated
servo instruction. Ideal for use in conveyors and assembly machines.

(b) Automatic machinery use (SV22)

Provides synchronous control and offers electronic cam control by
mechanical support language. Ideal for use in automatic machinery.

(c) Machine tool peripheral use (SV43)

Offer liner interpolation, circular interpolation, helical interpolation, constant-
speed positioning and etc. by the EIA language (G-code). Ideal for use in
machine tool peripheral.

1-4
1 OVERVIEW

1.2.2 Positioning control by the Motion CPU

The positioning control of up to 32 axes in Q173CPU(N) and up to 8 axes in

Q172CPU(N) is possible in the Motion CPU.
There are following four functions as controls toward the servo amplifier/servomotor.
(1) Servo operation by the positioning instructions.
The positioning instructions are programmed using the Motion program.
The starting method of Motion program is shown below.
(a) Motion program start request (S(P).SVST) using the PLC program of PLC
CPU or Motion program (control program) start request (S(P).SFCS)
(b) Automatic start setting of Motion program (control program)
(c) Start by CALL, GOSUB/GOSUBE instruction using other Motion program

(2) JOG operation by the axis command signal of Motion CPU.

(3) Manual pulse generator operation by the positioning dedicated device of Motion
CPU.

(4) Speed change and torque limit value change during positioning control by the
Motion dedicated PLC instruction (S(P).CHGV, S(P).CHGT instruction) or the
CHGV, CHGT, TL instruction in the Motion program.

1-5
1 OVERVIEW

[Execution of the Motion program start (S(P).SVST instruction)]

Positioning control is executed by starting the Motion program (axis designation

program) specified with S(P).SVST instruction of the PLC CPU in the Motion CPU.
An overview of the starting method using the Motion program is shown below.

Multiple CPU control system

PLC CPU

PLC program . . . . . . . . . Create using a peripheral device (Note-1)

<Example> SP.SVST instruction
Positioning execute command

SP.SVST H3E3 "J1" K15 M0 D0

Device which stores the
complete status
Complete device
Motion program No.15
Axis 1
(Start axis No.)
Target CPU
Start request of the
Motion program
1) The Motion program No. and start axis No. are set using the Start request of the
Motion program
S(P).SVST instruction in the PLC program.
2) When the S(P).SVST instruction is executed, the program of the
Motion program No. specified with the Motion CPU is executed.
Point
In the above, it is explained the start of axis designation program.
There are following 2 types as the Motion program.
Control program : Only control instruction can be used, the travel instruction by G-code
can not be used.
It is started by the S(P).SFCS of PLC CPU, automatic start with
parameter, or CALL, GOSUB/GOSUBE instruction of other control program.
Axis designation program : The travel instruction by G-code and control instruction can be used.
It is started by the S(P).SVST instruction of PLC CPU or CALL,
GOSUB/GOSUBE instruction of control program.

(1) Create the Motion programs and positioning control parameters using a peripheral
device.

(2) Perform the positioning start using the PLC program (S(P).SVST instruction) of
PLC CPU.
(a) Motion program No. is specified with the S(P).SVST instruction.
1) Motion program No. can be set either directly or indirectly.
2) Start axis No. can be set only directly.
(3) Perform the specified positioning control using the specified with the Motion
program.

1-6
1 OVERVIEW

Motion CPU

Create and correct using a peripheral

Motion program ..... device (Note-1)
Motion program No.15
O0015; (Program No. specified with the S(P).SVST instruction.)
SET #M2042 All axes servo ON command turns on.
N10 G00 X100. Y100.; PTP positioning instruction by high-speed feed speed
Linear positioning of the specified axis is executed from
X200.; the current position to the specified coordinate position
Y200.; by all axes fixed speed.
N20 G01 X25. F500.; CP positioning instruction by the speed specified with F
. Linear interpolation is executed from the current
position to the specified coordinate position by the feed
. speed specified with F.
.
N70 G28 X0. Y0.; Home position return instruction
N80 M02; Home position return of the specified axis is executed
from the current position through the specified
% coordinate position.
Program end instruction
Program ends.
Servo amplifier

Positioning control parameters . . . . . Set and correct using a

peripheral device (Note-1)
Servomotor
System settings System data such as axis allocations

Fixed parameters Fixed data by the mechanical system, etc.

Data by the specifications of the connected
Servo parameters servo amplifier

Parameters block Data required for the acceleration, deceleration

of the positioning control, etc.

Home position return data Data required for the home position return

JOG operation data Data required for the JOG operation

Limit switch output data ON/OFF pattern data required for the limit
switch output function

REMARK
(Note-1) : The following peripheral devices started by the SW6RN-GSV43P can be
used.
• The personal computer by which WindowsNT 4.0/Windows 98/ R R

Windows 2000/Windows XP works. (IBM PC/AT compatible)

R R

WindowsNT , Windows are either registered trademarks or trademarks of

R R

Microsoft Corporation in the United States and/or other countries.

1-7
1 OVERVIEW

[Execution of the JOG operation]

JOG operation of specified axis is executed using the Motion program in

the Motion CPU. JOG operation can also be executed by controlling the JOG
dedicated device of specified axis.
An overview of JOG operation is shown below.

Motion CPU control system

Motion program ..... Create and correct using a peripheral device (Note-1)

Motion program No.100

(Program No. specified with the
S(P).SFCS instruction.)
O 100;
S ET #M 2042; All axes servo ON command turns on.
N 10 IF [[O N #M 2415] AN D [O N #M 2435]] G O TO 20;
G O TO 10;
N 20 #D640 = 100000; Transfer the JOG operation speed to
#D 642L = 100000; D640L and D642L.
IF [[O N #X 003] A N D [O FF #M 3203]] TH EN 1; Program control function instruction
S ET #M 3202;
E LSE 1; The flow of execute program is
R ST #M 3202; controlled by conditions.
E N D 1; 1 axis forward rotation command
IF [[O N #X 004] A N D [O FF #M 3202]] TH EN 2; JOG operation by
S ET #M 3203;
SET/RST
Program control function instruction the JOG dedicated
E LSE 2;
R ST #M 3203; The flow of execute program is device control
E N D 2; controlled by conditions.
. 1 axis reverse rotation command
.
. SET/RST
N 80 M 02; Program end instruction
% Program ends.

(1) Set the positioning control parameters using a peripheral device.

(2) Set the JOG speed to the JOG speed setting register for each axis using the
Motion program.

(3) Perform the JOG operation while the JOG start command signal is ON in the
Motion program.

1-8
1 OVERVIEW

Positioning control parameter . . . . . Set and correct using a

peripheral device (Note-1)
System settings System data such as axis allocations

Fixed parameters Fixed data by the mechanical system, etc.

Servo parameters Data by the specifications of the connected

servo amplifier
Parameter block Data required for the acceleration, deceleration
of the positioning control, etc.
Home position return data Data required for the home position return

JOG operation data Data required for the JOG operation

ON/OFF pattern data required for the limit
Limit switch output data switch output function

Servo amplifier

Servomotor

REMARK
(Note-1) : The following peripheral devices started by the SW6RN-GSV43P can be
used.
• The personal computer by which WindowsNT 4.0/Windows 98/ R R

Windows 2000/Windows XP works. (IBM PC/AT compatible)

R R

WindowsNT , Windows are either registered trademarks or trademarks of

R R

Microsoft Corporation in the United States and/or other countries.

1-9
1 OVERVIEW

[Executing Manual Pulse Generator Operation]

When the positioning control is executed by the manual pulse generator connected to
the Q173PX, manual pulse generator operation must be enabled using the Motion
program.
An overview of manual pulse generator operation is shown below.

Motion CPU control system

Motion program No. 100

(Program No. specified with the
Motion program S(P).SFCS instruction.)
All axes servo ON command
turns on.
O100;
SET #M2042; Wait until axis 1 and axis 2
N10 IF[[ON #M2415] AND [ON #M2435]] GOTO 20; servo ON.
GOTO 10; Wait until manual pulse
N20 IF[ON #X000] GOTO 30; generator operation start.
GOTO 20;
N30 #D720 = 100; Set "axis 1" and "axis 2" 1 pulse
#D721 = 100; input magnification.
#D714L = 1; Control axis 1 by P1.
#D716L = 2; Control axis 2 by P2.
SET #M2051; Manual pulse generator operation
SET #M2052; Axis 1 and axis 2 manual pulse
N40 IF[OFF #X000] GOTO 50; generator enable flag turn on. by the manual pulse generator
GOTO 40; Wait until manual pulse dedicated device
N50 RST #M2051; generator operation end.
RST #M2052; Axis 1 and axis 2 manual pulse
M02;
generator enable flag turn off.
%
Program end instruction
Program ends.

(Note) : Turn off the axis 1 and axis 2 manual pulse generator enable flag for
safety not to continue the manual pulse generator operation at the
manual pulse generator operation end.

(1) Set the positioning control parameters using a peripheral device.

(2) Set the used manual pulse generator, operated axis No. and magnification for 1
pulse input using the Motion program.

(3) Turn the manual pulse generator enable flag ON using the Motion program
................................................ Manual pulse generator operation enabled

(4) Perform the positioning by operating the manual pulse generator.

(5) Turn the manual pulse generator enable flag OFF using the Motion program
................................................ Manual pulse generator operation completion

1 - 10
1 OVERVIEW

Positioning control parameter . . . . . Set and correct using a

peripheral device (Note-1)
System settings System data such as axis allocations

Fixed parameters Fixed data by the mechanical system, etc.

Servo parameters Data by the specifications of the connected

servo amplifier

Parameter block Data required for the acceleration, deceleration

of the positioning control, etc.

Home position return data Data required for the home position return

JOG operation data Data required for the JOG operation

Servo amplifier
Limit switch output data ON/OFF pattern data required for the limit
switch output function

Servomotor

Manual pulse generator

REMARK
(Note-1) : The following peripheral devices started by the SW6RN-GSV43P can be
used.
• The personal computer by which WindowsNT 4.0/Windows 98/ R R

Windows 2000/Windows XP works. (IBM PC/AT campatible)

R R

WindowsNT , Windows are either registered trademarks or trademarks of

R R

Microsoft Corporation in the United States and/or other countries.

1 - 11
1 OVERVIEW

(1) Positioning control parameters

There are following seven types as positioning control parameters.
Parameter data can be set and corrected interactively using a peripheral device.
Item Description Reference
System Multiple system settings, Motion modules and axis No., etc. Section
1
settings are set. 6.1
Data by such as the mechanical system are set for every
Fixed axis. Section
2
parameters They are used for calculation of a command position at the 6.2
positioning control.
Data by such as the servo amplifier and motor type with the
Servo connected servomotor are set for every axis. Section
3
parameters They are set to control the servomotors at the positioning 6.3
control.
Data such as the direction, method and speed of the home
Home position Section
4 position return used at the positioning control are set for
return data 8.5.1
every axis.
JOG operation Data such as the JOG speed limit value and parameter Section
5
data block No. used at the JOG operation are set for every axis. 8.7.1
Data such as the acceleration/deceleration time and speed
control value at the positioning control are set up to 16
parameter blocks.
Parameter They are set with the Motion program, JOG operation data Section
6
block and home position return data, and it is used to change 6.4
easily the acceleration/deceleration processing
(acceleration/deceleration time and speed limit value) at
the positioning control.
Output device, watch data, ON section, output
Limit switch Section
7 enable/disable bit and forced output bit used for the limit
output data 8.1.2
output function for every limit output are set.

(2) Motion program

The positioning control, JOG operation and manual pulse generator operation
are executed in the Motion program. The start request is performed using the
PLC program (S(P).SFCS/SVST instruction).
It comprises a Motion program No., G-code, M-code instruction and positioning
data.
Refer to Chapter 7 for details.
• Motion program No. ...................... It is specified using the PLC program
(S(P).SFCS/SVST instruction).
• G-code, M-code instruction .......... It indicates the type of positioning control.

• Positioning data ............................ It is required to execute the G-code, M-code

instructions. The required data is fixed for
every G-code, M-code instruction.

(3) PLC program

The positioning control by the Motion program can be executed using the Motion
dedicated PLC instruction of PLC program.
Refer to Chapter 4 for details.

1 - 12
1 OVERVIEW

1.2.3 Basic specifications of Q173CPU(N)/Q172CPU(N)

(1) Module specifications

Item Q173CPUN Q173CPU Q172CPUN Q172CPU

Internal current consumption

1.25 1.75 1.14 1.62
(5VDC) [A]
98(3.86)(H) 118(4.65)(H) 98(3.86)(H) 118(4.65)(H)
Exterior dimensions
27.4(1.08)(W) 27.4(1.08)(W) 27.4(1.08)(W) 27.4(1.08)(W)
[mm (inch)]
114.3(4.50)(D) 89.3(3.52)(D) 114.3(4.50)(D) 89.3(3.52)(D)
Mass [kg] 0.23 0.22 0.22 0.21

(2) Motion control specifications, performance specifications

(a) Motion control specifications
Item Q173CPUN Q173CPU Q172CPUN Q172CPU

Number of control axes Up to 32 axes Up to 8 axes

0.88ms/ 1 to 4 axes
Operation cycle 1.77ms/ 5 to 12 axes 0.88ms/1 to 4 axes
(Default) 3.55ms/13 to 24 axes 1.77ms/5 to 8 axes
7.11ms/25 to 32 axes
Interpolation functions Linear interpolation (Up to 4 axes), Circular interpolation (2 axes), Helical interpolation (3 axes)
Control modes PTP (Point to Point) control, Constant speed positioning, High-speed oscillation control
PTP : Select of absolute or incremental data method.
Method
Constant-speed control : Both absolute and incremental data method can be used together.
Selectable for each axis
Control Address setting Travel value setting
Command unit
unit range range
Position -4
mm 10 mm -2147483648 to
command
inch 10-5 inch 2147483647 0 to ±2147483647
-5
degree 10 degree 0 to 35999999
Positioning

Control
Speed Speed setting range
unit
command
mm 0.01 to 6000000.00 (mm/min)
(Command
inch 0.001 to 600000.000 (inch/min)
unit)
degree 0.001 to 2147483.647 (degree/min)

(Note-1)
Acceleration-fixed Time-fixed acceleration/deceleration
acceleration/deceleration method method
Acceleration/ Automatic
Acceleration/deceleration time :
deceleration trapezoidal Acceleration time : 1 to 65535 ms
1 to 5000 ms
control Deceleration time : 1 to 65535 ms
(Only constant speed control)

S-curve S-curve ratio : 0 to 100[%]

Compensation Backlash compensation, Electronic gear

1 - 13
1 OVERVIEW

Motion control specifications (continued)

Item Q173CPUN Q173CPU Q172CPUN Q172CPU
Programming language Dedicated instruction (EIA language)
Motion program capacity 248k bytes
Number of programs 1024
Number of simultaneous Axis designation program : 32 Axis designation program : 8
start programs Control program : 16 Control program : 16
Number of positioning Approx. 10600 points
points (Positioning data can be designated indirectly)
Programming tool IBM PC/AT
Peripheral I/F USB/RS-232/SSCNET
Teaching operation
None
function
Proximity dog type (2 types), Count type (3 types), Data set type (2 types), Dog cradle type,
Home position return
Stopper type (2 types), Limit switch combined type
function
(Home position return re-try function provided, home position shift function provided)
JOG operation function Provided
Manual pulse generator
Possible to connect 3 modules
operation function
M-code output function provided
M-code function
M-code completion wait function provided
Number of output points 32 points
Limit switch output function
Watch data: Motion control data/Word device
Skip function Provided
Override ratio setting
Override ratio setting : 0 to 100[%]
function
Made compatible by setting battery to servo amplifier.
Absolute position system (Possible to select the absolute data method or incremental method for each axis)
(Note) : When the vector inverter is used, only the increment method.
(Note-2)
Number of SSCNET I/F 5CH 2CH
Number of Motion related Q172LX : 4 modules Q172LX : 1 module
modules Q173PX : 1 module Q173PX : 1 module
(Note-1) : Acceleration-fixed/time-fixed acceleration/deceleration method is switched as follows.

Acceleration-fixed acceleration/deceleration method Time-fixed acceleration/deceleration method

G00 (Without M-code setting.) G00 (With M-code setting.)
G28 G01
G30 G02
G53 G03
in G100 G12
G13
G32
in G101
All travel instructions in G101 —

(Note-2) : Use the Dividing unit(Q173DV) or dividing cable(Q173J2B CBL M/Q173HB CBL M).

1 - 14
1 OVERVIEW

(b) Motion program performance specifications

Item Q173CPU(N)/Q172CPU(N)
Total of program files 248k bytes
Program capacity
Number of programs Up to 1024 (No. 1 to 1024)
Unary operation, Addition and subtraction operation,
Arithmetic operation
Multiplication and division operation, Remainder operation
Operation controls Comparison operation Equal to, Not equal to
Logical shift operation, Logical negation, Logical AND,
Logical operation
Logical OR, Exclusive OR
G00, G01, G02, G03, G04, G09, G12, G13, G23, G24, G25,
G-codes Positioning command G26, G28, G30, G32, G43, G44, G49, G53, G54, G55, G56,
G61, G64, G90, G91, G92, G98, G99, G100, G101
M-codes Output command to data register M****
Special M-codes Program control command M00, M01, M02, M30, M98, M99, M100
Variable Device variable X, Y, B, F, D, W, #
Trigonometric function SIN, COS, TAN, ASIN, ACOS, ATAN
Functions ABS, SQR, BIN, LN, EXP, BCD, RND, FIX, FUP, INT, FLT,
Numerical function
DFLT, SFLT
Start/end CALL, CLEAR
Home position return CHGA
Speed/torque setting TL, CHGV, CHGT
Motion control WAITON, WAITOFF, EXEON, EXEOFF
Instructions CALL, GOSUB/GOSUBE, IF…GOTO,
Jump/repetition processing
IF…THEN…ELSE…END, WHILE…DO…END
BMOV, BDMOV, FMOV, BSET, BRST, SET, RST, MULTW,
Data operation MULTR, TO, FROM, ON, OFF, IF…THEN…SET/RST/OUT,
PB
Number of program calls
Up to 8
Number of controls (GOSUB/GOSUBE)
Number of program calls (M98) Up to 8
Number of I/O points
8192 points
(X/Y)
Number of real I/O
256 points
points (PX/PY)
Internal relays (M)
Total (M + L) : 8192 points
Latch relays (L)
Number of devices Link relays (B) 8192 points
(Device In the Motion Annunciators (F) 2048 points
CPU only) Special relays (M) 256 points
(Included the Data registers (D) 8192 points
positioning dedicated Link registers (W) 8192 points
device)
Special registers (D) 256 points
Motion registers (#) 8192 points
Coasting timers (FT) 1 point (888µs)

1 - 15
1 OVERVIEW

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

(1) Differences between Q173CPU(N)/Q172CPU(N) and

A173UHCPU/A172SHCPUN
Item Q173CPU(N) Q172CPU(N) A173UHCPU A172SHCPUN

Number of control axes Up to 32 axes Up to 8 axes Up to 32 axes Up to 8 axes

0.88ms/1 to 4 axes
1.77ms/5 to 12 axes 0.88ms/1 to 4 axes
3.55ms/13 to 24 axes 1.77ms/5 to 8 axes 3.55ms/1 to 12 axes
Operation cycle 7.11ms/25 to 32 axes (Default) 7.11ms/13 to 24 axes 3.55 ms/1 to 8 axes
(Default) (It can be set by 14.2ms/25 to 32 axes
(It can be set by the the parameters.)
parameters.)
512 (256 each in the
Number of programs 1024 256
first/second half)
Axis designation Axis designation
Number of simultaneous start
program : 32 program : 8 8
programs
Control program : 16 Control program : 16
Program capacity 248k bytes 126k bytes 59k bytes
Number of positioning points Approx. 10600 points Approx. 5400 points Approx. 2700 points
Motion control

Programming tool IBM PC/AT PC9800 series, IBM PC/AT, A30TU, A31TU
Peripheral devices I/F USB/RS-232/SSCNET RS-422/SSCNET
Proximity dog type (2 types), Count type (3 types),
Data set type (2 types), Dog cradle type,
Stopper type (2 types), Proximity dog type, count type,
Home position return function
Limit switch combined type data set type 1
(Home position return retry function provided,
Home position shift function provided)
Manual pulse generator operation Possible to connect
Possible to connect 3 modules
function 1 module
Output point : 32 points, Output point : 8 points/axis,
Limit switch output function
Watch data : motion control data/word device ON/OFF setting points : 10 points/axis
Number of SSCNET I/F
(Included SSCNET interface 1CH to 5CH (Note-1) 2CH 4CH 2CH
the parsonal computer)
Up to 64 slots
Number of motion slots 8 slots 2 slots
(Up to 7 extension bases of the Q series)
Q172LX : 4 modules Q172LX : 1 module
Number of Motion related modules A172SENC : 4 modules A172SENC : 1 module
Q173PX : 1 module Q173PX : 1 module
Number of I/O (X/Y) points 8192 points 2048 points
Number of real I/O (PX/PY) points Total 256 points

1 - 16
1 OVERVIEW

Differences Between Q173CPU(N)/Q172CPU(N) and

A173UHCPU/A172SHCPUN (continued)
Item Q173CPU(N) Q172CPU(N) A173UHCPU A172SHCPUN

Internal relays (M) Total M+L(S) : Total M+L(S) :

Total M+L : 8192 points
8192 points 2048 points
Latch relays (L)

Link relays (B) 8192 points 1024 points

Annunciators (F) 2048 points 256 points

Timer contacts (TT) — 2048 points 256 points

Timer coils (TC) — 2048 points 256 points

Counter contacts (CT) — 1024 points 256 points

Number of
Counter coils (CC) — 1024 points 256 points
Devices
(internal motion Special relays (M) 256 points
CPU only) Data registers (D) 8192 points 1024 points

Link registers (W) 8192 points 1024 points

Currnet value timers (T) — 2048 points 256 points

Currnet value counters (C) — 1024 points 256 points

Special registers (D) 256 points

Motion registers (#) 8192 points —

Coasting timer (FT) 1 point (888µs) —

Device memory Independence Commonness

The data exchange method by automatic refresh The direct data exchange method which
Data exchange of PCPU and SCPU
between the multiple CPU's. made a device memory 2 port memory.
Number of pulses per
1 to 2147483647 [PLS] 1 to 65535 [PLS]
revolutions
Fixed Amount of pulses per In the case of the unit setup [mm]. In the case of the unit setup [mm].
parameters revolutions 0.0001 to 214748.3647 [mm] 0.0001 to 6.5535 [mm]
1 time, 10 times,
Magnification —
100 times, 1000 times
Others

M2000 turn it on with switch (STOP RUN),

PLC ready flag (M2000) or M2000 turn it on when both of switch RUN and M2000 turn on by PLC program
setting register is set "1".
An optional bit device (PX, M) is specified in the Emergency stop of the CPU base unit.
Forced stop input parameter. (Forced stop terminals of the servo (Forced stop terminals of the servo amplifiers
amplifiers can be used.) cannot be used.)
Internal rechargeable battery
(Set the external battery (A6BAT/MR-BAT) if
Back-up battery for internal memory A6BAT/MR-BAT
continuous power off time is longer for 1 month or
more.) (Note-2)
(Note-1) : Use the Dividing unit(Q173DV) or dividing cable(Q173J2B CBL M/Q173HB CBL M).
(Note-2) : When adding the external battery(A6BAT/MR-BAT), Q173DV(When using the Q173CPU(N).), or Q170BAT(When using the
Q172CPU(N).) is used.

1 - 17
1 OVERVIEW

1.2.5 Precautions at the program appropriation

(Motion CPU A series Q173CPU(N)/Q172CPU(N))

Precautions when appropriating the Motion program created by the Motion CPU A series to
Q173CPU(N)/Q172CPU(N) are shown below.
(1) Multiple CPU system control
The PLC CPU and Motion CPU is the same module in the Motion controller A
series, however, the Multiple CPU system which controls a sequence control by
the PLC CPU and a motion control by the Motion CPU module is used in
Q173CPU(N)/Q172CPU(N).

(2) Devise use

(a) The devises of PLC CPU and Motion CPU is same in the Motion controller
A series, however, since the each CPU has independent device in
Q173CPU(N)/Q172CPU(N), it is necessary to execute the automatic refresh
setting (Note) for data exchange.
(Note) : The devices of "D, W, M, Y, B, #" can be used for automatic refresh.

(b) The motion register "#" is added newly in Q173CPU(N)/Q172CPU(N).

The motion register is usually shown by "#", however, it is shown "#@" in the
Motion program. Expression only "#" in the Motion program is the same as
"#D" which specified the data register "#D". (It is for holding compatibility
with Motion controller A series.)

(c) The positioning dedicated devices in Q173CPU(N)/Q172CPU(N) are the

same level as them in A273UHCPU/A173UHCPU.
However, "TT, TC, CT, CC" cannot be used.
Also, the following contents are added/changed.
1) DNC status : (M4320 to M4323)
2) Control program monitor devices : (D1440 to D1535)
3) Control change registers 2 (Override ratio) : (D1536 to D1631)

(3) Motion CPU parameter setting

(a) Re-set the system setting to compensate for the system configuration.

(b) Although the axis data (fixed-parameters, home position return data, JOG
operation data or servo parameters) and parameter blocks can be
appropriated, be careful that the following contents are changed.
1) The electronic gear setting : 16 bit 32 bit (increase) (No unit
magnification setting)
2) The home position return for proximity dog type 2, count type 2, count
type 3, data set type 2, dog cradle type, stopper type and limit switch
combined type are added.
However, the setting files created by the Motion CPU (A series) cannot be
appropriated.

(c) Multiple CPU setting is added newly.

1 - 18
1 OVERVIEW

(d) The specification of limit switch output setting is changed.

(4) Creation of the Motion program

There are following 2 types Motion programs in Q173CPU(N)/Q172CPU(N).
(a) Control program (Only control instructions are used.)

(b) Axis designation program (G-code which controls the axis is used.)

Although the Motion program created by the Motion CPU (A series) can be used
as the axis designation program of the above (b), the setting files cannot be used
unchanged.
• The procedure of appropriating a program are shown below.
1) Open the Motion program file (svgcode.bin) created by Motion CPU (A
series) using a text editor.
2) Copy the appropriation parts and paste it using a program editing of
SW6RN-GSV43P.

(5) PLC CPU parameter setting

Set the PLC parameters (Multiple CPU setting, etc.) newly.

(6) Others
(a) PLC ready flag (M2000)
The PLC ready flag (M2000) turned on/off using the PLC CPU in the Motion
CPU (A series) turns on/off by interlock of STOP/RUN switch. (The control
using a PLC CPU is possible in the parameter setting.)

(b) Forced stop signal

Although the emergency stop input is executed with the CPU module or
PLC base unit of the terminal, there is not this terminal input in
Q173CPU(N)/Q172CPU(N) and the forced stop signal is used as the same
function.
The forced stop signal can set an optional bit device with the parameter.
(EMG input of each servo amplifier can be used.)

(c) Internal rechargeable battery for memory back-up

Back-up for the IC-RAM memory of the Motion CPU module is executed
the internal rechargeable battery of standard equipment in the Motion CPU
module. (It can back-up about for 1 month with full charge.)
If a problem occurs at the above specification, for example when
transporting the system on a ship, use the external battery connected via
the SSCNET connector. (The external battery use/not use is set in the
parameter.)

(d) Operation cycle

The fixed cycle (0.8ms, 1.7ms, 3.5ms, 7.1ms, 14.2ms) except for the
automatic setting for operation cycle can be set.

1 - 19
1 OVERVIEW

1.3 Hardware Configuration

This section describes the system configuration of the Q173CPU(N)/Q172CPU(N),

cautions on use of the system, and configured equipment.

1.3.1 Motion system configuration

The outline of the equipment configuration, configuration with peripheral devices, and
system configuration in the Q173CPU(N)/Q172CPU(N) system is described below.
(1) Equipment configuration in Q173CPU(N) system
Extension of the Q series module
(Note-2)

Power supply module/

Motion module
Q CPU/I/O module/Intelligent
(Q172LX, Q172EX, Q173PX)
function module of the Q series
(Note-2)

Motion module CPU base unit Extension cable Q6 B extension base unit
(Q172LX, Q172EX, Q173PX) (Q33B, Q35B, Q38B, Q312B) (QC B) (Q63B, Q65B, Q68B, Q612B)

Power supply module/

Motion CPU module
I/O module/Intelligent function
(Q173CPU(N))
module of the Q series

SSCNET cable SSCNET cable SSCNET cable

for MR-H-BN for MR-J2 -B
(Q173DVCBL M) (Q173HB CBL M) (Q173J2B CBL M)

(Note-1)

MITSUBISHI

SSCNET CN1 SSCNET CN3

MITSUBISHI
LITHIUM BATTERY

SSCNET CN2 SSCNET CN4

MITSUBISHI Q173CPU
LITHIUM BATTERY

Battery Dividing unit Servo amplifier Servo amplifier

(A6BAT/MR-BAT) (Q173DV) (MR-H-BN) (MR-J2 -B)

(When using the dividing cable)

SSCNET cable SSCNET cable

for MR-H-BN for MR-J2 -B
(MR-J2HBUS M-A) (MR-J2HBUS M)

It is possible to select according to the system.

(Note-1) : When using the external battery, be sure to set
MITSUBISHI

the Battery(A6BAT/MR-BAT) to the Dividing

unit(Q173DV).
Battery(A6BAT/MR-BAT) is optional.
(Note-2) : Q172EX cannot be used in SV43.
Servo amplifier Servo amplifier
(MR-H-BN) (MR-J2 -B)

(When using the dividing unit)

1 - 20
1 OVERVIEW

(2) Equipment configuration in Q172CPU(N) system

Extension of the Q series module
(Note-2)

Power supply module/

Motion module
Q CPU/I/O module/Intelligent
(Q172LX, Q172EX, Q173PX)
function module of the Q series
(Note-2)

Motion module CPU base unit Extension cable Q6 B extension base unit
(Q172LX, Q172EX, Q173PX) (Q33B, Q35B, Q38B, Q312B) (QC B) (Q63B, Q65B, Q68B, Q612B)

Motion CPU module Power supply module/

(Q172CPU(N)) I/O module/Intelligent function
module of the Q series
(Note-1)

BAT MITSUBISHI
LITHIUM BATTERY

CPU

Q17BAT
PASSED
DATE

SSCNET cable SSCNET cable

Battery unit for MR-H-BN for MR-J2 -B
(Q170BAT) (Q172HBCBL M-B) (Q172J2BCBL M-B)

MITSUBISHI
It is possible to select the best according to the system.

(Note1) : When using the external battery, be sure to use the

MITSUBISHI
LITHIUM BATTERY
SSCNET cable(Q172J2BCBL M-B/Q172HBCBL M-B)
and to set the Battery(A6BAT/MR-BAT). Also install the
Battery Servo amplifier Servo amplifier Battery(A6BAT/MR-BAT) in the Battery unit(Q170BAT).
(A6BAT/MR-BAT) (MR-H-BN) (MR-J2 -B) Battery(A6BAT/MR-BAT) is optional.
(Note2) : Q172EX cannot be used in SV43.

1 - 21
1 OVERVIEW

(3) Peripheral device configuration for the Q173CPU(N)/Q172CPU(N)

The following (a)(b)(c) can be used.

(a) RS-232 configuration (b) USB configuration (c) SSCNET configuration

Motion CPU module Motion CPU module Motion CPU module

(Q173CPU(N), Q172CPU(N)) (Q173CPU(N), Q172CPU(N)) (Q173CPU(N), Q172CPU(N))

RS-232 cable SSC I/F communication cable

(QC30R2) USB cable (Q170CDCBL M,
Q170BDCBL M)

MITSUBISHI

SSCNET
CARD

A30CD-PCF

Personal computer Personal computer SSC I/F Card/Board

(Windows 98/2000/XP only) (A30CD-PCF/A 0BD-PCF)
R

Personal computer

(Note) : For information about GPP functions of PLC CPU, refer to the operating
manual of PLC. Also, refer to the help of each software for information about
operation of each programming software package.

1 - 22
1 OVERVIEW

1.3.2 Q173CPU(N) System overall configuration

Motion CPU control module

interface module
interface module
interface module
Servo external

Manual pulse
Synchronous

generator
encoder
signals
CPU base
unit PLC CPU/
(Q3 B) Motion CPU

Q61P-A Qn(H) Q173 Q172LX Q172EX Q172PX QI60 QX Q6 AD

CPU CPU(N)
QY Q6 DA I/O module of the Q Series or
Special function module

100/200VAC (Note-1) (Note-2)

Analogue input/output

Personal Computer Input/output (Up to 256 points)

IBM PC/AT Dividing unit
(Q173DV) Interrupt signals (16 points)
USB/RS-232
MITSUBISHI
LITHIUMBATTERY

Manual pulse generator 3/module

P
(MR-HDP01) (Up to 1 module)
Serial absolute synchronous encoder cable
(MR-JHSCBL M-H/Q170ENCCBL M)

Serial absolute synchronous encoder 2/module

E
(MR-HENC/Q170ENC) (Up to 6 modules)

External input signals Number of Inputs

FLS : Upper stroke limit
SSC I/F RLS : Lower stroke limit 8 axes/module
Communication STOP : Stop signal
cable (Up to 4 modules)
(Q170CDCBL M/ DOG/CHANGE : Proximity dog/
Q170BDCBL M) Speed-position switching

SSC I/F Card/Board SSCNET cable SSCNET SYSTEM4

(A30CD-PCF/A 0BD-PCF)
SSCNET SYSTEM3
SSCNET SYSTEM2
Terminal Terminal Terminal Terminal
connector connector connector connector

Panel Personal Computer d1 d8 d1 d8 d1 d8 d1 d8

SSCNET SYSTEM1
(WinNT/Win98/Win2000/WinXP)
Computer link SSC

Extension base unit

(Q6 B) M M M M M M M M
E E E E E E E E
Power supply

Extension
cable
module

MR-H BN/MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-03B5 model

Servo amplifier, Vector inverter(FR-V500), Up to 32 axes
UP to 7 extensions

(Note-1) : Q172EX cannot be used in SV43.

(Serial absolute synchronous encoder cannot be used.)
(Note-2) : QI60 cannot be used in SV43.

1 - 23
1 OVERVIEW

CAUTION
Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal
operation of the Motion controller or servo amplifier differ from the safety directive operation in
the system.
The ratings and characteristics of the parts (other than Motion controller, servo amplifier and
servomotor) used in a system must be compatible with the Motion controller, servo amplifier
and servomotor.
Set the parameter values to those that are compatible with the Motion controller, servo
amplifier, servomotor and regenerative resistor model and the system application. The
protective functions may not function if the settings are incorrect.

1 - 24
1 OVERVIEW

1.3.3 Q172CPU(N) System overall configuration

Motion CPU control module

interface module
interface module
interface module
Servo external

Manual pulse
Synchronous

generator
encoder
signals
CPU base
unit PLC CPU/
(Q3 B) Motion CPU

Q61P-A Qn(H) Q172 Q172LX Q172EX Q172PX QI60 QX Q6 AD

CPU CPU(N)
QY Q6 DA I/O module of the Q Series or
Special function module

100/200VAC (Note-1) (Note-2)

Analogue input/output
Battery unit
(Q170BAT)
MITSUBISHI
Input/output (Up to 256 points)
LITHIUM BATTERY

Interrupt signals (16 points)

Personal Computer
IBM PC/AT Manual pulse generator 3/module
P
(MR-HDP01) (Up to 1 module)
USB/RS-232 Serial absolute synchronous encoder cable
(MR-JHSCBL M-H/Q170ENCCBL M)

Serial absolute synchronous encoder 2/module

E
(MR-HENC/Q170ENC) (Up to 4 modules)

External input signals Number of Inputs

FLS : Upper stroke limit
RLS : Lower stroke limit 8 axes/module
STOP : Stop signal (Up to 1 module)
DOG/CHANGE : Proximity dog/
Speed-position switching
SSC I/F
Communication
cable Terminal
(Q170CDCBL M/ SSCNET cable
Q170BDCBL M) connector

d1 d2 d3 d8
SSC I/F Card/Board SSCNET SYSTEM1
(A30CD-PCF/A 0BD-PCF)

M M M M
Panel Personal Computer E E E E
(WinNT/Win98/Win2000/WinXP)
Computer link SSC
MR-H BN/MR-J2S- B/MR-J2M-B/MR-J2- B/
MR-J2-03B5 model Servo amplifier,
Extension base unit Vector inverter(FR-V500), Up to 8 axes
(Q6 B)
Power supply

Extension
cable
module

(Note-1) : Q172EX cannot be used in SV43.

(Serial absolute synchronous encoder cannot be used.)
UP to 7 extensions (Note-2) : QI60 cannot be used in SV43.

1 - 25
1 OVERVIEW

CAUTION
Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal
operation of the Motion controller or servo amplifier differ from the safety directive operation in
the system.
The ratings and characteristics of the parts (other than Motion controller, servo amplifier and
servomotor) used in a system must be compatible with the Motion controller, servo amplifier
and servomotor.
Set the parameter values to those that are compatible with the Motion controller, servo
amplifier, servomotor and regenerative resistor model and the system application. The
protective functions may not function if the settings are incorrect.

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1 OVERVIEW

1.3.4 Software packages

(1) Software packages

(a) Operating system software packages
Software package
Application
Q173CPU(N) Q172CPU(N)
For machine tool peripheral SV43 SW5RN-SV43QA SW5RN-SV43QC

(b) Integrated start-up support software package

Part name Model name Details

Conveyor assembly software : SW6RN-GSV13P

Automatic machinery software : SW6RN-GSV22P
Machine tool peripheral software : SW6RN-GSV43P
SW6RNC-GSVE
Cam data creation software : SW3RN-CAMP
(Integrated start-up support software
SW6RNC- Digital oscilloscope software : SW6RN-DOSCP
(1 CD-ROM) )
GSVPROE Communication system software : SW6RN-SNETP
MT Developer Document print software : SW3RN-DOCPRNP,
SW20RN-DOCPRNP
SW6RNC-GSVHELPE (Operation manual (1 CD-ROM) )
Installation manual
SW6RNC-GSVPROE
SW6RNC-
A30CD-PCF(SSC I/F card (PCMCIA TYPE II 1CH/card) )
GSVSETE
Q170CDCBL3M (A30CD-PCF cable 3m (9.84ft.) )
R R R R
(Note) : Operating environment of the MT Developer is WindowsNT 4.0/Windows 98/Windows 2000/Windows XP
English version only.

(2) Operating environment of the personal computer

Operating environment is as follows.
IBM PC/AT with which WindowsNT/98/2000/XP English version operates normally.
R
WindowsNT 4.0
R R
Item (Service Pack 2 or later) (Note) Windows 2000 Windows XP
R
or Windows 98
CPU Pentium133MHz or more Pentium II 233MHz or more Pentium II 450MHz or more
Memory capacity Recommended 32MB or more Recommended 64MB or more Recommended 192MB or more
Hard disk free space Hard disk free space is as following list.
Disk drive 3.5inch (1.44MB) floppy disk drive, CD-ROM disk drive
Display 800×600 pixels, 256 colors or more
(Note) : Impossible to use USB connection.

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1 OVERVIEW

It is necessary the following capacity depending on the installed software.

Size
Model name
SW6RNC-GSVE SW6RNC-GSVHELPE
SW6RN-GSV43P 55MB 32MB
SW6RN-DOSCP 35MB 10MB
Standard 60MB
SW6RN-SNETP 3MB
Custom (When all selection) 60.5MB
SW3RN-DOCPRNP 45MB 5MB
SW20RN-DOCPRNP 45MB 5MB
R R
(Note-1) : WindowsNT , Windows are either registered trademarks or trademarks of Microsoft Corporation
in the United States and/or other countries.
R
(Note-2) : Pentium are trademarks or registered trademarks of Intel Corporation or its subsidiaries in the
United States and other countries.

POINT
(1) When the operation of Windows is not unclear in the operation of this software,
refer to the manual of Windows or guide-book from the other supplier.

(2) The screen might not be correctly displayed depending on the system font size
of WindowsNT 4.0/Windows 98/Windows 2000/Windows XP.
R R R R

Be sure to use the small size fonts.

(3) Operating system type/version

(a) Confirmation method in the operating system
SOFTWARE 3.5inch
PACKAGE

1)
2) 3)

T 4) 5) 1) OS software TYPE
MITSUBISHI ELECTRIC CORPORATION ALL 2) Software version
RIGHTS RESERVED
3) OS software version
4) Serial number
5) Number of FD
Example) When using the Q173CPU(N), SV43 and version A.
1) SW5RN-SV43QA
2) BCD-B14W276
3) A

(b) Confirmation method in the SW6RN-GSV43P

The operating system type/version of the connected CPU is displayed on
the installation screen of SW6RN-GSV43P.

S V 4 3 Q A V E R . 0 0 A
A : Q173CPU(N) OS version
C : Q172CPU(N)

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1 OVERVIEW

(4) Restrictions of the function and PLC CPU by the Motion CPU and
software version.
The function and PLC CPU which can be used has restrictions by version of the
Motion CPU module, operating system software and programming software.
The combination of each version and a function is shown blow.
Operating CPU module version
Programming
system Section
Function software
software Q173CPU Q173CPUN Q172CPU Q172CPUN No.
version
version
Chapter
ROM operation B C M — N —
10
ROM operation (For additional parameter
B C T M U M —
(Home position return parameter, etc.))
Vector inverter connectable B B — — — — —
Basic model QCPU (Function version "B")
B — — — — — —
(Q00CPU, Q01CPU)
Section
Home position return functions added D B — — — —
8.5
— : There is no restriction by the version.

(5) Relevant software package

(a) PLC software package
Model name Software package

GX Developer SW D5C-GPPW-E
(Note) : =used "6" or later.

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1 OVERVIEW

1.3.5 Restrictions on motion systems

(1) It is not allowed to use the Motion CPU as the control CPU of a module installed
on the QA1S6†B extension base unit. PLC CPU must be used as the control
CPU.

(2) The connector for installation of memory card on the Motion CPU module is for
future function expansion.

(3) Motion CPU module cannot be used as standalone module. It must always be
used in combination with the PLC CPU module (version that supports Multiple
CPU systems). Moreover, it must be installed on the right side of PLC CPU
module. PLC CPU module cannot be installed in a position to the right of Motion
CPU module.

(4) Personal computer CPU unit must be installed on the right side of Motion CPU
module. Motion CPU cannot be installed in a position to the right of personal
computer CPU.

(5) Make sure to use the PLC CPU module in the "Q mode".

(6) Motion CPU module cannot be set as the control CPU of intelligent function
module or Graphic Operation Terminal (GOT).

(7) SSCNET cable which connects the Motion CPU and servo amplifier, which
connects the Motion CPU are pulled from the bottom part of unit. Make sure to
secure sufficient space for pulling out the cable when designing the control panel.

(8) Motion CPU module is one module element of Q series Multiple CPU system. It
must be set the parameters of Q series Multiple CPU system for each PLC CPU.
Motion CPU module must also be set to support the Multiple CPU system in the
system settings.

(9) Make sure to use the Motion CPU as the control CPU of motion modules
dedicated for Motion CPU (e.g., Q172LX, Q173PX). They will not operate
correctly if PLC CPU is set and installed as the control CPU by mistake. Motion
CPU is treated as a 32-point intelligent module by PLC CPU of other CPU.
It cannot be accessed from other CPU.

(10) When a Multiple CPU system is configured, make sure to configure the modules
so that the total current consumption of individual modules on the CPU base
does not exceed the 5 VDC output capacity of power supply module.

(11) Motion modules (Q172LX, Q173PX) is to do selection whether to be necessary

referring to the "3. DESIGN" of the "Q173CPU(N)/Q172CPU(N) User's Manual"
for the system design.

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1 OVERVIEW

1.4 Multiple CPU System

1.4.1 Overview

(1) Multiple CPU System

Multiple (up to 4 modules) PLC CPUs and Motion CPUs are installed to the CPU
base unit, and each CPU controls the I/O modules and intelligent function
modules of the CPU base unit/extension base unit slot by slot in the Multiple
CPU system.
Each Motion CPU controls the servo amplifiers connected by SSCNET cable.

(2) Distributed system configuration

(a) By distributing such tasks as servo control, machine control and information
control among multiple processors, the flexible system configuration can be
realized.

(b) You can increase the number of control axes by using a multiple Motion
CPUs. It is possible to control up to 96 axes by using three Q173CPU(N)s.

(c) You can reduce the PLC scan time of the overall system by using a multiple
PLC CPUs and distributing the PLC control load among them.

(3) Communication among the CPUs in the Multiple CPU system

(a) Transmission of data among the CPUs in the Multiple CPU system is
performed automatically using the multiple CPU automatic refresh function.
This makes it possible to use the device data of the other CPUs as the
device data of the self CPU.

(b) You can access the device data and start the Motion program from the PLC
CPU to the Motion CPU by Motion dedicated PLC instruction.

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1 OVERVIEW

1.4.2 Installation of PLC CPU and Motion CPU

Up to a total 4 PLC CPUs and Motion CPUs can be installed in the CPU base unit, in
the four slots starting from the CPU slot (the slot located to the immediate right of the
power supply module) to slot 2 in series.
There must be no non-installation slot left between a PLC CPU and a Motion CPU, or
between Motion CPUs.
When two or more Motion CPUs are installed, they are installed together in the slots
provided to the right of one or more PLC CPUs. (PLC CPU cannot be installed to the
right of a Motion CPU.)

(1) When the high performance model PLC CPU is used.

Number of
CPUs Installation positions of PLC CPUs/Motion CPUs

CPU 0 1 2
Power supply

Motion CPU
PLC CPU

I/O, etc.

2 I/O, etc.

CPU 0 1 2 CPU 0 1 2
Power supply

Power supply

Motion CPU

Motion CPU
Motion CPU
PLC CPU

PLC CPU

PLC CPU

I/O, etc.
I/O, etc.

CPU 0 1 2 CPU 0 1 2
Power supply

Power supply

Motion CPU

Motion CPU
Motion CPU
PLC CPU

PLC CPU

PLC CPU

PLC CPU

PLC CPU

4
CPU 0 1 2
Power supply

Motion CPU

Motion CPU

Motion CPU
PLC CPU

(2) When the basic model PLC CPU is used.

Multiple CPU system up to 3 modules (PLC CPU 1, Motion CPU 1, Personal
computer CPU 1).

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1 OVERVIEW

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

(1) Modules controllable by the Motion CPU

I/O modules (QX , QY , QH , QX Y , Q6 AD , Q6 DA ) and motion
modules (Q172LX, Q173PX) can be controlled by the Motion CPU.

(2) Compatibility with the Multiple CPU system

(a) All I/O modules (QX , QY , QH , QX Y , Q6 AD , Q6 DA ) support
the Multiple CPU system.

(b) The intelligent function modules support the Multiple CPU system only when
their function version is "B" or later. These modules cannot be controlled by
the Motion CPU, so be sure to use the PLC CPU as a control CPU.

(c) All motion modules (Q172LX, Q173PX) support the Multiple CPU system.
These modules cannot be controlled by the PLC CPU, so be sure to use the
Motion CPU as a control CPU.

(3) Access range from a non-control CPU

(a) The Motion CPU can access only the modules controlled by the self CPU. It
cannot access the modules controlled by other CPUs.

(b) Access range from a non-control CPU for the modules controlled by the
Motion CPU are shown below.
I/O setting from outside the group
Access target (setting from the PLC CPU)
Not received Received
Input (X)
Output (Y)
Read
Buffer memory
Write

REMARK
• The function version of an intelligent function module can be checked on the rated
plate of the intelligent function module or in the GX Developer's system monitor
product information list.
• Refer to the "Q173CPU(N)/Q172CPU(N) User's Manual" for the model name
which can be controlled by Motion CPU.

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1 OVERVIEW

1.4.4 Modules subject to installation restrictions

(1) Modules subject to installation restrictions in the Motion CPU are shown below.
Use within the limitations listed below.
Model Maximum installable modules per CPU
Description
name Q173CPU(N) Q172CPU(N)
Servo external signals
Q172LX 4 modules 1 module
interface module
Manual pulse generator 1 module 1 module
Q173PX
interface module (Manual pulse generator only use) (Manual pulse generator only use)
Input module QX
Output module QY
QH
Input/output composite module Total 256 points
QX Y
Analogue input module Q6 AD
Analogue output module Q6 DA

(2) Modules controlled by a Motion CPU cannot be installed in the extension base
unit QA1S6 B. Install them in the CPU base unit Q3 B or extension base unit
Q6 B.

(3) A total of eight base units including one CPU base unit and seven extension base
units can be used. However, the usable slots (number of modules) are limited to
64 per system including vacant slots. If a module is installed in slot 65 or
subsequent slot, an error (SP. UNIT LAY ERROR) will be occur. Make sure all
modules are installed in slots 1 to 64. (Even when the total number of slots
provided by the CPU base unit and extension base units exceeds 65 (such as
when six 12-slot base units are used), an error does not occur as long as the
modules are installed within slots 1 to 64.)

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1 OVERVIEW

1.4.5 Processing time of the Multiple CPU system

(1) Processing of the Multiple CPU system

Each CPU module of the Multiple CPU system accesses to the modules
controlled by self CPU with which the CPU base unit or extension base unit is
installed and the other CPU through the bus (base unit patterns and extension
cables). However, a multiple CPU module cannot use the bus simultaneously.
When a multiple CPUs have accessed the bus simultaneously, the CPUs which
performed bus access later remain in "waiting state" until the CPU currently using
the bus completes its processing. In a Multiple CPU system, the above waiting
time (duration while a CPU remains in waiting state) causes an I/O delay or
prolonged scan time.

(2) When the waiting time becomes the longest

In the Multiple CPU system, the wait time of self CPU becomes the longest in the
following conditions:
• When a total of 4 PLC CPUs/Motion CPUs are used in the Multiple CPU
system.
• When the extension base units are used.
• When the intelligent function modules handling large volumes of data are
installed in the extension base unit.
• When a total of 4 CPUs are used and the 4 CPUs have simultaneously
accessed a module installed in an extension base unit.
• When there are many automatic refresh points between a PLC CPU and a
Motion CPU.

(3) When shortening the processing time of the Multiple CPU system
The processing time of the Multiple CPU system can be shortened in the
following methods:
• Install all modules with many access points such as MELSECNET/10(H) and
CC-Link refreshes together in the CPU base unit.
• Control all modules with many access points such as MELSECNET/10(H) and
CC-Link refreshes using only one PLC CPU so that they are not accessed by
two or more CPUs simultaneously.
• Reduce the number of refresh points of MELSECNET/10(H), CC-Link, etc.
• Reduce the number of automatic refresh points of the PLC CPUs/Motion
CPUs.

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1 OVERVIEW

1.4.6 How to reset the Multiple CPU system

With the Multiple CPU system, resetting the PLC CPU of CPU No.1 resets the entire
system.
When the PLC CPU of CPU No.1 is reset, the CPUs, I/O modules and intelligent
function modules of all CPUs will be reset.

To recover any of the CPUs in the Multiple CPU system that generated a CPU stop
error, reset the PLC CPU of CPU No.1 or restart the power (i.e., turning the power ON,
OFF and then ON).
(If the PLC CPUs or Motion CPUs of CPU No.2 to 4 generated a CPU stop error, they
cannot be recovered by resetting the corresponding CPU.)

0 1 2 3 4 5 6 7
Power supply

Qn(H) Q173 Q173 Q173

CPU CPU CPU CPU
(N) (N) (N)
No.1

No.2

No.3

No.4
CPU

CPU

CPU

CPU

These CPUs must not be reset.

If one of them is reset, all CPU
in the Multiple CPU system generate
a MULTI CPU DOWN error.
CPU No.1 can reset the entire Multiple CPU system.

POINT
(1) In a Multiple CPU system, the PLC CPUs/Motion CPUs of CPU No.2, 3 or 4
cannot be reset individually.
When a PLC CPU or Motion CPU of CPU No.2, 3 or 4 is reset while the
Multiple CPU system is operating, the other CPUs generate a MULTI CPU
DOWN error (error code: 7000) and the entire system stops.
Note that depending on the timing at which the PLC CPU or Motion CPU of
CPU No.2, 3 or 4 is reset, the PLC CPU of a the other CPU may stop due to
an error other than MULTI CPU DOWN.

(2) Resetting CPU No.2, 3 or 4 generates a MULTI CPU DOWN error regardless
of the operation mode set in the Multiple CPU Settings tab. (Stop/continue all
CPUs upon error in CPU No.2, 3 or 4.) (Refer to section 1.4.7 for the setting of
operation mode in Multiple CPU Settings.)

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1 OVERVIEW

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

Q172CPU(N)

In the Multiple CPU system, the system operates differently when CPU No.1 a CPU
DOWN error as compared with when CPU No.2 to 4 did.

(1) When CPU No.1 generated a CPU DOWN error

(a) When the PLC CPU of CPU No.1 generated a CPU DOWN error, all PLC
CPU/Q173CPU(N)/Q172CPU(N) of CPU No.2 to 4 generate a MULTI CPU
DOWN error (error code: 7000) and the Multiple CPU system stops. (Note-1)

(b) Recover the system using the procedure below:

1) Check the cause of the error that occurred in CPU No.1 using the PC
diagnostic function of GX Developer.
2) Remove the cause of the error.
3) Reset the PLC CPU of CPU No.1 or restart the power.
Resetting the PLC CPU of CPU No.1 or restarting the power resets all CPUs
in the Multiple CPU system and the system is recovered.

(2) When CPU No.2 to 4 generated a CPU DOWN error

If the PLC CPU, Q173CPU(N) or Q172CPU(N) of CPU No. 2 to 4 generated a
CPU DOWN error, the entire system may or may not stop depending on the
setting of "Operation Mode" in the Multiple CPU Settings tab.
By default value, all CPUs will stop when any of the CPUs generates a CPU stop
error. If you do not wish to stop all CPUs following an error generated in the
QCPU, Q173CPU(N) or Q172CPU(N) of a specific CPU or CPUs, click and
uncheck the CPU or CPUs that will not stop all CPUs upon generating an error.
(See arrow A.)

1 - 37
1 OVERVIEW

(a) When a CPU DOWN error occurs in the CPU of the CPU in a checked "Stop
all CPUs upon error in CPU No. n" item, all PLC CPU/Q173CPU(N)/
Q172CPU(N) of the other CPUs will generate a MULTI CPU DOWN error
(error code: 7000) and the Multiple CPU system will stop. (Note-1)

(b) When a CPU DOWN error occurs in the CPU of the PLC in an unchecked
"Stop all CPUs upon error in CPU No. n" item, all CPUs of the other CPUs
will generate a MULTI CPU ERROR (error code: 7020) and continue their
operation.

POINT
(Note-1) : When a CPU DOWN error occurs, the CPU detecting the error will generate a
MULTI CPU DOWN error.
Therefore, the system may enter a MULTI CPU DOWN mode after detecting the
CPU DOWN error in the CPU generating a MULTI CPU DOWN error, instead of
the error in the CPU that generated the CPU DOWN error in the first place.
In this case, the common error-data area may store a CPU number different
from one corresponding to the CPU that generated the CPU DOWN error first.
When recovering the system, remove the cause of the error present in the CPU
not stopped by a MULTI CPU DOWN error.
In the screen below, the cause of the error present in CPU No.2, which does not
have a MULTI CPU DOWN error, should be removed.

1 - 38
1 OVERVIEW

(c) Use the following procedure to recover the system:

1) Check the CPU generating the error and cause of the error using the PC
diagnostic function of GX Developer.
2) If the error occurred in a Q173CPU(N)/Q172CPU(N) and the error code
is 10000, check the cause of the error using error list of SW6RN-
GSV43P.
3) Remove the cause of the error.
4) Reset the PLC CPU of CPU No.1 or restart the power.
5) Resetting the PLC CPU of CPU No.1 or restarting the power resets all
CPUs in the Multiple CPU system and the system will be recovered.

(3) Operation at a Motion CPU error

Operations at a Motion CPU error are shown below.
Category Type of error Operation Remark
Does not operate from the • All actual output PY points turn OFF.
System setting error
beginning (does not run). No effect on other CPUs.
WDT error Varies depending on the error. • All actual output PY points turn OFF.
Other CPUs may also stop depending on
Operation Self-diagnosis error Stops at a CPU DOWN error. the parameter setting.
disable errors
Operation corresponding to
STOP (M2000 OFF). Depends
Other CPU DOWN error • All actual output PY points turn OFF.
on the "Operation mode upon
CPU stop error" setting.
Operation continues when the
Self-diagnosis error
continuous error occurred.
Operation Minor error • Only the applicable program stops (the
Processing stops for each
continuous Major error program may continue depending on the
program or axis instead of the
enable errors Servo error type of error).
Motion CPU stopping all the
Motion program setting • Actual output PY retains output.
processing.
error • No effect on other CPUs.

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1 OVERVIEW

1.5 System Settings

1.5.1 System data settings

The table below lists the system data items to be set.

Item Setting range Initial value Remark

CPU base 2/3/5/8/10/12 slots CPU base : 2 slots Set the number of slots in the CPU base
Base setting
Extension base None/2/3/5/8/10/12 slots None or extension base.
Number of Multiple Set the total number of Multiple CPUs
2/3/4 modules 2 modules
CPUs including PLC CPU(s).
Up to 2k words of devices
Automatic refresh Set the automatic refresh between CPUs
(D/W/#/M/Y/B) can be set None
setting using Multiple CPU shared memory.
per CPU for settings 1 to 4.
Multiple CPU
Stop/do not stop all CPUs
Common setting
upon an error in CPU Nos.
system Stop all CPUs upon Set whether or not to stop the entire
Error operation mode at 1/2/3/4.
parameters error in CPU Nos. system when a CPU stop error occurs in
the stop of CPU (The setting range varies
1/2/3/4 each CPU.
depending on the number of
Multiple CPUs installed.)
Install the modules controlled by the self
Within the CPU base and
Module arrangement None CPU in the CPU base and/or extension
Motion slot extension base slots
base(s).
setting
Varies depending on the Varies depending on Set detailed items for each module
Individual module
module. the module. controlled by the self CPU.
0.8 ms/1.7 ms/3.5 ms/7.1ms
Operation cycle setting Auto Set the operation cycle of motion control.
/14.2ms/Auto
M2000 is turned on with
switch (STOP to RUN). M2000 is turned on
Operation at Set the condition in which the PLC ready
/M2000 turns ON by with switch (STOP to
STOP to RUN flag (M2000) turns on.
Basic system switching (STOP to RUN) + RUN).
setting 1 set in setting register.
None/X (PX) (0 to 1FFF)/
Forced stop (Note) None Set the bit device used for forced stop.
M (0 to 8191)
M (0 to 8191)/B (0 to 1FFF)/
Latch range F (0 to 2047)/D (0 to 8191)/ None Set the latch range of device memory.
W (0 to 1FFF)
Set self CPU/another CPU/ None
CPU (empty) for slots 0/1/2. (When two CPUs are
Set the installation position of the self
Individual Self CPU installation position setting (The setting range varies installed, slot 0 is
CPU in the CPU base.
parameters depending on the number of fixed as the self
Multiple CPUs installed.) CPU.)
Q173CPU(N):
Set the model name, axis No. and other
Up to 2 systems, 32 axes
Servo amplifier/motor setting None details for the servo amplifiers and
Q172CPU(N):
servomotors.
Up to 1 system, 8 axes
Set the high-speed read data. Refer to "
One Q173PX module and
High-speed read setting None 8.12 High-Speed Reading of Specified
one input module.
Data " for the high-speed read function.
Set whether or not to use an external
battery. If the power supply is down for
External battery unused/ External battery one month or longer, data must be
Battery setting
External battery used unused. backed up with an external battery. Refer
to "Q173CPU(N)/Q172CPU(N) User’s
Manual" for external battery.
(Note) : The forced stop can also be executed by the forced stop terminal of the servo amplifier besides the forced stop input setting.

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1 OVERVIEW

1.5.2 Common system parameters

(1) Parameters for operating the Multiple CPU system

In the Multiple CPU system, the common system parameters and individual
parameter for each CPU are set and written onto each CPU. Regarding the
Motion CPU, the items in System Settings related to the entire Multiple CPU
system must be identical to the parameter settings in the PLC CPU.

PLC CPU PLC CPU Motion CPU Motion CPU

parameters parameters parameters parameters

Common system Common system Common system Common system

parameters parameters parameters parameters

Individual Individual Individual Individual

parameter parameter parameter parameter

Parameter write
Power supply

Qn(H) Qn(H) Q173 Q172

CPU CPU CPU CPU
(N) (N)

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1 OVERVIEW

(2) Parameters common throughout the Multiple CPU system

In the Motion CPU, at the initial setting the parameters in the table below are
verified against the parameters in the PLC CPU of CPU No.1. Unmatched
parameters generate a PARAMETER ERROR (error code: 3012), so the
parameters show below must be set identically between Motion CPUs and the
PLC CPU of CPU No.1. (If the system settings are changed in a Motion CPU, it is
necessary to reset. Therefore, the parameters are checked only at the initial
setting.)
PLC CPUs can use the parameters of the other CPUs via "Multiple CPU
parameter utilization" in GX Developer. Since Motion CPUs do not have this
function, however, the common parameters must be set for each Motion CPU.

Type of parameter
Verification item Remark
Name in Motion CPU Name in PLC CPU
Number of Multiple CPUs Number of CPU modules
Operation mode when a CPU
Operation mode
Multiple CPU settings stop error occurred
Number of automatic refresh
Automatic refresh setting
points
• Only the module numbers
set in System Settings on
Motion slot settings Control CPU Control CPU No.
the Motion CPU side are
I/O assignment verified.
Total number of bases • Not verified if base settings
Basic
Base settings Base No. are omitted on the PLC CPU
settings Base
Number of base slots side.

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1 OVERVIEW

(a) Multiple CPU settings

Set the following items identically in Multiple CPU Settings (Motion CPU
setting) in SW6RN-GSV43P and in Multiple CPU Settings (PLC CPU
setting) in GX Developer.
• Number of CPU modules
• Operation mode when a CPU stop error occurred
• Number of automatic refresh points (Settings 1 to 4 must be the same for
all CPUs)
• Multiple CPU Settings (Motion CPU setting) in SW6RN-GSV43P

Number of CPU modules

Error operation made at

the stop of CPU

Number of automatic
refresh points

• Multiple PLC Setting (PLC CPU setting) in GX Developer

1 - 43
1 OVERVIEW

(b) Motion slot settings

Set the modules controlled by the self CPU by the Motion Slot Settings
(Motion CPU setting) in SW6RN-GSV43P. In GX Developer, set the slot for
Motion CPU control as the CPU number of the Motion CPU in I/O
Assignment Settings (PLC CPU setting).

• Motion Slot Setting (Motion CPU setting) in SW6RN-GSV43P

Control CPU No.

• I/O Assignment Setting (PLC CPU setting) in GX Developer

1 - 44
1 OVERVIEW

(c) Base settings

Set the total number of bases and number of slots in each base identically
between Base Settings (Motion CPU setting) in SW6RN-GSV43P and I/O
Assignment Settings (PLC CPU setting) in GX Developer. In GX Developer,
the detailed settings may be omitted by setting the base mode "Automatic".

• Base Settings (Motion CPU setting) in SW6RN-GSV43P

Total number of bases

and number of slots in
each base

• I/O Assignment Settings (PLC CPU setting) in GX Developer

(Note) : Only the Motion CPU

may be set without
setting the PLC CPU.

1 - 45
1 OVERVIEW

POINT
GOT is recognized as an intelligent function modules "16 points 10 slots" on the
base (number of extension bases and slot No. are set in the GOT parameter.) for
bus connection with GOT.
Set the one extension base (16 points 10 slots) for connection with GOT, then
set "10 slots" as number of extension bases for connection with GOT in the system
setting (base setting).
<Example>
When the "2nd stage" of extension base is set as connection with GOT.
(Set "10" slot as "2nd stage" of extension base in the base setting.)

If the bus connection with GOT is executed without above settings in the
base setting of system setting, "SP.UNIT LAY ERROR" (error code: 2124)
will occur.

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1 OVERVIEW

1.5.3 Individual parameters

(1) Basic system settings

The following explains each item to be set in Basic System Settings.
(a) Operation cycle setting
1) Set the of motion operation cycle (cycles at which a position command is
computed and sent to the servo amplifier).
The setting range is 0.8[ms]/1.7[ms]/3.5[ms]/7.1[ms]/14.2[ms]/Automatic
setting. The actual operation cycle corresponding to 0.8[ms] is
0.888...[ms]. Similarly, 1.7[ms] corresponds to 1.777...[ms], 3.5[ms] to
3.555...[ms], 7.1[ms] to 7.111...[ms], and 14.2[ms] to 14.222…[ms],
respectively.

2) The default value is "Automatic setting". When "Automatic setting" is

selected, the operation cycle is set according to the table below based
on the number of axes for servo amplifier set in the System Settings.

Operating system Number of axes Operation cycle setting

1 to 4 axes 0.8 ms
5 to 12 axes 1.7 ms
SV43
13 to 24 axes 3.5 ms
25 to 32 axes 7.1 ms

3) If the duration of motion operation has exceeded the operation cycle, the
operation cycle over flag (M2054) turns ON. Even when "Automatic
setting" is selected, the duration of motion operation may exceed the
operation cycle depending on the control conditions. The actual duration
of motion operation (unit:μs) is stored in the D9188 and the current
setting of operation cycle (unit:μs) is stored in the D9197. Monitor these
special registers and adjust the set value of operation cycle so that the
actual duration of motion operation will not exceed the set operation
cycle. (A WDT or other error may occur in the Motion CPU.)

4) The MR-H BN does not support an operation cycle of 0.8[ms]. If the

MR-H BN is set in the System Settings, 1.7[ms] is used as the actual
operation cycle even when 0.8[ms] is set.

5) The MR-J2S- B supports operation cycle of 0.8[ms] and 1.7[ms] in

version B0 or later. When using the MR-J2S- B of Version A4 or
earlier, set the operation cycle as 3.5[ms] or more.

6) The vector inverter does not support an operation cycle of 0.8[ms] and
1.7[ms]. If the FR-V500 is set in the System Setting, 3.5[ms] is used as
the actual operation cycle even when 0.8[ms] or 1.7[ms] is set.

1 - 47
1 OVERVIEW

(b) Operation setting upon STOP RUN

Set the condition in which the "PLC ready" flag (M2000) turns ON. Select
one of the following:

1) M2000 ON upon switching (STOP RUN) (default)

Condition in which the M2000 turns from OFF to ON
• Change the RUN/STOP switch from the STOP side to the RUN side.
• With the RUN/STOP switch set to the RUN side, turn ON the power
or cancel the reset.
Condition in which the M2000 turns from ON to OFF
• Change the RUN/STOP switch from the RUN side to the STOP side.

2) M2000 ON upon switching (STOP RUN) + 1 set in setting register

(The M2000 turns ON when the switch is set to the RUN side and 1 is
set in the setting register.)
Condition in which the M2000 turns from OFF to ON
• With the RUN/STOP switch set to the RUN side, set 1 in the setting
register for "PLC ready" flag (D704). (The Motion CPU detects a
change from 0 to 1 in the lowest bit in the D704).

Condition in which the M2000 turns from ON to OFF

• With the RUN/STOP switch set to the RUN side, set 0 in the setting
register for "PLC ready" flag (D704). (The Motion CPU detects a
change from 1 to 0 in the lowest bit in the D704).
• Change the RUN/STOP switch from the RUN side to the STOP side.

(c) Forced stop input setting

Specify the bit device used for executing a forced stop in which all servo-
amplifier axes are stopped immediately.
Either X (PX) or M can be specified. No default value has been set. The set
bit device is designated as contact B and performs the following control in
response to ON/OFF of the device.
• Bit device is turned OFF --- Forced stop input is ON (forced stop)
• Bit device is turned ON --- Forced stop input is OFF (forced stop is
released.)

(d) Latching range setting

Set the following latching ranges for M, B, F, D and W, respectively.
• Range in which the latch can be cleared with the latch clear key (Latch (1))
• Range in which the latch cannot be cleared with the latch clear key (Latch
(2))

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1 OVERVIEW

(2) Individual module settings

The setting items for each module are shown below.
Initial Number of usable modules
Module name Item Setting range
value Q173CPU(N) Q172CPU(N)
Set the number of axes for which 1 to 8
External signal setting
the 8 axes input is used. axes
Servo
Set whether the DOG/CHANGE Turning
external DOG/CHANGE turning OFF
Q172LX input becomes valid upon turning OFF to 4 1
signals input to ON/ON to OFF
OFF to ON or turning ON to OFF ON
module
0.4/0.6/1 ms
Input response time 0.4ms
(DOG/CHANGE response time)
Manual Manual pulse generator use P1 to P3
Used only
pulse setting used
Q173PX generator Input response time 0.4/0.6/1 ms (TREN response time) 0.4ms 1 1
input
High-speed read setting Used/Unused Unused
module
First I/O No. 00 to FF0 (in units of 16 points) 0
Number of I/O points 0/16/32/64/128/256 16
Input High-speed read setting Used/Unused Unused
QX
module Input response time setting
1/5/10/20/70 ms 10ms
(setting for high-speed input
(0.1/0.2/0.4/0.6/1 ms) (0.2ms)
module in parentheses)
Output First I/O No. 00 to FF0 (in units of 16 points) 0
QY
module Number of I/O points 0/16/32/64/128/256 16
First I/O No. 00 to FF0 (in units of 16 points) 0
Input/output
Number of I/O points 0/16/32/64/128/256 16
QH /QX Y composite
Input response time setting 1/5/10/20/70 ms 10ms
module
High-speed read setting Used/Unused Unused
First I/O No. 00 to FF0 (in units of 16 points) 0
4 to 20mA/0 to 20mA/1 to 5V/0 to 4 to
Input range setting
5V/-10 to 10V/0 to 10V/User range 20mA
Temperature drift
Analogue Used/None Used
compensation
Q6 AD input
Resolution mode Normal/High Normal Total 256 Total 256
module
Normal points or less points or less
Normal (A/D conversion)/ (A/D
Operation mode
Offset gain setting conver-
sion)
First I/O No. 00 to FF0 (in units of 16 points) 0
4 to 20mA/0 to 20mA/1 to 5V/0 to 4 to
Output range setting
5V/-10 to 10V/User range 20mA
HOLD/CLEAR function
CLEAR only CLEAR
setting
Analogue Normal
Q6 DA output Normal (Asynchronous)/ (Asyn-
Output mode
module Synchronous output chro-
nous)
Resolution mode Normal/High Normal
Normal
Normal (D/A conversion)/ (D/A
Operation mode
Offset gain setting conver-
sion)

1 - 49
1 OVERVIEW

(3) System setting errors

Motion CPUs generate a system configuration error under the following
conditions:
Error code Operation at
Error name Error cause Check timing
(Note-1) error occurrence
• The slot set in system settings is vacant or a different
LAY ERROR (SL )
module is installed. Cannot be
AXIS No. MULTIDEF • Duplicate axis No. is set in system settings. started.
AMP No. SETTING 10000 (Note-2) • Not a single axis is set in system settings. (Motion CPU
AXIS No. ERROR • System setting data is not written. system setting
• The number of actual I/O points set in system settings error)
I/O POINTS OVER
exceeds 256.
• A CPU module is installed in a slot except for a CPU slot
SP. UNIT LAY ERROR 2121
or slot 0 to 2.
• A module is installed in 65 or subsequent slot.
SP. UNIT LAY ERROR 2124 (Note-3) • A module is installed in a base for which "None" is set in
base settings.
• There are no-installation slots between CPU modules.
SP. UNIT LAY ERROR 2126 • The modules except for the PLC CPU are installed
between the PLC CPU modules.
When the power
• The number of CPU modules set in the parameter differ is turned ON/
PARAMETER ERROR 3010
from the real installation in a Multiple CPU system. the key is reset
• The reference CPU No. set in the parameter differ from Cannot be
PARAMETER ERROR 3012
the setting in a Multiple CPU system. started.
Multiple CPU automatic refresh setting in any of the (Multiple CPU
followings in a Multiple CPU system. system CPU
• When a bit device is set as a refreshed, a number except DOWN error)
PARAMETER ERROR 3013
for a multiple of 16 is set as the refresh first device.
• A non-specifiable device is specified.
• The number of transmitting points is an odd number.
• A fault CPU is installed in a Multiple CPU.
• CPUs of unmatched versions are installed in a Multiple
CPU system. (This error is detected at the PLC CPU of
MULTI EXE. ERROR 7010 function version B.)
• Any CPU No. among CPU No.2 to 4 was reset, after
power supply on a Multiple CPU system. (This error
occurs by the reset CPU No..)
(Note-1) : The error code stored in the diagnosis error area of the self operation information area in the Multiple CPU shared memory.
(Note-2) : When an error code 10000 is displayed, the M2041 ("System setting error" flag) turns ON and an applicable error name shown
above is displayed on the error list monitor of the programming software package.
(Note-3) : Base settings must be performed in System Settings of the Motion CPU even for those bases in which the modules controlled by
the self CPU are not installed.

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1 OVERVIEW

1.6 Assignment of I/O No.

I/O No. used in the Multiple CPU system include those used by the Motion CPU to
communicate with I/O modules/intelligent function modules and those used in the
communication between the PLC CPU and the Motion CPU. The following explains
each I/O No. and assignment of I/O No..

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

In the Multiple CPU system, the "0H" position (slot) of I/O No. which seen from the PLC
CPU is different from the position in the case of a standalone CPU. However, I/O No. of
the control module may be assigned independently for each CPU in the Motion CPU.

(1) "0H" position of I/O No.

(a) In the Multiple CPU system, the slots corresponding to the number of units
set by a multiple CPU parameter are occupied by the PLC CPU/Motion
CPU.

(b) I/O modules and intelligent function modules are installed in slots available
to the right of those occupied by the PLC CPU/Motion CPU.

(c) I/O No. of the control module may be assigned independently for each CPU
in the Motion CPU. I/O No. of the PLC CPU control modules are assigned
sequentially toward the right, starting from "0H" being the I/O module or
intelligent function module installed to the immediate right of the slots
occupied by the PLC CPU/Motion CPU.

(d) Notation of I/O No.

• Receiving of ON/OFF data by the Motion CPU is deemed input (PX), while
outputting of ON/OFF data from the Motion CPU is deemed output (PY).
• I/O No. is expressed in hexadecimal.

1 - 51
1 OVERVIEW

(2) Assignment of I/O No. to the Motion CPU control module

Mitsubishi recommends that I/O No. assignment be set as common consecutive
No. throughout all CPUs.
However, the I/O No. of the Motion CPUs control input modules, output modules
and input/output composite modules may also be set independently of the I/O
No. of the PLC CPU control modules.
(The I/O No. of the Motion CPU control modules are indicated with a PX/PY.)
The I/O No. of the Motion CPU control modules are invalid during I/O Assignment
Settings of the PLC CPU.
I/O assignment

0 1 2 3 4 5
Q02H Q173 QX41 QY41 QX41 QY41
Power supply

CPU CPU
(N) PX0 to PX1F PY20 to PY3F X40 to X5F Y60 to Y7F
O
module

U
T

(X0 to X1F) (Y20 to Y3F)

CPU CPU Modules Modules Modules Modules

No. 1 No. 2 controlled controlled controlled controlled
by CPU by CPU by CPU by CPU
No. 2 No. 2 No. 1 No. 1

(3) Setting of the Motion CPU control modules by the PLC CPU
Follow the table below when the Motion CPU control modules are set in I/O
Assignment Settings of the PLC CPU. (The PLC CPU handles the Q172LX and
Q173PX as intelligent function modules having 32 occupied points.) Type and
number of points may be left unset.

Module name Type Number of points Remarks

Input module Input • For the control CPU, set
Output module Output Selected according the CPU that
Input/Output composite to the module. corresponds to the
Composite I/O
module Motion CPU (required).
Analogue input module • Type and number of
Analogue input
16 points points may be left unset.
Analogue output module Analogue output
Q172LX
Intelligent 32 points
Q173PX

POINT
(1) Set the I/O device of the Motion CPU within the range from PX/PY000 to
PX/PYFFF. Set the number of real I/O points within 256 points. (I/O No. may
not be consecutive.)

(2) As for the Motion CPU, the Q172LX and Q173PX are not included in the
number of real I/O points.

1 - 52
1 OVERVIEW

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

In the Multiple CPU system, I/O No. is assigned to the PLC CPU/Motion CPU to
enable communication between the PLC CPU and Motion CPU using the following
instructions:
• Multiple CPU dedicated instructions
• Motion CPU dedicated instructions
• Multiple CPU communication dedicated instructions

The I/O No. of the PLC CPU/Motion CPU are fixed based on the installed slots and
cannot be changed.
The table below lists the I/O No. of the PLC CPU/Motion CPU installed in the CPU
base unit of the Multiple CPU system.

CPU installation position QCPU slot Slot 0 Slot 1 Slot 2

Head I/O number 3E00H 3E10H 3E20H 3E30H

The I/O No. of the PLC CPU/Motion CPU are used in the following cases:
• When writing data to the shared CPU memory of the self CPU using the S. TO
instruction.
• When reading data from the shared CPU memory of the other CPU using the FROM
instruction.
• When reading data from the shared CPU memory of the other CPU using an
intelligent function module device (U \G )
• When reading device data directly from the Motion CPU from the PLC CPU using
the "S(P). DDRD" instruction.
• When writing device data directly to the Motion CPU from the PLC CPU using the
"S(P).DDWR" instruction.

REMARK
• Refer to Chapter "3. COMMUNICATION BETWEEN THE PLC CPU AND THE
MOTION CPU IN THE MULTIPLE CPU SYSTEM" for communication between
the PLC CPU and the Motion CPU.

1 - 53
1 OVERVIEW

1.6.3 Setting I/O No.

The procedure for the I/O No. setting of the Motion CPU in system settings of SW6RN-
GSV43P is shown below. In the Motion CPU, by setting a module used in each CPU
base or extension base slot in system settings, the control CPU of the applicable slot is
assigned as the self CPU. Input modules, output modules and composite I/O modules
require an I/O No. to be set.
Refer to the help of SW6RN-GSV43P for the detailed operating procedure on the
system settings screen.
<System Settings>

1) Double-click the slot position, display

the Motion Slot Settings dialog box.

<Motion Slot Settings>

2) Select the I/O module.

3) Click [Detail Setting].

<I/O Module Settings> 4) Select applicable module type

and number of points for
the I/O module to be used.

5) Set the first I/O No.

(PX No., PY No.).

6) Click [OK].

POINT
I/O No.s cannot be assigned automatically, unlike a PLC CPU for which I/O No. are
assigned automatically if such setting is omitted in the Motion CPU. In the Motion
CPU, be sure to set the first I/O No. in System Settings for each module used.

1 - 54
2 STARTING UP THE MULTIPLE CPU SYSTEM

2. STARTING UP THE MULTIPLE CPU SYSTEM

This section describes a standard procedure to start up the Multiple CPU system.

2.1 Startup Flow of the Multiple CPU System

Multiple CPU system 2

Multiple CPU system design
Clarify control/function executed by each
CPU.

Device application and assignment • Refer to Section 3.1 for automatic refresh
function of device data.
Secure the refresh points continuously
for automatic refresh of device data.

Module select • Refer to the "Q173CPU(N)/Q172CPU(N) User's

Select modules to be used in the Multiple Manual" for module select.
CPU system.
PLC CPU
Motion CPU
Module install • Refer to the "Q173CPU(N)/Q172CPU(N) User's
Manual" for install method or install position of
Install the selected modules to the CPU modules.
base unit or extension base unit.
• Refer to Section 2.1.4 of the "Q173CPU(N)/
Q172CPU(N) User's Manual" for restrictions of
module install.

GX developer start • Refer to the GX Developer manual for GX

Start the GX Developer (Ver.6 or later). Developer start.

Parameters, etc. create • Create the parameters for CPU No. 1 to 4 and
Create the parameter setting such as PLC programs.
Multiple CPU setting and control CPU • Refer to the "QCPU User's Manual" (Function
setting, and the PLC programs. Explanation/Program Fundamentals)" for PLC
settings.
PLC CPU

Connect between the personal

computer and PLC CPU
Connect between the personal computer
running GX Developer and PLC CPU
No.1 by RS-232/USB cable.

Connect between the personal

computer and Motion CPU
Connect between the personal computer
running SW6RN-GSV43P and Motion
CPU by SSC I/F communication cable.
Motion CPU
When the RS-232/USB cable is used to
communicate with the Motion CPU,
connect the cable to any one of the PLC
CPU/Motion CPU in the Multiple CPU
system.

Multiple CPU system power ON

Turn ON the power of Multiple CPU
system in the following state of PLC
PLC CPU CPU.
RUN/STOP switch : STOP
RESET/L.CLR switch : OFF

1)

2-1
2 STARTING UP THE MULTIPLE CPU SYSTEM

1)

Write to the PLC CPU

Write the parameters and PLC programs
PLC CPU to the PLC CPU (CPU No.1).
Set the connect destinations of PLC CPU
(CPU No. 2 to 4), and write them.

SW6RN-GSV43P start • Refer to the help for operation of

Start the SW6RN-GSV43P. SW6RN-GSV43P.

System settings and program ,etc. create • Refer to Section 1.5 for system settings.
Create the system settings, servo data • Refer to this programming Manual for details of
Motion CPU
and Motion program. program.

Write to the Motion CPU

Write the system settings, servo data
and Motion program.

PLC CPU (CPU No.1) reset

PLC CPU Set the RESET/L.CLR switch to RESET
position.

Set RUN/STOP switch for all CPUs to

PLC CPU RUN position.
Motion CPU Set the RUN/STOP switch for each CPU
(CPU No.1 to 4) to RUN position.

Release PLC CPU (CPU No.1) reset

PLC CPU Change back the RESET/L.CLR switch
to OFF position and release the reset.

Check of state for all CPUs

Check whether all CPUs in the Multiple
CPU system become RUN state/error by
reset release of the PLC CPU (CPU
No.1).

Check and correct the error details

PLC CPU If an error has occurred, check and
Motion CPU correct the error details using the PC
diagnostic function of GX developer and
error list monitor of SW6RN-GSV43P.

Each CPU debug

Execute the individual debug of PLC
CPU/Motion CPU (CPU No. 1 to 4) and
debug as the Multiple CPU system.

Actual operation
Actual
Check in the operation
automatic operation.

(Note) : Installation of the operating system software is required to the Motion CPU module before start of
the Multiple CPU system.
Refer to Chapter 5 of the "Q173CPU(N)/Q172CPU(N) User's Manual" for installation of the Motion
CPU operating system software.

2-2
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM

3. COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN

THE MULTIPLE CPU SYSTEM

The following tasks can be performed between the PLC CPU and the Motion CPU in
the Multiple CPU system.
• Data transfer between CPUs by the automatic refresh function of the shared CPU
memory
• Control instruction from the PLC CPU to Motion CPU by the Motion dedicated
Instructions
• Reading/writing device data from the PLC CPU to Motion CPU by the dedicated
instruction 3
3.1 Automatic Refresh Function of The Shared CPU Memory

(1) Automatic refresh function of the shared CPU memory

(a) The automatic refresh function of the shared CPU memory is executed
automatically the data transfer between CPUs in the Multiple CPU system
during END processing in the PLC CPU or during main cycle processing
(free time except motion control) in the Motion CPU.
When the automatic refresh function is used, the data in the device memory
of the other CPU is read automatically, so the device data of other CPU can
be used as the device data of self CPU.
The diagram below illustrates the automatic refresh operation involving 32
points (B0 to B1F) for the PLC CPU of CPU No.1 and 32 points (B20 to
B3F) for the Motion CPU of CPU No.2.

CPU No.1 (PLC CPU) CPU No.2 (Motion CPU)

Shared CPU memory Shared CPU memory

Self CPU operation data area Self CPU operation data area

System area System area

Automatic refresh area 3) Reading via main cycle Automatic refresh area
processing of CPU No.2
User-defined area User-defined area

1) Written via END processing 2) Written via main cycle processing

of CPU No.1 of CPU No.2

Device memory Device memory

B0 to B1F (CPU No.1) 4) Reading via END B0 to B1F (CPU No.1)
processing of CPU No.1
B20 to B3F (CPU No.2) B20 to B3F (CPU No.2)

Processing details of CPU No.1 (PLC CPU) at the END processing.

1) : Data of transmitting devices B0 to B1F for CPU No.1 is transferred to the
automatic refresh area of shared memory in the self CPU.
4) : Data in the automatic refresh area of shared memory in CPU No.2 is
transferred to B20 to B3F in the self CPU.

3-1
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM

Processing details of CPU No.2 (Motion CPU) at main cycle processing.

2) : Data of transmitting devices B20 to B3F for CPU No.2 is transferred to
the automatic refresh area of shared memory in the self CPU.
3) : Data in the automatic refresh area of shared memory in CPU No.1 is
transferred to B0 to B1F in the self CPU.

By the above operations, the data written to B0 to B1F in CPU No.1 can be
read as B0 to B1F of CPU No.2, while the data written to B20 to B3F in CPU
No.2 can be read as B20 to B3F of CPU No.1. B0 to B1F of CPU No.1 can
be read or written freely using CPU No.1, but B20 to B3F correspond to the
refresh area for the data of CPU No.2 and can only be read, not written, by
CPU No.1. Similarly, B20 to B3F of CPU No.2 can be read or written freely
using CPU No.2, but B0 to B1F correspond to the refresh area for the data
of CPU No.1 and thus can only be read, not written, by CPU No.2.

(b) Executing the automatic refresh function

The automatic refresh function can be executed regardless of whether the
applicable PLC CPU and Motion CPU are in the RUN or STOP state.
When a CPU DOWN error will occur in the PLC CPU or the Motion CPU,
the automatic refresh function is not executed.
When one CPU generated a CPU DOWN error, the other CPU free from
CPU DOWN error retains the data saved immediately before the CPU
DOWN error occurred. For example, if CPU No.2 generated a CPU DOWN
error while B20 was ON in the operation block diagram in (a), B0 of CPU
No.1 remains ON. If necessary, interlocking is performed using other-CPU
DOWN detection signals M9244 to M9247.

(c) To execute the automatic refresh function, for the Motion CPU the number of
transmitting points for the CPU and the devices whose data is stored
(devices to which the automatic refresh function is executed) must be set in
Multiple CPU Settings of System Settings. For the PLC CPU, the applicable
parameters must be set identically in Multiple CPU Settings of PC
parameters.
Item Description
Y, M, B (Set the first device No. as a multiple of 16 in
Bit
Type of refresh device modules of 32 bits.)
Word D, W, # (Set in modules of 2 words.)
Number of refresh device range settings 4 ranges (Bit and word may be mixed.)
Number of refresh words per CPU A maximum of 8k words
Number of transmitting words per CPU A maximum of 2k words (Set in units of 2 words.)

CAUTION
If necessary, perform interlocking during the execution of the automatic refresh function using
other CPU DOWN detection signals M9244 to M9247.

3-2
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM

(2) Automatic refresh settings 1 (Automatic setting)

(a) When executing the automatic refresh function of shared CPU memory, set
the number of each CPU's transmitting points and devices in which data is to
be stored using Multiple CPU Settings of System Settings.
Refer to the "QCPU User's Manual (Function Explanation/Program
Fundamentals)" about the setting of the PLC CPU.

• Select the setting No..

• Set the first device No. from which the

automatic refresh function is executed.
• Set the transmitting (Number of specified points are continuously
range for each CPU. used from the device No. to be set.)

(b) Setting number selection/send range (refresh range) for each CPU
1) The refresh setting of four ranges can be set by setting selection.
For example, ON/OFF data may be refreshed using bit-device setting,
while other data may be refreshed using word device setting.
2) The number of points in the shared CPU memory set in units of 2 points
(2 words) is set in the send range for each CPU. (2 points if word device
is specified for the CPU-side device, or 32 points if bit device is
specified.)
Data of the CPUs for which "0" is set as the number of points
representing the send range of the CPU will not be refreshed.
Assume that 32 points (B0 to B1F) of CPU No.1 and 32 points (B20 to
B3F) of CPU No.2 are to be refreshed. Since one point in the shared
CPU memory corresponds to 16 bit-device points, the number of
transmitting points becomes 2 for CPU No.1 and also 2 for CPU No.2.
3) The maximum number of transmitting points combining all four ranges is
2k words per CPU (PLC CPU or Motion CPU) or 8k points (8k words) for
all CPUs.

• 2k points (2k words)

per CPU
• 8k points (8k words)
for all CPUs
• Setting two points in shared
• Set in units of
CPU memory and specifying
2 points (2 words).
the bit device for the CPU-
side device creates 32 bit-
device points.

• Data in CPU No.3 and 4 is not refreshed since the number of points is set to 0.

3-3
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM

4) The shared CPU memory to be occupied during execution of the

automatic refresh function covers all areas corresponding to settings 1
to 4.
When the number of transmitting points is set, the first and last
addresses of the shared CPU memory to be used are indicated in
hexadecimals.
The CPU for which the number of transmitting points is set in settings 1
and 2 use the last address of shared CPU memory in setting 2. (In the
example below, CPU No.1 and No.2 are using the area up to 811H,
while CPU No.4 is using the area up to 821H.)
The CPU for which the number of transmitting points is set only in
setting 1 use the last address of shared CPU memory in setting 1. (In
the example below, CPU No.3 is using the last address in setting 1).

• Send range for

CPU No.1

• Last address of
CPU-side device

• Last address of the shared CPU

memory for each CPU

5) Set the same number of transmitting points for all CPUs in the Multiple
CPU system.
If any of the CPUs has a different number of transmitting points, a
PARAMETER ERROR will be occurred.

(c) CPU-side device

The following devices can be used for automatic refresh. (Other devices
cannot be set in SW6RN-GSV43P.)
Settable device Restriction
Data resister (D)
Link resister (W) None
Motion resister (#)
Link relay (B)
• Specify 0 or a multiple of 16 as the first No..
Internal relay (M)
• One transmitting point occupies 16 points.
Output (Y)

1) As for the CPU-side devices, the devices corresponding to the total

number of transmitting points set for CPU No.1 to 4 in one setting range
are used in succession starting from the device No. to be set.
Set a device number that ensures enough devices for the set
transmitting points.
When bit device is specified for the CPU-side device, the number of
transmitting points is multiplied by 16.
3-4
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM

2) Set the CPU-side device as follows.

• Settings 1 to 4 may use different devices.
If the device ranges do not overlap, the same device may be used for
settings 1 to 4.

Setting 1: Link relay

• Settings 1 to 4 may use

different devices.

Setting 2: Link register

• The same device may be used for

settings 1 to 4.
In setting 1 shown to the left, 160 points
from B0 to B9F are used. Therefore,
setting 3 can use device No. after BA0.
Device numbers may not overlap even
partially, such as specifying B0 to B9F
in setting 1 and B90 to B10F in setting 3.

Setting 3: Link relay

• The first and last addresses are calculated

automatically in SW6RN-GSV43P.

3-5
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM

• The devices in settings 1 to 4 can be set individually for each CPU.

For example, you may set link relay for CPU No.1 and internal relay
for CPU No.2.

Refresh settings of CPU No.1

• When the CPU-side device

for CPU No.1 is different
from that for CPU No.2.

• Set the same number of points for all CPUs.

Refresh settings of CPU No.2

• When the CPU-side device

for CPU No.1 is the
same as that for CPU
No.2.

3-6
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM

3) The block diagram below illustrates the automatic refresh operation over
four ranges of setting 1: link relay (B), setting 2: link register (W), setting
3: data register (D), and setting 4: internal relay (M).

CPU No.1
Shared CPU memory Device Shared CPU memory
of other CPU Setting 1
B0 CPU No.1 Write during END processing CPU No.1
to transmitting data transmitting data
Read via END processing (No.1) (No.1)
CPU No.2
of CPU No.1 CPU No.2 CPU No.1
CPU No.2 receiving data (No.1)
transmitting data (No.1) transmitting data
ng
CPU No.3 ssi (No.2)
CPU No.2 ce
transmitting data (No.2)
receiving data (No.1) pro CPU No.1
Maximum ND
2k words
CPU No.4 gE transmitting data Maximum
CPU No.2 receiving data (No.1) u rin 2k words
transmitting data (No.3) it ed (No.3)
Setting 2 Wr
CPU No.2 CPU No.1

g
W0

in
transmitting data (No.4) CPU No.1 transmitting data

ss
transmitting data

ce
(No.4)

o
(No.2)

pr
CPU No.3

D
EN
CPU No.2
CPU No.3 User-defined area

g
receiving data (No.2)

rin
transmitting data (No.1)

du
CPU No.3

e
CPU No.3

ing
rit
receiving data (No.2)

W
transmitting data (No.2)

ss
Maximum
CPU No.4

ce
2k words CPU No.3

pro
receiving data (No.2)
transmitting data (No.3) Maximum

D
Setting 3

EN
CPU No.3 8k words
D0 CPU No.1

g
transmitting data (No.4)

rin
transmitting data

du
(No.3)

ite
CPU No.4
Wr
CPU No.2
CPU No.4 receiving data (No.3)
transmitting data (No.1)
CPU No.3
CPU No.4 receiving data (No.3)
Maximum transmitting data (No.2)
CPU No.4
2k words CPU No.4 receiving data (No.3)
transmitting data (No.3)
Setting 4
CPU No.4 M0
M0 CPU No.1
transmitting data (No.4) transmitting data
(No.4)
CPU No.2
receiving data (No.4)
CPU No.3
receiving data (No.4)
CPU No.4
receiving data (No.4)

3-7
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM

(3) Automatic refresh settings 2 (Manual setting)

Refer to Section 1.3.4(4) for the applicable version of Motion CPU and the
software.
(a) When the automatic refresh setting (Manual setting) of Motion CPU is used,
there are the following advantages.
1) A device setting which executes the automatic refresh setting between
the PLC CPU and the Motion CPU can be performed flexibly.
2) Because it is made not to execute the automatic refresh setting between
the Motion CPU using a dummy setting, it is not necessary to use the
user device for the automatic refresh vainly, and a main cycle can also
be shortened.
3) It is possible to execute the automatic refresh of Motion device(#) to the
PLC CPU directly. Similarly, it is possible to execute the automatic
refresh for data of the PLC CPU to the Motion device(#) directly.

Refer to the "QCPU User's Manual (Function Explanation/Program

Fundamentals)" about the setting for the PLC CPU.

• The first device can be arbitrarily set up for

every CPU. "DUMMY(*)" can be set to the
first device except the self CPU.

• The motion device(#) can be set as a first

device.

(b) Setting selection/send range (refresh range) for each CPU

1) The refresh setting of four ranges can be set by setting selection.
For example, ON/OFF data may be refreshed using bit-device setting,
while other data may be refreshed using word device setting.

2) The number of points in the shared CPU memory set in units of 2 points
(2 words) is set in the send range for each CPU. (2 points if word device
is specified for the CPU-side device, or 32 points if bit device is
specified.)
Data of the CPUs for which "0" is set as the number of points
representing the send range for the CPU will not be refreshed.

3) The maximum number of send points combining all four ranges is 2k

words per CPU (PLC CPU or Motion CPU) or 8k points (8k words) for all
CPUs.

4) If "*" is set as the first device setting column A of each automatic refresh
setting, the first device for every CPU can be arbitrarily set up by the
user in the column of B.
3-8
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM

5) "DUMMY" setting can be set to the first device column B of the

automatic refresh setting. ("DUMMY" setting cannot be set to the self
CPU.) "DUMMY" setting should set "*" as the first devise column B. The
self CPU does not execute the automatic refresh to the other CPU which
carried out "DUMMY(*)" setting.

• A white portion can be set.

6) Set the same number of transmitting points for all CPUs in the Multiple
CPU system.
If any of the CPUs has a different number of transmitting points, a
PARAMETER ERROR will be occurred.

3-9
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM

(c) CPU-side device

The following devices can be used for automatic refresh. (Other devices
cannot be set in SW6RN-GSV43P.)
Settable device Restriction
Data resister (D)
Link resister (W) None
Motion resister (#)
Link relay (B)
• Specify 0 or a multiple of 16 as the first No..
Internal relay (M)
• One transmitting point occupies 16 points.
Output (Y)

• Self CPU (CPU No.2)

Refresh setting 1

• If the device No. does not

overlap, it is right.

• The device of CPU No.4

at setting 1 is not refreshed
by the CPU No.2.

• Self CPU (CPU No.2)

Refresh setting 2

• If the device No. does not

overlap, it is right.

• The device of CPU No.4

at setting 2 is not refreshed
by the CPU No.2.

3 - 10
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM

[Dummy setting]
Usually, the automatic refresh setting is executed between PLC CPU and Motion
CPU for the instructions to each Motion CPU and the monitor of a state by the
PLC CPU at the time of operation. However, the automatic refresh is not
necessary between each Motion CPU. In this case, because it is made not to
execute the automatic refresh setting between the Motion CPU using a dummy
setting, it is not necessary to use the user device for the automatic refresh vainly,
and a main cycle can also be shortened.

Example of the automatic refresh setting using the "Dummy setting" is as follows.

<Example>
Motion CPU No.2
Read data of
CPU No.3

PLC CPU No.1 Motion CPU No.3

• This part is not
refreshed so that
a dummy setting.

Read data of
Motion CPU No.4 CPU No.3

• PLC CPU (CPU No.1) • Motion CPU (CPU No.3)

Automatic refresh setting 1 Automatic refresh setting 1

• The device of CPU No.2 and No.4 are not refreshed by the CPU No.3.

• Motion CPU (CPU No.2) • Motion CPU (CPU No.4)

Automatic refresh setting 1 Automatic refresh setting 1

• The device of CPU No.4 is not refreshed by the CPU No.2. • The device of CPU No.2 is not refreshed by the CPU No.4.

Although the example of a setting is the case of the automatic refresh setting 1,
the automatic refresh setting 2 - 4 can be also set similarly.

3 - 11
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM

(4) The layout example of automatic refresh setting

The layout example of automatic refresh when Read/Write does a Motion
dedicated device in the Motion CPU with PLC CPU is shown below.

• Overall configuration
Table of the internal relays Table of the Data registers
Device No. Application Device No. Application
M0 D0
User device Axis monitor device
to (2000 points) to (20 points 32 axes)

M2000 Common device D640

Control change register
(Status)
to to (2 points 32 axes)
(320 points)
M2320 Special relay allocated device D704 Common device
(Status) (Common signal)
to to
(80 points) (54 points)
M2400 D758 Common device
Axis status
(Monitor)
to (20 points 32 axes) to
(42 points)
M3040 D800
Unusable Axis monitor device 2
to (32 points) to (20 points 32 axes)

M3072 Common device D1440

Control program monitor device
(Command signal)
to to (6 points 16 programs)
(64 points)
M3136 Special relay allocated device D1536 Control change register 2
(Command signal) (Override ratio)
to to
(64 points) (3 points 32 axes)
M3200 D1632
Axis command signal User device
to (20 points 32 axes) to (18 points)

M3840 D1650 Tool length offset data setting

User device
register
to (160 points) to
(2 points 20)
M4000 Axis I/O signal D1690
(Axis status 2)
to
(10 points 32 axes)
M4320
Unusable
to (80 points)

M4400 Axis I/O signal User device

(Axis command signal 2) (6502 points)
to to
(10 points 32 axes)
M4720

to User device
(3472 points)
M8191 D8191

3 - 12
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM

1) PLC CPU (1 module) + Motion CPU (1 module)

The outline operation and the automatic refresh setting are shown
below.
CPU No.1 (PLC CPU) CPU No.2 (Motion CPU)

Internal relays Internal relays

M0 Command device for M0
the Motion CPU (768 points) M2000 Monitor device
M768 M3055 (1056 points)
Monitor device for
the Motion CPU (1056 points)
M3072 Command device
M1824 Command device for M3839 (768 points)
the Motion CPU (320 points)
M4000 Monitor device
M2144 Monitor device for (320 points)
the Motion CPU (320 points) M4319

M2464 M4400 Command device

M4719 (320 points)
M4720
M8191 M8191

Data registers Data registers

D0 Command device for D0 Monitor device
the Motion CPU (118 points) (640 points)

D118 Monitor device for D640 Command device

the Motion CPU (640 points) (118 points)
D758 Command device for D758 Monitor device
the Motion CPU (96 points) (778 points)

D854 Monitor device for D1536 Command device

the Motion CPU (778 points) (96 points)

D1632 D1632

D8191 D8191

• Automatic refresh setting 1

PLC CPU (CPU No.1) Motion CPU (CPU No.2)
Send range for each CPU CPU side device Send range for each CPU CPU side device

CPU CPU share memory G Dev. starting M0 CPU CPU share memory G Dev. starting *
Point Start End Start End Point Start End Start End

No.1 48 M0 M767 No.1 48 M3072 M3839

No.2 66 M768 M1823 No.2 66 M2000 M3055
No.3 No.3
No.4 No.4

• Automatic refresh setting 2

PLC CPU (CPU No.1) Motion CPU (CPU No.2)
Send range for each CPU CPU side device Send range for each CPU CPU side device

CPU CPU share memory G Dev. starting D0 CPU CPU share memory G Dev. starting *
Point Start End Start End Point Start End Start End

No.1 118 D0 D117 No.1 118 D640 D757

No.2 640 D118 D757 No.2 640 D0 D639
No.3 No.3
No.4 No.4

3 - 13
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM

• Automatic refresh setting 3

PLC CPU (CPU No.1) Motion CPU (CPU No.2)
Send range for each CPU CPU side device Send range for each CPU CPU side device

CPU CPU share memory G Dev. starting M0 CPU CPU share memory G Dev. starting *
Point Start End Start End Point Start End Start End

No.1 20 M1824 M2143 No.1 20 M4400 M4719

No.2 20 M2144 M2463 No.2 20 M4000 M4319
No.3 No.3
No.4 No.4

• Automatic refresh setting 4

PLC CPU (CPU No.1) Motion CPU (CPU No.2)
Send range for each CPU CPU side device Send range for each CPU CPU side device

CPU CPU share memory G Dev. starting D0 CPU CPU share memory G Dev. starting *
Point Start End Start End Point Start End Start End

No.1 96 D758 D853 No.1 96 D1536 D1631

No.2 778 D854 D1631 No.2 778 D758 D1535
No.3 No.3
No.4 No.4

POINT
Although it has set up so that 32 axes may be assigned in the above assignment
example, reduce the number of assignment automatic refresh points a part for the
number of axes to be used.

3 - 14
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM

1) PLC CPU (1 module) + Motion CPU (2 modules)

The outline operation and the automatic refresh setting are as follows.

CPU No.1 (PLC CPU) CPU No.2 (Motion CPU)

Internal relays Internal relays

M0 Command device for M0
the Motion CPU No.2
(768 points)
M768 Monitor device for M2000
the Motion CPU No.2 Monitor device
(1056 points) M3055 (1056 points)
M1824 Command device for
the Motion CPU No.3 M3072
(768 points) Command device
(768 points)
M2592 Monitor device for M3839
the Motion CPU No.3 M3840
(1056 points)
M3648 M8191

M8191 CPU No.3 (Motion CPU)

Data registers Internal relays

D0 Command device for M0
the Motion CPU No.2
(118 points)
D118 Monitor device for M2000
the Motion CPU No.2 Monitor device
(640 points) M3055 (1056 points)
D758 Command device for
the Motion CPU No.3 M3072
(118 points)
Command device
(768 points)
D876 Monitor device for M3839
the Motion CPU No.3 M3840
(640 points)
D1516 M8191

D8191
CPU No.2 (Motion CPU)

Data registers
D0 Monitor device
(640 points)

D640 Command device

(118 points)

D758

D8191

CPU No.3 (Motion CPU)

Data registers
D0 Monitor device
(640 points)

D640 Command device

(118 points)

D758

D8191

3 - 15
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM

• Automatic refresh setting 1

PLC CPU (CPU No.1) Motion CPU (CPU No.2)
Send range for each CPU CPU side device Send range for each CPU CPU side device

CPU CPU share memory G Dev. starting M0 CPU CPU share memory G Dev. starting *
Point Start End Start End Point Start End Start End

No.1 48 M0 M767 No.1 48 M3072 M3839

No.2 66 M768 M1823 No.2 66 M2000 M3055
No.3 0 No.3 0
No.4 No.4

• Automatic refresh setting 2

PLC CPU (CPU No.1) Motion CPU (CPU No.2)
Send range for each CPU CPU side device Send range for each CPU CPU side device

CPU CPU share memory G Dev. Starting D0 CPU CPU share memory G Dev. starting *
Point Start End Start End Point Start End Start End

No.1 118 D0 D117 No.1 118 D640 D757

No.2 640 D118 D757 No.2 640 D0 D639
No.3 0 No.3 0
No.4 No.4

• Automatic refresh setting 3

PLC CPU (CPU No.1) Motion CPU (CPU No.2)
Send range for each CPU CPU side device Send range for each CPU CPU side device

CPU CPU share memory G Dev. Starting M1824 CPU CPU share memory G Dev. starting *
Point Start End Start End Point Start End Start End

No.1 48 M1824 M2591 No.1 48 * *

No.2 0 No.2 0
No.3 66 M2592 M3647 No.3 66 * *
No.4 No.4
(Note): A dummy setting (*) is made so that an excessive device may not be
refreshed in the Motion CPU No.2.

• Automatic refresh setting 4

PLC CPU (CPU No.1) Motion CPU (CPU No.2)
Send range for each CPU CPU side device Send range for each CPU CPU side device

CPU CPU share memory G Dev. starting D758 CPU CPU share memory G Dev. starting *
Point Start End Start End Point Start End Start End

No.1 118 D758 D875 No.1 118 * *

No.2 0 No.2 0
No.3 640 D876 D1515 No.3 640 * *
No.4 No.4
(Note): A dummy setting (*) is made so that an excessive device may not be
refreshed in the Motion CPU No.2.

3 - 16
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM

• Automatic refresh setting 1

Motion CPU (CPU No.3)
Send range for each CPU CPU side device

CPU CPU share memory G Dev. starting *

Point Start End Start End

No.1 48 * *
No.2 66 * *
No.3 0
No.4
(Note): A dummy setting (*) is made so that an excessive device may not be
refreshed in the Motion CPU No.2.

• Automatic refresh setting 2

Motion CPU (CPU No.3)
Send range for each CPU CPU side device

CPU CPU share memory G Dev. starting *

Point Start End Start End

No.1 118 * *
No.2 640 * *
No.3 0
No.4
(Note): A dummy setting (*) is made so that an excessive device may not be
refreshed in the Motion CPU No.2.

• Automatic refresh setting 3

Motion CPU (CPU No.3)
Send range for each CPU CPU side device

CPU CPU share memory G Dev. starting *

Point Start End Start End

No.1 48 M3072 M3839

No.2 0
No.3 66 M2000 M3055
No.4

• Automatic refresh setting 4

Motion CPU (CPU No.3)
Send range for each CPU CPU side device

CPU CPU share memory G Dev. starting *

Point Start End Start End

No.1 118 D640 D757

No.2 0
No.3 640 D0 D639
No.4

3 - 17
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM

POINT
In the case of the combination "PLC CPU (1 module) + Motion CPU (3 modules)"
with SV43, make all the devices of all the CPUs refresh as mentioned above
because the setting that Read/Write is made of the PLC CPU can not be executed.

3 - 18
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM

3.2 Shared CPU Memory

Shared CPU memory is used to transfer data between the CPUs in the Multiple CPU
system and has a capacity of 4096 words from 0H to FFFH.

Shared CPU memory has four areas: "self CPU operation data area", "system area",
"automatic refresh area" and "user-defined area".
When the automatic refresh function of shared CPU memory is set, the area
corresponding to the number of automatic refresh points starting from 800H is used as
the automatic refresh area.
The user-defined area begins from the address immediately next to the last address of
the automatic refresh area.
If the number of automatic refresh points is 18 (12H points), the area from 800H to
811H becomes the automatic refresh area and the area after 812H becomes the user-
defined area.
The diagram below shows the structure of shared CPU memory and accessibility from
a PLC program.

Self CPU Other CPU

(Note-1) (Note-2)
Shared CPU memory Write Read Write Read
0H
Self CPU operation
to data area Not allowed Not allowed Not allowed Allowed
1FFH
200H
to System area Not allowed Not allowed Not allowed Allowed
7FFH
800H Not allowed Not allowed Not allowed Not allowed
Automatic refresh area

to
User-defined area Allowed Not allowed Not allowed Allowed

FFFH

REMARK
(Note-1) : Use the S. TO instruction to write to the user-defined area of the self CPU
in the PLC CPU.
Use the MULTW instruction to write to the user-defined area of the self
CPU in the Motion CPU.
(Note-2) : Use the FROM instruction/intelligent function module device (U \G ) to
read the shared memory of the Motion CPU from the PLC CPU.
Use the MULTR instruction to read the shared memory of other CPU in
the Motion CPU.

3 - 19
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM

(1) Self CPU operation data area (0H to 1FFH)

(a) The following data of the self CPU are stored in the Multiple CPU system,

Table 3.1 Table of Contents Stored in the Self CPU Operation Data Area
Shared
Corresponding
memory Name Description Detailed explanation (Note)
special resister
address
This area is used to check whether data is stored or not in the
Data available/not "Data available/not self CPU operation data area (1H to 1FH) of the self CPU.
0H —
available available" flag • 0: Data is not stored in the self CPU operation data area.
• 1: Data is stored in the self CPU operation data area.
The error number of an error generated during diagnosis is
1H Diagnosis error Diagnosis error number D9008
stored as a BIN code.
The year and month when the error number was stored in
2H address 1H of shared CPU memory is stored in 2-digit BCD D9010
code.
The date and hour when the error number was stored in
Diagnosis-error Diagnosis-error
3H address 1H of shared CPU memory is stored in 2-digit BCD D9011
occurrence time occurrence time
code.
The minutes and seconds when the error number was stored in
4H address 1H of shared CPU memory is stored in 2-digit BCD D9012
code.
Category codes indicating the nature of the stored common
5H Error-data category code Error-data category code D9013
error data and individual error data are stored.
Common data corresponding to the error number of an error
6H Error data Error data D9014
generated during diagnosis is stored.
7H to 1CH Not used — Not used —

1DH Switch status CPU switch status The switch status of the CPU is stored. D9200

1EH LED status CPU-LED status The bit pattern of the CPU LED is stored D9201

1FH CPU operation status CPU operation status The operation status of the CPU is stored. D9015
(Note) : Refer to the corresponding special register for details.

(b) The self CPU operation data area is refreshed every time the applicable
register has been changed.
However, the refresh timing may be delayed by up to the main cycle time.
(It updates using idle time during motion control. The maximum main cycle
time: several milliseconds to several hundred milliseconds).

(c) The data of the self CPU operation data area can be read from the PLC
CPU of the other CPU by the FROM instruction.
However, since there is a delay in data update, use the data that has been
read as an object for monitoring only.

(d) Self CPU operation data area used by Motion dedicated PLC instruction
(30H to 33H)
The complete status of the to self CPU high speed interrupt accept flag from
CPUn is stored in the following address.

Table 3.2 Table of Self CPU Operation Data Area used by the Motion Dedicated PLC
Instruction
Shared
memory Name Description
address
30H(48) To self CPU high speed interrupt accept flag from CPU1 This area is used to check whether to self CPU high speed interrupt accept flag
31H(49) To self CPU high speed interrupt accept flag from CPU2 from CPUn can be accepted or not.
32H(50) To self CPU high speed interrupt accept flag from CPU3 0: To self CPU high speed interrupt accept flag from CPUn accept usable.
33H(51) To self CPU high speed interrupt accept flag from CPU4 1: To self CPU high speed interrupt accept flag from CPUn accept disable.

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3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM

(2) System area (204H to 20DH)

This area is used by the operating systems (OS) of the PLC CPU/Motion CPU.
OS uses this area when executing dedicated Multiple CPU communication
instructions.

• System area used by Motion dedicated PLC instruction (204H to 20DH)

The complete status is stored in the following.

Table 3.3 Table of System Area used by Motion Dedicated PLC Instruction
Shared
memory Name Description
address
The start accept flag is stored by the 1 to 32 axis, each bit.
(As for a bit's actually being set Q173CPU(N) : J1 to J32/
204H(516) Start accept flag (Axis1 to 16)
Q172CPU(N) : J1 to J8.)
OFF : Start accept flag usable
ON : Start accept flag disable
b15 b1 b0

205H(517) Start accept flag (Axis17 to 32) 204H(516) address J16 J2 J1

205H(517) address J32 J17

The speed changing flag is stored by the 1 to 32 axis, each bit.

(As for a bit's actually being set Q173CPU(N) : J1 to J32/
206H(518) Speed changing flag (Axis1 to 16)
Q172CPU(N) : J1 to J8.)
OFF : Start accept usable
ON : Start accept disable
b15 b1 b0

207H(519) Speed changing flag (Axis17 to 32) 206H(518) address J16 J2 J1

207H(519) address J32 J17

The synchronous encoder current value change flag is stored

by the 1 to 16 axis, each bit.
Synchronous encoder current value (As for a bit's actually being set Q173CPU(N) : E1 to E12/
changing flag (Axis1 to 12) Q172CPU(N) : E1 to E8.)
208H(520) OFF : Start accept usable
(Unusable with SV43) ON : Start accept disable
b15 b1 b0

208H(520) address E16 E2 E1

The cam shaft within-one-revolution current value changing

Cam shaft within-one-revolution current
flag is stored by the 1 to 32 axis, each bit.
value changing flag (Axis1 to 16)
20CH(524) (As for a bit's actually being set Q173CPU(N) : C1 to C32/
Q172CPU(N) : C1 to C8.)
(Unusable with SV43)
OFF : Start accept usable
ON : Start accept disable
Cam shaft within-one-revolution current
b15 b1 b0
value changing flag (Axis17 to 32)
20DH(525) 20CH(524) address C16 C2 C1

(Unusable with SV43) 20DH(525) address C32 C17

3 - 21
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM

(3) Automatic refresh area

This area is used at the automatic refresh of the Multiple CPU system.
This area cannot be written using S. TO instruction/read using FROM instruction
of the PLC CPU and written using MULTW instruction/read using MULTR
instruction of the Motion CPU.

(4) User-defined area

This area is used for the communication among each CPU in the Multiple CPU
system using FROM/S. TO instructions and the intelligent function module
devices of the PLC CPU. (Among each CPU communicates using MULTR
instruction or MULTW instruction of the operating control program in the Motion
CPU.)
Refer to the section 7.16.29 to 7.16.30, for MULTR instruction or MULTW
instruction.
After point set in the automatic refresh area is used.
(If the automatic refresh function is not executed, the area from 800H to FFFH
can be used as a user-defined area.)

3 - 22
4 MOTION DEDICATED PLC INSTRUCTION

4. MOTION DEDICATED PLC INSTRUCTION

4.1 Motion Dedicated PLC Instruction

(1) The Motion dedicated PLC instruction which can be executed toward the Motion
CPU which installed a SV43 operating system software is shown below.

Instruction Description
S(P).SFCS Start request of the specified Motion program (Control program)
S(P).SVST Start request of the specified Motion program (Axis designation program)
S(P).CHGA Home position return request of the specified axis
S(P).CHGV Speed change request of the specified axis
S(P).CHGT Torque control value change request of the specified axis
S(P).DDWR Write from the PLC CPU to the Motion CPU
S(P).DDRD Read from the devices of the Motion CPU 4
(Note) : As for the details of each instruction, it explains after the next section.

4.1.1 Restriction item of the Motion dedicated PLC instruction

(1) To self CPU high speed interrupt accept flag from CPUn.
Common precautions of the Motion dedicated PLC instruction as shown below.

(a) To self CPU high speed interrupt accept flag from CPUn is shown in the
following table.
To self CPU high speed interrupt accept flag from CPUn is "No operation"
even if the instruction is executed when it is cannot be accepted.
When the Motion dedicated PLC instruction is accepted in the Motion CPU,
to self CPU high speed interrupt accept flag from CPUn of the self CPU
(Motion CPU) shared CPU memory cannot be accepted and
processing toward the instruction for requirement.
When processing is completed and it becomes the condition that it has an
instruction accepted, to self CPU high speed interrupt accept flag from
CPUn can be accepted.

4-1
4 MOTION DEDICATED PLC INSTRUCTION

Shared CPU
memory address Example of the reading
Description
( ) is decimal (When target is the CPU No.2)
address
The lowest rank bit (30H(48)) toward executing instruction
30H(48) U3E1/G48.0
from CPU No.1.
The lowest rank bit (31H(49)) toward executing instruction
31H(49) U3E1/G49.0
from CPU No.2.
The lowest rank bit (32H(50)) toward executing instruction
32H(50) U3E1/G50.0
from CPU No.3.
The lowest rank bit (33H(51)) toward executing instruction
33H(51) U3E1/G51.0
from CPU No.4.

(a) "To self CPU high speed interrupt accept flag from CPUn" turn ON/OFF at
the executing instruction, when the Multiple CPU dedicated instructions are
executed to the same CPU from one PLC CPU.
Therefore, when each instruction is executed only once at approval the
executing condition, it is necessary to take an interlock by internal relay
(M10) and so on besides "To self CPU high speed interrupt accept flag from
CPUn".

(2) Execution of the Motion dedicated PLC instruction

(a) Motion dedicated PLC instruction can be executed with fixed cycle execute
type PLC and interrupt PLC. However, as for a complete device, the
program turned on according to fixed cycle executed type PLC and program
type (scan or low speed) executed interrupt PLC is different.

(b) One Motion CPU can be accepted up to 32 instructions simultaneously from

multiple other CPUs. If 33 instructions or more are executed Motion CPU
returns the complete status[4C08] error.
As Motion CPU can be accepted up to 32 instructions, number of
acceptable instructions changes according to number of CPUs included
Motion CPU. Calculation expression is shown below.

(Number of maximum acceptable instructions per one Motion CPU) =

32 – ( (Number of all CPUs) – 2 ) [Number of instructions]

(c) Local devices and file registers as program are written to device by END
processing. Do not use the devices below.
Each instruction complete device
D1 of S(P).DDRD instruction (The first device of the self CPU which
stored the reading data.)

4-2
4 MOTION DEDICATED PLC INSTRUCTION

(d) Use a flag in the shared CPU memory which correspond with each
instruction not to execute multiple instructions to the same shaft of the
Motion CPU of same CPU No. for the interlock condition.
(Program example 1)

(e) S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGVS(P).CHGT/S(P).DDWR/
S(P).DDRD instructions cannot be executed simultaneously. Therefore, it is
necessary to take an interlock by to self CPU high speed interrupt accept
flag from CPUn.
One PLC CPU can be executed max.32 Motion dedicated PLC instructions
simultaneously using to self CPU high speed interrupt accept flag from
CPUn.
If 33 instructions or more are executed, the PLC CPU returns the
OPERATION ERROR[4107].

(f) When multiple Motion dedicated PLC instructions are directly executed
because one contact-point turns on, an instruction may not be executed.
In this case, create a program with reference to program example.
(Program example 2)

<Program example 1>

Program which executes multiple instructions to the same shaft of the Motion CPU of
same CPU No..
To self CPU high Start accept Start accept
speed interrupt flag of the Axis 1 flag of the Axis 2
accept flag from (CPU No.2) (CPU No.2)
CPU1 U3E1\G516.0 U3E1\G516.1
M0 U3E1\G48.0
K0

RST M0

K0 SP.SVST H3E1 "J1J2" K100 M10 D0

To self CPU high Start accept
speed interrupt flag of the Axis 1
accept flag from (CPU No.2)
CPU No.1 U3E1\G516.0
M2 U3E1\G48.0
SP.CHGA H3E1 "J1" K0 M3 D2
To self CPU high
speed interrupt
accept flag from RST M2
CPU No.1
M6 U3E1\G48.0
SP.CHGT H3E1 "J2" K250 M7 D6

RST M6

4-3
4 MOTION DEDICATED PLC INSTRUCTION

<Program example 2>

Program which executes directly multiple Motion dedicated PLC instructions because
one contact-point turns on.

M1001
SET M21

SET M23

SET M25

SET M27

RST M1001
To self CPU high
speed interrupt Start accept
accept flag from flag of the Axis 1
CPU1 (CPU No.2)
M21 U3E1\G48.0 U3E1\G516.0
SP.SVST H3E1 "J1" K104 M30 D20

To self CPU high RST M21

speed interrupt Start accept
accept flag from flag of the Axis 2
CPU1 (CPU No.2)
M23 U3E1\G48.0 U3E1\G516.1
SP.SVST H3E1 "J2" K105 M32 D22

RST M23
To self CPU high
Start accept
speed interrupt
flag of the Axis 4
accept flag from
(CPU No.2)
CPU1
U3E1\G516.3
M25 U3E1\G48.0
SP.SVST H3E1 "J4" K106 M34 D24

RST M25
To self CPU high
speed interrupt Start accept
accept flag from flag of the Axis 5
CPU1 (CPU No.2)
M27 U3E1\G48.0 U3E1\G516.4
SP.SVST H3E1 "J5" K107 M36 D26

RST M27

4-4
4 MOTION DEDICATED PLC INSTRUCTION

POINT
Access from the PLC CPU is processed before the communication processing of
the Motion CPU. Therefore, if the Motion dedicated PLC instruction is frequently
performed from the PLC CPU, the scan time of the PLC CPU is not only prolonged,
but delay will arise in the communication processing of the Motion CPU.
Perform execution of the Motion dedicated PLC instruction from the PLC CPU by
S(P).DDWR/S(P).DDRD/S(P).CHGV instruction etc. only at the time of necessity.

4-5
4 MOTION DEDICATED PLC INSTRUCTION

(3) Complete status

The error code is stored in the complete status at abnormal completion of the
Multiple CPU dedicated instruction. The error code which is stored is shown
below. (The error code marked " * " is dedicated with the Motion CPU.)
Complete status Corrective
Error factor
(Error code)(H) action
0 Normal completion
The specified device cannot be used in the Motion CPU. Or, it is outside
4C00 *
the device range.
The instruction for the Multiple CPU system which did not be correspond with
4C01 *
operating system software of the Motion CPU was executed.
The Motion program (Control program) No. to start is outside the following range.
• The control program is set
1 to1024
4C02 * • Indirect setting by data register
10000 to 18191
• Indirect setting by motion register
20000 to 28191
The Motion program (Axis designation program) No. to start is outside the following
range.
• The control program is set
1 to 1024
4C03 *
• Indirect setting by data register
10000 to 18191
• Indirect setting by motion register
20000 to 28191
Confirm a
4C04 * Axis No. set by SVST instruction is injustice.
program, and
4C05 * Axis No. set by CHGA instruction is injustice.
correct it to a
4C06 * Axis No. set by CHGV instruction is injustice. correct PLC
4C07 * Axis No. set by CHGT instruction is injustice. program.
• When using the S(P).SFCS/S(P).SVST/S(P).CHGA instruction
There are 33 or more instruction requests to the Motion CPU from the PLC CPU in
S(P).SFCS, S(P).SVST, S(P).CHGA sum table simultaneously, and the Motion
CPU cannot process them.
4C08 *
• When using the S(P).DDRD/S(P).DDWR instruction
There are 33 or more instruction requests to the Motion CPU from the PLC CPU in
S(P).DDRD/S(P).DDWR sum table simultaneously, and the Motion CPU cannot
process them.
4C09 * CPU No. of the instruction cause is injustice.
Data error
4C0A *
(The instruction which cannot be decoded in the Motion CPU was specified.)
4C80
4C81
H/W error of the target CPU
4C83
4C84
Number over of execute instructions of the target CPU.
There are 33 or more instruction requests to the Motion CPU from the PLC CPU in
4C90
S(P).SFCS, S(P).SVST, S(P).CHGA, S(P).SHGV, S(P).CHGT, S(P).DDRD and
S(P).DDWD sum table simultaneously, and the Motion CPU cannot process them.

4-6
4 MOTION DEDICATED PLC INSTRUCTION

(4) Self CPU operation data area used by Motion dedicated instruction (30H to 33H)
The complete status of the to self CPU high speed interrupt accept flag from
CPUn is stored in the following address.
Shared
CPU
Name Description
memory
address
To self CPU high speed interrupt
30H(48)
accept flag from CPU1
To self CPU high speed interrupt This area is used to check whether to self CPU high speed interrupt accept
31H(49)
accept flag from CPU2 flag from CPUn can be accepted or not.

To self CPU high speed interrupt 0: To self CPU high speed interrupt accept flag from CPUn accept usable.
32H(50)
accept flag from CPU3 1: To self CPU high speed interrupt accept flag from CPUn accept disable.
To self CPU high speed interrupt
33H(51)
accept flag from CPU4

(5) System area used by Motion dedicated instruction (204H to 20DH)

The complete status of the each flag is stored in the following address.
Shared CPU
memory Name Description
address
The start accept flag is stored by the 1 to 32 axis, each bit.
(As for a bit's actually being set Q173CPU(N) : J1 to J32/
204H(516) Start accept flag (Axis1 to 16)
Q172CPU(N) : J1 to J8.)
OFF : Start accept flag usable
ON : Start accept flag disable
b15 b1 b0

205H(517) Start accept flag (Axis17 to 32) 204H(516) address J16 J2 J1

205H(517) address J32 J17

The speed changing flag is stored by the 1 to 32 axis, each bit.

(As for a bit's actually being set Q173CPU(N) : J1 to J32/
206H(518) Speed changing flag (Axis1 to 16)
Q172CPU(N) : J1 to J8.)
OFF : Start accept usable
ON : Start accept disable
b15 b1 b0

207H(519) Speed changing flag (Axis17 to 32) 206H(518) address J16 J2 J1

207H(519) address J32 J17

4-7
4 MOTION DEDICATED PLC INSTRUCTION

4.2 Motion program (Control program) Start Request from The PLC CPU to The Motion
CPU:S(P).SFCS (PLC instruction: S(P).SFCS )

• Motion program (Control program) start request instruction from the PLC CPU to the
Motion CPU (S(P).SFCS)
Usable devices
Setting data

Internal devices MELSECNET/10 Special

Bit Indirectly Index
(Note)

(System, User) File direct J \ function Constant

digit specified register Other
register module K, H
Bit Word specified device Bit Word Z
U \G

(n1)

(n2)

(D1)

(D2)
: Usable : Usable partly
(Note) : Setting data (n1) to (D2) : Index qualification possible

[Instruction] [Condition] Start request

SP.SFCS (n1) (n2) (D1) (D2)
SP.SFCS
Start request
S.SFCS S.SFCS (n1) (n2) (D1) (D2)

[Setting data]
Setting data Description Data type
(First I/O No. of the target CPU)/16
(Note-1) 16-bit
(n1) Value to specify actually is the following.
binary
CPU No.2 : 3E1H, CPU No.3 : 3E2H, CPU No.4 : 3E3H
16-bit
(n2) Motion program (Control program) No. to start.
binary
Complete devices
(D1+0) : Device which make turn on for one scan at start accept completion of
instruction.
(D1) Bit
(D1+1) : Device which make turn on for one scan at start accept abnormal
completion of instruction.
("D1+0" also turns on at the abnormal completion.)
16-bit
(D2) Device to store the complete status.
binary
(Note-1) : Motion CPU cannot used CPU No.1 in the Multiple CPU configuration.

4-8
4 MOTION DEDICATED PLC INSTRUCTION

Set the control program No. to start in (n2). Usable range is shown below.
(1) The control program No. is set
The specified control program No. is started.
In this case, control program is executed from the first block.

(n2) usable range

1 to 1024

(2) The sequence No. (N****) is set in the control program

It can be started in the middle of program.
(a) Indirect setting by data register
D((n2) – 10000 : The control program No. stored in the data register
(Motion CPU side) is started.
D((n2) – 10000 + 1) : The sequence No. stored in the data register (Motion
CPU side) is started.

(n2) usable range

10000 to 18191

(b) Indirect setting by motion register

#(n2) – 20000 : The control program No. stored in the motion register
(Motion CPU side) is started.
#((n2) – 20000 + 1) : The sequence No. stored in the motion register
(Motion CPU side) is started.

(n2) usable range

20000 to 28191

[Description]
(1) This instruction is dedicated instruction toward the Motion CPU in the Multiple
CPU system. Errors occurs when it was executed toward the CPU except the
Motion CPU.

(2) Request to start the Motion program (Control program) specified with (n2).

(3) S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGV/S(P).CHGT/S(P).DDRD/
S(P).DDWR cannot be executed simultaneously toward the CPU executing
S(P).SFCS instruction.
When the Motion dedicated PLC instruction is started continuously, it is necessary
to execute the next instruction after the complete device of executing instruction
turns on.

4-9
4 MOTION DEDICATED PLC INSTRUCTION

[Operation of the self CPU at execution of S(P).SFCS instruction]

PLC program END END END END t

S(P).SFCS execution
ON

S(P).SFCS instruction OFF

ON
To self CPU high speed interrupt
accept flag from CPUn OFF

Motion program Motion program execution

(Control program)
ON
Instruction start OFF
accept complete device
(D1+0)
ON : Abnormal completion only
State display device(D1+1)
at the instruction start OFF
accept completion
Instruction accept 1 scan
completion at the
Motion CPU side

4 - 10
4 MOTION DEDICATED PLC INSTRUCTION

[Errors]
The abnormal completion in the case shown below, and the error code is stored in the
device specified with the complete status storing device (D2).
Complete status (Note) Corrective
Error factor
(Error code)(H) action
The specified device cannot be used ih the Motion CPU. Or,
4C00
it is outside the device range.
The instruction for the Multiple CPU system which did not be
4C01 correspond with operating system software of the Motion
CPU was executed.
The Motion program (Control program) No. to start is outside
the following range.
Confirm a
• The control program is set
program, and
1 to1024
4C02 correct it to a
• Indirect setting by data register
correct PLC
10000 to 18191
program.
• Indirect setting by motion register
20000 to 28191
There are 33 or more instruction requests to the Motion CPU
from the PLC CPU in S(P).SFCS/S(P).SVST and
4C08
S(P).CHGA sum table simultaneously, and the Motion CPU
cannot process them.
4C09 CPU No. of the instruction cause is injustice.
(Note) : 0000H(Normal)

The error flag (SM0) is turned on an operation error in the case shown below, and an
error code is stored in SD0.
(Note) Corrective
Error code Error factor
action
The CPU No. to be set by "(First I/O NO. of the target
2110
CPU)/16" is specified.
The self CPU by "(First I/O No. of the target CPU)/16" is
2114
specified. Confirm a
The CPU except the Motion CPU by "(First I/O No. of the program, and
2117
target CPU)/16" is specified. correct it to a
4002 Specified instruction is wrong. correct PLC
The instruction is composed of devices except usable program.
4004
devices.
Since 0 to 3DFH, 3E4H is specified by "(First I/O No. of the
4100
target CPU)/16" is specified.
(Note) : 0000H(Normal)

4 - 11
4 MOTION DEDICATED PLC INSTRUCTION

[Program example]
(1) This program starts the Motion program (Control program) No.10 of the Motion CPU No.4.

X0
SP.SFCS H3E3 K10 M0 D0

M0 M1
Normal complete program
M1
Abnormal complete program

(2) This program starts the Motion program (Control program) No.30 and sequence No.200
of the Motion CPU No.4 by indirect setting.

PLC program (PLC CPU side)

X0
SP.SFCS H3E3 K11000 M0 D0

M0 M1
Normal complete program
M1
Abnormal complete program

Motion program (Motion CPU side)

Set the data in the data register of "No. specified with SFCS instruction - 10000".
O0010;
D1000 = 30 ; Motion program No.
D1001 = 200 ; Sequence No.

4 - 12
4 MOTION DEDICATED PLC INSTRUCTION

4.3 Motion Program (Axis designation program) Start Request from The PLC CPU to The
Motion CPU:S(P).SVST (PLC instruction: S(P).SVST )

• Motion program (Axis designation program) start request instruction from the PLC
CPU to the Motion CPU (S(P).SVST)
Usable devices
Setting data

Internal devices MELSECNET/10 Special

Bit Indirectly Index
(Note)

(System, User) File direct J \ function Constant

digit specified register Other
register module K, H
Bit Word specified device Bit Word Z
U \G
(n1)
(S1)

(S2)

(D1)

(D2)
: Usable : Usable partly
(Note) : Setting data except (S1) : Index qualification possible

[Instruction] [Condition] Start request

SP.SVST (n1) (S1) (S2) (D1) (D2)
SP.SVST
Start request
S.SVST S.SVST (n1) (S1) (S2) (D1) (D2)

[Setting data]
Setting data Description Data type
(First I/O No. of the target CPU)/16
(Note-1) 16-bit
(n1) Value to specify actually is the following.
binary
CPU No.2 : 3E1H, CPU No.3 : 3E2H, CPU No.4 : 3E3H
(Note-2)
Axis No.("Jn") to start. Character
(S1)
Q173CPU(N) : J1 to J32/Q172CPU(N) : J1 to J8 sequence
16-bit
(S2) Motion program (Axis designation program) No. to start.
binary
Complete devices
(D1+0) : Device which make turn on for one scan at start accept completion of
instruction.
(D1) Bit
(D1+1) : Device which make turn on for one scan at start accept abnormal
completion of instruction.
("D1+0" also turns on at the abnormal completion.)
16-bit
(D2) Device to store the complete status.
binary
(Note-1) : Motion CPU cannot used CPU No.1 in the Multiple CPU configuration.
(Note-2) : "n" shows the numerical value correspond to axis No..
Q173CPU(N) : Axis No.1 to No.32 (n=1 to 32) / Q172CPU(N) : Axis No.1 to No.8 (n=1 to 8)

4 - 13
4 MOTION DEDICATED PLC INSTRUCTION

[Description]
(1) This instruction is dedicated instruction toward the Motion CPU in the Multiple
CPU system. Errors occurs when it was executed toward the CPU except the
Motion CPU.

(2) Request to start the Motion program (Axis designation program) specified with
(S2).

(3) S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGV/S(P).CHGT/S(P).DDRD/
S(P).DDWR cannot be executed simultaneously toward the CPU executing
S(P).SFCS instruction.
When the Motion dedicated PLC instruction is started continuously, It is necessary
to take an inter-lock by the to self CPU high speed interrupt accept flag from
CPUn.

(4) It is necessary to take an inter-lock by the start accept flag of the shared CPU
memory so that multiple instructions may not be executed toward the same axis of
the same Motion CPU No..

[Operation]
PLC program END END END END t

S(P).SVST execution
ON

S(P).SVST instruction OFF

ON
To self CPU high speed interrupt
accept flag from CPUn OFF
ON

Start accept flag (axis) OFF

Motion program Motion program execution

(Axis designation program)
ON
Instruction start OFF
accept complete device
(D1+0)
ON : Abnormal completion only
State display device(D1+1)
at the instruction start OFF
accept completion
Instruction accept 1 scan
completion at the
Motion CPU side

(1) The start accept status of each axis can be confirmed with the start accept flag in
the shared CPU memory of target CPU.

4 - 14
4 MOTION DEDICATED PLC INSTRUCTION

(2) S(P).SVST instruction accepting and normal/abnormal completion can be

confirmed with the complete device(D1) or status display device(D2) at the
completion.
(a) Complete device
It is turned on by the END processing of scan which the instruction
completed, and turned off by the next END processing.

(b) Status display device at the completion

It is turned on/off according to the status of the instruction completion.
Normal completion : OFF
Abnormal completion : It is turned on by the END processing of scan
which the instruction completed, and turned off by
the next END processing.

[Setting range]
(1) Setting of the starting axis
The starting axis set as (S1) sets J + Axis No. in a character sequence " ".

(S1) usable range

Q173CPU(N) 1 to 32
Q172CPU(N) 1 to 8

Up to 8 axes can be set. If multiple axes are set, it sets without dividing in a
space etc,.
The axis No. set in the system setting (Refer to Section 6.1) is used as the axis
No. to start.
And, the axis No. to start does not need to be a order.

Example) When multiple axes (Axis1, Axis2, Axis10, Axis11)are set.

"J1J2J10J11"

(2) Setting of the Motion program (Axis designation program) No.

The usable range of axis designation program No. to set (S2) is checked in the
Motion CPU side.
(a) The control program No. is set
The specified axis designation program is started.
In this case, axis designation program is executed from the first block.

(S2) usable range

1 to 1024

4 - 15
4 MOTION DEDICATED PLC INSTRUCTION

(b) The sequence No. (N****) / parameter block No. in the control program is set
It can be started in the middle of program.
1) Indirect setting by data register
D((S2) – 10000) : The axis designation program No. stored in
the data register (Motion CPU side) is started.
D((S2) – 10000 + 1) : The sequence No. stored in the data register
(Motion CPU side) is started.
D((S2) – 10000 + 2) : The parameter block No. stored in the data
register (Motion CPU side) is started.

(S2) usable range

10000 to 18191

2) Indirect setting by motion register

#((S2) – 20000) : The axis designation program No. stored in the
motion register (Motion CPU side) is started.
#((S2) – 20000 + 1) : The sequence No. stored in the motion register
(Motion CPU side) is started.
#((S2) – 20000 + 2) : The parameter block No. stored in the motion
register (Motion CPU side) is started.

(S2) usable range

20000 to 28191

[Start accept flag (System area)]

The complete status of the start accept flag is stored in the address of the start accept
flag in the shared CPU memory.
Shared CPU memory
address Description
( ) is decimal address
The start accept flag is stored by the 1 to 32 axis, each bit.
(As for a bit's actually being set Q173CPU(N) : J1 to J32/
Q172CPU(N) : J1 to J8.)
OFF : Start accept flag usable
204H(516)
ON : Start accept flag disable
205H(517) b15 b1 b0

204H(516) address J16 J2 J1

205H(517) address J32 J17

4 - 16
4 MOTION DEDICATED PLC INSTRUCTION

[Errors]
The abnormal completion in the case shown below, and the error code is stored in the
device specified with the complete status storing device (D2).
Complete status (Note)
Error factor Corrective action
(Error code)(H)
The specified device cannot be used in the Motion
4C00
CPU. Or, it is outside the device range.
The instruction for the Multiple CPU system which did
4C01 not be correspond with operating system software of
the Motion CPU was executed.
The Motion program (Axis designation program) No. to
start is outside the following range.
• The control program is set
1 to 1024 Confirm a program,
4C03 and correct it to a
• Indirect setting by data register
10000 to 18191 correct PLC
• Indirect setting by motion register program.
20000 to 28191
4C04 Axis No. set by SVST instruction is injustice.
There are 33 or more instruction requests to the
Motion CPU from the PLC CPU in S(P).SFCS,
4C08
S(P).SVST and S(P).CHGA sum table simultaneously,
and the Motion CPU cannot process them.

4C09 CPU No. of the instruction cause is injustice.

(Note) : 0000H(Normal)

The error flag (SM0) is turned on an operation error in the case shown below, and an
error code is stored in SD0.
(Note)
Error code Error factor Corrective action

The CPU No. to be set by "(First I/O NO. of the target

2110
CPU)/16" is specified.

The self CPU is by "(First I/O No. of the target

2114
CPU)/16" is specified. Confirm a program,
The CPU except the Motion CPU by "(First I/O No. of and correct it to a
2117 correct PLC
the target CPU)/16" is specified.
program.
The instruction be composed of devices except
4004
usable devices.
Since 0 to 3DFH, 3E4H is specified by "(First I/O No.
4100
of the target CPU)/16" is specified.

(Note) : 0000H(Normal)

4 - 17
4 MOTION DEDICATED PLC INSTRUCTION

[Program example]
(1) Program which requests to start the Motion program (Axis designation program) No.10
toward axis No.1 and No.2 of the Motion CPU No.4. from the PLC CPU No.1.

To self CPU Start accept flag Start accept flag

high speed of the axis No.1 of the axis No.2
interrupt accept (CPU No.4) (CPU No.4)
flag from CPU U3E3 U3E3
U3E3 \G516.0 \G516.1
\G48.0
M100
SP.SVST H3E3 "J1J2" K10 M0 D0

RST M100
M0 M1
Normal complete program
M1
Abnormal complete program

(2) Program which requests to start the Motion program (Axis designation program) No.20,
sequence No. 100 and parameter block No.30 toward axis No.1 and No.2 of the Motion
CPU No.4 by indirect setting from the PLC CPU No.1.
Sequence program (PLC CPU side)
To self CPU Start accept flag Start accept flag
high speed of the axis No.1 of the axis No.2
interrupt accept (CPU No.4) (CPU No.4)
flag from CPU U3E3 U3E3
U3E3 \G516.0 \G516.1
\G48.0
M100
SP.SVST H3E3 "J1J2" K12000 M0 D0

RST M100
M0 M1
Normal complete program
M1
Abnormal complete program

Motion program (Motion CPU side)

Set the data in the data register of "No. specified with SVST instruction - 10000".
O0015;
D2000 = 20; Motion program No.
D2001 = 100; Sequence No.
D2002 = 30; Parameter block No.

4 - 18
4 MOTION DEDICATED PLC INSTRUCTION

4.4 Home position return instruction from The PLC CPU to The Motion CPU:
S(P).CHGA (PLC instruction: S(P).CHGA )

• Home position return instruction from the PLC CPU to the Motion CPU (S(P).CHGA)
Usable devices
Setting data

Internal devices MELSECNET/10 Special

(Note)

Bit Indirectly Index

(System, User) File direct J \ function Constant
digit specified register Other
register module K, H
Bit Word specified device Bit Word Z
U \G
(n1)
(S1)

(S2)

(D1)

(D2)
: Usable : Usable partly
(Note) : Setting data except (S1) : Index qualification possible

[Instruction] [Condition] Start request

SP.CHGA (n1) (S1) (S2) (D1) (D2)
SP.CHGA
Start request
S.CHGA S.CHGA (n1) (S1) (S2) (D1) (D2)

[Setting data]
Setting data Description Data type
(First I/O No. of the target CPU)/16
(Note-1) 16-bit
(n1) Value to specify actually is the following.
binary
CPU No.2 : 3E1H, CPU No.3 : 3E2H, CPU No.4 : 3E3H
(Note-2)
Axis No. ("Jn") to execute the home position return. Character
(S1)
Q173CPU(N) : J1 to J32/Q172CPU(N) : J1 to J8 sequence
32-bit
(S2) Dummy (Set the any of constant etc.)
binary
Complete devices
(D1+0) : Device which make turn on for one scan at start accept completion of
instruction.
(D1) Bit
(D1+1) : Device which make turn on for one scan at start accept abnormal
completion of instruction.
("D1+0" also turns on at the abnormal completion.)
16-bit
(D2) Device to store the complete status.
binary
(Note-1) : Motion CPU cannot used CPU No.1 in the Multiple CPU configuration.
(Note-2) : "n" shows the numerical value which correspond to axis No..
Q173CPU(N) : Axis No.1 to No.32 (n=1 to 32) / Q172CPU(N) : Axis No.1 to No.8 (n=1 to 8)

4 - 19
4 MOTION DEDICATED PLC INSTRUCTION

[Description]
(1) This instruction is dedicated instruction toward the Motion CPU in the Multiple
CPU system. Errors occurs when it was executed toward the CPU except the
Motion CPU.

(2) Execute the home position return of axis (stopped axis) No. specified with (S1) .

(3) S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGV/S(P).CHGT/S(P).DDRD/
S(P).DDWR cannot be executed simultaneously toward the CPU executing
S(P).CHGA instruction.
When the Motion dedicated PLC instruction is started continuously, It is necessary
to take an inter-lock by the to self CPU high speed interrupt accept flag from
CPUn.

(4) It is necessary to take an inter-lock by the start accept flag of the shared CPU
memory so that multiple instructions may not be executed toward the same axis of
the same Motion CPU No..

[Operation]

PLC program END END END END t

S(P).CHGA execution
ON

S(P).CHGA instruction OFF

ON
To self CPU high speed interrupt
accept flag from CPUn OFF
ON Home position
return completion
Start accept flag (axis) OFF

Home position return Home position return

ON
Instruction start OFF
accept complete device
(D1+0)
ON : Abnormal completion only
State display device (D1+1)
at the instruction start OFF
accept completion
Instruction accept 1 scan
completion at the
Motion CPU side

(1) The start accept status of each axis can be confirmed with the start accept flag in
the shared CPU memory of target CPU.

(2) S(P).CHGA instruction accepting and normal/abnormal completion can be

confirmed with the complete device (D1) or status display device (D2) at the
completion.
(a) Complete device
It is turned on by the END processing of scan which the instruction
completed, and turned off by the next END processing.

4 - 20
4 MOTION DEDICATED PLC INSTRUCTION

(b) Status display device at the completion

It is turned on/off according to the status of the instruction completion.
Normal completion : OFF
Abnormal completion : It is turned on by the END processing of scan
which the instruction completed, and turned off by
the next END processing.

[Setting range]
(1) Setting of axis to execute the home position return.
The starting axis set as (S1) sets J + Axis No. in a character sequence " ".

(S1) usable range

Q173CPU(N) 1 to 32
Q172CPU(N) 1 to 8

The number of axes which can set are only 1 axis.

The axis No. set in the system setting (Refer to Section 6.1) is used as the axis
No. to start.

[Start accept flag (System area)]

The complete status of the start accept flag is stored in the address of the start accept
flag in the shared CPU memory.
Shared CPU memory
address Description
( ) is decimal address
The start accept flag is stored by the 1 to 32 axis, each bit.
(As for a bit's actually being set Q173CPU(N) : J1 to J32/
Q172CPU(N) : J1 to J8.)
OFF : Start accept flag usable
204H(516)
ON : Start accept flag disable
205H(517) b15 b1 b0

204H(516) address J16 J2 J1

205H(517) address J32 J17

4 - 21
4 MOTION DEDICATED PLC INSTRUCTION

[Errors]
The abnormal completion in the case shown below, and the error code is stored in the
device specified with the complete status storing device (D2).
Complete status (Note)
Error factor Corrective action
(Error code)(H)
The specified device cannot be used in the Motion
4C00
CPU. Or, it is outside the device range.
The instruction for the Multiple CPU system which did
4C01 not be correspond with operating system software of
Confirm a program,
the Motion CPU was executed.
and correct it to a
4C05 Axis No. set by CHGA instruction is injustice.
correct PLC
There are 33 or more instruction requests to the
program.
Motion CPU from the PLC CPU in S(P).SFCS,
4C08
S(P).SVST and S(P).CHGA sum table simultaneously,
and the Motion CPU cannot process them.
4C09 CPU No. of the instruction cause is injustice.
(Note) : 0000H(Normal)

The error flag (SM0) is turned on an operation error in the case shown below, and an
error code is stored in SD0.
(Note)
Error code Error factor Corrective action

The CPU No. to be set by "(First I/O NO. of the target

2110
CPU)/16" is specified.

The self CPU by "(First I/O No. of the target CPU)/16"

2114
is specified.
Confirm a program,
The CPU except the Motion CPU by "(First I/O No. of and correct it to a
2117
the target CPU)/16" is specified. correct PLC
program.
The instruction is composed of devices except usable
4004
devices.

Since 0 to 3DFH, 3E4H by "(First I/O No. of the target

4100
CPU)/16" is specified.

(Note) : 0000H(Normal)

4 - 22
4 MOTION DEDICATED PLC INSTRUCTION

[Program example]
Program which execute the home position return of the axis No.1 of the Motion CPU
(CPU No.4) from PLC CPU (CPU No.1).

To self CPU Start accept flag

high speed of the axis No.1
interrupt accept (CPU No.4)
flag from CPU U3E3 dummy
U3E3 \G516.0
\G48.0
M100
SP.CHGA H3E3 "J1" K10 M0 D0

RST M100
M0 M1
Normal complete program
M1
Abnormal complete program

4 - 23
4 MOTION DEDICATED PLC INSTRUCTION

4.5 Speed Change Instruction from The PLC CPU to The Motion CPU:
S(P).CHGV (PLC instruction: S(P).CHGV )

• Speed change instruction (S(P).CHGV)

Usable devices
Setting data

Internal devices MELSECNET/10 Special

Bit Indirectly Index
(Note)

(System, User) File direct J \ function Constant

digit specified register Other
register module K, H
Bit Word specified device Bit Word Z
U \G
(n1)
(S1)

(S2)

(D1)

(D2)
: Usable : Usable partly
(Note) : Setting data except (S1) : Index qualification possible

[Instruction] [Condition] Start request

SP.CHGV (n1) (S1) (S2) (D1) (D2)
SP.CHGV
Start request
S.CHGV S.CHGV (n1) (S1) (S2) (D1) (D2)

[Setting data]
Setting data Description Data type
(First I/O No. of the target CPU)/16
(Note-1) 16-bit
(n1) Value to specify actually is the following.
binary
CPU No.2 : 3E1H, CPU No.3 : 3E2H, CPU No.4 : 3E3H
(Note-2)
Axis No.("Jn") to execute the speed change. Character
(S1)
Q173CPU(N) : J1 to J32/Q172CPU(N) : J1 to J8 sequence
32-bit
(S2) Setting of the current value to change.
binary
Complete devices
(D1+0) : Device which make turn on for one scan at start accept completion of
instruction.
(D1) Bit
(D1+1) : Device which make turn on for one scan at start accept abnormal
completion of instruction.
("D1+0" also turns on at the abnormal completion.)
16-bit
(D2) Device to store the complete status.
binary
(Note-1) : Motion CPU cannot used CPU No.1 in the Multiple CPU configuration.
(Note-2) : "n" shows the numerical value which correspond to axis No..
Q173CPU(N) : Axis No.1 to No.32 (n=1 to 32) / Q172CPU(N) : Axis No.1 to No.8 (n=1 to 8)

4 - 24
4 MOTION DEDICATED PLC INSTRUCTION

[Description]
(1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU
system. Errors occurs when it was executed toward the CPU except the Motion
CPU.

(2) The speed change is executed of the axis specified with (S1) during positioning or
JOG operating.

(3) S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGV/S(P).CHGT/S(P).DDRD/
S(P).DDWR cannot be executed simultaneously toward the CPU executing
S(P).CHGV instruction.
When the Motion dedicated PLC instruction is started continuously, It is necessary
to take an inter-lock by the to self CPU high speed interrupt accept flag from
CPUn.

(4) It is necessary to take an inter-lock by the speed changing flag of the shared CPU
memory so that multiple instructions may not be executed toward the same axis of
the same Motion CPU No..

[Operation]
PLC program END END END END t

S(P).CHGV execution
ON

S(P).CHGV instruction OFF

ON
To self CPU high speed interrupt
accept flag from CPUn OFF
ON

Speed changing flag OFF

Speed change Speed change processing

ON
Instruction start OFF
accept complete device
(D1+0)
ON : Abnormal completion only
State display device (D1+1)
at the instruction start OFF
accept completion
Instruction accept 1 scan
completion at the
Motion CPU side

4 - 25
4 MOTION DEDICATED PLC INSTRUCTION

[Setting range]
(1) Setting of axis to execute the speed change.
The axis to execute the speed change set as (S1) sets J + axis No. in a character
sequence " ".
(S1) usable range
Q173CPU(N) 1 to 32
Q172CPU(N) 1 to 8

The number of axes which can set are only 1 axis.

The axis No. set in the system setting (Refer to Section 6.1) is used as the axis
No. to start.

(2) Setting of the speed to change.

mm : -6000000 to 6000000 10-2 [mm/min]
inch : -6000000 to 6000000 10-3 [inch/min]
degree : -2147483648 to 2147483647 10-3 [degree/min]

[Speed changing flag (System area)]

The complete status of the start accept flag is stored in the address of the start accept
flag in the shared CPU memory.
Shared CPU memory
address Description
( ) is decimal address
The start accept flag is stored by the 1 to 32 axis, each bit.
(As for a bit's actually being set Q173CPU(N) : J1 to J32/
Q172CPU(N) : J1 to J8.)
OFF : Start accept usable
206H(518) ON : Start accept disable
207H(519) b15 b1 b0

206H(518) address J16 J2 J1

207H(519) address J32 J17

4 - 26
4 MOTION DEDICATED PLC INSTRUCTION

[Errors]
The abnormal completion in the case shown below, and the error code is stored in the
device specified with the complete status storing device (D2).
Complete status (Note)
Error factor Corrective action
(Error code)(H)
The specified device cannot be used in the Motion
4C00
CPU. Or, it is outside the device range.
Confirm a program,
The instruction for the Multiple CPU system which did
not be correspond with operating system software of and correct it to a
4C01
the Motion CPU was executed. correct PLC
4C06 Axis No. set by CHGV instruction is injustice. program.
4C09 CPU No. of the instruction cause is injustice.
(Note) : 0000H(Normal)

The error flag (SM0) is turned on an operation error in the case shown below, and an
error code is stored in SD0.
(Note)
Error code Error factor Corrective action

The CPU No. to be set by "(First I/O NO. of the target

2110
CPU)/16" is specified.

The self CPU by "(First I/O No. of the target CPU)/16"

2114
is specified.
Confirm a program,
The CPU except the Motion CPU by "(First I/O No. of and correct it to a
2117
the target CPU)/16" is specified. correct PLC
program.
The instruction is composed of devices except usable
4004
devices.

Since 0 to 3DFH, 3E4H by "(First I/O No. of the target

4100
CPU)/16" is specified.

(Note) : 0000H(Normal)

In this following case, the minor error (control change error) occurs, speed change is
not execute. At this time, the error detection flag (M2047 + 20n) of Motion CPU turns
on, an error code is stored in the minor error code area of the applicable axis.
When the axis specified with (S1) is executing the home position return at the
speed change.
When the axis specified with (S1) is executing the deceleration at the speed
change.
When the speed specified with (S2) is outside the range of 0 to speed limit
value.

4 - 27
4 MOTION DEDICATED PLC INSTRUCTION

Moving Backward during Positioning

When a speed change is made to a negative speed by the CHGV instruction, the travel
direction can be changed to the direction opposite to the intended positioning direction.
Operation for each instruction is as follows.
G-code Instruction Operation
G00
G28 (High-speed home position return)
G30 The axis is reversed in travel direction, returns to the positioning start
G53 point at the specified speed, and stops (stands by) there.
G02
G03
G01 The axis is reversed in travel direction, returns to the preceding point at
G32 the specified speed, and stops (waits) there.
G25 Minor error (Error code: 310) (Note) occurs.
G28 (Proximity dog, count, data set, Speed change cannot be
dog cradle, stopper and limit switch made. Minor error (Error code: 301) (Note) occurs.
combined type home position return)
Speed change to negative
speed is not made.
JOG operation Minor error (Error code: 305) (Note) occurs.
Speed is controlled at speed
limit value.
(Note) : Minor error (Error code: 301) : Speed change was made during home position return.
Minor error (Error code: 305) : Preset speed is outside the range of 0 to speed limit value.
Minor error (Error code: 310) : Speed change was made during high-speed oscillation.

[Description]
(1) When a speed change is made to negative speed, speed is controlled as listed
above according to the G-code in execution.

(2) The backing command speed is the absolute value of the new speed. If it exceeds
the speed limit value, a minor error (Error code: 305) occurs and the speed is
controlled at the speed limit value.

4 - 28
4 MOTION DEDICATED PLC INSTRUCTION

(3) When the axis is standing by at the return position

(a) Signal states
• Start accept (M2001 + 20n) ON
(Remains unchanged from before
execution of CHGV)
• Positioning start completion (M2400 + 20n) ON
(Remains unchanged from before
execution of CHGV)
• Positioning completion (M2401 + 20n) OFF

• In-position (M2402 + 20n) ON

• Command in-position (M2403 + 20n) OFF

• Speed change "0" accepting flag (M2240 + n) ON

(b) When re-starting, make a speed change to positive speed.

(c) When positioning is end, turn on the stop command.

(d) When a negative speed change is executed again after negative speed
completion, CHGV instruction is ignored.

(4) When the complete round is set in G02, G03, do not execute the negative speed
change by CHGV instruction.

4 - 29
4 MOTION DEDICATED PLC INSTRUCTION

[Operation Example under G01]

[ Motion program ]

Locus

O10;
Y-axis
G90;
N1 G01 X10000. Y0 F1000. ; N3
N2 Y10000. ;
N3 X10000. ; P2 P3
M02;
%
N2
Negative speed change

N1 P1
Starting point X-axis

Stat request SVST

Start accept M2001+n

Speed change request

CHGV
-1000 1000
Change speed

Combined speed

Waiting at P1
Return operation to point P1

Command in-position
(OFF)
Speed change "0"
accepting flag

When a speed change is made to negative speed during positioning to P2 in the N2

block as shown above, the axis returns to P1 along the track specified in the program
and stands by at P1.
(1) A speed change to negative speed is invalid (ignored), even if it is made again
during the standby after returning to P1.
.
(2) The start accept flag (M2001+n) remains ON during the standby in P1.Turn on the
stop command to end the positioning at this point.

(3) A speed change to negative speed is ignored if it is made during stop by the
waiting for FIN using the M-code FIN signal waiting function in the constant-speed
control.

4 - 30
4 MOTION DEDICATED PLC INSTRUCTION

(4) In the above example, the axis returns to P2 even if the axis passes through P2
during a speed change made to negative speed immediately before P2.

Y-axis
P2 P3

Start point P1 X-axis

[Program example]
Program which changes the positioning speed of the axis No.1 of the Motion CPU
(CPU No.4) from PLC CPU (CPU No.1) to 1000.

To self CPU Speed changing flag

high speed of the axis No.1
interrupt accept (CPU No.4)
flag from CPU U3E3
U3E3 \G518.0
\G48.0
M100
SP.CHGV H3E3 "J1" K1000 M0 D0

RST M100

M0 M1
Normal complete program
M1
Abnormal complete program

4 - 31
4 MOTION DEDICATED PLC INSTRUCTION

4.6 Torque Limit Value Change Request Instruction from The PLC CPU to The Motion CPU:
S(P).CHGT (PLC instruction: S(P) .CHGT )

• Torque limit value change request instruction from the PLC CPU to the Motion CPU
(S(P).CHGT)
Usable devices
Setting data

Internal devices MELSECNET/10 Special

Bit Indirectly Index
(Note)

(System, User) File direct J \ function Constant

digit specified register Other
register module K, H
Bit Word specified device Bit Word Z
U \G
(n1)
(S1)

(S2)

(D1)

(D2)
: Usable : Usable partly
(Note) : Setting data except (S1) : Index qualification possible

[Instruction] [Condition] Start request

SP.CHGT (n1) (S1) (S2) (D1) (D2)
SP.CHGT
Start request
S.CHGT S.CHGT (n1) (S1) (S2) (D1) (D2)

[Setting data]
Setting data Description Data type
(First I/O No. of the target CPU)/16
(Note-1) 16-bit
(n1) Value to specify actually is the following.
binary
CPU No.2 : 3E1H, CPU No.3 : 3E2H, CPU No.4 : 3E3H
(Note-2)
Axis No.("Jn") to execute the torque limit value change. Character
(S1)
Q173CPU(N) : J1 to J32/Q172CPU(N) : J1 to J8 sequence
16-bit
(S2) Setting of the torque limit value change to change.
binary
Complete devices
(D1+0) : Device which make turn on for one scan at start accept completion of
instruction.
(D1) Bit
(D1+1) : Device which make turn on for one scan at start accept abnormal
completion of instruction.
("D1+0" also turns on at the abnormal completion.)
16-bit
(D2) Device to store the complete status.
binary
(Note-1) : Motion CPU cannot used CPU No.1 in the Multiple CPU configuration.
(Note-2) : "n" shows the numerical value which correspond to axis No..
Q173CPU(N) : Axis No.1 to No.32 (n=1 to 32) / Q172CPU(N) : Axis No.1 to No.8 (n=1 to 8)

4 - 32
4 MOTION DEDICATED PLC INSTRUCTION

[Description]
(1) This instruction is dedicated instruction toward the Motion CPU in the Multiple
CPU system. Errors occurs when it was executed toward the CPU except the
Motion CPU.

(2) The torque limit value of the axis specified with (S1) is changed to the value of
(S2) regardless of the state of during operating or stopping.

(3) S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGV/S(P).CHGT/S(P).DDRD/
S(P).DDWR cannot be executed simultaneously toward the CPU executing
S(P).CHGT instruction.
When the Motion dedicated PLC instruction is started continuously, It is necessary
to take an inter-lock by the to self CPU high speed interrupt accept flag from
CPUn.

[Operation]
PLC program END END END END t

S(P).CHGT execution
ON

S(P).CHGT instruction OFF

ON
To self CPU high speed interrupt
accept flag from CPUn OFF

Torque limit value change Torque limit value change processing

ON
Instruction start accept OFF
complete device (D1+0)

ON : Abnormal completion only

State display device (D1+1)
at the instruction start OFF
accept completion
Instruction accept 1 scan
completion at the
Motion CPU side

[Setting range]
(1) Setting of the axis to execute the torque limit value change.
The axis to execute the torque limit change set as (S1) sets J + axis No. in a
character sequence " ".
(S1) usable range
Q173CPU(N) 1 to 32
Q172CPU(N) 1 to 8

The number of axes which can set are only 1 axis.

The axis No. set in the system setting (Refer to Section 6.1) is used as the axis
No. to start.

(2) Setting of the torque limit value to change.

(S2) usable range
1 to 500
4 - 33
4 MOTION DEDICATED PLC INSTRUCTION

[Errors]
The abnormal completion in the case shown below, and the error code is stored in the
device specified with the complete status storing device (D2).
Complete status (Note)
Error factor Corrective action
(Error code)(H)
The specified device cannot be used in the Motion
4C00
CPU. Or, it is outside the device range.
Confirm a program,
The instruction for the Multiple CPU system which did
not be correspond with operating system software of and correct it to a
4C01
the Motion CPU was executed. correct PLC
4C07 Axis No. set by CHGT instruction is injustice. program.
4C09 CPU No. of the instruction cause is injustice.
(Note) : 0000H(Normal)

The error flag (SM0) is turned on an operation error in the case shown below, and an
error code is stored in SD0.
(Note)
Error code Error factor Corrective action

The CPU No. to be set by "(First I/O NO. of the target

2110
CPU)/16" is specified.

The self CPU by "(First I/O No. of the target CPU)/16"

2114
is specified. Confirm a program,
The CPU except the Motion CPU by "(First I/O No. of and correct it to a
2117 correct PLC
the target CPU)/16" is specified.
program.
The instruction is composed of devices except usable
4004
devices.
Since 0 to 3DFH, 3E4H by "(First I/O No. of the target
4100
CPU)/16" is specified.

(Note) : 0000H(Normal)

[Program example]
Program which changes the torque limit value of the axis No.1 of the Motion CPU
(CPU No.4) from PLC CPU (CPU No.1) to 10[%].

To self CPU
high speed
interrupt accept
flag from CPU
U3E3
\G48.0
M100
SP.CHGT H3E3 "J1" K10 M0 D0

RST M100
M0 M1
Normal complete program
M1
Abnormal complete program

4 - 34
4 MOTION DEDICATED PLC INSTRUCTION

4.7 Write from The PLC CPU to The Motion CPU: S(P).DDWR (PLC instruction:
S(P) .DDWR )

• Write instruction from the PLC CPU to the Motion CPU (S(P).DDWR)
Usable devices
Setting data

Internal devices MELSECNET/10 Special

Bit Indirectly Index
(Note)

(System, User) File direct J \ function Constant

digit specified register Other
register module K, H
Bit Word specified device Bit Word Z
U \G
(n1)
(S1)

(S2)

(D1)

(D2)
: Usable : Usable partly
(Note) : Setting data (n1) to (D2) : Index qualification possible

[Instruction] [Condition] Start request

SP.DDWR (n1) (S1) (S2) (D1) (D2)
SP.DDWR
Start request
S.DDWR S.DDWR (n1) (S1) (S2) (D1) (D2)

[Data to be set]
Set data Description Data type
(First I/O No. of the target CPU)/16
(Note-1) 16-bit
(n1) Value to specify actually is the following.
binary
CPU No.1 : 3E0H, CPU No.2 : 3E1H, CPU No.3 : 3E2H, CPU No.4 : 3E3H
(S1) First device of the self CPU in which control data is stored.
16-bit
(S2) First device of the self CPU in which writing data is stored.
binary
(D1) First device of the target Motion CPU which stores the writing data.
(D2) Bit device which make turn on for one scan at completion of instruction. Bit
(Note-1) : Motion CPU cannot used CPU No.1 at the Multiple CPU configuration.

[Control data]
Setting
Device Item Setting data Set by
range
The condition result at the completion of the
instruction is stored.
S1+0 Complete status — System
0 : No error (Normal completion)
Except 0 : Error code
Number of writing
S1+1 Set the number of writing data 1 to 16 User
data

4 - 35
4 MOTION DEDICATED PLC INSTRUCTION

[Controls]
(1) This instruction is dedicated instruction toward the Motion CPU in the Multiple
CPU system. Errors occurs when it was executed toward the CPU except the
Motion CPU.
A part for the number of writing data of the control data specified with (S1) of data
since the device specified with (S2) of the self CPU are stored to since the word
device specified with (D1) of the target CPU (n1) in the Multiple CPU system.

(2) Figure specification of the bit device is possible for (S2) and (D1). However, figure
specification is 4 figures and a start bit device number is only the multiple of 16. It
becomes INSTRCT CODE ERROR [4004] when other values are specified.

(3) If the target CPU is not instruction acceptable condition, even if the S(P).DDWR
instruction is executed, it may not be processed. In this case, it is necessary to
execute the S(P).DDWR instruction again.
(S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGV/S(P).CHGT/S(P).DDRD/
S(P).DDWR cannot be executed simultaneously toward the CPU executing
S(P).DDWR instruction.). It can be confirmed by data in the shared CPU memory
of the target CPU (Motion CPU) whether the instruction is acceptable or not.
When the Motion dedicated PLC instruction is started continuously, it is must be
design to execute next instruction after executing instruction complete device on.

(4) The target CPU device range check is not executed with self CPU at the
S(P).DDWR instruction execution, but it checks by the target CPU side, and it
becomes abnormal completion at the device range over.

(5) S(P).DDWR instruction accepting and normal/abnormal completion can be

confirmed with the complete device (D1) or status display device (D2) at the
completion.
(a) Complete device
It is turned on by the END processing of scan which the instruction
completed, and turned off by the next END processing.

(b) Status display device at the completion

It is turned on/off according to the status of the instruction completion.
Normal completion : OFF
Abnormal completion : It is turned on by the END processing of scan
which the instruction completed, and turned off by
the next END processing.

(6) SM390 turns on when the target CPU specified with (n1) complete to accept.
SM390 turns off when the target CPU specified with (n1) cannot be write correctly
by the reset status or error factor (5000 to 5999).

4 - 36
4 MOTION DEDICATED PLC INSTRUCTION

[Operation of the self CPU at execution of S(P).DDWR instruction]

First S(P).DDWR Second S(P).DDWR

instruction accept instruction accept
END END END END END
t

To self CPU high speed interrupt ON ON

accept flag from CPUn
(Instruction accept destination OFF
buffer memory) ON
S(P).DDWR instruction OFF
(First)
ON
First S(P).DDWR instruction
complete device OFF

ON : Abnormal completion
State display device at the first
S(P).DDWR instruction OFF
completion OFF : Normal completion
ON
S(P).DDWR instruction
(Second) OFF
ON
Second S(P).DDWR instruction
complete device OFF

ON : Abnormal completion
State display device at the second OFF
S(P).DDWR instruction
completion OFF : Normal completion

First S(P).DDWR Second S(P).DDWR

instruction completion instruction completion
(with response) (with response)
[Errors]
The abnormal completion in the case shown below, and the error code is stored in the
control data (S1+ 0 : Complete status).
(Note)
Complete status
Error factor Corrective action
(Error code)(H)
The specified device cannot be used in the Motion
4C00
CPU. Or, it is outside the device range.
Confirm a
There are 33 or more instruction requests to the Motion program, and
CPU from the PLC CPU in S(P).DDRD and correct it to a
4C08
S(P).DDWR sum table simultaneously, and the Motion correct PLC
CPU cannot process them. program.
4C09 CPU No. of the instruction cause is injustice.

(Note) : 0000H(Normal)

4 - 37
4 MOTION DEDICATED PLC INSTRUCTION

The error flag (SM0) is turned on an operation error in the case shown below, and an
error code is stored in SD0.

Error code (Note) Error factor Corrective action

The CPU No. to be set by "(First I/O NO. of the target

2110
CPU)/16" is specified.

The self CPU by "(First I/O No. of the target CPU)/16"

2114
is specified.

The CPU except the Motion CPU by "(First I/O No. of

2117
the target CPU)/16" is specified.

Confirm a program,
4002 Specified instruction is wrong.
and correct it to a
The instruction is composed of devices except usable correct PLC
4004 program.
devices.

Since 0 to 3DFH, 3E4H is specified by "(First I/O No.

4100
of the target CPU)/16" is specified.

Number of the writing data is except 1 to 16.

4101
Number of writing data exceeds range of the storage
device of the written data.
(Note) : 0000H(Normal)

[Program example]
<Example 1> <Example 2>

Program which stores 10 points worth of the data from D0 of the self Program which stores 10 points worth of the data from D0 of the
CPU (CPU No.1) since D100 of CPU No.2., when X0 is turned on. self CPU (CPU No.1) since D100 of CPU No.2. during turn on X0.

SM400 SM400
MOV K10 D51 MOV K10 D51

X0 X0 M10
SP.DDWR H3E1 D50 D0 D100 M10 SP.DDWR H3E1 D50 D0 D100 M10

M10 M11
Normal complete processing SET M0
M11 M0 M10
Abnormal complete processing RST M0
M10 M11
Normal complete processing
M11
Abnormal complete processing

4 - 38
4 MOTION DEDICATED PLC INSTRUCTION

4.8 Read from The Devices of The Motion CPU: S(P).DDRD (PLC instruction: S(P).DDRD )

• Read instruction from the devices of the Motion CPU : S(P).DDRD

Usable devices
Setting data

Internal devices MELSECNET/10 Special

Bit Indirectly Index
(Note)

(System, User) File direct J \ function Constant

digit specified register Other
register module K, H
Bit Word specified device Bit Word Z
U \G
(n1)
(S1)

(S2)

(D1)

(D2)
: Usable : Usable partly
(Note) : Setting data (n1) to (D2) : Index qualification possible

[Instruction] [Condition] Start request

SP.DDRD (n1) (S1) (S2) (D1) (D2)
SP.DDRD
Start request
S.DDRD S.DDRD (n1) (S1) (S2) (D1) (D2)

[Setting data]
Set data Description Data type
(First I/O No. of the target CPU)/16
(Note-1)
(n1) Value to specify actually is the following.
CPU No.1 : 3E0H, CPU No.2 : 3E1H, CPU No.3 : 3E2H, CPU No.4 : 3E3H 16-bit
(S1) First device of the self CPU in which control data is stored. binary
(S2) First device of the target CPU in which reading data is stored.
(D1) First device of the self CPU which stores the reading data.
(D2) Bit device which make turn on for one scan at completion of instruction. Bit
(Note-1) : Motion CPU cannot used CPU No.1 in the Multiple CPU configuration.

[Control data]
Setting
Device Item Setting data Set by
range
The condition result at the completion of the
instruction is stored.
S1+0 Complete status — System
0 : Not error (Normal completion)
Except 0 : Error code
Number of reading
S1+1 Set the number of reading data. 1 to 16 User
data

4 - 39
4 MOTION DEDICATED PLC INSTRUCTION

[Control]
(1) This instruction is dedicated instruction toward the Motion CPU in the Multiple
CPU system. Errors occurs when it was executed toward the CPU except the
Motion CPU.
A part for the number of reading data of the control data specified with (S1) of
data since the device specified with (S2) in the target CPU (n1) is stored to since
the word device specified with (D1) of the self CPU in the Multiple CPU system.

(2) Figure specification of the bit device is possible for (S2) and (D1). However, figure
specification is 4 figures and a start bit device number is only the multiple of 16. It
becomes INSTRCT CODE ERROR [4004] when other values are specified.

(3) If the target CPU is not instruction acceptable condition, even if the S(P).DDWR
instruction is executed, it may not be processed. In this case, it is necessary to
execute the S(P).DDWR instruction again.
(S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGV/S(P).CHGT/S(P).DDRD/
S(P).DDWR cannot be executed simultaneously toward the CPU executing
S(P).DDWR instruction.). It can be confirmed by data in the shared CPU memory
of the target CPU (Motion CPU) whether the instruction is acceptable or not.
When the Motion dedicated PLC instruction is started continuously, it is must be
design to execute next instruction after executing instruction complete device on.

(4) The target CPU device range check is not executed with self CPU at the
S(P).DDRD instruction execution, but it checks by the target CPU side, and it
becomes abnormal completion at the device range over.

(5) S(P).DDRD instruction accepting and normal/abnormal completion can be

confirmed with the complete device (D1) or status display device (D2) at the
completion.
(a) Complete device
It is turned on by the END processing of scan which the instruction
completed, and turned off by the next END processing.

(b) Status display device at the completion

It is turned on/off according to the status of the instruction completion.
Normal completion : OFF
Abnormal completion : It is turned on by the END processing of scan
which the instruction completed, and turned off by
the next END processing.

(6) SM390 turns on when the target CPU specified with (n1) complete to accept.
SM390 turns off when the target CPU specified with (n1) cannot be write correctly
by the reset status or error factor (5000 to 5999).

4 - 40
4 MOTION DEDICATED PLC INSTRUCTION

[Operation of the self CPU at execution of S(P).DDRD instruction]

First S(P).DDRD Second S(P).DDRD

instruction accept instruction accept
END END END END END
t

To self CPU high speed interrupt ON ON

accept flag from CPUn
(Instruction accept destination OFF
buffer memory) ON
S(P).DDRD instruction
OFF
(First)
ON
First S(P).DDRD instruction
complete device OFF

ON : Abnormal completion
State display device at the first
S(P).DDRD instruction OFF
completion OFF : Normal completion
ON
S(P).DDRD instruction
(Second) OFF
ON
Second S(P).DDRD instruction
complete device OFF

ON : Abnormal completion
State display device at the second OFF
S(P).DDRD instruction
completion OFF : Normal completion

First S(P).DDRD Second S(P).DDRD

instruction completion instruction completion
(with response) (with response)

[Errors]
The abnormal completion in the case shown below, and the error code is stored in the
control data (S1+ 0 : Complete status).
(Note)
Complete status
Error factor Corrective action
(Error code)(H)
The specified device cannot be used in the Motion
4C00
CPU. Or, it is outside the device range.
Confirm a
There are 33 or more instruction requests to the Motion program, and
CPU from the PLC CPU in S(P).DDRD and correct it to a
4C08
S(P).DDWR sum table simultaneously, and the Motion correct PLC
CPU cannot process them. program.
4C09 CPU No. of the instruction cause is injustice.

(Note) : 0000H(Normal)

4 - 41
4 MOTION DEDICATED PLC INSTRUCTION

The error flag (SM0) is turned on an operation error in the case shown below, and an
error code is stored in SD0.

Error code (Note) Error factor Corrective action

The CPU No. to be set by "(First I/O NO. of the target

2110
CPU)/16" is specified.

The self CPU by "(First I/O No. of the target CPU)/16"

2114
is specified.

The CPU except the Motion CPU by "(First I/O No. of

2117
the target CPU)/16" is specified.

Confirm a program,
4002 Specified instruction is wrong.
and correct it to a
The instruction is composed of devices except usable correct PLC
4004 program.
devices.

Since 0 to 3DFH, 3E4H is specified by "(First I/O No.

4100
of the target CPU)/16" is specified.

Number of the writing data is except 1 to 16.

4101
Number of writing data exceeds range of the storage
device of the written data.
(Note) : 0000H(Normal)

[Program example]
<Example 1> <Example 2>

Program which stores 10 points worth of the data from D0 of the CPU Program stores 10 points worth of the data from D0 of the CPU No.2
since D100 of self CPU (CPU No.1), when X0 is turned on. since D100 of self CPU (CPU No.1) during turn on X0.
SM400 SM400
MOV K10 D51 MOV K10 D51
X0 X0 M10
SP.DDRD H3E1 D50 D0 D100 M0 SP.DDRD H3E1 D50 D0 D100 M10

M0 M1
Normal complete processing SET M0
M1 M0 M10
Abnormal complete processing RST M0
M10 M11
Normal complete processing

M11
Abnormal complete processing

4 - 42
5 POSITIONING DEDICATED SIGNALS

5. POSITIONING DEDICATED SIGNALS

The internal signals of the Motion CPU and the external signals to the Motion CPU
are used as positioning signals.

(1) Internal signals

The following five devices of the Motion CPU are used as the internal signals of
the Motion CPU.
• Internal relay (M) .............................. M2000 to M3839 (1840 points)
M4000 to M4719 (720 points)
• Special relay (SP.M) ........................ M9073 to M9079 (7 points)
• Data register (D) .............................. D0 to D1631 (1632 points)
D1650 to D1679 (30 points)
• Motion register (#) ........................... #8000 to #8191 (192 points)
• Special register (SP.D) .................... #9180 to #9201 (22 points)

(2) External signals

The external input signals to the Motion CPU are shown below.
• Upper/lower limit switch input .......... The upper/lower limit of the positioning
range is controlled.
5
• Stop signal ....................................... This signal makes the starting axis stop.
• Proximity dog signal ........................ ON/OFF signal from the proximity dog
• Manual pulse generator input .......... Signal from the manual pulse generator

Configuration between modules

PLC CPU Motion CPU
1) 2)
Device memory Device memory
PLC control Motion control
processor processor
Shared CPU Shared CPU
memory memory

SSCNET
PLC bus
Servo amplifier

Sensor, solenoid, etc. PLC intelligent function Motion control dedicated I/F
(DI/O) module (A/D, D/A, etc.) (DOG signal, manual M M Servomotor
pulse generator)
Note) : Device memory data : 1) = 2)

Fig.5.1 Flow of the internal signals/external signals

5-1
5 POSITIONING DEDICATED SIGNALS

The positioning dedicated devices are shown below.

It indicates the device refresh cycle of the Motion CPU for status signal with the
positioning control, and the device fetch cycle of the Motion CPU for command signal
with the positioning control.
The operation cycle of the Motion CPU is shown below.

Item Q173CPU(N) Q172CPU(N)

Number of control axes Up to 32 axes Up to 8 axes

0.88[ms] / 1 to 4 axes
Operation cycle 1.77[ms] / 5 to 12 axes 0.88[ms] / 1 to 4 axes
(Default) 3.55[ms] / 13 to 24 axes 1.77[ms] / 5 to 8 axes
7.11[ms] / 25 to 32 axes

5.1 Internal Relays

(1) Internal relay list

Device No. Purpose Device No. Purpose
M0 User device M3840 User device
to (2000 points) to (160 points)

M2000 Common device (Status) M4000 Axis I/O signal (Axis status 2)
to (320 points) to (10 points 32 axes )
M2320 Special relay allocated device (Status) M4320 Unusable
to (80 points) to (80 points)
M2400 M4400 Axis I/O siganal
Axis status
(Axis command signal 2)
to (20 points 32 axes) to
(10 points 32 axes)
M3040 M4720
Unusable User device
to to
(32 points) (3472 points)
M8191
M3072 Common device (Command signal)
to (64 points)

M3136 Special relay allocated device

(Command signal)
to (64 points)
M3200
Axis command signal
to
(20 points 32 axes)
M3839

It can be used as a user device.

POINT
• Total number of user device points
5632points

5-2
5 POSITIONING DEDICATED SIGNALS

(2) Axis status list

Axis No. Device No. Signal name
1 M2400 to M2419
2 M2420 to M2439
Signal name Refresh cycle Fetch cycle Signal direction
3 M2440 to M2459
4 M2460 to M2479 0 Positioning start complete
5 M2480 to M2499 1 Positioning complete
Operation cycle Status signal
6 M2500 to M2519 2 In-position
7 M2520 to M2539 3 Command in-position
8 M2540 to M2559 4
Unusable — — —
9 M2560 to M2579 5
10 M2580 to M2599 6 Zero pass Operation cycle
11 M2600 to M2619 7 Error detection Immediate
12 M2620 to M2639 8 Servo error detection Operation cycle
13 M2640 to M2659 9 Home position return request Main cycle
14 M2660 to M2679 10 Home position return complete Operation cycle
15 M2680 to M2699 11 FLS Status signal
16 M2700 to M2719 12 External RLS
Main cycle
17 M2720 to M2739 13 signals STOP
18 M2740 to M2759 14 DOG/CHANGE
19 M2760 to M2779 15 Servo ready
Operation cycle
20 M2780 to M2799 16 Torque limiting
21 M2800 to M2819 17
Unusable — — —
22 M2820 to M2839 18
23 M2840 to M2859 19 M-code outputting signal Operation cycle Status signal
24 M2860 to M2879
25 M2880 to M2899
26 M2900 to M2919
27 M2920 to M2939
28 M2940 to M2959
29 M2960 to M2979
30 M2980 to M2999
31 M3000 to M3019
32 M3020 to M3039
(Note-1): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-2): Device area of 9 axes or more is unusable in the Q172CPU(N).

5-3
5 POSITIONING DEDICATED SIGNALS

(3) Axis command signal list

Axis No. Device No. Signal name
1 M3200 to M3219
2 M3220 to M3239 Signal
Signal name Refresh cycle Fetch cycle
3 M3240 to M3259 direction
4 M3260 to M3279 0 Stop command
Operation cycle
5 M3280 to M3299 1 Rapid stop command
Command
6 M3300 to M3319 2 Forward rotation JOG start command
signal
7 M3320 to M3339 3 Reverse rotation JOG start command Main cycle
8 M3340 to M3359 4 Complete signal OFF command
9 M3360 to M3379 5
Unusable — — —
10 M3380 to M3399 6
11 M3400 to M3419 7 Error reset command
Main cycle
12 M3420 to M3439 8 Servo error reset command Command
13 M3440 to M3459 External stop input disable at start signal
9 At start
14 M3460 to M3479 command
15 M3480 to M3499 10
16 M3500 to M3519 11
17 M3520 to M3539 12 Unusable — — —
18 M3540 to M3559 13
19 M3560 to M3579 14
20 M3580 to M3599 Command
15 Servo OFF command Operation cycle
21 M3600 to M3619 signal
22 M3620 to M3639 16
23 M3640 to M3659 17 Unusable — — —
24 M3660 to M3679 18
25 M3680 to M3699 Command
19 FIN signal Operation cycle
26 M3700 to M3719 signal
27 M3720 to M3739
28 M3740 to M3759
29 M3760 to M3779
30 M3780 to M3799
31 M3800 to M3819
32 M3820 to M3839
(Note-1): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-2): Device area of 9 axes or more is unusable in the Q172CPU(N).

5-4
5 POSITIONING DEDICATED SIGNALS

(4) Axis status 2 list

Axis No. Device No. Signal name
1 M4000 to M4009
2 M4010 to M4019
Signal name Refresh cycle Fetch cycle Signal direction
3 M4020 to M4029
4 M4030 to M4039 0
Unusable — — —
5 M4040 to M4049 1
6 M4050 to M4059 2 Automatic start
Operation cycle Status signal
7 M4060 to M4069 3 Temporary stop
8 M4070 to M4079 4
9 M4080 to M4089 5
10 M4090 to M4099 6 Unusable — — —
11 M4100 to M4109 7
12 M4110 to M4119 8
(note-1)
13 M4120 to M4129 9 Unusable — — —
14 M4130 to M4139 M4009 : Single block processing signal
15 M4140 to M4149
16 M4150 to M4159
17 M4160 to M4169
18 M4170 to M4179
19 M4180 to M4189
20 M4190 to M4199
21 M4200 to M4209
22 M4210 to M4219
23 M4220 to M4229
24 M4230 to M4239
25 M4240 to M4249
26 M4250 to M4259
27 M4260 to M4269
28 M4270 to M4279
29 M4280 to M4289
30 M4290 to M4299
31 M4300 to M4309
32 M4310 to M4319
(Note-1): At single block mode, only M4009 is used single block processing signal.
(Note-2): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-3): Device area of 9 axes or more is unusable in the Q172CPU(N).

5-5
5 POSITIONING DEDICATED SIGNALS

(5) Axis command signal 2 list

Axis No. Device No. Signal name
1 M4400 to M4409
2 M4410 to M4419 Signal
Signal name Refresh cycle Fetch cycle
3 M4420 to M4429 direction
4 M4430 to M4439 0 Temporary stop command
5 M4440 to M4449 1 Optional program stop command
6 M4450 to M4459 2 Optional block skip command
7 M4460 to M4469 3 Single block command Command
Operation cycle
8 M4470 to M4479 4 Re-start command signal
9 M4480 to M4489 5 Override ratio valid/invalid
10 M4490 to M4499 6 Axis interlock (Forward)
11 M4500 to M4509 7 Axis interlock (Reverse)
12 M4510 to M4519 8 (Note-1)
Unusable — — —
13 M4520 to M4529 9
14 M4530 to M4539 M4408 : Single block mode signal
15 M4540 to M4549 M4409 : Single block start signal
16 M4550 to M4559 M4418 : Axis interlock valid/invalid
17 M4560 to M4569
18 M4570 to M4579
19 M4580 to M4589
20 M4590 to M4599
21 M4600 to M4609
22 M4610 to M4619
23 M4620 to M4629
24 M4630 to M4639
25 M4640 to M4649
26 M4650 to M4659
27 M4660 to M4669
28 M4670 to M4679
29 M4680 to M4689
30 M4690 to M4699
31 M4700 to M4709
32 M4710 to M4719

(Note-1): M4408 (single block mode signal) and M4409 (single block start signal) are used in the single block operation.
M4418 (axis interlock valid/invalid) is used in the axis interlock (forward)/(reverse).
(Note-2): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-3): Device area of 9 axes or more is unusable in the Q172CPU(N).

5-6
5 POSITIONING DEDICATED SIGNALS

(6) Common device list

Device Signal Remark Device Signal Remark
Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle
No. direction (Note-4) No. direction (Note-4)

Command Status
M2054 Operation cycle over flag Operation cycle
M2000 PLC ready flag Main cycle signal M3072 signal
(Note-1) M2055
M2001 Axis 1 M2056
M2002 Axis 2 M2057 Unusable
— — — —
M2003 Axis 3 M2058 (6 points)
M2004 Axis 4 M2059
M2005 Axis 5 M2060
M2006 Axis 6 M2061 Axis 1
M2007 Axis 7 M2062 Axis 2
M2008 Axis 8 M2063 Axis 3
M2009 Axis 9 M2064 Axis 4
M2010 Axis 10 M2065 Axis 5
M2011 Axis 11 M2066 Axis 6
M2012 Axis 12 M2067 Axis 7
M2013 Axis 13 M2068 Axis 8
M2014 Axis 14 M2069 Axis 9
M2015 Axis 15 Status M2070 Axis 10
M2016 Axis 16 signal M2071 Axis 11
Start accept flag Operation cycle
M2017 Axis 17 (Note-1), M2072 Axis 12
M2018 Axis 18 (Note-2) M2073 Axis 13
M2019 Axis 19 M2074 Axis 14
M2020 Axis 20 M2075 Axis 15
Status
M2021 Axis 21 M2076 Axis 16
Speed changing flag Operation cycle signal
M2022 Axis 22 M2077 Axis 17
(Note-2)
M2023 Axis 23 M2078 Axis 18
M2024 Axis 24 M2079 Axis 19
M2025 Axis 25 M2080 Axis 20
M2026 Axis 26 M2081 Axis 21
M2027 Axis 27 M2082 Axis 22
M2028 Axis 28 M2083 Axis 23
M2029 Axis 29 M2084 Axis 24
M2030 Axis 30 M2085 Axis 25
M2031 Axis 31 M2086 Axis 26
M2032 Axis 32 M2087 Axis 27
M2033 Unusable — — — — M2088 Axis 28
Personal computer link Status M2089 Axis 29
M2034 Operation cycle
communication error flag signal M2090 Axis 30
M2035 M2091 Axis 31
M2036 M2092 Axis 32
M2037 Unusable M2093
— — — —
M2038 (6 points) M2094
M2039 M2095
M2040 M2096
Status M2097
M2041 System setting error flag Operation cycle
signal M2098
Command M2099
M2042 All axes servo ON command Operation cycle Signal M3074 M2100
(Note-1) M2101
M2043 M2102
M2044 Unusable M2103
— — — —
M2045 (4 points) M2104
M2046 M2105 Unusable
— — — —
Status M2106 (26 points)
M2047 Motion slot fault detection flag Operation cycle
signal M2107
Command M2108
JOG operation simultaneous
M2048 Main cycle signal M3076 M2109
start command
(Note-1) M2110
M2049 All axes servo ON accept flag Status M2111
Operation cycle
M2050 Start buffer full signal M2112
Manual pulse generator 1 M2113
M2051 M3077
enable flag M2114
Command
Manual pulse generator 2 M2115
M2052 Main cycle signal M3078
enable flag M2116
(Note-1)
Manual pulse generator 3 M2117
M2053 M3079
enable flag M2118

5-7
5 POSITIONING DEDICATED SIGNALS

Common device list (Continued)

Device Signal Remark Device Signal Remark
Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle
No. direction (Note-4) No. direction (Note-4)

M2119 M2180
M2120 M2181
M2121 M2182
M2122 M2183
Unusable
M2123 — — — — M2184
(9 points)
M2124 M2185
M2125 M2186
M2126 M2187
M2127 M2188
M2128 Axis 1 M2189
M2129 Axis 2 M2190
M2130 Axis 3 M2191
M2131 Axis 4 M2192
M2132 Axis 5 M2193
M2133 Axis 6 M2194
M2134 Axis 7 M2195
M2135 Axis 8 M2196
M2136 Axis 9 M2197
M2137 Axis 10 M2198
M2138 Axis 11 M2199
M2139 Axis 12 M2200
M2140 Axis 13 M2201
M2141 Axis 14 M2202
M2142 Axis 15 M2203
Status
M2143 Axis 16 Automatic M2204
Operation cycle signal
M2144 Axis 17 deceleration flag M2205
(Note-2)
M2145 Axis 18 M2206
M2146 Axis 19 M2207
M2147 Axis 20 M2208
— — — —
M2148 Axis 21 M2209 Unusable
M2149 Axis 22 M2210 (60 points)
M2150 Axis 23 M2211
M2151 Axis 24 M2212
M2152 Axis 25 M2213
M2153 Axis 26 M2214
M2154 Axis 27 M2215
M2155 Axis 28 M2216
M2156 Axis 29 M2217
M2157 Axis 30 M2218
M2158 Axis 31 M2219
M2159 Axis 32 M2220
M2160 M2221
M2161 M2222
M2162 M2223
M2163 M2224
M2164 M2225
M2165 M2226
M2166 M2227
M2167 M2228
M2168 M2229
M2169 Unusable M2230
— — — —
M2170 (20 points) M2231
M2171 M2232
M2172 M2233
M2173 M2234
M2174 M2235
M2175 M2236
M2176 M2237
M2177 M2238
M2178 M2239
M2179

5-8
5 POSITIONING DEDICATED SIGNALS

Common device list (Continued)

Device Signal Remark Device Signal Remark
Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle
No. direction (Note-4) No. direction (Note-4)

M2240 Axis 1 M2280

M2241 Axis 2 M2281
M2242 Axis 3 M2282
M2243 Axis 4 M2283
M2244 Axis 5 M2284
M2245 Axis 6 M2285
M2246 Axis 7 M2286
M2247 Axis 8 M2287
M2248 Axis 9 M2288
M2249 Axis 10 M2289
M2250 Axis 11 M2290
M2251 Axis 12 M2291
M2252 Axis 13 M2292
M2253 Axis 14 M2293
M2254 Axis 15 M2294
Status
M2255 Axis 16 Speed change "0" M2295
Operation cycle signal
M2256 Axis 17 accepting flag M2296
(Note-2)
M2257 Axis 18 M2297
M2258 Axis 19 M2298
M2259 Axis 20 M2299 Unusable
M2260 Axis 21 M2300 (40 points)
— — — —
M2261 Axis 22 M2301
M2262 Axis 23 M2302
M2263 Axis 24 M2303
M2264 Axis 25 M2304
M2265 Axis 26 M2305
M2266 Axis 27 M2306
M2267 Axis 28 M2307
M2268 Axis 29 M2308
M2269 Axis 30 M2309
M2270 Axis 31 M2310
M2271 Axis 32 M2311
M2272 M2312
M2273 M2313
M2274 M2314
M2275 Unusable M2315
— — — —
M2276 (8 points) M2316
M2277 M2317
M2278 M2318
M2279 M2319

5-9
5 POSITIONING DEDICATED SIGNALS

Explanation of the request register

No. Function Bit device Request register

1 PLC ready flag M2000 D704

2 All axes servo ON command M2042 D706

3 JOG operation simultaneous start command M2048 D708

4 Manual pulse generator 1 enable flag M2051 D755

5 Manual pulse generator 2 enable flag M2052 D756

6 Manual pulse generator 3 enable flag M2053 D757

(Note-1): The range of axis No.1 to 8 is valid in the Q172CPU(N).

(Note-2): Device area of 9 axes or more is unusable in the Q172CPU(N).
(Note-3): Handling of D704 to D708 and D755 to D757 registers
Because cannot be turn on/off for every bit from the PLC CPU, the above bit
devices are assigned to D register, and each bit device becomes on with the
lowest rank bit 0 1 of each register, and each bit device becomes off with
1 0.
Use it when the above functions are requested from the PLC CPU using the
S(P).DDRD and S(P).DDWR instruction.
(Note-4): It can also be ordered the device of a remark column.

CAUTION
The data executed later becomes effective when the same device is executed in the Motion
program and PLC program.

5 - 10
5 POSITIONING DEDICATED SIGNALS

(7) Special relay allocated device list (Status)

(Note)
Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark
M2320 Fuse blown detection M9000

M2321 AC/DC DOWN detection M9005

M2322 Battery low Error M9006

M2323 Battery low latch occurrence M9007

M2324 Self-diagnostic error M9008

M2325 Diagnostic error M9010

M2326 Always ON Main M9036

M2327 Always OFF operation M9037

M2328 Clock data error Error M9026

M2329 PCPU WDT error flag occurrence M9073

M2330 PCPU READY complete flag M9074

At request
M2331 Test mode ON flag M9075

Operation
M2332 External forced stop input flag M9076
cycle
Manual pulse generator axis setting
M2333 M9077
error flag
Error Status signal
M2334 TEST mode request error flag occurrence M9078

M2335 Motion program setting error flag M9079

M2336 CPU No.1 reset flag M9240

M2337 CPU No.2 reset flag M9241

M2338 CPU No.3 reset flag M9242

M2339 CPU No.4 reset flag At status M9243

M2340 CPU No.1 error flag change M9244

M2341 CPU No.2 error flag M9245

M2342 CPU No.3 error flag M9246

M2343 CPU No.4 error flag M9247

M2344 Servo parameter reading flag At request M9105

M2345 CPU No.1 MULTR complete flag M9216

M2346 CPU No.2 MULTR complete flag At instruction M9217

M2347 CPU No.3 MULTR complete flag completion M9218

M2348 CPU No.4 MULTR complete flag M9219

M2349

to Unusable — — — —

M2399

(Note) : The same status as a remark column is output.

5 - 11
5 POSITIONING DEDICATED SIGNALS

(8) Common device list (Command signal)

Remark
Device No. Signal name Refresh cycle Fetch cycle Signal direction (Note-1) , (Note-2)

Command
M3072 PLC ready flag Main cycle M2000
signal

M3073 Unusable — — — —
Operation
M3074 All axes servo ON command cycle M2042

JOG operation simultaneous start

M3076 M2048
command Command
signal
M3077 Manual pulse generator 1 enable flag Main cycle M2051

M3078 Manual pulse generator 2 enable flag M2052

M3079 Manual pulse generator 3 enable flag M2053

M3080

to Unusable — — — —

M3135

(Note-1) : The device of a remarks column turns ON by OFF to ON of the above device, and the device of a remarks column turns
OFF by ON to OFF of the above device. The state of a device is not in agreement when the device of a remarks column
is turned on directly. In addition, when the request from a data register and the request from the above device are
performed simultaneously, the request from the above device becomes effective.
(Note-2) : It can also be ordered the device of a remark column.

(9) Special relay allocated device list (Command signal)

Remark
Device No. Signal name Refresh cycle Fetch cycle Signal direction (Note-1), (Note-2)

M3136 Clock data set request M9025

M3137 Clock data read request Command M9028

Main cycle signal
M3138 Error reset M9060

M3139 Servo parameter read request flag M9104

M3140

to Unusable — — — —

M3199

(Note-1) : The device of a remarks column turns ON by OFF to ON of the above device, and the device of a remarks column turns
OFF by ON to OFF of the above device. The state of a device is not in agreement when the device of a remarks column
is turned on directly.
(Note-2) : It can also be ordered the device of a remark column.

5 - 12
5 POSITIONING DEDICATED SIGNALS

5.1.1 Axis statuses

(1) Positioning start complete signal (M2400+20n)

(a) This signal turns on with the start completion for the positioning control of
the axis specified with the Motion program (Axis designation program).
The Motion program (Axis designation program) is started by the following
instructions.
1) SVST instruction of the PLC program
2) CALL, GOSUB/GOSUBE instruction in the Motion program (Control
program)
It does not turn on at the starting using home position return, JOG operation
or manual pulse generator operation.

(b) This signal turns off at turning the complete signal OFF command
(M3204+20n) off to on or positioning completion.
When the complete signal OFF command (M3204+20n) turns off to on.
V
Dwell time

Motion program (Axis

designation program) start ON

Start accept flag (M2001+n) (Note-1) OFF

ON
Positioning start complete OFF
signal (M2400+20n)(Note-1) ON
Complete signal OFF command OFF
(M3204+20n)(Note-1)

When the positioning is completed.

V Dwell time

Positioning completion
t

Motion program (Axis

designation program) start ON
Start accept flag OFF
(M2001+n)(Note-1) ON
Positioning start complete OFF
signal (M2400+20n)(Note-1)

Fig.5.2 ON/OFF timing of the positioning start complete signal

5 - 13
5 POSITIONING DEDICATED SIGNALS

REMARK
(Note-1): In the above descriptions, "n" in"M3204+20n", etc. indicates a value
corresponding to axis No. such as the following tables.
Axis No. n Axis No. n Axis No. n Axis No. n
1 0 9 8 17 16 25 24
2 1 10 9 18 17 26 25
3 2 11 10 19 18 27 26
4 3 12 11 20 19 28 27
5 4 13 12 21 20 29 28
6 5 14 13 22 21 30 29
7 6 15 14 23 22 31 30
8 7 16 15 24 23 32 31

• Calculate as follows for the device No. corresponding to each axis.

(Example) M3200+20n (Stop command)=M3200+20 31=M3820
M3215+20n (Servo OFF) =M3215+20 31=M3835
• The range (n=0 to 7) of axis No.1 to 8 is valid in the Q172CPU(N).

5 - 14
5 POSITIONING DEDICATED SIGNALS

(2) Positioning complete signal (M2401+20n)

(a) This signal turns on with the completion for the positioning control of the
axis specified with the Motion program (Axis designation program).
The Motion program (Axis designation program) is started by the following
instructions.
1) SVST instruction of the PLC program
2) CALL, GOSUB/GOSUBE instruction in the Motion program (Contorl
program)
It does not turn on at the start or stop on the way using home position
return, JOG operation or manual pulse generator operation.
It does not turn on at the stop on the way during positioning.

(b) This signal turns off at turning the complete signal OFF command
(M3204+20n) off to on or positioning start completion.

[Motion program exapmle]

O0001; Program No.
G90 G00 X100. ; Absolute value command PTP positioning (X100.)
X200. ; PTP positioning (X200.)
G00 X300 G04 P500; PTP positioning (X300.), Dwell (500ms)
M02; Reset
%

Dwell

Motion program (Axis

designation program) start
ON
Start accept flag (M2001+n) (Note-1) OFF
ON
Automatic start signal OFF
(M4002+10n) (Note-1)
ON ON
Positioning complete signal OFF
(M2401+20n) (Note-1) ON
Complete signal OFF command OFF
(M3204+20n) (Note-1)

Fig.5.3 ON/OFF timing of the positioning complete signal

5 - 15
5 POSITIONING DEDICATED SIGNALS

(3) In-position signal (M2402+20n)

(a) This signal turns on when the number of droop pulses in the deviation
counter becomes below the "in-position range" set in the servo parameters.
It turns off at the start.

[Motion program exapmle]

O0001; Program No.
G90 G00 X100. ; Absolute value command PTP positioning (X100.)
X200. ; PTP positioning (X200.)
M02; Reset
%

In-position range
Motion program (Axis
designation program) start

Start accept flag (M2001+n)

Automatic start signal
(M4002+10n)
ON
In-position signal (M2402+20n) OFF

(b) An in-position check is performed in the following cases.

• When the servo power supply is turned on.
• After the automatic deceleration is started during positioning control.
• After the deceleration is started with the JOG start signal OFF.
• During the manual pulse generator operation.
• After the proximity dog ON during a home position return.
• After the deceleration is started with the stop command.
• When the speed change to a speed "0" is executed.
• After the deceleration is started with the temporary stop command.

POINT
• If in-position range is longer than the deceleration distance, refer to the following
case.
In-position
range(Note)

Motion program (Axis

designation program) start

Start accept flag(M2001+n)

In-position signal (M2402+20n)

(Note) : If in-position range is longer than the deceleration distance,

in-position signal turns on after deceleration start.

5 - 16
5 POSITIONING DEDICATED SIGNALS

(4) Command in-position signal (M2403+20n)

(a) This signal turns on when the absolute value of difference between the
command position and machine value becomes below the "command in-
position range" set in the fixed parameters.
This signal turns off in the following cases.
• Positioning control start
• Home position return
• JOG operation
• Manual pulse generator operation

(b) Command in-position check is continually performed during positioning

control.

[Motion program example]

O0001; Program No.
G90 G00 X100. ; Absolute value command PTP positioning (X100.)
X200. ; PTP positioning (X200.)
M02; Reset
%

Command
in-position range
Motion program (Axis
designation program) start

Start accept flag (M2001+n)

Automatic start signal
(M4002+10n) (Note-1)
ON
Command in-position signal OFF
(M2403+20n)

5 - 17
5 POSITIONING DEDICATED SIGNALS

POINTS
Example 1, 2 are shown below about in-position signal and command in-position
signal of the interpolation axis.
[Example1]
PLC program Start accept flag
To self CPU Start accept flag of the axis No.2 Start accept flag
high sped of the axis No.1 (CPU No.2) of the axis No.3
interrupt accept (CPU No.2) U3D1\G516.1
Start (CPU No.2)
flag from CPU U3E1\G516.0 U3E1\G516.2
command U3E1\G48.0
SP.SVST H3E1 "J1J2J3" K100 D0

Motion program

O100;

G91;
G00 X100. Y100.;

M02;
%
Operation timing
Command in-position range
Axis X,Y speed
(Z-axis does not travel)
In-position range
G0 travel block
Motion program (Axis
designation program) start

Start accept flag (M2001+n)

In-position signal (M2402+20n)

X
Y
Z

Command in-position signal

(M2403+20n)
X
Y
Z

(1) The in-position signal turns ON by reaching the in-position range of servo
parameter after deceleration start.
Since the Z-axis is stopped in this case, it always turns on immediately after
deceleration start.
Even if the only 2 axes (X,Y) is commanded in the G00 command of Motion
program, when the 3 axes is started by SVST instruction in the PLC program,
the in-position signal turns ON after deceleration start in the Z-axis as X,Y-axis.
(2) The command in-position signal turns ON when the difference between the
command position of Motion program and the absolute position of machine
value is less than the command in-position range set in the fixed parameter.
Since the command of Z-axis is not described in this program, the command in-
position check is not executed during travel of Z-axis and it remains OFF from
start to stop of travel.

5 - 18
5 POSITIONING DEDICATED SIGNALS

POINTS
[Example2]
PLC program Start accept flag
To self CPU of the axis No.2
Start accept flag Start accept flag
high sped (CPU No.2)
of the axis No.1 of the axis No.3
interrupt accept U3D1\G516.1
Start (CPU No.2) (CPU No.2)
flag from CPU
command U3E1\G48.0 U3E1\G516.0 U3E1\G516.2
SP.SVST H3E1 "J1J2J3" K100 D0

Motion program

O100;

G91;
G00 X100. Y100. Z0;
Add the travel value
M02; "0" of Z-axis in the
% Motion program.

Operation timing
Axis X,Y speed Command in-position range
(Z-axis does not travel) In-position range
G0 travel block
Motion program (Axis
designation program) start

Start accept flag (M2001+n)

In-position signal (M2402+20n)

X
Y
Z

Command in-position signal

(M2403+20n)
X
Y
Z

(1) In-position signal is the same as the example 1.

(2) The command in-position check of Z-axis is also executed during axis travel by
addition of the travel value "0" of Z-axis in the Motion program. Therefore, the
command in-position signal of Z-axis turns OFF moment at the travel start,
however it is immediately judged as within the range, and turns ON by
processing of command-in-position check.

5 - 19
5 POSITIONING DEDICATED SIGNALS

(5) Zero pass signal (M2406+20n)

This signal turns on when the zero point is passed after the power supply on of
the servo amplifier.
Once the zero point has been passed, it remains on state until the CPU has
been reset.
However, in the home position return method of proximity dog, count, dog cradle
or limit switch combined type, this signal turns off once at the home position
return start and turns on again at the next zero point passage.

(6) Error detection signal (M2407+20n)

(a) This signal turns on with detection of a minor error or major error, and it is
used as judgement of the error available/not available.
The applicable error code (Note-1) is stored in the minor error code storage
register with detection of a minor error. (Refer to Section 5.2.1)
The applicable error code (Note-2) is stored in the major error code storage
register with detection of a major error. (Refer to Section 5.2.1)

(b) This signal turns off when the error reset command (M3207+20n) turns on.
Error detection
ON

Error detection signal OFF

(M2407+20n)
ON

Error reset command OFF

(M3207+20n)

REMARK
(Note-1): Refer to APPENDIX 2.2 for the error codes with detection of minor errors.
(Note-2): Refer to APPENDIX 2.3 for the error codes with detection of major errors.

(7) Servo error detection signal (M2408+20n)

(a) This signal turns on when an error occurs at the servo amplifier side (except
for errors cause of alarms and emergency stops) (Note-1), and it is used as
judgement of the servo error available/not available.
When an error is detected at the servo amplifier side, the applicable error
code (Note-1) is stored in the servo error code storage register (Refer to
Section 5.2.1).

5 - 20
5 POSITIONING DEDICATED SIGNALS

(b) This signal turns off when the servo error reset command (M3208+20n)
turns on or the servo power supply turns on again.
Servo error detection
ON

Servo error detection signal OFF

(M2408+20n)
ON

Servo error reset command OFF

(M3208+20n)

REMARK
(Note-1): Refer to APPENDIX 2.4 for the error codes on errors detected at the servo
amplifier side.

(8) Home position return request signal (M2409+20n)

This signal turns on when it is necessary to confirm the home position address
at the power supply on or during positioning control.
(a) When not using an absolute position system
1) This signal turns on in the following cases:
• Motion CPU power supply on or reset
• During a home position return
2) This signal turns off by the completion of home position return.

(b) When using an absolute position system

1) This signal turns on in the following cases:
• During a home position return
• Backup data (reference value) sum check error occurrence (power
supply on).
2) This signal turns off by the completion of home position return.
Operation in G28 of the Motion program changes by the ON/OFF of the
home position return request signal.
The axis starts from the current position, passes through the
When home position return request
specified mid point, and returns to the home position at high-
signal is OFF
speed feed rate.
Proximity dog, count, data set, dog cradle, stopper or limit
When home position return request
switch combined type home position return is executed in
signal is ON
accordance with the home position returun data.

CAUTION
When using the absolute position system function, on starting up, and when the Motion
controller or absolute value motor has been replaced, always perform a home position return.
In the case of the absolute position system, use the PLC program to check the home position
return request before performing the positioning operation.
Failure to observe this could lead to an accident such as a collision.

5 - 21
5 POSITIONING DEDICATED SIGNALS

(9) Home position return complete signal (M2410+20n)

(a) This signal turns on when the home position return operation has been
completed normally.

(b) This signal turns off at the positioning start, JOG operation start and manual
pulse generator operation start.

(c) If the home position return of proximity dog, count, dog cradle, stopper or
limit switch cpmbined type is executed using the CHGA instruction during
this signal on, the "continuous home position return start error (minor error:
115)" occurs and it cannot be start the home position return.

(10) FLS signal (M2411+20n)

(a) This signal is controlled by the ON/OFF state for the upper stroke limit
switch input (FLS) of the Q172LX.
• Upper stroke limit switch input OFF ...... FLS signal: ON
• Upper stroke limit switch input ON ........ FLS signal: OFF

(b) The state for the upper stroke limit switch input (FLS) when the FLS signal
is ON/OFF is shown below.
FLS signal : ON FLS signal : OFF
Q172LX Q172LX

FLS FLS
FLS FLS

COM COM

(11) RLS signal (M2412+20n)

(a) This signal is controlled by the ON/OFF state for the lower stroke limit
switch input (FLS) of the Q172LX.
• Lower stroke limit switch input OFF ...... RLS signal: ON
• Lower stroke limit switch input ON ........ RLS signal: OFF

(b) The state of the lower stroke limit switch input (RLS) when the RLS signal is
ON/OFF is shown below.
RLS signal : ON RLS signal : OFF
Q172LX Q172LX
RLS RLS
RLS RLS

COM COM

(12) STOP signal (M2413+20n)

(a) This signal is controlled by the ON/OFF state for the stop signal input
(STOP) of the Q172LX.
• Stop signal of the Q172LX OFF ..... STOP signal: OFF
• Stop signal of the Q172LX ON ....... STOP signal: ON

5 - 22
5 POSITIONING DEDICATED SIGNALS

(b) The state of the stop signal input (STOP) of the Q172LX when the STOP
signal input is ON/OFF is shown below.
STOP signal : ON STOP signal : OFF
Q172LX Q172LX

STOP STOP
STOP STOP

COM COM

(13) DOG/CHANGE signal (M2414+20n)

(a) This signal turns on/off by the proximity dog input (DOG) of the Q172LX at
the home position return.

(b) "Normally open contact input" and "Normally closed contact input" of the
system setting can be selected.

DOG signal : ON DOG signal : OFF

Q172LX Q172LX
DOG
DOG
DOG DOG

COM COM

(14) Servo ready signal (M2415+20n)

(a) This signal turns on when the servo amplifiers connected to each axis are in
the READY state.

(b) This signal turns off in the following cases.

• M2042 is off
• Servo amplifier is not installed
• Servo parameter is not set
• It is received the forced stop input from an external source
• Servo OFF by the servo OFF command (M3215+20n) on
• Servo error occurs
Refer to APPENDIX 2.4 "Servo errors" for details.
Q38B
Q61P Q02H Q172 Q172
CPU CPU LX
(N)

Communication is normal

Servo ready signal : ON

AMP AMP

M M

POINT
When the part of multiple servo amplifiers connected to the SSCNET becomes a
servo error, only an applicable axis becomes the servo OFF state.
5 - 23
5 POSITIONING DEDICATED SIGNALS

(15) Torque limiting signal (M2416+20n)

This signal turns on while torque limit is executed.
The signal toward the torque limiting axis turns on.

(16) M-code outputting signal (M2419+20n)

(a) This signal turns on when M** in the Motion program is exexuted.
This signal turns off when FIN signal (M3219+20n) turns on.
Read the M-code when M-code outputting signal is turning on.

(b) If the G-code and M-code are described in the same block, the M-code
outputting signal turns on at the start of G-code processing.

(c) If the miscellaneous function M is executed after completion of position

control, describe the M-code independently.

(d) For M00, M01, M02, M30, M98, M99 and M100, the M-code outputting
signal does not turn on.(Internal processing only)

[Motion program example]

O0001; Program No.
G90 G00 X100. M10; Absolute value command PTP positioning (X100.) M10
X200. ; PTP positioning (X200.)
M02; Reset
%

Command in-position
range setting value

Motion program (Axis 100 200

designation program) start

Start accept flag (M2001+n)

M-code(D13+20n) M10
ON
M-code outputting signal OFF OFF
(M2419+20n) ON
FIN signal(M3219+20n)

Command in-position(M2403+20n)

5 - 24
5 POSITIONING DEDICATED SIGNALS

5.1.2 Axis command signals

(1) Stop command (M3200+20n)

(a) This command stops a starting axis from an external source and becomes
effective at the turning signal off to on. (An axis for which the stop command
is turning on cannot be started.)
ON
Stop command OFF
(M3200+20n)
Stop command for
V specified axis
Control when stop
command turns off
Setting speed

Stop
t
Deceleration stop processing

(b) The program is ended by the stop command at the automatic start by the
SVST instruction. (The Motion program is stopped if any of the stop
commands for the axis No. specified with the SVST instruction turns on.)

(c) The re-start command (M4404+10n) is valid only after the temporary stop
command (M4400+10n).

(d) The details of stop processing when the stop command turns on are shown
below.

Control details Processing at the turning stop command on

during execution During control During deceleration stop processing

Positioning control The axis decelerates to a stop in the The stop command is ignored and
during the Motion deceleration time set in the parameter deceleration stop processing is continued.
(Note-1) (Note-1)
program start block or Motion program.
JOG operation
Manual pulse An immediate stop is executed without
generator operation deceleration processing.
(1) The axis decelerates to a stop in the deceleration time set in the parameter
block.
Home position return (2) A "stop error during home position return" occurs and the error code [202] is
stored in the minor error storage register for each axis.

(Note-1) : The deceleration time under G00, G01, G02, G03, G12, G13 or G32 including M-code is
equivalent to the acceleration time set in the parameter block.

POINT
If it is made to stop by turning on the stop command (M3200+20n) during a home
position return, execute the home position return again.
If the stop command is turned on after the proximity dog ON in the proximity dog
type, execute the home position return after move to before the proximity dog ON
by the JOG operation or positioning.

5 - 25
5 POSITIONING DEDICATED SIGNALS

(2) Rapid stop command (M3201+20n)

(a) This command is a signal which stop a starting axis rapidly from an external
source and becomes effective when the signal turns off to on. (An axis for
which the rapid stop command turns on cannot be started.)
ON

Rapid stop command OFF

(M3201+20n) Rapid stop command
V for specified axis
Control when rapid
stop command turns off
Setting speed

Stop
t
Rapid stop processing

(b) The program is ended by the rapid stop command at the automatic start by
the SVST instruction.
(The Motion program is stopped if any of the rapid stop commands for the
axis No. specified with the SVST instruction turns on.)

(c) The re-start command (M4404+10n) is valid only after the temporary stop
command (M4400+10n).

(d) The details of stop processing when the rapid stop command turns on are
shown below.
Processing at the turning rapid stop command on
Control details
during execution During control During deceleration stop processing

Position control The axis decelerates to a deceleration Deceleration processing is canceled and
during the Motion time set in the parameter block or rapid stop processing executed instead.
(Note-1)
program start Motion program.
JOG operation
Manual pulse An immediate stop is executed without
generator operation deceleration processing.
(1) The axis decelerates to a stop in the rapid stop deceleration time set in the
parameter block.
Home position return
(2) A "stop error during home position return" occurs and the error code [203] is
stored in the minor error storage register for each axis.

(Note-1) : The rapid stop deceleration time under G00, G01, G02, G03, G12, G13 or G32 including M-
code is equivalent to the acceleration time set in the parameter block.

POINT
If it is made to stop by turning on the rapid stop command (M3201+20n) during a
home position return, execute the home position return again.
If the rapid stop command turned on after the proximity dog ON in the proximity dog
type, execute the home position return after move to before the proximity dog ON
by the JOG operation or positioning.

5 - 26
5 POSITIONING DEDICATED SIGNALS

(3) Forward rotation JOG start command (M3202+20n)/Reverse

rotation JOG start command (M3203+20n)
(a) JOG operation to the address increase direction is executed while forward
rotation JOG start command (M3202+20n) is turning on.
When M3202+20n is turned off, a deceleration stop is executed in the
deceleration time set in the parameter block.

(b) JOG operation to the address decrease direction is executed while reverse
rotation JOG start command (M3203+20n) is turinig on.
When M3203+20n is turned off, a deceleration stop is executed in the
deceleration time set in the parameter block.

POINT
Take an interlock so that the forward rotation JOG start command (M3202+20n)
and reverse rotation JOG start command (M3203+20n) may not turn on
simultaneously.

(4) Complete signal OFF command (M3204+20n)

(a) This command is used to turn off the positioning start complete signal
(M2400+20n) and positioning complete signal (M2401+20n).

t
ON
Positioning start complete OFF
signal(M2400+20n)
ON
Positioning complete
OFF
signal (M2401+20n)
ON
Complete signal OFF OFF
command (M3204+20n)

POINT
Do not turn the complete signal OFF command on with a PLS instruction.
If it is turned on with a PLS instruction, it cannot be turned off the positioning start
complete signal (M2400+20n) and the positioning complete signal (M2401+20n).

5 - 27
5 POSITIONING DEDICATED SIGNALS

(5) Error reset command (M3207+20n)

(a) This command is used to clear the minor error code or major error code
storage register of an axis for which the error detection signal has turn on
(M2407+20n: ON), and reset the error detection signal (M2407+20n).

ON

Error detection signal OFF

(M2407+20n) ON

Error reset command OFF

(M3207+20n)

Minor error code storage ** 00

register (D6+20n)

Major error code storage ** 00

register (D7+20n)
** : Error code

(b) If an error reset is executed during the temporary stop (M4003+10n) by the
temporary stop command (M4400+10n) at the automatic start or if an error
reset is executed during a block stop by M00/M01, the Motion program
operation state is reset.
The SVST instruction must be executed in the next strat. (Re-start is not
possible.)

Block stop by M00/M01

ON
Start accept flag(M2001+n) OFF
ON
Automatic start OFF
(M4002+10n)
ON
Temporary stop(M4003+10n) OFF
ON
Motion program (Axis OFF
designation program) start
ON
Temporary stop command OFF
(M4400+10n) ON
Error reset command (M3207+20n) OFF

(c) When the error reset command is turned on at the automatic start
(M4002+10n: ON), the above reset processing is executed after the stop
processing by temporaty stop command (M4400+10n).

5 - 28
5 POSITIONING DEDICATED SIGNALS

(6) Servo error reset command (M3208+20n)

(a) This command is used to clear the servo error code storage register of an
axis for which the servo error detection signal has turn on (M2408+20n:
ON), and reset the servo error detection signal (M2408+20n).

ON

Servo error detection signal OFF

(M2408+20n) ON

Servo error reset command OFF

(M3208+20n)

Servo error code storage ** 00

register
** : Error code

(b) If an error reset is executed during the temporary stop (M4003+10n) by the
temporary stop command (M4400+10n) at the automatic start or if an error
reset is executed during a block stop by M00/M01, the Motion program
operation state is reset.
The SVST instruction must be executed in the next strat. (Re-start is not
possible.)

Block stop by M00/M01

Start accept flag (M2001+n)

Automatic start
(M4002+10n)
Temporary stop (M4003+10n)

Motion program (Axis

designation program) start

Temporary stop command

(M4400+10n) ON
Servo error reset command OFF
(M3208+20n)

(c) When the error reset command is turned on at the automatic start
(M4002+10n: ON), the above reset processing is executed after the stop
processing by temporaty stop command (M4400+10n).

REMARK
Refer to APPENDIX 2 for details on the minor error code, major error code and
servo error code storage registers.

5 - 29
5 POSITIONING DEDICATED SIGNALS

(7) External stop input disable at start command (M3209+20n)

This signal is used to set the external STOP signal input valid or invalid.
• ON .......... External stop input is set as invalid, and even axes which stop
input is turning on can be started.
• OFF .......... External stop input is set as valid, and axes which stop input is
turning on cannot be started.

POINTS
(1) When it stops an axis with the external stop input after it starts by turning on
the external stop input disable at start command (M3209+20n), switch the
external stop input from OFF ON (if external stop input is turning on at the
starting, switch it from ON OFF ON).
(2) External STOP input causes a block stop at the automatic start (M4002+10n:
ON).

(8) Servo OFF command (M3215+20n)

This command is used to execute the servo OFF state (free run state).
• M3215+20n: OFF ..... Servo ON
• M3215+20n: ON ....... Servo OFF (free run state)
This command becomes invalid during positioning, and should therefore be
executed after completion of positioning.

CAUTION
Turn the power supply of the servo amplifier side off before touching a servomotor, such as
machine adjustment.

5 - 30
5 POSITIONING DEDICATED SIGNALS

(9) FIN signal (M3219+20n)

When an M-code is set in a point during positioning, transit to the next block
does not execute until the FIN signal changes as follows: OFF ON OFF.
Positioning to the next block begins after the FIN signal changes as above.

[Motion program example]

O0001; Program No.
G90 G00 X100. M10; Absolute value command PTP positioning (X100.) M10
X200. ; PTP positioning (X200.)
M02; Reset
%

Command in-position
range setting value

Motion program (Axis 100 200

designation program) start

Start accept flag(M2001+n)

M-code (D13+20n) M10

M-code outputting signal

(M2419+20n) ON
FIN signal(M3219+20n) OFF

Command in-position
(M2403+20n)

5 - 31
5 POSITIONING DEDICATED SIGNALS

5.1.3 Axis statuses 2

(1) Automatic start signal (M4002+10n)

When the axis used is specified in the SVST instruction, this signal turns on
while the block of the specified Motion program is being executed. This signal
turns off in the following cases.
• M02/M30 is executed.
• The temporary stop command turned on. (M4400+10n)
• The external STOP signal turned on.
• Error reset
• Emergency stop
• When one block execution is ended by M00, M01 or single block mode.
• The stop or rapid stop command turned on.

[Motion program example]

O0001; Program No.
G90 G00 X100. ; Absolute value command PTP positioning (X100.)
X200. ; PTP positioning (X200.)
M02; Reset
%

Motion program 100 200

(Axis designation program) start
ON
Start accept flag (M2001+n) (Note-1)
ON
Automatic start OFF
(M4002+10n) (Note-1) ON
Temporary stop OFF
(M4003+10n) (Note-1) ON
Temporary stop command OFF
(M4400+10n) (Note-1) ON
Re-start command OFF
(M4404+10n) (Note-1)

REMARK
(Note-1): "n" indicates a value corresponding to axis No. such as the following
tables.
Axis No. n Axis No. n Axis No. n Axis No. n
1 0 9 8 17 16 25 24
2 1 10 9 18 17 26 25
3 2 11 10 19 18 27 26
4 3 12 11 20 19 28 27
5 4 13 12 21 20 29 28
6 5 14 13 22 21 30 29
7 6 15 14 23 22 31 30
8 7 16 15 24 23 32 31

5 - 32
5 POSITIONING DEDICATED SIGNALS

(2) Temporary stop signal (M4003+10n)

(a) This signal turns on by the temporary stop command when the automatic
start signal (M4002+10n) is turning on.
When the re-start command (M4404+10n) is turned on during a temporary
stop, it is resumed from the block where it had stopped.
There is the following temporary stop command.
• Temporary stop command (M4400+10n)

(b) This signal turns off in the following cases.

• The re-start command (M4404+10n) turned on.
• The error reset command (M3207+20n) turned on.
• The servo error reset command (M3208+20n) turned on.
• Error occurrence
• Emergency stop

[Motion program example]

O0001; Program No.
G90 G00 X100. ; Absolute value command PTP positioning (X100.)
X200. ; PTP positioning (X200.)
M02; Reset
%

Motion program (Axis 100 200

designation program) start
ON
Start accept flag (M2001+n) (Note-1) OFF
ON
Automatic start OFF
(M4002+10n) (Note-1) ON
Temporary stop OFF
(M4003+10n) (Note-1) ON
Temporary stop command OFF
(M4400+10n) (Note-1) ON
Re-start command OFF
(M4404+10n) (Note-1)

Fig.5.4 ON/OFF timing of the temporary stop signal

(3) Single block processing signal (M4009)

(a) The single block is available in two modes: a mode where a single block is
specified before a program start, and a mode where a single block is
executed at any point during program execution.
The single block processing signal indicates that a single block can be
executed in the mode where a single block is executed at any point during
program execution.

(b) A single block is executed when the single block processing signal is ON.
When the single block processing is OFF, make an SVST start or turn
single block start from OFF to ON to perform continuous operation.

5 - 33
5 POSITIONING DEDICATED SIGNALS

(c) This signal turns on in the following case.

• When the single block mode signal (M4408) is turned on.

(d) This signal turns off in the following case.

• When the single block start signal (M4409) is turned from off to on after
the single block mode signal (M4408) is turned off.

[Motion program example]

O0001; Program No.
N1 G90 G00 X100. F1000. ; Absolute value command constant-speed positioning (X100.)
N2 X200. ; Constant-speed positioning (X200.)
N3 X300. ; Constant-speed positioning (X300.)
N4 X400. ; Constant-speed positioning (X400.)
M02; Reset
%

100 200 300 400

Sequence No. 1 2 3 4
ON
Motion program (Axis
designation program) start
ON
Start accept flag (M2001+n) (Note-1) OFF
ON
Automatic start OFF
(M4002+10n) (Note-1) ON ON ON
Command in-position OFF OFF
(M2403+20n) (Note-1) ON
Single block processing (M4009) OFF OFF
ON
Single block mode signal (M4408) OFF
ON ON
Single block start signal (M4409) OFF

Fig.5.5 Single block signal timings

5 - 34
5 POSITIONING DEDICATED SIGNALS

5.1.4 Axis command signals 2

(1) Temporary stop command (M4400+10n)

(a) The Motion program at the positioning start (G00, G01, etc.) with the SVST
instruction is stopped temporarily by the temporary stop command.
(The Motion program is stopped temporarily if any of the temporary stop
commands for the axis No. specified with the SVST instruction turns on.)

(b) Turn on M4404+10n to re-start.

[Motion program example]

O0001; Program No.
G90 G00 X100. ; Absolute value command PTP positioning (X100.)
M02; Reset
%

G90 G00 X100.;

Motion program (Axis

designation program) start

Start accept flag (M2001+n)

Temporary Temporary
stop stop
Automatic start (M4002+10n)

Temporary stop (M4003+10n)

ON ON
Temporary stop command OFF OFF OFF
(M4400+10n) ON ON
Re-start command (M4404+10n) OFF OFF OFF

(c) Note the following instructions among the positioning start instructions.
1) A program is stopped by the temporary stop command at the proximity
dog, count, data set, dog cradle, stopper or limit switch combined type
home position return by G28. After that, re-start (M4404+10n) is invalid.
Start the Motion program with the SVST instruction to execute G28
again.

2) The temporary stop command is ignored in the axis executing G25

(high-speed oscillation).

POINT
The temporary stop command is ignored at the home position return by JOG
operation, manual pulse generator operation or CHGA instruction.

5 - 35
5 POSITIONING DEDICATED SIGNALS

(2) Optional program stop command (M4401+10n)

This signal is used to select whether a block stop is made in a block where
"M01" exists.
• ON......... The block stop is made as the end of that block.
• OFF.........The next block is executed.

[Motion program example]

O0001; Program No.
G90 G00 X100. ; Absolute value command PTP positioning (X100.)
M01; Optional program stop command
X200. ; PTP positioning (X200.)
M02; Reset
%

When M4401+10n is ON.

Motion program (Axis 100 200

designation program) start

Start accept flag (M2001+n)

ON
Automatic start (M4002+10n) OFF
ON
Re-start command (M4404+10n) OFF

When M4401+10n is OFF.

Motion program (Axis 100 200

designation program) start

Start accept flag (M2001+n)

ON
Automatic start (M4002+10n) OFF

Re-start command (M4404+10n) OFF

5 - 36
5 POSITIONING DEDICATED SIGNALS

(3) Optional block skip command (M4402+10n)

This signal is used to select whether a block is executed or not in the first of
block where "/" exists.
• ON.......... The block is not executed and execution shifts to the next block.
• OFF........ The block is executed.

[Motion program example]

O0001; Program No.
G90 G00 X100. ; Absolute value command PTP positioning (X100.)
/X200. ; PTP positioning (X200.)
M02; Reset
%

When M4402+10n is ON.

Motion program (Axis 100

designation program) start

Start accept flag (M2001+n)

ON
Automatic start (M4002+10n) OFF

When M4402+10n is OFF.

Motion program (Axis 100 200

designation program) start

Start accept flag (M2001+n)

ON
Automatic start (M4002+10n) OFF

5 - 37
5 POSITIONING DEDICATED SIGNALS

(4) Single block command (M4403+10n)

This single block is ;used to set a single block before a program start. Refer to
the single block mode signal (M4408) for the mode which executes a single
block at any point during execution of program.
By turning on the single block command before a program start, commands in
program operation can be executed block by block.
The single block signal is checked only at the Motion program start and is not
checked during operation. Therefore, the single block signal is not made valid if
it is turned on during operation.
• ON.......... Program is executed block by block.
The first start is made by turning on the re-start command
(M4404+10n) after execution of the SVST instruction.
After that, a start is made by turning on the re-start command
(M4404+10n).
• OFF........ All blocks are executed continuously using the SVST instruction.

[Motion program example]

O0001; Program No.
G90 G00 X100. ; Absolute value command PTP positioning (X100.)
X200. ; PTP positioning (X200.)
M02; Reset
%

When M4403+10n is ON.

G90G00X100. X200. M02

100 200
Single block command (M4403+10n)

Motion program (Axis

designation program) start

Start accept flag (M2001+n)

ON
Automatic start (M4002+10n) OFF

Temporary stop (M4003+10n) OFF

ON
Re-start command (M4404+10n) OFF

When M4403+10n is OFF.

G90G00X100. X200.
100 200
Single block command (M4403+10n)

Motion program (Axis

designation program) start

Start accept flag (M2001+n)

ON
Automatic start (M4002+10n) OFF

5 - 38
5 POSITIONING DEDICATED SIGNALS

(5) Re-start command (M4404+10n)

This command resumes block execution when it is turned on during a block stop
by the M00, M01 or single block command or during a temporary stop during the
temporary stop command. (This signal is valid for the Motion program only. It is
invalid for a home position return, etc.)

[Motion program example]

O0001; Program No.
G90 G00 X100. ; Absolute value command PTP positioning (X100.)
M00 Block stop
X200. ; PTP positioning (X200.)
M02; Reset
%

G90G00X100. M00. X200. X200.

Motion program (Axis

designation program) start

Start accept flag (M2001+n)

Temporary
ON Block stop stop
Automatic start (M4002+10n)

Temporary stop (M4003+10n)

Temporary stop command

(M4400+10n) ON
Re-start command (M4404+10n) OFF

(6) Override ratio valid/invalid (M4405+10n)

This signal is used to set whether the override ratio is valid or invalid.
• ON.......... Valid : If M4405+10n turns on during execution Motion program,
positioning is executed at the specified speed multiplied by the
value [%] stored in the override ratio setting register.(Note-1)
• OFF........ Invalid : Positioning is controlled at the override ratio of 100[%].

REMARK
(Note-1) : Positioning is controlled at the override ratio of 100[%] at the G25 (high-
speed oscillation), G28 (proximity dog, count, data set, dog cradle,
stopper or limit switch combined type home position return) in the Motion
program or the home position returun by JOG operation, manual pulse
generator or CHGA instruction, etc. (The override ratio is made invalid.)

5 - 39
5 POSITIONING DEDICATED SIGNALS

(7) Axis interlock (Forward)/(Reverse) (M4406+10n/M4407+10n)

This signal is used to select whether an axis is made deceleration stop during
positioning control.
(a) The axis interlock (forward)/(reverse) command turns on while the axis
interlock valid/invalid (M4418+10n) is turning on, a deceleration stop is
executed in the applicable axis.
• ON.......... Valid: If the axis interlock (forward)/(reverse) command turns
on during execution of the Motion program, a
deceleration stop is executed in the applicable axis.
• OFF........ Invalid: A deceleration stop is not executed in the applicable
axis.

(b) The interlock is valid in the following cases.

• Positioning control using the Motion program (Except for hige speed
oscillate (G25))
• Home position return
• Manual pulse operation

(c) The interlock is invalid at the "home position return" and "hige speed
oscillate".

(d) Deceleration stop is executed follows "deceleration stop time" by the

parameter block. However, a deceleration stop at the manual pulse
operation only is "a stop without deceleration processing".

(e) If the axis interlock of travel direction turns on with at least one axis,during
interpolation control, a deceleration stop is executed in all interpolation
axes.

(f) When the travel of axis stops by the axis interlock, a minor error "axis
interlock" (error code: 292) will occur.
In this case, since the program is not ended, the start accept flag (M2001 to
M2032) of applicable axis does not turn off.
Therefore, when the Motion program is started by the specification of
applicable axis, a minor error "the start accept flag (M2001 to M2032) for
applicable axis is ON." (error code: 101) will occur.

(g) When the axis interlock signal turns on at a Motion program start, after the
servomotor travels minutely, a minor error "axis interlock" (error code: 292)
will occur and a deceleration stop is made. (The servomotor does not travel
during JOG operation or manual pulse operation, and a minor error" axis
interlock" (error code: 292) will occur.)

5 - 40
5 POSITIONING DEDICATED SIGNALS

[Motion program example]

O0001; Program No.
G90 G00 X200. ; Absolute value command PTP positioning (X200.)
G01 X300. F-100. ; Constant-speed positioning (X300.)
M02; Reset
%

t
Motion program (Axis ON
designation program) start OFF
ON
Start accept flag (M2001+n) OFF Temporary stop
Axis interlock (forward) ON
(M4406+10n) OFF
Axis interlock (reverse) ON Temporary stop
(M4407+10n) OFF

5 - 41
5 POSITIONING DEDICATED SIGNALS

POINTS
[The reasons for the servomotor travels minutely when the axis interlock signal turns
on at a Motion program start.]
Since the travel direction is judged at the positioning control in the Motion CPU,
only the first interpolation processing is executed. Therefore, the servomotor travels
minutely. This travel value is different in the acceleration-fixed
acceleration/decerelation (G101) and time-fixed acceleration/decerelation (G100).
(1) Acceleration-fixed acceleration/decerelation (G101)
• The travel value of operation cycle (a part for 1 time of the beginning) is the
slash portion of the following figure.
V
Interpolation processing

Travel value

t
Operation cycle
[Command speed 50m/min, Operation cycle 3.5ms]
Travel value for error detection = 50 0.0035/2/60
= 0.001mm

(2) Time-fixed acceleration/decerelation (G100)

• The travel value shown in a rectangle of following figure is divided into the
travel value for every operation cycle. Therefore, the travel value of operation
cycle (a part for 1 time of the beginning) for interpolation processing is the
slash portion of the following figure.
V V
Interpolation processing Time-fixed acceleration/deceleration processing

Travel value

t t
Operation cycle

[Command speed 10m/min, Operation cycle 3.5ms]

Travel value for error detection = 50 0.0035/60
= 0.58mm

5 - 42
5 POSITIONING DEDICATED SIGNALS

(8) Single block mode signal (M4408)

(a) This signal validates a single block valid in the mode which executes a
single block during execution of program.

(b) The single block processing (M4009) turns on by turning on the single block
mode.

(9) Single block start signal (M4409)

(a) This signal re-starts a single block in the mode which executes a single
block during execution of program.

(b) The single brock start is made valid by turning it from OFF to ON. However,
the single block start during axis travel is not accepeted.

(c) When the single block processing signal (M4409) and the single block mode
signal (M4408) are ON, making a single block start continues single block
operation.

(d) When the single block processing signal (M4409) is ON and the single
block mode signal (M4408) is OFF, making a single block start stops single
block operation and starts continuous operation. At this time, the single
block processing signal (M4409) turns off.

(10) Axis interlock valid/invalid (M4418)

This command is used to validate the axis interlock (forward)/(reverse).
• ON.......... Valid: If the axis interlock (forward)/(reverse) command turns
on, a deceleration stop is executed.
• OFF........ Invalid: Even if the axis interlock (forward)/(reverse) command
turns on, a deceleration stop is not.
Defaut value is invalid (OFF).

[Motion program example]

O0001; Program No.
G90 G00 X1000. ; Absolute value command PTP positioning (X1000.)
G00 X300. ; PTP positioning (X300.)
M02; Reset
%

t
Motion program (Axis ON
designation program) start OFF
ON
Start accept flag (M2001+n)
OFF Temporary stop Temporary stop
Axis interlock (forward) ON
(M4406+10n) OFF
Axis interlock valid/invalid ON ON
(M4418) OFF

5 - 43
5 POSITIONING DEDICATED SIGNALS

5.1.5 Common devices

POINTS
(1) Internal relays for positioning control are not latched even within the latch range.
In this manual, in order to indicate that internal relays for positioning control are
not latched, the expression used in this text is "M2000 to M2319".
(2) The range devices allocated as internal relays for positioning control cannot be
used by the user even if their applications have not been set.

(1) PLC ready flag (M2000) ..............………………… Command signal

(a) This signal informs the Motion CPU that the PLC CPU is normal.
1) The positioning control, home position return, JOG operation or manual
pulse generator operation using the Motion program when the M2000 is
ON.
2) The above 1) control is not performed even if the M2000 is turned on
during the test mode [TEST mode ON flag (M9075) : ON] using a
peripheral device.

(b) The setting data such as the fixed parameters, servo parameters and limit
switch output data can be changed using a peripheral device when M2000
is OFF only.
The above data using a peripheral device cannot be written when the
M2000 is ON.

(c) The following processings are performed when the M2000 turns OFF to
ON.
1) Processing details
• Transfer the servo parameters to the servo amplifier.
• Clear the M-code storage area of all axes.
• Turn the PCPU READY complete flag (M9074) on.
• Execute the Motion program (Control program) of automatic start from
the first.
2) If there is a starting axis, an error occurs, and the processing in above (c)
1) is not executed.

5 - 44
5 POSITIONING DEDICATED SIGNALS

3) The processing in above (c) 1) is not executed during the test mode.
It is executed when the test mode is cancelled and M2000 is ON.

Deceleration stop
Positioning start

ON

PLC ready flag OFF

(M2000) ON

PCPU READY OFF

complete flag
(M9074) PCPU READY complete flag
(M9074) does not turn on because
during deceleration.
Set the servo parameters to the
servo amplifiers, clear a M-code.

(d) The following processings are performed when the M2000 turns ON to
OFF.
1) Processing details
• Turn the PCPU READY complete flag (M9074) off.
• Deceleration stop of the starting axis.
• Stop to execute the Motion program.
• Turn all points of the real output PY off.

(e) Operation setting at STOP RUN

The condition which the PLC ready flag (M2000) turns on is set in the
sysytem setting. Select the following either.
1) M2000 turns on by the switch (STOP RUN). (Default)
The condition which M2000 turns OFF to ON.
• Move the RUN/STOP switch from STOP to RUN.
• Turn the power supply on or release to reset where the RUN/STOP
switch is moved to RUN.

The condition which M2000 turns ON to OFF.

• Move the RUN/STOP switch from RUN to STOP.

2) M2000 turns on by set "1" to the switch (STOP RUN) + setting

register.
(M2000 is turned on by set "1" to the switch RUN setting register.)
The condition which M2000 is turned ON to OFF.
• Set "1" to the setting register D704 of the PLC ready flag where the
RUN/STOP switch is moved to RUN. (The Motion CPU detects the
change of the lowest rank bit 0 1 in D704.)

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5 POSITIONING DEDICATED SIGNALS

The condition which M2000 is turned on to off.

• Set "0" to the setting register D704 of the PLC ready flag where the
RUN/STOP switch is moved to RUN. (The Motion CPU detects the
change of the lowest rank bit 1 0 in D704.)
• Move the RUN/STOP switch from RUN to STOP.

(2) Start accept flag (M2001 to M2032) ............................ Status signal

(a) This flag turns on when the positioning start (S(P).SVST) instruction is
executed. The start accept flag corresponding to an axis specified with the
Motion dedicated PLC instruction (S(P).SVST) turns on.

(b) The ON/OFF processing of the start accept flag is shown below.
1) The start accept flag corresponding to an axis specified with the Motion
dedicated PLC instruction (S(P).SVST) turns on and it turns off at the
positioning completion. This flag also turns off when it is made to
stopping on the way.
(When it is made to stop on the way by the speed change to speed "0",
this flag remain on.)

Normal positioning completion Positioning stop during control

V V

Dwell time
t t
Motion program (Axis Positioning Motion program (Axis Positioning Positioning
start stop
designation program) completion designation program) completion
start start
ON ON
Start accept flag Start accept flag
(M2001 + n) OFF (M2001 + n) OFF

Positioning complete Positioning complete

(M2401+20n) (M2401+20n) OFF
ON ON
Positioning start Positioning start
complete complete
OFF OFF
(M2400+20n) (M2400+20n)

2) This flag turns on at the positioning control by turning on the JOG start
command (M3202+20n or M3203+20n), and turns off at the positioning
stop by turning off the JOG start command.
3) This flag turns on during the manual pulse generator enable (M2051 to
M2053: ON), and turns off at the manual pulse generator disable
(M2051 to M2053: OFF).

CAUTION
Do not turn the start accept flags ON/OFF in the user side.
• If the start accept flag is turned off using the Motion program or peripheral devices while this
flag is on, no error will occur but the positioning operation will not be reliable. Depending on the
type of machine, it might operate in an unanticipated operation.
• If the start accept flag is turned on using the Motion program or peripheral devices while this
flag is off, no error will occur but the "start accept on error" will occur at the next starting and
cannot be started.

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5 POSITIONING DEDICATED SIGNALS

(c) When M2000 is OFF, the start accept flag turns on by the Motion dedicated
PLC instruction (S(P).SVST), and the start accept flag turns off by turning
the M2000 ON.

ON
PLC ready flag (M2000)
OFF

Motion program (Axis

designation program) ON
start
Start accept flag OFF

The start accept flag list is shown below.

Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No.
1 M2001 9 M2009 17 M2017 25 M2025
2 M2002 10 M2010 18 M2018 26 M2026
3 M2003 11 M2011 19 M2019 27 M2027
4 M2004 12 M2012 20 M2020 28 M2028
5 M2005 13 M2013 21 M2021 29 M2029
6 M2006 14 M2014 22 M2022 30 M2030
7 M2007 15 M2015 23 M2023 31 M2031
8 M2008 16 M2016 24 M2024 32 M2032
(Note): The range of axis No.1 to 8 is valid in the Q172CPU(N).

(3) Personal computer link communication error flag (M2034)

....………. Status signal
This flag turns on when the communication error occurs in the personal
computer link communication.
• ON : Personal computer link communication error occurs
• OFF: No personal computer link communication error
(It turns off if normal communication is resumed.)
Refer to APPENDIX 2.5 for details on the PC link communication errors.

(4) System setting error flag (M2041)................................. Status signal

This flag set the "system setting data" and performs an adjustment check with a
real installation state (CPU base unit/extension base units) at the power supply
on or resetting of the Motion CPU.
• ON .......... Error
• OFF .......... Normal
(a) When an error occurs, the ERR. LED at the front of the CPU turns on.
The error contents can be confirmed using the error list monitor of a
peripheral device started by SW6RN-GSV43P.

(b) When M2041 is on, positioning cannot be started. Remove an error factor,
and turn the power supply on again or reset the Multiple CPU system.

REMARK
Even if the module which is not set as the system setting with the peripheral device
is installed in the slot, it is not set as the object of an adjustment check. And, the
module which is not set as the system setting cannot be used in the Motion CPU.
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5 POSITIONING DEDICATED SIGNALS

(5) All axes servo ON command (M2042) .................. Command signal

This command is used to enable servo operation.
(a) Servo operation enabled … M2042 turns on while the servo OFF command
(M3215+20n) is off and there is no servo error.

(b) Servo operation disable ...... • M2042 is off

• The servo OFF command (M3215+20n) is on
• Servo error state

ON

All axes servo ON command OFF

(M2042)
ON

All axes servo ON accept flag OFF

(M2049)
ON
(Note)
Each axis servo ready state OFF

(Note): Refer to "5.1.1 Axis statuses "Servo ready signal"" for details.

POINT
When M2042 turns on, it is not turned off even if the CPU is set in the STOP state.

(6) Motion slot fault detection flag (M2047) ....................... Status signal
This flag is used as judgement which modules installed in the motion slot of the
CPU base unit is "normal" or "abnormal".
• ON .......... Installing module is abnormal
• OFF .......... Installing module is normal
The module information at the power supply on and after the power supply
injection are always checked, and errors are detected.
(a) Perform the disposal (stop the starting axis, servo OFF, etc.) of error
detection using the Motion program.

(7) JOG operation simultaneous start command (M2048)

…..... Command signal
(a) When M2048 turns on, JOG operation simultaneous start based on the
JOG operation execution axis set in the JOG operation simultaneous start
axis setting register (D710 to D713).

(b) When M2048 turns off, the axis during operation decelerates to a stop.

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(8) All axes servo ON accept flag (M2049) .................... Status signal
This flag turns on when the Motion CPU accepts the all axes servo ON
command (M2042).
Since the servo ready state of each axis is not checked, confirm it in the servo
ready signal (M2415+20n).

ON

All axes servo ON command OFF

(M2042)
ON

All axes servo ON accept flag OFF

(M2049)
ON
(Note)
Each axis servo ready state OFF

(Note): Refer to "5.1.1 Axis statuses "Servo ready signal"" for details.

(9) Start buffer full (M2050)............................................. Status signal

(a) This signal turns on when 64 or more requests is executed simultaneously
by the SVST instruction and it cannot be started.

(b) Reset M2050 by the user side.

(10) Manual pulse generator enable flag (M2051 to M2053)

.......... Command signal
This flag set the enabled or disabled state for positioning with the pulse input
from the manual pulse generators connected to P1 to P3 (Note) of the Q173PX.
• ON .......... Positioning control is executed by the input from the manual pulse
generators.
• OFF .......... Positioning control cannot be executed by the manual pulse
generators because of the input from the manual pulse
generators is ignored.
Defalut value is invalid(OFF).

REMARK
(Note): Refer to the "Q173CPU(N)/Q172CPU(N) User's Manual" for P1 to P3
connector of the Q173PX.

(11) Operation cycle over flag (M2054) .......................... Status signal

This flag turns on when the time concerning motion operation exceeds the
operation cycle of the Motion CPU setting. Perform the following operation, in
making it turn off.
• Turn the power supply of the Multiple CPU system on to off
• Reset the Multiple CPU system
• Reset using the user program

[Error measures]
• Change the operation cycle into a large value in the system setting.
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5 POSITIONING DEDICATED SIGNALS

(12) Speed changing flag (M2061 to M2092) .................... Status signal

This flag turns on during speed change by the control change (CHGV)
instruction of the Motion program or Motion dedicated PLC instruction
(S(P).CHGV).

ON

Speed change command OFF

Delay by the PLC program

Motion program (Axis

designation program)
start
ON

Speed changing flag OFF

0 to 16ms
Speed change
Speed after
Setting speed speed change

t
Speed change completion

The speed changing flag list is shown below.

Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No.
1 M2061 9 M2069 17 M2077 25 M2085
2 M2062 10 M2070 18 M2078 26 M2086
3 M2063 11 M2071 19 M2079 27 M2087
4 M2064 12 M2072 20 M2080 28 M2088
5 M2065 13 M2073 21 M2081 29 M2089
6 M2066 14 M2074 22 M2082 30 M2090
7 M2067 15 M2075 23 M2083 31 M2091
8 M2068 16 M2076 24 M2084 32 M2092
(Note): The range of axis No.1 to 8 is valid in the Q172CPU(N).

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5 POSITIONING DEDICATED SIGNALS

(13) Automatic decelerating flag (M2128 to M2159) ......... Status signal

This signal turns on while automatic deceleration processing is performed at
the positioning control or position follow-up control.
(a) This flag turns on during automatic deceleration processing to the
command address at the position follow-up control, but it turns off if the
command address is changed.
(b) When the normal start is completed at the control in all control system, it
turns off.
(c) In any of the following cases, this flag does not turn off.
• During deceleration by the JOG signal off
• During manual pulse generator operation
• At deceleration on the way due to stop command or stop cause
occurrence
• When travel value is "0"
V

ON
Automatic
(Note)
deceleration flag OFF

The automatic deceleration flag list is shown below.

Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No.
1 M2128 9 M2136 17 M2144 25 M2152
2 M2129 10 M2137 18 M2145 26 M2153
3 M2130 11 M2138 19 M2146 27 M2154
4 M2131 12 M2139 20 M2147 28 M2155
5 M2132 13 M2140 21 M2148 29 M2156
6 M2133 14 M2141 22 M2149 30 M2157
7 M2134 15 M2142 23 M2150 31 M2158
8 M2135 16 M2143 24 M2151 32 M2159
(Note): The range of axis No.1 to 8 is valid in the Q172CPU(N).

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(14) Speed change "0" accepting flag (M2240 to M2271)

....………. Status signal
This flag turns on while a speed change request to speed "0" or negative
speed change is being accepted.
It turns on when the speed change request to speed "0" or negative speed
change is accepted during a start. After that, this signal turns off when a speed
change is accepted or on completion of a stop due to a stop cause.

Deceleration stop at the speed change

"0" accept.
Speed change "0"
V Thereafter, by changing speed to
V1 except "0", it starts continuously.
Speed change V2
V2

Start accept flag

ON

Speed change "0" OFF

accepting flag

Positioning
complete signal

The speed change "0" accepting flag list is shown below.

Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No.
1 M2240 9 M2248 17 M2256 25 M2264
2 M2241 10 M2249 18 M2257 26 M2265
3 M2242 11 M2250 19 M2258 27 M2266
4 M2243 12 M2251 20 M2259 28 M2267
5 M2244 13 M2252 21 M2260 29 M2268
6 M2245 14 M2253 22 M2261 30 M2269
7 M2246 15 M2254 23 M2262 31 M2270
8 M2247 16 M2255 24 M2263 32 M2271
(Note): The range of axis No.1 to 8 is valid in the Q172CPU(N).

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5 POSITIONING DEDICATED SIGNALS

REMARK
(1) Even if it has stopped, when the start accept flag (M2001 to M2032) is ON state,
the state where the request of speed change "0" is accepted is indicated.
Confirm by this speed change "0" accepting flag.
(2) During interpolation, the flags corresponding to the interpolation axes are set.
(3) In any of the following cases, the speed change "0" request is invalid.
• After deceleration by the JOG signal off
• During manual pulse generator operation
• After positioning automatic deceleration start
• After deceleration due to stop cause
(4) The temporary stop is executed during travel or dwell (G04) execution, the
speed change "0" accepting flag turns on.
(5) Speed change "0" accepting flag turns on in the following cases.
• The temporary stop command (M4400+10n) is input during travel to the
specified block by pre-read enable (G99) or execution of dwell (G04).
• Travel to the specified block by pre-read enable (G99) or execution of dwell
(G04) is executed after the temporary stop command (M4400+10n) input.

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5 POSITIONING DEDICATED SIGNALS

(a) The flag turns off if a speed change request occurs during deceleration to a
stop due to speed change "0".

V Speed change "0"

V1 Speed change V2
V2

Start accept flag

ON

Speed change "0" OFF

accepting flag

(b) The flag turns off if a stop cause occurs after speed change "0" accept.

V Speed change "0"

Stop cause

Start accept flag

ON
Speed change "0" OFF
accepting flag

(c) The speed change "0" accepting flag does not turn on if a speed change "0"
occurs after an automatic deceleration start.

Automatic deceleration start

V

Speed change "0"

Start accept flag

Speed change "0" (OFF)

accepting flag

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5.2 Data Registers

(1) Data register list

Device No. Application
D0
Axis monitor device
to (20 points 32 axes)

D640
Control change register
to (2 points 32 axes)

D704
Common device (Command signal)
to (54 points)

D758
Common device (Monitor)
to (42 points)

D800 Axis monitor device 2

to (20 points 32 axes)

D1440 Control program monitor device

to (6 points 16 programs)

D1536 Control change register 2

(Override ratio)
to
(3 points 32 axes)
D1632 User device
to (18 points)

D1650 Tool length offset data setting register

to (2 points 20)

D1690
User device
to
(6502 points)
D8191

Usable in the user device.

POINT
• Total number of user device points
6520points

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5 POSITIONING DEDICATED SIGNALS

(2) Axis monitor device list

Axis
Device No. Signal name
No.
1 D0 to D19
2 D20 to D39 Signal
Signal name Refresh cycle Fetch cycle Unit
3 D40 to D59 direction
4 D60 to D79 0
Machine value
5 D80 to D99 1 Command
6 D100 to D119 2 unit
Real machine value Operation cycle
7 D120 to D139 3
8 D140 to D159 4
Deviation counter value PLS
9 D160 to D179 5
10 D180 to D199 6 Minor error code
Immediate
11 D200 to D219 7 Major error code — Monitor
12 D220 to D239 8 Servo error code Main cycle device
13 D240 to D259 Home position return
9 PLS
14 D260 to D279 re-travel value
Operation cycle
15 D280 to D299 10 Travel value after Command
16 D300 to D319 11 proximity dog ON unit
17 D320 to D339 12 Execute program No. At start
—
18 D340 to D359 13 M-code
Operation cycle
19 D360 to D379 14 Torque limit value %
20 D380 to D399 15
21 D400 to D419 16 Unusable — — — —
22 D420 to D439 17
23 D440 to D459 18 Real current value at Command Monitor
Operation cycle
24 D460 to D479 19 stop input unit device
25 D480 to D499
26 D500 to D519
27 D520 to D539
28 D540 to D559
29 D560 to D579
30 D580 to D599
31 D600 to D619
32 D620 to D639
(Note-1): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-2): Device area of 9 axes or more is unusable in the Q172CPU(N).

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(3) Control change register list

Axis
Device No. Signal name
No.
1 D640, D641
2 D642, D643 Signal
Signal name Refresh cycle Fetch cycle Unit
3 D644, D645 direction
4 D646, D647 0 Command Command
JOG speed setting At start
5 D648, D649 1 unit device

6 D650, D651
7 D652, D653
8 D654, D655
9 D656, D657
10 D658, D659
11 D660, D661
12 D662, D663
13 D664, D665
14 D666, D667
15 D668, D669
16 D670, D671
17 D672, D673
18 D674, D675
19 D676, D677
20 D678, D679
21 D680, D681
22 D682, D683
23 D684, D685
24 D686, D687
25 D688, D689
26 D690, D691
27 D692, D693
28 D694, D695
29 D696, D697
30 D698, D699
31 D700, D701
32 D702, D703
(Note-1): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-2): Device area of 9 axes or more is unusable in the Q172CPU(N).

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5 POSITIONING DEDICATED SIGNALS

(4) Axis monitor device 2 list

Axis
Device No. Signal name
No.
1 D800 to D819
2 D820 to D839 Signal
Signal name Refresh cycle Fetch cycle Unit
3 D840 to D859 direction
4 D860 to D879 0 Command
Current value Operation cycle
5 D880 to D899 1 unit
6 D900 to D919 Execute sequence No.
2
7 D920 to D939 (main)
8 D940 to D959 Execute block No.
3
9 D960 to D979 (main) Monitor
10 D980 to D999 Execute program No. device
4 Immediate —
11 D1000 to D1019 (sub)
12 D1020 to D1039 Execute sequence No.
5
13 D1040 to D1059 (sub)
14 D1060 to D1079 Execute block No.
6
15 D1080 to D1099 (sub)
16 D1100 to D1119 7 Unusable — — — —
17 D1120 to D1139 8 G43/G44 command
18 D1140 to D1159 Tool length offset data —
9 Monitor
19 D1160 to D1179 No. Immediate
device
20 D1180 to D1199 10 Command
Tool length offset data
21 D1200 to D1219 11 unit
22 D1220 to D1239 12
23 D1240 to D1259 13
24 D1260 to D1279 14
25 D1280 to D1299 15
Unusable — — — —
26 D1300 to D1319 16
27 D1320 to D1339 17
28 D1340 to D1359 18
29 D1360 to D1379 19
30 D1380 to D1399
31 D1400 to D1419
32 D1420 to D1439
(Note-1): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-2): Device area of 9 axes or more is unusable in the Q172CPU(N).

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(5) Control program monitor device list

Device No. Signal name
D1440 to D1445
D1446 to D1451 Signal
Signal name Refresh cycle Fetch cycle Unit
D1452 to D1457 direction
D1458 to D1463 0 Program No.
D1464 to D1469 1 Sequence No.
D1470 to D1475 2 Block No. Monitor
Immediate
D1476 to D1481 Error code device
3
D1482 to D1487 (Minor error code)
D1488 to D1493 4 Execute status
(Note-1)
D1494 to D1499 5 Unusable — — — —
D1500to D1505 D1445 : CLEAR request status storage register
D1506 to D1511
D1512 to D1517
D1518 to D1523
D1524 to D1529
D1530 to D1535
(Note-1): D1445 (CLEAR request status storage register) is used in the "control program stop function from the PLC CPU".

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5 POSITIONING DEDICATED SIGNALS

(6) Control change register 2 list

Axis
Device No. Signal name
No.
1 D1536 to D1538
2 D1539 to D1541 Signal
Signal name Refresh cycle Fetch cycle Unit
3 D1542 to D1544 direction
4 D1545 to D1547 Override ratio setting Command
0 Operation cycle %
5 D1548 to D1550 register (0 to 100) device
6 D1551 to D1553 1
Unusable — — — —
7 D1554 to D1556 2
8 D1557 to D1559
9 D1560 to D1562
10 D1563 to D1565
11 D1566 to D1568
12 D1569 to D1571
13 D1572 to D1574
14 D1575 to D1577
15 D1578 to D1580
16 D1581 to D1583
17 D1584 to D1586
18 D1587 to D1589
19 D1590 to D1592
20 D1593 to D1595
21 D1596 to D1598
22 D1599 to D1601
23 D1602 to D1604
24 D1605 to D1607
25 D1608 to D1610
26 D1611 to D1613
27 D1614 to D1616
28 D1617 to D1619
29 D1620 to D1622
30 D1623 to D1625
31 D1626 to D1628
32 D1629 to D1631
(Note-1): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-2): Device area of 9 axes or more is unusable in the Q172CPU(N).

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(7) Tool length offset data setting register list (Higher rank, lower rank)
Device No. Signal name

D1651, D1650 Tool length offset data 1

D1653, D1652 Tool length offset data 2
D1655, D1654 Tool length offset data 3
D1657, D1656 Tool length offset data 4
D1659, D1658 Tool length offset data 5
D1661, D1660 Tool length offset data 6
D1663, D1662 Tool length offset data 7
D1665, D1664 Tool length offset data 8
D1667, D1666 Tool length offset data 9
D1669, D1668 Tool length offset data 10
D1671, D1670 Tool length offset data 11
D1673, D1672 Tool length offset data 12
D1675, D1674 Tool length offset data 13
D1677, D1676 Tool length offset data 14
D1679, D1678 Tool length offset data 15
D1681, D1680 Tool length offset data 16
D1683, D1682 Tool length offset data 17
D1685, D1684 Tool length offset data 18
D1687, D1686 Tool length offset data 19
D1689, D1688 Tool length offset data 20

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5 POSITIONING DEDICATED SIGNALS

(8) Common device list

Device Signal Device Signal
Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle
No. direction No. direction
Manual pulse generator 1
D704 PLC ready flag request D752 smoothing magnification
setting register
Manual pulse generator 2 At the manual pulse
Speed switching point
D705 D753 smoothing magnification generator enable flag
specified flag request
setting register
Command
Main cycle Manual pulse generator 3
All axes servo ON command device Command
D706 D754 smoothing magnification
request device
setting register
CLEAR request control Manual pulse generator 1
D707 D755
program No. setting register enable flag request
JOG operation simultaneous Manual pulse generator 2
D708 D756 Main cycle
start command request enable flag request
Manual pulse generator 3
D709 Unusable — — — D757 enable flag request
D710 D758 Unusable — — —
PCPU ready complete flag Monitor
D711 JOG operation simultaneous D759 Main cycle
status device
start axis setting register At start
D712 D760
D713 D761
D714 Manual pulse generator axis D762
1 No. setting register
D715 D763
D716 Manual pulse generator axis D764
2 No. setting register
D717 D765
D718 Manual pulse generator axis D766
3 No. setting register
D719 D767
D720 Axis 1 D768
D721 Axis 2 D769
D722 Axis 3 D770
D723 Axis 4 D771
D724 Axis 5 D772
D725 Axis 6 D773
D726 Axis 7 D774
D727 Axis 8 D775 Unusable (32 points) — — —
D728 Axis 9 D776
D729 Axis 10 D777
Command
D730 Axis 11 device D778
D731 Axis 12 D779
At the manual pulse
D732 Axis 13 generator enable flag D780
D733 Axis 14 D781
D734 Axis 15 Manual pulse
D782
generators 1-pulse
D735 Axis 16 input magnification D783
setting register
D736 Axis 17 D784
(Note-1),(Note-2)
D737 Axis 18 D785
D738 Axis 19 D786
D739 Axis 20 D787
D740 Axis 21 D788
D741 Axis 22 D789
D742 Axis 23 D790
D743 Axis 24 D791
D744 Axis 25 D792
D745 Axis 26 D793
D746 Axis 27 D794
D747 Axis 28 D795 Monitor
Servo amplifier type At power-on
D748 Axis 29 D796 device

D749 Axis 30 D797

D750 Axis 31 D798
D751 Axis 32 D799

(Note-1): The range of axis No.1 to 8 is valid in the Q172CPU(N).

(Note-2): Device area of 9 axes or more is unusable in the Q172CPU(N).

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5.2.1 Axis monitor devices

The monitoring data area is used by the Motion CPU to store data such as the
machine value during positioning control, the real machine value and the number of
droop pulses in the deviation counter.
It can be used to check the positioning control state using the Motion program.
The user cannot write data to the monitoring data area (except the travel value
change register).

(1) Machine value storage register (D0+20n, D1+20n)

....…….. Monitor device
The machine value represents the address in the mechanical coodinate system
determined by a home position returun.
This value does not change if "G92" and work coordinate system (G54 to G59)
are executed.
This value is used to process the stroke limit range and limit switch output.

(2) Real machine value storage register (D2+20n, D3+20n)

....…….. Monitor device
(a) This register stores the actual motor position (machine value – deviation
counter value).

(b) The "machine value" is equal to the "real machine value" in the stopped
state. (Some real machine values are changed by the servo lock force at a
motor stop.

(3) Deviation counter value (droop pulses) storage register

(D4+20n, D5+20n)....…….. Monitor device
This register stores the difference between the machine value and real machine
value.

(4) Minor error code storage register (D6+20n) ............. Monitor device
(a) This register stores the corresponding error code (Refer to APPENDIX 2.2)
at the minor error occurrence. If another minor error occurs after error code
storing, the previous error code is overwritten by the new error code.

(b) Minor error codes can be cleared by an error reset command (M3207+20n).

(5) Major error code storage register (D7+20n) ............. Monitor device
(a) This register stores the corresponding error code (Refer to APPENDIX 2.3)
at the major error occurrence. If another major error occurs after error code
storing, the previous error code is overwritten by the new error code.

(b) Major error codes can be cleared by an error reset command (M3207+20n).

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(6) Servo error code storage register (D8+20n) …......... Monitor device
(a) This register stores the corresponding error code (Refer to APPENDIX 2.4)
at the servo error occurrence. If another servo error occurs after error code
storing, the previous error code is overwritten by the new error code.

(b) Servo error codes can be cleared by an error reset command (M3208+20n).

(7) Home position return re-travel value storage register (D9+20n)

....…….. Monitor device
If the position stopped in the position specified with the travel value setting after
the proximity dog ON (refer to 8.5.1) by a peripheral device is not zero point, it
made to travel to zero point by re-travel in the Motion CPU. The travel value
(signed) of making it travel to zero point by re-travel at this time is stored. When
the number of feedback pulses of the motor connected is 131072[PLS], the
value which divided the re-travel value to zero point by 10 is stored. (Data does
not change with the last value in the data setting type.)

(8) Travel value after proximity dog ON storage register

(D10+20n, D11+20n) ………………………………… Monitor device
This register stores the travel value (unsigned) from the proximity dog ON to
home position return completion after the home position return starting.

(9) Execute program No. (main) storage register (D12+20n)

....…….. Monitor device
(a) The register stores the starting program No. (Motion program No.) at the
SVST instruction start.
The O No. of subprogram started by "M98" (subprogram call) is stored to
another register.

(b) The following value is stored in the following cases.

• JOG operation...................................... FFFFH
• Manual pulse generator operation ...... FFFEH
• Home position return operation ........... FFFCH
• Power supply on................................... FF00H

(c) When either of the following is being executed using a peripheral device in
the test mode, FFFD is stored in this register.
• Home position return.

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(10) M-code storage register (D13+20n) ..........……….. Monitor device

(a) This register stores the M-code set to the Motion program at the block
execute start.
If M-code is not set in the Motion program, the value "0" is stored.

(b) The preceding value remains until the M-code is executed next.

(11) Torque limit value storage register (D14+20n) ...... Monitor device
This register stores the torque limit value imposed on the servo amplifier.
The default value 300[%] is stored at the power supply of servo amplifier ON.

POINT
When the vector inverter is used, set the switable torque limit value for each vector
inverter in the following methods.
• Set the parameter block using the Motion program by making the torque limit
value of parameter block into a switable setting value.
• Execute the torque limit value change request instruction (CHGT, TL) using the
Motion program.
• Execute the torque limit value change request instruction (S(P).CHGT) using the
PLC program of PLC CPU.

(12) Real current value at STOP input storage register

(D18+20n, D19+20n) .............……………………... Monitor device
This register stores the real current value at the STOP signal (STOP) input of
the Q172LX.

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5.2.2 Control change registers

This area stores the JOG operation speed data.

Control change registers list (Higher rank, lower rank)

Name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8
D641, D640 D643, D642 D645, D644 D647, D646 D649, D648 D651, D650 D653, D652 D655, D654
Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16
JOG speed D657, D656 D659, D658 D661, D660 D663, D662 D665, D664 D667, D666 D669, D668 D671, D670
setting Axis 17 Axis 18 Axis 19 Axis 20 Axis 21 Axis 22 Axis 23 Axis 24
register D673, D672 D675, D674 D677, D676 D679, D678 D681, D680 D683, D682 D685, D684 D687, D686
Axis 25 Axis 26 Axis 27 Axis 28 Axis 29 Axis 30 Axis 31 Axis 32
D689, D688 D691, D690 D693, D692 D695, D694 D697, D696 D699, D698 D701, D700 D703, D702
(Note): The range of axis No.1 to 8 is valid in the Q172CPU(N).

(1) JOG speed setting registers (D640+2n) ....…….. Command device

(a) This register stores the JOG speed at the JOG operation.

(b) Setting range of the JOG speed is shown below.

Unit mm inch degree
Item Setting range Unit Setting range Unit Setting range Unit
-2 -3 -3
1 to 10 1 to 10 1 to 10
JOG speed
600000000 [mm/min] 600000000 [inch/min] 2147483647 [degree/min]

(c) The JOG speed is the value stored in the JOG speed setting registers when
the JOG start signal turns off to on.
Even if data is changed during JOG operation, JOG speed cannot be
changed.

(d) Refer to Section 8.7 for details of JOG operation.

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5.2.3 Axis monitor devices 2

(1) Current value (D800+20n, D801+20n) ....………….. Monitor device

(a) This register stores the address in the work coordinate system (G54 to G59)
specified with the Motion program.
This value is stored on the assumption that 0.0001mm is equal to 1.
(1mm=10000)
Example that the setting using the peripheral device is G54=1000 is shown
below.

Machine value 10000000 0

Machine value zero position

Current value 0 -10000000

Work coordinate system G54 zero position

At the 10000000 position of the machine value, the current value is "0".

(b) The current value is shift depending on the work coordinate system
selection (G54 to G59) and G92 (coordinate system setting).
When "G90 G00 X0. ; " (G54 selected) and "G92 X500." are executed in
the above state, the current value is as follows.

Machine value 10000000 0

Machine value zero position

Current value 0 -10000000

Execute "G92 X500." Work coordinate system G54 zero position

5000000 0 -5000000

The 0 position of the current value is re-set to 500. , which results in the
current value of 5000000.

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(2) Execute sequence No. (main) storage register (D802+20n)

....………... Monitor device
This register stores the N No. (sequence No.) of the executing main sequence.
This number changes to "0" using the Motion dedicated PLC instruction
(S(P).SVST) at the Motion program start.
The changes of the execute Motion program No., execute sequence No. and
execute block No. are shown below.
Execute Motion Execute sequence
Program Execute block No.
program No. No.
O0001 ; 1 0 0
G00 X100. ; 1 0 1
X200. ; 1 0 2
N100 Y100. ; 1 100 0
Z100. ; 1 100 1
X300. ; 1 100 2
N200 G01 X350. F100. ; 1 200 0
Y200. Z200. ; 1 200 1
M10 ; 1 200 2
M02 ; 1 200 3
% 1 200 3

(3) Execute block No. (main) storage register (D803+20n)

....………….. Monitor device
This register stores the block No. during operation.
This number changes to "0" using the Motion dedicated instruction (S(P).SVST)
at the Motion program start.
When the sequence No. (N****) described in the Motion program is executed,
this number changes to "0", and it is incremented every time a single block is
executed. (Be careful when executing the IF-THEN-ELSE-END or WHILE-DO-
END instruction. Refer to Sections 7.16.2 and 7.16.3 for details.)

(4) Execute program No. (sub) storage register (D804+20n)

.......……….. Monitor device
(a) This register stores the O No. of the subprogram started by "M98"
(subprogram call).

(b) When a subprogram is called from a subprogram, this number changes to

the O No. of the subprogram called.
When the subprogram is ended by "M99", this number changes to the O
No. of the call source subprogram.

(c) This number changes to "0" using the Motion dedicated PLC instruction
(S(P).SVST) at the Motion program start.

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(5) Execute sequence No. (sub) storage register (D805+20n)

.....…..…….. Monitor device
(a) This register sotres the N No. of the subprogram started by "M98"
(subprogram call).

(b) When a subprogram is called from a subprogram, this number changes to

the N No. of the subprogram called.
When the subprogram is ended by "M99", this number changes to the N
No. of the subprogram which called.

(c) This number changes to "0" using the Motion dedicated instruction
(S(P).SVST) at the Motion program start.

(6) Execute block No. (sub) storage register (D806+20n)

.....…..…….. Monitor device
(a) This register stores the block No. of the subprogram started by "M98"
(subprogram call).

(b) When a subprogram is called from a subprogram, this number changes to

the block No. of the subprogram called.
When the subprogram is ended by "M99", this number changes to the block
No. of the subprogram which called.

(c) This number changes to "0" using the Motion dedicated instruction
(S(P).SVST) at the Motion program start.

(7) G43/G44 command storage register (D808+20n)

....…….. Monitor device
(a) This register stores the following values when the tool length offset (G43,
G44) or tool length offset cancel (G49) set in the Motion program is
executed.
• For G43....…….43
• For G44....…….44
• For G49....…….0

(b) The default value is "0".

(8) Tool length offset data No. storage register (D809+20n)

....…….. Monitor device
(a) This register stores the setting tool length offset data No. at the tool length
offset (G43, G44) command.

[Example] When the X axis is assigned to axis 3

Execute "G43 X100. H20 ;".

20 is stored in D849.

(b) The default value is "0".

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(9) Tool length offset data storage register (D810+20n, D811+20n)

...…….…….. Monitor device
(a) This register stores the offset value specified in the tool length offset data
No..
Tool length offset data storage register is shown bellow.

Applicable registers
Higher rank Lower rank
Offset value D811+20n D810+20n

(b) The contents of the data registers (D1650 to D1689 : offset value)
corresponding to the setting tool length offset data No. is stored in the tool
length offset area at the tool length offset (G43, G44) command.

[Example] When the X axis is assigned to axis 3

D1650,D1651=50000(H1=5.0000mm)
Execute "G43 X50. H1 ;".

50000 is stored into D850 and D851.

Execute "G49 X50. ;".

0 is stored into D850 and D851.

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5.2.4 Control program monitor devices

Up to 16 control programs can be executed simultaneously. When new control

program is executed in this monitor area, the vacant area is secured suitably and the
monitor information on the executed program.

(1) Program No. storage register (D1440+6n) ....…….. Monitor device

(a) The O No. of executing control program is stored.

(b) When a subprogram is called from a subprogram, this number changes to

the O No. of the subprogram called.

(c) This number changes to "0" using the Motion dedicated PLC instruction
(S(P).SFCS) at the Motion program start.

(2) Sequence No. storage register (D1441+6n) ....….. Monitor device

This register stores the N No. (sequence No.) of the executing main sequence.
This number changes to "0" using the SFCS instruction at the Motion program
start.

(3) Block No. storage register (D1442+6n) ....…….. Monitor device

The block No. of executing control program is stored.
This number changes to "0" using the Motion dedicated PLC instruction
(S(P).SFCS) at the Motion program start.
When the sequence No. (N****) described in the Motion program is executed,
this number changes to "0", and it is incremented every time a single block is
executed. (Be careful when executing the IF-THEN-ELSE-END or WHILE-DO-
END instruction. Refer to Sections 7.16.2 and 7.16.3 for details.)

(4) Error code storage register (D1443+6n) ....……….. Monitor device

(a) This register stores the corresponding error code at the minor error
occurrence. If another minor error occurs after error code storing, the
previous error code is overwritten by the new error code.

(5) Execute status storage register (D1444+6n) ..…….. Monitor device

This register stores the execute status.

Name Contents
0 : End
Execute status storoge register
1 : Executing

When the control program is ended normally or by error, the stored monitor
information is not cleared, "0" is stored in the execute status storage register.
After that, the monitor information is not cleared until the new control program is
started and the monitor area is assigned.

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(6) CLEAR request status storage register (D1445) ... Monitor device
(a) When the control program specified in the CLEAR request control program
No. setting register (D707) is cleared normally, "1" is set.

(b) If an error occurs in CLEAR of the clear control program specified in the
CLEAR request control program No. setting register (D707).
1) A minor error "the program number ended by CLEAR is outside the
range of 1 to 1024". (Error code: 619)
2) A minor error "the program number ended by CLEAR is nor registered.
Or, the axis designation program is cleared". (Error code: 620)

(c) "0" is set in the CLEAR request control program No. setting register (D707),
"0" is also set in the CLEAR request status storage register.

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5.2.5 Control change registers 2

This area stores the override ratio setting data.

Table 5.1 Control change register 2 list

Name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8
Override
ratio setting D1536 D1539 D1542 D1545 D1548 D1551 D1554 D1557
register
D1537 to D1540 to D1543 to D1546 to D1549 to D1552 to D1555 to D1558 to
Unusable
D1538 D1541 D15344 D1547 D1550 D1553 D1556 D1559

Name Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16

Override
ratio setting D1560 D1563 D1566 D1569 D1572 D1575 D1578 D1581
register
D1561 to D1564 to D1567 to D1570 to D1573 to D1576 to D1579 to D1582 to
Unusable
D1562 D1565 D1568 D1571 D1574 D1577 D1580 D1583

Name Axis 17 Axis 18 Axis 19 Axis 20 Axis 21 Axis 22 Axis 23 Axis 24

Override
ratio setting D1584 D1587 D1590 D1593 D1596 D1599 D1602 D1605
register
D1585 to D1588 to D1591 to D1594 to D1597 to D1600 to D15603to D1606 to
Unusable
D1586 D1589 D1592 D1595 D1598 D1601 D1604 D1607

Name Axis 25 Axis 26 Axis 27 Axis 28 Axis 29 Axis 30 Axis 31 Axis 32

Override
ratio setting D1608 D1611 D1614 D1617 D1620 D1623 D1626 D1629
register
D1609 to D1612 to D1615 to D1618 to D1621 to D1624 to D1627 to D1630 to
Unusable
D1610 D1613 D1616 D1619 D1622 D1625 D1628 D1631

(1) Override ratio setting register (D1536+3n) ....….. Command device

(a) This register is used to set the override ratio of 0 to 100[%] in 1[%]
increments to the command speed in the Motion program.

(b) The actual feed rate is the result of multiplying the command speed in the
Motion program by the override ratio.

(c) Refer to Section 8.9 for details of override ratio setting.

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5.2.6 Tool length offset data setting registers

(1) Tool length offset data setting registers (D1650+2n)

....…….. Command device
(a) This register is used to set the tool length offset values.

(b) The tool length offset data No. can be set within the range of H1 to H20.
Tool length offset data setting registers are shown below.
Applicable registers
Tool length offset data No.
Higher rank Lower rank

H1 D1651 D1650
H2 D1653 D1652
H3 D1655 D1654
H4 D1657 D1656
H5 D1659 D1658
H6 D1661 D1660
H7 D1663 D1662
H8 D1665 D1664
H9 D1667 D1666
H10 D1669 D1668
H11 D1671 D1670
H12 D1673 D1672
H13 D1675 D1674
H14 D1677 D1676
H15 D1679 D1678
H16 D1681 D1680
H17 D1683 D1682
H18 D1685 D1684
H19 D1687 D1686
H20 D1689 D1688

(c) The setting ranges of the tool length offset data are shown below.
Unit mm degree
Item Setting range Unit Setting range Unit
Tool compensation amount -999.9999 to -359.99999 to
mm degree
(H1 to H20) 999.9999 359.99999

(d) Refer to Section 7.13.20 and 7.13.21 for details of the tool length offset.

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5.2.7 Common devices

(1) CLEAR request status storage (D1445) ..…….….. Monitor device

(a) 0 No. of the conrol program which executes the CLEAR instruction or
equivalent of Motion program for the positioning control is executed. When
the control program No. is set, the Motion CPU judsges that the CLEAR
request was made and ends the specified control program.

(b) The default value is "0".

(c) When CLEAR instruction or equivalent is executed for one program, "1 to
1024" of control program 0 No. is set.

(d) When CLEAR instruction or equivalent is executed for all control programs,
"65535" is set in the setting register.

(2) JOG simultaneous start axis setting registers (D710 to D713)

....…….. Command device
(a) These registers set the axis No. and direction which start simultaneously
the JOG operation.

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D710 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 Forward
rotation
JOG
D711 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

D712 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1
Reverse
rotation
JOG
D713 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

(Note-1) : Make JOG operation simultaneous start axis setting with 1/0.
1 : Simultaneous start execution
0 : Simultaneous start not execution
(Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

(b) Refer to Section 8.7.3 for details of the JOG operation simultaneous start.

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(3) Manual pulse generator axis No. setting registers (D714 to D719)
....…….. Command device
(a) These registers stores the axis No. controlled with the manual pulse
generator.

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D714 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

P1
D715 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

D716 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

P2
D717 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

D718 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

P3
D719 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

(Note-1) : Make the axis No. controlled with the manual pulse generator setting with 1/0.
1 : Specified axis
0 : Unspecified axis
(Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

(b) Refer to Section 8.8 for details of the manual pulse generator operation.

(4) Manual pulse generator 1-pulse input magnification setting

registers (D720 to D751) ..................................... Command device
(a) These register set the magnification (1 to 10000) per pulse of number of the
input pulses from anual pulse generator at the pulse generator operation.
1-pulse input 1-pulse input
magnification Axis No. Setting range magnification Axis No. Setting range
setting register setting register
D720 Axis 1 D736 Axis 17
D721 Axis 2 D737 Axis 18
D722 Axis 3 D738 Axis 19
D723 Axis 4 D739 Axis 20
D724 Axis 5 D740 Axis 21
D725 Axis 6 D741 Axis 22
D726 Axis 7 D742 Axis 23
D727 Axis 8 D743 Axis 24
1 to 10000 1 to 10000
D728 Axis 9 D744 Axis 25
D729 Axis 10 D745 Axis 26
D730 Axis 11 D746 Axis 27
D731 Axis 12 D747 Axis 28
D732 Axis 13 D748 Axis 29
D733 Axis 14 D749 Axis 30
D734 Axis 15 D750 Axis 31
D735 Axis 16 D751 Axis 32
(Note-1): The range of axis No.1 to 8 is valid in the Q172CPU(N).

(b) Refer to Section 8.8 for details of the manual pulse generator operation.

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(5) Manual pulse generator smoothing magnification setting registers

(D752 to D754) .................................................... Command device
(a) These registers set the smoothing time constants of manual pulse
generators.
Manual pulse generator smoothing
Setting range
magnification setting register
Manual pulse generator 1 (P1): D752
Manual pulse generator 2 (P1): D753 0 to 59
Manual pulse generator 3 (P1): D754

(b) When the smoothing magnification is set, the smoothing time constant is as
indicated by the following expression.
Smoothing time constant (t) = (smoothing magnification + 1) 56.8 [ms]

(c) Operation

Manual pulse
generator input
ON
Manual pulse generator OFF
enable flag (M2051)

V V1

t t t t

Output speed (V1) [PLS/s] = (Number of input pulses/s) (Manual pulse

generator 1-pulse input magnification setting)

(Travel value Number of (Manual pulse generator 1-pulse

Travel value (L) =
per pulse) input pulses input magnification setting)

REMARK
(1) The travel value per pulse of the manual pulse generator is shown below.
• Setting unit mm :0.0001[mm]
inch :0.00001[inch]
degree :0.00001[degree]

(2) The smoothing time constant is 56.8[ms] to 3408[ms].

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(6) Servo amplifier type storage register (D792 to D799)

........................ Monitor device
The servo amplifier type set in the system settings is stored at the power supply
on or resetting of the Motion CPU.

b15 to b12 b11 to b8 b7 to b4 b3 to b0

D792 Axis 4 Axis 3 Axis 2 Axis 1
D793 Axis 8 Axis 7 Axis 6 Axis 5
D794 Axis 12 Axis 11 Axis 10 Axis 9

D795 Axis 16 Axis 15 Axis 14 Axis 13

D796 Axis 20 Axis 19 Axis 18 Axis 17

D797 Axis 24 Axis 23 Axis 22 Axis 21

D798 Axis 28 Axis 27 Axis 26 Axis 25

D799 Axis 32 Axis 31 Axis 30 Axis 29

Servo amplifier type

0 . . . . . Axis unused
2 . . . . . Servo amplifier

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5.3 Motion Registers (#)

There are motion registers (#0 to #8191) in the Motion CPU. #8000 to #8063 are used
as SV43 dedicated device and #8064 to #8191 are used as the servo monitor device.

(1) SV43 dedicated device (#8000 to #8063)

These devices are reserved by the system. Do not use them by user side.

(2) Servo monitor devices (#8064 to #8191) ................. Monitor device

Information about "servo amplifier type", "motor current" and "motor speed" for
each axis is stored the servo monitor devices.
The details of the storage data are shown below.

Axis
Device No. Signal name
No.
1 #8064 to #8067
2 #8068 to #8071 (Note-1)
Signal name Signal description Refresh cycle Signal direction
3 #8072 to #8075
4 #8076 to #8079 0 : Unused 4 : MR-J2S-B
5 #8080 to #8083 1 : MR-H-BN 5 : MR-J2-M When the servo amplifier
+0 Servo amplifier type
6 #8084 to #8087 2 : MR-J-B 6 : MR-J2-03B5 power-on
7 #8088 to #8091 3 : MR-J2-B 65 : FR-V500 Monitor device
8 #8092 to #8095 +1 Motor current -5000 to 5000 ( 0.1[%] )
9 #8096 to #8099 +2 3.55[ms]
Motor speed -50000 to 50000 ( 0.1[r/min] )
10 #8100 to #8103 +3
11 #8104 to #8107 (Note-1) : The value that the lowest servo monitor device No. was added "+0, +1 ···" on each axis is shown.
12 #8108 to #8111
13 #8112 to #8115
14 #8116 to #8119
15 #8120 to #8123
16 #8124 to #8127
17 #8128 to #8131
18 #8132 to #8135
19 #8136 to #8139
20 #8140 to #8143
21 #8144 to #8147
22 #8148 to #8151
23 #8152 to #8155
24 #8156 to #8159
25 #8160 to #8163
26 #8164 to #8167
27 #8168 to #8171
28 #8172 to #8175
29 #8176 to #8179
30 #8180 to #8183
31 #8184 to #8187
32 #8188 to #8191

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5.4 Special Relays (SP.M)

There are 256 special relay points of M9000 to M9255 in the Motion CPU.
Of these, 7 points of the M9073 to M9079 are used for the positioning control, and
their applications are indicated in Table 5.2. (Refer to APPENDIX 3.4 "Special Relays"
for the applications of the special relays except for M9073 to M9079.)

Table 5.2 Special relay list

Device No. Signal name Refresh cycle Signal type
M9073 PCPU WDT error flag
M9074 PCPU REDAY complete flag
M9075 TEST mode ON flag
M9076 External forced stop input flag Main cycle Status signal
M9077 Manual pulse generator axis setting error flag
M9078 TEST mode request error flag
M9079 Motion program setting error flag

(1) PCPU WDT error flag (M9073) ................................... Status signal

This flag turns on when a "watchdog timer error" is detected of the Motion CPU
self-diagnosis function.
When the Motion CPU detects a WDT error, it executes an immediate stop
without deceleration of the operating axes.
If the Motion CPU WDT error flag has turn on, reset the Motion CPU.
If M9073 remains on after resetting, there is a fault at the Motion CPU side.
The error cause is stored in the "Motion CPU WDT error cause (D9184)".
(Refer to Section 5.5).

(2) PCPU REDAY complete flag (M9074) ………............ Status signal

This flag is used as judgement of the normal or abnormal in the Motion CPU
side using the PLC program.
(a) When the PLC ready flag (M2000) turns off to on, the fixed parameters,
servo parameters and limit switch output data are checked, and if error is
not detected, this flag turns on.
The servo parameters are written to the servo amplifiers and the M-codes
are cleared.

(b) This flag turns off when the PLC ready flag (M2000) turns off.

PLC ready flag

t
(M2000)

PCPU READY
complete flag
(M9074) The servo parameters are
written to the servo amplifiers
and the M-codes are cleared.

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5 POSITIONING DEDICATED SIGNALS

(3) TEST mode ON flag (M9075) ........……...................... Status signal

(a) This flag is used as judgement of during the test mode or not using a
peripheral.
Use it for an interlock, etc. at the starting of the Motion program using the
SVST instruction of the PLC program.
• OFF ......... Except for the test mode
• ON ......... During the test mode

(b) If the test mode request is executed in the test mode request from the
peripheral device, the TEST mode request error flag (M9078) turns on.

(4) External forced stop input flag (M9076) ....…………… Status signal
This flag checks the external forced stop input signal ON/OFF.
• OFF ........ During the external forced stop input on
• ON ........ During the external forced stop input off

POINTS
(1) If the forced stop signal is input during positioning, the machine value is
advanced within the rapid stop deceleration time (Note) set in the parameter
block. At the same time, the servo OFF state is established because the all
axes servo ON command (M2042) turns off.
When the rapid stop deceleration time (Note) has elapsed after input of the forced
stop signal, the machine value returns to the value at the point when the
emergency stop was initiated.

(2) If the forced stop is reset before the emergency stop deceleration time has
elapsed, a servo error occurs.

(Note) : It is not the rapid stop deceleration time but acceleration time at the G100
execution (fixed acceleration/deceleration time).

(5) Manual pulse generator axis setting error flag (M9077)

.………...... Status signal
(a) This flag is use as judgement of normal or abnormal setting of the manual
pulse generator axis No. setting registers (D714 to D719).
• OFF ......... D714 to D719 is normal
• ON ......... D714 to D719 is abnormal

(b) When M9077 turns on, the error contents are stored in the manual pulse
generator axis setting error information (D9185 to D9187).

(6) TEST mode request error flag (M9078) ..........………. Status signal
(a) This flag turns on when the test mode is not executed in the test mode
request using a peripheral device.

(b) When M9078 turns on, the error contents are stored in the test mode
request error information (D9182, D9183).

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5 POSITIONING DEDICATED SIGNALS

(7) Motion program setting error flag (M9079) ...........…... Status signal
This flag is used as judgement of normal or abnormal for the Motion program
positioning data.
• OFF ...... Normal
• ON ...... Abnormal

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5 POSITIONING DEDICATED SIGNALS

5.5 Special Registers (SP.D)

There are 256 special register points of D9000 to D9255 in the Motion CPU.
Of these, 22 points of the D9180 to D9201 are used for the positioning control.
The special registers used for positioning are shown below. (Refer to APPENDIX 3.5
"Special Registers" for the applications of special registers except for D9180 to
D9201.)

Table 5.3 Special register list

Signal
Device No. Signal name Refresh cycle Fetch cycle
direction
D9180
Unusable
D9181
D9182
Test mode request error information At test mode request
D9183
At Motion CPU WDT error
D9184 Motion CPU WDT error cause
occurrence
D9185
Manual pulse generator axis setting error At the manual pulse generator
D9186 Monitor
information enable flag
D9187 device
D9188 Motion operation cycle Operation cycle
D9189 Error program No.
At start
D9190 Error item information
D9191 At power supply on/
Servo amplifier loading information
D9192 operation cycle
D9193
D9194 Unusable
D9195
D9196 PC link communication error codes Operation cycle Monitor
D9197 Operation cycle of the Motion CPU setting At power supply on device
D9198
Unusable
D9199
D9200 State of switch Main cycle Monitor
D9201 State of LED Immediate device

(1) Test mode request error information (D9182, D9183)

........... Monitor device
If there are operating axis at a test mode request from a peripheral device, a test
mode request error occurs, the test mode request error flag (M9078) turns on,
and the during operation/stop data of the each axis are stored.

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D9182 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

D9183 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

Stores the during operation/stop

data of each axis
0 : During stop
(Note): The range of axis No.1 to 8 is valid in the Q172CPU(N). 1 : During operation

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5 POSITIONING DEDICATED SIGNALS

(2) Motion CPU WDT error cause (D9184) ………........ Monitor device
This register is used as judgement of the error contents in the Motion CPU.
Operation when error
Error code Error cause Action to take
occurs
1 S/W falut 1 • Reset with the reset key.
Operation cycle time over • If the error reoccurs after resetting,
2 change the operation cycle into a large
value in the system setting.
Q bus WDT error • Reset with the reset key.
• If the error reoccurs after resetting, the
3 relevant module or the relevant slot
(base unit) is probably faulty: replace
the module/base unit.
4 WDT error • Reset with the reset key.
Information processor H/W error • If the error reoccurs after resetting,
30 explain the error symptom and get
advice from our sales representatives.
Q bus H/W fault • Reset with the reset key.
201 • If the error reoccurs after resetting, the
relevant module or the relevant slot
Error contents (base unit) is probably faulty: replace
201 to 215 01 : Q bus error 1
02 : Q bus error 2 the module/base unit.
04 : Q bus error 4
08 : Q bus error 8
Error code = Total of the error contents + 200 All axes stop immediately,
after which operation
Servo amplifier (MR-†B) interface H/W fault cannot be started.
250

Faulty SSCNET No.

250 to 253 0 : SSCNET 1
1 : SSCENT 2
2 : SSCNET 3
3 : SSCNET 4
Error code = Total of the faulty SSCNET No. + 250

300 S/W fault3 • Reset with the reset key.

8 or more points of CPSTART instruction were used • Reset with the reset key.
to start programs in excess of simultaneously • Use 8 or more points of CPSTART
startable program. instruction to start programs within the
301 number of simultaneously startable
Number of simultaneous startable programs programs.
14

During ROM operation, the system setting data, • Write the system setting data,
302 programs and parameters written to internal FLASH programs and parameters to the
ROM are fault. internal FLASH ROM.

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5 POSITIONING DEDICATED SIGNALS

(3) Manual pulse generator axis setting error information

(D9185 to D9187) ...............................................….. Monitor device
The setting information is checked when the manual pulse generator enable
signal turns off to on, if an error is found, the following error information is stored
into D9185 to D9187 and the manual pulse generator axis setting error flag
(M9077) turns on.

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D9185 0 0 0 0 0 0 0 0 0 0 P3 P2 P1 P3 P2 P1

Store the axis setting errors of the manual pulse

generators connected to P1 to P3 of Q173PX.
0 : Normal
1 : Setting error
(Axis setting in each digit is except for 1 to 32)

Store the smoothing magnification setting errors

of the manual pulse generators connected to P1
to P3 of Q173PX.
0 : Normal
1 : Setting error
(Axis setting in each digit is except for 0 to 59)
All turn to 0.

D9186 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

D9187 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

Store the 1-pulse input magnification setting

errors of the axes.
0 : Normal
1 : Setting error
(Input magnification of each axis is except for
(Note) : The range of axis No.1 to 8 is valid in the Q172CPU(N). 1 to 10000)

(4) Motion operation cycle (D9188) ….……..…………. Monitor device

The time which motion operation took for every motion operation cycle is stored
in [µs] unit.

(5) Error program No. (D9189) .................……….......... Monitor device

(a) When the Motion program error occurs at the Motion program operation, the
program setting error flag (M9079) turns on and the error Motion program
No. (0 to 4095).

(b) If an error occurs in another Motion program when error program No. has
been stored, the program No. of the new error is stored.

(6) Error item information (D9190) ...........………........... Monitor device

When the Motion program error occurs at the Motion program operation, the
program setting error flag (M9079) turns on and the error code corresponds to
the error setting item is stored.
Refer to APPENDIX 2.1 for details of Motion program setting errors.

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5 POSITIONING DEDICATED SIGNALS

(7) Servo amplifier loading information (D9191 to D9192)

........... Monitor device
The installation state of the servo amplifier is checked at the power supply on or
resetting of the Motion CPU and its results are stored in this device.
The axis which turn from non-installation to installation state after power-on
becomes installation state. However, the axis which turn from installation to non-
installation state remains as installed.

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D9191 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

D9192 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

Servo amplifier installation state

Installation. . . . . . . . 1
(Note): The range of axis No.1 to 8 is valid in the Q172CPU(N). Non-installation . . . . 0

(a) Servo amplifier installation state

1) Installation/non-installation state
• "Installation" state ..…..... The servo amplifier is normal.
(Communication with the servo amplifier is
normal.)
• "Non-installation" state ... No servo amplifier is installed.
The servo amplifier power is off.
Normal communication with the servo
amplifier is not possible due to a
connecting cable fault, etc.
2) The system settings and servo amplifier installation states are shown
below.
Servo amplifier
System Settings
Installation Non-installation
Used (axis No. setting) 1 is stored 0 is stored
Unused 0 is stored

(8) PC link communication error codes (D9196) ........... Monitor device

When an error occurs during the PC link communication, the error code is stored
in this device.

PC communication error code storage register Contents

00: No error
01: Receiving timing error
02: CRC error
03: Communication response code error
D9196
04: Received frame error
05: Communication task start error
(Each error code is reset to "00" when normal
communication is restarted.)

Refer to APPENDIX 2.5 for details of the PC link communication errors.

5 - 86
5 POSITIONING DEDICATED SIGNALS

(9) Operation cycle of the Motion CPU setting (D9197)

........... Monitor device
The setting operation cycle is stored in [µs] unit.
When the "Automatic setting" is set in the system setting, the operation cycle
corresponding to the number of setting axes. When "0.8[ms] / 1.7[ms] / 3.5[ms] /
7.1[ms] / 14.2[ms]" is set in the system setting, the operation cycle
corresponding to each setting.
(Note): MR-H BN does not support an operation cycle of 0.8[ms].
If MR-H BN is set in the system setting, 1.7[ms] is used as the real
operation cycle even if 0.8[ms] is set.

(10) State of switch (D9200) ………………………….. Monitor device

The switch state of CPU is stored in the form of the following.

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D9200

Switch state of CPU

0 : RUN
1 : STOP
2 : L.CLR
Memory card switch
Always OFF
(All setting of each
digit is "0".)
No used

b8 to b12 corresponds to
SW1 to SW5 of the
system setting switch.
(b13 to b15 : Not used)
0 : OFF
1 : ON

(11) State of LED (D9201)…………………………..…… Monitor device

It stores whether the LED of CPU is in which state in next by the following bit
patterns. 0 is OFF, 1 is ON and 2 is Flicker.)

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D9201

RUN

ERROR

M.RUN

BAT.ALARM

BOOT

Not used
MODE
0 : OFF
(Note) : Indicate the following setting. 1 : Green
0 : OFF 2 : Orange
1 : ON
2 : Flicker

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5 POSITIONING DEDICATED SIGNALS

MEMO

5 - 88
6 PARAMETERS FOR POSITIONING CONTROL

6. PARAMETERS FOR POSITIONING CONTROL

6.1 System Settings

In the Multiple CPU system, the common system parameters and individual
parameters are set for each CPU and written to each CPU.
(1) The base settings, Multiple CPU settings and Motion slot settings are set in the
common system parameter setting.

(2) The basic system settings, self CPU installation position setting, servo
amplifier/motor setting, high-speed read setting and battery setting are set in the
individual parameter setting.

(3) The data setting and correction can be performed in dialog form using a
peripheral device.
(Refer to the "1.5 System Settings" for details of the setting contents.)

6-1
 6 PARAMETERS FOR POSITIONING CONTROL

6.2 Fixed Parameters

(1) The fixed parameters are set for each axis and their data is fixed based on the
mechanical system, etc.

(2) The fixed parameters are set using a peripheral device.

(3) The fixed parameters to be set are shown in Table 6.1.

Table 6.1 Fixed parameter list

Setting range
No. Item mm inch degree Initial value Units Remarks Section
Setting range Units Setting range Units Setting range Units
• Set the command value for each axis at the
1 Unit setting 0 1 2 0
positioning control.
Number of • Set the number of feedback pulses per motor
Travel value per pulse (A)

pulses per rotation based on the mechanical system.

2 1 to 2147483647[PLS] 20000 PLS
rotation
(AP)
6.2.1
Travel • Set the travel value per motor based on the
value per 0.0001 to 0.00001 to 0.00001 to mechanical system.
3 2
rotation 214748.3647 21474.83647 21474.83647
(AL)
• Set the backlash amount of the machine.
• Every time of the positioning direction changes
Backlash at the positioning, compensation by the
4 compensation 0 to 6.5535 0 to 0.65535 0 to 0.65535 0 backlash compensation amount is executed. 6.2.2
amount (Note) The expression below shows the setting range.
0 (backlash compensation amount) × AP/AL
65535
• Set the upper limit for the machine travel
-214748.3648 -21474.83648 range. The expression below shows the setting
Upper stroke 0 to
5 to mm to inch degree 214748.3647 mm range.
limit (Note) 359.99999
214748.3647 21474.83647 -2147483648 (upper stroke limit value) ×
AP/AL 2147483647 6.2.3
• Set the lower limit for the machine travel range.
-214748.3648 -21474.83648
Lower stroke 0 to The expression below shows the setting range.
6 (Note) to to 0
limit 359.99999 -2147483648 (lower stroke limit value) ×
214748.3647 21474.83647
AP/AL 2147483647
• Set the position at which the command in-
position signal (M2403+20n) turns on
Command in- [(positioning address) - (current value)].
0.0001 to 0.00001 to 0.00001 to
7 position range 0.01 The expression below shows the setting 6.2.4
3.2767 0.32767 0.32767
(Note) range.
1 (command in-position range) × AP/AL
32767
• Set the positioning speed by G00.
High-speed 0.01 to mm/ 0.001 to inch/ 0.001 to degree/ mm/
8 2000.00 • Set the speed at the home position return by 6.2.5
feed rate 6000000.00 min 600000.00 min 2147483.647 min min
G28.
(Note) : The display of the possible setting range changes according to the electronic gear value.

6-2
6 PARAMETERS FOR POSITIONING CONTROL

6.2.1 Number of pulses/travel value per rotation

The "Electronic gear function" adjusts the pulse calculated and output by the parameter
set in the Q173CPU(N)/Q172CPU(N) and the real travel value of machine.
It is defined by the "Number of pulses per rotation" and "Travel value per revolution".

POINTS
(1) The mechanical system error of the command travel value and real travel value
is rectified by adjustment the "electronic gear".

(2) The value of less than 1 pulse that cannot be execute a pulse output when the
machine travels is incremented in the Q173CPU(N)/Q172CPU(N), and a total
incremented pulse output is performed when the total incremented value
becomes more than 1 pulse.

(3) The total incremented value of less than 1 pulse that cannot be execute a pulse
output is cleared and it is referred to as "0" at the home position return
completion, current value change completion and start. (When the total
incremented value is cleared, the error occurs to the feed machine value only a
part to have been cleared.)

"Number of pulses/travel value per rotation" are shown below.

(1) Number of pulses/travel value per rotation

Number of pulses(AP)/travel value(AL) per rotation is an item which determines
how many rotations (number of pulses per rotation) of the servomotor in order to
make it a machine as the travel value ordered by the program.
The position control toward the servomotor is controlled with the number of
feedback pulses of the encoder connected to the servomotor in the servo
amplifier.
The control content of the Motion CPU is shown below.

Q173CPU(N)/Q172CPU(N)

Reduction gear Machine

PLS
Command Control AP
units PLS Servo amplifier M
value AL
ENC
PLS

Feedback pulse

Fig. 6.1 Control content of the Motion CPU

For example, suppose that the servomotor was connected to the ball
screw. Because the travel value ( S) of machine per motor rotation is [mm] /
[inch] unit, the travel value (positioning address) set in the program is
commanded in [mm] / [inch] unit. However, the servomotor is positioning
controlled by the servo amplifier in pulse unit.

6-3
6 PARAMETERS FOR POSITIONING CONTROL

Therefore, AP/AL is set so that the following expression of relations may be

materialized in order to convert the travel value of [mm] / [inch] unit set in the
program into a pulse.

Number of pulses per motor rotation = AP

Travel value of machine per motor rotation = AL

Electronic AP . . . . . (1)
=
gear AL

(There is a range which can be set in the numerical value set as AP/AL, so it is
necessary to make the setting range of AP/AL the value calculated from the
above expression (reduced) of relations.)

Example of the real setting is shown below.

(a) For ball screw

When the ball screw pitch is 20 [mm], the servomotor is HC-MFS
(131072[PLS/rev]) and direct connection (No reduction gear) is set.

Machine

Motor

Fig. 6.2 For ball screw

First, find how many millimeters the load (machine) will travel (AL)
when the servomotor runs for one rotation (AP).

AP (Number of pulses per motor rotation) = 131072 [PLS]

AL (Travel value of machine per rotation)
= Ball screw pitch × Reduction ratio
= 20 [mm]

Substitute this for the above expression (1).

AP 131072 [PLS]
=
AL 20 [mm]

The travel value per motor rotation in this example is 0.00015 [mm].
For example, when ordering the travel value of 19 [mm], it becomes
124518.4 [PLS] and the fraction of 0.4 [PLS]. At this time, the Motion
CPU orders the travel value of 124518 [PLS] to the servomotor and the
fraction is memorized in the Motion CPU.
Positioning is performed by seasoning the travel value with this fraction at
the next positioning.

6-4
6 PARAMETERS FOR POSITIONING CONTROL

6.2.2 Backlash compensation amount

(1) Backlash compensation amount can be set within the following range.
(Refer to Section "8.2 Backlash Compensation Function" for details.)
Backlash compensation amount
0 (=A) 65535[PLS]
Travel value per rotation

(2) The servo error may occur depending on the type of the servo amplifier
(servomotor) or operation cycle even if the backlash compensation amount which
fulfill the above condition. Set the backlash compensation amount within the
following range in order for servo error may not occur.

Maximum motor speed [r/min] × 1.2 × operation cycle [ms]

A [PLS]
60[s] × 1000[ms]

6.2.3 Upper/lower stroke limit value

The upper/lower limit value for the travel range of the mechanical system is set.

Limit switch for

emergency stop
RLS FLS
(Travel range of the machine)
Stroke limit Stroke limit
(lower) (upper)

Fig. 6.3 Travel range at the upper/lower stroke limit value setting

(1) Stroke limit range check

The stroke limit range is checked at the following start or during operation.
Operation start Check Remarks
• It is checked whether the positioning address is within the stroke
limit range or not at the positioning start. If it outside the range,
• Positioning control an error occurs (error code: 580) and positioning is not executed.
(PTP, Constant-speed) • If the interpolation path exceeds the stroke limit range during
circular interpolation start, an error occurs (error codes: 207,
208) and deceleration stop is executed.
• When the current value is executed a deceleration stop from
Check current command speed, if the current value exceeds the
• JOG operation stroke limit range, a deceleration stop is made before a stroke
limit. (Error code: 207) Travel to the direction that returns the
axis into the stroke range is possible. (Note).
• If the current value exceeds the stroke limit range, it stops at
• Manual pulse stroke limit. (Error code: 207) In this case, a deceleration stop
generator operation is not made. Travel to the direction that returns the axis into
the stroke range is possible (Note).
(Note) : The operating system software is valid with SW5RN-SV43Q (Ver.00C or later).
If the current value exceeds the stroke limit range, a deceleration stop is made with
SW5RN-SV43Q (Ver.00B or before).

6-5
6 PARAMETERS FOR POSITIONING CONTROL

POINTS
(1) Besides setting the upper/lower stroke limit value in the fixed parameters, the
stroke limit range can also be set by using the external limit signals (FLS, RLS).

(2) Positioning from outside the stroke limit range cannot be executed. After
returning the axis to within the stroke limit range by the JOG operation or
manual pulse generator operation, execute the positioning control.

6.2.4 Command in-position range

The command in-position is the difference between the positioning address (command
position) and current value.
Once the value for the command in-position has been set, the command in-position
signal (M2403 + 20n) turns on when the difference between the command position and
the current value enters the set range [(command position - current value) (command
in-position range)].
The command in-position range check is executed continuously during position control.

V Command in-position
Position setting value
control
start

Command in-position ON
(M2403+20n)
OFF

6-6
6 PARAMETERS FOR POSITIONING CONTROL

6.2.5 High-speed feed rate setting

The high-speed feed rate is the positioning speed used to perform positioning with G00
or to make a home position return with G28, and this data is needed to execute G00 or
G28.
When executing interpolation control with G00, change the speed of each axis based
on the axis whose time to reach the target position is the longer, and find the
combined-speed.
The high-speed feed rate setting example for interpolation control with G00.
[Example] Interpolation control from the current position (X=0, Y=0) to the target
position (X=200, Y=100)
High-speed feed rate X-axis 20[mm/min]
Y-axis 1[mm/min]

Y
G00 X200.Y100.;(Interpolation control execution)
100.mm (Target position)
Find the combined travel value
High-speed
feed rate
2002 + 1002 223.6067 [mm] 1 mm/min
X
0 200.mm
(Current position) High-speed feed rate
20 mm/min

After the above program execution, the reaching time of each axis is as follows.
X-axis: 200.[mm]/20[mm/min] = 10[min]
Y-axis: 100.[mm]/1[mm/min] = 100[min]
Since the reaching time of the Y-axis is longer, use the Y-axis as the reference axis
for the feed rate and find the combined-speed.

(Combined travel value)

223.6067[mm]
1[mm/min] × 2.23[mm/min]
100[mm]
(Reference axis feed rate) (Reference axis travel value) (Combined speed)

POINTS
(1) The high-speed feed rate of each axis is clamped at the speed limit value of
parameter block. The clamped value is also used to determine the axis whose
time to reach the target position is the longest.
(2) In the above calculation, the travel value and feed rate used are calculated
without units. Care must be taken when their units differ.
(Example)
• Travel value
10000 for the travel of 1 [mm], 100000 for 1 [inch], 100000 for 1 [degree]
• Feed rate
100 for the feed rate of 1 [mm/min], 1000 for 1 [inch/min], 1000 for 1
[degree/min]

6-7
6 PARAMETERS FOR POSITIONING CONTROL

6.3 Servo Parameters/Vector Inverter Parameters

(1) The servo parameters control the data fixed by the specifications of the servo
amplifier and servomotor controlled in the parameter set for each axis and the
control of the servomotor.

(2) The servo parameters/vector inverter parameters are set by peripheral device.

CAUTION
After setting the servo parameters/vector inverter parameters using a peripheral device,
execute a "RELATIVE CHECK" and execute the positioning control in the "NO ERROR" state.
If there is an error, check the relevant points indicated in this manual and reset it.
Refer to the help of each software for details of "RELATIVE CHECK".

6.3.1 Servo parameters of servo amplifier

The servo parameters to be set are shown in Tables 6.2 to 6.4.

Refer to the "Servo amplifier Instruction Manual" for details of the servo parameters.
Instruction Manual list is shown below.
Servo amplifier type Instruction manual name
MR-H BN,
MR-H BN Servo Amplifier Instruction Manual (SH-3192)
MR-H BN4
MR-J2S- B MR-J2S- B Servo Amplifier Instruction Manual (SH-030007)
MR-J2M-B MR-J2M-B Servo Amplifier Instruction Manual (SH-030012)
MR-J2- B MR-J2- B Servo Amplifier Instruction Manual (IB-67288)
MR-J2-03B5 MR-J2-03B5 Servo Amplifier Instruction Manual (SH-030005)

(1) Basic parameters

Table 6.2 servo parameter (Basic parameter) list

Setting value/setting range
(Setting by peripheral device)
Servo amplifier setting valid
No. Item Setting details Section
( :Valid)
Setting value
MR- MR- MR- MR- MR-
H-BN H-BN4 J2-B J2S-B J2-Jr
1 Servo series
2 Amplifier setting
Regenerative
brake resistor
(Regenerative
selection brake
• Set automatically in the system settings.
option)
3
Regenerative
brake resistor
(External
dynamic brake
selection)

6-8
6 PARAMETERS FOR POSITIONING CONTROL

Table 6.2 Servo parameter (Basic parameter) list (Continued)

Setting value/setting range
(Setting by peripheral device)
Servo amplifier setting valid
No. Item Setting details Section
( :Valid)
Setting value
MR- MR- MR- MR- MR-
H-BN H-BN4 J2-B J2S-B J2-Jr
4 Motor type
5 Motor capacity
6 Motor speed • Set automatically in the system settings.
Number of feed
7
back pulses
• Set the rotation direction at load side
Rotation • Set the rotation direction at load side of
8 Forward rotation
direction setting the servomotor.
Reverse rotation
0: Speed only
1: Position/speed
2: Not executed (Automatic tuning invalid)
Automatic tuning 0: Interpolation mode
9 • Select the automatic tuning. 6.3.8
setting 1: Automatic tuning mode 1
2: Manual mode 2
3: Automatic tuning mode 2
4: Manual mode 1
1: Normal mode
2: Normal mode
3: Normal mode
4: Normal mode
5: Normal mode
8: Large friction mode
9: Large friction mode
A: Large friction mode
B: Large friction mode
• Set to increase the servo response. C: Large friction mode
(At the automatic tuning valid.)
1: Low response (15HZ)
• Optimum response can be selected
2: Low response (20HZ)
Servo response according to the rigidity of the machine.
10 3: Low response (25HZ) 6.3.9
setting • As machine rigidity is higher, faster
response can be set to improve 4: Low response (30HZ)
tracking performance in response to a 5: Low response (35HZ)
command and to reduce setting time. 6: Low response (45HZ)
7: Low response (55HZ)
8: Middle response (70HZ)
9: High response (85HZ)
A: High response (105HZ)
B: High response (130HZ)
C: High response (160HZ)
D: High response (200HZ)
E: High response (240HZ)
F: High response (300HZ)

POINTS
(1) When the items marked " " in the above table has changed, make the Multiple
CPU system reset or PLC ready flag (M2000) OFF to ON. And, once turn OFF
the servo amplifier power supply, then turn ON it again.

(2) When the MR-J2M-B is used, set the "MR-J2S-B" in the system setting.
The setting range of the servo parameter is the same as the MR-J2S-B.

6-9
6 PARAMETERS FOR POSITIONING CONTROL

(2) Adjustment parameters

Table 6.3 Servo parameter (Adjustment parameter) list

Setting value/setting range
(Setting by peripheral device)
Servo amplifier setting valid
No. Item Setting details Section
( :Valid)
Setting value
MR- MR- MR- MR- MR-
H-BN H-BN4 J2-B J2S-B J2-Jr
• Set the ratio of the load inertia moment
for the servomotor.
• The result of automatic tuning is 0 to 100.0[times]
automatically used at the automatic
tuning.
POINT
"Load inertia ratio", "Position control
gain 1, 2", "Speed control gain 1, 2" and
Load inertia
1 "Speed integral compensation" is 6.3.7
ratio
transferred to servo amplifier in Multiple
CPU system power on, reset and PLC
0 to 300.0[times]
READY flag (M2000) on. When
automatic tuning is executed, it is
changed to the optimum value inside
the servo amplifier. The result of
automatic tuning is reflected to
Q173CPU(N)/Q172CPU(N) at this time.
• Set the gain of position loop 1.
4 to 1000[rad/s]
Position control • If the position control gain 1 increases,
2 6.3.2
gain 1 the follow-up performance for position 4 to 2000[rad/s]
command improves.
• Normally this parameter setting is used
with initial value. 20 to 5000[rad/s]
Speed control
3 • If the gain is increased, the 6.3.3
gain 1
responsiveness is improved but
20 to 8000[rad/s]
vibration or noise becomes more likely.
• Set the gain of the position loop.
• Set this parameter to increase position 1 to 500[rad/s]
Position control response to load disturbance.
4 6.3.2
gain 2 • Higher setting increases the response
level but is liable to generate vibration 1 to 1000[rad/s]
and/or noise.
• Set the parameter when vibration
occurs on machines of low rigidity or 20 to 8000[rad/s]
Speed control large backlash.
5 6.3.3
gain 2 • If the gain is increased, the
responsiveness is improved but 20 to 20000[rad/s]
vibration or noise becomes more likely.
Speed integral • Set the constant at the integral
6 1 to 1000[ms] 6.3.4
compensation compensation.
00: Not used
01: 1125[Hz]
02: 563[Hz]
03: 375[Hz]
04: 282[Hz]
05: 225[Hz]
Machine
06: 188[Hz]
resonance • Select the notch frequency to match the
07: 161[Hz]
7 suppression response frequency oh the mechanical 6.3.10
00: Not used 08: 141[Hz]
filter (Notch system.
01: 1125[Hz] 09: 125[Hz]
filter selection)
02: 563[Hz] 10: 113[Hz]
03: 375[Hz] 11: 102[Hz]
04: 282[Hz] 12: 94[Hz]
05: 225[Hz] 13: 87[Hz]
06: 188[Hz] 14: 80[Hz]
07: 161[Hz] 15: 75[Hz]

6 - 10
6 PARAMETERS FOR POSITIONING CONTROL

Table 6.3 Servo parameter (Adjustment parameter) list (Continued)

Setting value/setting range
(Setting by peripheral device)
Servo amplifier setting valid
No. Item Setting details Section
( :Valid)
Setting value
MR- MR- MR- MR- MR-
H-BN H-BN4 J2-B J2S-B J2-Jr
00: Not used 10: 281.3[HZ]
01: 4500[HZ] 11: 264.7[HZ]
02: 2250[HZ] 12: 250[HZ]
03: 1500[HZ] 13: 236.8[HZ]
04: 1125[HZ] 14: 225[HZ]
05: 900[HZ] 15: 214.3[HZ]
Machine
06: 750[HZ] 16: 204.5[HZ]
resonance
07: 642.9[HZ] 17: 195.7[HZ]
suppression
08: 562.5[HZ] 18: 187.5[HZ]
filter (Notch
• Set the notch frequency to match the 09: 500[HZ] 19: 180[HZ]
filter selection)
7 (Note-1) response frequency of the mechanical 0A: 450[HZ] 1A: 173.1[HZ] 6.3.10
system. 0B: 409.1[HZ] 1B: 166.7[HZ]
0C: 375[HZ] 1C: 160.1[HZ]
0D: 346.2[HZ] 1D: 155.2[HZ]
0E: 321.4[HZ] 1E: 150[HZ]
0F: 300[HZ] 1F: 145.2[HZ]
Machine
0: Deep (-40db)
resonance
1: (-14db)
suppression
2: (-8db)
filter (Notch
3: Shallow (-4db)
depth selection)
• Set the feed forward gain for position
control. Set "100" to nearly zero the
droop pulse value when operation is
performed at constant speed. Note the
rapid acceleration/deceleration time will
Feed forward increase overshoot.
8 0 to 100[%] 6.3.6
gain (Acceleration/deceleration time set in
100 [%] is about 1[s] or more.
POINT
Be sure to set up this parameter "2:
Invalid (Automatic tuning invalid)"
when you set "Automatic tuning".
• Set the droop pulse in the deviation
counter of the servo amplifier.
In-position
9 POINT 0 to 32767[PLS] 6.3.5
range
In the MR-J2S-†B only, set "Feed back
pulse" in the feed back pulse unit.
Electro- • Set a time delay from when the
magnetic brake electromagnetic brake interlock
10 0 to 1000[ms] 6.3.11
sequence signal (MBR) turns off until the base
output circuit is shut off.
(Note-1) : Only MR-J2S-†B is set with the adjustment parameter 2.

6 - 11
6 PARAMETERS FOR POSITIONING CONTROL

Table 6.3 Servo parameter (Adjustment parameter) list (Continued)

Setting value/setting range
(Setting by peripheral device)
Servo amplifier setting valid
No. Item Setting details Section
( :Valid)
Setting value
MR- MR- MR- MR- MR-
H-BN H-BN4 J2-B J2S-B J2-Jr
0: Servo motor speed (± output)
1: Torque (± output)
2: Servo motor speed (± output)
3: Torque (+ output)
4: Current command output (± output)
5: Command (F T) (± output)
6: Droop pulses 1/1 (± output)
7: Droop pulses 1/4 (± output)
8: Droop pulses 1/16 (± output)
9: Droop pulses 1/32 (± output)
Monitor output
A: Droop pulses 1/64 (± output)
11(Note-1) mode selection
(monitor 1) 0: Servo motor speed (± output)
1: Torque (± output)
2: Servo motor speed (± output)
3: Torque (+ output)
4: Current command output (± output)
5: Command (F T) (± output)
• Select the output signal from analog
6: Droop pulses 1/1 (± output)
monitor CH1 and CH2 of the servo 6.3.12
7: Droop pulses 1/16 (± output)
amplifier.
8: Droop pulses 1/64 (± output)
9: Droop pulses 1/256 (± output)
A: Droop pulses 1/1024 (± output)
0: Servo motor speed (± 8V/max. speed)
1: Torque (± 8V/max. torque)
2: Servo motor speed (+ 8V/max. speed)
3: Torque (+ 8V/max. torque)
4: Current command output (± 8V/max.
current command)
Monitor output
5: Command speed (± 8V/max. command
12(Note-1) mode selection
speed)
(monitor 2)
6: Droop pulses (± 10V/128 pulses)
7: Droop pulses (± 10V/2048 pulses)
8: Droop pulses (± 10V/8192 pulses)
9: Droop pulses (± 10V/32768 pulses)
A: Droop pulses (±10V/131072 pulses)
B: Bus voltage (+ 8V/400V)
(Note-1) : Only MR-J2S-†B is set with the adjustment parameter 2.

6 - 12
6 PARAMETERS FOR POSITIONING CONTROL

Table 6.3 Servo parameter (Adjustment parameter) list (Continued)

Setting value/setting range
(Setting by peripheral device)
Servo amplifier setting valid
No. Item Setting details ( :Valid) Section
Setting value
MR- MR- MR- MR- MR-
H-BN H-BN4 J2-B J2S-B J2-Jr

Optional • Set the optional function 1 (Carrier

0: Valid (Use the forced stop signal.)
function 1 frequency (Low acoustic noise mode)
13 1: Invalid (Do not use the forced stop
(External forced selection, serial encoder cable
signal.)
stop selection) selection).
Optional • Carrier frequency selection (Low
0: 2.25KHZ
function 1 acoustic noise mode selection)
14 (Carrier 20dB can decrease the 2: 6.375KHZ
frequency electromagnetic noise which occurs 6.3.13
selection) from servomotor when "1:9.0KHZ" is 3: 9KHZ
selected.
Optional At this time, continuous output of
function 1 servomotor can be decreased. 0: 2-wire type
15
(Serial encoder • Serial encoder selection 1: 4-wire type (For long distance cable)
cable selection) Select the serial encoder cable to be
used.
Optional
function 2 0: Invalid
16 (Slight vibration 1: Valid (Gain adjustment mode (Manual
suppression mode "Automatic tuning" is set as "2".)
control selection)
Optional
function 2 (Motor 0: Invalid
17 • Set the optional function 2.
lock operation 1: Valid
• Select the no-motor operation.
selection)
When the no-motor operation is
0: It is output with any of the following
made valid, output of signal and
conditions regardless of the motor
condition indication can be executed
rotational speed.
Optional without connecting servomotor.
1) Servo OFF
function 2
2) During alarm occurrence
18 (Electromagnetic
3) Emergency stop input turn off (Valid)
brake interlock
1: it is output with the status of 1) to 3) and
output timing)
rotational speed of the servomotor is "0
speed" or less of the expansion
parameter.

Adaptive vibration 6.3.14

suppression 0: Valid (Automatic adjustment)
19(Note-1) control 2 1: Invalid (Selection of manual low pass
(Low pass filter filter frequency is valid.)
selection)

0: Invalid
Adaptive vibration
1: Valid (Machine resonance frequency is
suppression
always detected and the filter is
control 2
• Select the low pass filter and the generated in response to resonance to
20(Note-1) (Adaptive
adaptive vibration suppression suppress machine vibration.)
vibration
control. 2: Held (The characteristics of the filter
suppression
generated so far are held, and detection
control selection)
of machine resonance is stopped.)
Adaptive vibration
suppression
control 2
0: Normal
21(Note-1) (Adaptive
1: Large sensitivity
vibration
suppression
control sensitivity)
(Note-1) : Only MR-J2S-†B is set with the expansion parameter 2.

6 - 13
6 PARAMETERS FOR POSITIONING CONTROL

(3) Expansion parameters

Table 6.4 Servo parameter (Expansion parameter) list
Setting value/setting range
(Setting by peripheral device)
Servo amplifier setting valid
No. Item Setting details ( :Valid) Section
Setting value
MR- MR- MR- MR- MR-
H-BN H-BN4 J2-B J2S-B J2-Jr

Monitor output 1 -9999 to 9999

1 • Set the value of monitor output 1 offset.
offset -999 to 999
6.3.15
Monitor output 2 -9999 to 9999
2 • Set the value of monitor output 2 offset.
offset -999 to 999
Pre-alarm data 0: Servo motor speed
3 selection (Data 1: Torque
selection 1) 2: Servo motor speed (+)
3: Torque (+)
4: Current command output
5: Command (F T)
Pre-alarm data
6: Droop pulses 1/1
4 selection (Data
7: Droop pulses 1/4
selection 2) • Set the pre-alarm data selection. 6.3.16
8: Droop pulses 1/16
9: Droop pulses 1/32
A: Droop pulses 1/64
0: 1.77[ms]
Pre-alarm data
1: 3.55[ms]
selection
5 2: 7.11[ms]
(Sampling time
3: 14.22[ms]
selection)
4: 28.44[ms]
• Set the output range of the zero speed
6 Zero speed 0 to 10000[r/min] 6.3.17
signal (zsp).
Error excessive • Set the output range of the error 1 to 1000[kPLS]
7 6.3.18
alarm level excessive alarm (52). 0.1 to 100.0[0.025rev] (Note-2)
0: PI control is always valid.
Optional function
1: Droop-based switching is valid in position
8 5 (PI-PID control • Select the PI-PID control switch-over.
control mode.
switch)
2: PID control is always valid. 6.3.19
Optional function • Used to read the reason after the servo
0: Japanese
9 5 (Servo readout amplifier 0400h why it does not rotate,
1: English
character) data, parameter item and alarm item.
Optional function
0: 9600[bps]
6 (Serial
10 1: 19200[bps]
communication
(Note-1) 2: 38400[bps]
baud rate
3: 57600[bps]
selection)
Optional function • A communication baud rate selection
0: Invalid
6 (Serial and communication response delay
11 1: Valid (It answer after delay time of
communication time and encoder output pulse setting
(Note-1) more than 888[µs].)
response delay selection.
time selection)
Optional function
0: Output pulse setting selection
12 6 (Encoder
1: Divided perimeter ratio
(Note-1) output pulse
setting selection)
Optional function
6 (Condition • Set the condition selection of home 0: Servomotor Z-phase pass after power ON
13
selection of position set. 1: No servomotor Z-phase pass after power 8.5.15
(Note-1)
home position ON
set)
(Note-1): Only MR-J2S- B is set with the expansion parameter 2.
(Note-2): The setting unit may change according to the software version of servo amplifier. Refer to the Instruction Manual of servo amplifier for details.

6 - 14
6 PARAMETERS FOR POSITIONING CONTROL

Table 6.4 Servo parameter (Expansion parameter) list (Continued)

Setting value/setting range
(Setting by peripheral device)
Servo amplifier setting valid
No. Item Setting details Section
( :Valid)
Setting value
MR- MR- MR- MR- MR-
H-BN H-BN4 J2-B J2S-B J2-Jr
• Set the position droop value (Number of
pulses) which PI control is switched over
PI-PID control to PID control.
14 switch-over • It becomes PID control in a domain 0 to 50000[PLS] 6.3.20
position droop higher than the setting value.
It becomes effective when a parameter
is made "0001h".
• Set the speed differential compensation
value of the real speed loop.
In PI (proportional integration) control, if
Speed the value for speed differential
15 differential compensation is set at 1000, the range 0 to 1000 6.3.22
compensation for normal P (proportional) control is
effective; if it is set to a value less than
1000, the range for P (proportional)
control is expanded.

• Set the encoder pulse (A-phase, B-

phase) output by the servo amplifier.
(After magnification of 4)
• Select the pulse setting or output division
ratio setting in the parameter.
Encoder output
16(Note-1) • The number of A-phase and B-phase 0 to 65535
pulse
pulse actually output 1/4 times of the
current number of pulse.
• The maximum output frequency is
1.3Mpps (After magnification of 4).
Use this parameter within the range.

(Note-1) : Only MR-J2S-†B is set with the expansion parameter 2.

POINT
(1) The "setting range" for position control gain 1 and 2, speed control gain 1 and 2
and speed integral compensation can be set using a peripheral device, but if a
setting outside the "valid range" is set, the following servo errors will occur when
the power supply of the Multiple CPU system turn on, the CPU is reset and the
PLC ready flag (M2000) turns off to on.
Servo error
Error contents Processing
code
2613 Initial parameter error (Position control gain 1) Correct the applicable
2614 Initial parameter error (Speed control gain 1) parameter within the "valid
2615 Initial parameter error (Position control gain 2) range", turn the M2000 off to
2616 Initial parameter error (Speed control gain 2) on, or reset.
2617 Initial parameter error (Speed integral compensation)

6 - 15
6 PARAMETERS FOR POSITIONING CONTROL

6.3.2 Position control gain 1, 2

(1) Position control gain 1

(a) This gain is set in order to make the stabilization time shorter.

(b) If this gain is too high, it could cause overshoot and the value must therefore
be adjusted so that it will not cause overshoot or undershoot.

Motor speed Overshoot

Time
Undershoot

(2) Position control gain 2

(a) This gain is set in order to increase position response with respect to load
disturbance.

(b) This gain is calculated and set with the load inertia ratio and the speed
control gain 2.
Speed control gain 2 1
Position control gain 2 = ×
1 + Load inertia ratio 10

POINTS
(1) If the position control gain 1 is too low, the number of droop pulses will increase
and a servo error (excessive error) will occur at high-speed operation.

(2) The position control gain 1 setting can be checked using a peripheral device.
(Refer to the help for each software for the checking method of the position
control gain 1 using a peripheral device.)

6 - 16
6 PARAMETERS FOR POSITIONING CONTROL

6.3.3 Speed control gain 1, 2

(1) Speed control gain 1

(a) For speed control mode
Normally, it is not necessary to change.

(b) For position control mode

Set to increase the follow-up for commands.

(2) Speed control gain 2

(a) This gain is set when vibration occurs, for example in low-rigidity machines
or machines with a large backlash.
If this gain is increased, responsiveness is improved but vibration (abnormal
motor noise) becomes more likely.
(b) A guide to setting position gain 2 is shown in Table 6.5 below.

Table 6.5 Guide to speed control gain 2 setting

Load inertia ratio
1 3 5 10 20 30 or more Remarks
(GDL2 /GDM2)
Setting range of 1 to
Setting value [ms] 800 1000 1500 2000 2000 2000 9999 can be set.
(Valid range: 20 to 5000)

POINTS
(1) When the setting for speed control gain 1 is too high, the overshoot becomes
greater and vibration (abnormal motor noise) occurs on stopping.

(2) The speed control gain 1 setting can be checked using a peripheral device.
(Refer to the help of each software for the monitoring method of the speed
control gain1 using a peripheral device.)

6.3.4 Speed integral compensation

(1) This parameter is used to increase frequency response in speed control and
improve transient characteristics.

(2) If the overshoot in acceleration/deceleration cannot be made smaller by adjusting

speed loop gain or speed control gain, increasing the setting for the speed integral
compensation value will be effective.

(3) A guide to setting the speed integral compensation is shown in Table 6.6 below.

Table 6.6 Guide to speed integral compensation setting

Load inertia ratio
1 3 5 10 20 30 or more Remarks
(GDL2 /GDM2)
Setting range of 1 to 9999
Setting value [ms] 20 30 40 60 100 200 can be set.
(Valid range: 1 to 1000)

6 - 17
6 PARAMETERS FOR POSITIONING CONTROL

6.3.5 In-position range

(1) "In-position" is the droop pulses in the deviation counter.

(2) If an in-position value is set, the in-position signal (M2402 + 20n) turns on when
the difference between the position command and position feedback from the
servomotor becomes within the setting range.

Amount of droop

Setting value for in-position range

In-position ON
(M2402+20n)
OFF

6.3.6 Feed forward gain

This parameter is used to improve the follow-up of the servo system.

The setting range is as follows:
When using the servo amplifiers....................0 to 100 [%]

6.3.7 Load inertia ratio

(1) This parameter sets the load inertia moment ratio for the servomotor.
The load inertia moment ratio is calculated using the following equation:
Load inertia moment
Load inertia moment ratio =
Motor inertia moment

(2) The result of automatic tuning is automatically set at the automatic tuning setting.

6.3.8 Automatic tuning

By detecting the current and speed at the start, the load inertia moment is automatically
calculated, and the most suitable gain is automatically set.

6.3.9 Servo responsiveness setting

(1) This parameter is used to increase servo responsiveness.

The servo responsiveness improves by changing the setting value of the servo
responsiveness to a higher value in the sequence 1, 2..., 5.
When the machine with high friction is used, set values within the range of 8 to C.

6 - 18
6 PARAMETERS FOR POSITIONING CONTROL

Response settings
1 : Low-speed response
2:
3: Normal machine
Standard mode
(All servo amplifiers valid)
4:
5 : High-speed response

8 : Low-speed response
9:
A: Machines with high friction
High frictional load mode
(MR -H BN only valid)
B:
C : High-speed response

(2) Increase the response setting step by step starting from the low-speed response
setting, observing the vibration and stop stabilization of the motor and machine
immediately before stopping as you do so. If the machine resonates, decrease the
set value.
If the load inertia is 5 times the motor inertia, make the set value 1 or more.

(3) The following figure shows the change in motor response in accordance with servo
response setting.

Motor speed

Response setting
Command value 5 4 3 2 1

Time
Change in motor response based on the response setting
(At the positioning control)

(4) Change the servo responsiveness setting while the motor is stop.

6.3.10 Notch filter

Notch frequency of the notch filter is set.

Setting value Notch frequency [HZ]
0 Not used
1 1125
2 750
3 562
4 450
5 375
6 321
7 281

6 - 19
6 PARAMETERS FOR POSITIONING CONTROL

6.3.11 Electromagnetic brake sequence

This parameter sets the delay time between the electromagnetic brake operation and
base disconnection.

6.3.12 Monitor output mode

This parameter is set to output the operation status of the servo amplifier in real time as
analog data.
The operation status can be checked by analog output.
There are two monitor items to be set according with the servo amplifier to be used.

6.3.13 Optional function 1

(1) Carrier frequency selection

When low noise is set, the amount of electromagnetic noise of audible
frequencies emitted from the motor can be reduced.

(2) Serial encoder cable selection

Set the type of serial encoder cable to be used.

0 0

Carrier frequency selection

0 : 2.25kHz (non low-noise)
3 : 9kHz (low-noise)

Encoder type
0 : 2-wire type
1 : 4-wire type

POINT
Optional function 1 (carrier frequency selection)
When low-noise is set, the continuous output capacity of the motor is reduced.

(3) External forced stop selection (MR-J2S- B/MR-J2- B only)

The external forced stop signal (EM1) can be made invalid.
0: External forced stop signal is valid.
1: External forced stop signal is invalid (automatically turned on internally).

6 - 20
6 PARAMETERS FOR POSITIONING CONTROL

6.3.14 Optional function 2

(1) Selection of no-motor operation

0: Invalid
1: Valid
If no-motor operation is valid, the output signals that would be output if the motor
were actually running can be output and statuses indicated without connecting a
servomotor.
It can be checked the Motion program of the Multiple CPU system without
connecting a motor.

(2) Electromagnetic brake interlock output timing

Select the output timing for the electromagnetic brake interlock signal from the
following.
0: It is output with any of the following conditions, regardless of the
rotational speed of the servomotor.
• Servo OFF
• Servo alarm occurrence
• Emergency stop input
1: It is output with the above conditions and the servo motor rotational
speed is "0 speed or less" of the expansion parameter.

(3) Slight vibration suppression function selection

(MR-J2S- B/MR-J2- B only)
Set to suppress vibration specific to the servo amplifier at the stop.
0: Slight vibration suppression control is invalid
1: Slight vibration suppression control is valid

(4) Motor lock function operation selection

(MR-J2S- B/MR-J2- B only)
Allows test operation with the motor connected but without rotating the motor.
The operation is the same as no-motor operation with MR-H BN.
0: Motor lock operation is invalid
1: Motor lock operation is valid
When motor lock operation is made valid, operation is possible without
connecting the motor. However, since when MR-J2S- B/MR-J2- B is used the
connected motor is automatically identified before operation is started, if no motor
is connected the connected motor type may be regarded as a default, depending
on the type of amplifier. If this default motor type differs from the setting made in
the system settings, the controller will detect minor error [900] (motor type in
system settings differs from actually mounted motor), but this will not interfere
with operation.

6 - 21
6 PARAMETERS FOR POSITIONING CONTROL

POINT
Optional function 2 (no-motor operation selection)
No-motor operation differs from operation in which an actual motor is run in that, in
response to signals input in no-motor operation, motor operation is simulated and
output signals and status display data are created under the condition that the load
torque zero and moment of load inertia are the same as the motor's moment of
inertia. Accordingly, the acceleration/deceleration time and effective torque or the
peak load display value and the regenerative load ratio is always "0", which is not
the case when the real motor is operated.

6.3.15 Monitor output 1, 2 offset

This parameter sets the offset value for the monitor items set at the monitor outputs 1
and 2 setting.

6.3.16 Pre-alarm data selection

This parameter outputs the data state at an alarm occurrence from the servo amplifier
in analog form.
(1) Sampling time selection
Set the intervals in which the data state at an alarm occurrence is recorded in the
servo amplifier.

(2) Data selection

Set the data output in analog form from the servo amplifier.
Two types of data can be set.

Data selection 2 0 : Servo motor speed ( )

1 : Torque ( )
2 : Servo motor speed ( )
3 : Torque ( )
4 : Current command output
5 : Command F T
6 : Droop pulse 1/1
Data selection 1 7 : Droop pulse 1/4
8 : Droop pulse 1/16
9 : Droop pulse 1/32
A : Droop pulse 1/64

Sampling time
0 : 1.77[ms]
1 : 3.55[ms]
2 : 7.11[ms]
3 : 14.22[ms]
4 : 28.44[ms]

6 - 22
6 PARAMETERS FOR POSITIONING CONTROL

6.3.17 Zero speed

This parameter sets the speed at which the motor speed is judged as "0".

6.3.18 Error excessive alarm level

This parameter sets the range in which the alarm for excessive droop pulses is output.

6.3.19 Optional function 5

(1) PI-PID control switching

This parameter sets the condition under which switching from PI to PID control, or
from PID control to PI control, is valid.

(2) Servo readout characters

When the optional parameter unit is connected, set whether the screen display on
the parameter unit is Japanese or English.

6.3.20 PI-PID control switching position droop

This parameter sets the position droop value (Number of pulses) which PI control is
switched to PID control during position control.
The setting becomes valid when switching in accordance with the droop during position
control is made valid using the setting for PI-PID control switching by optional function
5.

6.3.21 Torque control compensation factor

This parameter is used to expand the torque control range up to the speed control
value at the torque control. (MR-H BN only)
If a large value is set, the speed limit value may be exceeded and the motor may
rotate.

6.3.22 Speed differential compensation

This parameter sets the speed differential compensation value of the real speed loop.
In PI (proportional integration) control, if the value for speed differential compensation
is set at 1000, the range for normal P (proportional) control is valid; if it is set to a value
less than 1000, the range for P (proportional) control is expanded.

6 - 23
6 PARAMETERS FOR POSITIONING CONTROL

6.3.23 Servo parameters of vector inverter (FR-V500)

The servo parameters to be set are shown in Tables 6.7.

Refer to the "Vector inverter Instruction Manual" for details of the vector inverter.
Instruction Manual list is shown below.
Vector inverter type Instruction manual name
FR-V500 Instruction Manual [Basic] (IB-0600064)
FR-V500 FR-V500 Instruction Manual [Detailed] (IB-0600131E)
FR-V5NS Instruction Manual (IB-0600106E)

Table 6.7 Vector inverter parameter list

Inverter Initial value
No. Setting details parameter North Setting range Units
No. Japan Europe
America
1 Maximum speed 1 1500 1800 1500 0 to 3600 1r/min
2 Electronic thermal O/L relay 9 0.00 0.00 to 500.00 0.01A
3 Regenerative function selection 30 0 0 to 2 1
4 Special regenerative brake duty 70 0.0 0.0 to 30.0 0.1%
5 Applied motor 71 30 0 0 0, 3 to 8, 10, 13 to 18, 20, 23, 24, 30 1
6 Motor capacity (Note-3) 80 Inverter capacity 0.75 to 55.00 0.01kW
Basic parameters

7 Number of motor poles 81 4 2, 4, 6, 8 1

8 Online auto turning selection 95 0 0, 1, 2 1
9 Torque restriction level 22 150.0 0.0 to 400.0 0.1%
10 Torque restriction level (regeneration) 812
Restriction by the value of "0.0 to 400.0"
11 Torque restriction level (3 quadrant) 813 Restriction by the value of Pr.9 0.1%
or Pr.9
12 Torque restriction level (4 quadrant) 814
13 Easy gain tuning response level setting 818 2 1 to 15 1
14 Easy gain tuning selection 819 0 0, 1, 2 1
15 Number of encoder pulses 851 2048 1024 1024 0 to 4096 1
16 Encoder rotation direction 852 1 0, 1 1
17 Thermal relay protector input 876 1 0 0 0, 1 1
18 Position loop gain 422 25 0 to 150 1sec-1
19 Position feed forward gain 423 0 0 to 100 1%
20 In-position width 426 0.01 0.0001 to 3.2767 0.0001mm
21 Excessive level error 427 40 0 to 400 1KPLS
Adjustment parameters

22 Speed control P gain 1 820 60 0 to 1000 1%

23 Speed control integral time/ 821 0.333 0.000 to 20.000 0.001s
24 Model speed control gain 828 60 0 to 1000 1%
25 Notch filter frequency 862 0 0 to 31 1
26 Notch filter depth 863 0 0 to 3 1
Speed feed forward control/model
27 877 0 0 to 2 1
adaptive speed control selection
28 Speed feed forward filter 878 0.00 0.00 to 1.00 0.01s
29 Speed feed forward torque restriction 879 150.000 0.000 to 400.000 0.001%
30 Load inertia ratio 880 7.0 0.0, 1.0 to 200.0 0.1
31 Speed feed forward gain 881 0 0 to 1000 1%
32 DA1 terminal function selection 54 1 1 to 3, 5 to 12, 17, 18, 21, 32 to 34, 36 1
33 Speed monitoring reference 55 1500 1800 1500 0 to 3600 1r/min
Expansion parameters

34 Current monitoring reference 56 0.00 0.00 to 500.00 0.01A

35 DA2 terminal function selection 158 1 1 to 3, 5 to 12, 17, 18, 21, 32 to 34, 36 1
36 Overspeed detection level 374 3450 4200 3450 0 to 4200 1r/min
37 Torque characteristic selection 801 1 0, 1 1
Constant output region torque
38 803 0 0, 1 1
characteristic selection
39 Torque monitoring reference 866 150.0 0.0 to 400.0 0.1%
(Note-1) : The above parameters become valid immediately after change.
(Note-2) : Set the vector inverter parameters except the above parameters using an operation panel or parameter module.
(Note-3) : Usable motor capacity is equivalent to vector inverter capacity, or under 1 rank.

6 - 24
6 PARAMETERS FOR POSITIONING CONTROL

6.4 Parameter Block

(1) The parameter blocks serve to make setting changes easy by allowing data such
as the acceleration/deceleration control to be set for each positioning processing.

(2) A maximum 64 blocks can be set as parameter blocks.

(3) Parameter blocks can be set using a peripheral device.

(4) Parameter block to be set are shown in Table 6.8.

6 - 25
6 PARAMETERS FOR POSITIONING CONTROL

Table 6.8 Parameter Block List

Setting range
Initial
No. Item mm inch degree Units Remarks Section
value
Setting range Units Setting range Units Setting range Units
• Set the units for compensation
control.
Interpolation • It can be also used as the units for
1 0 1 2 0 7.11.6
control unit the command speed and allowable
error range for circular interpolation
set in the Motion program.
• Set the maximum speed for
positioning/home position return.
Speed limit 0.01 to mm/ 0.001 to inch/ 0.001 to degree/ mm/ • If the positioning speed or home
2 2000.00
value 6000000.00 min 600000.000 min 2147483.647 min min position return speed setting exceeds
the speed limit value, control is
executed at the speed limit value.
• Set the time taken to reach the
Acceleration-fixed acceleration/deceleration method : 1 to 65535[ms] speed limit value from the start of
Acceleration
3 1000 ms motion.
time
• Always acceleration/deceleration time 6.4.1
Time-fixed acceleration/deceleration method : 1 to 5000[ms]
is the setting value.
• Set the time taken to stop from the
Deceleration Acceleration-fixed acceleration/deceleration method : 1 to 65535[ms]
4 1000 ms speed limit value.
time
Time-fixed acceleration/deceleration method : Invalid • Setting is ignored.
• Set the time taken to stop from the
Rapid stop Acceleration-fixed acceleration/deceleration method : 1 to 65535[ms] speed limit value when a rapid stop
5 deceleration 1000 ms is executed.
time
Time-fixed acceleration/deceleration method : Invalid • Setting is ignored.

• Set the S-curve ratio for S-pattern

processing.
Acceleration-fixed acceleration/deceleration method : 0 to 100[%] • When the S-curve ratio is 0[%],
trapezoidal acceleration/deceleration
6 S-curve ratio 0 % 6.4.2
processing is executed.
• Always 0%..
Time-fixed acceleration/deceleration/ method : Invalid

Torque limit • Set the torque limit value in the

7 1 to 500[%] 300 %
value Motion program.
Deceleration • Set the deceleration processing when
0 : Deceleration stop is executed based on the deceleration time.
8 processing on 0 external signals (STOP, FLS, RLS)
1 : Deceleration stop is executed based on the rapid stop deceleration time.
STOP input are input.
Allowable • Set the permissible range for the locus
error range of the arc and the set end point
9 0 to 10.0000 mm 0 to 1.00000 inch 0 to 1.00000 degree 0.0100 mm 6.4.3
for circular coordinates.
interpolation

POINTS
(1) Parameter blocks are specified in the home position return data, JOG operation
data or Motion program.
(2) Speed limit value is within the feed speed setting range of feed speed (F) set in
the Motion program.

6 - 26
6 PARAMETERS FOR POSITIONING CONTROL

POINTS
The data set in the parameter block is used in the positioning control, home position return
and JOG operation.
(1) The parameter block No. used in the positioning control is set indirectly in the following
case.
(a) Start by the SVST instruction from the PLC (Refer to Section 4.3)
(b) Start by the CALL, GOSUB/GOSUBE instruction from the Motion program
(Refer to Section 7.16.21, 7.16.22 and 7.16.23)
And the parameter block can be changed by the PB instruction in the Motion program.
Refer to Section 7.16.14 for details.

(2) The parameter block No. used in the home position return or JOG operation is set at
the setting of the "home position return data" or " JOG operation data" using a
peripheral device. (Refer to Section "8.5.1 Home position return data", "8.7.1 JOG
operation data" for details.)
[Home position return data, Jog operation data setting screen]

Parameter block No.

setting of the home
position return

Parameter block No.

setting of the JOG
operation

6 - 27
6 PARAMETERS FOR POSITIONING CONTROL

6.4.1 Relationships between the speed limit value, acceleration time, deceleration time and
rapid stop deceleration time

According to the G-code instructions, there are two different acceleration/deceleration

modes, acceleration-fixed acceleration/deceleration and time-fixed
acceleration/deceleration.

(1) Acceleration-fixed acceleration/deceleration system

(a) G01, G02, G03, G12, G13 or G32 during G101 execution
The acceleration/deceleration mode of acceleration-fixed
acceleration/deceleration is used.
The actual acceleration time, deceleration time and rapid stop deceleration
time are shorter than their settings as the positioning speed is lower than
the speed limit value.
The setting ranges of acceleration time, deceleration time and rapid stop
deceleration time is 1 to 65535[ms].

(b) G00 (without M-code), G28 (high-speed home position return),

G30, G53 or G00 including M-code during G101 execution
The acceleration/deceleration mode of acceleration-fixed
acceleration/deceleration is used.
The calculation of acceleration for acceleration/deceleration is based on the
lower speed among the feed speed (Refer to Section 6.2.5) from high-
speed feed rate of fixed parameter and the speed limit value of parameter
block.
At the override of 100[%], the real acceleration time, real rapid stop
deceleration time and real deceleration time are equal to their settings.
The setting ranges of the acceleration time, deceleration time and rapid
stop deceleration time are 1 to 65535[ms].

(2) Time-fixed acceleration/deceleration system

(a) G00 including M-code during G100 execution (default), G01,
G02, G03, G12, G13 or G32
The acceleration/deceleration mode of time-fixed acceleration/deceleration
is used.
The preset acceleration time is used to perform acceleration, deceleration
or rapid stop deceleration processing.
The setting range of the acceleration time is 1 to 5000[ms].
If the setting exceeds 5000[ms], the acceleration time is clamped at
5000[ms].
At this time, an error does not occur.

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6 PARAMETERS FOR POSITIONING CONTROL

(1) Acceleration-fixed acceleration/deceleration system

(a) G01, G02, G03, G12, G13 or G32 during G101 execution

Speed limit value

Speed
Rapid stop cause occurrence 1) Real acceleration time
Time take to reach the positioning speed
Positioning
set in the Motion program.
speed set in
the Motion 2) Real rapid stop deceleration time
program Time taken to effect a rapid stop from the
positioning speed set in the Motion program.
Time
1) Real accele- 2) Real rapid stop 3) Real deceleration time
ration time deceleration time
Time taken to stop from the positioning
Set rapid stop
Set acceleration
deceleration speed set in the Motion program.
time
time
3) Real deceleration time

Set deceleration time

(b) G00 (without M-code), G28 (high-speed home position return), G30, G53 or
G00 including M-code during G101 execution

Speed limit value

Speed
1)Real acceleration time
At the override of 100[%], it is equal to the
setting acceleration time.
High-speed
feed rate 2)Real rapid stop deceleration time
At the override of 100[%], it is equal to the
setting rapid stop deceleration time.
2) Real rapid stop Time
1) Real accele- deceleration time
3)Real deceleration time
ration time At the override of 100[%], it is equal to the
Set rapid stop setting deceleration time.
Set acceleration deceleration
time time

3) Real deceleration time

Set deceleration time

(2) Time-fixed acceleration/deceleration system

(a) G00 including M-code during G100 execution (default), G01, G02, G03, G12,
G13 or G32
Speed
Positioning speed
Acceleration/deceleration time
is constant regardless of
positioning speed.
(Always acceleration time)
Deceleration time and rapid stop
time are ignored.

Time

Set acceleration Set acceleration

time time

Fig. 6.4 Relationships between the speed limit value, acceleration time,
deceleration time and rapid stop deceleration time

6 - 29
6 PARAMETERS FOR POSITIONING CONTROL

6.4.2 S-curve ratio

S-curve ratio can be set as the acceleration and deceleration processing method for S-
pattern processing.
Setting range of the S-curve ratio is 0 to 100[%].
If it is set outside the range, an error occurs at the start and control is executed with the
S-curve ratio set as 100[%].
Errors are set in the error item information area (D9190).
Setting of the S-curve ratio enables acceleration/deceleration processing to be
executed gently.
The graph for S-pattern processing is a sine curve as shown below.

V
Positioning speed

Sine curve

t
0
Acceleration Deceleration Time
time time

As shown below, the S-curve ratio setting serves to select the part of the sine curve to
be used as the acceleration/deceleration curve.

V
A A

B Positioning speed B

B/2 B/2

B/A=1.0

t
S-curve ratio is 100[%]

Positioning speed
Sine curve

B B/A=0.7
A
S-curve ratio = B/A 100%

t
S-curve ratio is 70[%]

(Note) : When the G00, G01, G02, G03, G12, G13 or G32 including M-code is used,
S-curve ratio is ignored and control is executed as always 0[%].

6 - 30
6 PARAMETERS FOR POSITIONING CONTROL

6.4.3 Allowable error range for circular interpolation

The locus of the arc calculated from the start point address and central point address
may not coincide with the set end point address for the central-specified control.
The allowable error range for circular interpolation sets the allowable range for the error
between the locus of the arc determined by calculation and the end point address.
If the error is within the allowable range, circular interpolation to the set end point
address is executed while also executing error compensation by means of spiral
interpolation.
If it exceeds the setting range, an error occurs at the start and positioning does not
start. Such an error are set the applicable axis or minor error code area.
Error

Locus determined by spiral End point address

interpolation by calculation

Setting end point

address

Start point address Central point address

Fig. 6.4 Spiral Interpolation

6 - 31
6 PARAMETERS FOR POSITIONING CONTROL

6.5 Work Coordinate Data

(1) The work coordinate data is used to set the work coordinates and six different
work coordinates can be set (G54 to G59) for every axis. (Refer to Section 7.12 for
details.)

(2) The position is set with the offset from the mechanical coordinate system home
position for the work coordinate system. The offset setting value is the distance
from the mechanical coordinate system home position (0).

(3) The work coordinate data is set using the peripheral devices.

(4) The work coordinate data to be set are shown in Table 6.9.

Table 6.9 Work Coordinate Data List

Setting range
Initial
No. Item mm inch degree Units Remarks Section
value
Setting range Units Setting range Units Setting range Units
1 G54 Set the work coordinate system 1 to 6.
2 G55
-214748.3648 -21474.83648 -359.99999
3 G56
to mm to inch to degree 0 mm 7.12
4 G57
214748.3647 21474.83647 359.99999
5 G58
6 G59

(5) When a home position return is made based on the home position return setting
data, the mechanical coordinate system and work coordinate system are as
shown below.

[Example] The X-axis home position address of home position return data is set
to 200.00[mm] and the X-axis: G54 of the work coordinate data is set
to 300.00[mm] to make a home position return.

Home position return

complete point
- + Mechanical Monitor data
0 200.00 300.00 coordinate machine value
system

- + Work coordinate Current value

-100.00 0 system (G54)

G54=300.00 [mm]

On completion of a home position return, the machine value is equal to

200.00[mm] and the current value is equal to -100.00[mm].
When the work coordinate data is set to 0, the current value is equal to the
machine value.

6 - 32
7 MOTION PROGRAMS FOR POSITIONING CONTROL

7. MOTION PROGRAMS FOR POSITIONING CONTROL

Motion program in the EIA language format is used as a programming language in the
Motion controller (SV43).
A Motion program is used to specify the positioning control type and positioning data
required to execute the positioning control in the Motion CPU.
This chapter describes the Motion program composition and setting method of the
Motion program.

7.1 Motion Program Composition

This section describes the format and composition of the Motion program.
A Motion program is called a word address format (word), and it is combination of a
single alphabet (address) and numbers.

(1) Word address format (word)

A word is a collection of characters arranged in certain order, and this is used as
a unit to process that information to perform a specific operation.
A word is composed of a single alphabet (address) and subsequent several-digit
number in the Motion controller. (The number may be headed by a "+" or "-"
sign.)

<Word composition>

X 1) 2) 3) · · · · · · · · 9)

*Alphabet (address) Number

Word 7

(Note): The first alphabet of word is called an address and defines the meaning
of subsequent numeric information.

7-1
7 MOTION PROGRAMS FOR POSITIONING CONTROL

(2) Block
A block is a collection of several words. It includes information necessary to
perform a single specific operation of a machine and acts as a complete
command on a block basis.
A block is ended by the EOB (End of Block) code to indicate separation.

<Block composition>
1) 2) 3) 4) 5) 6)
N100 G01 X250. Y-123.4 F1500. ;

Word Word Word Word Word E0B

Block

1) N100 ··········· Sequence No. : It is used to identify a program

block, and it is indicated by a
number (up to 4 digits) after
alphabet N.
2) G01 ············· Preparatory code : The basic instruction which
commands the movement of
motion control is indicated.
(G-code)
(Note)
3) X250. ·········· Coordinate position data : The command for coordinate
position of X-axis is indicated.
This word commands 250[mm]
of X-axis.
(Note)
4) Y-123.4 ······· Coordinate position data : The command for coordinate
position of Y-axis is indicated.
This word commands
-123.4[mm] of Y-axis.
5) F1500. ········· Feed speed : The command of feed speed in
linear or circular interpolation is
indicated. (F-code)
This word indicates the speed of
1500[mm] per minute.
6) ; ····················EOB (End of Block) : The end (separation) of program
block is indicated.

(Note) : There are following two methods in the coordinate position data.
Absolute value command ········· G90: Method to travel the specified
coordinate position regardless of
the current position.
Incremental value command ···· G91: Method to command the next
target position based on the
current position.

7-2
7 MOTION PROGRAMS FOR POSITIONING CONTROL

(3) Motion program

A machine operation is commanded by several collection of blocks in the Motion
program.

<Motion program composition>

00001 O100; 1) Motion program No.

00002 N10 G91 G00;
00003 G28 X0. Y0. ;
00004 X250. ;
00005 N20 M20;
00006 X-50. Y120. ;
00007 N30 G01 X25. F500. ; 2) Program block
• •
• •
• •
00020 N80 M21;
00021 M02;
00022 % Indicates a program end.
3) Line number

1) Motion program No. ··············· Number specified in a PLC program.

It can be set alphabet "O" and any number of 1
to 1024.
2) Program block ························ Consists of multiple program blocks necessary
for motion operations in control order.
3) Line number ··························· Automatically displayed in serial number when
a Motion program is created by the peripheral
device.

POINT
Up to 1024 Motion programs are stored in a memory in Motion controller (SV43).
These Motion programs are managed in a Motion program No.

7-3
7 MOTION PROGRAMS FOR POSITIONING CONTROL

7.2 Type of The Motion Program

There are following two types in the Motion program.

Type of Motion program is set for every program by the motion parameter.

Type of the Motion program

Name Description
This program is described by the control instructions only. Axis
Control program travel instructions are not included. Pre-read does not done at the
program execution.
This program is described by the "control instructions and axis
Axis designation program
travel instructions" or "only the either".

(1) Refer to Section 7.3 to 7.5 for details of the instruction which can be described in
each program.

(2) The total number of the control programs and axis designation programs is 1024.

(3) The method to start and end of the control program differs from the axis
designation program. Refer to Section 7.6 for details.

(4) The Motion program during execution cannot be re-written. Confirm that the PLC
ready flag (M2000) is OFF, and write the Motion program.

7-4
7 MOTION PROGRAMS FOR POSITIONING CONTROL

7.3 G-code List

G-codes used in the Motion program are shown below.

G-code List
Axis
Control
Type Instruction (Group) Description designation Remark
program
program
(Note)
G00 Point-to-point positioning at the high-speed feed-rate
G01 Constant-speed positioning at the speed specified in F
01
G02 Circular interpolation (CW)
G03 Circular interpolation (CCW)
G04 00 Dwell
G09 00 Exact stop check
G12 Helical interpolation (CW)
01
G13 Helical interpolation (CCW)
(Note)
G23 Cancel, cancel/start invalid
02
G24 Cancel, cancel/start
G25 00 High-speed oscillation
G26 00 High-speed oscillation stop
G28 00 Home position return
G30 00 Second home position return
G32 00 Skip
G43 Tool length offset (+)
G-code G44 08 Tool length offset (-)
(Note)
G49 Tool length offset cancel
G53 00 Mechanical coordinate system selection
(Note)
G54 ,
G55, G56,
12 Work coordinate system selection
G57, G58,
G59
G61 Exact stop check mode
(Note) 13
G64 Cutting mode
(Note)
G90 Absolute value command
03
G91 Incremental value command
G92 00 Coordinate system setting
G98 Pre-read disable
(Note) 21
G99 Pre-read enable
(Note)
G100 Time-fixed acceleration/deceleration switching command
20 Acceleration-fixed acceleration/deceleration switching
G101
command
(Note) : Indicates the G-code selected at the power-on.

7-5
7 MOTION PROGRAMS FOR POSITIONING CONTROL

Class and group of G-code are shown below.

Class Description

Once any G-code is commanded, it is valid until another G-code in the same
group is commanded.
Initial status (at the power-on) is as follows.
Group 01 ·········· G00 Point-to-point positioning at the high-speed feed rate
Group 02 ·········· G23 Cancel, cancel/start invalid
Modal G-codes
Group 03 ·········· G90 Absolute value command
(Groups 01, 02, 03, 08, 12, 13, 20, 21)
Group 08 ·········· G49 Tool length offset cancel
Group 12 ·········· G54 Word coordinate system 1 selection
Group 13 ·········· G64 Cutting mode
Group 20 ·········· G100 Time-fixed acceleration/deceleration switching command
Group 21 ·········· G99 Pre-read enable
Unmodal G-codes
Valid only for the block in which any G-code has been commanded.
(Group 00)

7-6
7 MOTION PROGRAMS FOR POSITIONING CONTROL

7.4 M-code List

M-codes used in the Motion program are shown below.

M-code List
Axis
Control
Type Instruction Description designation Remark
program
program
M00 Program stop
M01 Optional program stop
M02 Program end
Special M-code
M30 Program end
M98, M99 Subprogram call, end
M100 Preread disable
General M-code Other M-codes

The special M-codes are not output to the device (M-code outputting signal :
M2419+20n).

Use the GOSUB/GOSUBE instruction for the subprogram call in the control program.
A general M-code cannot be used in the control program. Use the EXEON/EXEOFF
for the signal wait from external source.
(Because there is no axis designation in the control program, it is not made to
correspond to the FIN signal which is the signal of every axis.)

7-7
7 MOTION PROGRAMS FOR POSITIONING CONTROL

7.5 Control Instruction List

Control instructions used in the Motion program are shown below.

Control instruction list

Axis
Control
Type Instruction Description designation
program
program
IF, GOTO Program control function
IF, THEN, ELSE, END Program control function
WHILE, DO Program control function
Control function
WAITON, WAITOFF Travel block wait function
EXEON, EXEOFF Block wait function
ON, OFF Conditional branch using bit device
Binary operation +, -, *, /, MOD, = Four fundamental operator, assignment statement
SIN, COS, TAN, ASIN,
Trigonometric function
ACOS, ATAN
INT Numerical conversion (real number to integer)
FLT Numerical conversion (integer to real number)
32-bit real number data to 64-bit real number data
DFLT
Standard function conversion
64-bit real number data to 32-bit real number data
SFLT
conversion
SQRT, ABS, BIN,
BCD, LN, EXP, RSD, Function
FIX, FLP
AND, OR, XOR, NOT,
Logical operation Logical operator
<<, >>
Bit operation BSET, BRST Bit set and reset for word devices
(Note-1)
PB Parameter block change
TL Torque limit value change
Motion dedicated
CHGA Home position return
function
CHGV Speed change
CHGT Torque limit value change
SET, RST Bit device set, reset functions
Bit device
IF, THEN,
operation Bit device operation on condition
SET/RST/OUT
(Note-2)
CALL Program start
(Note-2)
Program start, GOSUB Program call 1
end GOSUBE Program call 2 (Note-2)

(Note-3)
CLEAR Control program end
(Note-4)
TIME Time to wait
BMOV Block move (16 bit unit)
Others
BDMOV Block move (32 bit unit)
FMOV Identical data block move (16 bit unit)

7-8
7 MOTION PROGRAMS FOR POSITIONING CONTROL

Control instruction list (Continued)

Axis
Control
Type Instruction Instruction description designation
program
program
MULTW Write device data to shared CPU memory
Read device data from shared CPU memory of the
MULTR
other CPU
Multiple CPU
Write words data to intelligent function
instruction TO
module/special function module
Read words data from intelligent function
FROM
module/special function module
(Note-1) : Because the axis travel instruction cannot be executed in the control program, the change of PB (parameter
block) is unnecessary. Therefore, PB cannot be used.
(Note-2) : Do a subprogram call in the axis designation program with M98.
(Note-3) : Control such as a start and end of the control program can be executed from the other control program.
(Note-4) : G04 (Dwell) is used in the axis designation program for time to wait.

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

7.6 Start/End Method

Start/end methods of the Motion program are shown below.

Type Start/end method

Start method
(1) Start by the SFCS instruction from the PLC CPU.
(2) Start by the CALL instruction (start) or the GOSUB/GOSUBE instruction (call) in the control
program.
(3) Start by the program parameter automatically.
(Note) : Call/start of the control program from the axis designation program cannot be executed.
The program starts from the first by turning the PLC ready flag (M2000) OFF to ON in the
automatic start.
Control program End method
(1) The program ends to execute with the "M02/M30;" in the following cases.
(a) Started by the SFCS instruction from the PLC CPU.
(b) Started by the CALL instruction (start) in the control program.
(c) Started by the program parameter automatically.
(2) The program returns to the call source program with the "M02/M30;" in the following cases.
(a) Started by the GOSUB/GOSUBE instruction (call) in the control program.
Forced end from other program
The program can be ended by executing the CLEAR instruction from other programs.
Start method
(1) Start by the SVST instruction from the PLC CPU.
(2) Start by the CALL instruction (start) or the GOSUB/GOSUBE instruction (call) in the control
program.
(3) Start with M98 in the axis designation program.
End method
Axis designation
(1) The program ends to execute with the "M02/M30;" in the following cases.
program
(a) Started by the SVST instruction from the PLC CPU.
(b) Started by the CALL instruction (start) in the control program.
(2) The program returns to the call source program with the "M02/M30;" in the following cases.
(a) Started by the GOSUB/GOSUBE instruction (call) in the control program.
(3) The program returns to the call source program with the "M99;" in the following cases.
(a) Started with the M98 in the axis designation program.

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

Example for structure of program start/end

O1; O10; O20;

CALL P20; M02;

% End
CALL P10; GOSUB P21;

M02; O21;
End
%
M02;
% Return

GOSUB P11;
O11; O22;

CALL P22; M02;

% End
GOSUB P23;

M02; O23;
Return
%
M02;
% Return

CALL JXJY P12;

O12; O24;

G0 X10.Y10.; G0 X30.Y30.;
G1 X20.Y20.F100; G1 X40.Y40.F100;

M98 P24; ;

M02; End M99; Return

% %

GOSUB JVJZ P13;

O13; O25;

G0 V10.Z10.; G0 V30.Z30.;
G1 V20.Z20.F100; G1 V40.Z40.F100;

M98 P25;

M02; M02; Return M99; Return

% % %

Control program
Call

Start
Axis designation
program

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

7.7 Number of Maximum Nesting for Program Call and Multi Startable Program

(1) The number of maximum nesting of the GOSUB/GOSUBE is 8 levels in the

control program.

(2) The number of maximum nesting of M98 is 8 levels in the designation

program.

(3) The program started by the CALL in the control program operates as a
program different from starting source, so there are no restrictions for
nesting of the starting source and program started.

(4) The number of maximum multi startable programs of the control program is
16.
However, when it was called by the GOSUB/GOSUBE, the number of multi
executed programs is counted as 2 programs in the call source program and
program called.

(5) The number of maximum multi startable programs of the axis designation
program is 32.
However, when it was called by the M98, the number of multi executed
programs is counted as 1 program in the call source program and program
called.

(6) Number of maximum nesting for the both of GOSUB/GOSUBE and M98 is 8
levels.
Maximum nesting is 16 levels in the following combinations.

O0010; O0020; O0080;

GOSUB P20; GOSUB P30; M98 P90;
M02; M02; M02;

Maximum nesting of GOSUB : 8 levels

O0090; O0100; O0160;

M98 P100; M98 P110; ;
M99; M99; M99;

Maximum nesting of M98 : 8 levels

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

7.8 Motion parameter

Set the following parameters for every Motion program.

No. Item Setting range Initial value Remark

1. Control program
1 Program type Control program This parameter is input at the
2. Axis designation program
turning M2000 off to on after
Select the automatic start.
that it is controlled.
(When the control program is selected.) Not automatic
2 Start setting Turn M2000 off at the
1. Automatic start start
changing of this parameter.
2. Not automatic start

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

7.9 Caution at The Axis Designation Program Creation

(1) A subprogram call from another subprogram (nesting) is maximum 8 levels.

(2) In one block, one G-code can be selected from each modal group. Up to two G-
codes can be commanded. Refer to following table for G-code combinations,.

G-code Combination List

Second G-codes
G00 G01 G02 G03 G04 G09 G12 G13 G28 G43 G44 G49 G53 G54 G55 G56 G57 G58 G59 G61 G64 G90 G91 G92
G00
G01
G02
G03
G04
G09
G12
G13
G23
G24
G25
G26
G28
G30
G32
First G43
G- G44
codes G49
G53
G54
G55
G56
G57
G58
G59
G61
G64
G90
G91
G92
G98
G99
G100
G101
: G-code combination is possible.

How to use the above table

(a) When the G09 is specified as the first G-code, G01, G02, G03, G12 or G13
can be specified as the second code.

(b) When the G90 is specified as the first G-code, G00, G01, G02, G03, G12 or
G13 can be specified as the second code.
G90 G61; and G90 G64; result in a format error.

(c) Specify the G23, G24, G25, G26, G32, G98, G99, G100 or G101
individually.

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

IMPORTANT
The Motion program which an axis overlapped cannot be started simultaneously.
If it is executed, we cannot guarantee their operations.

(3) The M-codes except the M00, M01, M02, M30, M98, M99 and M100 can be
specified in the same block with another command. However, if they are specified
together in the same block with the travel command (G00 to G03, G32), the M
function is executed by the start of the travel command (G00 to G03, G32).

(4) If the multiple M-codes except the M00, M01, M02, M30, M98, M99 and M100 are
specified in one block, only the last one is valid.

(5) When the auxiliary function (M) is set in continuous G01 blocks .
If an auxiliary function (M) is set at any point in continuous G01 blocks, operation
is performed in either of the following two ways.

O0100;
1) G90 G01 X100. F1000. ; Constant-speed positioning of X
2) X200. M10; Constant-speed positioning of X, M-code
3) X300. ; Constant-speed positioning of X

(a) Deceleration stop

100. 200. 300.

M-code 10
M-code outputting ON
(M2419+20n) OFF
FIN signal ON
(M3219+20n) OFF

When the FIN signal (M3219+20n) is not turned from OFF to ON to OFF
during positioning in block 2), a decelerates stop is made once in the block
of M-code.

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

(b) Constant-speed operation

100. 200.

M-code 10
M-code outputting ON
(M2419+20n) OFF
FIN signal ON
(M3219+20n) OFF

When the FIN signal (M3219+20n) is turned from OFF to ON to OFF during
positioning in block 2), the axis performs constant-speed operation without
decelerating stop in the block of M-code.

(6) The M-codes except the M00, M01, M02, M30, M98, M99 and M100 are output to
the M-code storage registers (D13+20n) of all axes specified at the program start.
However, the M-code storage register is not output to the axis in execution of
high-speed oscillation. Also, if the FIN signal (M3219+20n) is set to the axis in
execution of high-speed oscillation is invalid.
(Program No. 1 is started with X (axis 1) and Y (axis 2) specified
"SVST J1J2 K1" )

O0001;
N1 G25 X START90. STRK10. F30; X-axis high-speed oscillation start
N2 G00 Y10. M77; PTP positioning of Y-axis
N3 G26 X; X-axis high-speed oscillation stop
M02;
%

G26 X;
X-axis G25

Y-axis To next block

G00 Y10. M77

M2419 OFF Not turned ON for X-axis

M-code outputting
signal ON
M2439
OFF
ON
M3219 OFF Invalid for X-axis
FIN signal ON
M3239
OFF

D13 Unchanged (M-code not output to X)

M-code data
D33 77

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

(7) Acceleration/deceleration processing for G01

G91 G01 X100. Y100. F100. ; Constant-speed positioning of X, Y.........Block 1

Y100. ; Constant-speed positioning of Y .............Block 2
X100. ; Constant-speed positioning of X .............Block 3

The acceleration/deceleration processing of the X-axis and Y-axis in the above

program are as follows.

X-axis

100. 200.
V

Y-axis

100. 200.

• Both the acceleration and deceleration times are equal to the acceleration time
of parameter block.
• When the M-code is commanded in G00, the acceleration and deceleration
times are also equal to the acceleration time of parameter block as in G01.
(Example : G00 X† M†;)
• In G02, G03 and G32, the acceleration and deceleration times are also equal to
the acceleration time of parameter block as in G01.

(8) Operation of G09 (exact stop check)

Since a shift by command in-position cannot be made, it shifts to the next block
after command.

(9) Operation of G28 (home position return)

Home position return of the proximity dog, count, data set, dog cradle, stopper
and limit switch combined-type is executed in the axis whose home position
return request signal (M2409+20n) is ON.
A high-speed feed home position return is executed in the axis whose home
position return request signal (M2409+20n) is OFF.

(10) Checking for the axis used at the program start

(a) If an axis used in the already started program is started by another program,
a program cannot be executed because a minor error (error code : 101)
occurs at the execution of the SVST instruction.

(b) If the axis not specified in the axis number setting of the SVST instruction in
the program waiting to be started is described in the Motion program, it stops
because a minor error (error code : 594) at the positioning processing of the
applicable axis in the program.

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

(11) Variable preread

Variables in up to eight blocks including the one currently executed are preread.
Set variables before starting of the program.

(12) Motion program including the high-speed oscillation

Be careful the following when the high-speed oscillation (G25) is performed for all
axes specified in the SVST.
(Program No. 1 is started with X (axis 1) and Y (axis 2) specified "SVST J1J2
K1")

O0001;
N1 G25 X START90. STRK10. F30; X-axis high-speed oscillation start
N2 G25 Y START90. STRK20. F10; Y-axis high-speed oscillation start
N3 Be careful to program N3 after.
•
•
•

(a) The G-code instructions except G26 (high-speed oscillation stop) and G04
(dwell) should not be executed.

(b) The M-codes except M00, M01, M02, M30, M98 and M99 should not be
executed.

7 - 18
7 MOTION PROGRAMS FOR POSITIONING CONTROL

7.10 Instruction Symbols/Characters List

Instruction symbols and characters used in Motion programs are shown below.

Table 7.1 Instruction Symbol/Character List

Symbol/character Function Description
A Coordinate position data
B Coordinate position data
C Coordinate position data
U Coordinate position data
V Coordinate position data
W Coordinate position data
X Coordinate position data
Y Coordinate position data
Z Coordinate position data
CA Coordinate position data
CB Coordinate position data
CU Coordinate position data
CV Coordinate position data
CW Coordinate position data
CX Coordinate position data
CY Coordinate position data These symbols are used to specify the travel axis at the
CZ Coordinate position data positioning command.
Set the axis No. and axis name in the system settings.
DA Coordinate position data
DB Coordinate position data
DU Coordinate position data
DV Coordinate position data
DW Coordinate position data
DX Coordinate position data
DY Coordinate position data
DZ Coordinate position data
EA Coordinate position data
EB Coordinate position data
EU Coordinate position data
EV Coordinate position data
EW Coordinate position data
EX Coordinate position data
EY Coordinate position data
EZ Coordinate position data
I Circular arc central coordinate 1 Used in G02, G03, G12 or G13 (arc central coordinate
J Circular arc central coordinate 2 specification).
R Radius of R point-specified circular arc Used in G02, G03, G12 or G13 (R specification).
F Interpolation feed combined-speed Used in G01, G02, G03, G12 or G13.
• Multiple operators cannot be used in one block.
• Refer to Section 7.11.4 for the setting range of instruction symbols.
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7 MOTION PROGRAMS FOR POSITIONING CONTROL

Table 7.1 Instruction Symbol/Character List (Continued)

Symbol/character Function Description
G Preparatory function (G-code) Refer to Section "7.3 G-code List".
L Subprogram repeat count Used in M98
M Auxiliary function (M-code) Refer to Section "7.4 M-code List".
N Sequence No. Indicates a sequence No.
O Program No. Indicates a Motion program No.
Dwell timer Used in G04.
Start program No. Used in G24.
P
Subprogram call number Used in M98, GOSUB/GOSUBE or CALL instruction.
Waiting time Used in TIME instruction.
PB Parameter block No. Change the parameter block.
TL Torque limit value Change the torque limit value.
+ Addition
- Subtraction
Used in arithmetic operation commands.
* Multiplication
Division
/ Optional block skip is specified for a block which is
Optional block skip
headed by this symbol. (Refer to Section 5.1.4 (3).)
MOD Remainder Used in arithmetic operation commands.
(,) Comment Gives comment in the inside of parentheses.
[,] Brackets Used in conditional expressions.
Variable
# Symbols used for indirect designation.
Device designation
% Program end Indicates the end of a program.
; Block separation Indicates separation of blocks.
IF
THEN Condition
ELSE
GOTO Jump Used in conditional branch instructions.
WHILE
DO Repeat
END
EQ Comparison instruction (=)
NE Comparison instruction (!=)
GT Comparison instruction (>)
Used in comparison instructions.
LT Comparison instruction (<)
GE Comparison instruction (>=)
LE Comparison instruction (<=)
OR Logical operation instruction (OR)
XOR Logical operation instruction (Exclusive OR) Used in arithmetic operation commands.
AND Logical operation instruction (AND)
• Multiple operators cannot be used in one block.
• Refer to Section 7.11.4 for the setting range of instruction symbols.

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

Table 7.1 Instruction Symbol/Characters List (Continued)

Symbol/character Function Description
SIN Trigonometric function (sine)
COS Trigonometric function (cosine)
TAN Trigonometric function (tangent)
ASIN Trigonometric function (arcsine)
ACOS Trigonometric function (arccosine)
Used in arithmetic operation commands.
ATAN Trigonometric function (arctangent)
Numerical conversion (real number to
INT
integer)
Numerical conversion (integer to real
FLT
number)
SET Bit device set
Used in control instructions.
RST Bit device reset
CAN Cancel device specification Used in G24.
START Starting angle specification
Used in G25.
STRK Amplitude specification
SKIP Skip device specification Used in G32.
32-bit real number data to 64-bit real number
DFLT
data conversion
64-bit real number data to 32-bit real number
SFLT
data conversion
CHGA Home position return
CHGV Speed change
CHGT Torque limit value change
IF, THEN,
Bit device operation on condition
SET/RST/OUT
CALL Program start
GOSUB Program call 1
GOSUBE Program call 2 Control instruction
CLEAR Control program end
BMOV Block traverse (16 bit unit)
BDMOV Block traverse (32 bit unit)
FMOV Identical data block transfers (16 bit unit)
MULTW Write device data to shared CPU memory
Read device data from shared CPU memory
MULTR
of the other CPU
Write words data to intelligent function
TO
module/special function module
Read words data from intelligent function
FROM
module/special function module
• Multiple operators cannot be used in one block.
• Refer to Section 7.11.4 for the setting range of instruction symbols.

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

Table 7.1 Instruction Symbol/Characters List (Continued)

Symbol/character Function Description
Subprogram call sequence No. Used in M98.
Tool length offset data No. Used in G43, G44.
H
Used in BMOV, BDMOV, MULTW, MULTR, TO or
Indicates hexadecimal number constant.
FROM.
• Multiple operators cannot be used in one block.
• Refer to Section 7.11.4 for the setting range of instruction symbols.

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

7.11 Setting Method for Command Data

This section describes the setting method for command data (addresses, speeds,
operational expressions) used in the Motion programs.
There are following two setting method for command data.
• Direct setting (using numerical values entering)
.......................................................... Refer to Section 7.11.1.
• Indirect setting (using variable : # or device : #W )
.......................................................... Refer to Section 7.11.2.
"Direct setting" and "indirect setting" can be used together in one Motion program.

7.11.1 Direct setting (numerical value)

Direct setting is a way to set each positioning data using a numerical value, and these
data are fixed data. Data setting and correction can be made using the peripheral
device only.

<Example of positioning data setting by direct setting>

O0200;
N99 G90 G00 X100. Y110.; Numerical setting for positioning data
G01 X200.Y202.F204.;
G91 G00 Z300.;
M02;
%

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

7.11.2 Indirect setting

(1) Variable representation

The 16-bit integer type, 32-bit integer type and 64-bit double precision real
number can be used as variables.
Data registers Link registers Motion registers Coasting timer
16-bit integer #n, #Dn, #nS, #@n, #@nS,
#Wn:S —
type #DnS, #n:S, #Dn:S #@n:S
32-bit integer #nL, #DnL, #n:L, #FT
#Wn:L #@nL, #@n:L
type #Dn:L (Read only)
64-bit double
#nF, #DnF, #n:F,
precision real #Wn:F #@nF, #@n:F —
#Dn:F
number
n : Variable or device number

(2) Usable device range

(a) Word device
Q173CPU(N)/Q172CPU(N)
Item Accessibility
Points
Read Write
Data register (D) 8192 points
Link register (W) 8192 points
Special register (D) 256 points
Motion register (#) 8192 points
Coasting timer (FT) 1 point (888μs)
: Usable : Unusable

(b) Bit device

Q173CPU(N)/Q172CPU(N)
Item Accessibility
Points
Read Write
Input module non-
installation range (X)
Input/output 8192 points
Output module non-
installation range (Y)
Input module
Real input/ installation range (PX)
Up to 256 points
output Output module
installation range (PY)
Internal relay (M/L total) 8192 points
Special relay (M) 256 points
Link relay (B) 8192 points
Annunciator (F) 2048 points
: Usable : Unusable

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

POINT
(1) The data register is shown as "#D" or "#" in the Motion program.
Describe it as "#@" to indicate a motion register.
(2) The mark of the I/O modules is X and Y in the Motion program regardless of
installation/non-installation. Do not use PX and PY.

(3) Variable conversion

When variables of different types are used for operation, the types are matched
by internal operation.
Type conversion is made by internal operation as follows.

Conversion format Description

The 16-bit integer type is extended to 32-bit integer type.
15 0
Higher rank bit is handled as a sign bit.
16 bit to 32 bit If the sign bit is "1", bits 15 to 31 are "1".

31 15 0

The 16-bit integer type is converted to 64-bit double precision real number.
15 0
Higher rank bit is handled as a sign bit.

16 bit to 64 bit 63 51 0
Bits 0 to 51: Significant digit part
Bits 52 to 62: Exponent part
Bit 63: Sign part

The 32-bit integer type is converted to 16-bit integer type.

Note that any value other than -32768 to 32767 results in an error. (Error : 531)
31 15 0
Bits 0 to 15 are stored.
32 bit to 16 bit Bits 16 to 31 are discarded.

15 0
Higher rank bit is handled as a sign bit.

The 32-bit integer type is converted to 64-bit double precision real number.
31 0
Higher rank bit is handled as a sign bit.

32 bit to 64 bit 63 51 0
Bits 0 to 51: Significant digit part

Bits 52 to 62: Exponent part

Bit 63: Sign part

The 64-bit double precision real number is converted to 16-bit integer type.
Note that any value other than -32768 to 32767 results in an error. (Error : 531)
63 51 0
Bits 0 to 51: Significant digit part
64 bit to 16 bit Bits 52 to 62: Exponent part Fractional portion is dropped.
Bit 63: Sign part Any value other than -32768 to 32767
results in an error. (Error 531)

15 0
Higher rank bit is handled as a sign bit.

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

Conversion format Description

The 64-bit double precision real number is converted to 32-bit integer type.
Note that any value other than -2147483648 to 2147483647 results in an error.
(Error : 531)
63 51 0
Bits 0 to 51: Significant digit part
64 bit to 32 bit
Bits 52 to 62: Exponent part Fractional portion is dropped.
Bit 63: Sign part Any value other than -2147483648 to
2147483647 results in an error. (Error 531)

31 0
Higher rank bit is handled as a sign bit.

(4) Variable setting (#n : n = integer)

(a) How to handle variable as 16-bit integer
When a #n variable is followed by "S" or ": S", it is handled as a 16-bit
integer. (-32768 to 32767)
[Example]
#0 : [D0]
#1S : [D1]
#2:S : [D2]

Odd numbers may be used as 16-bit specified variables.

(b) How to handle variable as 32-bit integer

Variables are handled as 32 bits. (-2147483648 to 2147483647)
[Example]
Upper Lower Upper Lower
#100:L : [D101, D100] #102:L : [D103, D102]

• When a variable is specified as 2 words (32 bits), only an even number

can be used. The data size of a variable is 4 bytes.

<Example of positioning data setting by variable setting>

Motion program No. (O) cannot be

set indirectly.
O0200;
N99 G90 G00 X#100 Y#110; Indirect setting (address, speed,
G01 X#200 Y#202 F#204; operational expression)
#300 = #302 - #304;
G91 G00 Z300.; Direct setting
IF [#310 EQ 1000] GOTO99;
M02;
%

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

(c) How to handle variable as 64-bit double precision real number

By handling a variable as a 64-bit double precision real number, arithmetic
operation spanning multiple blocks can be performed without reduction in
precision.
Describe a capital letter ":F" after a #n variable.
#nF : Four variables of #n to #n+3 are used and handled as a 64-bit double
precision real number.
63 31 Bit 0
#n+3 #n+2 #n+1 #n

The data format of a 64-bit double precision real number conforms to the
binary floating-point type double precision (64 bits) of IEEE Standard.
63 51 31 Bit 0
Bits 0 to 51: Significant digit part

Bits 52 to 62: Exponent part

Bit 63: Sign part

[Example]
#@10:F=#@20:L/#@22:L;
The division result of 32-bit integers, [#@21, #@20] and [#@23,
#@22], is stored to a 64-bit real number, [#@13, #@12, #@11,
#@10].
#@10:F=#@20:L;
A 32-bit integer, [#@21, #@20], is expanded in sign to a 64-bit
real number, [#@13, #@12, #@11, #@10].
#@40:L=#@30:F;
A 64-bit integer, [#@33, #@32, #@31, #@30], is expanded in
sign to a 32-bit integer, [#@41, #@40].

<Restrictions>
64-bit double precision real numbers cannot be used in the function INT
and FTL.

(5) Assignment of variable

When a decimal point is added for assignment of a value to a variable, the value
is assigned as shown below.
#@10:L=1.; ¨10000 enters in #@10, #@11.
#@10:F=1.; ¨10000 (64-bit double precision real number) enters in #@10,
#@11, #@12, #@13.
"1." is converted into a value of four decimal places.
(Converted to a value of four decimal places regardless of the unit (mm,
inch, degree).)

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

[Example]
<Command address 1>
G91;
#@10:L=1.;
G0 X#@10:L ; The travel value of X is any of the following values.
mm inch degree
1 mm 0.1 inch 0.1 degree

<Command address 2>

G91;
#@10:F=1.;
G0 X#@10:F ; The travel value of X is equivalent to any of the following
values if it is "#@10F=1.;" (64-bit double precision real
number).
mm inch degree
1 mm 0.1 inch 0.1 degree

<Feed speed (F) 1>

G91;
#@10:L=1.;
G01 X10.F#@10:L ; The feed speed (F) of X-axis is any of the following
values.
mm inch degree
100 mm/min 10 inch/min 10 degree/min

<Feed speed (F) 2>

G91;
#@10F=1.;
G01 X10.F#@10F ; The feed speed (F) of X-axis is equivalent to any of
the following values if it is "#@10F=1.;" (64-bit
double precision real number).
mm inch degree
100 mm/min 10 inch/min 10 degree/min

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

(6) Device setting (#Xx : Xx is device)

The word device (D, W, #) and bit device (X, Y, M, B, F) can be referred to by
device setting.
Because the word device (D, W, #) is handled as 32 bits (2 word data), only an
even number can be used.
The four fundamental operations of bit devices cannot be performed.
[Example]
#X180 : X180
#M2000 : M2000
#D100:L : [D101, D100] ( [upper, lower] )
• The word device can be used only an even number. The data size of a
variable is 4 bytes.

POINT
For two-word setting, set an even-numbered device.

(7) Inputting device data

The device data for indirect setting is input by the Motion CPU at the Motion
program start.
Therefore, execute the pre-read disable of M100 for the indirect setting.
The procedure by start method for setting data to devices and cautions are
shown below.
Starting methods Setting procedure Cautions
Set the data in indirect setting devices.
Start by the Motion
Do not change the indirect
program
Start the Motion program. setting device before the
Set the data to the indirect setting devices set in the "positioning start complete
Automatic start by the
start program. signal" of the starting axis
cancel/start
turns ON.
Turn the cancel command device ON.
Set the command data to the indirect setting Example
devices. O0010;
N1 G00 X0 F1000. ;
Execute the M100 pre-read disable. N2 M100;
N3 G01 X100. F1500. ;
Refer to the values set to the indirect setting devices N4 G01 X#D2000L F1500. ;
After program start
until the M100 is executed. M02;
%
Set "D2000, D2001" before
execution of N2.
They may not be reflected
after execution of N2.

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

POINTS
(1) The Motion program No. (O) cannot be set indirectly.
(2) When the Motion program is executed in the Motion CPU, the data of specified
devices (2-word or 4-word) are input in the variable setting or device setting
using word devices.
Take an interlocks with the start accept flag (M2001 to M2032) not to change
until the specified axes accept a start for the device data specified for indirect
setting.
When performing positioning control, execute the start request of Motion
program after setting the data to indirect setting devices. If the data is changed
before the acceptance of start, positioning control may not be executed with
normal values.
(3) Set a variable latch using the peripheral devices.
(4) Variable setting "# " is the same in value as device setting "#D "
which uses data registers.
Example) #2000=1;
#D2000=2; The value of #2000 is also 2.
Therefore, the motion device is described as "#@".

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

7.11.3 Operational data

(1) Four fundamental operations (+, -, *, /, MOD)

The data type combinations and conversion methods for four fundamental
operations (+, -, *, /, MOD) are shown below.
Operation result = [Data 1] operator [Data 2]
Operator indicates +, -, *, / or MOD
Internal operation is performed after conversion into the type of the operation
result. If there is no operation result such as a conditional expression, internal
operation is performed with 32-bit data. For MOD, however, if the operation result
type is 64-bit data with floating point, internal operation is performed with 32-bit
data, which is then converted into the operation result type and stored.
No. Operation result Data 1 Data 2
#n (16 bit)
1
No conversion
#nL, #n:L (32 bit)
32-bit data is converted into 16-bit data.
2
Error occurs if conversion result exceeds 16-bit range.
#n (16 bit)
(Error : 531)
No conversion
#nF, #n:F (64 bit)
64-bit data is converted into 16-bit data.
3 Fractional portion is dropped during conversion.
Error occurs if conversion result exceeds 16-bit range.
(Error : 531)
#n (16 bit)
4
No conversion
#n (16 bit) #nL, #n:L (32 bit)
#nL, #n:L (32 bit)
No conversion 32-bit data is converted into 16-bit data.
5 32-bit data is converted into 16-bit
Error occurs if Error occurs if conversion result exceeds 16-bit range.
data.
conversion result (Error : 531)
Error occurs if conversion result
exceeds 16-bit #nF, #n:F (64 bit)
exceeds 16-bit range.
range. 64-bit data is converted into 16-bit data.
(Error : 531)
6 (Error: 531) Fractional portion is dropped during conversion.
Error occurs if conversion result exceeds 16-bit range.
(Error : 531)
#n (16 bit)
7
No conversion
#nF, #n:F (64 bit)
#nL, #n:L (32 bit)
64-bit data is converted into 16-bit
32-bit data is converted into 16-bit data.
8 data.
Error occurs if conversion result exceeds 16-bit range.
Fractional portion is dropped
(Error : 531)
during conversion.
#nF, #n:F (64 bit)
Error occurs if conversion result
64-bit data is converted into 16-bit data.
exceeds 16-bit range.
9 Fractional portion is dropped during conversion.
(Error : 531)
Error occurs if conversion result exceeds 16-bit range.
(Error : 531)
n : Indicates variable number or device number

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

No. Operation result Data 1 Data 2

#n (16 bit)
10
16-bit data is converted into 32-bit data.
#nL, #n:L (32 bit)
11
#n (16 bit) No conversion
16-bit data is converted into 32-bit #nF, #n:F (64 bit)
data. 64-bit data is converted into 32-bit data.
12 Fractional portion is dropped during conversion.
Error occurs if conversion result exceeds 32-bit range.
(Error : 531)
#nL, #n:L (32 bit) #n (16 bit)
13
(32 bit) 16-bit data is converted into 32-bit data.
No conversion #nL, #n:L (32 bit)
14
Error occurs if No conversion
#nL, #n:L (32 bit)
conversion result #nF, #n:F (64 bit)
No conversion
exceeds 32-bit 64-bit data is converted into 32-bit data.
15 range. Fractional portion is dropped during conversion.
(Error : 531) Error occurs if conversion result exceeds 32-bit range.
(Error : 531)
#n (16 bit)
16 #nF, #n:F (64 bit)
16-bit data is converted into 32-bit data.
64-bit data is converted into 32-bit
#nL, #n: L (32 bit)
17 data.
No conversion
Fractional portion is dropped
#nF, #n: F (64 bit)
during conversion.
64-bit data is converted into 32-bit data.
Error occurs if conversion result
18 Fractional portion is dropped during conversion.
exceeds 32-bit range.
Error occurs if conversion result exceeds 32-bit range.
(Error : 531)
(Error : 531)
n : Indicates variable number or device number

• For +, -, *, / (except MOD)

No. Operation result Data 1 Data 2
#n (16 bit)
19
16-bit data is converted into 64-bit data.
#n (16 bit)
#nL, #n:L (32 bit)
20 16-bit data is converted into 64-bit
32-bit data is converted into 64-bit data.
data.
#nF, #n:F (64 bit)
21
No conversion
#n (16 bit)
22
16-bit data is converted into 64-bit data.
#nF, #n:F (64 bit) #nL, #n:L (32 bit)
#nL, #n:L (32 bit)
23 (64 bit) 32-bit data is converted into 64-bit
32-bit data is converted into 64-bit data.
No conversion data.
#nF, #n:F (64 bit)
24
No conversion
#n (16 bit)
25
16-bit data is converted into 64-bit data.
#nF, #n:F (64 bit) #nL, #n:L (32 bit)
26
No conversion 32-bit data is converted into 64-bit data.
#nF, #n:F (64 bit)
27
No conversion
n : Indicates variable number or device number

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

• For MOD
No. Operation result Data 1 Data 2
#n (16 bit)
28
16-bit data is converted into 32-bit data.
#nL, #n:L (32 bit)
29
#n (16 bit) No conversion
16-bit data is converted into 32-bit #nF, #n: F (64 bit)
data. 64-bit data is converted into 32-bit data.
30 Fractional portion is dropped during conversion.
Error occurs if conversion result exceeds 32-bit range.
(Error : 531)
#n (16 bit)
31
16-bit data is converted into 32-bit data.
#nF, #n:F (64 bit)
#nL, #n:L (32 bit)
32 (64 bit)
No conversion
Internal operation #nL, #n:L (32 bit)
#nF, #n:F (64 bit)
result (32 bit) is No conversion
64-bit data is converted into 32-bit data.
converted into 64-
33 Fractional portion is dropped during conversion.
bit data.
Error occurs if conversion result exceeds 32-bit range.
(Error : 531)
#n (16 bit)
34 #nF, #n:F (64 bit)
16-bit data is converted into 32-bit data.
64-bit data is converted into 32-bit
#nL, #n:L (32 bit)
35 data.
No conversion
Fractional portion is dropped
#nF, #n:F (64 bit)
during conversion.
64-bit data is converted into 32-bit data.
Error occurs if conversion result
36 Fractional portion is dropped during conversion.
exceeds 32-bit range.
Error occurs if conversion result exceeds 32-bit range.
(Error : 531)
(Error : 531)
n : Indicates variable number or device number

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

(2) Logical operations (AND, OR, XOR, NOT), shift operators (<<, >>)
• For AND, OR, XOR, <<, >>
The data type combinations and conversion methods for logical operations
(AND, OR, XOR) and shift operators (<<, >>) are shown below.
Operation result = [Data 1] operator [Data 2]
Operator indicates AND, OR, XOR, << or >>
For logical and shift operations, operation including the 64-bit floating-point type
cannot be performed. (Error "560 : format error")
No. Operation result Data 1 Data 2 Remarks
#n (16 bit)
1
No conversion
#nL, #n:L (32 bit)
#n (16 bit) 32-bit data is converted into 16-bit data.
2
No conversion Error occurs if conversion result exceeds 16-bit range.
(Error : 531)
#nF, #n:F (64 bit)
3 Operation disabled
Operation cannot be performed.
#n (16 bit)
4
#nL, #n:L (32 bit) No conversion
#n (16 bit) 32-bit data is converted into 16-bit #nL, #n:L (32 bit)
No conversion data. 32-bit data is converted into 16-bit data.
5
Error occurs if conversion result Error occurs if conversion result exceeds 16-bit range.
exceeds 16-bit range. (Error : 531)
(Error : 531) #nF, #n:F (64 bit)
6 Operation disabled
Operation cannot be performed.
#n (16 bit)
7 Operation disabled
Operation cannot be performed.
#nF, #n:F (64 bit) #nL, #n:L (32 bit)
8 Operation disabled
Operation cannot be performed. Operation cannot be performed.
#nF, #n:F (64 bit)
9 Operation disabled
Operation cannot be performed.
#n (16 bit)
10
16-bit data is converted into 32-bit data.
#n (16 bit)
#nL, #n:L (32 bit)
11 16-bit data is converted into 32-bit
No conversion
data.
#nF, #n:F (64 bit)
12 Operation disabled
Operation cannot be performed.
#n (16 bit)
13
16-bit data is converted into 32-bit data.
#nL, #n:L (32 bit)
#nL, #n:L (32 bit) #nL, #n:L (32 bit)
14 (32 bit)
No conversion No conversion
No conversion
#nF, #n: F (64 bit)
15 Operation disabled
Operation cannot be performed.
#n (16 bit)
16 Operation disabled
Operation cannot be performed.
#nF, #n:F (64 bit) #nL, #n:L (32 bit)
17 Operation disabled
Operation cannot be performed. Operation cannot be performed.
#nF, #n:F (64 bit)
18 Operation disabled
Operation cannot be performed.
n : Indicates variable number or device number

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

• For NOT
The following table indicates the data type combinations and conversion methods
for NOT.
Operation result = operator [Data 1]
Operator denotes NOT.
For logical and shift operations, operation including the 64-bit floating-point type
cannot be performed. (Error "560 : format error")
No. Operation result Data 1 Remarks
#n (16 bit)
1
No conversion
#nL, #n:L (32 bit)
#n (16 bit)
2 32-bit data is converted into 16-bit data.
No conversion
Error occurs if conversion result exceeds 16-bit range. (Error : 531)
#nF, #n:F (64 bit)
3 Operation disabled
Operation cannot be performed.
#n (16 bit)
4
16-bit data is converted into 32-bit data.
#nL, #n:L (32 bit)
#nL, #n:L (32 bit)
5 (32 bit)
No conversion
No conversion
#nF, #n:F (64 bit)
6 Operation disabled
Operation cannot be performed.
n : Indicates variable number or device number

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

(3) Trigonometric functions (SIN, COS, TAN, ASIN, ACOS, ATAN)

The data type combinations and conversion methods for trigonometric functions
(SIN, COS, TAN, ASIN, ACOS, ATAN) are shown below.
Operation result = trigonometric function [Data 1]
Trigonometric function indicates SIN, COS, TAN,
ASIN, ACOS or ATAN
Internal operation is performed with the 64-bit floating-point type.
When there is operation in Data 1, operation is performed after conversion into
64-bit data.
No. Operation result Data 1
#n (16 bit)
1 #n (16 bit) 16-bit data is converted into 64-bit data.
Internal operation result (64 bit) is multiplied by 10000 Data is divided by 10000 during conversion.
and result of multiplication is converted into16-bit data. #nL, #n:L (32 bit)
2 Fractional portion is dropped during conversion. 32-bit data is converted into 64-bit data.
Error occurs if operation result exceeds 16-bit range. Data is divided by 10000 during conversion.
(Error : 531) #nF, #n:F (64 bit)
3
Data is divided by 10000 during conversion.
#n (16 bit)
4 #nL, #n:L (32 bit) 16-bit data is converted into 64-bit data.
Internal operation result (64 bit) is multiplied by 10000 Data is divided by 10000 during conversion.
and result of multiplication is converted into 32-bit data. #nL, #n:L (32 bit)
5 Fractional portion is dropped during conversion. 32-bit data is converted into 64-bit data.
Error occurs if operation result exceeds 32-bit range. Data is divided by 10000 during conversion.
(Error : 531) #nF, #n:F (64 bit)
6
Data is divided by 10000 during conversion.
#n (16 bit)
7
16-bit data is converted into 64-bit data.
#nF, #n:F (64 bit) #nL, #n:L (32 bit)
8
Internal operation result (64 bit) is stored as it is. 32-bit data is converted into 64-bit data.
#nF, #n:F (64 bit)
9
No conversion
n : Indicates variable number or device number

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

(4) Floating-point type real number processing instructions (INT, FLT)

The data type combination and conversion method for floating-point type real
number processing instructions (INT, FLT)are shown below.
Operation result = function [Data 1]
Function indicates INT or FLT.
The floating-point type real number processing instructions (INT, FLT) can
operate the 32-bit type only.
The floating-point type real number processing instructions cannot operate data
other than the 32-bit type. (Error "560 : Format error")
INT and FLT cannot be used with other operations. (Error "560 : Format error")
No. Operation result Data 1
#nL, #n:L (32 bit)
<INT>
32-bit floating-point type is converted into 32-bit type.
Fractional portion is dropped during conversion. #nL, #n:L (32 bit)
1
Error occurs if operation result exceeds 32-bit range. No conversion
(Error : 531)
<FLT>
32-bit type is converted into 32-bit floating-point type.
n : Indicates variable number or device number

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

(5) Functions (SQRT, ABS, LN, EXP)

The data type combinations and conversion methods for functions (SQRT, ABS,
LN, EXP) are shown below.
Operation result = function [Data 1]
Function indicates SQRT, ABS, LN or EXP
Internal operation of SQRT, LN or EXP is performed with the 64-bit floating-point
type.
Internal operation of ABS is performed by making conversion into the operation
result type.
When there is operation in Data 1 for SQRT, operation is performed after
conversion into 64-bit data.

• For SQRT, LN, EXP

No. Operation result Data 1
#n (16 bit) #n (16 bit)
1
Internal operation result (64 bit) is converted into 16-bit 16-bit data is converted into 64-bit data.
data. #nL, #n:L (32 bit)
2
Fractional portion is dropped during conversion. 32-bit data is converted into 64-bit data.
Error occurs if operation result exceeds 16-bit range. #nF, #n:F (64 bit)
3
(Error : 531) No conversion
#nL, #n:L (32 bit) #n (16 bit)
4
Internal operation result (64 bit) is converted into 32-bit 16-bit data is converted into 64-bit data.
data. #nL, #n:L (32 bit)
5
Fractional portion is dropped during conversion. 32-bit data is converted into 64-bit data.
Error occurs if operation result exceeds 32-bit range. #nF, #n:F (64 bit)
6
(Error : 531) No conversion
#n (16 bit)
7
16-bit data is converted into 64-bit data.
#nF, #n:F (64 bit) #nL, #n:L (32 bit)
8
No conversion 32-bit data is converted into 64-bit data.
#nF, #n:F (64 bit)
9
No conversion
n : Indicates variable number or device number

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

• For ABS
No. Operation result Data 1
#n (16 bit)
1
No conversion
#n (16 bit) #nL, #n:L (32 bit)
2
No conversion 32-bit data is converted into 16-bit data.
#nF, #n:F (64 bit)
3
64-bit data is converted into 16-bit data.
#n (16 bit)
4
16-bit data is converted into 32-bit data.
#nL, #n:L (32 bit) #nL, #n:L (32 bit)
5
No conversion No conversion
#nF, #n:F (64 bit)
6
64-bit data is converted into 32-bit data.
#n (16 bit)
7
16-bit data is converted into 64-bit data.
#nF, #n:F (64 bit) #nL, #n:L (32 bit)
8
No conversion 32-bit data is converted into 64-bit data.
#nF, #n:F (64 bit)
9
No conversion
n : Indicates variable number or device number

(6) Functions (BIN, BCD)

The data type combinations and conversion methods for functions (BIN, BCD)
are shown below.
Operation result = function [Data 1]
Function indicates BIN or BCD
Internal operation is performed by making conversion into the 32-bit type.
Operation including the 64-bit floating-point type cannot be performed.
(Error "560 : format error")
BIN and BCD cannot be used with other operations.
(Error "560 : format error")
No. Operation result Data 1
#n (16 bit)
1 #n (16 bit)
16-bit data is converted into 32-bit data.
Internal operation result (64 bit) is converted into 16-bit
#nL, #n:L (32 bit)
2 data.
No type conversion
Error occurs if operation result exceeds 16-bit range.
#nF, #n:F (64 bit)
3 (Error : 531)
Operation cannot be performed.
#n (16 bit)
4
16-bit data is converted into 32-bit data.
#nL, #n:L (32 bit) #nL, #n:L (32 bit)
5
No type conversion No type conversion
#nF, #n:F (64 bit)
6
Operation cannot be performed.
n : Indicates variable number or device number

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

(7) Functions (round-off (RND), round-down (FIX), round-up (FUP))

The data type combinations and conversion methods for round-off (RND), round-
down (FIX) and round-up (FUP) are shown below.
Operation result = function [Data 1]
Function denotes RND, FIX or FUP.
Round-off (RND), round-down (FIX) and round-up (FUP) cannot perform
operation of other than the 64-bit floating-point type.
(Error "560 : format error")
No. Operation result Data 1
#nF, #n:F (64 bit)
No type conversion
<RND>
Rounds off data 1 to one decimal place. #nF, #n:F (64 bit)
1
<FIX> No type conversion
Rounds down data 1 to the units.
<FUP>
Rounds up data 1 to the units.
n : Indicates variable number or device number

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

7.11.4 Setting range of instruction symbols list

Setting range of instruction symbols used in the Motion programs are shown below.

Table 7.2 Setting Range of Instruction Symbol List

Setting range
Symbol Function Indirect setting value by
Motion program description
variable
A Coordinate position data
B Coordinate position data
C Coordinate position data
U Coordinate position data
V Coordinate position data
W Coordinate position data
X Coordinate position data
Y Coordinate position data
Z Coordinate position data
CA Coordinate position data
CB Coordinate position data
CU Coordinate position data
CV Coordinate position data
CW Coordinate position data
CX Coordinate position data
CY Coordinate position data
CZ Coordinate position data -214748.3648 to 214748.3647 [mm]
-2147483648 to 2147483647
Address DA Coordinate position data -21474.83648 to 21474.83647 [inch]
0 to 35999999
DB Coordinate position data 0 to 359.99999 [degree]
DU Coordinate position data
DV Coordinate position data
DW Coordinate position data
DX Coordinate position data
DY Coordinate position data
DZ Coordinate position data
EA Coordinate position data
EB Coordinate position data
EU Coordinate position data
EV Coordinate position data
EW Coordinate position data
EX Coordinate position data
EY Coordinate position data
EZ Coordinate position data
I Circular arc central coordinate 1
J Circular arc central coordinate 2

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

Table 7.2 Setting Range of Instruction Symbol List (Continued)

Setting range
Symbol Function Indirect setting value by
Motion program description
variable
0 to 214748.3647 [mm]
Radius of R point specified 0 to 2147483647
Address R 0 to 21474.83647 [inch]
circular arc 0 to 35999999
0 to 359.99999 [degree]
0.01 to 6000000.00 [mm/min]
Interpolation feed combined 1 to 600000000
Speed F 0.001 to 600000.000 [inch/min]
speed 1 to 2147483647
0.001 to 2147483.647 [degree/min]
00, 01, 02, 03, 04, 09, 12, 13, 23, 24,
25, 26, 28, 30, 32, 43, 44, 49, 53, 54,
G Preparatory function (G-code) –
55, 56, 57, 58, 59, 61, 64, 90, 91, 92,
98, 99, 100, 101
Subprogram call sequence No. 1 to 9999 1 to 9999
H
Tool length offset data No. 1 to 20 1 to 20
L Subprogram repeat count 0 to 9999 0 to 9999
Auxiliary function
Others M 0 to 9999 0 to 9999
(M-code)
N Sequence No. 1 to 9999 –
O Motion program No. 1 to 1024 –
Dwell time 1 to 65535 1 to 65535
P Start program No. 1 to 1024 1 to 1024
Subprogram call No. 1 to 1024 1 to 1024
PB Parameter block No. 1 to 16 1 to 16
TL Torque limit value 1 to 500 1 to 500
+ Addition
- Subtraction
Operational
* Multiplication -2147483648 to 2147483647 -2147483648 to 2147483647
expression
/ Division
MOD Remainder

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

REMARK
(1) Command unit
A decimal point can be entered in the Motion program input information which
defines the command address or speed, etc.
[Example] 123456.7890
A decimal point may also be omitted.
When a decimal point is omitted, a command address is represented in
0.0001[mm], 0.00001[inch] or 0.00001[degree] increments, for example.
<For command address> <For feed speed (F)>
. .
[Example] 10. ······ 10mm [Example] 10. ······ 10mm/min
10 ······· 0.001mm (unit: mm) 10 ······· 0.1mm/min (unit: mm)
Any value may be specified up to 10 digits. (Decimal point not included) Specifying
more than 10 digits will result in an error.
The numbers of significant decimal places are listed below. Digits after the
significant decimal places are ignored. Note that specifying 10 or more digits will
result in an error.
Unit
mm inch degree
Command
Command address 4 5 5
Command speed 2 3 3

7.11.5 Positioning control unit for 1 axis

For one axis, positioning control is executed in the control unit specified in the fixed
parameter.
(The control unit specified in the parameter block is ignored.)

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7.11.6 Control units for interpolation control

(1) The interpolation control units specified with the parameter block and the control
units of the fixed parameter are checked.
If the interpolation control units specified with the parameter block differ from the
control units of the each axis fixed parameter for the interpolation control, it shown
below.
Interpolation control units in the parameter block
Starting method
mm inch degree
There are axes whose Control starts by the
Condition for There are axes whose control unit set in control unit set in the interpolation control unit of
normal start the fixed parameter is [mm] /[inch]. fixed parameter is parameter block.
[degree].
• If the control units of axes to be
interpolation-controlled are the
same, control starts in the
preset control unit.
Condition for unit • If the control units of axes to be
Control units of the fixed parameter for all axes differ from the
mismatch error interpolation-controlled are
interpolation control units specified with parameter block.
(error code : 40) different, control starts in the
unit of highest priority as
indicated below.
Priority degree>inch>mm

(2) The combinations of each axis control units for interpolation control are shown in
the table below.
mm inch degree
mm 1) 2) 2)
inch 2) 1) 2)
degree 2) 2) 1)
1) : Same unit 2) : Unit mismatch

(a) Same unit ( 1) )

The position command value is calculated according to the setting
address/travel value, positioning speed and electronic gear.

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

(b) Unit mismatch ( 2) )

• The travel value and positioning speed are calculated for each axis.
a) The travel value is converted into the [PLS] unit using the electronic
gear of its own axis.
b) The positioning speed is converted into the [PLS/s] unit using the
electronic gear of the axis whose control unit matches the interpolation
control unit.
The travel value converted into [PLS], the speed converted into
[PLS/s], and the electronic gear are used to calculate the position
command value for positioning.
• If there are two or more axes whose control units are the same as the
interpolation control unit in the linear interpolation of three or more axes,
the electronic gear of the lowest axis No. is used to calculate the
positioning speed.

POINT
When a "degree" is used as the control unit of one axis, a "degree" should also be
used with the other axis.

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7.11.7 Control in the control unit "degree"

If the control units are "degree", the following items differ from other control units.

(1) Current value address

The current addresses in the control units "degree" are ring addresses from 0° to
360°.
359.99999 359.99999

0 0 0

(2) Stroke limit valid/invalid setting

The upper/lower limit value of the stroke limit in the control unit "degree" is within
the range of 0° to 359.99999°
(a) Stroke limit is valid
Set the "lower limit value to upper limit value of the stroke limit" in a
clockwise direction to validate the stroke limit value.
0

315.00000 Clockwise
Area A

90.00000

Area B

1) If travel range in area A is set, the limit values are as follows :

• Lower stroke limit value : 315.00000°
• Upper stroke limit value : 90.00000°
2) If travel range in area B is set, the limit values are as follows :
• Lower stroke limit value : 90.00000°
• Upper stroke limit value : 315.00000°

(b) Stroke limit is invalid

Set the "upper stroke limit value" equal to "lower stroke limit value" to
invalidate the stroke limit value.
It can be controlled regardless the stroke limit settings.

POINTS
(1) Circular interpolation including the axis which set the stroke limit as invalid
cannot be executed.

(2) When the upper/lower limit value of the axis which set the stroke limit as valid
are changed, perform the home position return after that.

(3) When the stroke limit is set as valid in the incremental data system, perform
the home position return after power supply on.
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7 MOTION PROGRAMS FOR POSITIONING CONTROL

(3) Positioning control

Positioning control method in the control unit "degree" is shown below.
(a) Absolute data method
Positioning in a near direction to the specified address is performed based
on the current value.
Examples
(1) Positioning is executed in a clockwise direction to travel from the current value
of 315.00000° to 0°.
(2) Positioning is executed in a counter clockwise direction to travel from the
current value of 0° to 315.00000°.
315.00000 0 0 315.00000
0 0
315.00000 315.00000

POINTS
(1) The positioning direction of absolute data method is set a clockwise/counter
clockwise direction by the setting method of stroke limit range, positioning in the
shortest direction may not be possible.
Example
Travel from the current value 0° to 315.00000° must be clockwise positioning if
the lower stroke limit value is set to 0°and the upper stroke limit value is set to
345.00000°.
345.00000 0
315.00000

Clockwise positioning

(2) Set the positioning address within the range of 0° to 360°.

Use the incremental data method for positioning of one revolution or more.

(b) Incremental data method

Positioning by the specified travel value to the specified direction.
The travel direction is set by the sign of the travel value, as follows :
1) Positive travel value ................Clockwise rotation
2) Negative travel value...............Counter clockwise rotation

POINT
Positioning of 360° or more can be executed in the incremental data method.

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

7.12 About Coordinate Systems

This section describes coordinate systems.

There are two coordinate systems : basic mechanical coordinate system and work
coordinate system.

(1) Basic mechanical coordinate system

............................. A coordinate system specific to a machine and indicates the
position determined specifically for the machine.

(2) Work coordinate system

............................. A coordinate system used by a programmer for programming
to set the reference point on a work as a coordinate home
position.
In the work coordinate system, a position is specified with an
offset value from the basic mechanical coordinate system. The
offset value is set with a distance from the mechanical
coordinate system origin (0).
You can specify up to six work coordinate systems (work
coordinates 1 to 6). Set them by parameter setting or work
coordinate system selection (G54 to G59). (Refer to Section
6.5 and 7.13.24.)
By setting multiple work coordinates, you can easily perform
multiple positioning operations with one Motion program.

Y Y : Reference point
: Mechanical
Y coordinate point
: Work coordinate point

X
Work coordinate system 2
Reference point X
Work coordinate system 1

X
Basic mechanical coordinate system

[Drilling machine]

Motor
Work coordinate system 2
Work coordinate system 1
Basic mechanical
coordinate system
Motor

Motor

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

7.13 G-code

This section describes instruction codes to use in the Motion program.

Each instruction is described in the following format.
1) Functional outline of instruction
2) explained easily.

The method of the input and

description are shown.
" " shows that space should be
put when the program is input.

3)

4)

5)

6)

No. Description No. Description

1) Name of the instruction code. 4) Indicates the parameters related to this instruction.
2) Indicates the model name. 5) Indicates a program example which uses this instruction.
3) Indicates the detailed explanation or precautions. 6) Indicates supplementary explanation or instructions related to
this instruction.

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The arguments of G-code are shown in Table 7.3.

Table 7.3 G-code arguments

Cancel command (CAN)

Starting angle (START)

Central point command
(Note-2)

Skip command (SKIP)

Radius command (R)

Amplitude (STRK)
(Note-3)
Axis command

Remarks

Feed (F)
M-code

G-code
(I J)

PB
O
H

P
L
(Note-1)
G00 Only G-codes of G04, G43, G44 and G49 are available.
(Note-1)
G01 Only G-codes of G04, G43, G44 and G49 are available.
Only G-codes of G04 is available.
G02 Central point command and axis command may be specified up to
2 axes.
Only G-codes of G04 is available.
G02 Radius command and axis command may be specified up to 2
axes.
Only G-codes of G04 is available.
G03 Central point command and axis command may be specified up to
2 axes.
Only G-codes of G04 is available.
G03 Radius command and axis command may be specified up to 2
axes.
G04 Dwell
Only G-codes of G01, G02, G03, G12 and G13 are available.
G09 (Note-1)

Only G-codes of G04 is available.

G12 Central point command and axis command may be specified up to
3 axes.
Only G-codes of G04 is available.
G12 Radius command and axis command may be specified up to 3
axes.
Only G-codes of G04 is available.
G13 Central point command and axis command may be specified up to
3 axes.
Only G-codes of G04 is available.
G13 Radius command and axis command may be specified up to 3
axes.
G23
P : Start program No.
G24
PB : Parameter block No.
G25 Specify only axis name for axis command and frequency for F.

G26 Specify only axis name for axis command.

G28 Only G-codes of G53 is available.

G30 Only G-codes of G53 is available.

P must not be specified for axis command and M-code
G32
simultaneously.
G43

G44

G49 Only G-codes of G28 is available.

G53 Only G-codes of G28 is available.

Only G-codes of G00, G01, G02, G03, G12, G13 and G92 are
G54 (Note-1)
available.

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

Table 7.3 G-code arguments (Continued)

Central point command (I,J)

Cancel command (CAN)

Starting angle (START)

(Note-2)

Skip command (SKIP)

Radius command (R)

Amplitude (STRK)
Remarks

(Note-3)
Axis command

Feed (F)
M-code

G-code

PB
O
H

P
L
Only G-codes of G00, G01, G02, G03, G12, G13 and G92 are
G55 (Note-1)
available.
Only G-codes of G00, G01, G02, G03, G12, G13 and G92 are
G56 (Note-1)
available.
Only G-codes of G00, G01, G02, G03, G12, G13 and G92 are
G57 (Note-1)
available.
Only G-codes of G00, G01, G02, G03, G12, G13 and G92 are
G58 (Note-1)
available.
Only G-codes of G00, G01, G02, G03, G12, G13 and G92 are
G59 (Note-1)
available.
Only G-codes of G00, G01, G02, G03, G12 and G13 are
G61 (Note-1)
available.
Only G-codes of G00, G01, G02, G03, G12 and G13 are
G64 (Note-1)
available.
Only G-codes of G00, G01, G02, G03, G12 and G13 are
G90 (Note-1)
available.
Only G-codes of G00, G01, G02, G03, G12 and G13 are
G91 (Note-1)
available.
Only G-codes of G00, G01, G02, G03, G12 and G13 are
G92 (Note-1)
available.
G98

G99

G100

G101
: Must be specified : May be specified Blank : Must not be specified

For G43, G44, G49, G54 to G59, G90 and G91, use the currently selected modal group 01 to set the specifiable arguments.
(Note-1) : The G-code may be set in the first parameter only.
(Note-2) : The axis commands are X, Y, Z, U, V, W, A, B, CX, CY, CZ, CU, CV, CW, CA, CB, DX, DY, DZ, DU, DV, DW, DA, DB, EX, EY, EZ, EU, EV, EW, EA
and EB.
(Note-3) : The M-codes are except M00, M01, M02, M30, M98, M99 and M100.

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

7.13.1 G00 Point-to-point positioning at the high-speed feed rate

Code G00
Point-to-point positioning at The positions of the specified axes are executed. (PTP)
Function
the high-speed feed rate

G 00 X x Y y Z z ;
Format Positioning address
Axis name

[Explanation]
(1) The linearly positioning of the specified axes from the current value to specified
coordinate position at the fixed speed for all axes.

(2) Since this command is a modal instruction, it is valid until another G-code in the
same modal group is used. Therefore, when the next command is the same G-
code, it is possible by specifying only the axis name. (G00, G01, G02, G03, G12
and G13 are contained in a modal group (01).)

(3) Acceleration or deceleration is always executed at the start or end point of a

block, and it proceeds to the next block in this command.

(4) The positioning speed is the high-speed feed rate of each axis or less.

[Example] G00 X100. ;

X150. ;
(High-speed feed rate : 10000[mm/min], speed limit value in
parameter block : 12000[mm/min])

V Speed limit value in parameter block

High-speed feed rate

12000
10000

t
Acceleration time Deceleration time Acceleration time Deceleration time

(5) This command executes the acceleration-fixed acceleration/deceleration.

Acceleration is calculated from the lower speed among the high-speed feed rate
or speed limit value and the acceleration/deceleration time in the parameter
block.

(6) The positioning data can be set by direct setting (numerical value) or indirect
setting (variable : # ).

(7) When a M-code is commanded, G00 executes the acceleration/deceleration in the

same way as G01 at the acceleration time of the parameter block. (Example G00
X M ;)
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7 MOTION PROGRAMS FOR POSITIONING CONTROL

[Related Parameters]
High-speed feed rate: The maximum feed rate of each axis is set.
(Refer to Section 6.2.5 for the high-speed feed rate setting of the
fixed parameter.)
The positioning is executed in the shortest path which connects
the start and end point at the execution of G00.
The positioning speed is the high-speed feed rate of each axis
or less.

[Program Example]
Program to execute positioning of A, B, C, D and E points. (Absolute value command)
1) G00 X100. Y100. ; (A point positioning)
2) X200. ; (B point positioning) Travel with G00
3) Y200. ; (C point positioning)
4) G01 Y300. F100. ; (D point positioning)
Travel with G01
5) X300. ; (E point positioning)
Y
D 5) E
300

4)

200 C

3)
A 2)
100 B
1)

X
100 200 300 (Unit: mm)

REMARK
(1) To execute the feed rate of G00, the axis whose time to reach the target
position is the longest in the travel/high-speed feed rate (fixed parameter) of the
each axes is used as the reference axis, and interpolation is made in the
reference axis speed interpolation mode phase or the like. (Refer to Section
6.2.5.)

(2) The high-speed feed rate of each axis is clamped at the speed limit value if it is
larger than the speed limit value of the parameter block. The calculation of the
reference axis is also made using the clamped value.

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7.13.2 G01 Constant-speed positioning at the speed specified in F

Code G01 Linear interpolation is executed from the current position to the
Constant-speed specified end point at the specified feed rate. (Constant-speed)
Function positioning at the speed The feed rate is specified at the linear speed (combined-speed) to the
specified in F advance direction.

G0 1 X x Y y Z z F f ;
Feed rate
Format Feed rate command
Positioning address
Axis name

[Explanation]
(1) Since this command is a modal instruction, it is valid until another G-code in the
same group is used. Therefore, when the next command is G01, if the feed rate
is not changed, it is possible by specifying only the axis name.

(2) The command unit of feed rate is specified in the interpolation control unit of
parameter block.

(3) The maximum command value of feed rate is the speed limit value set in the
parameter block.

(4) If the F command is not set in the first G01 command, a program error will (error
code : 501) occur.

(5) When this command is executed continuously, the acceleration or deceleration is

not made at the start or end point of a block because the status is not the exact
stop check mode.

[Example] G01 X100. F200. ;

X150. ;
V

X-axis
t

(6) The positioning data can be set by direct setting (numerical value) or indirect
setting (variable : # ).

(7) Specify G61 when making acceleration/deceleration at block switching.

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

(8) If the G02 or G03 command is executed during the G01 command (Constant-
speed positioning), a deceleration stop is not made.
[Example] G01 X100. Y100. Z100. ;
Constant-speed control is
G02 X0. Y0. I0. J50. F500. ;
executed in this area.
G03 X0. Y0. I0. J50. F500. ;
G01 X100. ;

(9) Acceleration/deceleration processing of G01 command

G91 G01 X100. Y100. F100. ; Constant-speed positioning of X, Y..... Block 1
Y100. ; Constant-speed positioning of Y.......... Block 2
X100. ; Constant-speed positioning of X..........Block 3
When the above program is executed, the acceleration/deceleration processing of
the X and Y-axis is shown below.

X-axis
100 200

Y-axis
200
(Note) : 1) Both the acceleration and deceleration times are the acceleration time
of the parameter block.
2) When a M-code is commanded, G00 executes the acceleration/
deceleration in the same way as G01 at the acceleration time of the
parameter block.

[Related Parameters]
Speed limit value : The maximum feed rate of each axis is set.
(Refer to Section 6.4.1 for the speed limit value of the parameter
block.)

[Program Example]
Program to execute positioning of A, B, C, D and E points. (Absolute value command)
1) G01 X100. Y100. F100. ; (A point positioning)
2) X200. ; (B point positioning) Travel with G01
3) Y200. ; (C point positioning) (Travel at feed rate
4) G00 Y300. ; (D point positioning) of 100[mm/min])
5) X300. ; (E point positioning)
Travel with G00
Y
D 5) E
300

4)

200 C

3)
A 2)
100 B
1)

X
100 200 300 (Unit: mm)

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

7.13.3 G02 Circular interpolation CW (Central coordinates-specified)

Code G02
The axes travel from the current position (start point) to the specified
Circular interpolation (CW)
coordinate position (end point) with a circular arc (CW).
Function Circular arc central
The travel speed is the specified feed rate.
coordinates-specified

G0 2 X x Y y I i J j F f ;
Feed rate
Format Feed rate command
Circular arc center coordinates 1, 2
End point X, Y coordinates

[Explanation]
(1) The incremental values (always use incremental values) from the current position
(start point) is used to command the circular arc center coordinates.
For G02 (CW), give the end point coordinates of the circular arc with the address
(must be specified for 2 axes) and specify the central coordinates of circular arc
with I and J.
The central coordinates 1, 2 are I and J in order of lower axis No.s.
When X=Axis 1, Y=Axis 2, I=1(X), J=2(Y)
When X=Axis 2, Y=Axis 1, I=1(Y), J=2(X)

(2) Always specify the end point coordinates for 2 axes as they cannot be omitted.
G02 (CW) : Clockwise
Y X Z

G02 G02 G02

X Z Y
X-axis=Lower axis Z-axis=Lower axis Y-axis=Lower axis

(3) If the end point is in the same position as the start point, the circular arc is 360°
(complete round).

(4) If they cannot be linked by a circular arc,

Within the allowable error range for circular interpolation : The start and end
points are
connected by helical
interpolation.
Beyond the allowable error range for circular interpolation : An error occurs at the
circular arc start point.

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

(5) When this command is executed continuously, the acceleration or deceleration is

not made at the start or end point of a block because the status is not the exact
stop check mode.

(6) When the circular arc central coordinates and radius are specified simultaneously
for G02 (CW), the central coordinates-specified circular interpolation has priority.

(7) The positioning data can be set by direct setting (numerical value) or indirect
setting (variable : # ).

[Related Parameters]
Speed limit value : The maximum feed rate of each axis is set.
(Refer to Section 6.4.1 for the speed limit value of the
parameter block.)
Circular interpolation arc error : The permissible circular arc error range is set.
(Refer to Section 6.4.3 for the allowable error range for
circular interpolation of the parameter block.)

[Program Example]
(1) The program which performs circular interpolation from the current position to
draw a half circle.

G91 G02 X0. Y100. I0. J50. F500. ;

Y

End point X0, Y100

Feed rate 50
500[mm/min]

X
Start point
(Unit: mm)

(2) The program which performs circular interpolation from the current value to draw a
complete round.

G02 X0. Y0. I0. J50. F500. ; (Command for the complete round)
Y

Feed rate 50
500[mm/min]

X
Start/end point
(Unit: mm)

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

REMARK
(1) The end point and circular arc central coordinates cannot be omitted.
Always specify them for two axes.

(2) Circular interpolation includes the [degree] axis whose stroke limit is set to be
invalid cannot be executed.

(3) Circular interpolation cannot be executed the combination of [mm] and [degree]
or [inch] and [degree].

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

7.13.4 G03 Circular interpolation CCW (Central coordinates-specified)

Code G03
The axes travel from the current position (start point) to the specified
Circular interpolation (CCW)
coordinate position (end point) with a circular arc (CCW).
Function Circular arc central
The travel speed is the specified feed rate.
coordinates-specified

G03 X x Y y I i J j F f ;
Feed rate
Format Feed rate command
Circular arc center coordinates 1, 2
End point X, Y coordinates

[Explanation]
(1) The incremental values (always use incremental values) from the current position
(start point) is used to command the circular arc center coordinates.
For G03 (CCW), give the end point coordinates of the circular arc with the address
(must be specified for 2 axes) and specify the central coordinates of circular arc
with I and J.
The central coordinates 1, 2 are I and J in order of lower axis No.s.
When X=Axis 1, Y=Axis 2, I=1(X), J=2(Y)
When X=Axis 2, Y=Axis 1, I=1(Y), J=2(X)

(2) Always specify the end point coordinates for 2 axes as they cannot be omitted.
G03 (CCW) : Counterclockwise
Y X Z

G03 G03 G03

X Z Y
X-axis=Lower axis Z-axis=Lower axis Y-axis=Lower axis

(3) If the end point is in the same position as the start point, the circular arc is 360°
(complete round).

(4) If they cannot be linked by a circular arc,

Within the allowable error range for circular interpolation : The start and end
points are
connected by helical
interpolation.
Beyond the allowable error range for circular interpolation : An error occurs at the
circular arc start point.

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

(5) When this command is executed continuously, the acceleration or deceleration is

not made at the start or end point of a block because the status is not the exact
stop check mode.

(6) When the circular arc central coordinates and radius are specified simultaneously
for G03 (CCW), the radius-specified circular interpolation has priority.

(7) The positioning data can be set by direct setting (numerical value) or indirect
setting (variable : # ).

[Related Parameters]
Speed limit value : The maximum feed rate of each axis is set.
(Refer to Section 6.4.1 for the speed limit value of the
parameter block.)
Circular interpolation arc error : The allowable error range for circular interpolation is
set.
(Refer to Section 6.4.3 for the allowable error range for
circular interpolation of the parameter block.)

[Program Example]
(1) The program which performs circular interpolation from the current position to
draw a half circle.

G91 G03 X0. Y100. I0. J50. F500. ;

Y

End point X0, Y100

50 Feed rate
500[mm/min]

X
Start point
(Unit: mm)

(2) The program which performs circular interpolation from the current value to draw a
complete round.

G03 X0. Y0. I0. J50. F500. ; (Command for the complete round)
Y

50 Feed rate
500[mm/min]

X
Start/end point
(Unit: mm)

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

REMARK
(1) The end point and circular arc central coordinates cannot be omitted.
Always specify them for two axes.

(2) Circular interpolation includes the [degree] axis whose stroke limit is set to be
invalid cannot be executed.

(3) Circular interpolation in the unit combination of [mm] and [degree] or [inch] and
[degree] cannot be executed.

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

7.13.5 G02 Circular interpolation CW (Radius-specified)

Code G02 The axes travel from the current position (start point) to the specified
Circular interpolation (CW) coordinate position (end point) with a circular arc of the specified radius
Function Radius-specified circular (CW).
interpolation The travel speed is the specified feed rate.

G02 X x Y y R r F f ;
Feed rate
Format Feed rate command
Circular arc radius
End point X, Y coordinates

[Explanation]
(1) A circular arc of more than 180° is drawn at a negative circular arc radius (R)
value, or a circular arc of 180° or less is drawn at a positive R value.
Always use an incremental value to command the R value.

End point

Radius value Negative Radius value Positive

Start point

An error will occur if "the distance between start and end points" - radius 2>
"circular arc error".

(2) If a complete round command (the start point is the same as the end point) is
specified in R-specified circular interpolation, an error (error code : 108) will occur
and no operation is performed. Therefore, specify the circular arc central
coordinates-specified for the complete round command.

(3) When this command is executed continuously, the acceleration or deceleration is

not made at the start or end point of a block because the status is not the exact
stop check mode.

(4) When the circular arc central coordinates and radius are specified simultaneously
for G02 (CW), the radius-specified circular interpolation has priority.

(5) The positioning data can be set by direct setting (numerical value) or indirect
setting (variable : # ).

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

[Related Parameters]
Speed limit value : The maximum feed rate of each axis is set.
(Refer to Section 6.4.1 for the speed limit value of the
parameter block.)
Circular interpolation arc error : The allowable error range for circular interpolation is
set.
(Refer to Section 6.4.3 for the allowable error range for
circular interpolation of the parameter block.)

[Program Example]
(1) The program which draws a circular arc of more than 180° at a negative circular
arc radius (R) value.

G91 G02 X50. Y50. R-50. F500. ;

Y

Feed rate 50 End point X50, Y50

500[mm/min]

X
Start 50
point (Unit: mm)

(2) The program which draws a circular arc of 180° or less at a positive circular arc
radius (R) value.

G91 G02 X50. Y50. R50. F500. ;

Y

50 End point X50, Y50

Feed rate
500[mm/min]
X
Start 50
(Unit: mm)
point

REMARK
(1) The end point coordinates and circular arc radius cannot be omitted.
Always specify the end point coordinates and circular arc radius.

(2) Circular interpolation includes the [degree] axis whose stroke limit is set to be
invalid cannot be executed.

(3) Circular interpolation in the unit combination of [mm] and [degree] or [inch] and
[degree] cannot be executed.
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7.13.6 G03 Circular interpolation CCW (Radius-specified)

Code G03 The axes travel from the current position (start point) to the specified
Circular interpolation (CCW) coordinate position (end point) with a circular arc of the specified radius
Function Radius specified circular (CCW).
interpolation The travel speed is the specified feed rate.

G03 X x Y y R r F f ;
Feed rate
Format Feed rate command
Circular arc radius
End point X, Y coordinates

[Explanation]
(1) A circular arc of more than 180° is drawn at a negative circular arc radius (R)
value, or a circular arc of 180° or less is drawn at a positive R value.
Always use an incremental value to command the R value.

Start point

Radius value Negative Radius value Positive

End point

An error will occur if "the distance between start and end points" - radius 2>
"circular arc error".

(2) If a complete round command (the start point is the same as the end point) is
specified in R-specified circular interpolation, an error (error code : 108) will occur
and no operation is performed. Therefore, specify the circular arc central
coordinates for the complete round command.

(3) When this command is executed continuously, the acceleration or deceleration is

not made at the start or end point of a block because the status is not the exact
stop check mode.

(4) When the circular arc central coordinates and radius are specified simultaneously
for G03 (CCW), the radius-specified circular interpolation has priority.

(5) The positioning data can be set by direct setting (numerical value) or indirect
setting (variable : # ).

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

[Related Parameters]
Speed limit value : The maximum feed rate of each axis is set.
(Refer to Section 6.4.1 for the speed limit value of the
parameter block.)
Circular interpolation arc error : The allowable error range for circular interpolation is
set.
(Refer to Section 6.4.3 for the allowable error range for
circular interpolation of the parameter block.)

[Program Example]
(1) The program which draws a circular arc of more than 180° at a negative circular
arc radius (R) value.

G91 G03 X-50. Y50. R-50. F500. ;

Y

End point X-50, Y50 50 Feed rate

500[mm/min]

X
-50 Start point
(Unit: mm)

(2) The program which draws a circular arc of 180° or less at a positive circular arc
radius (R) value.

G91 G03 X-50. Y50. R50. F500. ;

Y

End point X-50, Y50 50

Feed rate
500[mm/min]
X
-50 Start point
(Unit: mm)

REMARK
(1) The end point coordinates and circular arc radius cannot be omitted.
Always specify the end point coordinates and circular arc radius.

(2) Circular interpolation includes the [degree] axis whose stroke limit is set to be
invalid cannot be executed.

(3) Circular interpolation in the unit combination of [mm] and [degree] or [inch] and
[degree] cannot be executed.

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7.13.7 G04 Dwell

Code G04
Execution of next block is waited for the specified period of time.
Function Dwell

G04 P p ;
Format
Dwell time (1 to 65535)

[Explanation]
(1) The time from after deceleration stop of the preceding travel command until the
next block start is specified.

(2) The symbol indicating the dwell time is "P".

(3) The dwell time is specified within the range of 1 to 65535 in increments of
0.001[s].
Therefore, setting of G04 P1000 indicates a wait time of 1[s].
V

Dwell time
[Example] G04 P1000
1000 0.001=1[s]

(4) The dwell time can be set by direct setting (numerical value) or indirect setting
(variable : # ).

(5) When specifying dwell in the same block as the travel block, describe dwell after
the travel command.
Also, describe the dwell time (P) after G04.
[Example]
G00 X100 Y100 G04 P2000;
Dwell command
Travel command
(G00, G01, G02, G03, G12 or G13 can be specified.)

Next block
Dwell time
Travel command

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[Program Example]
The program in which dwell time is placed between positioning operation instructions.
1) G01 X100. F10. ; (Positioning)
2) G04 P2000 ; (Dwell time set to 2[s])
3) G01 X200. ; (Positioning)
V

1) 3)
X-axis
t

Dwell time
2000 0.001=2[s]

The X-axis is positioned to "100.", stops there for 2[s], and starts positioning operation
to "200." again.

REMARK
(1) A decimal point cannot be specified for the dwell time.

(2) When an operation cycle (refer to Section 1.2.3) is 0.88[ms], the longest of
dwell time is 58.253[s]. (Even if P58254 to P65535 is specified, it is clamped by
58.253[s].)

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7.13.8 G09 Exact stop check

Code G09
The axes travel in the specified block point-to-point positioning.
Function Exact stop check

G 0 9 G 01 X x F f ;
Format
May be used only in the G01, G02, G03, G12 or G13 program

[Explanation]
(1) This command is used with the interpolation command. Executing this command
travels point-to-point positioning in only the specified block.
The interpolation command codes usable with this command are G01, G02, G03,
G12 and G13 only.

(2) In this system, the next block is executed after making a deceleration stop in the
specified coordinate position.

(3) Not being a modal instruction, this command is valid for the specified block only.

<When an exact stop check is used>

G09 G01 X100. F300. ;
X200. ;
V

X-axis

<When an exact stop check is not used>

G01 X100. F300. ;
X200. ;
V

X-axis
t

(4) The positioning data can be set by direct setting (numerical value) or indirect
setting (variable : # ).

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[Program Example]
The program which uses the exact stop check for positioning.
1) G09 G01 X100. F500. ; (Positioning by an exact stop check)
2) X200. ; (Positioning)
3) X300. ; (Positioning)
4) G09 G01 X400. ; (Positioning by an exact stop check)

X-axis 1) 2) 3) 4)
t

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7.13.9 G12 Helical interpolation CW (Helical central coordinates-specified)

Code G12 The linear interpolation to other linear axis is executed performing 2
axes circular interpolation from the current position (start point) to
Helical interpolation (CW) circular end address or linear axis end point address, and the helical
Function Helical central coordinates- interpolation (CW) is executed so that it may become a spiral course.
specified The travel speed is the specified combined-speed for 2 axes circular
interpolation axis.

G1 2 X x Y y Z z I i J j P p F f ;
Feed rate
Feed rate command
Number of pitches (0 to 999)
Format Pitch command
Circular arc central coordinates 1, 2
(Relative address)
Linear axis end point Z coordinates
Circular interpolation axis end point
X, Y coordinates

[Explanation]
(1) The linear interpolation to other linear axis is executed performing 2 axes circular
interpolation from the current value (start point) to circular interpolation axis end
point address (X,Y) or linear axis end point address (Z), and the helical
interpolation is executed so that it may become a spiral course.

(2) Always use the incremental values (relative address) from the current position
(start point) to command the circular arc central coordinates.
An absolute values or incremental values of the circular interpolation axis end
point (X,Y) and linear axis end point (Z) depends in the modal status (G90/G91)
when executing the Motion program.

(3) Always specify the end point coordinates for 3 axes as they cannot be omitted.

(4) Only the number of times specified by the number of pitches around on the
specified circle, and it is executed positioning to end point at the specified circular
interpolation.

(5) The center coordinates-specified circle specifies circular interpolation method

connected start point and end point at the seeing on the plane for which performs
circular interpolation.

(6) The central coordinates 1, 2 are I and J in order of lower axis No.s by system
setting.
[Example] When X=Axis 1, Y=Axis 2, I=1(X), J=2(Y)
When X=Axis 2, Y=Axis 1, I=1(Y), J=2(X)

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(7) The travel speed is the specified combined-speed for 2 axes circular interpolation
axis.

(8) When this command is executed continuously, the acceleration or deceleration is

not made at the start or end point of a block because the status is not the exact
stop check mode.

(9) The positioning data can be set by direct setting (numerical value) or indirect
setting (variable : # ).

(10) If start point = end point, number of pitches = 1 and travel value of linear axis = 0,
at the only central coordinates-specified helical interpolation, complete round can
be drawn.

[Related Parameters]
Speed limit value : The maximum feed rate of each axis is set.
(Refer to Section 6.4.1 for the speed limit value of the parameter
block.)

[Program Example]
G90 G00 X0. Y0. ;
G12 X100. Y100. Z100. I50. J50. P2 F1000. ;

REMARK
(1) The end point coordinates and circular arc central coordinates cannot be
omitted.
Always specify the end point coordinates for 3 axes and the circular arc central
coordinates for 2 axes.

(2) Circular interpolation includes the [degree] axis whose stroke limit is set to be
invalid cannot be executed.

(3) Circular interpolation axis in the unit combination of [mm] and [degree] or [inch]
and [degree] cannot be executed.
There is no restriction of the unit of the linear axis.

(4) When number of pitches is omitted, it is executed "number of pitches = 0".

(5) The error allowable range for circular interpolation cannot be setting.
(Invalid the error allowable range for circular interpolation of the parameter
blocks. Therefore, the spiral interpolation cannot be executed in the error
allowable range for circular interpolation.)

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The example of the direction of the nozzle of controlling the normal for circular arc
curve.
Y Start point
Nozzle
150.0

180
100.0
R=50
R=100
50.0
0.0 90 270
X
150.0 100.0 50.0 100.0 150.0

100.0
0

150.0
Z-axis (Rotation angle)

X, Y-axis

The program to start as the upper figure from start point and witch keeps a nozzle at
right angles toward the contour of line and that it goes around the contour and witch
is returned to start point. It is the following program when a helical interpolation
function is used.

[Program Example]
G90 G00 X0. Y150. Z0. ; Travel to start point
G01 X50. F1000. ;
G12 X150. Y50. Z90. I0. J-100. P0 ;
G01 Y-50. ;
G12 X50. Y-150. Z180. I-100. J0. P0 ;
G01 X-50. ;
G12 X-150. Y-50. Z270. I0. J100. P0 ;
G01 Y50. ;
G12 X-50. Y150. Z0. I100. J0. P0 ;
G01 X0 ;
M02 ;
%

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7.13.10 G13 Helical interpolation CCW (Helical central coordinates-specified)

Code G13 The linear interpolation to other linear axis is executed performing 2
axes circular interpolation from the current position (start point) to
circular interpolation axis end point address or linear axis end point
Helical interpolation (CCW)
address, and the helical interpolation (CCW) is executed so that it may
Function Helical central coordinates-
become a spiral course.
specified
The travel speed is the specified combined-speed for 2 axes circular
interpolation axis.

G1 3 X x Y y Z z I i J j P p F f ;
Feed rate
Feed rate command
Number of pitches (0 to 999)
Format Pitch command
Circular arc central coordinates 1, 2
(Relative address)
Linear axis end point Z coordinates
Circular interpolation axis end point
X, Y coordinates

[Explanation]
(1) The linear interpolation to other linear axis is executed performing 2 axes circular
interpolation from the current position (start point) to circular interpolation axis end
point address (X,Y) or linear axis end point address (Z), and the helical
interpolation control is executed so that it may become a spiral course.

(2) Always use the incremental values (relative address) from the current position
(start point) to command the circular arc central coordinates.
An absolute values or incremental values of the circular interpolation axis end
point (X,Y) and linear axis end point (Z) depends in the modal status (G90/G91)
when executing the Motion program.

(3) Always specify the end point coordinates for 3 axes as they cannot be omitted.

(4) Only the number of times specified by the number of pitches around on the
specified circle, and it is executed positioning to end point at the specified circular
interpolation.

(5) The central coordinates-specified circle specifies circular interpolation method

connected start point and end point at the seeing on the plane for which performs
circular interpolation.

(6) The central coordinates 1, 2 are I and J in order of lower axis No.s by system
setting.
[Example] When X=Axis 1, Y=Axis 2, I=1(X), J=2(Y)
When X=Axis 2, Y=Axis 1, I=1(Y), J=2(X)

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(7) The travel speed is the specified combined-speed for 2 axes circular interpolation
axis.

(8) When this command is executed continuously, the acceleration or deceleration is

not made at the start or end point of a block because the status is not the exact
stop check mode.

(9) The positioning data can be set by direct setting (numerical value) or indirect
setting (variable : # ).

(10) If start point = end point, number of pitches = 1 and travel value of linear axis = 0,
at the only central coordinates-specified helical interpolation, complete round can
be drawn.

[Related Parameters]
Speed limit value : The maximum feed rate of each axis is set.
(Refer to Section 6.4.1 for the speed limit value of the parameter
block.)

[Program Example]
G90 G00 X0. Y0. ;
G13 X100. Y100. Z100. I50. J50. P2 F1000. ;

REMARK
(1) The end point coordinates and circular arc central coordinates cannot be
omitted.
Always specify the end point coordinates for 3 axes and the circular arc central
coordinates for 2 axes.

(2) Circular interpolation includes the [degree] axis whose stroke limit is set to be
invalid cannot be executed.

(3) Circular interpolation axis in the unit combination of [mm] and [degree] or [inch]
and [degree] cannot be executed.
There is no restriction of the unit of the linear axis.

(4) When number of pitches is omitted, it is executed "number of pitches = 0".

(5) The error allowable range for circular interpolation cannot be setting.
(Invalid the error allowable range for circular interpolation of the parameter
blocks. Therefore, the spiral interpolation cannot be executed in the error
allowable range for circular interpolation.)

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7.13.11 G12 Helical interpolation CW (Helical radius-specified)

Code G12 The linear interpolation to other linear axis is executed performing 2
axes circular interpolation from the current position (start point) to
circular interpolation axis end point address or linear axis end point
Helical interpolation (CW)
address, and the helical interpolation (CW) is executed so that it may
Function Radius-specified helical
become a spiral course.
interpolation
The travel speed is the specified combined-speed for 2 axes circular
interpolation axis.

G1 2 X x Y y Z z R r P p F f ;
Feed rate
Feed rate command
Number of pitches (0 to 999)
Format
Pitch command
Circular arc radius
Linear axis end point Z coordinates
Circular interpolation axis end point
X, Y coordinates

[Explanation]
(1) The linear interpolation to other linear axis is executed performing 2 axes circular
interpolation from the current position (start point) to circular interpolation axis end
point address (X,Y) or linear axis end point address (Z), and the helical
interpolation is executed so that it may become a spiral course.
An absolute values or incremental values of the circular interpolation axis end
point (X,Y) and linear axis end point (Z) depends in the modal status (G90/G91)
when executing the Motion program.

(2) Only the number of times specified by the number of pitches around on the
specified circle, and it is executed positioning to end point at the specified circular
interpolation.

(3) The radius-specified circle specifies circular interpolation method connected start
point and end point at the seeing on the plane for which performs circular
interpolation.

(4) A less than half-circle circular arc command is given at a positive R (circular arc
radius) value, or a more than half-circle circular arc command is given at a
negative R value. Always use an incremental value to command the R value.

(5) The travel speed is the specified combined-speed for 2 axes circular interpolation
axis.

(6) If a complete round command (the start point is the same as the end point) is
specified in R-specified helical interpolation, a minor error will (error code : 108)
occur and no operation is performed. Therefore, specify the helical circular arc
central coordinates for the complete round command.
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7 MOTION PROGRAMS FOR POSITIONING CONTROL

(7) When this command is executed continuously, the acceleration or deceleration is

not made at the start or end point of a block because the status is not the exact
stop check mode.

(8) The positioning data can be set by direct setting (numerical value) or indirect
setting (variable : # ).

(9) If start point = end point, number of pitches = 1 and travel value of linear axis = 0,
at the only center coordinates-specified helical interpolation, complete round can
be drawn.

[Related Parameters]
Speed limit value : The maximum feed rate of each axis is set.
(Refer to Section 6.4.1 for the speed limit value of the parameter
block.)

[Program Example]
G90 G00 X0. Y0. ;
G12 X100. Y100. Z100. R50. P2 F1000. ;

REMARK
(1) The end point coordinates and circular radius cannot be omitted.
Always specify the end point coordinates for 3 axes and the circular radius.

(2) Circular interpolation includes the [degree] axis whose stroke limit is set to be
invalid cannot be executed.

(3) Circular interpolation axis in the unit combination of [mm] and [degree] or [inch]
and [degree] cannot be executed.
There is no restriction of the unit of the linear axis.

(4) When number of pitches is omitted, it is executed "number of pitches = 0".

(5) The allowable error range for circular interpolation cannot be setting.
(Invalid the allowable error range for circular interpolation of the parameter
blocks. Therefore, the spiral interpolation cannot be executed in the allowable
error range for circular interpolation.)

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7.13.12 G13 Helical interpolation CCW (Helical radius-specified)

Code G13 The linear interpolation to other linear axis is executed performing 2
axes circular interpolation from the current position (start point) to
circular interpolation axis end point address or linear axis end point
Helical interpolation (CCW)
address, and the helical interpolation (CW) is executed so that it may
Function Radius-specified helical
become a spiral course.
interpolation
The travel speed is the specified combined-speed for 2 axes circular
interpolation axis.

G1 3 X x Y y Z z R r P p F f ;
Feed rate
Feed rate command
Number of pitches (0 to 999)
Format
Pitch command
Circular arc radius
Linear axis end point Z coordinates
Circular interpolation axis end point
X, Y coordinates

[Explanation]
(1) The linear interpolation to other linear axis is executed performing 2 axes circular
interpolation from the current position (start point) to circular interpolation axis end
point address (X,Y) or linear axis end point address (Z), and the helical
interpolation is executed so that it may become a spiral course.
An absolute values or incremental values of the circular interpolation axis end
point (X,Y) and linear axis end point (Z) depends in the modal status (G90/G91)
when executing the Motion program.

(2) Only the number of times specified by the number of pitches around on the
specified circle, and it is executed positioning to end point at the specified circular
interpolation.

(3) The radius-specified circle specifies circular interpolation method connected start
point and end point at the seeing on the plane for which performs circular
interpolation.

(4) A less than half-circle circular arc command is given at a positive R (circular arc
radius) value, or a more than half-circle circular arc command is given at a
negative R value. Always use an incremental value to command the R value.

(5) The travel speed is the specified combined-speed for 2 axes circular interpolation
axis.

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(6) If a complete round command (the starting point is the same as the end point) is
specified in R-specified helical interpolation, a minor error will (error code : 108)
occur and no operation is performed. Therefore, specify the helical circular arc
central coordinates for the complete round command.

(7) When this command is executed continuously, the feed rate is not increased or
decreased at the start or end point of a block since the status is not the exact stop
check mode.

(8) The positioning data can be set by direct setting (numerical value) or indirect
setting (variable : # ).

(9) If start point = end point, number of pitches = 1 and travel value of linear axis = 0,
at the only central coordinates-specified helical interpolation, complete round can
be drawn.

[Related Parameters]
Speed limit value : The maximum feed rate of each axis is set.
(Refer to Section 6.4.1 for the speed limit value of the parameter
block.)

[Program Example]
G90 G00 X0. Y0. ;
G13 X100. Y100. Z100. R50. P2 F1000. ;

REMARK
(1) The end point coordinates and circular radius cannot be omitted.
Always specify the end point coordinates for 3 axes and the circular radius.

(2) Circular interpolation includes the [degree] axis whose stroke limit is set to be
invalid cannot be executed.

(3) Circular interpolation axis in the unit combination of [mm] and [degree] or [inch]
and [degree] cannot be executed.
There is no restriction of the unit of the linear axis.

(4) When number of pitches is omitted, it is executed "number of pitches = 0".

(5) The error allowable range for circular interpolation cannot be setting.
(Invalid the error allowable range for circular interpolation of the parameter
blocks. Therefore, the spiral interpolation cannot be executed in the error
allowable range for circular interpolation.)

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7.13.13 G23 Cancel, cancel start invalid

Code G23 G24 (cancel function, cancel start function) which has already been
made valid is invalidated.
Function Cancel, cancel start invalid
Valid until G24 (cancel function, cancel start function) is executed.

Format G 23 ;

[Explanation]
(1) This command makes invalid the cancel or cancel start function which has already
been made valid.

(2) This function is also made valid for the high-speed oscillation axis.
N1 G24 CAN #X100 ;
N2 G01 X200. F200. ; Cancel function is valid for N2 and N3.
N3 G25 Y START90. STRK1. F10 ;
N4 G23 ; Cancel function is invalid
(Cancel function is invalid for the high-
speed oscillation axis.)

[Program Example]
The program which makes the cancel start function valid/invalid during execution of
"O0010" program.
O0010
G24 CAN #X100 P100 PB1 ; Execution of cancel start function
G90 G01 X200. F1000. ;
G23 ; Cancel start function invalid

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7.13.14 G24 Cancel, cancel start

Code G24 The executing program is cancel and the specified start program
automatically starts.
Function Cancel, cancel start This function is valid until cancel or cancel start function invalid (G23) is
executed.

G 2 4 CAN #X x P n PBn ;
Parameter block No.
(Indirect setting is possible)
Format Start program No.
(Indirect setting is possible)
Cancel device
(X, Y, M, B, F)
Cancel designation

[Explanation]
(1) If the cancel device signal is turned ON during execution of this command, a
deceleration stop is made and the executing program is cancel (cancel function).
When the start program No. "Pn" has been set, after a deceleration stop by
turning ON the cancel signal, the specified program automatically starts (cancel
start function).

(2) This command cannot be used with the home position return (G28) instruction.

(3) In a waiting status for a restart (single block, M00, M01) during macro processing,
this command is made valid after completion of processing.

(4) If the cancel device turns ON during travel block switching, a cancel start is made
valid at the next travel block processing when there are no operating axes (no
high-speed oscillation axes).

(5) The device "X, Y, M, B and F" can be used for cancel. By assigning the input
signal for high-speed read function to the cancel device, response is made faster
than the input from the PLC CPU.

(6) The setting range of program No. "Pn" for a start is 1 to 1024.

(7) The parameter block of start program can be set with "PBn". The setting range of
parameter block No. "PBn" is 1 to 64. If the parameter block No. "PBn" is omitted
or it is set the outside of setting range, parameter block No. 1 is fixed.

(8) The program No. "Pn" and parameter block No. "PBn" set for a start can be set by
indirect setting with a variable, D, W, or # (2-word data).

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

(9) When G24 exists at any point between continuous constant-speed positioning
blocks, a deceleration stop is made once.
N1 G24 CAN #X100 ;
Cancel function for N1 is valid
N2 G01 X200. F2000. ;
until G24 or G23 is specified.
N3 X300. Y200. ;
N4 G24 CAN #X101 ; Cancel function for N1 is invalid and a
deceleration stop is made.
N5 G01 X50. Y50 F1000. ; Cancel function for N4 is valid until G24 or
G23 is specified.

(10) When G24 is executed after high-speed oscillation (G25), the high-speed
oscillation axis also stops.
N1 G25 X START90. STRK1. F10 ;
N2 G24 CAN #X100 P100 ; Cancel function for N2 is valid between
N3 G01 Y100. Z100. F1000. ; N3 and N5. Note that the high-speed
N4 G26 X ; oscillation axis also stops if cancel is
N5 G01 X0. Y0. Z0. F1000. ; made invalid in this area.
N6 G23 ;

(11) If the start program No. "Pn" is omitted (cancel function), the running program
ends when the cancel device turns ON.

(12) When setting the start axes in the SVST instruction, also include the axis No. to
be executed in the start program. Making a start turns ON the start acceptance
flag of the set axis. The start acceptance flag turns OFF once at a cancel time,
but it turns ON again when the axis is started in the original program at a start
program run.

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[Program Example]
The program which cancels program operation during execution of "O0010" program
and starts "O0100" program. (Command unit is [mm].)
O0010 ;
1) G24 CAN #X100 P100 PB1 ; Execution of cancel start function
2) G90 G01 X200. F1000. ; Cancel device X100 turns ON midway.
After deceleration stop, O0100 starts.
O0100 ;
3) G90 G01 X50. F600. ; X-axis travels to 50[mm] position at
600[mm/min].

V
[mm/min]

1000.

-600.
Program O00010 Program O0100

ON
Device
OFF
X100
ON
OFF
M2001

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7.13.15 G25 High-speed oscillation

Code G25
The specified axis oscillates in a Sine curve.
Function High-speed oscillation

G 2 5 X START s STRK a F f ;
Frequency
(Indirect setting is possible)
Frequency designation
(Indirect setting is possible)
Format
Amplitude (Indirect setting is possible)
Amplitude designation
Starting angle (Indirect setting is possible)
Starting angle designation
Axis name

[Explanation]
(1) The specified axis oscillates in a Sine curve.

360[degree]
Amplitude 0

Starting angle

Amplitude : The oscillating amplitude is specified in the setting unit. It can be

specified indirectly with a variable, D, W, or # (2-word data). The
setting range is 1 to 2147483647. If the setting is outside the range, a
minor error will (error code : 585) occur and it cannot be started.
Starting angle : The start position with the angular position of a Sine curve is
specified. It can be specified indirectly with a variable, D, W, or # (2-
word data). Set it within the range of 0 to 359.9[degree] in 0.1[degree]
increments. If the setting is outside the range, a minor error will (error
code : 586) occur and it cannot be started.
Frequency : The number of cycles in which the axis will be operated for 1 minute
in a Sine curve is specified. It can be specified indirectly with a
variable, D, W, or # (2-word data). The setting range is 1 to
5000[CPM]. If the setting is outside the range, a minor error will (error
code : 587) occur and it cannot be started.

(2) This command is valid for the specified block only (modal group (00)).

(3) After a start, operation continues until G26 high-speed oscillation stop is executed
or the stop command is input.

(4) Acceleration/deceleration processing is not performed. When not making it start

rapidly, set the starting angle to 90.0[degree] or 270.0[degree].

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[Program Example]
The program in which the X-axis oscillates in the Sine curve of 10[mm] amplitude, 90
[degree] starting angle and 30[CPM] frequency.
(Command unit is [mm].)
G25 X START 90. STRK 10. F30 ;

(Note) : The starting angle (START) is valid to the first decimal place.
[Example] (1) START 90. .............. Means 90.0[degree].
(2) START 90 .............. Means 9.0[degree].
(3) In START #2010
#2010 = 900 ............... Means 90.0[degree].
#2010 = 1 ................... Means 0.1 [degree].

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7.13.16 G26 High-speed oscillation stop

Code G26
The high-speed oscillation of the axis which is performing high-speed
High-speed oscillation stop
Function oscillation is stopped.
function

G 2 6 X;
Format
Axis name

[Explanation]
(1) Stops the high-speed oscillation of the axis which is performing high-speed
oscillation.

(2) Use this command in pairs with a high-speed oscillation start.

When the corresponding axis is not stopped up to a program END (M02, M30)
after a high-speed oscillation start, high-speed oscillation is kept performed at a
program END.
Also, do not set a stop to the axis which has not made a high-speed oscillation
start. In that case, a minor error (error code : 582) is displayed and execution
proceeds to the next block.

[Program Example]
N01 G91 G01 X10. Y10. F100. ;
N02 G25 X START 0. STRK 10. F100 ;
N03 G01 Y10. ;
N04 G26 X ;
N05 G01 X10. Y10. ;
M02 ;
V

Y-axis

t
G01 G01 G01

X-axis

t
G26

G01 G25 G01

If the start command of the X-axis (high-speed oscillation start axis) is described in the
N03 block, a minor error (error code : 581) is displayed when this block is executed,
and this program is suspended.

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7.13.17 G28 Home position return

Code G28 When the home position return request is ON, the mid point
designation is ignored and a proximity dog, count, data set, dog
cradle, stopper or limit switch combined type home position return.
Function Home position return When the home position return request is OFF, the axis returns from
the current position to the home position through the specified mid
point at high-speed feed rate.

G28 X x Y y Z z ;
Format
Mid point coordinates

[Explanation]
(1) When the home position return request is ON, this command ignores a mid point
and returns the specified axis to the home position. When the home position
return request signal (M2409+20n) is OFF, this command positions the axis from
the current position to the home position through the specified mid point at high-
speed feed rate.
Mid point

Current position Home position

Home position return request signal (M2409+20n) is ON

(2) The home position return method is determined by the home position return data
at the home position return request ON.

(3) Be sure to set the axis which executes the home position return. The home
position return is not executed without setting.

(4) Be sure to set the mid point coordinates.

(5) The mid point data setting can be made by direct setting (numerical value) or
indirect setting (variable : # ).

(6) The tool length offset and virtual mechanical coordinates (Refer to Section
7.13.29.) of the axis which executed the home position are cancel.
Mid point designation depends on the position command system (G90, G91)
currently selected.

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(7) When the control unit is [degree], operation from the mid point to the home
position differs between the absolute value command (G90) and incremental
value command (G91).
The axis travels in the nearest path under the absolute value command (G90), or
in the direction specified in the home position return direction parameter under the
incremental value command (G91).

(8) The following parameter blocks are used at the home position return (G28).
(a) Home position return request ON ….. Parameter block specified with home
position return parameter.
(b) Home position return request OFF …. Parameter block at the axis specified
program start.

[Related Parameters]
Home position address : The current value of the home position is set.
(Refer to Section 8.5.1 Home position return data.)
High-speed feed rate : The high-speed feed rate of each axis is set.
(Refer to Section 6.2.5 High-speed feed rate setting.)

[Program Example]
The program which executes the home position return from the current position
through the A point (mid point).
G90 ;
G28 X200. Y200. ; (Home position return)

A point (mid point coordinates X200, Y200)

Current position Home position

Home position return request signal (M2409+20n) is ON

REMARK
When the G28 is commanded, a home position return is made at the high-speed
feed rate.

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7.13.18 G30 Second home position return

Code G30 The axis returns from the current position to the second home position
Function Second home position return through the specified mid point at the high-speed feed rate.

G30 X x Y y Z z ;
Format
Mid point coordinates

[Explanation]
(1) This command positions the specified axis from the current position to the second
home position through the specified mid point at the rapid feed rate.
Mid point

Current position Second home position

(2) Be sure to set the axis which executes the second home position return. The
second home position return is not executed without setting.

(3) Be sure to set the mid point coordinates.

(4) The mid point data setting can be made by direct setting (numerical value) or
indirect setting (variable : # ).

(5) The tool length offset and virtual mechanical coordinates (Refer to Section
7.13.29) of the axis which executed the second home position are cancel.
Mid point designation depends on the position command system (G90, G91)
currently selected.

(6) When the control unit is [degree], operation from the mid point to the second home
position differs between the absolute value command (G90) and incremental
value command (G91).
The axis travels in the nearest path under the absolute value command (G90), or
in the direction specified in the home position return direction parameter under the
incremental value command (G91).

[Related Parameters]
Second home position address : The current value of the second home position is set.
(Refer to Section 8.5.1 Home position return data.)
High-speed feed rate : The high-speed feed rate of each axis is set.
(Refer to Section 6.2.5 High-speed feed rate setting.)

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[Program Example]
The program which executes the second home position return from the current position
through the A point (mid point).
G90 ;
G30 X200. Y200. ; (Second home position return)
A point (mid point coordinates X200, Y200)

Current value Second home position

REMARK
When the G30 command is given, a second home position return is executed at
high-speed feed rate.

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7.13.19 G32 Skip

Code G32 The axis travels at the specified feed rate, the remaining command is
suspended at the input of an external signal, and the next block is
Function Skip executed.
Dwell is skipped for the dwell command.

<When axis specified>

G 3 2 X x Y y F f SK I P #Xx ;
Skip device
(X, Y, M, B, F)
Skip command
Feed rate (Indirect setting is possible)
Feed rate command
Positioning address (Indirect setting is possible)
Format Axis name
<When dwell is specified>
G 3 2 P p SK I P #Xx ;
Skip device
(X, Y, M, B, F)
Skip command
Dwell time
Dwell command

[Explanation]
(1) When the skip signal is entered during execution of G32, the remaining command
of that block is suspended and the next block is executed. Dwell may also be
skipped by giving the dwell command (P) in the G32 block without specifying the
axis.

(2) A format error occurs if the axis command or M-code and the dwell command are
described simultaneously.

(3) The setting range of dwell time is 1 to 65535 in increments of 0.001[s].

(4) Specify the skip signal in the program.

(5) The skip function makes a skip at the skip signal ON.

(6) This command is valid for the specified block only (modal group (00)). The
interpolation type of this command is the constant-speed positioning command.

(7) When the skip signal is not input until the end point of this command block, the
block completes at the end point.

(8) For dwell/skip, the block completes on completion of the dwell processing.

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(9) The absolute circular interpolation or the absolute helical interpolation of the next
block cannot be executed.

(10) The F command is handled like G01.

(11) The coasting value A between skip signal detection and a stop is represented
by the following expression.
F tc1
A [mm] = ( t1 + +Tr )
60 2
F : Command speed [mm/min]
t1 : Signal input delay time = Operation cycle + Detection delay time [s]
tc1 : Acceleration/deceleration time [s]
Tr : Position loop time constant [s]
(Reciprocal number of position control gain 1 value set in servo parameter.
When position control gain 1 = 25, Tr = 1/25 = 0.04 [s])

(12) Under the following conditions, G32 makes deceleration stop once, then
proceeds to the next block.
(a) When the point-to-point positioning command (G00, G25, G28, G30 or the
like) is executed after the G32 block
N10 G32 X100. F1000. SKIP #X10 ;
Deceleration stop is
N20 G00 X200. ;
made before this block.
N30 G32 X300. F1000. SKIP #X11 ;

(b) High-speed oscillation stop (G26) is executed after the G32 block
N10 G25 Y START 90. STRK 1. F400. ;
N20 G32 X100. F1000. SKIP #X10 ;
Deceleration stop is
N30 G26 Y ;
made before this block.
G32 X200. F1000. SKIP #X11 ;

(c) When the absolute value command (G90) or incremental value command
(G91) is executed after the G32 block
N10 G90 ;
N20 G32 X100. F1000. SKIP #X10 ;
N30 G91 ; Deceleration stop is
N40 G32 X200. Y200. F1000. SKIP #X11 ; made before this block.

(d) When the block immediately after G32 is in the constant-speed positioning
command but its command axes do not include the specified axis of the G32
block
N10 G32 X100. F1000. SKIP #X10 ;
Deceleration stop is
N20 G32 Y100. Z100. F1000. SKIP #X11 ;
made before this block.

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[Program Example]
(1) The program designed to make multiple skips under the control of external skip
signals specified from the program midway through positioning.
(Under incremental value command)
• G91 ;
• G32 X100. F2000 SKIP #X180 ; Turns ON the X180 signal midway.
• G32 X100. F1000 SKIP #X181 ; Turns ON the X181 signal midway.
• G32 X200. F1500 SKIP #X182 ; Turns ON the X182 signal midway.
V

X-axis

t
0

X180
X181
X182

(2) Under dwell command

If cancel device X100 turns ON during dwell in N01, G0 in N02 where dwell was
suspended is executed.
N01 G32 P1000 SKIP #X100 ;
N02 G90 G0 X100. ;

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CAUTION
The following operation assumes that a skip (G32) is specified during constant-speed control
(G01) and the [degree] axis without a stroke range is included.
When an absolute value command exists after a skip under this condition, the last positioning
point and the travel distance in the whole program are the same independently of whether a skip
is executed or not. This is indicated by the following example.

(1) When the skip instruction is an incremental value command and subsequent instructions are
also incremental value commands
<Program example>
G91 ; <Motion without a skip>
G32 X180. SKIP#X100 F10. ; 0 180 0 270 (degree)

G01 X180. ;
G01 X270. ; <Motion with a skip>
(When a skip is made at 100 ( degree))
0 100 280 190 (degree)

(2) When the skip instruction is an absolute value command and subsequent instructions are
also absolute value commands
<Program example>
<Motion without a skip>
G90 ;
0 180 350 170(degree)
G32 X180. SKIP#X100 F10. ;
G01 X350. ;
<Motion with a skip>
G01 X170. ;
(When a skip is made at 100(degree))
0 100 350 170(degree)

Even if a skip is not executed, the last

positioning point is the same.
(Note) : The above explanation is valid until a deceleration stop (constant-speed positioning
command to point-to-point positioning command, etc.) after skip (G32). After a
deceleration stop, operation of the normal [degree] axis is performed. The conditions of
deceleration stop after a skip (G32) are shown below. Refer to "7.13.19 G32 Skip" for
details.
1) When the point-to-point positioning command (G00, G25, G28, G30 or the like) is
executed after the G32 block.
2) When the high-speed oscillation stop (G26) is executed after the G32 block.
3) When the absolute value command (G90) or incremental value command (G91) is
executed after the G32 block.
4) When the block immediately after G32 is in the constant-speed positioning command
but its command axes do not include the specified axis of the G32 block.

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7.13.20 G43 Tool length offset (+)

Code G43 The axis travels with the preset offset value added to the travel
command.
By setting a difference between the tool length value and actual tool
Function Tool length offset (+)
length as the offset value, a program can be created without being
aware of the tool length.

G43 X x H h ;
Format Offset data number
Positioning address
Axis name

[Explanation]
(1) By executing this command, the axis travels to the position which results from
adding the offset value set in the tool length offset data setting registers to the
end position of the travel command.

(2) In the following cases, the tool length offset command is cancel.

G49 ; Tool length offset cancel command

G43 H0 ;
Set the offset data No. 0 to cancel the tool length offset.
G44 H0 ;

(3) This command can be set to one axis only. If two or more axes are commanded
simultaneously, it is valid for the last specified axis.

G43 X1. Y1. Z1. H1 ; Z-axis is valid.

If no axis is specified, the last specified axis is made valid.
G01 Z1 ;
G43 H1 ; Z-axis is valid.

(4) As this command is a modal instruction, the offset value is retained until the offset
value is cancel (G49).

(5) Tool length offset can be made to only one axis simultaneously. (Both G43 and
G44)
•
•
•
G43 X100. H1 ;
G43 Y100. H2 ; Cannot be used this way.

[Related Parameters]
Tool length offset value : Set in the tool length offset data setting registers.
(Refer to Section 5.2.6.)

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[Program Example]
The program for which executes the positioning added the offset value to the command
position. (For absolute value command)
(Data of the tool length offset data setting registers are as follows :
H1 = 5[mm] (D1650, 1651 = 50000), H2 = 10[mm] (D1652, 1653 = 100000))

G90 ; (Absolute value command)

G00 G43 X50. H1 ; (With the addition of the offset value of 5[mm], X-axis is
positioned to its 55[mm] position)
G01 X25. F500. ; (X-axis travels to its 30[mm] position at 500[mm/min].)
Y100. ; (Y-axis travels to its 100[mm] position at 500[mm/min].)
G43 X200. H2 ; (With the addition of the offset value of 10[mm], X-axis
travels to its 210[mm] position (offset value change))

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7.13.21 G44 Tool length offset (-)

Code G44 The axis travels with the preset offset value subtracted from the travel
command.
By setting a difference between the tool length value and actual tool
Function Tool length offset (-)
length as the offset value, a program can be created without being
aware of the tool length.

G44 X x H h ;
Format Offset data number
Positioning address
Axis name

[Explanation]
(1) By executing this command, the axis travels to the position which results from
subtracting the offset value set in the tool length offset data setting registers from
the end position of the travel command.

(2) In the following cases, the tool length offset command is cancel.

G49 ; Tool length offset cancel command

G43 H0 ;
Set the offset data No. 0 to cancel the tool length offset.
G44 H0 ;

(3) This command can be set to one axis only. If two or more axes are commanded
simultaneously, it is valid for the last specified axis.

G44 X1. Y1. Z1. H1 ; Z-axis is valid.

If no axis is specified, the last specified axis is made valid.
G01 Z1 ;
G44 H1 ; Z-axis is valid.

(4) As this command is a modal instruction, the offset value is retained until the offset
value is cancel (G49).

(5) Tool length offset may be made to only one axis simultaneously. (Both G43 and
G44)
•
•
•
G44 X100. H1 ;
G44 Y100. H2 ; Cannot be used this way.

[Related Parameters]
Tool length offset value : Set in the tool length offset data setting registers.
(Refer to Section 5.2.6.)

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[Program Example]
The program for which executes the positioning subtracted the offset value from the
command position. (For absolute value command)
(Data of the tool length offset data setting registers are as follows :
H1 = 5[mm] (D1650, 1651 = 50000), H2 = 10[mm] (D1652, 1653 = 100000))

G90 ; (Absolute value command)

G00 G44 X50. H1 ; (With the addition of the offset value of 5[mm], X-axis is
positioned to its 45[mm] position)
G01 X25. F500. ; (X-axis travels to its 20[mm] position at 500[mm/min].)
Y100. ; (Y-axis travels to its 100[mm] position at 500[mm/min].)
G44 X200. H2 ; (With the addition of the offset value of 10[mm], X-axis
travels to its 190[mm] position (offset value change))

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7.13.22 G49 Tool length offset cancel

Code G49
The preset tool length offset value (G43, G44) is cancel.
Function Tool length offset cancel

G49 X x ;
Format Positioning address
Axis name

[Explanation]
(1) This command cancels the preset tool length offset value (G43, G44) and
performs the specified positioning.

(2) Be sure to set the positioning address for tool length offset cancel.

[Related Parameters]
Power-on mode : At power-on, the tool length offset cancel mode is established.

[Program Example]
The program designed to cancel the offset value and perform the specified positioning
after positioning has been executed by tool length offset. (For absolute value
command) (Data of the tool length offset data setting registers are as follows :
H1 = 5[mm] (D1650, 1651 = 50000), H2 = 10[mm] (D1652, 1653 = 100000))

G90 ; (Absolute value command)

G00 G43 X50. H1 ; (With the addition of the offset value of 5[mm], X-axis is
positioned to its 55[mm] position)
G01 X25. F500. ; (X-axis travels to its 30[mm] position at 500[mm/min].)
Y100. ; (Y-axis travels to its 100[mm] position at 500[mm/min].)
G43 X200. H2 ; (With the addition of the offset value of 10[mm], X-axis
travels to its 210[mm] position (offset value change))
G49 X100. ; (With the offset value canceled, X-axis travels to its
100[mm] position at 500[mm/min].)

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7.13.23 G53 Mechanical coordinate system selection

Code G53
The axis travels to the command position of basic mechanical
Mechanical coordinate
Function coordinate system at the high speed feed rate.
system selection

G53 X x Y y Z z ;
Format
Coordinates in basic mechanical
coordinate system

[Explanation]
(1) The basic mechanical coordinate system represents the position determined for a
specific machine (e.g. tool changing position, stroke end position).
It is automatically set relative to the predetermined reference point after a home
position return is executed by the CHGA instruction at power-on.

(2) Not being a modal instruction, the specified block only is valid.

(3) When G53 and G28 are specified in the same block, the latter command is valid.
G53 G28 ⋅⋅⋅⋅⋅⋅⋅ ; G28 is valid (home position return command)
G28 G53 ⋅⋅⋅⋅⋅⋅⋅ ; G53 is valid (mechanical coordinate system selection
command)

(4) When G53 and G30 are specified in the same block, the latter command is valid.
G53 G30 ⋅⋅⋅⋅⋅⋅⋅ ; G30 is valid (second home position return command)
G30 G53 ⋅⋅⋅⋅⋅⋅⋅ ; G53 is valid (mechanical coordinate system selection
command)

(5) The offset specified in G92 is invalid.

(6) The tool length offset specified in G43 or G44 is invalid.

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(7) Under the incremental value command (G91), the axes travel at the incremental
value of the mechanical coordinate system, and under the absolute value
command (G90), the axes travel at the absolute value of the mechanical
coordinate system.
[Example]
G91 ; (Incremental value command) G90 ; (Absolute value command)
G53 X10. Y10. ; G53 X10. Y10. ;
Y Y

(30, 30)
30 30

Current position (20, 20)

20 20
Current position (20, 20)

10 10
(10, 10)

X X
10 20 30 10 20 30
Basic mechanical coordinates Basic mechanical coordinates

(8) Positioning data can be set by direct setting (numerical value) or indirect setting
(variable : # ).

[Program Example]
The program designed to position the axes to the specified position in the work
coordinate system after positioning them to the specified position in the basic
mechanical coordinate system in the absolute value mode.
1) G90 ; (Absolute value command)
2) G53 X10. Y10. ; (Axes travel to X10. Y10. in the basic mechanical
coordinates)
3) G01 X10. Y10. F20. ; (Axes travel to X10. Y10. in the work coordinates)

Y Y
Current position

10

2)
X
10
3) Work coordinates
10

X
10 Basic mechanical coordinates
(Unit: mm)

REMARK
Travel by G53 is processed by G00. (The modal group (01) is not changed.)

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7.13.24 G54 to G59 Work coordinate system selection

G54, G55, G56, G57,

Code The work coordinate system is selected and the axes travel to the
G58, G59
specified position in the work coordinates system at the speed specified
Work coordinate system 1 to
Function in the feed rate.
6 selection

G 54 X x Y y Z z ;
Format to Positioning located in specified
G 59 work coordinates system

[Explanation]
(1) Work coordinate systems 1 to 6 are coordinates systems specified in the
parameters or work coordinates system setting.
The offset value in the work coordinates system is set using the distance from the
basic mechanical coordinates system origin (0).

(2) The coordinates system of G54 is selected at a Motion program start.

(3) As the work coordinates systems 1 to 6 is modal instruction, it is valid until the
next work coordinate system 1 to 6 selection is commanded.

(4) If G92 is commanded in any of the G54 to G59 modes, a new work coordinates
system can be set.
If G92 is commanded, all work coordinates systems (1 to 6) travel in parallel.

<Work coordinates system selection>

G54 Xx Yy Zz ;

<Work coordinates system change>

G54 G92 Xx Yy Zz ; ..........Work coordinates 2 to 6 also travel in parallel
similarly.

(5) Positioning data can be set by direct setting (numerical value) and indirect setting
(variable : # ).

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[Related Parameters]
Work coordinates system offset value : Specify the offset in the work coordinates
system using the distance from the basic
mechanical coordinates. (Refer to Section 6.5
for the work coordinate data.)
Up to six work coordinates systems can be set.
(Work coordinates systems 1 to 6)

[Program Example]
<Work coordinates system selection>
The program for which executes the positioning to the specified position in the work
coordinates system 1.
(The offset of the work coordinates system 1 is X500, Y500)
1) G90 ; (Absolute value command)
2) G28 X0. Y0. ; (Home position return)
3) G53 X0. Y0. ; (Axes travel to the basic mechanical coordinates
home position)
4) G54 X500. Y500. ; (Axes travel to the specified position in the work
coordinates system 1)
5) G91 G01 X500. F10. ; (Incremental value command positioning)

Y Y

5)
1000 500

4)
2)
500 X
500 1000 Work coordinates system 1

3)

X
500 1000 1500 Basic mechanical coordinates
(Unit: mm)

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<Work coordinates system change>

The program for which set the offset of the work coordinates system 1 to X500, Y500
in the parameter setting of work coordinates data, then change the work coordinates
system to new work coordinates system 1.
1) G54 G92 X-200. Y-200. ; (New work coordinates system 1 setting)
(After execution of 1), the current value is changed to X-200, Y-200.)
Y Y Y
(Note): The offset of the work coordinates
systems 2 to 6 are also shifted.

1000

X New work coordinates system 1

Y-200 (0, 0)
500 X Old work coordinates system 1
500 1000
1)
Work position

X Basic mechanical coordinates

500 1000 1500

X-200

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7.13.25 G61 Exact stop check mode

Code G61
It travels in the point-to-point positioning (PTP).
Function Exact stop check mode

Format G 61 ;

[Explanation]
(1) This command is used with the interpolation command. Executing this command
travels in the point-to-point positioning.
The interpolation command codes usable with this command are G01, G02, G03,
G12 and G13 only.

(2) In this system, the next block is executed after deceleration stop for every
specified coordinates.

(3) As this command is modal command, it is valid until the cutting mode (G64) is
commanded.

<In exact stop check mode>

G61 G01 X100. F500. ;
X200. ;
V

X-axis
t

<Not in exact stop check mode>

G01 X100. F500. ;
X200. ;
V

X-axis
t

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[Program Example]
The program for which executes the positioning in the exact stop check mode.

1) G61 G01 X100. F500. ; (Positioning in the exact stop check mode)
2) X200. ; (Positioning in the exact stop check mode)
3) X300. ; (Positioning in the exact stop check mode)

X-axis 1) 2) 3)
t

REMARK
Only the high-speed feed rate may be the specified speed in G00. To specify the
speed every time point-to-point positioning is executed, you can use G61 and G01.

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7.13.26 G64 Cutting mode

Code G64 The next block continuously executes without deceleration stop
Function Cutting mode between cutting feed blocks.

Format G 64 ;

[Explanation]
(1) This command is used to execute the positioning to the specified coordinates
position approximately. It operates continuously without deceleration stop for every
specified coordinates as the exact stop check mode.
Use this command to make a smooth connection with the interpolation command
(G01, G02, G03, G12, G13).

(2) The cutting mode is selected at a Motion program start.

(3) As this command is modal instruction, it is valid until the exact stop check mode
(G61) is commanded.

<In cutting mode>

G64 G01 X100. F500. ;
X200. ;
V

X-axis

<Not in cutting mode>

G61 G01 X100. F500. ;
X200. ;
V

X-axis

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[Program Example]
The program for which executes the positioning in the cutting mode.
1) G64 G01 X100. F500. ; (Positioning in the cutting mode)
2) X200. ; (Positioning in the cutting mode)
3) X300. ; (Positioning in the cutting mode)
V

X-axis 1) 2) 3)
t

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7.13.27 G90 Absolute value command

Code G90
The coordinates command is set as an absolute value command.
Function Absolute value command

G90 X x Y y Z z ;
Format
Locating position

[Explanation]
(1) In the absolute value command mode, the axes travel to the specified coordinates
position regardless of the current position. The positioning command set after
execution of this command operates with the absolute value from the home
position coordinates.

(2) As this command is modal instruction, it is valid until the incremental value
command mode (G91) is commanded.

(3) The absolute value command mode is selected at a Motion program start.
[Example] G90 X100. Y100. ;
Y Y

(100, 100)
100 (100, 100) 100

50 50
Current position (50, 50)
Current position (80, 20)
X X
50 100 50 100

Current position coordinates of X50, Y50 Current position coordinates of X80, Y20
(Unit: mm)

(4) Positioning data can be set by direct setting (numerical value) and indirect setting
(variable : # ).

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[Program Example]
Example of comparison between the absolute value command and incremental value
command

<Incremental value command> Y

G91 X70. Y70. ;

(100, 100)
Incremental
value command
<Absolute value command>
(70, 70)
G90 X70. Y70. ;
Absolute
value command

Current position (30, 30)

X
(Unit: mm)

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7.13.28 G91 Incremental value command

Code G91
The coordinates command is set as an incremental value command.
Function Incremental value command

G 91 X x Y y Z z ;
Format
Locating position

[Explanation]
(1) In the incremental value command mode, the axes travel the distance of the
specified relative value from the start point (0) of the current position.
The positioning command set after execution of this command operates with the
incremental value from the current position.

(2) As this command is modal instruction, it is valid until the absolute value command
mode (G90) is commanded.

(3) The absolute value command mode is selected at a Motion program start.
[Example] G91 X100. Y100. ;
Y Y

150 (150, 150) 150

(180, 120)

100 100

50 50
Current position (50, 50)
Current position (80, 20)
X X
50 100 150 50 100 150 200
Current position coordinates of X50, Y50 Current position coordinates of X80, Y20
(Unit: mm)

(4) Positioning data can be set by direct setting (numerical value) and indirect setting
(variable : # ).

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[Program Example]
Example of comparison between the incremental value command and absolute value
command

<Incremental value command> Y

G91 X70. Y70. ;

(100, 100)
Incremental
value command
<Absolute value command>
(70, 70)
G90 X70. Y70. ;
Absolute
value command

Current value (30, 30)

X
(Unit: mm)

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7.13.29 G92 Coordinates system setting

Code G92 The mechanical coordinates (virtual mechanical coordinates) is set

simulatively.
Function Coordinates system setting Setting the virtual mechanical coordinate system also changes the work
coordinates systems 1 to 6.

G92 X x Y y Z z ;
Format
Setting coordinate value
(Set the offset from the current position)

[Explanation]
(1) The current position in the work coordinate system is changed to the specified
coordinates value, a new work coordinates is set. The work coordinates system is
set in the specified position (offset from the current position).
By making coordinates system setting, the virtual mechanical coordinates is set
and the work coordinate systems 1 to 6 travel in parallel.

[Example] G92 X20. Y30. ;

Y Y Y Y

Current position Current position

X
New work coordinates

X
Work coordinates Old work coordinates

X
Virtual mechanical
X coordinates
Mechanical coordinates Mechanical coordinates

(2) Positioning data can be set by direct setting (numerical value) and indirect setting
(variable : # ).

(3) By executing G92 in the constant-speed positioning command (e.g. G01),

deceleration stop is made once. When G92 is executed in the single block mode,
making a single block start twice in the same block shifts execution to the next
block.

POINT
If the current value is changed in G92, the current value data restored after a power
failure is based on the status prior to execution of G92.

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[Program Example]
The program for which set the work coordinate system to the specified position.

G92 X20. Y30. ;

Y Y Y Y

Current position 30 Current position

X
20
New work coordinates
X
Work coordinates Old work coordinates

X
Virtual mechanical
coordinates
X
Mechanical coordinates Mechanical coordinates
(Unit: mm)

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7.13.30 G98, G99 Preread disable/enable

Code G98, G99 Preread disable (G98)

Function Preread disable/enable Preread enable (G99)

G 98 ;
Format
G 99 ;

[Explanation]
(1) The preread disable mode after that when G98 is executed.
As this command is a modal instruction, it is valid until the preread enable (G99)
being commanded.

(2) The preread enable mode after that when G99 is executed.
As this command is a modal instruction, it is valid until the preread disable (G98)
being commanded.

(3) It is preread enable (G99) at the axis designation program starts.

(4) Command G98 and G99 without the argument alone.

[Program Example]
G90 ; G90 ;
G98 ; G99 ;
N10 G01 X10. F10. ; Even if # 100 N10 G01 X10. F10. ;
N15 IF [#100 EQ150] GOTO30 ; changes in the N20 IF [#100 EQ150] GOTO30 ;
N20 G01 X20. ; preread disable N20 G01 X20. ;
mode while
N30 G01 X30. ; executing this line, it N30 G01 X30. ;
is reflected below
IF.

V #100 150 V #100 150

N10 N20 N30 N10 N20 N30

t t

#100 = 150 #100 = 150

V V

N10 N30 N10 N30

t t

The continuous operation is not executed

and a stop once in the preread disable
mode as for the G01 continuous block.

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REMARK
(1) Preread is disabled until G99 is executed after it blocks it modal G98, and being
specified only though preread is stopped in the block that M100 (preread dis-
able) was not modal, and specified once.

(2) There is no described meaning as a program thought the problem is not in

modal G98 even if M100 is executed.

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7.13.31 G100, G101 Time-fixed acceleration/deceleration, acceleration-fixed acceleration/

deceleration switching command

Code G100, G101

Time-fixed acceleration/ The acceleration/deceleration method is switched to time-fixed
deceleration, acceleration- acceleration/deceleration or acceleration-fixed acceleration/
Function
fixed acceleration/decel- deceleration.
eration switching command

G10 0 ;
Format
G10 1 ;

[Explanation]
(1) The acceleration/deceleration method of the travel command G01, G02, G03,
G12, G13, G32 or G00 (with M-code) is switched to time-fixed
acceleration/deceleration or acceleration-fixed acceleration/deceleration.

(2) The G-code of this command is set independently.

(3) Use G100 to select the time-fixed acceleration/deceleration. The G100 status is
selected at a start.

(4) Use G101 to select the acceleration-fixed acceleration/deceleration.

(5) The acceleration-fixed acceleration/deceleration is set in G101, the M-code does

not made a FIN waiting. (The M-code is output to the M-code storage register, but
the M-code outputting signal does not turn ON.)

(6) Acceleration/deceleration in the acceleration-fixed mode is valid until :

(a) The time-fixed acceleration/deceleration command in G100 is executed ;

(b) The program is ended in M02;
(c) The program is stopped by the rapid stop command, stop command, error
reset or emergency stop;
(d) The program is stopped at error occurrence.

(7) When G100 is changed to G101 or G101 to G100, a deceleration stop is made
once.

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[Program Example]
The program designed to make the acceleration-fixed acceleration/deceleration mode
of the acceleration/deceleration system valid, then invalid midway through the program.
(Command unit : [mm])

O10 ;
G91 ;
N1 G28 X0. Y0. ;
Time-fixed acceleration/deceleration(Operation is
N2 G01 X100. F1000. ;
performed in G100 at a start)
N3 Y100. ; Deceleration stop after execution
N4 G101 ;
N5 X100. ; Acceleration-fixed acceleration/deceleration
N6 Y100. ; Deceleration stop after execution
N7 G100 ;
N8 X100. ; Time-fixed acceleration/deceleration
N9 Y100. ;
M02 ;
%

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REMARK
About locus of G100/G101
Locus commanded from the Motion controller is different by setting of the
G100/G101.
(1) Locus of G100
Time-fixed acceleration/deceleration method is used to enable the smooth
operation between positioning points for CP operation. In the case of a
continuous point of G01 (CP Linear interpolation), it passes roundly inside in a
point during positioning. And in the case of G02/G03 (Circular interpolation), the
locus is inside further than a circular arc set in a program. The degree which
become inside further than a positioning point changes by the
acceleration/deceleration time or speed.
This is indicated by the following example.
Example
(1) Linear interpolation
The direction changes to 90° in a point during positioning. The acceleration of X-axis starts near the
positioning point with deceleration of Y-axis, it becomes to a rounded locus. X-axis operates with
constant-speed after Y-axis stops, and the positioning is executed to the next point.
Y-axis
O100;
G100; Positioning point
G91 G01 X0.Y100.F100.;
1) Acceleration of X-axis
X100.; 3) Deceleration stop in Y-axis
starts with deceleration
M02; of Y-axis.
% 2) Smooth operation without
passing the positioning
X-axis point set in a program
Time-fixed acceleration/
deceleration method

3)
Y-axis
1)
X-axis 2)
Time-constant

(2) Circular interpolation

In the case of G02/G03 (Circular interpolation), the locus is inside further than a circular arc set in a
program. It becomes to a rounded locus in a start and end points for circular interpolation.

O110;
Circular locus set in a
G100;
program
G90 G02 X0.Y0.I0.J50.F500.;
M02; Locus after process of
% time-fixed acceleration/
deceleration.
The locus is inside further
than a circular arc set in
a program.

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(2) Locus of G101

Acceleration-fixed acceleration/deceleration method is used to enable the correct
locus control between positioning points for CP operation. Set a G101 to execute
the correct locus control. However, be careful that the speed fluctuation increases
at a pass point and the vibration may be occurred in the machine.
This is indicated by the following example.
Example
(1) Linear interpolation
The direction changes to 90° in a point during positioning. The correct locus control in a point during
positioning with command speed is executed.

O200; Y-axis

G101; Positioning point

G91 G01 X0.Y100.F100.;
X100.; 1) The correct locus control is
M02; executed in a positioning point
set in a program.
%

Acceleration-fixed X-axis
acceleration/deceleration
method
Y-axis
1)
X-axis

(2) Circular interpolation

In the case of G02/G03 (Circular interpolation), the correct locus control is executed on circular arc
set in a program.

O210;
G101; Correct locus control on
G90 G02 X0.Y0.I0.J50.F500.; circular arc set in a program
M02;
%

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7.14 M-Code

This section explains the M-codes used in the Motion programs.

(1) M-codes
When a Motion program is executed, the 4-digit code data following M is output to
the data register (D) in the M command block.
The processing of the next block is not executed until the FIN signal (M3219+20n)
is input.
(Refer to Section 8.10 for relationships between the M-codes and FIN signal.).

<Command format>

M
Setting range : 0 to 9999
Numeral (except M00, M01, M02, M30, M98, M99 and M100)

The M-codes usable are 9993 types since M00, M01, M02, M30, M98, M99 and
M100 are fixed in functions and they are special M-codes.
(Refer to Section 7.15 for the Special M-Code.)

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7.15 Special M-Code

The arguments of the special M-codes are shown in Table 7.4 below.

Table 7.4 Special M-Code argument list

Axis command Radius Central Point M-code Feed
G-code H L N O P Remark
(Note-1) command (R) command (I, J) (Note-2) (F)
M00
M01
M02
M30
M98
M99
M100
Other
M-codes
: May be specified.
Blank Must not be specified.
:
(Note-1) : The axis commands are X, Y, Z, U, V, W, A, B, CX, CY, CZ, CU, CV, CW, CA, CB, DX, DZ, DU, DV, DW, DA, DB,
EX, EY, EZ, EU, EV, EW, EA and EB.
(Note-2) : M-codes indicate except M00, M01, M02, M30, M98, M99 and M100.

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7.15.1 M00 Program stop

Code M00
Execution of program is stopped.
Function Program stop

Format M0 0 ;

[Explanation]
Executing this command stops the program without execution of the next block.
By turning ON the re-start command (M4404+10n) after a stop, execution resumes
from the next block.

[Program Example]
The program for which makes the program stop during positioning operation and
restarts positioning.
1) G01 X100. F10. ; (Positioning)
2) M00 ; (Program stop) Re-start command (M4404+10n) ON
3) G01 X200. ; (Re-start command resumes positioning)
V

X-axis 1) G01 X100. 3) G01 X200.

t
2)
Re-start command (M4404+10n) ON
During stop as M00 is being executed

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7.15.2 M01 Optional program stop

Code M01 When the optional program stop is ON, executing M01 stops an
Function Optional program stop execution of program.

Format M0 1 ;

[Explanation]
When the optional program stop command (M4401+10n) is ON, executing this
command stops the program without execution of the next block.
By turning ON the restart signal command (M4404+10n) after a stop, execution
resumes from the next block.
When the optional program stop command (M4401+10n) is OFF, the next block is
executed without a program stop.

[Program Example]
The program which uses the optional program stop (M01).
1) G01 X100. F10. ; (Positioning)
2) M01 ; (Optional program stop)
3) G01 X200. ; (Positioning)

<Optional program stop command (M4401+10n) is ON>

V

X-axis 1) G01 X100. 3) G01 X200.

t
2)
Re-start command (M4404+10n) ON
During stop as M01 is being executed

<Optional program stop command (M4401+10n) is OFF>

V

X-axis 1) G01 X100. 3) G01 X200.

t
2) is not executed.

REMARK
M01 performs the same operation as "M00" when the optional program stop
command (M4401+10n) is ON.

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7.15.3 M02 Program end

Code M02
Program is ended.
Function Program end

Format M0 2 ;

[Explanation]
Executing this command ends an execution of program.
This command is required at the end of a program.

[Program Example]
The program which ends a program after positioning control.
G90 ; (Absolute value command)
G01 X100. Y200. F100. ; (Positioning)
X200. Y300. ; (Positioning)
G00 X0. Y0. ; (Positioning)
M02 ; (Program end) ..... Also be enabled by M30.
%

REMARK
M02 and M30 have the same function.

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7.15.4 M30 Program end

Code M30
Program is ended.
Function Program end

Format M3 0 ;

[Explanation]
Executing this command ends an execution of program.
This command is required at the end of a program.

[Program Example]
The program which is ends a program after positioning control.
G90 ; (Absolute value command)
G01 X100. Y200. F100. ; (Positioning)
X200. Y300. ; (Positioning)
G00 X0. Y0. ; (Positioning)
M30 ; (Program end) ..... Also be enabled by M02.
%

REMARK
M30 and M02 have the same function.

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7.15.5 M98, M99 Subprogram call, subprogram end

Code M98, M99

Subprogram call, Subprogram call (M98) and subprogram end (M99) are executed.
Function
subprogram end

M 98 P p H h L l ;
Subprogram repetition count (1 to 9999)
Format Subprogram call sequence No. (1 to 9999)
Subprogram call program No. (1 to 512)
M99 ;

[Explanation]
(1) The program of the same pattern can be registered as a single subprogram and
called as required from the main program.

<Subprogram call> (M98)

Argument program No., sequence No. and repetition count may be omitted.
When omitted, these numbers are as follows.
Program No. : Main program
Sequence No. : First
Repetition count : Once
[Example]
:
:
M98 ; Executes once from the beginning of the main program.

<Subprogram end> (M99)

Returns to the block next to the call block.

(2) A subprogram can be called from another subprogram. This is called subprogram
nesting. Subprograms may be called (nested) to the depth of eight levels.
Main program Subprogram Subprogram Subprogram Subprogram

O0100 ; O0110 ; O0120 ; O0130 ; O0180 ;

M98 P110 ; M98 P120 ; M98 P130 ; M98 P140 ;

M02 ; M99 ; M99 ; M99 ; M99 ;

% % % % %

(First level ) (Second level) (Third level) (Eighth level)

May be nested to 8 levels

(3) When a subprogram ends by error, a main program also ends in the subroutine
call by M98/M99 for the axis designation program.

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[Program Example]
The program designed to run the specified subprogram twice repeatedly, return to the
main program, and complete operation.
Main program Subprogram
O0110 ; O0120 ;
...

...
M98 P120 H20 L2 ; N20 ;
...

... ...
M02 ;
% M99 ;
%

The program which calls a subprogram from another subprogram.

1)

2)
Main program Subprogram Subprogram
O0200 ; O0201 ; O0202 ;
N010 M98 P202 ; ..................... 1) N200 G91 ; N300 G91 ;
N020 G90 ; N210 G01 X100. Y100. F2000. ; 4) G61 ;
3)
G61 ; X200. ; N310 G02 X50. Y50. I0. J50. F500. ;
N030 G01 X50. Y50. F800. ; Y200.; N320 G01 X100. Y100. F1500. ;
X60. ; N220 G01 Y300. F1500. ; N330 G90 ;
N040 G00 X10. ; X300. ; M99 ; ................... 2), 5), 8)
G01 Y100. F600. ; N230 G02 X50. Y50. I0. J50. F800. ; %
N050 M98 P201 ; ..................... 3) N240 G01 X100. Y500. F2000. ;
N060 G0 X30. Y20. ; N250 M98 P202 ; ..................... 4)
X20. ; 6) M99 ; .............................. 6) 5)
N070 M98 P202 ; ..................... 7) %
N080 G91 G01 X100. F700. ;
X20. ;
Y30. ;
M02 ;
%

7)

8)

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7.15.6 M100 Preread disable

Code M100
Preread is not executed on the G-code (Motion program).
Function Preread disable

Format M1 0 0 ;

[Explanation]
Executing this command does not execute preread on the G-code (Motion programs).
After completion of motion up to the preceding block, the next block is processed.

[Program Example]
N10 G01 X10. F10. ; Since M100 exists in the next block, a
M100 ; change in #2000 during execution of the
IF [#2000 EQ150] GOTO20 ; command on this line is reflected on the
IF statement below.
N15 G01 Y10. ;
N20 G01 X0. Y0. ;

#2000 150 #2000 = 150

V V

X-axis
X-axis

t t

V V

Y-axis Y-axis

t t
(Note) (Note)

N10 N15 N10 N20

(Note) : When M100 is executed, constant-speed positioning does not continue from
N10 to N15 or from N10 to N20 and a deceleration stop is made once after
execution of N10.

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7.16 Miscellaneous

The settable arguments in the first character are shown in Table 7.5 below.

Table 7.5 Argument List

Logical Assignment
[ ] Operator GOTO G M Remarks
operator (=)
#
IF
GOTO
/ Depends on the data after "/".

G Refer to Section 7.13.

Refer to Section 7.15 for M00,
M M01, M02, M30, M98, M99
and M100.
Axis Depends on the G-code in the
command modal group (01).
Depends on the G-code in the
Feed
modal group (01).
O
Regards the line number and
N
later as the fist character.
Handles data between "(" and
( )
")" as a comment.
IF
ELSE
END
WHILE
DO
: May be specified.
: Must be specified.
Blank Must not be specified.
:

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7.16.1 Program control function (IF, GOTO statement)

Code IF, GOTO

The flow of execution program is controlled based on the condition.
Function Program control function

I F [expression] G O T O n ;
Format
Sequence No.

[Explanation]
(1) If the specified expression is true (1) (condition is satisfied), execution jumps to the
sequence No. specified in GOTO.
If the expression is false (0), the next line is executed.

IF [#@100 EQ1] GOTO100 ;

If #@100 is 1, execution jumps to N100.
If it is other than 1, the next line is executed.
IF [#@100] GOTO100 ;
If #@100 is 1 (true), execution jumps to N100.
If it is 0 (false), the next line is executed.

(2) The following comparison instructions may be used in the expression.

Code Meaning
EQ Equal to (=)
NE Not equal to (!=)
GT Greater than (>)
LT Less than (<)
GE Greater than or equal to (>=)
LE Less than or equal to (<=)

(3) The expression must be enclosed in "[", "]".

(4) The line number specified in GOTO must exist in the same program. If it does not
exist, an error (error code : 541) occurs.

(5) If only GOTOn is specified, execution jumps to the specified sequence No.
unconditionally.

(6) The GOTO statement cannot cause execution to go into or come out of the THEN
and ELSE statements.
It is similar for the DO statement.

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[Program Example]
The program for which jumps the specified sequence No. if the condition is satisfied.
O00201 ;
N200 G91 ;
N210 G01 X100. Y100. F2000. ;
X200. ;
Y200. ;
IF [#@100] GOTO230 ; (If #@100 is true, execution jumps to N230.)
Jump to N220 G01 Y300. F1500. ;
N230 X300. ;
N230 G02 X50. Y50. I0. J50. F800. ;
N240 G01 X100. Y500. F2000. ;
IF [#@110 EQ 180] GOTO260 ; (If #@110 is 180, execution jumps to N260.)
Jump to N250 G00 X10. ;
N260 Y100. ;
N260 G28 X0. Y0. ;
M02 ;
%

REMARK
Only one comparison instruction may be used in one block.

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7.16.2 Program control function (IF, THEN, ELSE, END statements)

Code IF, THEN, ELSE, END

The flow of execution program is controlled based on the condition.
Function Program control function

I F [expression ] T H E N m ;
IF identification number
(1 to 32)
Block U group
Format
E L S Em;

Block U group
ENDm ;

[Explanation]
(1) If the specified expression is true (1) (condition is satisfied), the THEN statement
(block group up to ELSE) is executed. If it is false (0) (condition is not satisfied),
the ELSE statement (block group up to END) is executed.
IF [#@100 EQ1] THEN1 ;
If #@100 is 1, the block group described here is executed.
ELSE1 ;
If #@100 is not 1, the block group described here is executed.
END1 ;

(2) When ELSE is omitted, the block group up to END is executed only if the
conditional expression is true.
IF [#@100 EQ1] THEN1 ;
If #@100 is 1, the block group described here is executed.
END1 ;

(3) The multiprogramming depth is up to three levels including that of the WHILE
statement.
IF [ ] THEN1 ;
IF [ ] THEN2 ;
IF [ ] THEN3 ;

END3 ;
END2 ;
END1 ;

(4) The GOTO statement cannot cause execution to go into or come out of the THEN
and ELSE statements.

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[Program Example]
O0001 ;
N1 G91 ;
N2 G01 X100. Y100. F2000 ;
N3 X200. ;
N4 Y200. ;
N5 IF [#@100 EQ0] THEN1 ; When #@100=0, THEN1 to END1 are executed.
N6 G01 Y300. F1500 ;
N7 X300. ;
N8 END1 ;
N9 G02 X50. Y50. I0. J50. F800 ;
N10 G01 X100. Y500. F2000 ;
N11 IF [#@110] THEN2 ; When #@110 is true, THEN2 to ELSE2 are executed.
N12 G00 X10. ;
N13 Y100. ;
N14 ELSE2 ; When #@110 is false, ELSE2 to END2 are executed.
N15 G28 X0. Y0. ;
N16 END2 ;
N17 M02 ;
%

(Note) : Note that if the sequence No. (N ) is omitted in the above program, the
block No. changes as indicated below.

Program Execution block No. (A) Execution block No. (B) Execution block No. (C) Execution block No. (D)

O1 ; 0 0 0 0
G91 ; 1 1 1 1
G01 X100. Y100. F2000 ; 2 2 2 2
X200. ; 3 3 3 3
Y200. ; 4 4 4 4
IF [#@100 EQ0] THEN1 ; 5 5 5 5
G01 Y300. F1500 ; 6 — 6 —
X300. ; 7 — 7 —
END1 ; 8 — 8 —
G02 X50. Y50. I0. J50. F800 ; 9 6 9 6
G01 X100. Y500. F2000 ; 10 7 10 7
IF [#@110] THEN2 ; 11 8 11 8
G00 X10. ; 12 9 — —
Y100. ; 13 10 — —
ELSE2 ; 14 11 — —
G28 X0. Y0. ; — — 12 9
END2 ; — — 13 10
M02 ; 15 12 14 11
% — — — —
(A) indicates that #@100 = 0 and #@110 is true. (B) indicates that #@100 0 and #@110 is true.
(C) indicates that #@100 = 0 and #@110 is false. (D) indicates that #@100 0 and #@110 is false.

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7.16.3 Program control function (WHILE, DO, END statements)

Code WHILE, DO, END

The flow of execution program is controlled based on the condition.
Function Program control function

W H I LE [ conditional expression ] D O m ;
Format WHILE identification number
(1 to 32)
ENDm ;

[Explanation]
(1) While the [conditional expression] holds, blocks between the next block and
ENDm block are executed repeatedly, and when it does not hold, execution shifts
to the block next to ENDm.

(2) WHILE [conditional expression] DOm and ENDm are used in pairs.
The range of identification No. m is 1 to 32.

(3) The multiprogramming depth of the WHILE statement is up to three levels.

[Example] (1) The identification No. m can be used any number of times as
desired.
WHILE [ ] D01 ;
:
END1 ;
:
WHILE [ ] D05 ;
:
END5 ;
:
WHILE [ ] D01 ;
:
END1 ;

(2) The multiprogramming depth is up to three levels.

WHILE [ ] D01 ;
:
WHILE [ ] D02 ;
:
WHILE [ ] D03 ;
: (Third level) (Second level) (First level)

END3 ;
:
END2 ;
:
END1 ;

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(4) The GOTO statement cannot cause execution to go into or come out of the DO
statement.

[Program Example]
The program for which jumps to the specified line if the condition is satisfied.
O0110 ;
N1 #@0=0 ;
N2 G91 G00 X25. Y50. ;
N3 WHILE [#@0 LT3] D01 ;
N4 G03 X0. Y0. I25. J0. F100. ; (Note-1)
N5 #@0=#@0+1 ; ................. (Note-2)
N6 END1 ;
N7 G28 X0. Y0. ;
N8 M02 ;
%
Y

50

25

X
0 25 50 75

(Note-1) : N3 to N6 are repeated while variable #@0 < 3 holds.

(Note-2) : Every time this block is executed once, 1 is added to variable #@0.
The above program ends after drawing a circle three times.

(Note) : Note that if the sequence No. (N ) is omitted in the above program,
the block No. changes as indicated below.

Program Execution block No.

O0110 ; 0
#@0=0 ; 1
G91 G00 X25. Y50. ; 2
WHILE [#@0 LT3] DO1 ; 3
G03 X0. Y0. I25. J0. F100. ; 4
#@0=#@0+1 ; 5
END1 ; —
G28 X0. Y0. ; 4
M02 ; 5
% —

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7.16.4 Four fundamental operators, assignment operator (+, -, *, /, MOD, =)

Code +, -, *, /, MOD, =
Addition (+), subtraction (-), multiplication (*), division (/),
Four fundamental operators,
Function remainder (MOD) and assignment (=) are executed.
assignment operator

n 1 Operator n2 ;
Format Numerical value or variable
Operator (+, -, *, /, MOD,=)
Numerical value or variable

[Explanation]
(1) Calculation of the specified operator is performed.

(2) The priority of operations is in order of function, multiplication type operation and
addition type operation.
#@100 = #@110 + #@120 * SIN [#@130] ;
1) Function
2) Multiplication type operation
3) Addition type operation

(3) The area of operation where you want to give priority can be enclosed in [ ].
[ ] can be five levels deep including [ ] of a function. An operational expression
may be described in up to 72 characters. (Up to the maximum number of
characters in one block)
#@100 = SQRT [ [ [#@110 - #@120] * SIN [#@130] + #@140] * #@150] ;
First level Second level Third
level

(4) For +, -, * and /, the operation result type is used for operation. Operation data 1, 2
are converted into the operation result type. The operation result can be the 16-,
32- or 64-bit type.
Operation result = operation data 1 operator operation data 2
Operation result
is stored Operation is performed after conversion of operation data
1, 2 into operation result type.

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(5) For MOD, the 16- or 32-bit type is used for operation. If operation data 1, 2 are the
64-bit type, they are converted into the 32-bit type.
The operation result can be the 16-, 32- or 64-bit type, but if the operation result is
the 64-bit type, the result of operation performed with the 32-bit type is converted
into the 64-bit type and the result of conversion is stored.
Operation result = operation data 1 operator operation data 2
Operation result
is stored Operation is performed after conversion of operation data
Note that if operation
result is 64-bit type, 1, 2 into operation result type.
32-bit type is converted Note that if operation result is 64-bit type, 32-bit type is
into 64-bit type.
used to perform operation.

(6) The following operational expressions will result in a "Format error" (error code :
560).
#@10 = ##@20 ; Possible if #@10 = #[#@20] ;
#@10 = #@20 + - #@30 ; Possible if #@10 = #@20 + [- #@30] ;

(7) If there is no operation result (if operation exists in the operation result, or for
conditional expression such as the IF statement), the 32-bit type is used to
perform operation.

[Program Example]
The program for which execute the positioning based on the result of the specified
operation.
O0200 ;
#@40L = 1000000 ;
#@60L = 767 ;
#@80L = 10000 ;
#@30L = [#@40L + 50000] * 2 ;
#@50L = #@60L MOD 256 ;
#@70L = #@80L * 2 ;
N060 G00 X#@30L Y#@50L ;
X20. ;
N080 G91 G01 X100. F#@70L ;
X20. ;
Y30. ;
M02 ;
%

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7.16.5 Trigonometric functions (SIN, COS, TAN, ASIN, ACOS, ATAN)

SIN, COS, TAN, ASIN,

Code Operations of SIN (sine), COS (cosine), TAN (tangent), ASIN (arcsine),
ACOS, ATAN
ACOS (arccosine) and ATAN (arctangent) are executed.
Function Trigonometric functions

f u n c t io n [ n ] ;
Format Numerical value (can be specified indirectly)
Trigonometric function
(SIN, COS, TAN, ASIN, ACOS, ATAN)

[Explanation]
(1) The operation of the specified trigonometric function is performed.

(2) The operation result is a 32-bit integer (BIN value) including four decimal places.

(3) When the argument of the trigonometric function has no decimal point, the
operation result is similarly a BIN value including four decimal places.

[Program Example]
#2010 : L = SIN [60.] ; #2010 : L = 8660
#2016 : L = SIN [600000] ; #2016 : L = 8660
#2020 : L = COS [45.] ; #2020 : L = 7071
#2026 : L = COS [450000] ; #2026 : L = 7071
#2030 : L = TAN [30.] ; #2030 : L = 5773
#2036 : L = TAN [300000] ; #2036 : L = 5773
#2040 : L = ASIN [0.8660] ; #2040 : L = 599970
#2046 : L = ASIN [8660] ; #2046 : L = 599970
#2050 : L = ACOS [0.7071] ; #2050 : L = 450005
#2056 : L = ACOS [7071] ; #2056 : L = 450005
#2060 : L = ATAN [1.] ; #2060 : L = 450000
#2066 : L = ATAN [10000] ; #2066 : L = 450000

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7.16.6 Real number to BIN value conversion (INT)

Code INT
Floating-point type real
A floating-point type real number is converted into a 32-bit integer (BIN
number processing
Function value) including four decimal places.
instruction
Real number to BIN value

INT [ n ] ;
Format Indirect setting only
Real number to 32-bit integer
(BIN value) conversion command

[Explanation]
(1) A floating-point type real number is converted into a 32-bit integer (BIN value)
including four decimal places.

(2) A floating-point type real number is processed as single precision (32-bit) in the
binary floating-point format of the IEEE Standard.
Sign part ...................... 1 bit
Exponent part .............. 8 bits
Significant digit part...... 23 bits
31 22 15 Bit 0
Bits 0 to 22 : Significant digit part

Bits 23 to 30 : Exponent part

Bits 31 : Sign part

(3) The following values can be handled as floating-point type real numbers.
-1.0 2128 < value -1.0 2 -126 , 0, 1.0 2 –126 value < 1.0 2128

[Program Example]
#2002 : L = 10000 ;
#2004 : L = FLT [#2002 : L] ; #2004 : L = (461C4000) 16
(D2004, D2005 = (461C4000) 16)
#2006 : L = INT [#2004 : L] ; #2006 : L = 10000

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7.16.7 BIN value to real number conversion (FLT)

Code FLT
Floating-point type real
number processing A 32-bit integer (BIN value) including four decimal places is converted
Function instruction into a floating-point type real number.
BIN value to real number
conversion

F LT [ n ] ;
Format Indirect setting only
32-bit integer (BIN value) to real
number conversion command

[Explanation]
(1) A 32-bit integer (BIN value) including four decimal places is converted into a
floating-point type real number.

(2) A floating-point type real number is processed as single precision (32-bit) in the
binary floating-point format of the IEEE Standard.
Sign part ...................... 1 bit
Exponent part .............. 8 bits
Significant digit part...... 23 bits
31 22 15 Bit 0
Bits 0 to 22 : Significant digit part

Bits 23 to 30 : Exponent part

Bits 31 : Sign part

(3) The following values can be handled as floating-point type real numbers.
-1.0 2128 < value -1.0 2 -126 , 0, 1.0 2 –126 value < 1.0 2128

[Program Example]
#2002 : L = 10000 ;
#2004 : L = FLT [#2002 : L] ; #2004 : L = (461C4000) 16
(D2004, D2005 = (461C4000) 16)
#2006 : L = INT [#2004 : L] ; #2006 : L = 10000

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7.16.8 32-bit real number and 64-bit real number data conversion (DFLT, SFLT)

Code DFLT, SFLT The DFLT instruction converts the data from 32-bit real number to 64-
bit real number.
32-bit real number and 64-bit
Function The SFLT instruction converts the data from 64-bit real number to 32-bit
real number data conversion
real number.

DFLT [ n ] ;
Indirect setting only
32bit real number 64bit real number data
conversion command
Format
SF L T [ n ] ;
Indirect setting only
64bit real number 32bit real number data
conversion command

[Explanation]
(1) DFLT : 32-bit real number data (a floating-point type) is converted 64-bit real
number data (a floating-point type).
(2) SFLT : 64-bit real number data (a floating-point type) is converted 32-bit real
number data (a floating-point type).

[Program Example]
#2004F = DFLT [#2002L] ;
#2010L = SFLT [#2012F] ;

REMARK
32-bit real number data is used in QCPU, and the data conversion between Motion
CPU and PLC CPU must use this instruction.

[64-bit double precision real number type]

63 51 Bit 0
Bits 0 to 51 : Significant digit part (virtual part)

Bits 52 to 62 : Exponent part

Bit 63 : Sign part

[32-bit double precision real number type]

31 23 Bit 0
Bits 0 to 22 : Significant digit part (virtual part)

Bits 23 to 30 : Exponent part

Bits 31 : Sign part

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7.16.9 Functions (SQRT, ABS, BIN, BCD, LN, EXP, RND, FIX, FUP)

SQRT, ABS, BIN, BCD, Operations of SQRT (square root), ABS (absolute value), BIN (BCD to
Code LN, EXP, RND, FIX, BINARY conversion), BCD (BINARY to BCD conversion), LN (natural
FUP logarithm), EXP (base e exponent), RND (round off), FIX (round down)
Function Functions and FUP (round up) are executed.

f unc t i o n [ n ] ;
Format Numerical value (Indirect setting is possible)
Function
(SQRT, ABS, BIN, BCD, LN, EXP, RND, FIX, FUP)

[Explanation]
(1) Operation of the specified function is executed.

(2) Refer to Items (5), (6), (7) in Section 7.11.3 for the operation result.

[Program Example]
#2010L = SQRT [100] 10 enters [D2011, D2010].
#2020L = ABS [-25] 25 enters [D2021, D2020].
#2030L = BIN [100] 64 enters [D2031, D2030].
#2040L = BCD [100] 256 enters [D2041, D2040].
#2050L = LN [1000000] 13 enters [D2051, D2050].
#2060L = EXP [20] 485165195 enters [D2061, D2060].
#2070F = RND [14/3] 5 enters [D2073, D2072, D2071, D2070]
(64-bit floating-point type).
#2080F = FIX [14/3] 4 enters [D2083, D2082, D2081, D2080]
(64-bit floating-point type).
#2090F = FUP [14/3] 5 enters [D2093, D2092, D2091, D2090]
(64-bit floating-point type).
#2170F = RND [-14/3] -5 enters [D2173, D2172, D2171, D2170]
(64-bit floating-point type).
#2180F = FIX [-14/3] -5 enters [D2183, D2182, D2181, D2180]
(64-bit floating-point type).
#2190F = FUP [-14/3] -4 enters [D2193, D2192, D2191, D2190]
(64-bit floating-point type).

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7.16.10 Logical operators (AND, OR, XOR, NOT, <<, >>)

AND, OR, XOR, NOT,

Code Logical product (AND), logical add (OR), exclusive logical add (XOR),
<<, >>
logical NOT (NOT) and shift operations (<<, >>) are executed.
Function Logical operators

Format <For AND, OR, XOR, <<, >>>

n1 logical operator n2 ;
Numerical value or variable
Logical operator (AND, OR, XOR, <<, >>)
Numerical value or variable
<For NOT>
NOT [ n 1 ] ;
Numerical value or variable

[Explanation]
(1) Operation of the specified logical operator is executed.

(2) Only the integer types (16-bit type, 32-bit type) may be used to perform logical
operation. Logical operation including the 64-bit floating-point type cannot be
performed. (error 560 : Format error)
The operation result can be 16- or 32-bit type, but it is converted into the operation
result type for operation.

(3) The area of operation where you want to give priority can be enclosed in [ ]. [ ]
can be five levels deep including [ ] of a function. An operational expression may
be described in up to 72 characters. (Up to the maximum number of characters in
one block)
<For AND, OR, XOR, <<, >> >
Operation result = operation data 1 operator operation data 2 ;
Operation result
is stored Operation is performed after conversion of operation data
1, 2 into operation result type.
Note that operation including 64-bit floating-point type cannot be performed.

<For NOT>
Operation result = NOT [operation data 1] ;
Each bit of operation data 1 is inverted and result
of inversion is stored into operation result.

(4) The logical operators can be used with the conditional expressions of the IF and
WHILE statements.
IF [ [ON #M1000] AND [OFF #M1100] ] GOTO1 ;
If M1000 is ON and M1100 is OFF, the N1 line is executed.
IF [ [#2100 AND #2200] EQ #2300] GOTO2 ;
If the result of operating AND #2100 and #2200 contents is equal to #2300, the
N2 line is executed.
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[Program Example]
Operator Program example Operation
#2010L = 00000000 00000000 00000000 01100100
#2010L = 100 ;
AND 15 = 00000000 00000000 00000000 00001111
#2020L = #2010L AND 15 ;
#2020L = 00000000 00000000 00000000 00000100 = 4
#2010L = 00000000 00000000 00000000 01100100
#2010L = 100 ;
OR 14 = 00000000 00000000 00000000 00001110
#2020L = #2010L OR 14 ;
#2020L = 00000000 00000000 00000000 01101110 = 110
#2010L = 00000000 00000000 00000000 01100100
#2010L = 100 ;
XOR 14 = 00000000 00000000 00000000 00001110
#2020L = #2010L XOR 14 ;
#2020L = 00000000 00000000 00000000 01101010 = 106
#2010L = 90 ; #2010L = 00000000 00000000 00000000 01011010
NOT
#2020L = NOT [#2010L] ; #2020L = 11111111 11111111 11111111 10100101 = -91
#2010L = 20 ; #2010L = 00000000 00000000 00000000 00010100
<<
#2020L = #2010L << 2 ; #2020L = 00000000 00000000 00000000 01010000 = 80
#2010L = 80 ; #2010L = 00000000 00000000 00000000 01010000
>>
#2020L = #2010L >> 2 ; #2020L = 00000000 00000000 00000000 00010100 = 20

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7.16.11 Move block wait functions (WAITON, WAITOFF)

Code WAITON, WAITOFF The next travel block is executed at the completion of ON/OFF
Function Move block wait functions condition for the specified device.

W A I T O N #Xx ;
Device (X, Y, M, B, F)
Format
W A I TO F F #Xx ;
Device (X, Y, M, B, F)

[Explanation]
(1) Execution of the next travel block is waited until the completion of ON/OFF
condition for the specified device. However, the operation block is executed.

(2) The response time of WAITON/WAITOFF is the operation cycle time (approx. 0.88
[ms] for 4 or less axes).

(3) The grammar is indicated below.

<WAITON statement> : WAITON #<device>
[Example] WAITON #X10 ;

<WAITOFF statement> : WAITOFF #<device>

[Example] WAITOFF #X11 ;

(4) It takes about 7 to 64[ms] from when a program is started until the program is
actually run. Therefore, If WAITON/WAITOFF is used, the Motion program can be
started at high speed. By setting a wait for a shift to the next block with WAITON
or WAITOFF after a program start has been made by the start instruction of the
Motion program, prereading of the next block has been completed, and therefore,
the next block can be executed at high speed (approx. 3.5[ms] for 4 or less axes)
after the device condition has held, improving the variation or delay in a program
start.

[Example]
WAITON #X10 ; When X10 turns ON, N1 block is executed.
N1 G01 X100. Y200. F1000. ;
WAITOFF #X11 ; When X11 turns OFF, N2 block is executed.
N2 G01 X200. Y300. F500. ;
:
:
M02 ;
%

(5) WAITON/WAITOFF cannot be used with the home position return instruction.

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[Program Example]
The program which executes the next block at the completion of condition.
1) 00001 WAITON #X10 ;
00002 N1 G01 X100. Y200. F1000. ;
2) 00003 WAITOFF #X11 ;
00004 N2 #2010 = 5 ;
00005 G00 X0. Y-10. ;
3) 00006 WAITON #X12 ;
00007 GOTO 10 ;
:
:
00015 N10 G00 X0. Y0. ;
:
:
00020 #2000 = 5 ;
4) 00021 WAITOFF #XFF ;
00022 IF [#2000 EQ 5] GOTO 20 ;
00023 N15 G01 X200. Y200. F2000. ;
:
:
00027 N20 G01 X100. Y100. F2000. ;
00028 M02 ;
00029 %

The above program is executed as described below.

1) Line 1 When device X10 turns ON, line 2 is executed.
2) Line 3 When device X11 turns OFF, line 5 is executed.
(Line 4 is being executed.)
3) Line 6 When device X12 turns ON, N10 is executed.
4) Line 21 When device XFF turns OFF, #2000=5 to line 27 are executed. Because
of preread processing, N15 is not executed and execution jumps to N20 if the
#2000 (D2000) value is changed from sequence program while execution waits
for XFF to turn from ON to OFF in the WAITOFF statement.

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7.16.12 Block wait functions (EXEON, EXEOFF)

Code EXEON, EXEOFF The next block is executed at the completion of ON/OFF condition for
Function Block wait function the specified device.

E XEO N #Xx ;
Device (X, Y, M, B, F)
Format
EXEO F F #Xx ;
Device (X, Y, M, B, F)

[Explanation]
(1) Execution of the next block is waited until the completion of ON/OFF condition for
the specified device.

(2) The response time of EXEON/EXEOFF is an operation cycle.

(3) The grammar is indicated below.

<EXEON statement> : EXEON #<device>
[Example] EXEON #X10 ;

<EXEOFF statement> : EXEOFF #<device>

[Example] EXEOFF #X11 ;

[Program Example]
(1) Control program

SET #M100 ;
RST #M101 ;
EXEON #M102 ; Preread is not executed in the control program.
#D2100=200 When the M102 is ON, the next block is executed.
CALL JXJY P100 ;
:
:
M02 ;

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(2) Axis designation program

(a) Next block is travel block.
EXEON/EXEOFF WAITON/WAITOFF
SET #M100 ; SET #M100 ;
EXEON #M102 ; WAITON #M102 ;
G01 X100. F1000. ; Preread of next block is not G01 X100. F1000. ; Preread of next block is executed.
: executed. : When the M102 is ON, the next
: When the M102 is ON, the : block is executed. The next travel
MO2 ; next block is executed. MO2 ; block is executed at high speed.
% %

(b) Next block is not travel block.

EXEON/EXEOFF WAITON/WAITOFF
SET #M100 ; SET #M100 ;
EXEON #M102 ; WAITON #M102 ;
RST #M100 ; Preread of next block is not RST #M100 ; When the next block is not the
: executed. The next block is : travel block, a waiting by the
: executed after waiting for : WAITON is not executed.
MO2 ; the M102 to turn ON. MO2 ;
% %

(c) EXEON/EXEOFF is wrote between the travel blocks.

EXEON/EXEOFF EXEON/EXEOFF
G01 X100. F100. ; G00 X100. ;
EXEON #M100 ; EXEON #M100 ;
G01 X200. F100. ; G00 X200. ;

• Above two programs stop temporary between blocks regardless of G00(PTP),

G01(Constant-speed positioning), and it judges waiting/execution for
EXEON/EXEOFF in the state of preceding block end.

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(Example1)
V

t
ON
M100 OFF

It is ignored. It does not become valid

before preceding block end.
(Example2)
V

t
ON
M100 OFF

It stops temporary
regardless of G00, G01.

REMARK
Operation which combined EXEON and WAITON.

V
WAITON #M100 ;
EXEON #M101 ;
G01 X100. F100 ;
t
ON
M100 OFF
ON
M101 OFF

Waiting for WAITON is Waiting for WAITON is

not accepted until waiting accepted after completion
for EXEON is completed. of waiting for EXEON.

When the EXEON is wrote in the next block of WAITON (not travel value), priority is
given to waiting condition for EXEON regardless of WAITON state, in this case,
since an operation is complicated, it recommends not using it combining WAITON
and EXEON.

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7.16.13 Bit set and reset for word devices (BSET, BRST)

Code BSET, BRST

Bit operation of the ward Sets or resets the specifies bit in the word device.
Function
devices

B S ET D n ;
Set bit number (0 to15)
Word device which operates bit. (#D, #W, #@)
Format
B RST D n ;
Reset bit number (0 to15)
Word device which operates bit. (#D, #W, #@)

[Explanation]
(1) BSET sets the specifies bit in the word device.

(2) BRST resets the specifies bit in the word device.

[Program Example]
Set the 10th bit of D2000.
BSET #D2000 10 ;

Reset the 12th bit of #@100.

BRST #@100 12 ;

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7.16.14 Parameter block change (PB)

Code PB
The parameter block of the specified No. is used.
Function Parameter block change

PB pb ;
Format
Parameter block No.
Parameter block change command

[Explanation]
(1) The numerical value following PB is used as a parameter block No..

(2) The parameter block value may also be specified indirectly by a variable, D, W or
# (2-word data).

(3) Any of 1 to 64 may be specified as the parameter block value.

Specifying any other value than the above will result in a "Format error". (error
code : 560)

(4) Once given, the parameter block change command is valid until the parameter
block change command is given again.
However, when a torque limit value change (TL) is executed, the specified torque
limit value is used.

(5) When a parameter block change (PB) is executed during a torque limit value
change (TL), the torque limit value in the new parameter block is used.

(6) When a parameter block change is executed during a constant-speed positioning,

the axis decelerates to a stop once and the next constant-speed positioning is
executed.
G01 X100. F500. ; Deceleration to a stop at X100.
PB3 ; After that, parameter block 3 is used.
G01 X200. ;

(7) The home position return (G28) uses the following parameters.
(a) Home position return request ON…………Parameter block is specified home
position return parameters.
(b) Home position return request OFF…..……Parameter block at the axis
designation program start.

(8) The parameter block change command cannot be described in the same block as
another command.

(9) If a cancel start is made during a parameter block change, the start program uses
the parameter block for execution of the start program.

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(10) A parameter block change (PB) is valid at the next travel.

[Program Example]
(1) When a parameter block change is executed during point-to-point positioning
N01 G00 X0. ; Uses the parameter block at a program start.
N02 G00 X100. ;
N03 PB3 ; Changes to parameter block 3.
N04 G00 X300. ;
V

N01 N02 N04

t
PB at a program start is used. PB3 is used.

(2) When a parameter block change is executed during constant-speed positioning

N01 G01 X0. F200. ; Uses the parameter block at a program start.
N02 G01 X100. ;
N03 PB5 ; Changes to parameter block 5.
N04 G01 X200.;
V

N01 N02 N04

t
PB at a program start is used. PB5 is used.

(3) When torque limit value is being changed

N01 G01 X0. F200. ;
N02 G01 X100. TL300 ;
N03 G01 X200. ;
N04 PB10 ;
N05 G01 X300. ;
V

N01 N02 N03 N05

t
PB at a program start is used. PB10 is used.
Torque limit value
within PB at a
program start Torque limit value 300[%] Torque limit value within PB10

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7.16.15 Torque limit value change (TL)

Code TL
The torque limit value is changed to the specified value.
Function Torque limit value change

TL t ;
Format Torque limit value
Torque limit value change command

[Explanation]
(1) The numerical value following TL is commanded as a torque limit value. The
torque limit value may also be specified indirectly by a variable, D, W or # (2-word
data).
(After the TL code, the torque limit value in the parameter block is not used.)

(2) Any of 1 to 500[%] may be specified as the torque limit value.

Specifying any other value than the above will result in a "Format error". (error
code : 560)

(3) Once given, the TL command is valid until the TL command is given again or the
parameter block or CHGT command is given. However, at a program start, the
torque limit value in the specified parameter block or the specified torque limit
value is used.

(4) At a home position return (G28), the torque limit value in the parameter block at a
program start is used.

(5) If a cancel start is made during a torque limit value change, the start program uses
the torque limit value in the parameter block for execution of a start program.

(6) If a torque limit value change (TL) is specified in G32 (skip) and the skip device is
already ON before execution of G32, the torque limit value change command (TL)
is also skipped and the torque limit value specified previously remains unchanged.

(7) The torque limit value change (TL) is valid for all axes specified in the start
instruction of the Motion program. However, if the torque limit value specified in the
torque limit value change (TL) for the axis whose torque limit value is specified in
the CHGT command is greater than the torque limit value in the CHGT command,
torque is clamped at the torque limit value of the CHGT command.

(8) The axis operating under the high-speed oscillation (G25) is not made valid. That
axis is made valid from the move command or M-code after the high-speed
oscillation stop (G26) is executed.

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(9) If specified in a move block, the torque limit value (TL) is made valid from that
motion. When the torque limit value is independent (no block motion specified), it
is made valid for the next motion.

[Program Example]
(1) When torque limit value change is made
N01 G00 X0. ; Controls at the torque limit value in the parameter block
at a program start.
N02 G00 X100. TL100 ;
Controls at the torque limit value of 100[%].
N03 G00 X200. ;
N04 G00 X300. TL300 ; Controls at the torque limit value of 300[%].
V

N01 N02 N03 N04

t
Torque limit value
within PB at a Controlled at torque limit
program start Controlled at torque limit value of 100[%] value of 300[%]

(2) When parameter block change is made

N01 G01 X0. F200. ; Controls at the torque limit value in the parameter block
at a program start.
N02 G01 X100. TL200 ;
Controls at the torque limit value of 200[%]
N03 G01 X200. ;
N04 PB5 ; Changes to parameter block 5.
N05 G01 X300. ; Controls at the torque limit value in parameter block 5.
V

N01 N02 N03 N05

t
Torque limit value
within PB at a Controlled at torque limit
program start Controlled at torque limit value of 200[%] value in PB5

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7.16.16 Home position return (CHGA)

Code CHGA
A home position return of the specified axis is executed.
Function Home position return

C HG A JX ;
Format The "J + Axis name" to return the home
position is set.
It is possible to specify it only by an axis.

[Explanation]
(1) The start accept flag (M2001 to M2032) of the specified axis is turned ON.

(2) The start accept flag is turned ON according to the home position return
parameters after a home position return.

(3) G28 executes a high-speed home position return when the home position return
request is OFF. However, the home position return is executed for CHGA by the
home position return method set by the home position return parameter.
CHGA instruction is executed an equal to S(P).CHGA instruction of "4 MOTION
DEDICATED PLC INSTRUCTION " in the Motion program.

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7.16.17 Speed change (CHGV)

Code CHGV
A speed change of the specified axis is executed.
Function Speed change

C HG V JX n ;
Speed change value (Indirect setting is possible)
Format
The "J + Axis name" to change the speed value
is set.
It is possible to specify it only by an axis.

[Explanation]
(1) The speed changing flag (M2061 to M2092) of the specified axis is turned ON.

(2) The speed changing flag is turned OFF after changing speed to "n".

(3) CHGV can be changed in the range of the speed limit value though override is a
speed change which specifies the ratio from 0 to 100[%].
CHGV instruction is executed an equal to S(P).CHGV instruction of "4 MOTION
DEDICATED PLC INSTRUCTION" in the Motion program.

REMARK

G90 ; G90 ;
G00 X0. ; G00 X0. ;
G00 X1000. ; G00 X1000. ;
CHGV JX 100. ; N1 ;
IF [ON #M2402] GOTO1 ;
CHGV JX 100. ;

When the block of CHGV is preread by programming the above left program, CHGV
is executed while executing the block (example : G00 block) before CHGV.
Make the program like a above right program to execute CHGV after the block of
"G00 X1000. ; " ends.

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7.16.18 Torque limit value change (CHGT)

Code CHGT
A torque limit value change of the specified axis is executed.
Function Torque limit value change

C HG T JX n ;
Torque limit change value (Indirect setting is
Format possible) (1 to 500[%])
The "J + Axis name" to change the torque limit
value is set.
It is possible to specify it only by an axis.

[Explanation]
CHGT is an instruction which executes an equal to S(P).CHGT instruction of "4
MOTION DEDICATED PLC INSTRUCTION" in the Motion program.

REMARK
G90 ;
G00 X0. ;
TL50 ;
G00 X1000. ;
CHGT JX 50. ;

When the block of CHGT is preread by programming the above program, CHGT is
executed while executing the block (example : G00 block) before CHGT.
Torque limit value is changed after the movement of the pre-block completes a TL
instruction.
When a TL instruction was used, the timing of the torque limit value is clear with the
axis designation program.

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7.16.19 Bit device set, reset functions (SET, RST)

Code SET, RST

The specified device is turned ON/OFF.
Function Bit device set, reset functions

SET #Yy ;
ON device (Y, M)
Device ON command
Format
RST #Yy ;
OFF device (Y, M)
Device OFF command

[Explanation]
(1) The specified device in the G-code program can be turned ON/OFF.

(2) Refer to Section 7.11.2 (2) for the usable device ranges.

[Program Example]
1) SET #M0 ; Turns ON device M0.
2) RST #M0 ; Turns OFF device M0.
3) SET #Y10 ; Turns ON device Y10.

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7.16.20 Bit device operation on condition (IF, THEN, SET/RST/OUT)

Code IF, THEN, SET/RST/OUT

Bit device operation on When the condition consists, a specified device is turned on.
Function
condition

I F [ conditional expression ] T HEN SET #Yy ;

ON device (Y, M, B, F, special M)

I F [ conditional expression ] T HEN RST #Y y ;

Format OFF device (Y, M, B, F, special M)

I F [ conditional expression ] T HEN OUT #Yy ;

Device turn ON and OFF on
condition.
(Y, M, B, F, special M)

[Explanation]
(1) When the condition consists, "IF [conditional expression] THEN SET" turns ON a
specified device.

(2) When the condition consists, "IF [conditional expression] THEN RST" turns OFF a
specified device.

(3) When a specified device is turned ON when the condition consists, and the
condition does not consist, "IF [conditional expression] THEN OUT" turns OFF a
specified device.

[Program Example]
(Instruction method which can (Instruction method in past Motion
be used by Q Motion CPU.) CPU. (Q Motion CPU possible))
IF [#100 EQ0] THEN SET #Y0 ; IF [#100 EQ0] THEN 1 ;
SET #Y0 ;
END1 ;

IF [#100 EQ0] THEN RST #Y0 ; IF [#100 EQ0] THEN 1 ;

RST #Y0 ;
END1 ;

IF [#100 EQ0] THEN OUT #Y0 ; IF [#100 EQ0] THEN 1 ;

SET #Y0 ;
ELSE1
RST #Y0 ;
END1 ;

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REMARK
(1) The mark of the I/O modules is X and Y in SV43 regardless of installation/non-
installation. PX and PY is not used in the Motion program.

(2) Writing in the device X is possible only for the range of the input modules non-
installation.

(3) The start accept flag (M2001 to M2032) must not use IF, THEN and SET/
RST/OUT.

(4) Do not write it in special relay (M9000 to M9255) excluding the user setting
device.

(Note) : The device range which can be used by "IF, THEN, SET/RST/OUT" and
"SET/RST" is the same.

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7.16.21 Program start (CALL)

Code CALL The specified control program or axis designation program is

Function Program start started.

C A L L JX JYJZJUJVJ WJAJB Pp ;
Motion program No. (1 to 1024)
Format (Indirect setting is possible)
J+starting axis name.
Eight or less can be specified.

[Explanation]
(1) Other control programs or axis designation programs are started from the control
program.

(2) Do not set the axis and parameter block No. to start the control programs.

(3) Set the axis name used by the axis designation program to start the axis
designation program.

(4) As for set program No."Pn" and parameter block No."PBn", indirect setting by #@
or D (word data) is also possible. In this case, sequence No. can be specified as
follows.

[Control program start]

CALL P#D2010 ;
D2010 : Program No.
D2011 : Sequence No.
[Axis designation program start]
CALL JXJY P#D2010 ;
D2010 : Program No.
D2011 : Sequence No.
D2012 : Parameter block No.

(5) This instruction cannot be used in the axis designation program.

(6) When the program No. of axis designation program is specified directly, the
parameter block No. is started as the default value (PB1).

(7) After the control program and axis designation program are started, the next block
is executed without waiting the end of started program.

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Difference point of the program call and program start

Program start Program call

O0001 ; O0010 ; O0001 ; O0010 ;

1) 2) 1) 2)
3) ; 3)
CALL JXJY P10 ; GOSUB JXJY P10 ;
2) M02 ; 5) 4) M02 ;
% %
M02 ; M02 ;
% %

This program is executed in parallel the started The following next block of GOSUB is
program and following the next block of CALL. executed after waiting the end of called
program.
(GOSUBE also is same.)

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7.16.22 Program call 1 (GOSUB)

Code GOSUB The specified control program or axis designation program is

Function Program call 1 called.

GO SUB JXJYJZJUJ VJ WJAJB Pp ;

Motion program No. (1 to 1024)
Format (Indirect setting is possible)
J+starting axis name.
Eight or less can be specified.

[Explanation]
(1) Other control programs or axis designation programs are called from the control
program.

(2) Do not set the axis and parameter block No. to call the control program.

(3) Set the axis name used by the axis designation program to call the axis
designation program.

(4) This instruction cannot be used in the axis designation program.

(5) As for set Motion program No."Pn" and parameter block No."PBn", indirect setting
by #@ or D (word data) is also possible. In this case, sequence No. can be
specified as follows.

[Control program call]

GOSUB P#D2010 ;
D2010 : Motion program No.
D2011 : Sequence No.
[Axis designation program call]
GOSUB JXJY P#D2010 ;
D2010 : Motion program No.
D2011 : Sequence No.
D2012 : Parameter block No.

(6) When the program No. of the axis designation program is specified directly, the
parameter block No. is called as the default value (PB1).

(7) After the control program and axis designation program are called, the next block
is executed after waiting the end of called program.

Refer to the explanation of "Program start" for the difference between the program start
and program call.

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7.16.23 Program call 2 (GOSUBE)

Code GOSUBE The specified control program or axis designation program is

called.
Function Program call 2
The call source program is ended at the error occurrence.

GO SUBE JXJYJZJUJ VJ WJAJB Pp ;

Motion program No. (1 to 1024)
Format (Indirect setting is possible)
J+starting axis name.
Eight or less can be specified.

[Explanation]
(1) Other control programs or axis designation programs are called from the control
program.

(2) Do not set the axis and parameter block No. to call the control program.

(3) Set the axis name used by the axis designation program to call the axis
designation program.

(4) This instruction cannot be used in the axis designation program.

(5) As for set Motion program No."Pn" and parameter block No."PBn", indirect setting
by #@ or D (word data) is also possible. In this case, sequence No. can be
specified as follows.

[Control program call]

GOSUBE P#D2010 ;
D2010 : Motion program No.
D2011 : Sequence No.
[Axis designation program call]
GOSUBE JXJY P#D2010 ;
D2010 : Motion program No.
D2011 : Sequence No.
D2012 : Parameter block No.

(5) When the program No. of the axis designation program is specified directly, the
parameter block No. is called as the default value (PB1)

(7) After the control program and axis designation program are called, the next block
is executed after waiting the end of called program.

(8) Call source program is ended at the error occurrence. After the control program
and the axis designation program are called, the next block is executed after
waiting the end of called program.

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(9) The end of control program by CLEAR instruction in the control program or the
CLEAR request control program No. setting register (D707) are normal. Call
source program is not ended.

Refer to the explanation of "Program start" for the difference between the program start
and program call.

[Program Example]
(1) GOSUB+GOSUBE

O0100 ; (Control program) O0110 ; (Control program) O0120 ; (Axis designation

program)

GOSUB P110 ; GOSUBE JXJY P120 ; G01 X100. F1000. ; Error occurrence

M02 ; M02 ; M02 ;

% Program continuous % Program end % Program end

from next block of
GOSUB

If an error which program ends will occur in the program No.120, program
"O0110" ends but program "O0100" executes continuously.

(2) GOSUBE+GOSUB

O0100 ; (Control program) O0110 ; (Control program) O0120 ; (Axis designation

program)

GOSUBE P110 ; GOSUB JXJY P120 ; G01 X100. F1000. ; Error occurrence

M02 ; M02 ; M02 ;

% Program continuous % Program continuous % Program end

from next block of from next block of
GOSUBE GOSUB

If an error which program ends will occur in the program No.120, program
"O0100" and "O0110" execute continuously.

(3) GOSUBE+GOSUBE

O0100 ; (Control program) O0110 ; (Control program) O0120 ; (Axis designation

program)

GOSUBE P110 ; GOSUBE JXJY P120 ; G01 X100. F1000. ; Error occurrence

M02 ; M02 ; M02 ;

% Program end % Program end % Program end

If an error which program ends will occur in the program No.120, program
"O0100" and "O0110" end.

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REMARK
Error list which the main program ends by an error occurrence is shown below.
Error type Error code
Starting 100, 101, 103, 104, 106, 107, 108, 109, 110,
errors 115, 140, 142, 160, 161
Positioning
200, 201, 202, 203, 206,207, 208, 209, 211
control errors
500, 501, 502, 504, 510, 513, 525, 530, 531,
532, 533, 534, 535, 536, 537, 538, 541, 542,
Minor error
Motion 543, 544, 545, 546, 547, 555, 560, 562, 570,
program 571, 580, 581, 582, 584, 585, 586, 587, 591,
executing 592, 593, 594
errors 600, 610, 611, 612, 613, 614, 615, 617, 618,
Positioning error
619, 620, 630, 631, 632, 633, 634, 635, 636,
637, 650, 651, 652, 653
Starting
1000, 1001, 1002, 1003, 1004, 1005
errors
Major error
Positioning
1101, 1102, 1103, 1104, 1105
control errors
2010, 2012, 2013, 2014, 2015, 2016, 2021,
2024, 2025, 2030, 2031, 2032, 2033, 2034,
Servo amplifier error
2035, 2036, 2042, 2045, 2046, 2050, 2051,
2052, 2147

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7.16.24 Control program end (CLEAR)

Code CLEAR
The specified control program is ended.
Function Control program end

C LE A R P p ;
Format Motion program No. (1 to 1024)
(Indirect setting is possible)

[Explanation]
(1) The CLEAR is ended if it is executing it specifying the number of the control
program from the control program.

(2) The axis designation program cannot be stopped.

(3) The CLEAR at a program start is as following operation.

A B
O0100 ; (Control program) O0200 ; (Axis designation program) O0100 ; (Control program) O0200 ; (Control program)

CALL JXJY P200 ; G01 X100. Y100. ; CALL P200 ; ;

M02 ; M02 ; M02 ; M02 ;

% % % %

(a) If the main program (O0100) ends regardless of the started program or
subprogram (O0200), the main program (O0100) ends and the subprogram
(O0200) does not end. (Figure A, B)

(b) When the started program is the control program, if the subprogram (O0200)
ends, the subprogram (O0200) ends and the main program (O0100) does
not end. (Figure B)

(c) When the started program is the axis designation program, turn the stop
command or rapid stop command of applicable axis ON to stop the
subprogram (O0200).
In this case, the subprogram (O0200) ends and the main program (O0100)
does not end. (Figure A)

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(4) The CLEAR at the program call as the following operation.

A B
O100 ; (Control program) O200 ; (Axis designation program) O100 ; (Control program) O200 ; (Control program)

GOSUB JXJY P200 ; G01 X100. Y100. ; GOSUB P200 ; ;

M02 ; M02 ; M02 ; M02 ;

% % % %

(a) When the started program is a control program, if the main program (O0100)
is cleared, the both of the main program (O0100) and subprogram (O0200)
end. (Figure B)

(b) When the started program is a control program, if the subprogram (O0200) is
cleared, the execution ends and the control returns to the main program
(O0100). (Figure B)

(c) When the started program is a designation program, if the main program
(O0100) is cleared, only main program (O0100) ends and the subprogram
(O200) does not end. (Figure A)

(d) When the started program is a designation program, if the subprogram ends
by the stop command or rapid stop command, etc. of the applicable, the
control returns to the main program (O0100). (Figure A)

[Program Example]
The control program of Motion program No. 10 is ended.
CLEAR P10 ;

REMARK
Even if the control program is stopped with the CLEAR instruction, a signal during
the set keep a set.

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7.16.25 Time to wait (TIME)

Code TIME Time from the end of the block to the next block beginning is
Function Time to wait specified at waiting time.

T I ME P p ;
Format
Waiting time (1 to 65535)

[Explanation]
(1) Time from the end of the block to the next block beginning is specified at waiting
time.

(2) The specified range of waiting time is 1 to 65535.

The command unit is 0.001[s].
TIME P1000 ; is waiting at 1[s].

(3) Waiting time can be set by direct setting (numerical value) and indirect setting
(constant : # ).

(4) TIME instruction can be used only the control program.

Use the G04 (Dwell) as the time to wait in the axis designation program.

(5) The command unit is 0.001[s] (1[ms]). However, note that about dozens maximum
error (dispersion) will occur by the main cycle.

[Program Example]
M10 is turned ON for 100[ms].

SET #M10 ;
TIME P100 ;
RST #M10 ;

Waiting time of 65535[ms] (65.535[s]) or more is as follows.

Example 100[s] waiting

#@0 = 0 ;
WHILE [#@0 LE 10] D01 ;
TIME P10000 ;
#@0 = #@0 + 1 ;
END1 ;

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7.16.26 Block transfers (BMOV : 16-bit unit)

Code BMOV The data of n words from the specified device are batch-transferred to
Function Block transfers (16-bit unit) the specified transfer destination. (16-bit unit)

B MO V D S n ;
Number of transmission words
(Constant or indirect setting (1 to 65535))
Format First devices of transfer source data or absolute
address.
First devices of transfer destination data or
absolute address.

[Explanation]
(1) The contents for n words from device specified with (S) are batch-transferred to
the n words from device specified with (D). (Transferred with a word [16-bit] unit.)

(2) Data can be transferred if the word devices of the transfer source and destination
overlap. Data are transferred from devices, starting with the one at (S), for
transfer of data from devices of larger numbers to those of smaller numbers, or
starting with the one at (S)+(n-1) for transfer of data from devices of smaller
numbers to those of larger numbers.

(3) When the H+32-bit hexadecimal constant for (D) or (S) is specified, it is meant to
specify the absolute address of the Motion CPU. The absolute address specifies
the even number.
When the absolute address is specified, the content of the address is understood.
When a wrong operation is executed, operation which crashes the system, and is
abnormal might be executed.

(4) An operation error will occur if :

(a) (S) to (S)+(n-1) is outside the device range.
When (n) specifies word device
(b) (D) to (D)+(n-1) is outside the device range.
(c) (n) is 0 or a negative number.
(d) The absolute address is outside the range of the RAM.

[Program Example]
(1) Program which batch-transfers a contents for 5 words from D0 to all data for 5
words from #@10.
BMOV #@10 #D0 5

#@10 12 D0 12
Batch transfer
#@11 34 D1 34
(16-bit unit)
#@12 56 D2 56
#@13 78 D3 78
#@14 90 D4 90

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(2) Program which batch-transfers a contents for 5 words from absolute address
(0x06000000) of Motion CPU to all data for 5 words from D2000.
BMOV #D2000 H06000000 5

D2000 12 0x06000000 12
D2001 34 Batch transfer 0x06000002 34
(16-bit unit)
D2002 56 0x06000004 56
D2003 78 0x06000006 78
D2004 90 0x06000008 90

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7.16.27 Block transfer (BDMOV : 32-bit unit)

Code BDMOV The data of n words from the specified word device are batch-
Function Block transfer (32-bit unit) transferred to the specified transfer destination. (32-bit unit)

BDMOV D S n ;
Number of transmission words
(Constant or indirect setting (1 to 65535))
Format
First devices of transfer source data or absolute
address.
First devices of transfer destination data or
absolute address.

[Explanation]
(1) The contents of n words from the word device specified with (S) are batch-
transferred, to the n words from the word device specified with (D). (Transferred
with 2-word [32-bit] unit.)

(2) Data can be transferred if the word devices of the transfer source and destination
overlap. Data are transferred from the devices, starting with the one at (S), for
transfer of data from devices of larger numbers to those of smaller numbers, or
starting with the one at (S)+(n-1) for transfer of data from devices of smaller
numbers to those of larger numbers.

(3) When the H+32-bit hexadecimal constant for (D) or (S) is specified, it is meant to
specify the absolute address of the Motion CPU.
The absolute address specifies the multiple of four.

(4) An operation error will occur if :

(a) (S) to (S)+(n-1) is outside the device range.

(b) (D) to (D)+(n-1) is outside the device range. When (n) specifies
(c) The device number of (D) or (S) is not even number. word device.
(d) (n) is 0,negative number or odd number.
(e) The absolute number is not multiple of four.
(f) The absolute address is outside the range of the RAM.

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[Program Example]
(1) Program which batch-transfers a contents for 4 words from D2000 to all data for
4 words from #@10.

BDMOV #@10 #D2000 4

#@10 12 D2000 12
#@11 34 Batch transfer D2001 34
(32-bit unit)
#@12 56 D2002 56
#@13 78 D2003 78

(2) Program which batch-transfers a contents for 4 words from absolute address
(0x06000000) of Motion CPU to all data for 4 words from D2000.

BDMOV #D2000 H06000000 4

D2000 12 0x06000000 12
D2001 34 Batch transfer 0x06000002 34
(32-bit unit)
D2002 56 0x06000004 56
D2003 78 0x06000006 78

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7.16.28 Identical data block transfers (FMOV)

Code FMOV The data of n words from the specified device are batch-transferred to
Function Identical data block transfers the specified transfer destination. (a word [16-bit] unit)

F MOV D S n ;
Number of transmission words
(Constant or indirect setting (1 to 65535))
Format
Transfer source data
constant or indirect setting (0 to 65535)
First devices of transfer destination data or
absolute address.

[Explanation]
(1) The constant or contents for device specified with (S) are batch-transferred to the
n words from the device specified with (D). (Transferred with 1-word [16-bit] unit.)

(2) Data can be transferred if the word devices of the transfer source and destination
overlap.

(3) When the H+32-bit hexadecimal constant for (D) is specified, it is meant to specify
the absolute address of the Motion CPU. The absolute address specifies the even
number.
When the absolute address is specified, the content of the address is understood.
When a wrong operation is executed, operation which crashes the system, and is
abnormal might be executed.

(4) When a wrong operation is executed, operation which crashes the system, and is
abnormal might be executed.

(a) (S) is outside the range -32768 to 65535. (When constant specified)
(b) When (S) is outside the range of the device. (When indirectly specified device)
(c) When from (D) to (D)+(n-1) is outside the range of the device.
(d) (n) is outside the range 1 to 65535. (When constant specified)
(e) When (n) is outside the range of the device. (When indirectly specified device)
(f) When the absolute address is outside the range of RAM.

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

[Program Example]
(1) Program which batch-transfers a contents for from D0 to all data for 5 words
from #@10.
FMOV #@10 #D0 5

#@10 12 D0 12
#@11 12 Batch transfer
(16-bit unit)
#@12 12
#@13 12
#@14 12

The motion device is not initialized (0 set) at the power on.

Please use it after initializing data by this instruction when it is necessary.

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7.16.29 Write device data to shared CPU memory (MULTW)

Code MULTW A part for (n) words of data since the device specified with (S) of the
Write device data to shared self CPU module are written to since the shared CPU memory
Function
CPU memory address specified with (D) of the self CPU module.

MU L T W D S n D1 ;
Self CPU device is made to turn on the by
writing completion.
Format Number of words to be written. (1 to 256)
First device No. which writing data are stored.
The shared CPU memory address of self CPU of
the writing destination device. (800H to FFFH)

[Explanation]
(1) A part for (n) words of data since the device specified with (S) of the self CPU
module are written to since the shared CPU memory address specified with (D)
of the self CPU module. After writing completion of the device data, the complete
bit device specified with (D1) turns on.
Shared CPU memory Shared CPU memory address
Device memory of self CPU
(S) (D) 0H Self CPU operation This area
data area cannot be
200H used at
System area
user area.
Write the data 800H (Note)
of a part for Automatic refresh area
(n)words This area
can be
used at
User-defined area
user area.
0FFFH

(Note) : When automatic refresh is not set, it can be used as a user defined area.
And, when automatic refresh is set up, since the automatic refresh transmitting
range becomes a user defined area.

(2) Do resetting of the complete bit device by the user program.

(3) Another MULTW instruction cannot be processed until MULTW instruction is

executed and a complete bit device is turned ON. When MULTW instruction was
executed again before MULTW instruction is executed and complete bit device
is turned ON, the MULTW instruction executed later becomes no processing.

(4) The devices that may be set at (D), (S) (n) and (D1) are shown below.
Word devices (Note)
Setting Bit devices (Note) Constant
(16-bit integer type)
data (16-bit integer type)
D W #@ M B F X Y
(D) — — — — —
(S) — — — — — —
(n) — — — — —
(D1) — — — —
(Note) : The device No. cannot be specified indirectly.

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An operation error will occur if :

(a) Number of words (n) to be written is outside the range of 1 to 256.

(b) The shared CPU memory address (D) of self CPU of the writing destination
device is outside the range (800H to FFFH) of the shared CPU memory
address.

(c) The shared CPU memory address (D) of self CPU of the writing destination
device + number of words (n) to be written is outside the range (800H to
FFFH) of the shared CPU memory address.

(d) First device No. (S) which writing data are stored + number of words (n) to
be written is outside the device range.

(e) MULTW instruction was executed again before MULTW instruction is

executed and complete bit device is turned on.

[Program Example]
2-word from D0 is written in the shared CPU memory to since A00H.

RST #M0 ;
MULTW HA00 #D0 2 #M0 ;

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7.16.30 Read device data from shared CPU memory of the other CPU (MULTR)

Code MULTR
A part for (n) words of data of the other CPU specified with (S1) are
Read device data from
read from the address specified with (S2) of the shared CPU memory,
Function shared CPU memory of the
and it is stored since the device specified with (D).
other CPU

M U L T R D S1 S2 n ;
Number of words to be read. (1 to 256)
The shared CPU memory first address of the data
Format which it will be read. (0H to FFFH)
First I/O No. of the PLC CPU/Motion CPU which it will be
read.(CPU No.1 : 3E0H, CPU No.2 : 3E1H, CPU No.3 :
3E2H, CPU No.4 : 3E3H)
First device No. which stores the reading data.

[Explanation]
(1) A part for (n) words of data of the other CPU specified with (S1) are read from the
address specified with (S2) of the shared CPU memory, and are stored since the
device specified with (D).

Shared CPU memory Shared CPU memory address

of specified CPU No.
Device memory with (S1) 0H Self CPU operation
(D) (S2) data area
200H
System area
This area
800H (Note) can be
Read the data Automatic refresh area used at
of a part for user area.
(n)words
User-defined area
0FFFH

(Note) : When automatic refresh is not set, it can be used as a user defined area.
And, when automatic refresh is set up, since the automatic refresh transmitting
range becomes a user defined area.

(2) The devices that may be set at (D), (S1), (S2) and (n) are shown below.
Word devices (Note)
Setting Bit devices (Note) Constant
(16-bit integer type)
data (16-bit integer type)
D W #@ M B F X Y
(D) — — — — — —
(S1) — — — — —
(S2) — — — — —
(n) — — — — —
(Note) : The device No. cannot be specified indirectly.

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(3) When data are read normally from the target CPU specified with (S1), the reading
complete flag M9216 to M9219 (CPU No.1:M9216, CPU No.2:M9217, CPU
No.3:M9218, CPU No.4:M9219) corresponding to the target CPU turns on. If data
cannot be read normally, the reading complete flag of the target CPU specified
with (S1) does not turn on.

(4) When multiple MULTR instructions are executed to the same CPU simultaneously,
the reading complete flag of target CPU number M9216 to M9219 turns on/off as a
result of MULTR that it is executed at the end.

(5) Reset the reading complete flag (M9216 to M9219) using the user program.

(6) An operation error will occur if :

(a) Number of words (n) to be read is outside the range of 1 to 256.

(b) The shared CPU memory first address (S2) of the data which it will be read
is outside the range (000H to FFFH) of the shared CPU memory address.

(c) The shared CPU memory first address (S2) of the data which it will be read +
number of words (n) to be read is outside the range (000H to FFFH) of the
shared CPU memory address.

(d) First device No. (D) which stores the reading data + number of words (n) to
be read is outside the device range.

(e) Except 3E0H/3E1H/3E2H/3E3H is set at (S1).

(f) The self CPU is specified with (S1).

(g) The CPU which reads is resetting.

(h) The errors are detected in the CPU which read.

[Program Example]
2-word is read to since #@0 from the shared CPU memory C00H of CPU No.1.

MULTR #@0 H3E0 HC00 2 ;

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7.16.31 Write words data to intelligent function module/special function module (TO)

Code TO
A part for (n) words of data from device specified with (S) are written to
Write words data to
since address specified with (D2) of the buffer memory in the intelligent
intelligent function
Function function module/special function module controlled by the self CPU
module/special function
specified with (D1).
module

TO D1 D2 S n ;
Number of words to be written. (1 to 256)
First device No. which writing data are stored.
Format
First address of the buffer memory which writes
data.
First I/O No. of the intelligent function module/special
function module. (000H to FF0H)

[Explanation]
(1) A part for (n) words of data from device specified with (S) are written to since
address specified with (D2) of the buffer memory in the intelligent function
module/special function module controlled by the self CPU specified with (D1).
(D1) Intelligent function
module/special
function module
Device memory buffer memory
(S) (D2)

Write the data

of a part for
(n)words

(2) First I/O No. of the module set by system setting is specified by (D1).
Power supply Q02H Q173 QX40 Q64AD Q64DA
module CPU CPU(N)

First I/O First I/O First I/O

No. : 00H No. : 10H No. : 20H

(D1) sets 20H by the system setting when a TO instruction is executed in the D/A
conversion module (Q64DA).

(3) The devices that may be set at (D1), (D2), (S) and (n) are shown below.
Word devices (Note)
Setting Bit devices (Note) Constant
(16-bit integer type)
data (16-bit integer type)
D W #@ M B F X Y
(D1) — — — — —
(D2) — — — — —
(S) — — — — — —
(n) — — — — —
(Note) : The device No. cannot be specified indirectly.
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(4) The following analogue modules can be used as the control module of Motion
CPU.
• Q62DA
• Q64DA
• Q68DAV
• Q68DAI
• Q64AD
• Q68ADV
• Q68ADI

(5) An operation error will occur if :

(a) Number of words (n) to be written is outside the range of 1 to 256.
(b) Motion CPU cannot communicate with intelligent function module/special
function module at the instruction execution.
(c) Abnormalities of the intelligent function module/special function module were
detected at the instruction execution.
(d) I/O No.s specified with (D1) differ from the intelligent function module/special
function module controlled by the self CPU.
(e) The address specified with (D2) is outside the buffer memory range.
(f) First device No. (S) which writing data are stored + number of words (n) to be
written is outside the device range.

[Program Example]
2-word from #0 is written to since buffer memory address (0H) of the Intelligent function
module/special function module (First I/O No. : 010H).

T0 H010 H0 #0 2 ;

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7.16.32 Read words data from intelligent function module/special function module (FROM)

Code FROM
A part for (n) words of data are read from the address specified with
Read words data from
(S2) of the buffer memory in the intelligent function module/special
intelligent function
Function function module controlled by the self CPU specified with (S1), and are
module/special function
stored since the device specified with (D).
module

FROM D S1 S2 n ;
Number of words to be read (1 to 256)
First address No. of the buffer memory which it will
Format be read.
First I/O No. of the intelligent function module/special
function module. (000H to FF0H)
First device No. which stores the reading data.

[Explanation]
(1) A part for (n) words of data are read from the address specified with (S2) of the
buffer memory in the intelligent function module/special function module controlled
by the self CPU specified with (S1), and are stored since the device specified with
(D).
(S1) Intelligent function
module/special
function module
Device memory buffer memory
(D) (S2)

Read the data

of a part for
(n)words

(2) First I/O No. of the module set by system setting is specified by (D1).
Power supply Q02H Q173 QX40 Q64AD Q64DA
module CPU CPU(N)

First I/O First I/O First I/O

No. : 00H No. : 10H No. : 20H

(S1) sets 20H by the system setting when a FROM instruction is executed in the
D/A conversion module (Q64DA).

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

(3) The devices that may be set at (D), (S1), (S2) and (n) are shown below.
Word devices (Note)
Setting Bit devices (Note) Constant
(16-bit integer type)
data (16-bit integer type)
D W #@ M B F X Y
(D) — — — — — —
(S1) — — — — —
(S2) — — — — —
(n) — — — — —
(Note) : The device No. cannot be specified indirectly.

(4) The following analogue modules can be used as the control module of Motion
CPU.
• Q62DA
• Q64DA
• Q68DAV
• Q68DAI
• Q64AD
• Q68ADV
• Q68ADI

(5) An operation error will occur if :

(a) Number of words (n) to be read is outside the range of 1 to 256.
(b) Motion CPU cannot communicate with intelligent function module/special
function module at the instruction execution.
(c) Abnormalities of the intelligent function module/special function module were
detected at the instruction execution.
(d) I/O No.s specified with (S1) differ from the intelligent function module/special
function module controlled by the self CPU.
(e) The address specified with (S2) is outside the buffer memory range.
(f) First device No. (D) which stores the reading data + number of words (n) to
be read is outside the device range.

[Program Example]
A word is read from the buffer memory address 10H of the intelligent function
module/special function module (First I/O No. : 020H), and is stored in W0.

FROM #W0 H020 H10 1 ;

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7.16.33 Conditional branch using bit device (ON, OFF)

Code ON, OFF By describing this command in the conditional expression of

Bit device conditional IF or WHILE, branches processing according to the ON/OFF status of
Function
branch the specified bit device.

I F [ ON #M100 ] GOTO 1 ;
Format ON/OFF device (X, Y, M, B, F)
ON/OFF command (describe OFF for OFF)
*Conditional expression of IF THEN or WHILE can also be described similarly.

[Explanation]
(1) The ON/OFF status of the specified bit device is judged by the ON/OFF command
to see if it is true (1) or false (0).
By using this command in the conditional expression of IF or WHILE, a conditional
branch can be made with a bit device.
When used with a logical operator, this command enables a conditional branch
with multiple bit devices.

(2) [ ] of the conditional expression can be five levels deep including [ ] of a function.
An operational expression may be described in up to 72 characters in all. (Up to
the maximum number of characters in one block)
<When "ON" is specified>
IF [ON #M100] GOTO1 ;
When M100 is ON, the result is true (1) and a branch to N01 is taken.
When M100 is OFF, the result is false (0) and the next block is executed.

<When "OFF" is specified>

IF [OFF #M100] GOTO1 ;
When M100 is ON, the result is false (0) and the next block is executed.
When M100 is OFF, the result is true (1) and a branch to N01 is taken.

<When used with logical operator>

IF [ [ON #M100] AND [ON #M110] ] GOTO1 ;
When M100 is ON and M110 is ON, a branch to N01 is taken.
If either of them is OFF, the next line is executed.

(3) The device that may be specified after the ON/OFF command is the bit device
only.
If a word device is specified, a "Format error" (error code : 560) occurs.

(4) The bit devices usable in the ON/OFF command are X, Y, M, B and F.

(5) The ON/OFF command is available for the conditional expressions of the program
control functions (IF GOTO, IF THEN, WHILE).

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

[Program Example]
(1) When M100 is ON, a branch to line N03 is taken.
N01 IF [ON #M100] GOTO3 ; Branches to line N03 if M100 is ON.
N02 G01 X100. F200. ; Executes the next line (N02) if M100 is OFF.

N03 G00 X0. ;

(2) Execution starts from the next line (THEN1 and later) if M200 is ON, or from ELSE1
if it is OFF.
N01 IF [ON #M200] THEN1 ;
N02 G01 X100. F200. ; Executed when M200 is ON.
N03 ELSE1 ;
N04 G00 X200. ; Executed when M200 is OFF.
N05 END1 ;

(3) While M300 is OFF, the blocks within WHILE (N02, N03, N04) are executed
repeatedly.
N01 WHILE [OFF #M300] D02 ; Executes blocks within WHILE while M300 is OFF.
N02 G91 G01 X10. F100. ;
N03 #2010 = #2010 + 1 ;
N04 END2 ; Executed when M300 turns ON.
N05 G90 G00 X0. ;

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7 MOTION PROGRAMS FOR POSITIONING CONTROL

MEMO

7 - 186
8 AUXILIARY AND APPLIED FUNCTIONS

8. AUXILIARY AND APPLIED FUNCTIONS

8.1 LIMIT SWITCH OUTPUT FUNCTION

This function is used to output the ON/OFF signal corresponding to the data range of
the watch data set per output device.
Motion control data or optional word data can be used as watch data. (Refer to Section
"8.1.2 Limit Output Setting Data" for details.)
A maximum output device for 32 points can be set regardless of the number of axes.

8.1.1 Operations

(1) ON output to an output device is made while the watch data value is in the ON
output region set with (ON Value) and (OFF Value) in this function.
(a) (ON Value), (OFF Value) and watch data value are handled as signed data.
ON output region where an ON output is made to the output device is
governed by the magnitude relationship between (ON Value) and (OFF
Value) as indicated below.
Relationship between (ON Value) and
ON output region
(OFF Value)
(ON Value) < (OFF Value) (ON Value) <= (watch data value) < (OFF Value)
(ON Value) <= (watch data value)
(ON Value) > (OFF Value)
(Watch data value) < (OFF Value)
(ON Value) = (OFF Value) Output OFF in whole region

1) (ON Value) < (OFF Value)

ON
Output device OFF OFF

OFF Value
ON region setting
ON Value

Watch data value 8

(ON Value) (Watch data value) (OFF Value)

2) (ON Value) > (OFF Value)

ON ON
Output device OFF

ON Value
ON region setting
OFF Value

Watch data value

(Watch data value) (OFF Value) (ON Value) (Watch data value)

8-1
8 AUXILIARY AND APPLIED FUNCTIONS

3) (ON Value) = (OFF Value)

Output device OFF in whole region

ON region setting ON Value OFF Value

Watch data value

(b) The limit switch outputs are controlled based on thee each watch data during
the PCPU ready status (M9074: ON) by the PLC ready flag (M2000) from
OFF to ON.
When the PCPU ready flag (M9074) turns OFF by turning the PLC ready flag
(M2000) from ON to OFF, all points turn OFF. When (ON Value) and (OFF
Value) are specified with word devices, the word device contents are input to
the internal area when the PLC ready flag (M2000) turns from OFF to ON.
After that, the word device contents are input per motion operation cycle, and
limit switch outputs are controlled.

(c) Multiple outputs (Max.32 points) can be also set to one watch data. In each
setting, the output device may be the same.
If multiple ON region settings have been made to the same output device, the
logical add of the output results in the regions is output.

ON ON
Output device OFF OFF

OFF Value
ON region setting No.2
ON Value

OFF Value
ON region setting No.1 ON Value

Watch data value

(2) Output enable/disable bit can be set and executed enable/disable of the limit
switch outputs point-by-point.
Limit switch output control is executed when the output enable/disable bit is ON,
and the output is OFF when it is OFF.
If there is no setting, the outputs are always enabled.

(3) Forced output bit can be set and turned the forcibly output of the limit switch
outputs point-by-point ON.
The output is ON when the forced output bit is ON. Priority is given to control of
this setting over off (disable) of the "output enable/disable bit".
When there is no setting, no forced outputs are not always made.

8-2
8 AUXILIARY AND APPLIED FUNCTIONS

(4) When the multiple watch data, ON region, output enable/disable bit and forced
output bit are set to the same output device, the logical add of output results of the
settings is output.

M9074 ON

1) Without output enable/disable bit/forced output settings

Output device

OFF Value
ON region setting
ON Value

Watch data value

2) With output enable/disable bit/forced output settings

Output device
Output control based on Output ON
Output OFF ON Value and OFF Value (Forced output) Output OFF

Enable/disable bit Output control based on

Output OFF ON Value and OFF Value Output OFF

Forced output bit Output ON

(Forced output)

8-3
8 AUXILIARY AND APPLIED FUNCTIONS

8.1.2 Limit Output Setting Data

Limit output data list are shown below.

Up to 32 points of output devices can be set.
(The following items of No. 1 to No. 5 are set together as one point.)
Fetch Refresh
No. Item Setting range Remarks
cycle cycle
Operation
1 Output device Bit device (X, Y, M, L, B) —
cycle
Motion control data/
word device (D, W, #, absolute address)
2 Watch data
(16-bit integer type/32-bit integer type/
64-bit floating-point type)
ON region ON Value Word device (D, W, #)/constant (K, H)
3
setting OFF Value Word device (D, W, #)/constant (K, H)
Operation ON : Enable
—
Bit device (X, Y, M, L, B, F, special M)/ cycle OFF : Disable
4 Output enable/disable bit
none (default) None : Always
enable
None : No forced
Bit device (X, Y, M, L, B, F, special M)/ outputs are
5 Forced output bit
none (default) always made
(OFF status)

(1) Output device

(a) Set the bit device which outputs the ON/OFF signal toward the preset watch
data.

(b) As the output device, the following devices can be used.

Item Device No. setting range
Input relay (Note-1) X0 to X1FFF
Output relay (Note-2) Y0 to Y1FFF
Internal relay (Note-3) M0 to M8191
Latch relay L0 to L8191
Link relay B0 to B1FFF

(Note-1) : PX is write-disabled and it cannot be used as the output device.

For X, only the free No. of the input card non-loading can be used.
(Note-2) : The real output device range(PY) is also included.
(Note-3) : M2001 to M2032 cannot be used to the output device.
Be careful because it affect a positioning operation, when the
positioning dedicated devices are set.

8-4
8 AUXILIARY AND APPLIED FUNCTIONS

(1) Watch data

(a) This data is used to perform the limit switch output function. This data is
comparison data to output the ON/OFF signal. The output device is
ON/OFF-controlled according to the ON region setting.

(b) As the watch data, motion control data or optional word device data can be
used.
1) Motion control data
Axis No. setting range
Item Unit Data type
Q173CPU(N) Q172CPU(N)
Machine value
Position command 32-bit
Real machine value
integer type
Deviation counter value PLS
Motor current 16-bit 1 to 32 1 to 8
0.1% (0.01V)
(Command output voltage : ACF) integer type
Motor speed 0.1r/min 32-bit
Current value Position command integer type

2) Word device data

Item Device No. setting range
Data register D0 to D8191
Link register W0 to W1FFF
Motion register #0 to #8191

3) When the optional device data is set, the following data type is set as the
data type to be compared.
Data type Device No. setting range
16-bit integer type
32-bit integer type Set the device No. as an even No..
64-bit floating-point type

8-5
8 AUXILIARY AND APPLIED FUNCTIONS

(3) ON region setting

(a) The data range which makes the output device turn ON/OFF toward the
watch data.

(b) The following devices can be used as the ON Value and OFF Value of the
data range.
The data type of device/constant to be set is the same as the type of watch
data.
Item Device No. setting range
Data register D0 to D8191
Link register W0 to W1FFF
Motion register #0 to #8191
Constant Hn/Kn

(4) Output enable/disable bit

`(a) Set the status of output enable/disable bit when the limit switch output is
forbidden during operation.
1) The following control is exercised.
Output enable/disable bit status Control description
Without setting (always enable) Limit switch output is turned ON/OFF based on the
ON (enable) ON region setting (ON Value, OFF Value).
With setting
OFF (disable) Limit switch output is turned OFF.

(b) Usable devices

Item Device No. setting range
Input relay (Note-1) X0 to X1FFF
Output relay (Note-2) Y0 to Y1FFF
Internal relay M0 to M8191
Latch relay L0 to L8191
Link relay B0 to B1FFF
Annunciator F0 to F2047
Special relay M9000 to M9255
(Note-1) : The real input range(PX) is included.
(Note-2) : The real input range(PY) is included.

8-6
8 AUXILIARY AND APPLIED FUNCTIONS

(5) Forced output bit

(a) Set the "forced output bit" when you want to forcibly provide the limit switch
outputs during operation.

1) The following control is exercised.

Forced output bit Control description
Without setting Limit switch outputs are turned ON/OFF on the
basis of the "output enable/disable bit" and ON
OFF
With setting region setting (ON Value, OFF Value).
ON Limit switch outputs are turned ON.

(b) Usable devices

Item Device No. setting range
Input relay X0 to X1FFF
Output relay Y0 to Y1FFF
Internal relay M0 to M8191
Latch relay L0 to L8191
Link relay B0 to B1FFF
Annunciator F0 to F2047
Special relay M9000 to M9255

8-7
8 AUXILIARY AND APPLIED FUNCTIONS

8.2 Backlash Compensation Function

This function compensates for the backlash amount in the machine system. When the
backlash compensation amount is set, extra feed pulses equivalent to the backlash
compensation amount set up whenever the travel direction is generated at the
positioning control, JOG operation or manual pulse generator operation.

Feed screw

Workpiece

Backlash compensation amount

Fig.8.1 Backlash compensation amount

(1) Setting of the backlash compensation amount

The backlash compensation amount is one of the fixed parameters, and is set for
each axis using a peripheral device.
The setting range differs according to whether [mm], [inch] or [degree] units are
used as shown below.
(a) [mm] units
• 0 to 6.5535
(Backlash compensation amount)
•0 65535[PLS]
(Travel value per PLS)
(Decimal fraction rounded down)

(b) [inch] or [degree] units

• 0 to 0.65535
(Backlash compensation amount)
•0 65535[PLS]
(Travel value per PLS)
(Decimal fraction rounded down)

8-8
8 AUXILIARY AND APPLIED FUNCTIONS

(2) Backlash compensation processing

Details of backlash compensation processing are shown below.

Table 8.1 Details of backlash compensation processing

Condition Processing
• If travel direction is equal to home position return direction, the backlash
compensation is not executed.
First start after power on
• If travel direction is not equal to home position return direction, the
backlash compensation is executed.

• If travel direction is changed at the JOG operation start, the backlash

JOG operation start
compensation is executed.

Positioning start • If travel direction is changed, the backlash compensation is executed.

Manual pulse generator

• If travel direction is changed, the backlash compensation is executed.
operation

Home position return • The backlash compensation is executed after home position return
completion completion.

Absolute position system • Status stored at power off and applied to absolute position system.

POINTS
(1) The feed pulses of backlash compensation amount are added to the machine
value.

(2) When the backlash compensation amount is changed, the home position
return is required.
When the home position return is not executed, the original backlash
compensation amount is not changed.

8-9
8 AUXILIARY AND APPLIED FUNCTIONS

8.3 Torque Limit Function

This function restricts the generating torque of the servomotor within the setting range.
If the torque required for control exceeds the torque limit value during positioning
control, it restricts with the setting torque limit value.

(1) Setting range of the torque limit value

It can be set within the range of 1 to 500[%] of the rated torque.

(2) Torque limit value change

Torque limit value can be changed in the Motion program or PLC program, etc. at
a program start or JOG operation start.
(a) Torque limit value is changed to the torque limit value specified with
parameter block at a program start or JOG operation start.

(b) TL instruction (Refer to Section 7.16.15), PB instruction (Refer to Section

7.16.14) or CHGT instruction (Refer to Section 7.16.18) is used to change
the torque limit value in the Motion program.
PB instruction changes it to the torque limit value specified with parameter
block. TL or PB instruction commands to all start axes of Motion program.
CHGT instruction commands to only specified axis.

(c) S(P).CHGT instruction (Refer to Section 4.6) is used to change in the PLC
program.

[Control Details]
(1) Torque limit value at a Motion program start or JOG operation start is changed to
the value specified with parameter block.

(2) When the TL or PB instruction is used to change the torque limit value, the new
value is valid until the next TL or PB instruction is executed. However, it is
clamped at the torque limit value of CHGT/S(P).CHGT instruction.

[Program Example]
(1) It is supported that the torque limit value has been set to 300[%] for each axis by
the CHGT/S(P).CHGT instruction before a program start.

(2) 200[%] is set as the torque limit value of parameter block to execute a program.

8 - 10
8 AUXILIARY AND APPLIED FUNCTIONS

(3) Motion program

O10;
G90;
N1 G00 X100. Y100. ;
TL100;
N2 G00 X200. Y200. ;
N3 G00 X300. Y300. ;
M02;
%
V

t
Sequence No. N1 N2 N3

Torque limit value[%] (Note-1)

200 100
(Program command)

CHGT Instruction
300(Note-2) 250
S(P). CHGT Instruction
300
X-axis Servo command 200 250
100
0

CHGT Instruction 300(Note-2) 50

S(P). CHGT Instruction 300
Y-axis Servo command 200
100
0 50

(Note-1) : Indicates the torque limit value change by a program or CHGT/S(P).CHGT instruction, and the
resultant command to servo amplifier. Unit is [%].
1) Torque limit value changed by CHGT/S(P).CHGT instruction. Given to the change target
axes.
2) The servo command indicates the torque limit value given actually to the servo amplifier.
(Note-2) : When the CHGT/S(P).CHGT instruction is not executed after power-on, the torque limit value
is 300[%].

(4) Explanation
(a) In comparison with the torque limit value of parameter block specified with
the S(P).SVST and the value specified with last CHGT/S(P).CHGT
instruction, the lower torque limit value at a program start is commanded. In
this case, the value is 200[%] every each axis.

(b) The torque limit value of TL instruction at N2 execution is 100[%] every each
axis.

(c) During N2 execution, the torque limit value is changed to 250[%] in the X-
axis and to 50[%] in the Y-axis by the CHGT/S(P).CHGT instruction.

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8 AUXILIARY AND APPLIED FUNCTIONS

8.4 Absolute Position System

The positioning control for absolute position system can be performed using the
absolute-position-compatible servomotors and servo amplifiers.
If the machine position is set at the system starting, home position return is not
necessary because the absolute position is detected at the power on.
The machine position is set with the home position return using the Motion program or
a peripheral device.
The vector inverter does not support an absolute position.

(1) Conditions of the absolute position system start

Perform a home position return after machine adjustment at the absolute position
system start.

(2) In the absolute positioning system, the absolute position may be lost as the
following cases:
Set the absolute position with a home position return.
(a) The battery unit is removed or replaced.

(b) The battery error of the servo amplifier occurs. (It is detected at the servo
amplifier power on).

(c) The machine system is disturbed by a shock.

(d) The cable between servo amplifier and encoder is removed, or the servo
amplifier or encoder is replaced.

CAUTION
After removing or replacing the battery unit, correctly install the new unit and set the absolute
position.
After a servo battery error occurs, eliminate the cause of the error and ensure operation is safe
before setting the absolute position.
After the mechanical system is disturbed by a shock, make the necessary checks and repairs,
and ensure operation is safe before setting the absolute position.

8 - 12
8 AUXILIARY AND APPLIED FUNCTIONS

POINTS
(1) The address setting range of absolute position system is −2147483648 to
2147483647.
It is not possible to restore position commands that exceed this limit, or current
values after a power interruption.
Correspond by the [degree] setting for an infinite feed operation.

(2) Even when the current value address is changed by a current value change
instruction, the restored data for the current value after a power interruption is
the value based on the status prior to execution of the current value change
instruction.

(3) When home position return has not been completed (home position return
request is ON), restoration of the current value after a power interruption is not
possible.

(3) The current value history can be monitored using of the "System setting mode-
allowable travel during power off" or "Monitor mode" using a peripheral device.
(Refer to the help of SW6RN-GSV43P "Allowable travel during power off" and
"Monitor mode".)
(a) Current value history monitor
Month/day/hour/minute
The time such as at the completion of home position return and servo
amplifier power supply ON/OFF is indicated.
In order to indicate the time correctly, turn on M9028 (Clock data read
request) in the Motion program after setting the clock data of special
register.

(b) Encoder current value

The multiple revolution data and within-one-revolution data read from the
encoder is indicated, when using the MR-H BN (22kW or less) [Ver. BCD-
B13W000-B2 or later], MR-J2- B [Ver. BCD-B20W200-A1 or later] or MR-
H BN (30kW or more)/MR-H BN4/MR-J2S- B/MR-J2M-B/MR-J2-03B5
(No restriction).
(Note) : For the encoder current value in the home position data area, the
encoder current value when the motor is within the in-position
range at the completion of home position return is displayed (not
encoder value of home position).

(c) Servo command value

The command value issued to the servo amplifier is indicated.

(d) Servo command value

The current value controlled in the Motion CPU is indicated.
(Note) : A value near the machine value is indicated. However, because the
monitor current value and machine value are different data, it is not
abnormal even if a different value is indicated.

8 - 13
8 AUXILIARY AND APPLIED FUNCTIONS

(e) Alarms
When an error for current value restoration occurs at the servo amplifier
power on, an error code is indicated.
Refer to APPENDIX "2.1 Motion program setting errors" for details of
error contents.

8 - 14
8 AUXILIARY AND APPLIED FUNCTIONS

8.5 Home Position Return

(1) Use the home position return at the power supply ON and other times where
confirmation of axis is at the machine home position is required.

(2) The following six methods for home position return are shown below.
• Proximity dog type
• Count type
• Data set type
• Dog cradle type
• Stopper type
• Limit switch combined type

(3) The home position return data must be set for each axis to execute the home
position return.

(4) Select the optimal home position return method for the system configuration and
applications with reference to the following.
Home position return methods Contents Applications
• Home position is zero point of • It is used in the system which can surely pass a zero point
servomotor. from the home position return start to proximity dog ON
Proximity dog type 1
• When the proximity dog is ON, it OFF.
cannot be started.
Proximity dog type
• Home position is zero point of • This method is valid when the stroke range is short and
servomotor. "proximity dog type 1" cannot be used.
Proximity dog type 2
• When the proximity dog is ON, it
can be started.
• Home position is zero point of • It is used in the system which can surely pass a zero point
Count type 1 servomotor. from the home position return start to point of travel
distance set as "travel value after proximity dog ON".
Count type • Zero point is not used in the home • This method is used when the proximity dog is near the
Count type 2
position return. stroke end and the stroke range is narrow.
• Home position is zero point of • This method is valid when the stroke range is short and
Count type 3
servomotor. "count type 1" cannot be used.
• Home position is command • External input signals such as dog signal are not set in
position of Motion CPU. this absolute position system.
Data set type 1
• This method is valid for the data set independent of a
Data set type
deviation counter value.
• Home position is real position of • External input signals such as dog signal are not set in
Data set type 2
servomotor. this absolute position system.
• Home position is zero point of • It is easy to set the position of proximity dog, because the
Dog cradle type servomotor immediately after the proximity dog is set near the position made to the home
proximity dog signal ON. position.
• Home position is position which • This method is valid to improve home position accuracy in
stopped the machine by the order to make the home position for the position which
Stopper type 1
stopper. stopped the machine by the stopper.
• Proximity dog is used.
Stopper type
• Home position is position which
stopped the machine by the
Stopper type 2
stopper.
• Proximity dog is not used.
• Home position is zero point of • It is used in the system that the proximity dog signal
servomotor. cannot be used and only external limit switch can be
Limit switch combined type
• Proximity dog is not used. used.
• External limit switch is surely used.

8 - 15
8 AUXILIARY AND APPLIED FUNCTIONS

8.5.1 Home position return data

This data is used to execute the home position return.

Set this data using a peripheral device.

Table 8.2 Home position return data list

Setting range Explan-
Default
No. Item mm inch degree Units Remarks atory
value
Setting range Units Setting range Units Setting range Units section
Home position 0: Reverse direction (Address decrease direction) • The home position return direction is
1 0
return direction 1: Forward direction (Address increase direction) set.
0: Proximity dog type 1 7: Dog cradle type • The home position return method is
4: Proximity dog type 2 8: Stopper type 1 set.
1: Count type 1 9: Stopper type 2 • The proximity dog type or count type
Home position
2 5: Count type 2 10: Limit switch combined type 0
return method are recommended for the servo
6: Count type 3
amplifier which does not support
2: Data set type 1
3: Data set type 2 absolute value.
• The current value of home position
after the home position return is set.
–214748.3648 –21474.83648
Home position 0 to • It is recommended that the home
3 to mm to inch degree 0 mm
address 359.99999 position address is set in the upper
214748.3647 21474.83647
stroke limit value or lower stroke limit
value.
• The current value of second home
position after the second home
Second home –214748.3648 –21474.83648 position return is set.
0 to
4 position to mm to inch degree 0 mm • It is recommended that the second
359.99999
address 214748.3647 21474.83647 home position address is set in the
upper stroke limit or lower stroke limit
value.
Home position 0.01 to mm 0.001 to inch 0.001 to degree mm • The home position return speed is set.
5 0.01
return speed 6000000.00 /min 600000.000 /min 2147483.647 /min /min
• The creep speed (low speed
immediately before stopping after
0.01 to mm 0.001 to inch 0.001 to degree mm
6 Creep speed 0.01 deceleration from home position return
6000000.00 /min 600000.000 /min 2147483.647 /min /min
speed) after the proximity dog ON is
set.
• The travel value after the proximity
Travel value
0.0000 to 0.00000 to 0.0000 to dog ON for the count type is set. 8.5.1
7 after proximity mm inch degree 0 mm
214748.3647 21474.83647 21474.83647 • More than the deceleration distance at (1)
dog ON
the home position return speed is set.
• The parameter block (Refer to Section
Parameter
8 1 to 64 1 6.4) No. to use for home position
block setting
return is set.
Home position • Valid/invalid of home position return
0: Invalid (Do not execute the home position return retry by limit switch.) 8.5.1
9 return retry 0 retry is set.
1: Valid (Execute the home position return retry by limit switch.) (2)
function
Dwell time at • The stop time at the deceleration stop
the home during the home position return retry is 8.5.1
10 0 to 5000[ms] 0 ms
position return set. (2)
retry
-214748.3648 -21474.83648 -21474.83648 • The shift amount at the home position
Home position 8.5.1
11 to mm to inch to degree mm shift is set.
shift amount (3)
214748.3647 21474.83647 21474.83647
Speed set at • The operation speed which set the
0: Home position return speed 8.5.1
12 the home 0 home position shift amount except
1: Creep speed (3)
position shift "0" is set.
Torque limit • The torque limit value with creep
speed at the stopper type home 8.5.1
13 value at the 1 to 500[%] 300 %
position return is set. (4)
creep speed

8 - 16
8 AUXILIARY AND APPLIED FUNCTIONS

(1) Travel value after proximity dog ON

(a) The travel value after proximity dog ON is set to execute the count type
home position return.

(b) After the proximity dog ON, the home position is the first zero-point after
travel by the setting travel value.

(c) Set the travel value after proximity dog ON more than the deceleration
distance from the home position return speed.

Example
The deceleration distance is calculated from the speed limit value, home position
return speed, creep speed and deceleration time as shown below.
[Home position return operation]
Speed limit value : VP=200kpps

Home position return speed : VZ=10kpps

Creep speed : VC=1kpps

VZ t
Real deceleration time : t=TB
VP
TB
Deceleration time : TB=300ms

[Deceleration distance (shaded area under graph)]

1 VZ
= t
2 1000
Converts in speed per millisecond
VZ TB VZ
=
2000 VP
10 103 300 10 103
=
2000 200 103

= 75 . . . . . . Set 75 or more

POINT
A home position return must be made after the servomotor has been rotated more
than one revolution to pass the axis through the Z-phase (motor reference position
signal).
For a proximity dog type or count type home position return, the distance between
the point where the home position return program is started and the deceleration
stop point before re-travel must be such that the servomotor is rotated more than
one revolution to pass the axis through the Z-phase.
When a data set type home position return is made in an ABS (absolute position)
system, the servomotor must also have been rotated more than one revolution by
JOG operation or the like to pass the axis through the Z-phase.
(Note) : When "1 : No servomotor Z-phase pass after power ON" is selected at the
time of MR-J2S-B/MR-J2M-B use in the "condition selection of home
position set" of servo parameter (expansion parameter), even if it does not
pass zero point, the home position return can be executed and restrictions
are lost.

8 - 17
8 AUXILIARY AND APPLIED FUNCTIONS

(2) Home position return retry function/dwell time at the home position
return retry
(a) Valid/invalid of home position return retry is set.

(b) When the valid of home position return retry function is set, the time to stop
at return of travel direction is set with dwell time at the home position return
retry.

(c) Operation for the proximity dog type home position return by setting "valid"
for home position return retry function is shown below.

Acceleration time Deceleration time The temporary stop is made during time 1) It travels to preset
set in the "dwell time at the home direction of home
position return retry". position return.
2) If the external upper/lower
Home position limit switch turns OFF
return direction before the detection of
5) 1) 2)
proximity dog, a
6) deceleration stop is made.
3) After a deceleration stop,
the temporary stop is
Home made during time set in
position Home position the "dwell time at the
return start home position return retry"
4) and it travels to reverse
3) direction of home position
return with the home
External limit switch position return speed.
Proximity 4) A deceleration stop is
dog made by the proximity dog
Zero point OFF.
5) After a deceleration stop,
The temporary stop is made during time the temporary stop is
set in the "dwell time at the home made during time set in
position return retry". the "dwell time at the
home position return retry"
and it travels to direction
of home position return.
6) Home position return
ends.

Fig. 8.2 Operation for home position return retry function

(d) Possible/not possible of home position return retry function by the home
position return method is shown below.
Home position return Possible/not possible of home position
methods return retry function
Proximity dog type
Count type
Data set type
Dog cradle type
Stopper type
Limit switch combined type
: Possible, : Not possible

8 - 18
8 AUXILIARY AND APPLIED FUNCTIONS

(3) Home position shift amount/speed set at the home position shift
(a) The shift (travel) amount from position stopped by home position return is
set.

(b) If the home position shift amount is positive value, it shifts from detected zero
point signal to address increase direction. If it is negative value, it shifts from
detected zero point signal to address decrease direction.

(c) Operation speed which set the home position shift amount except "0" is set in
the speed set at the home position shift. Select one of the "home position
return speed" or "creep speed".

Home position shift amount is positive value

Address decrease Address increase

direction direction
Home position Home position
return direction return speed
Set the operation speed at
the home position shift with
speed set at the home
Creep speed position shift.
Select one of "home
position return speed" or
"creep speed".
Home
Home position position
return start Home position Home position shift amount
return re-travel (Positive value)
value
Travel value after proximity dog ON
Proximity dog

Zero point

Home position shift amount is negative value

Address decrease Address increase
direction direction
Home position Home position
return direction return speed

Home position
Home position return re-travel value
return start Creep speed

Home position Set the operation speed at

the home position shift with
Creep speed Travel value after speed set at the home
proximity dog ON position shift.
Select one of "home
position return speed" or
Home position "creep speed".
return speed
Proximity dog Home position shift amount
(Negative value)
Zero point

Fig. 8.3 Home position shift amount/speed set at the home position shift

8 - 19
8 AUXILIARY AND APPLIED FUNCTIONS

(d) Valid/invalid of the setting value for home position shift amount by the home
position return method is shown below.
Home position return Valid/invalid of home position shift
methods amount
Proximity dog type
Count type
Data set type
Dog cradle type
Stopper type
Limit switch combined type
: Valid, : Invalid

POINT
(1) Home position shift function is used to rectify a home position stopped by the
home position return. When there are physical restrictions in the home position
by the relation of a proximity dog installation position, the home position is
rectified to the optimal position. Also, by using the home position shift function,
it is not necessary to care the zero point for an installation of servomotor.
(2) After proximity dog ON, if the travel value including home position shift amount
exceeds the range of "-2147483648 to 2147483647" [ 10-4mm, 10-5inch,
10-5degree], "travel value after proximity dog ON" of monitor register is not set
correctly.

(4) Torque limit value at the creep speed

(a) Torque limit value at the creep speed (on press) is set in the case of using
the pressed position as the home position by the home position return of
stopper type 1, 2.

(b) Valid/invalid of the torque limit value at the creep speed by the home
position return method is shown below.
Home position return Valid/invalid of torque limit value at
methods the creep speed
Proximity dog type
Count type
Data set type
Dog cradle type
Stopper type
Limit switch combined type
: Valid, : Invalid

8 - 20
8 AUXILIARY AND APPLIED FUNCTIONS

(5) Setting items for home position return data

Home position return methods

Limit switch combined type

Proximity dog type 1

Proximity dog type 2

Items

Dog cradle type

Data set type 1

Data set type 2

Stopper type 1

Stopper type 2
Count type 1

Count type 2

Count type 3
Home position return direction
Home position address
Second home position address
Home position return speed
Creep speed
Home position Travel value after proximity dog ON
return data Parameter block setting
Home position return retry function
Dwell time at the home position return retry
Home position shift amount
Speed set at the home position shift
Torque limit value at the creep speed
Interpolation control unit
Speed limit value
Acceleration time
Deceleration time
Parameter blocks Rapid stop deceleration time
S-curve ratio
Torque limit value
Deceleration processing at the stop time
Allowable error range for circular interpolation
: Must be set
: Must be not set

8 - 21
8 AUXILIARY AND APPLIED FUNCTIONS

8.5.2 Home position return by the proximity dog type 1

[Control details]
(1) Proximity dog type 1
Zero point position after proximity dog ON to OFF is home position in this
method.
When it does not pass (zero pass signal: M2406+20n OFF) the zero point from
home position return start to deceleration stop by proximity dog ON to OFF, an
error will occur and home position return is not executed. However, when "1 : No
servomotor Z-phase pass after power ON" is selected at the time of MR-J2S-
B/MR-J2M-B use in the "condition selection of home position set" of servo
parameter (expansion parameter), if it does not pass zero point from home
position return start to deceleration stop by proximity dog ON to OFF, the home
position return can be executed.

(2) Home position return by the proximity dog type 1

Operation of home position return by proximity dog type 1 for passing (zero pass
signal: M2406+20n ON) the zero point from home position return start to
deceleration stop by proximity dog ON to OFF is shown below.

V Home position return direction (Note) : A deceleration stop occurs after

Home position Home position return speed the proximity dog OFF.
return start Positioning is carried out from this
position to the zero point.
Creep speed The distance to the zero point is
based on the servo data.

Proximity dog
ON OFF
Zero point
The travel value in this range is stored
in the monitor register "travel value
after proximity dog ON".

The travel value in this range is stored

in the monitor register "home position
return re-travel value".

Fig. 8.4 Home position return operation by the proximity dog type 1

(3) Home position return execution

Home position return by the proximity dog type 1 is executed using the CHGA
instruction in Section 8.5.16.
When the home position return request is ON, the proximity dog type 1 home
position return is also made even G28 of the Motion program.

8 - 22
8 AUXILIARY AND APPLIED FUNCTIONS

[Cautions]
(1) Keep the proximity dog ON during deceleration from the home position return
speed to the creep speed.
If the proximity dog turns OFF before deceleration to the creep speed, a
deceleration stop is made and the next zero point is set as the home position.

Home position return speed

The zero point is passed during
deceleration stop by the proximity dog OFF.

Setting creep speed

Proximity dog
ON OFF
Zero point

Zero point of this range does not become the home position.
The next zero point becomes the home position.

(2) The position executed deceleration stop by the proximity dog OFF is near zero
point, a home position discrepancy equivalent to one revolution of the servomotor
may occur. Adjust the position of proximity dog OFF, such that the home position
return re-travel value becomes half the travel value for one revolution of the
servomotor.

If the position executed deceleration stop by the proximity dog

OFF is near zero point, the creep speed and deceleration
settings may result in a home position discrepancy
equivalent to one revolution of the servomotor.

Proximity dog
ON OFF
Zero point

POINT
When the home position return retry function is not set in the following cases,
execute the home position return, after return the axis once to position before the
proximity dog ON by the JOG operation, etc.
Home position return cannot be executed without returning to position before the
proximity dog ON.
(1) Home position return with a position after the proximity dog ON to OFF.
(2) When the power supply turned OFF to ON after home position return end.

8 - 23
8 AUXILIARY AND APPLIED FUNCTIONS

(3) When it does not pass (zero pass signal: M2406+20n ON) the zero point from
home position return start to deceleration stop by proximity dog ON to OFF, a
minor error "ZCT not set" (error code: 120) will occur, a deceleration stop is made
and home position return does not end normally. When a distance between home
position return start position and home position is near and a zero point is not
passed, select the proximity dog type 2.

(4) If home position return is executed in the proximity dog ON, a major error
"proximity dog signal is turning ON at the home position return start" (error code:
1003) will occur, the home position return is not executed. Use the proximity dog
type 2 in this case.

(5) When home position return retry function is not set, if home position return is
executed again after home position return end, a minor error "home position return
completion signal is turning ON at the proximity dog type home position return
start" (error code: 115) will occur, the home position return is not executed.

(6) If in-position signal (M2402+20n) does not turn ON, home position return is not
ended.

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8 AUXILIARY AND APPLIED FUNCTIONS

8.5.3 Home position return by the proximity dog type 2

[Control details]
(1) Proximity dog type 2
Zero point position after proximity dog ON to OFF is home position in this
method.
When it passed (zero pass signal: M2406+20n ON) the zero point from home
position return start to deceleration stop by proximity dog ON to OFF, operation
for "proximity dog type 2" is the same as "proximity dog type 1". (Refer to Section
8.5.2)
When it does not pass (zero pass signal: M2406+20n OFF) the zero point from
home position return start to deceleration stop by proximity dog ON to OFF, it
moves to home position return direction after the servomotor is rotated one
revolution to reverse direction and it passed the zero point, and the first zero
point position is set as home position after proximity dog ON to OFF.

(2) Home position return by the proximity dog type 2

Operation of home position return by proximity dog type 2 for not passing the
zero point from home position return start to deceleration stop by proximity dog
ON to OFF is shown below.

V
Home position Home position 1) It travels to preset direction of home position
return speed return direction return with the home position return speed.
5) 2) A deceleration is made to the creep speed by
the proximity dog ON, after that, it travels with
the creep speed. (If the proximity dog turns
OFF during a deceleration, a deceleration
1) Creep speed stop is made and the operation for 4) starts.)
2) 3) A deceleration stop is made by the proximity
dog OFF.
3)
4) After a deceleration stop, it travels for one
revolution of servomotor to reverse direction
Home position of home position return with the home
return start Home position position return speed.
5) It travels to direction of home position return
with the home position return speed, the
home position return ends with first zero point
4) after the proximity dog ON to OFF. (At this
time, a deceleration to the creep speed is not
Home position return speed made with the proximity dog OFF to ON . And
if the zero point is not passed because of
1 revolution droop pulses for processing of 4) and 5), a
Proximity dog minor error "ZCT not set" (error code: 120)
will occur, a deceleration stop is made and
Zero point the home position return does not end
normally. In this case, adjust a position of
Zero point no passing proximity dog OFF.)

The travel value in this range is stored in the monitor

register "travel value after proximity dog ON".
The travel value in this range is stored in the monitor
register "home position return re-travel value".

Fig. 8.5 Home position return operation by the proximity dog type 2
(zero point no passing)

8 - 25
8 AUXILIARY AND APPLIED FUNCTIONS

(3) Home position return execution

Home position return by the proximity dog type 2 is executed using the CHGA
instruction in Section 8.5.16.
When the home position return request is ON, the proximity dog type 2 home
position is also made even G28 of the Motion program.

[Cautions]
(1) A system which the servomotor can rotate one time or more is required.

(2) When a servomotor stops with specified condition enables and rotates to reserve
direction one time after proximity dog ON, make a system for which does not turn
OFF the external upper/lower stroke limit.

(3) Keep the proximity dog ON during deceleration from the home position return
speed to the creep speed.
If the proximity dog turns OFF before deceleration to the creep speed, a
deceleration stop is made and the next zero point is set as the home position.

(4) If home position return is executed in the proximity dog ON, it starts with the creep
speed.

(5) When home position return retry function is not set, if home position return is
executed again after home position return completion, a minor error "home
position return completion signal is turning ON at the proximity dog type home
position return start" (error code: 115) will occur, the home position return is not
executed.

(6) When "1 : No servomotor Z-phase pass after power ON" is selected at the time of
MR-J2S-B/MR-J2M-B use in the "condition selection of home position set" of
servo parameter (expansion parameter), even if it does not pass zero point at the
servo amplifier power ON, the zero pass signal (M2406+20n) turns ON. This
operation is the same as proximity dog type 1.

(7) If in-position signal (M2402+20n) does not turn ON, home position return is not
ended.

8 - 26
8 AUXILIARY AND APPLIED FUNCTIONS

8.5.4 Home position return by the count type 1

[Control details]
(1) Count type 1
After the proximity dog ON, the zero point after the specified distance (travel
value after proximity dog ON) is home position in this method.
When the zero point is not passed (zero pass signal: M2406+20n OFF) until it
travels the distance set in the "travel value after proximity dog ON" from home
position return start, an error will occur and home position return is not executed.
However, when "1 : No servomotor Z-phase pass after power ON" is selected at
the time of MR-J2S-B/MR-J2M-B use in the "condition selection of home position
set" of servo parameter (expansion parameter), if the zero point is not passed
until it travels the distance set in the "travel value after proximity dog ON" from
home position return start, the home position return can be executed.
The travel value after proximity dog ON is set in the home position return data
(Refer to Section 8.5.1).

(2) Home position return by the count type 1

Operation of home position return by count type 1 for passing the zero point
during travel of specified distance set in the "travel value after proximity dog ON"
from the home position return start is shown below.

Home position return (Note) : After the proximity dog ON, positioning of the
direction "travel value after proximity dog ON" of the
V home position return data and the positioning
Home position Home position from the position to zero point.
return start return speed
The distance to the zero point is
Creep speed based on the servo data

Proximity dog
ON
Zero point
The travel value in this range is stored in the monitor
register "travel value after proximity dog ON".
"Travel value after
proximity dog ON"
of the home The travel value in this range is stored in the monitor
position return register "home position return re-travel value".
data.

Fig. 8.6 Home position return operation by the count type 1

(3) Home position return execution

Home position return by the count type 1 is executed using the CHGA instruction
in Section 8.5.16.
When the home position return request is ON, the count type 1 home position is
also made even G28 of the Motion program.

8 - 27
8 AUXILIARY AND APPLIED FUNCTIONS

(1) Home position return and continuously start of home position return are also
possible in the proximity dog ON in the count type 1.
When the home position return or continuously start of home position return are
executed in the proximity dog ON, the home position return is executed after
return the axis once to position of the proximity dog OFF.

(2) When the zero point is not passed (zero pass signal: M2406+20n ON) until it
travels the distance set in the "travel value after proximity dog ON" from home
position return start, a minor error "ZCT not set" (error code: 120) will occur, a
deceleration stop is made and home position return does not end normally. When
a distance between home position return start position and home position is near
and a zero point is not passed, select the count type 3.

(3) When the "travel value after proximity dog ON" is less than the deceleration
distance from "home position return speed" to "creep speed", a minor error "an
overrun occurred because the setting travel value is less than the deceleration
distance at the proximity dog signal input during home position return of count
type" (error code: 209) will occur and deceleration stop is made.

(4) If in-position signal (M2402+20n) does not turn ON, home position return is not
ended.

8 - 28
8 AUXILIARY AND APPLIED FUNCTIONS

8.5.5 Home position return by the count type 2

[Control details]
(1) Count type 2
After the proximity dog ON, the position which traveled the specified distance
(travel value after proximity dog ON) is home position in this method.
It is not related for zero point pass or not pass.
A count type 2 is effective method when a zero point signal cannot be taken.
(However, dispersions will occur to the stop position at the home position return
compared with the count type 1.)
The travel value after proximity dog ON is set in the home position return data
(Refer to Section 8.5.1).

(2) Home position return by the count type 2

Operation of home position return by count type 2 is shown below.

Home position Home position

V return direction return speed

(Note): After the proximity dog ON, a position

which traveled the distance " travel
value after proximity dog ON" of the
home position return data is home
Creep speed position.

Proximity dog
Home position
return start The travel value in this range is stored in the
monitor register "travel value after proximity
dog ON".
(Note): "Home position return re-travel value" = 0

Fig. 8.7 Home position return operation by the count type 2

(3) Home position return execution

Home position return by the count type 2 is executed using the CHGA instruction
in Section 8.5.16.
When the home position return request is ON, the count type 2 home position
return is also made even G28 of the Motion program.

8 - 29
8 AUXILIARY AND APPLIED FUNCTIONS

[Cautions]
(1) Home position return and continuously start of home position return are also
possible in the proximity dog ON in the count type 2.
When the home position return and continuously start of home position return are
executed in the proximity dog ON, the home position return is executed after return
the axis once to position of the proximity dog OFF.

(2) When the "travel value after proximity dog ON" is less than the deceleration
distance from "home position return speed" to "creep speed", a minor error "an
overrun occurred because the setting travel value is less than the deceleration
distance at the proximity dog signal input during home position return of count
type" (error code: 209) will occur and deceleration stop is made.

(3) Command position is the home position.

(4) If in-position signal (M2402+20n) does not turn ON, home position return is not
ended.

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8 AUXILIARY AND APPLIED FUNCTIONS

8.5.6 Home position return by the count type 3

[Control details]
(1) Count type 3
After the proximity dog ON, the zero point after the specified distance (travel
value after proximity dog ON) is home position in this method.
When the zero point is passed (zero pass signal: M2406+20n ON) during travel
of specified distance set in the "travel value after proximity dog ON" from the
home position return start, home position return operation is the same as "count
type 1". (Refer to Section 8.5.4)
When a zero point is not passed (zero pass signal: M2406+20n OFF) during
travel of specified distance set in the "travel value after proximity dog ON" from
the home position return start, it rotates one time to reverse direction and passes
the zero point, re-travels to home position return direction, and then the first zero
point after the specified distance (travel value after proximity dog ON) after
proximity dog ON is set as home position.
The travel value after proximity dog ON is set in the home position return data
(Refer to Section 8.5.1).

(2) Home position return by the count type 3

Operation of home position return by count type 3 for not passing the zero point
during travel of specified distance set in the "travel value after proximity dog ON"
from the home position return start is shown below.

1) It travels to preset direction of home

position return with the home position
V return speed.
Home position Home position 2) A deceleration is made to the creep speed
return speed return direction by the proximity dog ON, after that, it
5) travels with the creep speed.
3) A deceleration stop is made in the position
which traveled the travel value set as travel
value after proximity dog ON.
1) Creep speed 4) After a deceleration stop, it travels for one
2) revolution of servomotor to reverse
direction of home position return with the
3)
home position return speed.
5) It travels to direction of home position
Home position return with the home position return speed,
return start Home position the home position return ends with first
zero point after traveling the travel value
set as travel value after proximity
dog ON from after the proximity dog ON.
4) (At this time, a deceleration to the creep
speed is not made with the proximity dog
Home position OFF to ON. And if the zero point is not
return speed
passed because of droop pulses for
1 revolution processing of 4) and 5), a minor error "ZCT
Proximity dog not set" (error code: 120) will occur, a
deceleration stop is made and home
Zero point
position return does not end normally. In
this case, adjust a position of proximity dog
Zero point no passing ON.)

The travel value in this range is stored in the monitor

register "travel value after proximity dog ON".
The travel value in this range is stored in the monitor
register "home position return re-travel value".

Fig. 8.8 Home position return operation by the count type 3 (zero point no passing)

8 - 31
8 AUXILIARY AND APPLIED FUNCTIONS

(3) Home position return execution

Home position return by the count type 3 is executed using the CHGA instruction
in Section 8.5.16.
When the home position return request is ON, the count type 3 home position
return is also made even G28 of the Motion program.
[Cautions]
(1) A system which the servomotor can rotate one time or more is required.

(2) After the proximity dog ON, when a servomotor rotates one time to reverse
direction after stop with travel value set in the "travel value after proximity dog
ON", make a system which does not turn OFF the external upper/lower stroke
limit.

(3) Home position return and continuously start of home position return are also
possible in the proximity dog ON in the count type 3.
When the home position return and continuously start of home position return are
executed in the proximity dog ON, the home position return is executed after
return the axis once to position of the proximity dog OFF.

(4) When the "travel value after proximity dog ON" is less than the deceleration
distance from "home position return speed" to "creep speed", a minor error "an
overrun occurred because the setting travel value is less than the deceleration
distance at the proximity dog signal input during home position return of count
type" (error code: 209) will occur and deceleration stop is made.
.
(5) When "1 : No servomotor Z-phase pass after power ON" is selected at the time of
MR-J2S-B/MR-J2M-B use in the "condition selection of home position set" of
servo parameter (expansion parameter), even if it does not pass zero point at the
servo amplifier power ON, the zero pass signal (M2406+20n) turns ON. This
operation is the same as count type 1.

(6) If in-position signal (M2402+20n) does not turn ON, home position return is not
ended.

8 - 32
8 AUXILIARY AND APPLIED FUNCTIONS

8.5.7 Home position return by the data set type 1

[Control details]
(1) Data set type 1
The proximity dog is not used in this method for the absolute position system.

(2) Home position return by the data set type 1

Home position is the command position at the home position return operation.

The address at the home position

return operation is registered
as the home position address.

Home position return

by the CHGA instruction

Fig. 8.9 Home position return operation by the date set type 1

(3) Home position return execution

Home position return by the data set type 1 is executed using the CHGA
instruction in Section 8.5.16.
When the home position return request is ON, the data set type 1 home position
return is also made even G28 of the Motion program.

[Cautions]
(1) A zero point must be passed (zero pass signal: M2406+20n ON) between turning
ON the power supply and executing home position return.
If home position return is executed without passing a zero point once, "no zero
point passed error" occurs. If "no zero point passed error" occurred, perform the
home position return again, after reset the error and turn the servomotor at least
one revolution by the JOG operation.
The zero point passing can be confirmed with the zero pass signal (M2406+20n).
However, when "1 : No servomotor Z-phase pass after power ON" is selected at
the time of MR-J2S-B/MR-J2M-B use in the "condition selection of home position
set" of servo parameter (expansion parameter), even if it does not pass zero point
at the servo amplifier power ON, the home position return is possible because the
zero pass signal (M2406+20n) turns ON.

(2) Home position return is started by the data set type 1 when the absolute position
system does not support, it becomes same function as the current value change
command.

(3) The home position return data required for the data set type 1 are the home
position return direction and home position address.

(4) If in-position signal (M2402+20n) does not turn ON, home position return is not
ended.
8 - 33
8 AUXILIARY AND APPLIED FUNCTIONS

8.5.8 Home position return by the data set type 2

[Control details]
(1) Data set type 2
The proximity dog is not used in this method for the absolute position system.

(2) Home position return by the data set type 2

Home position is the real position of servomotor at the home position return
operation.

Machine travel range

Real position of Command position

machine at the home at the home position
position return start return start

Home position is the

real position at the
Home position return home position return
by Motion program
start instruction

Fig. 8.10 Home position return operation by the date set type 2

(3) Home position return execution

Home position return by the data set type 2 is executed using the CHGA
instruction in Section 8.5.16.
When the home position return request is ON, the data set type 2 home position
return is also made even G28 of the Motion program.

[Cautions]
(1) A zero point must be passed (zero pass signal: M2406+20n ON) between turning
ON the power supply and executing home position return.
If home position return is executed without passing a zero point once, "no zero
point passed error" occurs.
If "no zero point passed error" occurred, perform the home position return again,
after reset the error and turn the servomotor at least one revolution by the JOG
operation.
The zero point passing can be confirmed with the zero pass signal (M2406+20n).
However, when "1 : No servomotor Z-phase pass after power ON" is selected at
the time of MR-J2S-B/MR-J2M-B use in the "condition selection of home position
set" of servo parameter (expansion parameter), even if it does not pass zero point
at the servo amplifier power ON, the home position return is possible because the
zero pass signal (M2406+20n) turns ON.

(2) The home position return data required for the data set type 2 are the home
position return direction and home position address.

8 - 34
8 AUXILIARY AND APPLIED FUNCTIONS

8.5.9 Home position return by the dog cradle type

[Control details]
(1) Dog cradle type
After deceleration stop by the proximity dog ON, if the zero point is passed after
traveling to reverse direction and turning the proximity dog OFF, the deceleration
stop is made. And it moves to direction of home position return again with creep
speed and the first zero point after proximity dog ON is home position in this
method.

(2) Home position return by the dog cradle type

Operation of home position return by the dog cradle type for setting the proximity
dog in the home position return direction is shown below.

Acceleration time Deceleration time

Home position Home position 1) It travels to preset direction of home
V return direction return speed position return with the home position return
speed, and a deceleration stop is made by
the proximity dog ON.
2) After a deceleration stop, it travels to
1) reverse direction of home position return
with the home position return speed.
Creep speed 3) If the zero point is passed by the proximity
4) dog OFF, a deceleration stop is made.
4) After a deceleration stop, it travels to
direction of home position return with the
creep speed, the home position return ends
with first zero point after the proximity dog
Home position ON.
return start Home position

3) 2)

The travel value in this range is stored in the monitor

register "home position return re-travel value".
The travel value in this range is stored in the monitor
register "travel value after proximity dog ON".
Proximity dog
ON
Zero point

Fig. 8.11 Home position return operation by the dog cradle type

(3) Home position return execution

Home position return by the dog cradle type is executed using the CHGA
instruction in Section 8.5.16.
When the home position return request is ON, the dog cradle type home position
return is also made even G28 of the Motion program.

8 - 35
8 AUXILIARY AND APPLIED FUNCTIONS

[Cautions]
(1) When home position return retry function is not set, if home position return is
executed again after home position return end, a minor error "home position return
completion signal is turning ON at the dog cradle type home position return start"
(error code: 115) will occur, the home position return is not executed.

(2) If the home position return is executed in the proximity dog, it travels to reverse
direction of home position return. If proximity dog turns OFF, a deceleration stop is
made, it travels to direction of home position return again with the creep speed
and the first zero point after proximity dog ON is home position.

1) It travels to preset reverse direction

Acceleration time Deceleration time of home position return with the
home position return speed.
2) If the zero point is passed by the
proximity dog OFF, a deceleration
stop is made.
3) After a deceleration stop, it travels
to direction of home position return
V Creep speed with the creep speed, and the home
Home position
return direction position return ends with first zero
3) point after the proximity dog ON.

Home Home position

position return start
2) 1)

Proximity dog

Zero point

8 - 36
8 AUXILIARY AND APPLIED FUNCTIONS

(3) When the proximity dog is set in the home position return direction, the proximity
dog is turned OFF during travel to reverse direction of home position return, and
the zero point is not passed, it continues to travel in the reverse direction of home
position return with home position return speed until the zero point is passed. The
zero point is passed again during deceleration by zero point pass, the home
position becomes this side compared with the case to pass zero point at the time
of the proximity dog OFF.

1) It travels to preset direction of home

Acceleration time Deceleration time position return with the home position
return speed.
2) A deceleration stop is made by the
proximity dog ON.
3) After a deceleration stop, it travels to
reverse direction of home position return
with the home position return speed.
4) If the zero point is passed by the
Home position proximity dog OFF, a deceleration stop
return speed
Home position is made.
V return direction
5) After a deceleration stop, it travels to
direction of home position return with the
2) creep speed, and the home position
1)
Creep speed return ends with first zero point after the
proximity dog ON.

5)

Home position
return start Home position
4) 3)
Home position
return speed

Proximity dog

Zero point

8 - 37
8 AUXILIARY AND APPLIED FUNCTIONS

(4) When it starts in the proximity dog, the zero point is not passed at the time of the
proximity dog is turned OFF during travel to reverse direction of home position
return, it continues to travel with home position return speed until the zero point is
passed. The zero point is passed again during deceleration by zero point pass,
the home position becomes this side compared with the case to pass zero point at
the time of the proximity dog OFF.

1) It travels to preset reverse direction of

Acceleration time Deceleration time
home position return with the home
position return speed.
2) If the zero point is passed by the
proximity dog OFF, a deceleration
stop is made.
3) After a deceleration stop, it travels to
direction of home position return with
the creep speed, and the home
Home position
V return direction Creep speed position return ends with first zero
3) point after the proximity dog ON.

Home position

2) 1)
Home position
Home position return start
return speed

Proximity dog

Zero point

8 - 38
8 AUXILIARY AND APPLIED FUNCTIONS

8.5.10 Home position return by the stopper type 1

[Control details]
(1) Stopper type 1
Position of stopper is home position in this method.
It travels to the direction set in the "home position return direction" with the "home
position return speed", after a deceleration starts by proximity dog OFF to ON
and it presses against the stopper and makes to stop with the torque limit value
set in the "torque limit value at the creep speed" and "creep speed" of home
position return data. Real position of servomotor at the time of detection for
turning the torque limiting signal OFF to ON is home position.
Torque limit value after reaching creep speed is set in the "torque limit value at
the creep speed" of home position return data.

(2) Home position return by the stopper type 1

Operation of home position return by the stopper type 1 is shown below.

Home position Home position

V return speed Real position of servomotor
return direction
at this point is home position.

Stopper

Creep speed

t
Home position
return start Time which stops rotation of
servomotors forcibly by the
stopper

Torque limit value of Home position return data "torque limit

Torque limit parameter block at the home
value value at the creep speed"
position return

Proximity dog

ON
Torque limiting OFF
signal
(M2416+20n)
(Note): "Travel value after proximity dog ON" storage register becomes "0" at the
home position return start.

Fig. 8.12 Home position return operation by the stopper type 1

(3) Home position return execution

Home position return by the stopper type 1 is executed using the CHGA
instruction in Section 8.5.16.
When the home position return request is ON, the stopper type 1 home position
return is also made even G28 of the Motion program.

8 - 39
8 AUXILIARY AND APPLIED FUNCTIONS

[Cautions]
(1) A zero point does not must be passed (zero pass signal: M2406+20n ON)
between turning on the power supply and executing home position return.

(2) Home position return retry function cannot be used in the stopper type 1.

(3) Set the torque limit value after reaching the creep speed for system.
When the torque limit value is too large, servomotors or machines may be
damaged after pressing the stopper. Also, when the torque limit value is too small,
it becomes the torque limiting before pressing the stopper and ends the home
position return.

(4) If the home position return is executed again after home position return
completion, a minor error "home position return completion signal is turning ON at
the stopper type home position return start" (error code: 115) will occur, the home
position return is not executed.

(5) Home position return is started during the proximity dog ON, it is started from the
"creep speed".

8 - 40
8 AUXILIARY AND APPLIED FUNCTIONS

8.5.11 Home position return by the stopper type 2

[Control details]
(1) Stopper type 2
Position of stopper is home position in this method.
It travels the direction set in the "home position return direction" with the "creep
speed", and it presses against the stopper and makes to stop with the "creep
speed". (The torque limit value is valid set in the "torque limit value at the creep
speed" of the home position return data from the home position return start.)
Real position of servomotor at the time of detection for turning the torque limiting
signal OFF to ON is home position.
Torque limit value after reaching creep speed is set in the "torque limit value at
the creep speed" of home position return data.

(2) Home position return by the stopper type 2

Operation of home position return by the stopper type 2 is shown below.

V Stopper Real position of servomotor

Home position at this point is home position.
return direction Creep speed

Home position
return start Time which stops rotation of servomotors
forcibly by the stopper
Torque limit Home position return data "torque limit value at the creep speed"
value
ON
Torque limiting OFF
signal
(M2416+20n)
(Note): "Travel value after proximity dog ON" storage register becomes "0" at the
home position return start.

Fig. 8.13 Home position return operation by the stopper type 2

(3) Home position return execution

Home position return by the stopper type 2 is executed using the CHGA
instruction in Section 8.5.16.
When the home position return request is ON, the stopper type 2 home position
return is also made even G28 of the Motion program.

8 - 41
8 AUXILIARY AND APPLIED FUNCTIONS

[Cautions]
(1) A zero point does not must be passed (zero pass signal: M2406+20n ON)
between turning on the power supply and executing home position return.

(2) Home position return retry function cannot be used in the stopper type 2.

(3) Set the torque limit value at the reaching creep speed for system.
When the torque limit value is too large, servomotors or machines may be
damaged after pressing the stopper. Also, when the torque limit value is too small,
it becomes the torque limiting before pressing the stopper and ends the home
position return.

(4) If the home position return is executed again after home position return
completion, a minor error "home position return completion signal is turning ON at
the stopper type home position return start" (error code: 115) will occur, the home
position return is not executed.

8 - 42
8 AUXILIARY AND APPLIED FUNCTIONS

8.5.12 Home position return by the limit switch combined type

[Control details]
(1) Limit switch combined type
The proximity dog is not used in this method. Home position return can be
executed by using the external upper/lower limit switch.
When the home position return is started, it travels to direction of home position
return with "home position return speed". Deceleration is made by turning the
limit switch of home position return direction ON to OFF, it travels to reverse
direction of home position return with creep speed, and the zero point just before
limit switch is home position.

(2) Home position return by the limit switch combined type

Operation of home position return by limit switch combined type for setting the
limit switch in the home position return direction is shown below.

Acceleration time Deceleration time 1) It travels to preset direction of home

position return with the home
Home position position return speed.
V Home position return speed
return direction 2) A deceleration stop is made by the
1) external limit switch ON to OFF.
3) After a deceleration stop, it travels to
reverse direction of home position
return with the creep speed, and the
2) home position return ends with the
zero point just before limit switch.

Home position 3)
return start Home position
Creep speed
External limit switch

(Indicates with normally closed contact)

Zero point

The travel value in this range is stored in the

monitor register "travel value after proximity dog
ON".
The travel value in this range is stored in the
monitor register "home position return re-travel
value".

Fig. 8.14 Home position return operation by the limit switch combined type

(3) Home position return execution

Home position return by the limit switch combined type is executed using the
CHGA instruction in Section 8.5.16.
When the home position return request is ON, the limit switch combined type
home position return is also made even G28 of the Motion program.

8 - 43
8 AUXILIARY AND APPLIED FUNCTIONS

[Cautions]
(1) For the axis which executes the home position return by the limit switch combined
type, if the external input signal has not set in the system settings, a minor error
"the positioning control which use the external input signal was executed for the
axis which has not set the external input signal in the system settings" (error code:
142) will occur and home position return is not executed.

(2) When the limit switch reverse to home position return direction is turned ON to
OFF, deceleration stop is made, home position return is not completed and a
major error "external limit switch detection error" (error code: 1101, 1102) will
occur.

(3) Home position return retry function cannot be used in the limit switch combined
type.

(4) If the home position return is executed with the limit switch OFF, it is started to
reverse direction of home position return with creep speed.

(5) When it does not pass (zero pass signal: M2406+20n ON) the zero point from
home position return start to deceleration stop by limit switch OFF, a minor error
"ZCT not set" (error code:120) will occur, a deceleration stop is made and home
position return does not end normally. However, when "1 : No servomotor Z-phase
pass after power ON" is selected at the time of MR-J2S-B/MR-J2M-B use in the
"condition selection of home position set" of servo parameter (expansion
parameter), if the zero point is not passed until from home position return start to
deceleration stop by limit switch OFF, the home position return can be executed.

(6) Deceleration stop is executed after the limit switch OFF. Set the limit switch in
expectation of deceleration distance.

(7) If the in-position signal (M2402+20n) is turned ON, home position return is not
ended.

(8) When the width is in a zero point, the home position differs from the home position
return by the proximity dog type 1, proximity dog type 2, count type 1, count type 3
and dog cradle type.

8 - 44
8 AUXILIARY AND APPLIED FUNCTIONS

8.5.13 Home position return retry function

When a work has been exceeded home position during positioning control, etc., even if
it executes the home position return, depending on the position of work, a work may
not travel to home position direction. In this case, a work is normally travelled before
the proximity dog by the JOG operation, etc, and the home position return is started
again. However, by using the home position return retry function, even if a work is
where, the home position return can be executed.
Refer to Section 8.5.1(5) for home position return method by using the home position
return retry function.

[Data Setting]
When the "home position return retry function" is used, set the following "home position
return data" using a peripheral devices.
Set the "dwell time at the home position return retry" as required.
Set the parameters for every axis.

Table 8.3 Home position return data

Setting
Items Setting details Initial value
value
0 : Invalid (Do not execute the home position
Home position return return retry by limit switch.)
0, 1 0
retry function 1 : Valid (Execute the home position return
retry by limit switch.)

Dwell time at the home The stop time at the deceleration stop during 0 to 5000
0
position return retry the home position return retry is set [ms]

[Control details]
Operation for the home position return retry function is shown below.
(1) Home position return retry operation setting a work within the range of external
limit switch

Acceleration time Deceleration time

1) It travels to preset direction of

Home position home position return.
return direction
2) If the external upper/lower
1) 2) limit switch turns OFF before
5) the detection of proximity dog,
6)
a deceleration stop is made.
3) After a deceleration stop, it
travels to reverse direction of
home position return with the
Home Home position home position return speed.
4) position return start 4) A deceleration stop is made by
the proximity dog OFF.
3) 5) After a deceleration stop, it
External limit switch travels to direction of home
Proximity dog position return.
6) Home position return ends.
Zero point

Fig. 8.15 Operation for home position return retry (proximity dog type)

8 - 45
8 AUXILIARY AND APPLIED FUNCTIONS

(2) Home position return retry operation setting a work outside the range of external
limit switch
(a) When the direction of "work home position" and home position return is
same, normal home position return is operated.

Direction of "work home position"

and home position return is same

Home position
return direction

Home position
return start

RLS FLS
Proximity dog Home
position
Zero
point

Travel range

(b) When the direction of "work home position" and home position return is
reverse, deceleration stop is made with the proximity dog OFF and home
position return is operated to preset direction of home position return.

Direction of "work home position" 1) It travels to preset reverse direction of home position
and home position return is reverse return with the home position return speed.
2) A deceleration stop is made by the proximity dog OFF.
3) After a deceleration stop, it travels to direction of home
position return, the home position return ends.

Home position
return direction
3) Home position
return start

Home
2) position
1)
RLS FLS
Proximity dog

Zero
point

Travel range

8 - 46
8 AUXILIARY AND APPLIED FUNCTIONS

(3) Dwell time setting at the home position return retry

Reverse operation by detection of the external upper/lower limit switch and dwell
time function at the home position return start after stop by proximity dog OFF are
possible with the dwell time at the home position return retry in the home position
return retry function.
Dwell time at the home position return retry becomes valid at the time of
deceleration stop of the following 2) and 4). (Dwell time operates with the same
value.)

The temporary stop is made during time

set in the "dwell time at the home
Home position position return retry".
return direction

5) 1)
6) 2)

Home Home position

4) position return start
3)
External limit switch
Proximity
dog
Zero
point
The temporary stop is made during time 1) It travels to preset direction of home position return.
set in the "dwell time at the home 2) If the external upper/lower limit switch turns OFF
position return retry".
before the detection of proximity dog, a deceleration
is made and the temporary stop is made during time
set in the "dwell time at the home position return
retry".
3) After a stop, it travels to reverse direction of home
position return with the home position return speed.
4) A deceleration is made by the proximity dog OFF
and the temporary stop is made during time set in
the "dwell time at the home position return retry".
5) After a stop, it travels to direction of home position
return.
6) Home position return ends. At this time, the "dwell
time at the home position return retry" is invalid.

Fig. 8.16 Dwell time setting at the home position return retry

[Cautions]
(1) Possible/not possible of home position return retry function by the home position
return method is shown below.
Possible/not possible of home position
Home position return methods
return retry function
Proximity dog type
Count type
Data set type
Dog cradle type
Stopper type
Limit switch combined type
: Possible, : Not possible

8 - 47
8 AUXILIARY AND APPLIED FUNCTIONS

(2) Make a system for which does not execute the servo amplifier power off or servo
OFF by the external upper/lower limit switch. Home position return retry cannot be
executed only in the state of servo ON.

(3) Deceleration is made by detection of the external limit switch and travel to reverse
direction of home position return is started. In this case, a major error "external
limit switch detection error" (error codes: 1001, 1002, 1101, 1102) will not occur.

(4) Do not use the home position return retry function for axis which use the servo
amplifier model MR-J2-B/MR-J2-03B5.

CAUTION
Be sure to set the external limit switch (FLS, RLS) in the upper/lower position of machines. If
the home position return retry function is used without external limit switch, servomotors
continue rotating.

8 - 48
8 AUXILIARY AND APPLIED FUNCTIONS

8.5.14 Home position shift function

Normally, when the machine home position return is executed, a position of home
position is set by using the proximity dog or zero point signal. However, by using the
home position shift function, the position to which only the specified travel value was
travelled from the position which detected the zero point signal can be regarded as
home position.
Refer to Section 8.5.1(5) for home position return method by using the home position
shift function.

[Data Setting]
Set the following "home position return data" using a peripheral devices to use the
"home position shift function".
Set the parameters for every axis.

Table 8.4 Home position return data

Items Setting details Setting value Initial value

Home position The shift amount at the -2147483648 to 2147483647

0
shift amount home position shift is set. [ 10-4 mm, 10-5 inch, 10-5 degree]
Speed set at the
The speed at the home 0 : Home position return speed
home position 0
position shift is set. 1 : Creep speed
shift

8 - 49
8 AUXILIARY AND APPLIED FUNCTIONS

[Control details]
(1) Home position shift operation
Operation for the home position shift function is shown below.

Home position shift amount is positive value

Address decrease Address increase

direction direction
Home position Home position Set the operation speed at
return direction return speed the home position shift with
speed set at the home
position shift.
Select one of "home
Creep speed position return speed" or
"creep speed".

Home position
Home position
return start Home position Home position shift amount
return re-travel (Positive value)
value
Travel value after proximity dog ON
Proximity dog

Zero point

Home position shift amount is negative value

Address decrease Address increase

direction direction
Home position
Home position return speed
return direction

Home position Home position return re-travel value

return start Creep speed

Home position Set the operation speed at

the home position shift with
Creep speed Travel value after speed set at the home
proximity dog ON position shift.
Select one of "home
position return speed" or
Home position Home position shift amount "creep speed".
return speed (Negative value)
Proximity dog

Zero point

Fig. 8.17 Operation for home position shift

8 - 50
8 AUXILIARY AND APPLIED FUNCTIONS

(2) Setting range of home position shift amount

Set the home position shift amount within the range of from the detected zero
signal to external upper/lower limit switch (FLS/RLS). If the range of external
upper/lower limit switch is exceeded, a major error "external limit switch detection
error" (error codes: 1102, 1103) will occur at that time and the home position return
is not ended.

Setting range of Setting range of

negative home positive home
position shift amount position shift amount
Address Address
decrease increase
direction direction
RLS FLS
Proximity dog
Home position
return direction

Zero point

Fig. 8.18 Setting range of home position shift amount

(3) Travel speed at the home position shift

When the home position shift function is used, set the travel speed at the home
position shift as the speed set at the home position shift. Either the home position
return speed or creep speed is selected as the travel speed at the home position
shift.
The travel speed at the home position shift for the home position return by
proximity dog type is shown below.
(a) Home position shift operation with the "home position return speed"

V Home position Home position

return direction return speed

Home position shift

amount is positive

Home position Home position

Home position Home position shift

return start amount is negative

Proximity dog

Zero point

Fig. 8.19 Operation for home position shift with the home position return
speed

8 - 51
8 AUXILIARY AND APPLIED FUNCTIONS

(b) Home position shift operation with the "creep speed"

Home position
V return direction

Home position shift

amount is positive
Creep speed

Home position Home position

Home position
return start

Proximity dog Home position shift

amount is negative
Zero point

Fig. 8.20 Operation for home position shift with the creep speed

[Cautions]
(1) Valid/invalid of home position shift amount setting value by the home position
return method is shown below.
Home position return Valid/invalid of home position
methods shift amount
Proximity dog type
Count type
Data set type
Dog cradle type
Stopper type
Limit switch combined type
: Valid, : Invalid

(2) Axis monitor devices and axis statuses are set after completion of home position
shift.

(3) When the home position return by proximity dog type, set the travel value after
proximity dog ON and home position shift amount within the range of
"-2147483648 to 2147483647" [ 10-4 mm, 10-5 inch, 10-5 degree].

8 - 52
8 AUXILIARY AND APPLIED FUNCTIONS

8.5.15 Condition selection of home position set

A home position return must be made after the servomotor has been rotated more than
one revolution to pass the axis through the Z-phase (motor reference position signal)
and the zero pass signal (M2406+20n) has been turned ON.
When "1 : No servomotor Z-phase pass after power ON" is selected at the time of MR-
J2S-B/MR-J2M-B use in the "condition selection of home position set" of servo
parameter (expansion parameter), if it does not pass zero point with the motor rotation
after turning the servo amplifier power ON, the zero pass signal (M2406+20n) can be
turned ON.

[Data Setting]
Set the following "servo parameter" using a peripheral devices to select the "condition
selection of home position set".
Set the servo parameters for every axis.

Table 8.5 Servo parameter (expansion parameter)

Items Setting details Setting value Initial value

Optional function 6
(Note-1) Set the condition
0: Servomotor Z-phase pass after power ON
(Condition selection of home 0
1: No servomotor Z-phase pass after power ON
selection of home position set
position set)
(Note-1): If "1: No servomotor Z-phase pass after power ON" is set, use the operating system software (SW5RN-
SV43Q (Ver.00D or later)).
However, when the data set type home position return is used, there is no restriction by the version of
operating system software.

[Cautions]
(1) Condition selection of home position set for servo parameters can be set when
using the MR-J2S-B/MR-J2M-B only. When "1 : No servomotor Z-phase pass after
power ON" is set as the above servo parameter, a restrictions such as "make the
home position return after the servomotor is rotated more than one revolution to
pass the axis through the Z-phase (motor reference position signal)" is lost.

(2) The servomotor must also have been rotated more than one revolution to pass the
axis through the Z-phase (motor reference position signal) for home position return
when using the servo amplifier except the MR-J2S-B/MR-J2M-B.

(3) When "1 : No servomotor Z-phase pass after power ON" is selected at the time of
MR-J2S-B/MR-J2M-B use in the "condition selection of home position set" of servo
parameter (expansion parameter), if it does not pass zero point at the servo
amplifier power ON, the zero pass signal (M2406+20n) turns ON.

(4) When the above parameter is changed, turn the servo amplifier power OFF to ON
after resetting or turning power OFF to ON of Multiple CPU system.

8 - 53
8 AUXILIARY AND APPLIED FUNCTIONS

CAUTION
Do not set the "1 : No servomotor Z-phase pass after power ON" for axis which executes the
home position return again after it continues traveling the same direction infinitely.

8 - 54
8 AUXILIARY AND APPLIED FUNCTIONS

8.5.16 Execution of home position return

The home position return is executed using the CHGA instruction.

[Control details]
(1) Home position return is executed by the home position return method specified
with the home position return data (Refer to Section 8.5.1).
Refer to the following sections for details of the home position return methods :
• Proximity dog type 1................... Section 8.5.2
• Proximity dog type 2................... Section 8.5.3
• Count type 1............................... Section 8.5.4
• Count type 2............................... Section 8.5.5
• Count type 3............................... Section 8.5.6
• Data set type 1............................ Section 8.5.7
• Data set type 2............................ Section 8.5.8
• Dog cradle type........................... Section 8.5.9
• Stopper type 1............................ Section 8.5.10
• Stopper type 2............................ Section 8.5.11
• Limit switch combined type........ Section 8.5.12

[Program]
A program which executes a home position return using the CHGA instruction is
shown below.

• Program example
Program which execute the home position return of the axis No.4 of the Motion CPU
(CPU No.2) from PLC CPU(CPU No.1).

To self CPU Start accept flag

high speed of the axis No.4
interrupt accept (CPU No.2)
flag from CPU U3E1
U3E1\ \G516.0
G48.0
M100
SP.CHGA H3E1 "J4" K0 M0 D0

RST M100
M0 M1
Normal complete program
M1
Abnormal complete program

[Cautions]
If the home position is not within the in-position range of servo parameter, it does not
mean having reached the home position data and the home position return does not
end in the proximity dog type, count type, data set type 1, dog cradle type, or limit
switch combined type home position return. In this case, adjusts the in-position range
of servo parameter or position control gain.

8 - 55
8 AUXILIARY AND APPLIED FUNCTIONS

8.6 Speed Change (CHGV instruction)

The speed change is executed at the positioning control or JOG operation.

S(P).CHGV instruction of PLC program or CHGV instruction of Motion program is
used for the speed change.

(1) A speed of operating axis is forcibly changed to the speed specified with the
speed change registers.

(2) Refer to Section 4.5 for details of the S(P).CHGV instruction of PLC program.
Refer to Section 7.16.17 for details of the CHGV instruction of Motion program.

(3) A speed change should be set within the range of "-speed limit value to + speed
limit value". If it is outside the range, a minor error "305" will occur.

(4) When a speed change is executed during positioning control of program

operation, make the override invalid. When the override is valid, a speed change
is not executed.

(5) During a temporary stop, a speed change is not executed.

(6) A speed change during constant-speed control (when the axis travels through mid
points continuously during execution of G01, G02, G03, G12, G13 or G32) should
be set within the range of "-F command to +F command". If it is outside the range,
the speed is controlled by F command.

(7) The F command after a speed change during constant-speed control is made
valid within the range of the change speed or less.

(8) If a speed change is executed during positioning control for program operation, it
operates at the speed changed to the command of the next travel block.
It changes whether the speed change value is continued or the speed changes
command speed value in the program depending on the next type of travel block
mode as the table "command speed after execution of speed change" of next
page.

(9) A speed change for the high-speed oscillation axis is invalid.

8 - 56
8 AUXILIARY AND APPLIED FUNCTIONS

Command Speed after Execution of Speed Change

Travel mode at speed (Note-1) Command speed at execution of
No. Travel mode after speed change
change (Note-1) travel instruction after speed change
1 PTP/OSC (Note-2)
PTP (Note-2) (Note-3)
Program command speed (Note-6)
2 Constant speed
3 PTP/OSC (Note-2) Program command speed (Note-6)
(Note-3)
4 Constant speed with F command Program command speed (Note-7)
(Note-3)
Constant speed without F command and
5 Constant speed (Note-3) New speed is continued
without special M-code (Note-4)
Constant speed (Note-3) without F command and
6 Program command speed (Note-6)
with special M-code (Note-5)

(Note-1): A speed change is valid only at the execution of travel mode in the PTP or constant speed.
(Note-2): This mode is executed by G00, G28, G30 or G53. OSC mode is the travel mode executed by G25.
(Note-3): This mode is executed by G01, G2, G3, G12, G13 or G32. The independent M-code is also handled as the
constant speed mode.
(Note-4): When a special M-code (M00, M01, M02, M30, M98, M99, M100) is not executed during the constant speed
mode after speed change.
(Note-5): When a special M-code (M00, M01, M02, M30, M98, M99, M100) is executed during the constant speed mode
after speed change.
The decelerates stop is made at the execution of the special M-code.
(Note-6): PTP mode: High-speed feed rate. OSC mode: F (frequency) command. Constant speed mode: F (speed)
command.
Example (CHGV is executed during N1) Speed
010 ;
N1 G00 X100. ; Program command speed
N2 G00 X200. ; Speed change value
M02 ;
% CHGV Time
N1 N2
Block switching

(Note-7): F (speed) command. Note that it is clamped at the speed change value.
Example (CHGV is executed during N1) Speed
011 ;
N1 G01 X100. F1000. ; Program command speed
N2 G01 X200. F1000. ; Speed change value
M02 ;
% CHGV Time
N1 N2
Block switching

8 - 57
8 AUXILIARY AND APPLIED FUNCTIONS

[Data setting]
(1) The setting ranges to speed change registers are shown below.
Units mm inch degree
Item Setting range Units Setting range Units Setting range Units
-2 -3 -3
0 to 10 0 to 10 0 to 10
Speed change value
600000000 mm/min 600000000 inch/min 2147483.647 degree/min

POINT
When the speed is set in the PLC program, stores a value which is 100 times (unit:
mm)/1000 times (unit: inch, degree) the real speed in the speed change registers.
Example
To change the speed to 10000.00mm/min, stores "1000000" to the speed
change registers.

[Cautions]
A speed change is not executed with the following errors.
(It is checked at the execution of CHGV instruction.)
Error code Error factor Error Processing Corrective action
Home position return is Do not execute the speed
301 executed by the change during the home
• Error detection flag
specified axis. position return.
(M2407+20n) turns ON.
Do not execute the speed
Speed change • Error code 301, 304 is
change during the
error Deceleration was being stored in the minor error
deceleration by JOG
304 made by JOG operation code storage register of
operation signal
signal OFF. each axis.
(M3202+20n, M3203+20n)
OFF.
• Error detection flag
(M2407+20n) turns ON.
Speed is set outside Set the speed within the
• Error code 305 is stored in
305 the range of "0" to range of "0" to speed limit
the minor error code
speed limit value. value.
storage register of each
Data setting
axis.
error
Axis No. is set is except
for 1 to 32. • Error code is stored in the Confirm a program and
4C06H (Note)
complete status storage correct it to a correct PLC
(Complete status) Axis No. is set indirectly
device. program.
by index qualification.

(Note) : Refer to Section 4.5 for error details.

8 - 58
8 AUXILIARY AND APPLIED FUNCTIONS

(1) If a speed change is executed, the setting speed is ignored in the following cases.
(An error will not occur.)
(a) During motion program execution
(b) During deceleration by the stop command
(c) During a stop
(d) During manual pulse generator operation

[Operation Timing]
The operation timing for a speed change is shown in Fig. 8.21.

V
Operation at the JOG operation by V1
V1
V2
V3

Speed change register V2 V3

CHGV

Fig. 8.21 Operation timing for speed change

[Program Example]
A program example for speed change is shown as the following conditions.

(1) Conditions for speed change

(a) Axis No. for speed change............................ Axis 1
(b) New speed.................................................... 1000
(c) Speed change command.............................. M100

(2) PLC program

Program which changes the positioning speed of the axis No.1 of the Motion CPU
(CPU No.4) from PLC CPU(CPU No.1) to 1000.

To self CPU Speed changing flag

high speed of the axis No.1
interrupt accept (CPU No.4)
flag from CPU U3E3\
U3E3\ G518.0
G48.0
M100
SP.CHGV H3E3 "J1" K1000 M0 D0

RST M100

M0 M1
Normal complete program
M1
Abnormal complete program

8 - 59
8 AUXILIARY AND APPLIED FUNCTIONS

8.7 JOG Operation

The setting JOG operation is executed.

Individual start or simultaneous start can be used in the JOG operation.
JOG operation can be executed using the PLC program, control program or test mode
of peripheral device.
(Refer to the help of each software for JOG operation method by the test mode of
peripheral device.)
JOG operation data must be set for each axis for JOG operation. (Refer to Section
8.7.1)

8.7.1 JOG operation data

JOG operation data is the data required to execute JOG operation.

Set the JOG operation data using a peripheral device.

Table 8.6 JOG operation data list

Setting range
Explan-
mm inch degree Initial
No. Item Units Remarks atory
Setting Setting value
Units Units Setting range Units section
range range
• Sets the maximum speed at the JOG
JOG operation.
0.01 to mm 0.001 to inch 0.001 to degree/
1 speed limit 200.00 mm/s • If JOG speed setting exceeds the JOG
6000000.00 /min 600000.000 /min 2147483.647 min
value speed limit value, it is controlled with JOG
speed limit value.
Parameter • Sets the parameter block No. to be used at
2 block 1 to 64 1 the JOG operation. 6.4
setting

(1) JOG operation data check

A relative check of the JOG operation data is executed at the following timing:
• JOG operation individual start
• JOG operation simultaneous start
• JOG operation request

(2) Data error processing

• Only data for which detected errors is controlled as default value.
• The error code corresponding to each data for erroneous axis is stored in the
data register.

POINT
Start to outside the range of stroke limit of fixed parameter cannot be executed.
However, JOG operation is possible in the direction from outside the stroke limit
range to back inside the stroke limit range.
Stroke limit lower Stroke limit upper

. . . Dose not start . . . Dose not start

. . . Start . . . Start

8 - 60
8 AUXILIARY AND APPLIED FUNCTIONS

8.7.2 Individual start

JOG operation for the specified axes is started.

JOG operation is executed by the following JOG operation commands :
• Forward JOG start command........... M3202+20n
• Reverse JOG start command........... M3203+20n

[Control details]
(1) JOG operation continues at the JOG speed setting register value while the JOG
operation signal turns on, and a deceleration stop is made by the JOG operation
signal OFF.
Control of acceleration/deceleration is based on the data set in the JOG operation
data.

V
Acceleration based
JOG operation speed
on JOG operation
data Deceleration stop based
on JOG operation data

ON
JOG operation command OFF
(M3202+20n/M3203+20n)

JOG operation for axis for which JOG operation command is turning on is
executed.

8 - 61
8 AUXILIARY AND APPLIED FUNCTIONS

(2) The setting range for JOG speed setting registers are shown below.
Setting range
JOG operation JOG speed setting register
No. mm inch degree
(Note)
Most Setting Setting Setting
Forward JOG Reverse JOG Setting range Units Units Units
significant range range range
1 M3202 M3203 D641 D640
2 M3222 M3223 D643 D642
3 M3242 M3243 D645 D644
4 M3262 M3263 D647 D646
5 M3282 M3283 D649 D648
6 M3302 M3303 D651 D650
7 M3322 M3323 D653 D652
8 M3342 M3343 D655 D654
9 M3362 M3363 D657 D656
10 M3382 M3383 D659 D658
11 M3402 M3403 D661 D660
12 M3422 M3423 D663 D662
13 M3442 M3443 D665 D664
14 M3462 M3463 D667 D666
15 M3482 M3483 D669 D668
10-2 10-3 10-3
16 M3502 M3503 D671 D670 1 to 1 to 1 to
mm inch degree
17 M3522 M3523 D673 D672 600000000 600000000 2147483647
/min /min /min
18 M3542 M3543 D675 D674
19 M3562 M3563 D677 D676
20 M3582 M3583 D679 D678
21 M3602 M3603 D681 D680
22 M3622 M3623 D683 D682
23 M3642 M3643 D685 D684
24 M3662 M3663 D687 D686
25 M3682 M3683 D689 D688
26 M3702 M3703 D691 D690
27 M3722 M3723 D693 D692
28 M3742 M3743 D695 D694
29 M3762 M3763 D697 D696
30 M3782 M3783 D699 D698
31 M3802 M3803 D701 D700
32 M3822 M3823 D703 D702
(Note) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

POINT
When the JOG operation speed is set in the PLC program or control program,
stores a value which is 100 times the real speed in units of [mm] or 1000 times the
speed in units of [inch] or [degree] in the JOG speed setting register.
Example
If JOG operation speed of 6000.00 [mm/min] is set, stores the value "600000"
in the JOG speed setting register.

8 - 62
8 AUXILIARY AND APPLIED FUNCTIONS

[Cautions]
(1) If the forward JOG start command (M3202+20n) and reverse JOG start command
(M3203+20n) turn on simultaneously for a single axis, the forward JOG operation
is executed.
When a deceleration stop is made by the forward JOG start command OFF, the
reverse JOG operation is not executed even if the reverse JOG start command is
ON. After that, when the reverse JOG start command turns off to on, the reverse
JOG operation is executed.
V
Forward JOG operation

ON Reverse JOG
Forward JOG OFF operation
start command
ON
Reverse JOG OFF
start command

Reverse JOG start

command is ignored

(2) If the JOG operation command (M3202+20n/M3203+20n) turns on during

deceleration by the JOG operation command OFF, after deceleration stop, JOG
operation is not executed.
After that, the JOG operation is executed by the JOG operation command OFF to
ON.
V

JOG operation

ON
JOG operation OFF
command

8 - 63
8 AUXILIARY AND APPLIED FUNCTIONS

(3) JOG operation by the JOG operation command (M3202+20n/M3203+20n) is not

executed during the test mode using a peripheral devices.
After release of test mode, the JOG operation is executed by turning the JOG
operation command OFF to ON.
V JOG operation is impossible
JOG operation
without turning JOG operation
command off to on
JOG operation is
impossible during test
mode (start error)

t
During test mode ON
(M9075) OFF
ON
JOG operation OFF
command

[Program Example]
Program for JOG operation is shown as the following conditions.

(1) System configuration

JOG operation for Axis 1 and Axis 2.
Motion CPU control module

Q61P Q02H Q172 Q172 QX41

CPU CPU LX
(N)

Forward JOG operation command

(PX003 : Axis 1, PX005 : Axis 2)
Reverse JOG operation command
AMP AMP AMP AMP (PX004 : Axis 1, PX006 : Axis 2)
Axis Axis Axis Axis
1 M 2 M 3 M 4 M

(2) JOG operation conditions

(a) Axis No. .................................... Axis 1, Axis 2
(b) JOG operation speed .............. 100000
(c) JOG operation commands
1) Forward JOG operation ....... Axis 1 : PX003 ON, Axis 2 : PX005 ON
2) Reverse JOG operation ...... Axis 1 : PX004 ON, Axis 2 : PX006 ON

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8 AUXILIARY AND APPLIED FUNCTIONS

(3) Motion program (Control program)

O0100;
SET #M2042; All axes servo ON command turns on.
N10 IF[[ON #M2415] AND [ON #M2435]] GOTO 20; Wait until axis 1 and axis 2 servo ON.
GOTO 10;
N20 #D640L = 100000; Transfer the JOG operation speed to D640L and D642L.
#D642L = 100000;
IF [[ON #X003] AND [OFF #M3203]] THEN 1;
SET #M3202;
One axis forward rotation command
ELSE 1;
SET/RST
RST #M3202;
END 1;
IF [[ON #X004] AND [OFF #M3202]] THEN 2;
SET #M3203;
ELSE 2; One axis reverse rotation command
RST #M3203; SET/RST
END 2;
IF [[ON #X005] AND [OFF #M3223]] THEN 3;
SET #M3222;
ELSE 3; Two axes forward rotation command

RST #M3222; SET/RST

END 3;
IF [[ON #X006] AND [OFF #M3222]] THEN 4;
SET #M3223;
Two axes reverse rotation command
ELSE 4;
SET/RST
RST #M3223;
END 4;
GOTO 20;
M02;
%
(Note) : Control program O0100 is started by automatically start, CALL, GOSUB,
GOSUBE or SFCS instruction of the PLC program.

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8 AUXILIARY AND APPLIED FUNCTIONS

8.7.3 Simultaneous start

Simultaneous start JOG operation for specified multiple axes.

[Control details]
(1) JOG operation continues at the JOG speed setting register value for each axis
while the JOG operation simultaneous start command (M2048) turns on, and a
deceleration stop is made by the M2048 OFF.
Control of acceleration/deceleration is based on the data set in the JOG operation
data.

V Acceleration based on
JOG operation data JOG operation speed
Deceleration stop based
on JOG operation data

t
JOG operation based
on D710 to D713 data

D710 to D713

ON
M2048 OFF

(2) JOG operation axis is set in the JOG operation simultaneous start axis setting
register (D710 to D713).

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D710 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1
Forward
rotation
D711 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17
JOG

D712 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1
Reverse
rotation
D713 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17
JOG

(Note-1) Set the JOG operation simultaneous start axis with 1/0.
1:Simultaneous start is executed
0:Simultaneous start is not executed
(Note-2) The range of axis No.1 to 8 is valid in the Q172CPU(N).

8 - 66
8 AUXILIARY AND APPLIED FUNCTIONS

(3) The setting range for JOG speed setting registers are shown below.
Setting range
JOG operation JOG speed setting register
No. mm inch degree
(Note) Setting Setting Setting
Forward JOG Reverse JOG Most significant Setting range Units Units Units
range range range
1 M3202 M3203 D641 D640
2 M3222 M3223 D643 D642
3 M3242 M3243 D645 D644
4 M3262 M3263 D647 D646
5 M3282 M3283 D649 D648
6 M3302 M3303 D651 D650
7 M3322 M3323 D653 D652
8 M3342 M3343 D655 D654
9 M3362 M3363 D657 D656
10 M3382 M3383 D659 D658
11 M3402 M3403 D661 D660
12 M3422 M3423 D663 D662
13 M3442 M3443 D665 D664
14 M3462 M3463 D667 D666
15 M3482 M3483 D669 D668
10-2 10-3 10-3
16 M3502 M3503 D671 D670 1 to 1 to 1 to
mm inch degree
17 M3522 M3523 D673 D672 600000000 600000000 2147483647
/min /min /min
18 M3542 M3543 D675 D674
19 M3562 M3563 D677 D676
20 M3582 M3583 D679 D678
21 M3602 M3603 D681 D680
22 M3622 M3623 D683 D682
23 M3642 M3643 D685 D684
24 M3662 M3663 D687 D686
25 M3682 M3683 D689 D688
26 M3702 M3703 D691 D690
27 M3722 M3723 D693 D692
28 M3742 M3743 D695 D694
29 M3762 M3763 D697 D696
30 M3782 M3783 D699 D698
31 M3802 M3803 D701 D700
32 M3822 M3823 D703 D702
(Note) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

8 - 67
8 AUXILIARY AND APPLIED FUNCTIONS

[Program Example]
Program for simultaneous start of JOG operations are shown as the following
conditions.

(1) System configuration

JOG operation for Axis 1 and Axis 2.
Motion CPU control module

Q61P Q02H Q172 Q172 QX41

CPU CPU LX
(N)

JOG operation command (PX000)

AMP AMP AMP AMP

Axis Axis Axis Axis

1 M 2 M 3 M 4 M

(2) JOG operation conditions

(a) JOG operation conditions are shown below.
Item JOG operation conditions
Axis No. Axis 1 Axis 2
JOG operation speed 150000 150000

(b) JOG operation command ...... During PX000 ON

(3) Motion program

O0100;
SET #M2042; All axes servo ON command turns on.
N10 IF[[ON #M2415] AND [ON #M2435]] GOTO 20; Wait until axis 1 and axis 2 servo ON.
GOTO 10;
N20 IF[ON #X000] THEN 1
#D710 = 2;
#D712 = 1;
#D640L = 150000;
#D642L = 150000;
SET #M2048;
ELSE 1;
RST #M2048;
END 1;
GOTO 20;
M02;
%
(Note) : Control program O0100 is started by automatically start, CALL, GOSUB,
GOSUBE or SFCS instruction of the PLC program.

8 - 68
8 AUXILIARY AND APPLIED FUNCTIONS

8.8 Manual Pulse Generator Operation

Positioning control based on the number of pulses inputted from the manual pulse
generator is executed.
Simultaneous operation for 1 to 3 axes is possible with one manual pulse generator,
the number of connectable modules are shown below.

Number of connectable to the manual pulse generator

POINT
• When two or more Q173PXs are installed, connect the manual pulse generator to
first (It counts from 0 slot of the CPU base) Q173PX.
(When the manual pulse generator is used, only first Q173PX is valid.)

[Control details]
(1) Positioning of the axis set in the manual pulse generator axis setting register
based on the pulse input from the manual pulse generator.
Manual pulse generator operation is only valid while the manual pulse generator
enable flag turn ON.
Manual pulse generator Manual pulse generator axis Manual pulse generator
connecting position No. setting register enable flag
P1 D714, D715 M2051
P2 D716, D717 M2052
P3 D718, D719 M2053

(2) The travel value and output speed for positioning control based on the pulse input
from manual pulse generator are shown below.
(a) Travel value
The travel value based on the pulse input from a manual pulse generator is
calculated using the following formula.
[Travel value] = [Travel value per pulse] [Number of input pulses] [Manual
pulse generator 1- pulse input magnification setting]

The travel value per pulse for manual pulse generator operation is shown
below.
Unit Travel value
mm 0.1 [µm]
inch 0.00001 [inch]
degree 0.00001 [degree]

If units is [mm], the command travel value for input of one pulse is :
(0.1 [µm]) (1 [PLS]) (Manual pulse generator 1-pulse input
magnification setting)

8 - 69
8 AUXILIARY AND APPLIED FUNCTIONS

(b) Output speed

The output speed is the positioning speed corresponding to the number of
pulses input from a manual pulse generator in unit time.
[Output speed] = [Number of input pulses per 1 ms] [Manual pulse generator 1-pulse
input magnification setting]

(3) Setting of the axis operated by the manual pulse generator

The axis operated by the manual pulse generator is set in the axis setting register
(D714 to D719) by the manual pulse generator.
The bit corresponding to the axis controlled (1 to 32) is set.

(4) Manual pulse generator 1-pulse input magnification setting

Make magnification setting for 1-pulse input from the manual pulse generator for
each axis.
1-pulse input magnification setting register Applicable axis No. (Note-1) Setting range
D720 Axis 1
D721 Axis 2
D722 Axis 3
D723 Axis 4
D724 Axis 5
D725 Axis 6
D726 Axis 7
D727 Axis 8
D728 Axis 9
D729 Axis 10
D730 Axis 11
D731 Axis 12
D732 Axis 13
D733 Axis 14
D734 Axis 15
D735 Axis 16
1 to 10000
D736 Axis 17
D737 Axis 18
D738 Axis 19
D739 Axis 20
D740 Axis 21
D741 Axis 22
D742 Axis 23
D743 Axis 24
D744 Axis 25
D745 Axis 26
D746 Axis 27
D747 Axis 28
D748 Axis 29
D749 Axis 30
D750 Axis 31
D751 Axis 32
(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note): The manual pulse generator does not have the speed limit value, so they set
the magnification setting within the rated speed of servomotor.

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8 AUXILIARY AND APPLIED FUNCTIONS

(5) The setting manual pulse generator 1-pulse input magnification checks the "1-
pulse input magnification setting registers of the manual pulse generator" of the
applicable axis at the turning manual pulse generator enable flag turns off to on.
If the value is outside of range, the manual pulse generator axis setting error
register (D9185 to D9187) and manual pulse generator axis setting error flag
(M9077) are set and a value of "1" is used for the magnification.

(6) Manual pulse generator smoothing magnification setting

A magnification to smooth the turning the manual pulse generator operation off to
on or on to off is set.

Manual pulse generator smoothing

Setting range
magnification setting register
Manual pulse generator 1 (P1) : D752
Manual pulse generator 2 (P2) : D753 0 to 59
Manual pulse generator 3 (P3) : D754

(a) Operation

Manual pulse generator input

ON

Manual pulse generator 1 OFF

enable flag (M2051)

V V1

t t t t

Output speed (V1) = [Number of input pulses/ms] [Manual pulse

generator 1-pulse input magnification setting]
Travel value (L) = [Travel value per pulse] [Number of input pulses]
[Manual pulse generator 1-pulse input magnification
setting]

(b) When the smoothing magnification is set, the smoothing time constant is as
following formula.
Smoothing time constant (t) = (Smoothing magnification + 1) 56.8 [ms]

REMARK
The smoothing time constant is within the range of 56.8 to 3408[ms].

8 - 71
8 AUXILIARY AND APPLIED FUNCTIONS

(7) Errors details at the data setting for manual pulse generator operation are shown
below.
Error details Error processing
• Duplicated specified axis is ignored.
Axis set to manual pulse generator
• First setting manual pulse generator operation is
operation is specified.
executed.
• Manual pulse generator operation is executed
Axis setting is 4 axes or more according to valid for 3 axes from the lowest manual
pulse generator axis setting register.
All of bit is "0" for the effective axis No. • Manual pulse generator operation is not executed.
of manual pulse generator axis No.
setting register.

[Cautions]
(1) The start accept flag turns on for axis during manual pulse generator operation.
Positioning control or home position return cannot be started using the Motion
CPU or a peripheral device.
Turn off the manual pulse generator enable flag after the manual pulse generator
operation end.

(2) The torque limit value is fixed at 300[%] during manual pulse generator operation.

(3) If the manual pulse generator enable flag turns on for the starting axis by
positioning control or JOG operation, an error [214] is set to the applicable axis
and manual pulse generator input is not enabled. After the axis has been stopped,
the turning OFF to ON of the manual pulse generator enable flag becomes valid,
the start accept flag turns on by the manual pulse generator input enabled status,
and input from the manual pulse generator is input.

V Positioning control
Manual pulse generator operation

t
ON

Manual pulse generator 1 OFF

enable flag (M2051) Enable
Disable
Manual pulse generator
enable status ON
OFF Input from manual
Start accept flag
pulse generator is
ignored.

(4) If the manual pulse generator enable flag of another manual pulse generator No.
turns on for axis during manual pulse generator operation, an error [214] is set to
the applicable axis and the input of that manual pulse generator is not enabled.
Turn the manual pulse generator enable flag on again after stopping the manual
pulse generator operation which had become input enable previously.

8 - 72
8 AUXILIARY AND APPLIED FUNCTIONS

(5) If the same manual pulse generator enable flag turns on again for axis during
smoothing deceleration after manual pulse generator enable flag turns off, an
error [214] is set and manual pulse generator input is not enabled. Turn the
manual pulse generator enable flag on after smoothing deceleration stop (after the
start accept flag OFF).

(6) If another axis is set and the same manual pulse generator enable flag turns on
again during smoothing deceleration after manual pulse generator enable flag
turns off, the manual pulse generator input is not enabled.
At this time, the manual pulse generator axis setting error bit of the manual pulse
generator axis setting error storage register (D9185 to D9187) turns on, and the
manual pulse generator axis setting error flag (M9077) turns on.
Include the start accept flag OFF for specified axis in interlocks as the conditions
which turn on the manual pulse generator enable flag.

[Procedure for manual pulse generator operation]

Procedure for manual pulse generator operation is shown below.

Start

Set the manual pulse generator

1- pulse input magnification

Set the manual pulse generator

operation axis Using the PLC program or control program

Turn the manual pulse

generator enable flag ON

Execute the positioning by

manual pulse generator

Turn the manual pulse . . . . . . . Using the PLC program or control program
generator enable flag OFF

End

8 - 73
8 AUXILIARY AND APPLIED FUNCTIONS

[Program Example]
Program executes manual pulse generator operation is shown as the following
conditions.

(1) System configuration

Manual pulse generator operation of Axis 1.
Motion CPU control module

Q61P Q02H Q172 Q173 QX41

CPU CPU PX
(N)

Manual pulse generator P1 Manual pulse generator enable flag

Manual pulse generator P2 (M2051 : P1, M2052 : P2)

AMP AMP AMP AMP

Axis Axis Axis Axis

1 M 2 M 3 M 4 M

(2) Manual pulse generator operation conditions

(a) Manual pulse generator operation axis........... Axis 1, Axis 2
(b) Manual pulse generator 1-pulse input magnification............ 100
(c) Manual pulse generator operation enable ...... M2051(Axis 1)/M2052(Axis 2)
ON
(d) Manual pulse generator operation end ……… M2051(Axis 1)/M2052(Axis 2)
OFF

(3) Motion program (Control program)

O0100;
SET #M2042; All axes servo ON command turns on.
N10 IF [[ON #M2415] AND [ON #M2435]] GOTO 20; Wait until axis 1 and axis 2 servo ON.
GOTO 10;
N20 IF [ON #X000] GOTO 30; Wait until manual pulse generator operation start.
GOTO 20;
N30 #D720 = 100;
Set "axis 1" and "axis 2" 1-pluse input magnification.
#D721 = 100;
#D714L = 1; Control axis 1 by P1.
#D716L = 2; Control axis 2 by P2.
SET #M2051;
Axis 1 and axis 2 manual pulse generator enable flag turn on.
SET #M2052;
N40 IF [OFF #X000] GOTO 50; Wait until manual pulse generator operation end.
GOTO 40;
N50 RST #M2051;
Axis 1 and axis 2 manual pulse generator enable flag turn off.
RST #M2052;
(Note) : Turn off the P1 and P2 manual pulse generator enable flag for
M02;
safety not to continue the manual pulse generator operation at
%
the manual pulse generator operation end.

(Note) : Control program O0100 is started by automatically start, CALL, GOSUB,

GOSUBE or SFCS instruction of the PLC program.

8 - 74
8 AUXILIARY AND APPLIED FUNCTIONS

8.9 Override Ratio Setting Function

The speed change can be executed by setting the override ratio to the command
speed of the Motion program in this function.

[Control details]
(1) The override ratio is set in the range of 0 to 100[%] in 1[%] units to the command
speed in the Motion program. The value obtained by multiplying the command
speed by the override value is the real feed speed.

(2) The override ratio is set to each axis.

The default value is 100[%] in all axes.

[Data Setting]
(1) The speed change by the override ratio setting function is used the override ratio
setting register.
The override ratio setting register of each axis are shown below.
Axis Override Ratio Axis Override Ratio Axis Override Ratio Axis Override Ratio
No. Setting Register No. Setting Register No. Setting Register No. Setting Register
1 D1536 9 D1560 17 D1584 25 D1608
2 D1539 10 D1563 18 D1587 26 D1611
3 D1542 11 D1566 19 D1590 27 D1614
4 D1545 12 D1569 20 D1593 28 D1617
5 D1548 13 D1572 21 D1596 29 D1620
6 D1551 14 D1575 22 D1599 30 D1623
7 D1554 15 D1578 23 D1602 31 D1626
8 D1557 16 D1581 24 D1605 32 D1629

(2) The ratio is set to the override ratio setting register within the range of 0 to 100[%].

(3) When the override ratio enable/disable (M4405+10n) is ON, the content of
override ratio setting register is valid. When the M4405+10n is OFF, it is controlled
at the override ratio of 100[%].

[Cautions]
(1) When the SVST instruction is executed, the content of override ratio setting
register for the lowest starting axis valid.
[Example]
Axis 2, 3, 4 start instruction
SP.SVST H3E3 "J2J3J44" K100 M0 D0

• When the above SVST instruction is executed, the data of axis 2 is valid. (The
data of axis 3, 4 are invalid.)

8 - 75
8 AUXILIARY AND APPLIED FUNCTIONS

(2) When the speed is changed by the override ratio setting function,
acceleration/deceleration processing is executed according to the "acceleration
time" and "deceleration time" in the parameter block.

(3) The override ratio setting is valid for Motion program operation only. (Invalid for
JOG operation and so on.)

(4) The error contents for override ratio data setting are shown below.
Error code Error factor Error Processing Corrective action
At a start, the value set in the override ratio • Operation is performed at 100[%]. Sets the override
190
setting register is except 0 to 100[%]. (Operation is executed at ratio within the
During operation, the value set in the override command speed in the Motion range of 0 to 100
290
ratio setting register is except 0 to 100[%]. program.) [%].

[Operation Timing]
The speed change timing by override ratio setting function is shown in Fig. 8.22.

V
Operation performed at 75[%]
Command speed [%] in second block Operation performed at 50[%]
100 in third block

50

t
Override ratio
100 25 0 50 75 50
setting register

1st block start 1st block 1st block completion 2nd block 3rd block
Override ratio changed to 50[%] before a
start of third block.

Fig. 8.22 Speed change timing for override ratio setting

8 - 76
8 AUXILIARY AND APPLIED FUNCTIONS

8.10 FIN signal wait function

By selecting the FIN signal wait function and setting a M-code at each executing point,
a process end of each executing point is synchronized with the FIN signal, the FIN
signal turns ON to OFF and then the next positioning is executed.
Turn the FIN signal on/off using the Motion program or PLC program.

[Data Setting]
(1) The FIN signal and M-code outputting signal correspond to the following devices
of each axis.
Axis No.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Signal name
FIN signal M3219 M3239 M3259 M3279 M3299 M3319 M3339 M3359 M3379 M3399 M3419 M3439 M3459 M3479 M3499 M3519
M-code outputting signal M2419 M2439 M2459 M2479 M2499 M2519 M2539 M2559 M2579 M2599 M2619 M2639 M2659 M2679 M2699 M2719
Axis No.
17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
Signal name
FIN signal M3539 M3559 M3579 M3599 M3619 M3639 M3659 M3679 M3699 M3719 M3739 M3759 M3779 M3799 M3819 M3839
M-code outputting signal M2739 M2759 M2779 M2799 M2819 M2839 M2859 M2879 M2899 M2919 M2939 M2959 M2979 M2999 M3019 M3039

(2) The acceleration/deceleration method is the fixed acceleration/deceleration time

method.
The acceleration/deceleration time of selected parameter block is used as the
acceleration time.

[Program Example]

O0001 ;
01 ;
G01 X20. Y20. F100. M10 ; (Point1) Point
X30. Y25. M11 ; (Point2) 1 FIN waiting 2
X35. Y30. M12 ; (Point3)
X40. Y40. ; (Point4)
M-code 10 11
M02 ;
(D13+20n)
%

M-code outputting
(M2419+20n)

FIN signal
(M3219+20n) Explanatory

1. When the positioning of point 1 starts, M-code10 is output and

M-code outputting signal turns on.
2. FIN signal turns on after performing required processing in the
Motion program.
Transition to the next point does not execute until the FIN signal
turns on.
3. When the FIN signal turns on, M-code outputting signal turns off.
4. When the FIN signal turns off after the M-code outputting signal
turns off, the positioning to the next point 2 starts.

8 - 77
8 AUXILIARY AND APPLIED FUNCTIONS

[Cautions]
(1) When the stop command (external, M3200+20n, M3201+20n), cancel signal or
skip signal is input, the M-code outputting signal turns OFF.

(2) When M-code is set at the end point, positioning ends after the FIN signal has turn
OFF to ON to OFF.

(3) Transition of point for the FIN signal wait function is executed with the command
before acceleration/deceleration. (Refer to Fig in (6) (b).)

(4) M-code outputting signal is output to all interpolation axes at the interpolation
control. In this case, turn on the signal for one of the interpolation axes.
However, the FIN signal for the high-speed oscillation execution axis is ignored.

(5) When the FIN signal for any one of the interpolation axes is ON, the M-code
outputting signal is not output if the FIN wait function is executed.

Example: When the FIN waiting function for point 1 is executed while the second axis
turns on.
FIN wait
Point 1 2

M-code
10 11
(D13+20n)

M-code outputting
(M2419+20n)

FIN signal (1st axis)

(M3219)

FIN signal (2nd axis)

(M3239)
When FIN signal for second axis turns OFF,
M-code outputting signal turns ON.
Since FIN signal for second axis is ON, M-code
outputting signal does not turn ON.

8 - 78
8 AUXILIARY AND APPLIED FUNCTIONS

(6) The command in-position signal for FIN signal wait function is output as below.
(a) When the automatic deceleration is started by positioning to the executed
point (including the last point) during FIN signal wait.
If the difference between the positioning address (command position) of
executing point and the machine value reaches within the command in-
position range during FIN signal wait deceleration, the command in-position
signal (M2403+20n) turns on.
When the axis transits to the next point, the command in-position signal turns
off.

Automatic deceleration
Command in-position setting value

Point 1 FIN wait

2

M-code
10 11
(D13+20n)

M-code outputting
(M2419+20n)

FIN signal
(M3219+20n)
Command in-position
(M2403+20n)

(b) When the axis transits to the next point without automatic deceleration by
positioning to the executing point during FIN signal wait.
If the axis transits to the next point without automatic deceleration, the
command in-position signal does not turn on.

Deceleration component of point 1 Deceleration component of point 2

Deceleration component of point 2 Deceleration component of point 3

Point 1 2 3

M-code 10 11 12
(D13+20n)

M-code outputting
(M2419+20n)

FIN signal
(M3219+20n)
Command in-position
(M3203+20n)

8 - 79
8 AUXILIARY AND APPLIED FUNCTIONS

POINTS
(1) The fixed acceleration/deceleration time method is acceleration/deceleration processing that the
time which acceleration/deceleration takes is fixed, even if the command differs.
V

Acceleration/deceleration time is fixed

(a) The following processing and parameters are invalid in the fixed acceleration/deceleration
time method.
• Rapid stop acceleration/deceleration time in parameter block
• S-curve acceleration/deceleration
(b) The speed processing for each axis is as shown below in positioning operation (constant-
speed) as shown in the following figure.
Y V
Ay

Axis 2 Axis 1

Address Ax

X t
Axis 1 Ax Ax
V
Positioning operation

Axis 2

Address Ay

t
Ay
Constant-speed control processing
of each axis
(2) When the rapid stop command is executed by the setting "deceleration time < rapid stop
deceleration time" during constant-speed control, the point data currently executed in the middle
of deceleration, and the positioning may be completed suddenly as a speed "0".
In the case of, "deceleration time rapid stop deceleration time", the above operation is not
executed.

Travel value by the point data currently executed at the rapid stop command
(Up to 9 points) < Speed at rapid stop command input Rapid stop deceleration time/2
[Operation pattern]
ON
Start accept flag OFF
ON
Positioning complete OFF
signal ON
OFF
Rapid stop command
1) 2) 3) 4) 5) 6) 7) 8)

Combined-speed

Deceleration speed at
the normal stop

8 - 80
8 AUXILIARY AND APPLIED FUNCTIONS

8.11 Single Block Operation

This function is used to execute the program operation block-by-block and check the
operation of Motion program.
The single block is available in two modes: a mode where a single block is specified
before a program start, and a mode where a single block is executed at any point
during program execution.

The single block operation can be executed at any point during operation by turning
the single block mode signal (M4408) ON during continuous operation, and by turning
the single block start signal (M4409) from OFF to ON.

[Control details]
(1) Single block signal devices
The single block related signals are shown below.
Signal Name Device No. Signal direction
Single block processing M4009 Monitor device
Single block mode M4408
Command device
Single block start M4409

ON

OFF
Single block processing signal (M4009)
ON
Single block mode signal (M4408) OFF
ON
Single block start signal (M4409) OFF

These signals are valid for all program operations executed concurrently.

(a) Single block in progress (M4009)

This signal indicates that the single block function can be executed. A single
block is executed when the single block processing signal is ON. When the
single block processing is OFF, make a Motion program (axis designation
program) start or turn single block start from OFF to ON to perform
continuous operation. When the single block mode signal (M4408) turns ON,
the single block processing signal turns ON.
When the single block start signal (M4409) turns from OFF to ON after the
single block mode signal (M4408) turns OFF, this signal turns OFF.

8 - 81
8 AUXILIARY AND APPLIED FUNCTIONS

(b) Single block mode (M4408)

This signal makes a single block valid.

(c) Single block start (M4409)

This single starts a program in a single block waiting status.

(2) How to execute single block from a start

When the single block mode signal (M4408) turns ON, the single block
processing signal (M4009) turns ON. In this status, turn ON the Motion program
(Axis designation program).
After the first block is executed, execution waits for the single block start signal
(M4409) to turn from OFF to ON.

Executing PLC No. N1 N2

ON
Start accept flag (M2001+n) OFF
ON
Motion program (Axis designation OFF
program) start instruction
ON
Single block processing signal (M4009) OFF
ON
Single block mode signal (M4408) OFF
ON
Single block start signal (M4409) OFF

(3) How to continue single block

Turn the single block start signal (M4409) from OFF to ON while the single block
processing signal (M4009) is ON.
After one block program is executed, execution waits for the single block start
signal to turn ON.

Executing PLC No. N1 N2 N3

ON
Single block in processing signal (M4009) OFF

Single block mode signal (M4408) OFF

ON
Single block start signal (M4409) OFF

8 - 82
8 AUXILIARY AND APPLIED FUNCTIONS

(4) How to start operation continuously during execution of single block

Turn the single block mode signal (M4408) from ON to OFF. When the single
block start signal (M4409) turns OFF to ON in this state, the single block
processing signal (M4409) turns OFF and the program makes continuous
operation.

Continuous
operation from N3

Executing PLC No. N1 N2 N3 N4

ON
Single block processing signal (M4009) OFF
ON
Single block mode signal (M4408) OFF
ON
Single block start signal (M4409) OFF

(5) How to perform continuous operation from a start (Normal

operation)
The Motion program (Axis designation program) turns ON while the single block
processing signal (M4009) is OFF, the program makes continuous operation.

Executing PLC No. N1 N2

ON
Start accept flag (M2001+n) OFF
ON
Motion program (Axis designation OFF
program) start instruction

Single block processing signal (M4009) OFF

Single block mode signal (M4408) OFF

Single block start signal (M4409) OFF

8 - 83
8 AUXILIARY AND APPLIED FUNCTIONS

(6) How to execute single block during continuous operation

Turn the single block mode signal (M4408) ON during program operation.
During move block execution, the program is stopped after termination of that
block and execution waits for the single block start signal (M4409) to turn from
OFF to ON.

Executing PLC No. N1 N2 N3

ON
Single block processing signal (M4009) OFF
ON
Single block mode signal (M4408) OFF
ON
Single block start signal (M4409) OFF

A macro instruction block, e.g. arithmetic operation, is pre-read during execution

of the move instruction for PTP (e.g. G00) or CP (e.g. G01). Therefore, if the
single block function is executed while the macro instructions are pre-read during
motion, the executing block number and executing PLC No. displayed are those
in the pre-read area.

[Motion program example]

O0010 ;
N1 G01 X100. F100. ; (Single block processing signal is ON)
N2 #D0 = 0 ;
N3 #D2 = 1 ;
N4 #D3 = 2 ;
N5 #D4 = 3 ; (Pre-read complete block)
M02 ;
%

During N1 execution, the single block processing signal is turned ON. If the macro
instructions in up to N5 have been pre-read at this time, making a single block start
for one block changes the executed PLC No. from N1 to N5.

Executing PLC No. N1 N5

ON
Single block processing signal (M4009) OFF

Single block mode signal (M4408) OFF

ON
Single block start signal (M4409) OFF

8 - 84
8 AUXILIARY AND APPLIED FUNCTIONS

[Cautions]
(1) Single block mode signal (M4408) and single block command (M4403+10n)
If the single block by single block mode signal (M4408) and the single block by
single block command (M4403+10n) are executed simultaneously, the operation
by the single block command (M4403+10n) is made invalid.

(2) Emergency stop, stop command, rapid stop command and error when single
block in progress signal (M4009) is ON
When the single block processing signal (M4009) is ON, it does not turn OFF if an
emergency stop, stop command or rapid stop command is executed, or an error
occurs.
The single block processing signal (M4009) turns OFF by turning OFF the single
block mode signal (M4408) and then turning the single block start signal (M4409)
from OFF to ON.

(3) Status at termination of one block execution when single block in progress is ON
If one block execution ends when the single block processing signal (M4009) is
ON, the automatic start signal (M4002+10n) does not turn OFF. At this time, the
command in-position signal (M2403+20n) turns ON.

(4) Single block start during move instruction execution

The single block start is not accepted during axis travel (except high-speed
oscillation). Make a single block start after the axis has been stopped by single
block.

8 - 85
8 AUXILIARY AND APPLIED FUNCTIONS

8.12 High-Speed Reading of Specified Data

This function is used to store the specified positioning data in the specified device (D,
W). The signal from input module controlled in the Motion CPU is used as a trigger.
It can be set in the system setting of SW6RN-GSV43P.

(1) Positioning data that can be set

Setting data Word No. Unit

Position command (Machine value) 2 10-4[mm], 10-5[inch], 10-5[degree]

Actual machine value 2 10-4[mm], 10-5[inch], 10-5[degree]
Position droop (Deviation counter value) 2 [PLS]
M-code 1
Torque limit value 1 [%]
Motor current 1 [%]
Motor speed 2 [r/min]
Servo command value 2 [PLS]
Optional address (Fixed to 4 bytes) 2

(2) Modules and signals to be used

Input module Signal Read timing Number of settable points

Q173PX TREN 3
0.8[ms]
PLC input module (Note) PX device 8
(Note) : Only one PLC input module can be used.

8 - 86
8 AUXILIARY AND APPLIED FUNCTIONS

8.13 Control Program Stop Function from The PLC CPU

The No. of control program during execution is specified to end a program from the
PLC CPU. (This function is equivalent to a Motion program (CLEAR) for positioning
control.)

(1) The control program set as the CLEAR request control program No. setting
register (D707) is ended. The values except for "0" is set in D707, the CLEAR
processing is executed.

(2) When an equivalent for CLEAR instruction is executed toward the all control
programs during execution, "65535" is stored in the CLEAR request control
program No. setting register (D707).

(3) When the control program set as the CLEAR request control program No. setting
register (D707) is cleared normally, "1" is stored in the CLEAR request status
storage register (D1445).

(4) When an error will occur by clearing the control program set as the CLEAR
request control program No. setting register (D707), the following error codes are
stored.
(a) A minor error "the program number ended by CLEAR is outside the range of 1
to 1024". (Error code: 619)
(b) A minor error "the program number ended by CLEAR is nor registered. Or,
the axis designation program is cleared" (Error code: 620).

(5) When "0" is stored in the CLEAR request control program No. setting register
(D707), "1" is also stored in the CLEAR request status storage register (D1445).

[Operation Timing]
Operation timing for the CLEAR request status storage register by control program
stop function from the PLC CPU is shown in Fig. 8.23.

Clear request control program

0 100 0 2000
No. setting register (D707)

Clear request status storage

0 1 0 619*
register (D1445)

* : Error code

Fig. 8.23 Operation timing for the CLEAR request status storage register

8 - 87
8 AUXILIARY AND APPLIED FUNCTIONS

MEMO

8 - 88
9 USER FILES

9. USER FILES

A user file list and directory structure are shown below

9.1 Projects

User files are managed on a "project" basis.

When you set a "project name", a "project name" folder is created as indicated on the
next page, and under that, an editing folder (temp) are created.

POINT
(1) Set the "project name" on the project management screen.

(2) The "project name" is restricted to 230 characters in length.

(3) The "project path name" + "project name" are restricted to 230 characters in
length.
((Example) "C:\Usr\.........\project name\")

9-1
9 USER FILES

9.2 User File List

A user file list is shown below.

( ) : Indicates the file (data) stored in CPU memory.

Project name folder Folder of user-set "project name"

Sub folders (fixed)

Sfc

(1) Project file Project name.prj Project information file

(2) Motion program file svgcode.bin Motion program file

(3) PC type file gsvp.cnf CPU type information file

( ) System setting data file svsystem.bin System setting data information file
(4)
High speed read setting file svlatch.bin High speed read setting information file

svdata.bin Parameter information file 1

( ) svdata2.bin Parameter information file 2

(5) Servo data file
svls.bin Limit switch setting data information file

svdatag.bin Parameter information file for SV43

( )
(6) Motion parameter file motionpara.bin Motion parameter information file

svbackup.bin Information file 1 for backup and load

(7) Backup data file svbackup2.bin Information file 2 for backup and load

svbackup6.bin Information file 6 for backup and load

( )
Motion registers (#0 to #8191) read file
Motion register file modevice.bin Only user device range (#0 to #7999) is written.
(8)
Device memory file devmen.bin Device (X, Y, M/L, B, F, D, W, Special relay,
Special register) except # read file

(9) Device setting screen devset.inf Device setting information file

information file

( )
(10) Q series PLC param.wpa Multiple CPU, I/O assignment data file
common parameter file

(11) Communication setting communi.inf Communication setting information file

information file

temp Program editing temporary directory

9-2
10 ROM OPERATION FUNCTION

10. ROM OPERATION FUNCTION

This function is used to store beforehand the user programs and parameters in the
internal FLASH ROM memory built-in the Motion CPU module, and operate it based on
the data of internal FLASH ROM memory.
Refer to Section 1.3.4 for the correspondence version of the Motion CPU and the
software.

10.1 About the ROM Operation Function

The outline procedure of ROM operation function is shown below.

(1) Turn on or reset the power supply of Multiple CPU system in the "Mode operated
by RAM".

(2) Execute a trial run and adjustment by creating the system setting, programs and
parameters using SW6RN-GSV43P.

(3) Turn on or reset the power supply of Multiple CPU system in the "Installation
mode • mode written in ROM".

(4) Write the system setting, programs and parameters of SRAM built-in the Motion
CPU module to the internal FLASH ROM by performing the ROM writing request
using SW6RN-GSV43P.

(5) Start a normal operation by starting the Motion CPU in the "Mode operated by
ROM" after reading the system setting, programs and parameters written in the
internal FLASH ROM to the internal SRAM.

POINT
(1) Switch the operation mode using a DIP switches of Motion CPU module.

(2) Confirm the operation mode with "Mode LED" and "BOOT LED" of Motion
CPU module.

Outline of processing is shown next page.

10

10 - 1
10 ROM OPERATION FUNCTION

Installation mode mode written in ROM

Motion CPU module
Example) SV43 use
Internal SRAM memory
System setting data
Each parameter for servo control
Motion parameter

Motion program
Personal computer
1) ROM writing request
MT Developer
Internal FLASH ROM memory
System setting data
Each parameter for servo control
Motion parameter

2) ROM
Motion program writing

Registration code (Note-1)

Mode operated by ROM

Motion CPU module

Internal SRAM memory

System setting data
Each parameter for servo control 1) Read at
starting
Motion parameter

Motion program

Internal FLASH ROM memory

System setting data
Each parameter for servo control
Motion parameter

Motion program

Registration code (Note-1) (Note-1): "Registration code" is used to judge whether

the programs and parameters written in the
internal FLASH ROM are normal or not.

10 - 2
10 ROM OPERATION FUNCTION

10.2 Specifications of LED • Switch

(1) Name of parts

Side face Front face With front cover open

Q17 CPU(N)

MODE 1) MODE
RUN 10) RUN
ERR. 2) ERR.
M.RUN
BAT.
3) M.RUN
BAT.
BOOT 4) BOOT

5) ON SW
1
6) 2
3 9)
4
FRONT 5
SSCNET
STOP RUN
CN2

CN1
RESET L CLR
7)
PULL
8)
USB

RS-232

Put your finger here to open

the cover.

No. Name Application

• Lit(green) : Normal mode
1) MODE LED (Mode judging)
• Lit(orange) : Installation mode • mode written in ROM
• Lit : Motion CPU normal start
• Not lit : Motion CPU fault
2) RUN LED
LED turns off when the trouble occurred at Motion CPU start or WDT error
occurred.
• Lit : LED turns on at following errors occurrence.
1) WDT error
2) System setting error
3) Servo error
3) ERR. LED 4) Self diagnostic error which will not stop the operation (except battery error).
5) Operating system software is not installed.
• Flickers : Detection of self diagnostic error which will stop the operation.
• Not lit : Normal
• Lit : During motion control
• Flickers : Latch clear start
4) M.RUN LED
• Not lit : Not during motion control or detection of self diagnostic error which will stop the
operation.
5) BAT. LED • Lit : Battery error occurrence (External battery use)
• Lit : Mode operated by ROM
6) BOOT LED
• Not lit : Mode operated by RAM/Installation mode • mode written in ROM

10 - 3
10 ROM OPERATION FUNCTION

(2) Applications of switches

No. Name Application
• Move to RUN/STOP.
7) RUN/STOP switch RUN : Motion program is started.
STOP : Motion program is stopped.

RESET : Set the switch to the "RESET" position once to reset the hardware.
Applies a reset after an operation error and initialized the operation.
L.CLR : Clear the latch area all data which set with the parameters.
(LATCH CLEAR also clears data outside the latch area at this time.)
RESET/L.CLR switch (Note-1) • Latch clear operating method
8)
(Momentary switch) 1) Set the "RUN/STOP" switch to "STOP".
2) Move the "RESET/L.CLR" switch to "L.CLR" several times until the "M.RUN
LED" flickers.
("M.RUN LED" flickers : Latch clear completed. )
3) Move the "RESET/L.CLR" switch to "L.CLR" once more. ("M.RUN LED" turn off.)
Dip switch 1 Must not be used. (Shipped from the factory in OFF position)
ROM operating setting (Shipped from the factory in OFF position)
Dip switches Dip switch 2 SW2 SW3
ON SW OFF OFF Mode operated by RAM
1 ON OFF Must not be set
Dip switch 3 OFF ON Must not be set
2
9) ON ON Mode operated by ROM
3 Dip switch 4 Must not be used. (Shipped from the factory in OFF position)
4 Dip switch 5 ON : Installation mode • mode written in ROM
5 (Installation • OFF : Normal mode (Mode operated by RAM / Mode operated by ROM)
ROM writing Turn ON dip switch 5 when installed the operating system software into the Motion
switch) CPU module from the peripheral device. After completing the installation, move
to switch and re-start.
10) Memory card EJECT button Used to eject the memory card from the Motion CPU.
(Note-1) : It is not possible to reset the Multiple CPU system by each of the PLC CPU/Motion CPU No.2 to 4.
If it is reset, other CPU occurred to stop of the overall Multiple CPU system where "MULTI CPU DOWN" (Error code : 7000).
The overall Multiple CPU system reset is resetting the CPU No.1 of PLC CPU.

10 - 4
10 ROM OPERATION FUNCTION

10.3 ROM Operation Function Details

(1) Operation mode

"Operation mode" of CPU is set by the state of DIP switch 2, 3, 5 of Motion CPU
module at the power supply on or reset of Multiple CPU system.
DIP switch setting, operation mode and operation mode overview are shown
below.

(a) DIP switch setting and operation mode

Dip switch setting
Operation mode
SW2 SW3 SW5
OFF OFF ON Installation mode • mode written in ROM
OFF ON ON Must not be set (Note-1)
ON OFF ON Must not be set (Note-1)
ON ON ON Installation mode • mode written in ROM
OFF OFF OFF Mode operated by RAM
OFF ON OFF Must not be set (Note-2)
ON OFF OFF Must not be set (Note-2)
ON ON OFF Mode operated by ROM
(Note-1) : It operates in the "Installation mode • mode written in ROM" for wrong setting.
(Note-2) : It operates in the "Mode operated by RAM" for wrong setting.

(b) Operation mode overview

Operation mode Operation overview
• MODE LED turns on in orange.
• BOOT LED turns off.
• The operating system software can be installed.
• The user programs and parameters for ROM operation can be written to the FLASH ROM built-
Installation mode • in Motion CPU module.
mode written in ROM • ROM writing is executed at ROM operating after operation check in the RAM operating mode.
The user programs and parameters stored in the SRAM built-in Motion CPU module are batch
written to the FLASH ROM built-in Motion CPU module.
• It becomes STOP state regardless of the RUN/STOP switch in front of Motion CPU module.
• The digital oscilloscope function cannot be used.
• MODE LED turns on in green.
• BOOT LED turns off.
Mode operated by RAM
• Operation is executed based on the user programs and parameters stored in the SRAM built-in
Motion CPU module.
• MODE LED turns on in green.
• BOOT LED turns on.
• Operation starts after reading the user programs and parameters stored in the internal FLASH
ROM to the internal SRAM at power supply on or reset of Multiple CPU system.
Even if the user programs and parameters are changed by SW6RN-GSV43P during ROM
Mode operated by ROM
operating mode, it returns to the contents of internal FLASH ROM at next power supply on or
system reset.
Also, even if the auto tuning data are reflected on the servo parameter of Motion CPU by
operating the servo amplifier with auto-tuning setting, it returns to the contents of internal
FLASH ROM at next power supply on or reset release.

10 - 5
10 ROM OPERATION FUNCTION

POINT
Even if a DIP switch setting is changed on the way after the power supply on,
"Operation mode" is not changed. Be sure to turn on or reset the power supply of
the Multiple CPU system to change a DIP switch setting.

(2) Applicable data into ROM

The data contents batch written to the internal FLASH ROM by ROM writing are
shown below. Backup data except the followings (current position of servomotor in
absolute position system, home position and latch device, etc.) cannot be written
to the internal FLASH ROM.

(a) Content of applicable data into ROM

SV43
System setting data
Each parameter for control
Motion parameter
Motion program

10 - 6
10 ROM OPERATION FUNCTION

(b) Operation at applicable data into ROM

When the ROM writing is requested to the Motion CPU module using "ROM
writing" menu of SW6RN-GSV43P, the applicable data into ROM stored in
the internal SRAM are batch-written to the internal FLASH ROM after erase
of an user memory area of internal FLASH ROM built-in Motion CPU
module.
When the writing completes normally, the registration code (Note-1) is written
and ROM writing ends.
The process overview is shown below.
Motion CPU module
Example) SV43 use
Internal SRAM memory
System setting data
Each parameter for control
Motion parameter
Motion program

Personal computer
Internal FLASH ROM memory 1) ROM writing request
MT Developer
System setting data
Each parameter for control
Motion parameter
Motion program
2) ROM
writing

Registration code (Note-1)

(Note-1) : "Registration code" is used to judge whether the programs and parameters written in the internal
FLASH ROM are normal or not.

POINT
(1) When the RAM is selected with "Communication" - "Transfer" menu of
SW6RN-GSV43P, the SRAM memory built-in Motion CPU module is targeted
at the "Installation mode • mode written in ROM" and "Mode operated by
ROM".

(2) The SRAM memory built-in Motion CPU module is targeted at the "Backup •
load" operation of SW6RN-GSV43P. Set the "Mode operated by ROM" after
"ROM writing" for the ROM operation after "Backup • load" at the CPU module
replacement.

(3) The internal FLASH ROM serves as a life in 100000 times writing. If it passes
over a life, "writing error" will occur. After that, replace a module for the ROM
operation.

10 - 7
10 ROM OPERATION FUNCTION

(3) ROM operation procedure

The flowchart to start the ROM operation is shown below.

ROM operation start procedure

Set "Installation mode mode written in

ROM" as a DIP switch 5 of the Motion CPU
module.

Turn ON the power supply of Multiple CPU

system.

Install the operating system software to the

Motion CPU module using the SW6RN-
GSV43P.

Installation mode
mode written in Set "normal mode" as a DIP switch 5,
ROM (Install the and set "Mode operated by RAM" as a DIP
operating system switch 2 and 3.
software.)

Turn ON again or reset the power supply

of Multiple CPU system.

Create or correct the system setting,

parameters and programs using SW6RN-
GSV43P, and write to the Motion CPU
module.

Execute the trial run and adjustment.

Mode operated NO
by RAM Check the operation

YES

Set "Installation mode mode written in

ROM" as a DIP switch 5.

Turn ON again or reset the power supply

of Multiple CPU system.

Execute the "ROM writing" of the program (Note)

and parameter using the SW6RN-GSV43P.

Installation mode
mode written in
Set "normal mode" as a DIP switch 5, and
ROM set "Mode operated by ROM" as a DIP
(ROM writing.) switch 2 and 3.

Turn ON again or reset the power supply

of Multiple CPU system.

Mode operated
by ROM
ROM operation start

(Note) : Do not execute the ROM writing for program and parameter while installing
the operating system software.

10 - 8
10 ROM OPERATION FUNCTION

(4) Operation at the "Mode operated by ROM"

Operation at the "Mode operated by ROM" is shown below.
(Programs and parameters written in the
internal FLASH ROM are abnormal.)
Mode operated by ROM start or
(When the additional parameters (for ROM
operation function) are wrote in the internal
FLASH ROM and a version of operating system
software does not correspond to the ROM
Is the registration NO operation function.)
code of internal FLASH
ROM normal ?
YES
(Programs and parameters
written in the internal FLASH
ROM are normal.)
Read the system setting data, each Motion CPU WDT error [302] occurs, and
parameter for servo control, Motion "ERROR LED" turns ON.
parameter, Motion program in the internal
FLASH ROM to the internal SRAM .
Wait the restart of Multiple
CPU system.
Normal operation start After that, it cannot be operated because of
stop status.
After that, it is same operation at the Retry the operation for "ROM writing"
RAM operation. "Mode operated by ROM" after confirm the
contents for programs and parameters of
internal SRAM.

10 - 9
10 ROM OPERATION FUNCTION

10.4 Operating Procedure of "ROM writing"

The operating procedure of ROM writing using the SW6RN-GSV43P is shown below.
System setting screen

Operating procedure

1) Display "ROM/RAM" communication dialog

screen after clicking on "Communication" -
"Transfer" of the system setting menu screen.
(Note) : Select "Transfer" at the ROM writing.

"When selecting the RAM." (Default screen at "Transfer" selecting.) 2) Click on "ROM" of "RAM/ROM" menu screen.
Write the programs and data in the RAM of Motion
CPU to the ROM.
(Note) : At "RAM" clicking on
Communication dialog is left screen (When
selecting the RAM).
RAM/ROM(M) Read, write and verify to the RAM of Motion
RAM(T) CPU.
ROM(R) Write the all data to Motion CPU after
clicking on "RAM" at the ROM writing.

"When selecting the ROM." (ROM writing window) 3) "RAM/ROM" communication dialog is left screen
(When selecting the ROM.).

4) Select "Write" of "When selecting the ROM" screen.

(Note) : ALL data are batch-written at the ROM
writing.
Not select these items.

POINT
Be sure to write the all data beforehand to the RAM of
Motion CPU at the ROM writing.

10 - 10
11 COMMUNICATIONS VIA NETWORK

11. COMMUNICATIONS VIA NETWORK

The communication between the personal computer and the Motion CPU is possible 11
via Q series Network module (MELSECNET/10(H), Ethernet, CC-Link, RS-232 and
etc.) in the Motion CPU (Q173CPU(N)/Q172CPU(N)).
Refer to the following manuals for the specifications of each network modules of
MELSECNET/10(H), Ethernet, CC-Link and Serial communication, the handling
method.

(1) MELSECNET/10(H) module : QJ71LP21-25, QJ71LP21G, QJ71BR11,

QJ72LP25-25, QJ72LP25G, QJ72BR15
• QCPU User's Manual(Hardware Design, Maintenance and Inspection)
• Q Corresponding MELSECNET/H Network System Reference Manual(PLC to
PLC network)
• Q Corresponding MELSECNET/H Network System Reference Manual(Remote
I/O network)

(2) Ethernet interface module : QJ71E71, QJ71E71-B2, QJ71E71-100

• Q Corresponding Ethernet Interface Module User's Manual(Hardware)
• Q Corresponding Ethernet Interface Module User's Manual(Basic)
• Q Corresponding Ethernet Interface Module User's Manual(Application)
• Q Corresponding Ethernet Interface Module User's Manual(Web function)
• Q Corresponding MELSEC Communication Protocol Reference Manual

(3) CC-Link module : QJ61BT11

• QJ61BT11 Control & Communication Link System Master/Local Module User’s
Manual(Hardware)
• GX Configurator-CC Version 1 Operating Manual
• CC- Link System Master/Local Module User’s Manual

(4) Serial communication module : QJ71C24, QJ71C24-R2

• Serial Communication Module User's Manual(Hardware)
• Q Corresponding Serial Communication Module User's Manual(Basic)
• Q Corresponding Serial Communication Module User's Manual(Application)
• Q Corresponding MELSEC Communication Protocol Reference Manual

11 - 1
11 COMMUNICATIONS VIA NETWORK

11.1 Specifications of The Communications via Network

(1) Communications via network of the Motion CPU is possible by SW6RN-GSV43P.

(2) Access range of the communications via network of the Motion CPU is an access
range equivalent to Qn(H)CPU. (Refer to Section "11.2 Access Range of The
Communications via Network".)

(3) By setting the routing parameter to the control CPU of the network module and the
CPU which connected the peripheral devices in the network by
MELSECNET/10(H) and Ethernet, it is possible to relay to 8 network points and
communicate.

(4) Because the Motion CPU cannot become the control CPU of the network module,
there is not setting item of the network module and network parameter.
However, when connecting with the CPU on the other network from the peripheral
device which connected the Motion CPU, it needs to the setting of the routing
parameter.

(5) It can operate by remote control the monitor or program editing of the Motion CPU
via the intranet using the Ethernet module.

Personal Computer Personal Computer

IBM PC/AT IBM PC/AT

Ethernet Ethernet

Intranet

Qn(H) Q173/ Ethernet Qn(H) Q173/ Ethernet

Power supply
Power supply

CPU Q172 CPU Q172

CPU(N) CPU(N)

11 - 2
11 COMMUNICATIONS VIA NETWORK

11.2 Access Range of The Communications via Network

11.2.1 Network configuration via the MELSECNET/10(H) or the Ethernet

(1) It can access the other CPU via the network from the programming software (GX
Developer, SW6RN-GSV43P, etc.) of the personal computer connected with the
CPU or serial communication module in USB/RS-232.

(2) It can access the other CPU via the network from the programming software in the
personal computer by connecting the personal computer equipped with Ethernet
to MELSECNET/10(H) or Ethernet board to the Ethernet to MELSECNET/10(H) or
Ethernet.

(3) The access range of above (1) and (2) can be accessed to 8 network points by
setting the routing parameter to the control CPU of the network module and the
CPU which connected the personal computer.

11 - 3
11 COMMUNICATIONS VIA NETWORK

<Example> Personal Personal Personal Personal

C24 : Serial communication module
computer computer computer computer
MNET : MELSECNET/10(H)
USB/ USB/ RS-232 MNET board or Ether : Ethernet
RS-232 RS-232 Ether
Network No.1

Qn(H) Q173 C24 MNET Qn(H) Q173 MNET Qn(H) Q173 MNET MNET
CPU CPU or CPU CPU or CPU CPU or or Network
(N) Ether (N) Ether (N) Ether Ether
No.2

Network No.3

Qn(H) Q173 MNET MNET Qn(H) Q173 MNET Qn(H) Q173 MNET MNET
CPU CPU or or CPU CPU or CPU CPU or or
(N) Ether Ether (N) Ether (N) Ether Ether

Network No.4
Network No.5
Qn(H) Q173 MNET MNET Qn(H) Q173 MNET Qn(H) Q173 MNET MNET
CPU CPU or or CPU CPU or CPU CPU or or Network
(N) Ether Ether (N) Ether (N) Ether Ether No.6

Network No.7

Qn(H) Q173 MNET MNET Qn(H) Q173 MNET Qn(H) Q173 MNET MNET
CPU CPU or or CPU CPU or CPU CPU or or
(N) Ether Ether (N) Ether (N) Ether Ether

Network No.8
Network No.9
Qn(H) Q173 MNET MNET Qn(H) Q173 MNET Qn(H) Q173 MNET MNET Network
CPU CPU or or CPU CPU or CPU CPU or or
(N) Ether Ether (N) Ether (N) Ether Ether
No.10

: Communication is possible
: Communication is possible(Setting of the routing parameter is necessary.)
: Communication is impossible

11 - 4
11 COMMUNICATIONS VIA NETWORK

11.2.2 Network configuration via the CC-Link

(1) It can access the other CPU via the CC-link from the programming software (GX
Developer, SW6RN-GSV43P, etc.) of the personal computer connected with the
CPU or serial communication module in USB/RS-232.

(2) It can access the other CPU via the CC-Link from the programming software in the
personal computer by connecting the personal computer equipped with CC-Link
board to the CC-Link.

(3) The access range of above (1) is only the CPU on the CC-Link which a system
connects it to, and it can select a CC-Link network to connect by specifying the I/O
No. of the CC-Link module.

(4) The access range of above (2) is only the CPU of the connected the CC-Link.

<Example 1> Personal Personal Personal Personal

C24 : Serial communication module
computer computer computer computer
USB/ USB/ RS-232 CC-Link board
RS-232 RS-232
Network No.1

Qn(H) Q173 C24 CC- Qn(H) Q173 CC- Qn(H) Q173 CC- CC-
CPU CPU Link CPU CPU Link CPU CPU Link Link Network
(N) (N) (N)
No.2

Network No.3

Qn(H) Q173 CC- Qn(H) Q173 CC- Qn(H) Q173 CC- CC-
CPU CPU Link CPU CPU Link CPU CPU Link Link
(N) (N) (N)

<Example 2> Personal Personal

computer computer
USB/ USB/
RS-232 RS-232
Network No.1

Qn(H) Q173 C24 CC- Qn(H) Q173 CC- Qn(H) Q173 CC- CC-
CPU CPU Link CPU CPU Link CPU CPU Link Link Network
(N) (N) (N)
No.2

Network No.3

Qn(H) Q173 CC- Qn(H) Q173 CC- Qn(H) Q173 CC- CC-
CPU CPU Link CPU CPU Link CPU CPU Link Link
(N) (N) (N)

: Communication is possible
: Communication is possible (Setting of the routing parameter is necessary.)
: Communication is impossible

11 - 5
11 COMMUNICATIONS VIA NETWORK

11.2.3 Network configuration via the RS-422/485

(1) It can access the other CPU via the RS-422/485 from the programming software
(GX Developer, SW6RN-GSV43P, etc.) of the personal computer connected with
the CPU or serial communication module in USB/RS-232.

(2) The access range of above (1) is only the CPU on the RS-422/485 which a
system connects it to, and it can select RS-422/485 network to connect by
specifying the I/O No. of the C24 module.

<Example 1> Personal Personal Personal

computer computer computer C24 : Serial communication module
USB/ USB/ RS-232
RS-232 RS-232
RS-422/485 RS-422/485

Qn(H) Q173 C24 C24 Qn(H) Q173 C24 Qn(H) Q173 C24 C24
CPU CPU CPU CPU CPU CPU
(N) (N) (N)

RS-422/485

Qn(H) Q173 C24 Qn(H) Q173 C24 Qn(H) Q173 C24 C24
CPU CPU CPU CPU CPU CPU
(N) (N) (N)

<Example 2> Personal Personal

computer computer
USB/ USB/
RS-232 RS-232
RS-422/485 RS-422/485

Qn(H) Q173 C24 C24 Qn(H) Q173 C24 Qn(H) Q173 C24 C24
CPU CPU CPU CPU CPU CPU
(N) (N) (N)

RS-422/485

Qn(H) Q173 C24 Qn(H) Q173 C24 Qn(H) Q173 C24 C24
CPU CPU CPU CPU CPU CPU
(N) (N) (N)

: Communication is possible
: Communication is possible(Setting of the routing parameter is necessary.)
: Communication is impossible

11 - 6
11 COMMUNICATIONS VIA NETWORK

11.2.4 Network configuration which MELSECNET/10 (H), Ethernet, CC-Link, RS-422/485

were mixed

(1) When the MELSECNET/10(H) or Ethernet is defined as "Network" and CC-Link or

RS-422/485 is defined as "Link", combination of whether to be able to access from
the programming software (GX Developer, SW6RN-GSV43P, etc.) is shown
below.

Network communications Usable/ unusable

Programming software CPU(C24) Network Link CPU

Programming software CPU(C24) Link Network CPU

Programming software Network Link CPU

Programming software Link Network CPU

Programming software CPU(C24) Network Link Network CPU

Programming software CPU(C24) Link Network Link CPU

Programming software Network Link Network CPU

Programming software Link Network Link CPU

: Usable : Unusable

(2) It can be accessed to 8 network points by setting the routing parameter in the
"Network".

(3) Because routing cannot access, it can access only the connected network. The
connected network can be selected by specifying the I/O No. of the module.

11 - 7
11 COMMUNICATIONS VIA NETWORK

<Example 1> Personal Personal Personal Personal

computer computer computer computer C24 : Serial communication module
USB/ USB/ RS-232 MNET : MELSECNET/10(H)
MNET board or
RS-232 RS-232 Ether : Ethernet
Ether
Network No.1

Qn(H) Q173 C24 MNET Qn(H) Q173 MNET C24 Qn(H) Q173 MNET MNET
CPU CPU or CPU CPU or CPU CPU or or Network
(N) Ether (N) Ether (N) Ether Ether No.2

RS-422/485
Network No.3
Network No.4
Qn(H) Q173 C24 MNET Qn(H) Q173 MNET CC- CC- Qn(H) Q173 MNET MNET
CPU CPU or CPU CPU or Link Link CPU CPU or or
(N) Ether (N) Ether (N) Ether Ether

RS-422/485
RS-422/485 Network No.5

Qn(H) Q173 MNET Qn(H) Q173 CC- Qn(H) Q173 CC- MNET Qn(H) Q173 MNET
CPU CPU or CPU CPU Link CPU CPU Link or CPU CPU or
(N) Ether (N) (N) Ether (N) Ether

: Communication is possible
: Communication is possible(Setting of the routing parameter is necessary.)
: Communication is impossible

11 - 8
11 COMMUNICATIONS VIA NETWORK

Personal Personal Personal C24 : Serial communication module

<Example 2> computer computer computer MNET : MELSECNET/10(H)
USB/ USB/ RS-232 Ether : Ethernet
RS-232 RS-232

RS-422/485

Qn(H) Q173 C24 CC- CC- Qn(H) Q173 CC- Qn(H) Q173 CC- MNET
CPU CPU Link Link CPU CPU Link CPU CPU Link or Network
(N) (N) (N) Ether No.1

RS-422/485
Network No.2

Qn(H) Q173 CC- MNET Qn(H) Q173 MNET MNET Qn(H) Q173 MNET
CPU CPU Link or CPU CPU or or CPU CPU or
(N) Ether (N) Ether Ether (N) Ether

Network No.3
RS-422/485

Qn(H) Q173 MNET C24 Qn(H) Q173 C24 Qn(H) Q173 C24
CPU CPU or CPU CPU CPU CPU
(N) Ether (N) (N)

<Example 3> Personal

computer
CC-Link board

RS-422/485

Qn(H) Q173 C24 CC- CC- Qn(H) Q173 CC- Qn(H) Q173 CC- MNET
CPU CPU Link Link CPU CPU Link CPU CPU Link or Network
(N) (N) (N) Ether No.1

RS-422/485
Network No.2

Qn(H) Q173 CC- Qn(H) Q173 MNET Qn(H) Q173 MNET MNET
CPU CPU Link CPU CPU or CPU CPU or or
(N) (N) Ether (N) Ether Ether

: Communication is possible
: Communication is possible (Setting of the routing parameter is necessary.)
: Communication is impossible

11 - 9
11 COMMUNICATIONS VIA NETWORK

MEMO

11 - 10
12 MONITOR FUNCTION OF THE MAIN CYCLE

12. MONITOR FUNCTION OF THE MAIN CYCLE

(1) Information for main cycle of the Motion CPU processing (process cycle executed
at free time except for motion control) is stored to the special register.

(2) Since the automatic refresh of shared CPU memory and Motion program are
executed in the main cycle, make it reference for process time, etc. to program. 12
(3) There are following methods to shorten a main cycle.
(a) Lengthen an operation cycle setting.
(b) Reduce the number of Motion programs to execute simultaneously.
(c) Reduce the number of automatic refresh points of shared CPU memory.

(4) When a main cycle is lengthened (more than 1.6[s]), a WDT error may occur in
the Motion CPU.

(5) Details of main cycle monitor register is shown below.

No. Name Meaning Details

Current scan time • Current scan time is stored in the unit 1[ms].
D9017 Scan time
(1ms units) • Setting range (0 to 65535[ms])

Maximum scan time • Maximum main cycle is stored in the unit 1[ms].
D9019 Maximum scan time
(1ms units) • Setting range (0 to 65535[ms])

12 - 1
12 MONITOR FUNCTION OF THE MAIN CYCLE

MEMO

12 - 2
13 SERVO PARAMETER READING FUNCTION

13. SERVO PARAMETER READING FUNCTION

(1) When the servo parameters are changed, the Motion CPU will be automatically
read the servo parameters and reflected them to the servo parameter storage
area in the Motion CPU. Therefore, an operation to read servo parameters is
unnecessary in the following cases.

(a) The parameters are changed by auto tuning.

POINT
If the power supply of Motion CPU is turned off/reset or the power supply of servo 13
amplifier is turned off immediately after change, it may not be reflected.

(2) After executing the servo parameter reading function, when it needs to reflect the
servo parameters changed to the SW6RN-GSV43P, read the servo parameters
from the Motion CPU and save data.

13.1 About The Servo Parameter Read Request Devices

(1) Set the axis No. of servo amplifier to read a parameter in the servo parameter
read request axis No. (D9104) and turn the servo parameter read request flag
(M9104) ON for reading of the servo parameter from servo amplifier.

(2) While the servo parameter reading flag (M9105) is turned ON, the servo
parameter read request flag does not become valid. Use this condition as an
interlocks.

(3) Reading of servo parameter from servo amplifier becomes valid at the turning
OFF to ON of the servo parameter read request flag.

(4) The servo parameter read request flag is not turned off automatically. Execute the
device OFF processing by the user side.

(5) After executing the read function of the servo parameter from servo amplifier,
when the servo parameter read request is executed toward the other axis, turn the
servo parameter read request flag (M9104) ON to OFF, set the correspondence
axis in the servo parameter read request axis No. (D9104) and turns the servo
parameter read request flag (M9104).

(6) After executing the read function of the servo parameter from servo amplifier,
when the servo parameter read request is executed toward the same axis again,
turn the servo parameter read request flag (M9104) ON to OFF and turn the servo
parameter read request flag (M9104) again OFF to ON.

(7) When the servo parameter read request flag (M9104) turns OFF to ON, if the
servo parameter read request axis is not used or the power is off, the reading of
the servo parameter from servo amplifier is not executed.

13 - 1
13 SERVO PARAMETER READING FUNCTION

(8) When the servo parameter read request axis No. (D9104) is outside of the setting
range, it becomes "No operation" even if the servo parameter read request flag
(M9104) turns OFF to ON.

(9) The list of the servo parameter read request device is shown below.

No. Name Meaning Details

• The servo parameter of the servo parameter
Servo parameter OFF to ON : Servo parameter read request axis set as D9104 is reflected in
M9104
read request flag read. the Motion CPU from the servo amplifier at
the time of off to on.
ON : Servo parameter reading. • Turned on while reading the servo parameter
Servo parameter
M9105 OFF : Except the servo from the servo amplifier to the Motion CPU.
reading flag
parameter reading. After reading is turned off automatically.
• Set the axis No. of servo amplifier to read the
Servo parameter servo parameter.
D9104 read request Servo parameter read axis No. • Setting range
axis No. Q173CPU(N) : 1 to 32 (Axis1 to 32)
Q172CPU(N) : 1 to 8 (Axis1 to 8)

13.2 Operating Procedure of The Servo Parameter Reading Function

An operation procedure which the servo parameter read by the reading function
of the servo parameter is reflected on the SW6RN-GSV43P is shown below.

Operating procedure

Make the gain adjustment and etc.,

using the set-up software or
parameter module, and change the
servo parameter.

Turn ON the servo parameter read

request flag (M9104) OFF to ON by
setting the servo amplifier axis No.
changed the servo parameter to the
servo parameter read request axis
No. (D9104), and reflect the changed
parameter to the servo parameter in
the Motion CPU.

Reflect and save the parameter of the

Motion CPU by the SW6RN-GSV43P.

END

13 - 2
APPENDICES

APPENDICES

APPENDIX 1 Multiple CPU Error Codes

APPENDIX 1.1 Self-diagnosis error code

This section explains about the self-diagnosis error code. A self-diagnosis error code is
stored in D9008.
And, it can be confirmed with device monitor of the PC diagnosis/SW6RN-GSV43P of
GX Developer.
Each digit is defined as the error code as follows.

Big classification

1 Internal hardware
2 Handling
Digit :
3 Parameter
APP.
Tens digit : Details code
Hundreds digit : 4 Program

Thousands digit : Big classification (Factor) 5 Watch timer

Millions digit : Super classification The correspondence
6
(Except the PLC CPU) which becomes double
7 Indicates Multiple CPU
8
9 Outside diagnosis

The characteristic error of Motion CPU is 10000 (the error code which occurs except
for the PLC CPU).

APP - 1
APPENDICES

Table 1.1 Multiple CPU errors which occurs in the Motion CPU (1000 to 10000)
Occurs CPU LED status
Middle Error Error information Operating Diagnostic
Error messages Single Multiple
classification code Classification code RUN ERROR status of CPU timing
composition composition

1000

1001
1002

MAIN CPU DOWN 1003 — — — OFF Flickers Stop Always

1004
1005
CPU (hard)
error 1006
1007
1008
1009

In the CPU,
At power supply
RAM error 1105 — OFF Flickers Stop
ON/at reset
(RAM ERROR)

Stop/Continue
FUSE BREAK OFF 1300 — — — OFF/ON Flickers/ON Always
(Note-7)

Module At power supply

SP. UNIT DOWN 1401 Module No. OFF Flickers Stop
error (hard) ON/at reset

1413 Module No. OFF Flickers Stop Always

1414 Module No. OFF Flickers Stop Always
Base Q bus error
1415 Base No. (Note-2) OFF Flickers Stop Always
(CONTROL-BUS
At power supply
ERROR) 1416 Module No. (Note-1) — OFF Flickers Stop
ON/at reset
Detection of AC/DC
Power
DOWN 1500 — ON OFF Continue Always
supply
(AC/DC DOWN)

1600 ON OFF
Battery (BATTERY ERROR) Drive name Continue Always
BAT. ALM
1601
LED ON
2121

2124
Module No.
Handling the
intelligent Intelligent function At power supply
2125
module installation — OFF Flickers Stop
function ON/at reset
module/ error
Multiple CPU (SP. UNIT LAY
module ERROR)
2126 Module No. (Note-1)

(Note-1) : CPU No. is stored in slot No. of the common information classification.
(Note-2) : Base No. in "common information classification code" of "error information classification code" is 0 : CPU base, 1 to 7 : Number of extension bases.
(Note-3) : Because a stop error or CPU No. except CPU No. that it was reset becomes MULTI CPU DOWN simultaneously, a stop error or CPU No. except
CPU No. that it was reset may store in the classification of error information depending on timing.
(Note-4) : When an error occurs in the Motion CPU and so on except PLC CPU, if a PC diagnosis is made in the CPU except PLC CPU from GX Developer via
PLC CPU, the error code "10000" is indicated.
(Note-5) : A self-diagnosis error flag (M9008) and a diagnosis error flag (M9010) do not turn on at the error detection.
(Note-6) : MOTION RUN LED turns off at the stop error occurrence. (The condition of RUN LED does not change.).
(Note-7) : Operating status of CPU at the error occurrence can be set in the parameter. (LED display also changes continuously.).

APP - 2
APPENDICES

Error code Error contents and cause Corrective action Remark

1000

1001
(1) Measure noise level.
1002
Run-away or failure of main CPU (2) Reset and establish the RUN status again. If the same error is
1003 (1) Malfunctioning due to noise or other reason displayed again, this suggests a CPU hardware error. Explain
1004 (2) Hardware fault the error symptom and get advice from our sales
1005 representative.

1006
1007
1008
1009
(1) Measure noise level.
(2) Reset and establish the RUN status again. If the same error is
1105 Shared CPU memory fault in the CPU displayed again, this suggests a CPU hardware error. Explain
the error symptom and get advice from our sales
representative.

Check ERR. LED of the output modules and replace the module
1300 There is an output module with a blown fuse.
whose LED is ON.

The Motion dedicated module, the intelligent function module, the

There was no response from the Motion dedicated module or
1401 CPU module or the base unit has hardware error. Explain the
intelligent function module at the initial communications.
error symptom and get advice from our sales representative.
1413
An error was detected on the Q bus.
1414 A special function module, the CPU module, or the base unit has
1415 Fault of the CPU or extension base unit was detected. hardware error. Explain the error symptom and get advice from
our sales representative.
1416 Bus fault was detected at power-on or reset.

A momentary power interruption of the power supply occurred. Check the power supply.
1500 The power supply turned off.

(1) Replace the battery.

(1) Battery voltage of the CPU has dropped below stipulated level.
1600 (2) If the battery is for internal RAM or for the back-up power
(2) The lead connector of CPU battery has not been installed.
function, install a lead connector.

1601 Battery voltage has dropped below stipulated level. Replace the battery.

2121 A CPU module is installed in a slot except CPU slot, 0 to 2 slot A CPU module is installed to a CPU slot or 0 to 2 slot.

(1) A module is installed in slot 65 or subsequent. (1) Remove a module of slot 65 or subsequent.
2124 (2) A module is installed in a base for which "None" is set in base (2) Remove a module of base for which "None" is set in base
settings. settings.

(1) A module which the PLC CPU cannot recognize has been (1) Install a usable module in the PLC CPU.
(2) The intelligent function module has hardware error. Explain
2125 installed. the error symptom and get advice from our sales
(2) There was no response from the intelligent function module. representative.

CPU module locations in the Multiple CPU system is either of the (1) There must be non-installation slots between the CPU
following. modules in the Multiple CPU system. (When the non-
installation slots are reserved, cancel the reservation.)
2126 (1) There are not-installation slots between the CPU modules. (2) Remove the modules except the PLC CPU installed between
(2) The modules except the PLC CPU are installed between the PLC the PLC CPU modules, and shift over to the slots with the
PLC CPU modules in the Multiple CPU system.
CPU modules.

: It occurs in the CPU (CPU No.) which detected a error.

: It occurs in all CPU No. at the time of the Multiple CPU composition.
: It does not occur.

APP - 3
APPENDICES

Table 1.1 Multiple CPU errors which occurs in the Motion CPU (1000 to 10000) (Continued)
Occurs CPU LED status
Middle Error Error information Operating Diagnostic
Error messages Single Multiple
classification code Classification code RUN ERROR status of CPU timing
composition composition

3001

At power
3010 —
PARAMETER supply ON/
Parameter File name OFF Flickers Stop
ERROR at reset/
3012 — at Stop Run

3013 —

Always
Module No.
7000 —
(Note-1) (Note-3)
Other issue
opportunity CPU
OFF Flickers Stop
weight occasion error.
(MULTI CPU DOWN) At power
7002 — supply ON/
Module No. at reset
(Note-1)
Multiple 7003 —
CPU

Multiple CPU start

At power
error Module No.
7010 — OFF Flickers Stop supply ON/
(MULTI EXE. (Note-1)
at reset
ERROR)

Multiple CPU start

error Module No.
7020 — ON ON Continue Always
(MULTI CPU (Note-1)
ERROR)

ON : System Stop : System At power

setting setting supply ON/
CPU error except for error/ error at reset/
CPU error PLC CPU servo Continue : other at Stop Run
except for (CONT. UNIT 10000 — Except for PLC CPU ON error error
PLC CPU ERROR) OFF : other
(Note-4) (Note-5) error

(Note-1) : CPU No. is stored in slot No. of the common information classification.
(Note-2) : Base No. in "common information classification code" of "error information classification code" is 0 : CPU base, 1 to 7 : Number of extension bases.
(Note-3) : Because a stop error or CPU No. except CPU No. that it was reset becomes MULTI CPU DOWN simultaneously, a stop error or CPU No. except
CPU No. that it was reset may store in the classification of error information depending on timing.
(Note-4) : When an error occurs in the Motion CPU and so on except PLC CPU, if a PC diagnosis is made in the CPU except PLC CPU from GX Developer via
PLC CPU, the error code "10000" is indicated.
(Note-5) : A self-diagnosis error flag (M9008) and a diagnosis error flag (M9010) do not turn on at the error detection.
(Note-6) : MOTION RUN LED turns off at the stop error occurrence. (The condition of RUN LED does not change.).

APP - 4
APPENDICES

Error code Error contents and cause Corrective action Remark

(1) Read the error detailed information at the peripheral device,

check and correct the parameter items corresponding to the
numerical values (parameter No.).
3001 Parameter contents have been destroyed. (2) If the error still occurred after correcting of the parameter
settings, it may be an error for internal RAM of CPU or
memory. Explain the error symptom and get advice from our
sales representative.
The number of CPU modules set in the parameter differ from the real Match (preset count of Multiple CPU setting) – (CPU (empty)
3010
installation in a Multiple CPU system. setting in I/O assignment) with the actual installation of CPUs.
The reference CPU No. set in the parameter differ from the setting in Match the setting in the parameter with that of the reference CPU
3012
a Multiple CPU system. No. (CPU No.1).
Check the following in the Multiple CPU automatic refresh
Multiple CPU automatic refresh setting is any of the followings in a
parameters and make correction.
Multiple CPU system.
(1) When specifying the bit device, specify a multiple of 16 for the
(1) When a bit device is used as a refresh device, a number except a
3013 refresh first device.
multiple of 16 is set as the refresh first device.
(2) Specify the device that may be specified for the refresh
(2) A non-specifiable device is specified.
device.
(3) The number of transmitting points is an odd number.
(3) Set the number of transmitting points to an even number.
In a Multiple CPU system, a CPU fault occurred at the CPU where "all
station stop by stop error of CPU was selected" in the operating
mode.
Read the individual information of the error, at the peripheral
(It occurs in the CPU except for the CPU that suspension of a system
7000 device, check the error of the CPU resulting in CPU fault, and
is chosen.)
remove the error.
In a Multiple CPU system, CPU No. 1 resulted in stop error at power-
on and the other CPU cannot start. (This error occurred at CPU No. 2
to 4)

7002
Reset and establish the RUN status again. If the same error is
At initial communication in a Multiple CPU system, no response is
displayed again, this suggests a CPU hardware error. Explain
given back from the target CPU of initial communication.
7003 the error symptom and get advice from our sales representative.

(1) A fault CPU is installed in a Multiple CPU system.

(2) CPUs of unmatched versions are installed in a Multiple CPU
The CPU No. of the function version A or the break down module
system.
is exchanged for the CPU module of the function version B, after
7010 (This error is detected at the PLC CPU of function version B.)
it began to read the individual information of the error at the
(3) Any CPU No. among CPU No.2 to 4 was reset, after power supply
peripheral devices.
on a Multiple CPU system.
(This error occurs by the reset CPU No..)

In a Multiple CPU system, a CPU fault occurred at the CPU where ”all
Read the individual information of the error at the peripheral
station stop by stop error of CPU was not selected” in the operation
7020 device, check the error of the CPU resulting in CPU fault, and
mode. (The error is detected at the PLC CPU of other than the CPU
remove the error.
No. where the CPU fault occurred.)

The error which a Motion CPU was characteristic of occurred.

It is set when an error all to set with the system setting error, the Use the software package of the applicable CPU module to
10000
Motion CPU is detected. (Motion program setting error, minor error, check the details of the error that occurred.
major error, servo error)

: It occurs in the CPU (CPU No.) which detected a error.

: It occurs in all CPU No. at the time of the Multiple CPU composition.
: It does not occur.

APP - 5
APPENDICES

APPENDIX 1.2 Release of self-diagnosis error

The CPU can perform the release operation for errors only when the errors allow the
CPU to continue its operation.
To release the errors, follow the steps shown below.
(1) Eliminate the error cause.
(2) Store the error code to be released in the special register D9060.
(3) Turn the special relay M9060 off to on.
(4) The target error is released.

After the CPU is reset by the release of error, the special relays, special registers and
LEDs for the error are returned to the states under which the error occurred.
If the same error occurs again after the release of the error, it will be registered again.

APP - 6
APPENDICES

APPENDIX 2 Error Codes Stored Using The Motion CPU

The Motion program setting errors and positioning errors are detected in the Motion
CPU side.

(1) Motion program setting errors

These are positioning data errors set in the Motion program, at it checks the
parameter block No. and axis No. at the execution of SVST instruction.
The operations at the error occurrence are shown below.
• The Motion program setting error flag (M9079) turns on.
• The erroneous Motion program is stored in the error program No. storage
register (D9189).
• The error code is stored in the error item information register (D9190).

(2) Positioning error

(a) Positioning errors occurs at the positioning start or during positioning control.
There are minor errors, major errors and servo errors.
1) Minor errors…… These errors occur in the PLC program or Motion
program, and the error codes 1 to 999 are used.
Remove the error cause by correcting the PLC program
or Motion program.
2) Major errors…… These errors occur in the external input signals or
control commands from the Motion CPU, and the error
codes 1000 to 1999 are used.
Check the error code, and remove the error cause of
the external input signal state or PLC program.
3) Servo errors ..….These errors detected in the servo amplifier, and the
error codes 2000 to 2999 are used.
Check the error code, and remove the error cause of
the servo amplifier side.

(b) The error detection signal of the erroneous axis turns on at the error
occurrence, and the error codes are stored in the minor error code, major
error code or servo error code storage register.

APP - 7
APPENDICES

Table 2.1 Error code storage registers, error detection signals

Device Error code storage register Error
Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis detection
Error class 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 signal
Minor error D6 D26 D46 D66 D86 D106 D126 D146 D166 D186 D206 D226 D246 D266 D286 D306
M2407+20n
Major error D7 D27 D47 D67 D87 D107 D127 D147 D167 D187 D207 D227 D247 D267 D287 D307
Servo error D8 D28 D48 D68 D88 D108 D128 D148 D168 D188 D208 D228 D248 D268 D288 D308 M2408+20n

Device Error code storage register Error

Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis detection
Error class 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 signal
Minor error D326 D346 D366 D386 D406 D426 D446 D466 D486 D506 D526 D546 D566 D586 D606 D626
M2407+20n
Major error D327 D347 D367 D387 D407 D427 D447 D467 D487 D507 D527 D547 D567 D587 D607 D627
Servo error D328 D348 D368 D388 D408 D428 D448 D468 D488 D508 D528 D548 D568 D588 D608 D628 M2408+20n
(Note): The range of axis No.1 to 8 is valid in the Q172CPU(N).

(c) If another error occurs after an error code has been stored, the existing
error code is overwritten, deleting it.
However, the error history can be checked using a peripheral device
started with the SW6RN-GSV43P software.

(d) Error detection signals and error codes are held until the error code
reset command (M3207+20n) or servo error reset command
(M3208+20n) turns on.

POINTS
(1) Even if the servo error reset (M3208+20n) turns on at the servo error
occurrence, the same error code might be stored again.
(2) Reset the servo error after removing the error cause of the servo amplifier side
at the servo error occurrence.

APP - 8
APPENDICES

APPENDIX 2.1 Motion program setting errors (Stored in D9190)

The error codes, error contents and corrective actions for Motion program setting
errors are shown in Table 2.2.

Table 2.2 Motion program setting error list

Error code
Error name Error contents Error processing Corrective action
stored in D9190
Parameter block No. The parameter block No. is outside Execute the Motion program Set the parameter block No.
1 setting error the range of 1 to 64. with the default value "1" of within the range of 1 to 64.
parameter block.
Axis No. setting An unused axis of the system Positioning control does not Set the axis No. used in the
error setting is set to the Motion start. system settings.
906
program set in the SVST
instruction.
Number of control 33 or more axis designation Positioning control does not Set up to 32 programs as the
3300 program starts over programs are started start. simultaneous execution
error simultaneously. program.
Number of 17 or more control programs are Positioning control does not Set up to 16 programs as the
3301 designation program started simultaneously. start. simultaneous execution
starts over error program.

APP - 9
APPENDICES

APPENDIX 2.2 Minor errors

These errors are detected in the PLC program or Motion program, and the error codes
of 1 to 999 are used.
Minor errors include the setting data errors, starting errors, positioning control errors,
speed change/torque control value change errors and Motion program execution
errors.
(1) Setting data errors (1 to 99)
These errors occur when the data set in the parameters for positioning control is
not correct.
The error codes, causes, processing and corrective actions are shown in Table
2.3.

Table 2.3 Setting data error (1 to 99) list

Error Erroneous Error
Check timing Error cause Corrective action
code data processing
Home position The home position Set the home position
return start of the address is outside the address within the setting
count, proximity dog, range of 0 to 35999999 range using a peripheral
21 data set, dog cradle, ( 10–5[degree]) with device.
stopper and limit degree axis.
switch combined
type
The home position Set the home position
return speed is outside return speed or less to
22 Home position
the range of 1 to speed the speed limit value
return start of the
limit value. using a peripheral device.
count, proximity dog,
The creep speed is Set the creep speed
dog cradle, stopper
outside the range of 1 below to the home
and limit switch
23 to home position return position return speed or
combined type
speed. less using a peripheral
device.
Home Home position
The travel value after Set the travel value after
position Home position return is not
the proximity dog ON is the proximity dog ON
24 return data return start of the started.
outside the range of 0 within the setting range
count type
to (231-1) ( unit). using a peripheral device.
Home position The parameter block Set the parameter block
return start of the No. is outside the range No. within the setting
count, proximity dog, of 1 to 64. range using a peripheral
25
dog cradle, stopper device.
and limit switch
combined type
Torque limit value at the Set the torque limit value
Home position
creep speed is outside at the creep speed within
26 return start of the
the range of 1 to the setting range using a
stopper type
500[%]. peripheral device.
Dwell time at the home Set the dwell time at the
Home position
position return is home position return retry
27 return start of the
outside the range of 0 within the setting range
usable retry function
to 5000[ms]. using a peripheral device.

APP - 10
APPENDICES

Table 2.3 Setting data error (1 to 99) list (Continued)

Error Erroneous Error
Check timing Error cause Corrective action
code data processing
The interpolation control Control with Set the same control unit
unit of the parameter the control of the fixed parameters
Parameter Interpolation control
40 block is different from unit of the and servo parameters.
block start
the control unit of the fixed
fixed parameters. parameters.

POINT
When the interpolation control unit of parameter block is different from the control
unit of the fixed parameters, an error code may not be stored with the combination
of units.
Refer to Section 7.11.6 for details.

APP - 11
APPENDICES

(2) Positioning control start errors (100 to 199)

These errors are detected at the positioning control start.
The error codes, causes, processing, and corrective actions are shown in Table
2.4 below.

Table 2.4 Positioning control start error (100 to 199) list

Control mode
Axis designation program

Manual pulse generator

Home position return

Error Error
Error cause Corrective action
Control program

code processing
(positioning)

OSC
JOG

The PLC ready flag (M2000) or PCPU ready flag • Set the Motion CPU to RUN.
100 (M9074) is OFF. • Turn the PLC ready flag
(M2000) on.
The start accept flag (M2001 to M2032) for • Take an interlock in the
applicable axis is ON. program not to start the
starting axis. (Use the start
101
accept flag OFF of the
applicable axis as the starting
condition).
The stop command (M3200+20n) for applicable • Turn the stop command
103
axis is ON. (M3200+20n) off and start.
The rapid stop command (M3201+20n) for • Turn the rapid stop command
104
applicable axis is ON. (M3201+20n) off and start.
The feed current value is outside the range of • Set within the stroke limit
Positioning
stroke limit at the start. range by the JOG operation.
105 control
(Note) • Set within the stroke limit
does not
range by the home position
start.
return or current value change.
106 Positioning is outside the range of the stroke limit. • Perform the positioning within
(Note)
the range of stroke limit.
The address that does not generate an arc is set at • Correct the addresses of the
the auxiliary point-specified circular interpolation or Motion program.
auxiliary point-specified helical interpolation.
107
(Relationship between the start point, auxiliary
point and end point.)

The address that does not generate an arc is set at

the R (radius) specified circular interpolation or R
108
(Note) (radius) specified helical interpolation.
(Relationship between the start point, radius and
end point.)
(Note): These errors are stored the error codes of the all applicable interpolation axes at the interpolation operation.

APP - 12
APPENDICES

Table 2.4 Positioning control start error (100 to 199) list (Continued)
Control mode
Axis designation program

Manual pulse generator

Home position return

Error Error
Error cause Corrective action
Control program

code processing
(positioning)

OSC
JOG

The address that does not generate an arc is set at • Correct the addresses of the
the central point-specified circular interpolation or Motion program.
109 central point-specified helical interpolation.
(Relationship between the start point, central point
and end point.)
The difference between the end point address and
110
(Note) ideal end point is outside the allowable error range Positioning
for circular interpolation at the circular interpolation. control
The home position return complete signal does not • Do not start continuously for
(M2410+20n) turned on at the home position return start. the home position return.
of proximity dog, dog cradle and stopper type. Return to a point before the
115 proximity dog signal ON by
JOG operation or positioning
operation, etc., and perform
the home position return.
The setting JOG speed is "0". • Set the correct speed (within
The setting JOG speed exceeded the JOG speed Control the setting range).
116 limit value. with the
JOG speed
limit value.
Both of forward and reverse rotation were set at Only the • Set a correct data.
the simultaneous start for the JOG operation. applicable
axis set to
117
the forward
direction
starts.
ZCT not set Home • Execute the home position
The zero pass signal (M2406+20n) turned off at position return after the zero point
the re-travel at the home position return for return is passed.
120
proximity dog, count and limit switch combined not
type or start in the home position return for data set completed
type. correctly.
(Note): These errors are stored the error codes of the all applicable interpolation axes at the interpolation operation.

APP - 13
APPENDICES

Table 2.4 Positioning control start error (100 to 199) list (Continued)
Control mode
Axis designation program

Manual pulse generator

Home position return

Error Error
Error cause Corrective action
Control program

code processing
(positioning)

OSC
JOG

The travel value of the reference axis is set at "0" • Do not set axis of travel value
140 in the linear interpolation for reference axis "0" as the reference axis.
specification.
The positioning control which use the external input • Set the external input signal in
142 signal was executed for the axis which has not set Positioning the system setting.
the external input signal in the system settings. control
The operating axis is specified in the SVST does not • Start after the operating signal
instruction. start. has turned OFF. Provide a
160
SVST instruction operating
interlock.
Program No. to be started is outside the range of 1 • Correct the start instruction.
161
to 1024.
The sequence No. specified in the SVST is outside Positioning • Set the sequence No. within
the range of 0 to 9999. control the range of 0 to 9999.
starts from
163 the
beginning
the
program.
At a start, the override ratio is outside the range of 0 Operation is • Set the override ratio within
190 to 100[%]. performed the range of 0 to 100[%].
at 100[%].

APP - 14
APPENDICES

(3) Positioning control errors (200 to 299)

These are errors detected during the positioning control.
The error codes, causes, processing and corrective actions are shown in Table
2.5 below.

Table 2.5 Positioning control error (200 to 299) list

Control mode
Axis designation program

Manual pulse generator

Home position return

Error Error
Error cause Corrective action
Control program

code processing
(positioning)

OSC
JOG

The PLC ready flag (M2000) turned off during the • Turn the PLC ready flag
200 control by the start request of Motion program. (M2000) on after all axes have
stopped.
The PLC ready flag (M2000) turned off during the Decelera- • Perform the home position
home position return. tion stop return again after turning the
Control PLC ready flag (M2000) on or
201
program turning the stop command
ends. (M3200+20n) or rapid stop
command (M3201+20n) off.
The stop command (M3200+20n) turned on during Return to a point before the
202
the home position return. proximity dog signal ON
The rapid stop command (M3201+20n) turned on using JOG operation or
during the home position return. positioning operation, and
203 Rapid stop perform the home position
return again in the
proximity dog type.
The PLC ready flag (M2000) turned off to on again • Turn the PLC ready flag
during deceleration by turning off the PLC ready (M2000) OFF to ON after all
flag (M2000). axes have stopped.
No
204 Turn the PLC ready flag
operation
(M2000) OFF to ON during
deceleration is "no
operation".

APP - 15
APPENDICES

Table 2.5 Positioning control error (200 to 299) list (Continued)

Control mode
Axis designation program

Manual pulse generator

Home position return

Error Error
Error cause Corrective action
Control program

code processing
(positioning)

OSC
JOG

All axes rapid stop ([Back Space] key input) is • Return to a point before the
executed using the test mode of a peripheral device proximity dog signal ON using
during the home position return. JOG operation or positioning
operation, and perform the
home position return again in
the proximity dog type.
• Return to a point before the
proximity dog signal ON using
JOG operation or positioning
206 Rapid stop
operation, and perform the
home position return again,
when the proximity dog signal
turns off in the count type.
Perform the home position
return operation again,
when the proximity dog
signal turns on in the count
type.
The feed current value exceeded the stroke limit • Correct the stroke limit range
range during the control. Only the axis exceed the or travel value setting so that
stroke limit range is stored at the circular/helical positioning address control is
207
interpolation. within the range of the stroke
All interpolation axes are stored in the linear limit.
interpolation.
The feed current value of another axis exceeded
the stroke limit value during the circular/helical
208 interpolation control or simultaneous manual pulse
Decelera-
generator operation. (For detection of other axis
tion stop
errors).
An overrun occurred because the travel value after • Set the speed setting so that
the dog ON is less than the deceleration distance overrun does not occur.
209
at the proximity dog signal input during home • Set the travel value so that
position return of count type. overrun does not occur.
During control, an overrun occurred because the
deceleration distance for the output speed is not
211
attained at the point where the final positioning
address was detected.

APP - 16
APPENDICES

Table 2.5 Positioning control error (200 to 299) list (Continued)

Control mode
Axis designation program

Manual pulse generator

Home position return

Error Error
Error cause Corrective action
Control program

code processing
(positioning)

OSC
JOG

The manual pulse generator was enabled during Manual • Execute the manual pulse
the start of the applicable axis, the manual pulse pulse generator operation after the
generator operation was executed. generator applicable axis stopped.
214 input is
ignored
until the
axis stops.
When the skip is executed in the constant-speed • Execute the absolute linear
control, the next interpolation instruction is an Immediate interpolation after a point which
230
absolute circular interpolation or absolute helical stop make a skip.
interpolation.
The override ratio is outside the range of 0 to 100[%] Operation is • Set the override ratio within
290 during the control. performed the range of 0 to 100[%].
at 100[%].
Axis interlock (M4406+10n/M4407+10n) turned on • Turn the axis interlock
during the control. Decelera- (M4406+10n/M4407+10n)
292
tion stop OFF in order to resume an
axis travel.

APP - 17
APPENDICES

(4) Speed change/torque limit value change errors (300 to 399)

These are errors detected at speed change or torque limit value change.
The error codes, causes, processing and corrective actions are shown in Table
2.6 below.

Table 2.6 Speed change/torque limit value change error (300 to 399) list
Control mode
Axis designation program

Manual pulse generator

Home position return

Error Error
Error cause Corrective action
Control program

code processing
(positioning)

OSC
JOG

The speed was changed for the axis during home • Do not change speed during
301
position return. home position return.
The speed was changed after positioning automatic • Do not change speed after
303 deceleration start. Speed is automatic deceleration start
not for positioning control.
The speed was changed during deceleration by changed. • Do not change speed during
turning off the JOG start command signal deceleration by turning off the
304
(M3202+20n, M3203+20n). JOG start command signal
(M3202+20n, M3203+20n).
The speed after speed change is set outside the • Set the speed after speed
range of 0 to speed limit value. change within the range of 0
Control
to speed limit value.
with the
305 The absolute value of speed after speed change is • Set the absolute value of
speed limit
set outside the range of 0 to speed limit value. speed after speed change
value.
within the range of 0 to speed
limit value.
The speed was changed during high-speed • Do not change speed during
Speed is
oscillation. high-speed oscillation.
310 not
The speed change to "0" was requested during
changed.
high-speed oscillation.
The value outside the range of 1 to 500[%] was set • Set the change request within
311 Torque limit
in the torque limit value change request (CHGT). the range of 1 to 500[%].
value is not
The torque limit value change request (CHGT) was • Request the change for the
312 changed.
made for the axis that had not been started. starting axis.

APP - 18
APPENDICES

(5) Motion program running errors (500 to 699)

These errors are detected during Motion program execution.
Check the execute Motion program No., execute sequence No. and execute
block No., and correct the Motion program.
Table 2.7 lists the processing and corrective actions for Motion program running
errors.

Table 2.7 Motion program running error (500 to 699) list

Control mode
Axis designation program

Manual pulse generator

Home position return

Error Error
Error cause Corrective action
Control program

code processing
(positioning)

OSC
JOG

0 is specified as the N No. • Set the N No. of sequence

500 program within the range of 1
Decelera- to 9999.
There is no F command. tion stop. • Set the F before and during
501 Speed is "0". Control execution of G01, G02, G03.
program • Set the speed of "1" or higher.
The command value exceeded the setting range. ends. • Set the address, speed, dwell
502 time, etc. within the setting
range.
The specified speed command exceeded the speed Speed is
limit value of the parameter block. clamped at
• Set the correct speed (within
503 speed limit
the range).
value for
operation.
5 or more axes were specified in 1 block. • 5 or more axes cannot be
interpolated.
504
• Set the number of interpolation
axes up to 4 axes.
510 Unauthorized G-code was specified. • Set the correct G-code.
The interpolation length exceeded the setting range. • Set the axis address within the
513
setting range.
Subprogram level excess. Subprogram calling depth • Set the calling depth within 8
exceeded 8 levels. Or, the wrong program No. was Decelera- levels.
525
called as a subprogram. tion stop. • Call the correct program No.
Control (O) as a subprogram.
Arithmetic expression is not correct. program • Use a correct arithmetic
530 Device setting is not correct. ends. expression.
• Set the correct device.
Integer value overflow. • Correct the variable value and
531 The integer value exceeded the setting range during arithmetic expression.
arithmetic operation.
The numbers of "[" and "]" specified in one block • Set the numbers of "[" and "]" in
532
differ. pairs.
The denominator of division is 0. • Set the denominator to other
533
than 0.

APP - 19
APPENDICES

Table 2.7 Motion program running error (500 to 699) list (Continued)
Control mode
Axis designation program

Manual pulse generator

Home position return

Error Error
Error cause Corrective action
Control program

code processing
(positioning)

OSC
JOG

534 [ , ] exceeded 5 levels. • Correct the Motion program.

535 The IF [condition] GOTO statement is in error. • Correct the IF statement.
The variable number exceeded the range. • Set the variable within the
536
setting range.
537 The variable definition statement does not have "=". • Add "=".
538 Impossible operation is executed. • Execute a possible operation.
The sequence No. specified with subprogram call, • Set the sequence No..
541
return from subprogram or GOTO is not set.
In the specified Motion program, the • Correct the Motion program.
542
WHILE [ ] DOm-ENDm statement is in error.
In the specified Motion program, the nesting of the
543
DOm-ENDm statement exceeded the limit.
In the specified Motion program, DOm-ENDm are
544
not in pairs.
In the specified Motion program, the
545
IF [ ] THENm-ENDm statement is in error.
In the specified Motion program, the nesting of the
Decelera-
546
IF [ ] THENm-ENDm statement exceeded the limit. tion stop.
In the specified Motion program, IF [ ] THENm, Control
547
ELSEm and ENDm are not in pairs. program
At a subprogram call, the specified subprogram is ends. • Create the specified
555 not registered. subprogram.
• Change the call No..
The command format in the Motion program is not • Correct the Motion program.
560 correct. Correct the argument following
G**.
There is no M02/M30 at the end of the Motion • Put M02, M30 or M99 before
562 program. There is no M99 at the end of the %.
subprogram.
At a tool length offset (G43, G44) command, the • Correct the offset data number.
570 offset data number is not specified.
The offset data number is not correct.
At a tool length offset (G43, G44) or tool offset • Specify the axis corresponding
571 cancel (G49) command, the axis corresponding to to compensation.
compensation is not specified.
The command beyond the preset stroke range was • Specify the command within
580
executed. the preset stroke range.
The travel command was given to the high-speed • Do not give the travel
581 oscillation operation axis. command to the high-speed
oscillation operation axis.
High-speed oscillation cancel was given to the axis No • High-speed oscillation cancel is
582
which was not operating in high-speed oscillation. operation invalid.

APP - 20
APPENDICES

Table 2.7 Motion program running error (500 to 699) list (Continued)
Control mode
Axis designation program

Manual pulse generator

Home position return

Error Error
Error cause Corrective action
Control program

code processing
(positioning)

OSC
JOG

Cancel start (G24) program No. error • Correct the Motion program
584
No..
High-speed oscillation (G25) amplitude range error • Correct the high-speed
oscillation (G25) amplitude
585
range.

High-speed oscillation (G25) starting angle range • Correct the high-speed

586 error oscillation (G25) starting angle
range.
High-speed oscillation (G25) frequency range error • Correct the high-speed
587 oscillation (G25) frequency
range.
A fault occurred in the system. • Explain the error symptom and
Decelera-
591 get advice from our sales
tion stop.
representative.
Control
The axis name is not correct. • Match the axis name with the
592 program
one in the system settings.
ends.
O No. designated in the specified Motion program is • Correct the O***; part.
not correct. • Correct O No. specified with
O No. specified with CALL, GOSUB/GOSUBE is not CALL, GOSUB/GOSUBE.
593
registered. • Set the correct O No..
O No. specified with G24 (cancel start) is not
correct.
The axis not specified with SVST is specified in the • Correct the SVST instruction.
594
Motion program. • Correct the Motion program.
Number of helical interpolation pitches error • Set the number of helical
600 Number of helical interpolation pitches is outside the interpolation pitches within the
range of 1 to 999. range of 0 to 999.
IF [condition] THEN SET/RST/OUT statements are • Correct the instructions.
610
in error.
There are unusable instructions and incorrect • Correct the instructions.
611
instructions in the control program.
The program of number set as automatic starts not • Correct the parameters.
612 registered. Or, the axis designation program is
started automatically.
Program
The operating axis is specified with CALL, • Correct the CALL,
613 ends.
GOSUB/GOSUBE. GOSUB/GOSUBE instruction.
The program number started by CALL,
614
GOSUB/GOSUBE is outside the range of 1 to 1024.
The program started by CALL, GOSUB/GOSUBE is
615
not registered.

APP - 21
APPENDICES

Table 2.7 Motion program running error (500 to 699) list (Continued)
Control mode
Axis designation program

Manual pulse generator

Home position return

Error Error
Error cause Corrective action
Control program

code processing
(positioning)

OSC
JOG

The sequence No. started by CALL, Positioning • Correct the sequence No..
GOSUB/GOSUBE is outside the range of 1 to 9999. control
starts from
616 the
beginning
of the
program.
The program started by CALL, GOSUB/GOSUBE is • Correct the CALL,
617
already executed. (Double start error) GOSUB/GOSUBE instruction.
The depth of nest for control program started by • Set the depth of nest within 8
618
GOSUB/GOSUBE is 9 levels or more. levels.
The program number ended by CLEAR is outside • Correct the CLEAR instruction.
619
the range of 1 to 1024.
Program
The program number ended by CLEAR is not • Correct the CLEAR instruction.
ends.
620 registered. Or, the axis designation program is
cleared.
Number of axis designation program starts over • Set the simultaneous execute
error program up to 32 programs.
630
33 or more axis designation programs are started
simultaneously.
Number of control program starts over error • Set the simultaneous execute
631 17 or more control programs are started program up to 16 programs.
simultaneously.
BMOV, BDMOV, FMOV execution error • Correct the program to set the
The Motion CPU memory address set in the (D), (S) Motion CPU memory address
is outside the range of SRAM. with even number.
632 (S) to (S) + (n-1) is outside the device range. • Change (n) within the range of
(D) to (D) + (n-1) is outside the device range. device range for block
(n) is 0 or outside the setting range. transmitting range.
• Set (n) within the setting range.
TIME execution error Decelera- • Correct the device number of
The device number of indirect setting is not correct. tion stop, indirect setting.
633
The data is outside the range of 1 to 65535. control • Set the data within the range of
program 1 to 65535.
Axis designation program incorrect start ends • Set an axis.
634 The axis designation program is started without an
axis setting. (SFCS, CALL, GOSUB/GOSUBE)
Control program incorrect start • Do not set an axis.
635 The axis designation program is started with an axis
setting. (SVST, CALL, GOSUB/GOSUBE)
Incorrect access to PX, PY • Correct the program.
636 SET, RST or OUT is operated to the real I/O device
(PX, PY) in the Motion program.
Control program multiple start error • Correct the program.
637
The already started control program is started.

APP - 22
APPENDICES

Table 2.7 Motion program running error (500 to 699) list (Continued)
Control mode
Axis designation program

Manual pulse generator

Home position return

Error Error
Error cause Corrective action
Control program

code processing
(positioning)

OSC
JOG

Write device data to shared CPU memory • Correct the program so that the
(MULTW) execution error number of words (n) to be written is
• Number of words (n) to be written is outside within the range of 1 to 256.
the range of 1 to 256. • Correct the program so that the shared
• The shared CPU memory address (D) of self CPU memory address (D) of self CPU
CPU of the writing destination device is of the writing destination is within the
outside the range (800H to FFFH) of the range of shared CPU memory address.
shared CPU memory address. • Correct the program so that the shared
• The shared CPU memory address (D) of self CPU memory address (D) of self CPU
650 CPU of the writing destination device + of the writing destination + number of
number of words (n) to be written is outside words (n) to be written is within the
the range (800H to FFFH) of the shared CPU range of shared CPU memory address.
memory address. • Correct the program so that first device
• First device No. (S) which writing data are No. (S) which writing data are stored +
stored + number of words (n) to be written is number of words (n) to be written is
outside the device range. within the device range.
• MULTW instruction was executed again • Execute MULTW instruction again after
before MULTW instruction is executed and the complete bit device of MULTW
complete bit device is turned on. instruction is turned on.
Read device data from shared CPU memory of • Correct the program so that the
the other CPU (MULTR) execution error Decelera- number of words (n) to be read is
• Number of words (n) to be read is outside the tion stop, within the range of 1 to 256.
range of 1 to 256. control • Correct the program so that the shared
• The shared CPU memory first address (S2) of program CPU memory first address (S2) of the
the data which it will be read is outside the ends data which it will be read is within the
range (000H to FFFH) of the shared CPU range of shared CPU memory address.
memory address. • Correct the program so that the shared
• The shared CPU memory first address (S2) of CPU memory first address (S2) of the
the data which it will be read + number of data which it will be read + number of
words (n) to be read is outside the range words (n) to be read is within the range
(000H to FFFH) of the shared CPU memory of shared CPU memory address.
address. • Correct the program so that first device
651 • First device No. (D) which stores the reading No. (D) which stores the reading data +
data + number of words (n) to be read is number of words (n) to be read is
outside the device range. within the device range.
• Except 3E0H/3E1H/3E2H/3E3H is set at (S1). • Correct the program so that
• The self CPU is specified with (S1). 3E0H/3E1H/3E2H/3E3H is set at (S1).
• The CPU which reads is resetting. • Correct the program so that the self
• The errors are detected in the CPU which CPU is not specified with (S1).
read. • Check that the reset flag (M9240 to
M9243) is OFF, then correct the
program to execute the MULTR
instruction.
• If the errors are detected in the CPU
which read, exchange the CPU.

APP - 23
APPENDICES

Table 2.7 Motion program running error (500 to 699) list (Continued)
Control mode
Axis designation program

Manual pulse generator

Home position return

Error Error
Error cause Corrective action
Control program

code processing
(positioning)

OSC
JOG

Write device data to intelligent function

module/special function module (TO) execution • Correct the program so that the
error number of words (n) to be written is
• Number of words (n) to be written is outside within the range of 1 to 256.
the range of 1 to 256. • Replace the intelligent function
• Motion CPU cannot communicate with module/special function module if there
intelligent function module/special function is a fault.
module at the instruction execution. • Correct the program so that the first I/O
• Abnormalities of the intelligent function No.s specified with (D1) is intelligent
652 module/ special function module were function module/special function
detected at the instruction execution. module controlled by the self CPU.
• I/O No.s specified with (D1) differ from the • Correct the program so that the
intelligent function module/special function address specified with (D2) is within
module controlled by the self CPU. the buffer memory range.
• The address specified with (D2) is outside the • Correct the program so that first device
buffer memory range. No. (S) which writing data are stored +
• First device No. (S) which writing data are number of words (n) to be written is
Decelera-
stored + number of words (n) to be written is within the device range.
tion stop,
outside the device range.
control
Read device data from intelligent function • Correct the program so that the
program
module/special function module (FROM) number of words (n) to be read is
execution error ends within the range of 1 to 256.
• Number of words (n) to be read is outside the • Replace the intelligent function
range of 1 to 256. module/special function module if there
• Motion CPU cannot communicate with is a fault.
intelligent function module/special function • Correct the program so that I/O No.s
module at the instruction execution. specified with (S1) is intelligent function
• Abnormalities of the intelligent function module/special function module
653 module/ special function module were controlled by the self CPU.
detected at the instruction execution. • Correct the program so that the
• I/O No.s specified with (S1) differ from the address specified with (S2) is within the
intelligent function module/special function buffer memory range.
module controlled by the self CPU. • Correct the program so that first device
• The address specified with (S2) is outside the No. (D) which stores the reading data +
buffer memory range. number of words (n) to be read is
• First device No. (D) which stores the reading within the device range.
data + number of words (n) to be read is
outside the device range.

APP - 24
APPENDICES

(6) System errors (900 to 999)

Table 2.8 System error (900 to 999) list

Control mode
Axis designation program

Manual pulse generator

Home position return

Error Error
Error cause Corrective action
Control program

code processing
(positioning)

OSC
JOG

• The motor type set in the "system settings" differs • Correct the motor type setting in
from the motor type installed at the turning on the the system settings.
900
servo amplifier. (Check when MR-J2S-†B/MR-
Further
J2-†B is used only.)
operation
• The motor travel value while the power is off • Check the position.
is possible.
exceeded the "System setting mode-allowable • Check the battery of encoder.
901
travel value during power off" set in the system
settings at the turning on of the servo amplifier.

APP - 25
APPENDICES

APPENDIX 2.3 Major errors

These errors occur by control command from the external input signal or Motion
program, and the error codes 1000 to 1999 are used.
Major errors include the positioning control start errors, positioning control errors,
absolute position system errors and system errors.

(1) Positioning control start errors (1000 to 1099)

These errors are detected at the positioning control start.
The error codes, causes, processing and corrective actions are shown in Table
2.9.

Table 2.9 Positioning control start error (1000 to 1099) list

Control mode
Axis designation program

Manual pulse generator

Home position return

Error Error
Error cause Corrective action
Control program

code processing
(positioning)

OSC
JOG

• The external STOP signal of the applicable axis • Turn the STOP signal off.
1000
turned on.
• The external signal FLS (upper limit LS) turned off • Move in the reverse direction
at the forward direction (address increase by the JOG operation, etc.
1001
direction) start. and set within the external
limit range.
• The external signal RLS (lower limit LS) turned off • Move in the forward direction
at the reverse direction (address decrease by the JOG operation, etc.
1002
direction) start. and set within the external
limit range.
• The external DOG (proximity dog) signal turned • Perform the home position
on at the home position return start of the return after move to the
1003
proximity dog type. proximity dog ON by the JOG
Positioning
operation, etc.
control
• The applicable axis is not servo READY state. • Wait until the servo READY
does not
(M2415+20n: OFF). state (M2415+20n: ON).
start.
(1) The power supply of the servo amplifier is OFF.
(2) During initial processing after turning on the
1004 servo amplifier.
(3) The servo amplifier is not installed.
(4) A servo error is occurred.
(5) Cable fault.
(6) Servo OFF command (M3215+20n) is ON.
• The servo error detection signal of the applicable • Eliminate the servo error, reset
axis (M2408+20n) turned on. the servo error detection
signal (M2408+20n) by the
1005
servo error reset command
(M3208+20n), then start
operation.

APP - 26
APPENDICES

(2) Positioning control errors (1100 to 1199)

These errors are detected at the positioning control.
The error codes, causes, processing and corrective actions are shown in Table
2.10.

Table 2.10 Positioning control error (1100 to 1199) list

Control mode
Axis designation program

Manual pulse generator

Home position return

Error Error
Error cause Corrective action
Control program

code processing
(positioning)

OSC
JOG

• The external signal FLS (upper limit LS) turned off • Travel in the reverse direction
1101 during the forward direction (address increase by the JOG operation, etc. and
(Note) direction). set within the external limit
Decelera- range.
• The external signal RLS (lower limit LS) turned off tion stop by • Travel in the forward direction
1102 during the reverse direction (address decrease "Stop by the JOG operation, etc. and
(Note) direction). processing set within the external limit
on STOP range.
• The external STOP signal (stop signal) turned on input" of the • Perform the home position
during home position return of proximity dog type. parameter return after move to the
block. proximity dog ON by the JOG
1103
operation, etc. at the home
position return of the proximity
dog type.
• The servo error detection signal turned on during Immediate • Start after disposal at the servo
positioning control. stop error.
1104 without
decelera-
ting.
• The power supply of the servo amplifier turned off • Turn on the power supply of
Turn the
during positioning control. (Servo not installed the servo amplifier.
servo
status detection, cable fault, etc.) • Check the connecting cable to
1105 READY
• Home position return did not complete normally the servo amplifier.
(M2415+
without stop within the in-position range of home • Make the gain adjustment.
20n) OFF.
position at the home position return.
(Note) : This error is output with SV43 at the start.

APP - 27
APPENDICES

(3) Absolute position system errors (1200 to 1299)

These errors are detected at the absolute position system.
The error codes, causes, processing and corrective actions are shown in Table
2.11.

Table 2.11 Absolute position system error (1200 to 1299) list

Control mode
Axis designation program

Manual pulse generator

Home position return

Error Error
Error cause Corrective action
Control program

code processing
(positioning)

OSC
JOG

• A sum check error occurred with the backup data • Check the battery and execute
in the controller at the turning on servo amplifier a home position return.
Home
power supply.
position
1201 • Home position return was not performed.
return
• CPU module battery error.
request ON
• Home position return started but did not complete
normally.
• A communication error between the servo Home • Check the motor and encoder
amplifier and encoder occurred at the turning on position cables and execute a home
servo amplifier power supply. return position return again.
1202 request
ON, servo
error [2016]
set.
• The amount of change of the encoder current • Check the motor and encoder
value became the following expression during cables.
operation: "Amount of change in encoder current
1203 value/3.5[ms] > 180° of motor revolution"
A continual check is performed (both of servo ON Home
and OFF states) after the servo amplifier power position
has been turned ON. return
• The following expression holds: "Encoder current request ON
value [PLS] feedback current value [PLS] (Note-1)

(encoder effective bit number)" during operation.

1204
A continual check is performed (both of servo ON
and OFF states) after the servo amplifier power
has been turned on.
(Note-1) : SW5RN-SV43Q† (Ver.00D or later )

APP - 28
APPENDICES

(4) System errors (1300 to 1399)

These errors are detected at the power-on.
The error codes, causes, processing and corrective actions are shown in Table
2.12.

Table 2.12 System error (1300 to 1399) list

Control mode
Axis designation program

Manual pulse generator

Home position return

Error Error
Error cause Corrective action
Control program

code processing
(positioning)

OSC
JOG

• Initial communication with the Multiple CPU Positioning • Replace the Motion CPU.
system did not complete normally. control
1310
• Motion CPU fault. does not
start.

APP - 29
APPENDICES

APPENDIX 2.4 Servo errors

(1) Servo amplifier errors (2000 to 2799)

These errors are detected by the servo amplifier, and the error codes are [2000]
to [2799].
The servo error detection signal (M2408+20n) turns on at the servo amplifier
error occurrence. Eliminate the error cause, reset the servo amplifier error by
turning on the servo error reset command (M3208+20n) and perform re-start.
(The servo error detection signal does not turn on because the codes [2100] to
[2499] are for warnings.)
(Note-1): As for the excessive regeneration (error code [2030]) or overload 1 or 2
(error codes [2050], [2051]), the state at the operation is held also for
after the protection circuit operation in the servo amplifier. The memory
contents are cleared with the external power supply off, but are not
cleared by the reset signal.
(Note-2): If resetting by turning off the external power supply is repeated at the
occurrence of error code [2030], [2050] or [2051], it may cause devices
to be destroyed by overheating. Re-start operation after eliminating the
cause of the error certainly.

(2) Vector inverter errors (2300 to 2799)

These errors are detected by the vector inverter, and the error codes are [2300]
to [2799].
The servo error detection signal (M2408+20n) turns on at the vector inverter error
occurrence. Eliminate the error cause, reset the servo amplifier error by turning
on the servo error reset command (M3208+20n) and perform re-start. (The servo
error detection signal does not turn on because the codes [2100] to [2499] are for
warnings.)

Details of servo errors are shown in Table 2.13.

CAUTION
If a controller, servo amplifier or vector inverter self-diagnosis error occurs, check the points
stated in this manual and clear the error.

APP - 30
APPENDICES

Table 2.13 Servo error (2000 to 2799) list

Error Error cause Error
Error check Corrective action
code Name Description processing
• The power supply voltage is 160VAC • Measure the input voltage (R, S,
or less. (320VAC or less for 400VAC T) with a voltmeter.
series servo amplifier.)
• Interruption of 15[ms] or longer • Monitor with an oscilloscope to
Any time during
2010 Low voltage occurred. check whether a momentary
operation
power interruption has occurred.
• The power supply voltage dropped at • Review the power capacity.
the start, etc. due to the insufficient
power capacity.
• Servo amplifier SRAM fault. • Servo amplifier • Replace the servo amplifier.
• Servo amplifier EPROM check sum power on.
2012 Memory error 1
error. • Multiple CPU
system power on.
2013 Clock error • Servo amplifier clock fault.
• Servo amplifier hardware fault. Any time during • Replace the servo amplifier.
2014 Watchdog • Multiple CPU system hardware fault. operation • Replace the Multiple CPU
system.
2015 Memory error 2 • Servo amplifier EEPROM fault. • Replace the servo amplifier.
• Fault in communication with the • Check the encoder cable
encoder. connector for disconnection.
• Replace the servomotor.
2016 Encoder error 1 Immediate • Replace the encoder cable.
• Servo amplifier
stop • Check the combination of
power on.
• Multiple CPU encoder cable type (2-wire/4-
system power on. wire type) and servo parameter.
• Faulty device in the servo amplifier `• Replace the servo amplifier.
2017 PCB error
PCB.
• Check sum error of the servo
2019 Memory error 3
amplifier flash ROM.
• Fault in communication with the • Check the encoder cable
encoder. connector for disconnection.
2020 Encoder error 2
• Replace the servomotor.
• Replace the encoder cable.
• The servo-on (SON) signal turned on • Remove the cause of the
when the ready signal (RD) turned off converter alarm.
Converter RD
of the converter. Any time during • Release the alarm.
off (400VAC
2021 1. Bus voltage is low. operation
series servo
2. Alarm occurrence in Fault in
only)
communication with the encoder
converter.

• The servo amplifier axis No. installed • Set correctly so that the axis No.
2021 does not overlap.
(Note-1) Axis set error the same base unit for the servo
amplifier overlapped.

APP - 31
APPENDICES

Table 2.13 Servo error (2000 to 2799) list (Continued)

Error Error cause Error
Error check Corrective action
code Name Description processing
• Interface unit (MR-J2M-P8B) for servo • Connect the interface unit (MR-
amplifier connection fault. J2M-P8B) for servo amplifier to
the base unit (MR-J2M-BU ) for
2022 Base unit bus servo amplifier correctly.
(Note-1)
error 1 • Interface unit (MR-J2M-P8B) for servo • Replace the interface unit (MR-
amplifier fault. J2M-P8B) for servo amplifier.
• Base unit (MR-J2M-BU ) for servo • Replace the base unit (MR-J2M-
amplifier fault. BU ) for servo amplifier.
• Servo amplifier connection fault. • Connect the servo amplifier to the
base unit (MR-J2M-BU ) for
2023 Base unit bus servo amplifier correctly.
(Note-1)
error 2 • Servo amplifier fault. • Replace the servo amplifier.
Any time during Immediate
• Base unit (MR-J2M-BU ) for servo operation stop • Replace the base unit (MR-J2M-
amplifier fault. BU ) for servo amplifier.
• U, V, or W of the servo amplifier • Check whether the servomotor
output grounded. has short-circuited.
Output ground
2024 • Correct the U, V, W wiring of the
fault
servo amplifier.
• Replace the servomotor.
• Servo amplifier connection fault. • Connect the servo amplifier to the
base unit (MR-J2M-BU ) for
2024 Servo amplifier servo amplifier correctly.
(Note-1)
mounting error • Base unit (MR-J2M-BU ) for servo • Replace the servo amplifier.
amplifier fault.
• Faulty parts in servo amplifier. • Replace the servo amplifier.
• The voltage of the supercapacitor • Turn the power on for 2 to 3
inside the absolute position encoder Immediate minutes to charge the
has dropped. stop supercapacitor, switch the power
off to on again, and set the
• Servo amplifier
Battery error Home home position return.
power on.
2025 (Absolute • The battery voltage is low. position • Turn the servo amplifier power
• Multiple CPU
position erase) return off, then measure the battery
system power on.
request voltage.
• Battery cable or battery fault. ON • Replace the battery of the servo
(Note-2)
(Home position return must be re- amplifier.
executed after release of the error.)
(Note-1): MR-J2M-B only
(Note-2): SW5RN-SV43Q (Ver.00D or later)

APP - 32
APPENDICES

Table 2.13 Servo error (2000 to 2799) list (Continued)

Error Error cause Error
Error check Corrective action
code Name Description processing
• The frequency of ON/OFF switching of • Reduce the frequency of
the power transistor for regeneration acceleration and deceleration or
is too high. (Caution is required since feed speed while checking the
the regenerative resistor could servomotor regeneration level
overheat.) [%].
• Reduce the load.
• Increase the servomotor
capacity.
Excessive • Servo parameter (system settings) • Check the servo parameters
2030
regeneration setting error. (regenerative resistor and motor
type settings in the system
settings).
• Incorrect wiring of regenerative • Connect the regenerative
resistor. resistor correctly.
• Regenerative resistor fault. • Replace the regenerative
resistor.
• Power transistor for regeneration • Replace the servo amplifier.
damaged by short circuit.
• The motor speed exceeded 115[%] or Any time during Immediate • Check the motor speed in the
more of the rated speed. operation stop servo parameters.
• Check if the number of pulses
per revolution and travel value
per revolution in the fixed
parameters match the machine
system.
• An overshoot occurred because the • If an overshoot occurs during
acceleration/deceleration time acceleration/deceleration, check
constant is too small. the acceleration/deceleration
2031 Overspeed time in the fixed parameters.
• An overshoot occurred because the • Adjust the position loop
servo system is unstable. gain/position control gain 1, 2 or
speed loop gain/speed control
gain 1, 2 of the servo
parameters, or increase the
speed differential compensation
of the servo parameters.
• Encoder fault. • Check the encoder cable for wire
breakage.
• Replace the servomotor.

APP - 33
APPENDICES

Table 2.13 Servo error (2000 to 2799) list (Continued)

Error Error cause Error
Error check Corrective action
code Name Description processing
• U, V, W in the servo amplifier outputs • Check if there is a short circuit
have short circuited with each other. between U, V, W of the servo
amplifier outputs.
• U, V, W in the servo amplifier outputs • Check if U, V, W of the servo
have shorted to ground. amplifier outputs have been
grounded to the ground
terminal.
• Check if U, V, W of the
servomotor are grounded to the
core. If grounding is found,
replace the servo amplifier
and/or servomotor.
• Incorrect wiring of U, V, W phases in • Correct the wiring.
2032 Overcurrent
the servo amplifier outputs.
• The servo amplifier transistor is • Replace the servo amplifier.
damaged.
• Failure of coupling between • Replace the servomotor.
servomotor and encoder
• Encoder cable failure • Replace the encoder cable.
• A servomotor that does not match the • Check the connected motor in
setting has been connected. the system settings.
• The servomotor oscillated. • Check and adjust the gain
setting value in the servo
parameters.
• Noise entered the overcurrent Any time during Immediate • Check if any relays or solenoids
detection circuit. operation stop are operating in the vicinity.
• The converter bus voltage exceeded • Increase the
400[V] or more. (800VAC or more for acceleration/deceleration time in
400VAC series servo amplifier.) the fixed parameters.
• The frequency of • Check the connection between
acceleration/deceleration was too C and P of the terminal block for
high for the regenerative ability. regenerative resistance.
• The regenerative resistor has been
connected incorrectly.
• The regenerative resistor in the servo • Measure between C and P of the
2033 Overvoltage amplifier is destroyed. terminal block for regenerative
resistance with a multimeter; if
abnormal, replace the servo
amplifier. (Measure about 3
minutes after the charge lamp
has turned off.)
• The power transistor for regeneration • Replace the servo amplifier.
is damaged.
• The power supply voltage is too high. • Measure the input voltage (R, S,
T) with a voltmeter.
• Data received from the Multiple CPU • Check the connection of
system is fault. SSCNET cable.
Communica- • Check if there is a disconnection
2034
tions error in the SSCNET cable.
• Check if the SSCNET cable is
clamped correctly.

APP - 34
APPENDICES

Table 2.13 Servo error (2000 to 2799) list (Continued)

Error Error cause Error
Error check Corrective action
code Name Description processing
• There is excessive variation in the • Check the command speed and
position commands and command the number of pulses per
speed is too high from the Multiple revolution/travel value per
CPU system. revolution of the fixed
parameters.
• Noise entered the commands from • Check the connection of
2035 Data error the Multiple CPU system. SSCNET cable.
• Check if there is a disconnection
in the SSCNET cable.
• Check if the SSCNET cable is
clamped correctly.
• Check if any relays or solenoids
are operating in the vicinity.
• Fault in communication with the • Check the connection of
Multiple CPU system. SSCNET cable.
Transmission • Check if there is a disconnection
2036
error in the SSCNET cable.
• Check if the SSCNET cable is
clamped correctly.
DRU • DRU parameter No.2 or 23 setting • Set the DRU parameter correctly.
2038 parameter differs from other servo amplifiers.
(Note-1)
adjustment
error
2042 Feedback error • Encoder signal fault. • Replace the servomotor.
• The heat sink in the servo amplifier is Any time during Immediate • If the effective torque of the
overheated. operation stop servomotor is high, reduce the
• Servo amplifier error (rated output load.
over) • Reduce the frequency of
• Power repeatedly turned on/off during acceleration/deceleration.
overload. • Check if the servo amplifier's fan
• Cooling fault has stopped. (MR-H150B or
higher)
• Check if the passage of cooling
2045 Fin overheating
air is obstructed.
• Check if the temperature inside
the panel is too high (range: 0 to
+55[°C] (32 to 131[°F])).
• Check if the electromagnetic
brake was actuated from an
external device during
operation.
• Replace the servo amplifier.
• The servomotor is overloaded. • If the effective torque of the
servomotor is high, reduce the
load.
Servomotor • The servomotor and regenerative • Check the ambient temperature
2046
overheating option are overheated. of the servomotor (range: 0 to
+40[°C] (32 to 104[°F])).
• The thermal protector incorporated in • Replace the servomotor.
the encoder is faulty.
(Note-1) : MR-J2M-B only

APP - 35
APPENDICES

Table 2.13 Servo error (2000 to 2799) list (Continued)

Error Error cause Error
Error check Corrective action
code Name Description processing
• An overload current of about 200[%] • Check if there has been a
continuously supplied to the servo collision at the machine.
amplifier or servomotor. • If the load inertia is very large,
either increase the time constant
for acceleration/deceleration or
reduce the load.
• If hunting occurs, adjust the
2050 Overload 1 position loop gain in the servo
parameters.
• Check the connection of U, V, W
of the servo amplifier and
servomotor.
• Check for disconnection of the
encoder cable.
• Replace the servomotor.
• The servo amplifier or servomotor was • Check if there has been a
overloaded at a torque close to the collision at the machine.
maximum torque (95[%] or more of • If the load inertia is very large,
the current control value). either increase the time constant
for acceleration/deceleration or
reduce the load.
• If hunting occurs, adjust the
position loop gain/position
control gain 1, 2, speed loop
Any time during Immediate gain/speed control gain 1, 2 in
2051 Overload 2 operation stop the servo parameters.
• Check the connection of U, V, W
of the servo amplifier and
servomotor.
• Check for disconnection of the
encoder cable.
• Replace the servomotor.
• If the voltage of the bus in the
servo amplifier has dropped
(charge lamp has turned off),
replace the servo amplifier.
• The droop pulses of the deviation • Check if there has been a
counter exceeded the error excessive collision at the machine.
alarm level set in the servo • Increase the time constant for
parameters. acceleration/deceleration.
• Increase the position loop
gain/position control gain 1, 2, in
Error the servo parameters.
2052
excessive • Check for disconnection of the
encoder cable.
• Replace the servomotor.
• If the voltage of the bus in the
servo amplifier has dropped
(charge lamp has turned off),
replace the servo amplifier.

APP - 36
APPENDICES

Table 2.13 Servo error (2000 to 2799) list (Continued)

Error Error cause Error
Error check Corrective action
code Name Description processing
• Servo amplifier having large load is • Change the slot of the servo
adjacent. amplifier whose load is large.
• Reduce the load.
• Reexamine the operation pattern.
• Use a servomotor whose output
is large.
2053 Multiple axis
(Note-1) • Servo system is instable and hunting. • Repeat acceleration/deceleration
overload
Immediate and perform automatic tuning.
stop • Turn OFF automatic tuning and
make gain adjustment manually.
• Encoder cable and power cable (U, V, W) • Make correct connection.
coming out of one servo amplifier are
connected to the incorrect servomotor.

Servo • Alarm occurred in one or more axes of • Remove the alarm causes of all
2054
(Note-1) amplifier the servo amplifier installed to the base servo amplifiers where alarm has
alarm unit (MR-J2M-BU†) for servo amplifier. occurred.
• Serial communication error occurred • Check for disconnection of the
RS232
between servo amplifier and cable.
2086 communicatio
communication device (parameter unit • Replace the communication
n error
or personal computer). devices.
Battery • The voltage of the battery installed in the • Replace the battery.
2102
warning servo amplifier has become low.
• The power supply voltage to the • Replace the battery.
Battery absolute position encoder become low. Any time during • Check the encoder cable for
2103 disconnection operation wire breakage.
Operation
warning • Replace the servomotor.
continues
• Replace the servo amplifier.
• An excessive regeneration error [2030] • Refer to the details on the
Excessive may be occurred (regeneration level of excessive regeneration error
2140 regeneration 85[%] of the maximum load capacity for [2030].
warning the regenerative resister has been
detected).
• An overload error [2050], [2051] is likely • Refer to the details on the
Overload
2141 to occur (85[%] of overload level has overload errors [2050], [2051].
warning
been detected).
• Absolute position encoder pulses faulty. Operation • Take noise suppression
Absolute
continues. measures.
position
2143 Home position • Replace the servomotor.
counter
return request • Execute the home position return
warning (Note-2)
ON after measures.
• Servo amplifiers are forced stop state. • Ensure safety and release the
Servo forced
2146 (Servo amplifier input signal EM1 is forced stop.
stop Immediate
OFF.)
stop
Emergency • An emergency stop (EMG) signal input • Ensure safety and release the
2147
stop from the Multiple CPU system. emergency stop.
• The servo ON (SON) signal turned on • Turn on the main circuit
Main circuit while the contactor turned off. Operation contactor or circuit power
2149
OFF warning • The main circuit bus voltage fell to 215 continues supply.
[V] or lower at 50 [r/min] or lower.
(Note-1) : MR-J2M-B only
(Note-2) : SW5RN-SV43Q† (Ver.00D or later )
APP - 37
APPENDICES

Table 2.13 Servo error (2000 to 2799) list (Continued)

Error Error cause Error
Error check Corrective action
code Name Description processing
Home position • After a home position return command, • Execute the home position
Operation
2196 setting error the droop pulses did not become within return again.
continues
warning the in-position range.
Parameter error
• The servo parameter value is outside the
setting range. (Any unauthorized
parameter is ignored and the value
before setting is held.)

2301 Amplifier setting

2302 Regenerative resistor
2303 Motor type
2304 Motor capacity
2305 Motor speed
2306 Number of feedback pulses
2307 Rotation direction setting
2308 Automatic tuning setting
2309 Servo response setting
2310 Torque limit (forward)
2311 Torque limit (reverse)
2312 Load inertia ratio
2313 Position control gain 1
2314 Speed control gain 1
2315 Position control gain 2
Any time during
Parameter 2316 Speed control gain 2
operation
2301 error 2317 Speed integral compensation Operation • Check the setting ranges of the
to (Servo 2318 Notch filter selection continues servo parameters.
2336 amplifier) 2319 Feed forward gain
2320 In-position range
2321 Electromagnetic brake sequence
2322 Monitor output mode selection
2323 Optional function 1
2324 Optional function 2
2325 Optional function 3
2326 Optional function 4
2327 Monitor output 1 offset
2328 Monitor output 2 offset
2329 Pre-alarm data selection
2330 Zero speed
2331 Error excessive alarm level
2332 Optional function 5
2333 Optional function 6
PI-PID control switch-over
2334 position droop

2335 Torque limit compensation factor

Speed differential compensation
2336 (Real speed differential
compensation)

APP - 38
APPENDICES

Table 2.13 Servo error (2000 to 2799) list (Continued)

Error Error cause Error
Error check Corrective action
code Name Description processing
Parameter error
• The vector inverter parameter value is
outside the setting range.
• The parameter is set during servo ON.
• The parameter is set by the inverter
parameter Pr.77 "parameter write disable
selection" at the parameter write disable
selection.
(Any unauthorized parameter is ignored
and the value before setting is held.)

2301 Maximum speed

2302 Electronic thermal O/L relay
2303 Regenerative function selection
2304 Special regenerative brake duty
2305 Applied motor
2306 Motor capacity
2307 Number of motor poles
2308 Online auto tuning selection
2309 Torque restriction level
Torque restriction level
2310
(regeneration)
2311 Torque restriction level (3 quadrant)
Parameter 2312 Torque restriction level (4 quadrant)
error Any time during Operation • Check the setting ranges of the
2301 Easy gain tuning response level
(Vector 2313 operation continues vector inverter parameters.
to setting
inverter)
2332 2314 Easy gain tuning selection
2315 Number of encoder pulses
2316 Encoder rotation direction
2317 Thermal relay protector input
2318 Position loop gain
2319 Position feed forward gain
2320 In-position width
2321 Excessive level error
2322 Speed control P gain 1
2323 Speed control integral time 1
2324 Model speed control gain
2325 Notch filter frequency
2326 Notch filter depth
Speed feed forward control/model
2327
adaptive speed control selection
2328 Speed feed forward filter
Speed feed forward torque
2329
restriction
2330 Load inertia ratio
2331 Speed feed forward gain
2332 DA1 terminal function selection

APP - 39
APPENDICES

Table 2.13 Servo error (2000 to 2799) list (Continued)

Error Error cause Error
Error check Corrective action
code Name Description processing

2333 Speed monitoring reference

2334 Current monitoring reference
2335 DA2 terminal function selection
Parameter
2333 2336 Overspeed detection level Any time during Operation • Check the setting ranges of the
error
to 2337 Torque characteristic selection operation continues vector inverter parameters.
(Vector
2339 Constant output region torque
inverter) 2338
characteristic selection
2339 Torque monitoring reference

APP - 40
APPENDICES

Table 2.13 Servo error (2000 to 2799) list (Continued)

Error Error cause Error
When error checked Corrective action
code Name Description processing
• The parameter setting is wrong.
• The parameter data was corrupted.

2601 Amplifier setting

2602 Regenerative brake resistor
2603 Motor type
2604 Motor capacity
2605 Motor speed
2606 Number of feedback pulses
2607 Rotation direction setting
2608 Automatic tuning setting
2609 Servo response setting
2610 Torque limit (forward)
2611 Torque limit (reverse)
2612 Load inertia ratio
2613 Position control gain 1
2614 Speed control gain 1
2615 Position control gain 2
2616 Speed control gain 2
2617 Speed integral compensation
2618 Notch filter selection
2619 Feed forward gain • After checking and correcting of
Initial the parameter setting, turn off to
2620 In-position range • Servo amplifier
parameter on or reset the power of Multiple
2601 Electromagnetic brake power on. Immediate
error 2621 sequence CPU system.
to • Multiple CPU stop
(Servo
2636 Monitor output mode system power on.
amplifier) 2622 selection

2623 Optional function 1

2624 Optional function 2
2625 Optional function 3
2626 Optional function 4
2627 Monitor output 1 offset
2628 Monitor output 2 offset
2629 Pre-alarm data selection
2630 Zero speed
2631 Error excessive alarm level
2632 Optional function 5
2633 Optional function 6
PI-PID control switch-over
2634 position droop
Torque limit compensation
2635 factor
Speed differential
2636 compensation (Real speed
differential compensation)

2637 • The parameter data was corrupted. • Explain the error symptom and
to get advice from our sales
2699 representative.

APP - 41
APPENDICES

Table 2.13 Servo error (2000 to 2799) list (Continued)

Error Error cause Error
Error check Corrective action
code Name Description processing
• The parameter setting is wrong.
• The parameter data was corrupted.

2601 Maximum speed

2602 Electronic thermal O/L relay
2603 Regenerative function selection
2604 Special regenerative brake duty
2605 Applied motor
2606 Motor capacity
2607 Number of motor poles
2608 Online auto tuning selection
2609 Torque restriction level
Torque restriction level
2610
(regeneration)
2611 Torque restriction level (3 quadrant)
2612 Torque restriction level (4 quadrant)
Easy gain tuning response level
2613
setting
2614 Easy gain tuning selection
2615 Number of encoder pulses
2616 Encoder rotation direction
2617 Thermal relay protector input
Initial 2618 Position loop gain • Vector inverter
• After checking and correcting of
2601 parameter 2619 Position feed forward gain power on.
the parameter setting, turn off
error • Multiple CPU Stop
to 2620 In-position width to on or reset the power of
(Vector system power
2639 2621 Excessive level error Multiple CPU system.
inverter) on.
2622 Speed control P gain 1
2623 Speed control integral time 1
2624 Model speed control gain
2625 Notch filter frequency
2626 Notch filter depth
Speed feed forward control/model
2627
adaptive speed control selection
2628 Speed feed forward filter
Speed feed forward torque
2629
restriction
2630 Load inertia ratio
2631 Speed feed forward gain
2632 DA1 terminal function selection
2633 Speed monitoring reference
2634 Current monitoring reference
2635 DA2 terminal function selection
2636 Overspeed detection level
2637 Torque characteristic selection
Constant output region torque
2638
characteristic selection
2639 Torque monitoring reference

APP - 42
APPENDICES

Table 2.13 Servo error (2000 to 2799) list (Continued)

Error
Description Remark
code
• Error codes peculiar to vector inverter. (Note-2) : Refer to the Instruction Manuals of the vector
inverter FR-V500 and FR-V5NS for a based on
Code
Error the code address for details.
address Description
code (Note-2)

2710 E.0C1 Overcurrent shut-off during acceleration

2711 E.0C2 Overcurrent shut-off during constant speed
2712 E.0C3 Overcurrent shut-off during deceleration
Regenerative overvoltage shut-off during
2713 E.0V1
acceleration
Regenerative overvoltage shut-off constant
2714 E.0V2
speed
Regenerative overvoltage shut-off during
2715 E.0V3
deceleration or stop
Inverter overload shut-off (electronic thermal
2716 E.THT
relay)
Motor overload shut-off (electronic thermal
2717 E.THM
relay)
2718 E.IPF Instantaneous power failure protection
2719 E.UVT Undervoltage protection
2720 E.BE Brake transistor alarm detection
Output side earth (ground) fault overcurrent
2721 E.GF
protection
2722 E.OHT External thermal relay operation
2700 2723 E.OLT Motor overload
to 2724 E.OPT Option alarm
2799 2725 E.OP1 Option slot alarm (slot 1)
2726 E.OP2 Option slot alarm (slot 2)
2727 E.OP3 Option slot alarm (slot 3)
2728 E.PE Parameter storage device alarm
2729 E.PUE PU disconnection
2730 E.RET Retry count excess
2731 E.CPU CPU error
2733 E.FIN Fin overheat
2734 E.OS Overspeed occurrence
2735 E.OSD Speed deviation excess detection
2736 E.ECT Open cable detection
2737 E.OD Position error large
2738 E.ECA Orientation encoder no-signal
2739 E.MB1 Brake sequence error 1
2740 E.MB2 Brake sequence error 2
2741 E.MB3 Brake sequence error 3
2742 E.MB4 Brake sequence error 4
2743 E.MB5 Brake sequence error 5
2744 E.MB6 Brake sequence error 6
2745 E.MB7 Brake sequence error 7
2746 E.P24 24VCD power output short circuit
2747 E.CTE Operation panel power supply short circuit

APP - 43
APPENDICES

Table 2.13 Servo error (2000 to 2799) list (Continued)

Error
Description Remark
code
(Note-2) : Refer to the Instruction Manuals of the vector
Code inverter FR-V500 and FR-V5NS for a based on
Error
address Description the code address for details.
code (Note-2)

2748 E.LF Output phase failure protection

2700 2749 E.P12 12VDC power output short circuit
to 2750 E.EP Encoder mis-wiring detection
2799 2756 E.1 Option alarm (error 1)
2757 E.2 Option alarm (error 2)
2758 E.3 Option alarm (error 3)
2761 E.6 CPU error (error 6)
2762 E.7 CPU error (error 7)

APP - 44
APPENDICES

APPENDIX 2.5 PC link communication errors

Table 2.14 PC link communication error codes list

Error codes stored
Error description Corrective action
in D9196
• A receiving packet for PC link • Check whether the power of PC has
communication does not been turned on.
arrive. • Check the connection of the
• The arrival timing of the communication cable.
01 receiving packet is too late. • Check the communication cable for
wire breakage.
• Check whether the A†0BD-PCF/
A30CD-PCF has been installed
correctly.
• A receiving packet CRC code • Check whether there is a noise
is not right. source near the PC.
• Check the connection of the
02 communication cable.
• Check the communication cable for
wire breakage.

• A receiving packet data ID is • Check whether the A†0BD-PCF/

not right. A30CD-PCF has been installed
03 correctly.
• Replace the A†0BD-PCF/A30CD-
PCF.

• The number of received • Check whether there is a noise

frames is not right. source near the PC
• Check the connection of the
04
communication cable.
• Check the communication cable for
wire breakage.

• A PC communication task • Start the communication task for PC

05 does not start. side.

APP - 45
APPENDICES

APPENDIX 3 Motion dedicated signal

APPENDIX 3.1 Internal relay (M)

(1) Axis status list

Axis No. Device No. Signal name
1 M2400 to M2419
2 M2420 to M2439
Signal name Refresh cycle Fetch cycle Signal direction
3 M2440 to M2459
4 M2460 to M2479 0 Positioning start complete
5 M2480 to M2499 1 Positioning complete
Operation cycle Status signal
6 M2500 to M2519 2 In-position
7 M2520 to M2539 3 Command in-position
8 M2540 to M2559 4
Unusable — — —
9 M2560 to M2579 5
10 M2580 to M2599 6 Zero pass Operation cycle
11 M2600 to M2619 7 Error detection Immediate
12 M2620 to M2639 8 Servo error detection Operation cycle
13 M2640 to M2659 9 Home position return request Main cycle
14 M2660 to M2679 10 Home position return complete Operation cycle
15 M2680 to M2699 11 FLS Status signal
16 M2700 to M2719 12 External RLS
Main cycle
17 M2720 to M2739 13 signals STOP
18 M2740 to M2759 14 DOG/CHANGE
19 M2760 to M2779 15 Servo ready
Operation cycle
20 M2780 to M2799 16 Torque limiting
21 M2800 to M2819 17
Unusable — — —
22 M2820 to M2839 18
23 M2840 to M2859 19 M-code outputting signal Operation cycle Status signal
24 M2860 to M2879
25 M2880 to M2899
26 M2900 to M2919
27 M2920 to M2939
28 M2940 to M2959
29 M2960 to M2979
30 M2980 to M2999
31 M3000 to M3019
32 M3020 to M3039
(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

APP - 46
APPENDICES

(2) Axis command signal list

Axis No. Device No. Signal name
1 M3200 to M3219
2 M3220 to M3239 Signal
Signal name Refresh cycle Fetch cycle
3 M3240 to M3259 direction
4 M3260 to M3279 0 Stop command
Operation cycle
5 M3280 to M3299 1 Rapid stop command
Command
6 M3300 to M3319 2 Forward rotation JOG start command
signal
7 M3320 to M3339 3 Reverse rotation JOG start command Main cycle
8 M3340 to M3359 4 Complete signal OFF command
9 M3360 to M3379 5
Unusable — — —
10 M3380 to M3399 6
11 M3400 to M3419 7 Error reset command
Main cycle
12 M3420 to M3439 8 Servo error reset command Command
13 M3440 to M3459 External stop input disable at start signal
9 At start
14 M3460 to M3479 command
15 M3480 to M3499 10
16 M3500 to M3519 11
17 M3520 to M3539 12 Unusable — — —
18 M3540 to M3559 13
19 M3560 to M3579 14
20 M3580 to M3599 Command
15 Servo OFF command Operation cycle
21 M3600 to M3619 signal
22 M3620 to M3639 16
23 M3640 to M3659 17 Unusable — — —
24 M3660 to M3679 18
25 M3680 to M3699 Command
19 FIN signal Operation cycle
26 M3700 to M3719 signal
27 M3720 to M3739
28 M3740 to M3759
29 M3760 to M3779
30 M3780 to M3799
31 M3800 to M3819
32 M3820 to M3839
(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

APP - 47
APPENDICES

(3) Axis status 2 list

Axis No. Device No. Signal name
1 M4000 to M4009
2 M4010 to M4019
Signal name Refresh cycle Fetch cycle Signal direction
3 M4020 to M4029
4 M4030 to M4039 0
Unusable — — —
5 M4040 to M4049 1
6 M4050 to M4059 2 Automatic start
Operation cycle Status signal
7 M4060 to M4069 3 Temporary stop
8 M4070 to M4079 4
9 M4080 to M4089 5
10 M4090 to M4099 6 Unusable — — —
11 M4100 to M4109 7
12 M4110 to M4119 8
(note-1)
13 M4120 to M4129 9 Unusable — — —
14 M4130 to M4139 M4009 : Single block processing signal
15 M4140 to M4149
16 M4150 to M4159
17 M4160 to M4169
18 M4170 to M4179
19 M4180 to M4189
20 M4190 to M4199
21 M4200 to M4209
22 M4210 to M4219
23 M4220 to M4229
24 M4230 to M4239
25 M4240 to M4249
26 M4250 to M4259
27 M4260 to M4269
28 M4270 to M4279
29 M4280 to M4289
30 M4290 to M4299
31 M4300 to M4309
32 M4310 to M4319
(Note-1) : At single block mode, only M4009 is used single block processing signal.
(Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-3) : Device area of 9 axes or more is unusable in the Q172CPU(N).

APP - 48
APPENDICES

(4) Axis command signal 2 list

Axis No. Device No. Signal name
1 M4400 to M4409
2 M4410 to M4419 Signal
Signal name Refresh cycle Fetch cycle
3 M4420 to M4429 direction
4 M4430 to M4439 0 Temporary stop command
5 M4440 to M4449 1 Optional program stop command
6 M4450 to M4459 2 Optional block skip command
7 M4460 to M4469 3 Single block command Command
Operation cycle
8 M4470 to M4479 4 Re-start command signal
9 M4480 to M4489 5 Override ratio valid/invalid
10 M4490 to M4499 6 Axis interlock (Forward)
11 M4500 to M4509 7 Axis interlock (Reverse)
12 M4510 to M4519 8 (Note-1)
Unusable — — —
13 M4520 to M4529 9
14 M4530 to M4539 M4408 : Single block mode signal
15 M4540 to M4549 M4409 : Single block start signal
16 M4550 to M4559 M4418 : Axis interlock valid/invalid
17 M4560 to M4569
18 M4570 to M4579
19 M4580 to M4589
20 M4590 to M4599
21 M4600 to M4609
22 M4610 to M4619
23 M4620 to M4629
24 M4630 to M4639
25 M4640 to M4649
26 M4650 to M4659
27 M4660 to M4669
28 M4670 to M4679
29 M4680 to M4689
30 M4690 to M4699
31 M4700 to M4709
32 M4710 to M4719
(Note-1) : M4408 (single block mode signal) and M4409 (single block start signal) are used in the single block operation.
M4418 (axis interlock valid/invalid) is used in the axis interlock (forward)/(reverse).
(Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-3) : Device area of 9 axes or more is unusable in the Q172CPU(N).

APP - 49
APPENDICES

(5) Common device list

Device Signal Remark Device Signal Remark
Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle
No. direction (Note-4) No. direction (Note-4)

Command Status
M2054 Operation cycle over flag Operation cycle
M2000 PLC ready flag Main cycle signal M3072 signal
(Note-1) M2055
M2001 Axis 1 M2056
M2002 Axis 2 M2057 Unusable
— — — —
M2003 Axis 3 M2058 (6 points)
M2004 Axis 4 M2059
M2005 Axis 5 M2060
M2006 Axis 6 M2061 Axis 1
M2007 Axis 7 M2062 Axis 2
M2008 Axis 8 M2063 Axis 3
M2009 Axis 9 M2064 Axis 4
M2010 Axis 10 M2065 Axis 5
M2011 Axis 11 M2066 Axis 6
M2012 Axis 12 M2067 Axis 7
M2013 Axis 13 M2068 Axis 8
M2014 Axis 14 M2069 Axis 9
M2015 Axis 15 Status M2070 Axis 10
M2016 Axis 16 signal M2071 Axis 11
Start accept flag Operation cycle
M2017 Axis 17 (Note-1), M2072 Axis 12
M2018 Axis 18 (Note-2) M2073 Axis 13
M2019 Axis 19 M2074 Axis 14
M2020 Axis 20 M2075 Axis 15
Status
M2021 Axis 21 M2076 Axis 16
Speed changing flag Operation cycle signal
M2022 Axis 22 M2077 Axis 17
(Note-2)
M2023 Axis 23 M2078 Axis 18
M2024 Axis 24 M2079 Axis 19
M2025 Axis 25 M2080 Axis 20
M2026 Axis 26 M2081 Axis 21
M2027 Axis 27 M2082 Axis 22
M2028 Axis 28 M2083 Axis 23
M2029 Axis 29 M2084 Axis 24
M2030 Axis 30 M2085 Axis 25
M2031 Axis 31 M2086 Axis 26
M2032 Axis 32 M2087 Axis 27
M2033 Unusable — — — — M2088 Axis 28
Personal computer link Status M2089 Axis 29
M2034 Operation cycle
communication error flag signal M2090 Axis 30
M2035 M2091 Axis 31
M2036 M2092 Axis 32
M2037 Unusable M2093
— — — —
M2038 (6 points) M2094
M2039 M2095
M2040 M2096
Status M2097
M2041 System setting error flag Operation cycle
signal M2098
Command M2099
M2042 All axes servo ON command Operation cycle Signal M3074 M2100
(Note-1) M2101
M2043 M2102
M2044 Unusable M2103
— — — —
M2045 (4 points) M2104
M2046 M2105 Unusable
— — — —
Status M2106 (26 points)
M2047 Motion slot fault detection flag Operation cycle
signal M2107
Command M2108
JOG operation simultaneous
M2048 Main cycle signal M3076 M2109
start command
(Note-1) M2110
M2049 All axes servo ON accept flag Status M2111
Operation cycle
M2050 Start buffer full signal M2112
Manual pulse generator 1 M2113
M2051 M3077
enable flag M2114
Command
Manual pulse generator 2 M2115
M2052 Main cycle signal M3078
enable flag M2116
(Note-1)
Manual pulse generator 3 M2117
M2053 M3079
enable flag M2118

APP - 50
APPENDICES

Common device list (Continued)

Device Signal Remark Device Signal Remark
Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle
No. direction (Note-4) No. direction (Note-4)

M2119 M2180
M2120 M2181
M2121 M2182
M2122 M2183
Unusable
M2123 — — — — M2184
(9 points)
M2124 M2185
M2125 M2186
M2126 M2187
M2127 M2188
M2128 Axis 1 M2189
M2129 Axis 2 M2190
M2130 Axis 3 M2191
M2131 Axis 4 M2192
M2132 Axis 5 M2193
M2133 Axis 6 M2194
M2134 Axis 7 M2195
M2135 Axis 8 M2196
M2136 Axis 9 M2197
M2137 Axis 10 M2198
M2138 Axis 11 M2199
M2139 Axis 12 M2200
M2140 Axis 13 M2201
M2141 Axis 14 M2202
M2142 Axis 15 M2203
Status
M2143 Axis 16 Automatically M2204
Operation cycle signal
M2144 Axis 17 deceleration flag M2205
(Note-2)
M2145 Axis 18 M2206
M2146 Axis 19 M2207
M2147 Axis 20 M2208
— — — —
M2148 Axis 21 M2209 Unusable
M2149 Axis 22 M2210 (60 Points)
M2150 Axis 23 M2211
M2151 Axis 24 M2212
M2152 Axis 25 M2213
M2153 Axis 26 M2214
M2154 Axis 27 M2215
M2155 Axis 28 M2216
M2156 Axis 29 M2217
M2157 Axis 30 M2218
M2158 Axis 31 M2219
M2159 Axis 32 M2220
M2160 M2221
M2161 M2222
M2162 M2223
M2163 M2224
M2164 M2225
M2165 M2226
M2166 M2227
M2167 M2228
M2168 M2229
M2169 Unusable M2230
— — — —
M2170 (20 points) M2231
M2171 M2232
M2172 M2233
M2173 M2234
M2174 M2235
M2175 M2236
M2176 M2237
M2177 M2238
M2178 M2239
M2179

APP - 51
APPENDICES

Common device list (Continued)

Device Signal Remark Device Signal Remark
Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle
No. direction (Note-4) No. direction (Note-4)

M2240 Axis 1 M2280

M2241 Axis 2 M2281
M2242 Axis 3 M2282
M2243 Axis 4 M2283
M2244 Axis 5 M2284
M2245 Axis 6 M2285
M2246 Axis 7 M2286
M2247 Axis 8 M2287
M2248 Axis 9 M2288
M2249 Axis 10 M2289
M2250 Axis 11 M2290
M2251 Axis 12 M2291
M2252 Axis 13 M2292
M2253 Axis 14 M2293
M2254 Axis 15 M2294
Status
M2255 Axis 16 Speed change "0" M2295
Operation cycle signal
M2256 Axis 17 accepting flag M2296
(Note-2)
M2257 Axis 18 M2297
M2258 Axis 19 M2298
M2259 Axis 20 M2299 Unusable
M2260 Axis 21 M2300 (40 points)
— — — —
M2261 Axis 22 M2301
M2262 Axis 23 M2302
M2263 Axis 24 M2303
M2264 Axis 25 M2304
M2265 Axis 26 M2305
M2266 Axis 27 M2306
M2267 Axis 28 M2307
M2268 Axis 29 M2308
M2269 Axis 30 M2309
M2270 Axis 31 M2310
M2271 Axis 32 M2311
M2272 M2312
M2273 M2313
M2274 M2314
M2275 Unusable M2315
— — — —
M2276 (8 points) M2316
M2277 M2317
M2278 M2318
M2279 M2319

APP - 52
APPENDICES

Explanation of the request register

No. Function Bit device Request register

1 PLC ready flag M2000 D704

2 All axes servo ON command M2042 D706

3 JOG operation simultaneous start M2048 D708

4 Manual pulse generator 1 enable flag M2051 D755

5 Manual pulse generator 2 enable flag M2052 D756

6 Manual pulse generator 3 enable flag M2053 D757

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

(Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).
(Note-3) : Handling of D704 to D708 and D755 to D757 registers
Because cannot be turn on/off for every bit from the PLC CPU, the above bit
devices are assigned to D register, and each bit device becomes on with the
lowest rank bit 0 1 of each register, and each bit device becomes off with
1 0.
Use it when the above functions are requested from the PLC CPU using the
S(P).DDRD and S(P).DDWR instruction.
(Note-4) : It can also be ordered the device of a remark column.

CAUTION
The data executed later becomes valid when the same device is executed in the Motion program
and PLC program.

APP - 53
APPENDICES

(6) Special relay allocated device list (Status)

(Note)
Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark
M2320 Fuse blown detection M9000

M2321 AC/DC DOWN detection M9005

M2322 Battery low Error M9006

M2323 Battery low latch occurrence M9007

M2324 Self-diagnostic error M9008

M2325 Diagnostic error M9010

M2326 Always ON Main M9036

M2327 Always OFF operation M9037

M2328 Clock data error Error M9026

M2329 PCPU WDT error flag occurrence M9073

M2330 PCPU READY complete flag M9074

At request
M2331 Test mode ON flag M9075

Operation
M2332 External forced stop input flag M9076
cycle
Manual pulse generator axis setting
M2333 M9077
error flag
Error Status signal
M2334 TEST mode request error flag occurrence M9078

M2335 Motion program setting error flag M9079

M2336 CPU No.1 reset flag M9240

M2337 CPU No.2 reset flag M9241

M2338 CPU No.3 reset flag M9242

M2339 CPU No.4 reset flag At status M9243

M2340 CPU No.1 error flag change M9244

M2341 CPU No.2 error flag M9245

M2342 CPU No.3 error flag M9246

M2343 CPU No.4 error flag M9247

M2344 Servo parameter reading flag At request M9105

M2345 CPU No.1 MULTR complete flag M9216

M2346 CPU No.2 MULTR complete flag At instruction M9217

M2347 CPU No.3 MULTR complete flag completion M9218

M2348 CPU No.4 MULTR complete flag M9219

M2349
to Unusable — — — —
M2399
(Note) : The same status as a remark column is output.

APP - 54
APPENDICES

(7) Common device list (Command signal)

Remark
Device No. Signal name Refresh cycle Fetch cycle Signal direction (Note-1) , (Note-2)

Command
M3072 PLC ready flag Main cycle M2000
signal

M3073 Unusable — — — —
Operation
M3074 All axes servo ON command cycle M2042

JOG operation simultaneous start

M3076 M2048
command Command
M3077 Manual pulse generator 1 enable flag signal M2051
Main cycle
M3078 Manual pulse generator 2 enable flag M2052

M3079 Manual pulse generator 3 enable flag M2053

M3080

to Unusable — — — —

M3135

(Note-1) : The device of a remarks column turns ON by OFF to ON of the above device, and the device of a remarks column
turns OFF by ON to OFF of the above device. The state of a device is not in agreement when the device of a remarks
column is turned on directly. In addition, when the request from a data register and the request from the above device
are performed simultaneously, the request from the above device becomes effective.
(Note-2) : It can also be ordered the device of a remark column.

(8) Special relay allocated device list (Command signal)

Remark
Device No. Signal name Refresh cycle Fetch cycle Signal direction (Note-1), (Note-2)

M3136 Clock data set request M9025

M3137 Clock data read request Command M9028

Main cycle signal
M3138 Error reset M9060

M3139 Servo parameter read request flag M9104

M3140

to Unusable — — — —

M3199

(Note-1) : The device of a remarks column turns ON by OFF to ON of the above device, and the device of a remarks column turns
OFF by ON to OFF of the above device. The state of a device is not in agreement when the device of a remarks
column is turned on directly.
(Note-2) : It can also be ordered the device of a remark column.

APP - 55
APPENDICES

APPENDIX 3.2 Data Registers (D)

(1) Axis monitor device list

Axis
Device No. Signal name
No.
1 D0 to D19
2 D20 to D39 Signal
Signal name Refresh cycle Fetch cycle Unit
3 D40 to D59 direction
4 D60 to D79 0
Machine value
5 D80 to D99 1 Command
6 D100 to D119 2 unit
Real current value Operation cycle
7 D120 to D139 3
8 D140 to D159 4
Deviation counter value PLS
9 D160 to D179 5
10 D180 to D199 6 Minor error code
Immediate
11 D200 to D219 7 Major error code — Monitor
12 D220 to D239 8 Servo error code Main cycle device
13 D240 to D259 Home position return
9 PLS
14 D260 to D279 re-travel value
Operation cycle
15 D280 to D299 10 Travel value after Command
16 D300 to D319 11 proximity dog ON unit
17 D320 to D339 12 Execute program No. At start
—
18 D340 to D359 13 M-code
Operation cycle
19 D360 to D379 14 Torque limit value %
20 D380 to D399 15
21 D400 to D419 16 Unusable — — — —
22 D420 to D439 17
23 D440 to D459 18 Real current value at Command Monitor
Operation cycle
24 D460 to D479 19 stop input unit device
25 D480 to D499
26 D500 to D519
27 D520 to D539
28 D540 to D559
29 D560 to D579
30 D580 to D599
31 D600 to D619
32 D620 to D639
(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

APP - 56
APPENDICES

(2) Control change register list

Axis
Device No. Signal name
No.
1 D640, D641
2 D642, D643 Signal
Signal name Refresh cycle Fetch cycle Unit
3 D644, D645 direction
4 D646, D647 0 Command Command
JOG speed setting At start
5 D648, D649 1 unit device

6 D650, D651
7 D652, D653
8 D654, D655
9 D656, D657
10 D658, D659
11 D660, D661
12 D662, D663
13 D664, D665
14 D666, D667
15 D668, D669
16 D670, D671
17 D672, D673
18 D674, D675
19 D676, D677
20 D678, D679
21 D680, D681
22 D682, D683
23 D684, D685
24 D686, D687
25 D688, D689
26 D690, D691
27 D692, D693
28 D694, D695
29 D696, D697
30 D698, D699
31 D700, D701
32 D702, D703
(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

APP - 57
APPENDICES

(3) Axis monitor device 2 list

Axis
Device No. Signal name
No.
1 D800 to D819
2 D820 to D839 Signal
Signal name Refresh cycle Fetch cycle Unit
3 D840 to D859 direction
4 D860 to D879 0 Command
Current value Operation cycle
5 D880 to D899 1 unit
6 D900 to D919 Execute sequence No.
2
7 D920 to D939 (main)
8 D940 to D959 Execute block No.
3
9 D960 to D979 (main) Monitor
10 D980 to D999 Execute program No. device
4 Immediate —
11 D1000 to D1019 (sub)
12 D1020 to D1039 Execute sequence No.
5
13 D1040 to D1059 (sub)
14 D1060 to D1079 Execute block No.
6
15 D1080 to D1099 (sub)
16 D1100 to D1119 7 Unusable — — — —
17 D1120 to D1139 8 G43/G44 command
18 D1140 to D1159 Tool length offset data —
9 Monitor
19 D1160 to D1179 No. Immediate
device
20 D1180 to D1199 10 Command
Tool length offset data
21 D1200 to D1219 11 unit
22 D1220 to D1239 12
23 D1240 to D1259 13
24 D1260 to D1279 14
25 D1280 to D1299 15
Unusable — — — —
26 D1300 to D1319 16
27 D1320 to D1339 17
28 D1340 to D1359 18
29 D1360 to D1379 19
30 D1380 to D1399
31 D1400 to D1419
32 D1420 to D1439
(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

APP - 58
APPENDICES

(4) Control program monitor device list

Device No. Signal name
D1440 to D1445
D1446 to D1451 Signal
Signal name Refresh cycle Fetch cycle Unit
D1452 to D1457 direction
D1458 to D1463 0 Program No.
D1464 to D1469 1 Sequence No.
D1470 to D1475 2 Block No. Monitor
Immediate
D1476 to D1481 Error code device
3
D1482 to D1487 (Minor error code)
D1488 to D1493 4 Execute status
(Note-1)
D1494 to D1499 5 Unusable — — — —
D1500to D1505 D1445 : CLEAR request status storage register
D1506 to D1511
D1512 to D1517
D1518 to D1523
D1524 to D1529
D1530 to D1535

(Note-1) : D1445 (CLEAR request status storage register) is used in the "control program stop function from the PLC CPU".

APP - 59
APPENDICES

(5) Control change register 2 list

Axis
Device No. Signal name
No.
1 D1536 to D1538
2 D1539 to D1541 Signal
Signal name Refresh cycle Fetch cycle Unit
3 D1542 to D1544 direction
4 D1545 to D1547 Override ratio setting Command
0 Operation cycle %
5 D1548 to D1550 register (0 to 100) device
6 D1551 to D1553 1
Unusable — — — —
7 D1554 to D1556 2
8 D1557 to D1559
9 D1560 to D1562
10 D1563 to D1565
11 D1566 to D1568
12 D1569 to D1571
13 D1572 to D1574
14 D1575 to D1577
15 D1578 to D1580
16 D1581 to D1583
17 D1584 to D1586
18 D1587 to D1589
19 D1590 to D1592
20 D1593 to D1595
21 D1596 to D1598
22 D1599 to D1601
23 D1602 to D1604
24 D1605 to D1607
25 D1608 to D1610
26 D1611 to D1613
27 D1614 to D1616
28 D1617 to D1619
29 D1620 to D1622
30 D1623 to D1625
31 D1626 to D1628
32 D1629 to D1631
(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

APP - 60
APPENDICES

(6) Tool length offset data setting register list (Higher rank, lower rank)
Device No. Signal name

D1651, D1650 Tool length offset data 1

D1653, D1652 Tool length offset data 2
D1655, D1654 Tool length offset data 3
D1657, D1656 Tool length offset data 4
D1659, D1658 Tool length offset data 5
D1661, D1660 Tool length offset data 6
D1663, D1662 Tool length offset data 7
D1665, D1664 Tool length offset data 8
D1667, D1666 Tool length offset data 9
D1669, D1668 Tool length offset data 10
D1671, D1670 Tool length offset data 11
D1673, D1672 Tool length offset data 12
D1675, D1674 Tool length offset data 13
D1677, D1676 Tool length offset data 14
D1679, D1678 Tool length offset data 15
D1681, D1680 Tool length offset data 16
D1683, D1682 Tool length offset data 17
D1685, D1684 Tool length offset data 18
D1687, D1686 Tool length offset data 19
D1689, D1688 Tool length offset data 20

APP - 61
APPENDICES

(7) Common device list

Device Signal Device Signal
Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle
No. direction No. direction
Manual pulse generator 1
D704 PLC ready flag request D752 smoothing magnification
setting register
Manual pulse generator 2 At the manual pulse
Speed switching point
D705 D753 smoothing magnification generator enable
specified flag request
setting register flag
Command
Main cycle Manual pulse generator 3
All axes servo ON command device Command
D706 D754 smoothing magnification
request device
setting register
CLEAR request control Manual pulse generator 1
D707 D755
program No. setting register enable flag request
JOG operation simultaneous Manual pulse generator 2
D708 D756 Main cycle
start command request enable flag request
Manual pulse generator 3
D709 Unusable — — — D757 enable flag request
D710 D758 Unusable — — —
PCPU ready complete flag Monitor
D711 JOG operation simultaneous D759 Main cycle
status device
start axis setting register At start
D712 D760
D713 D761
D714 Manual pulse generator axis D762
1 No. setting register
D715 D763
D716 Manual pulse generator axis D764
2 No. setting register
D717 D765
D718 Manual pulse generator axis D766
3 No. setting register
D719 D767
D720 Axis 1 D768
D721 Axis 2 D769
D722 Axis 3 D770
D723 Axis 4 D771
D724 Axis 5 D772
D725 Axis 6 D773
D726 Axis 7 D774
D727 Axis 8 D775 Unusable (32 points) — — —
D728 Axis 9 D776
D729 Axis 10 D777
Command
D730 Axis 11 device D778
D731 Axis 12 D779
At the manual pulse
D732 Axis 13 generator enable D780
flag
D733 Axis 14 D781
D734 Axis 15 Manual pulse
D782
generators 1-pulse
D735 Axis 16 input magnification D783
setting register
D736 Axis 17 D784
(Note-1),(Note-2)
D737 Axis 18 D785
D738 Axis 19 D786
D739 Axis 20 D787
D740 Axis 21 D788
D741 Axis 22 D789
D742 Axis 23 D790
D743 Axis 24 D791
D744 Axis 25 D792
D745 Axis 26 D793
D746 Axis 27 D794
D747 Axis 28 D795 Monitor
Servo amplifier type At power-on
D748 Axis 29 D796 device

D749 Axis 30 D797

D750 Axis 31 D798
D751 Axis 32 D799

(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N).

(Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).

APP - 62
APPENDICES

APPENDIX 3.3 Motion Registers (#)

Motion register list (#)

Axis
Device No. Signal name
No.
1 #8064 to #8067
2 #8068 to #8071 (Note-1)
Signal name Signal description Refresh cycle Signal direction
3 #8072 to #8075
4 #8076 to #8079 0 : Unused 4 : MR-J2S-B
5 #8080 to #8083 1 : MR-H-BN 5 : MR-J2-M When the servo amplifier
+0 Servo amplifier type
6 #8084 to #8087 2 : MR-J-B 6 : MR-J2-03B5 power-on
7 #8088 to #8091 3 : MR-J2-B 65 : FR-V500 Monitor device
8 #8092 to #8095 +1 Motor current -5000 to 5000 ( 0.1[%] )
9 #8096 to #8099 +2 3.55[ms]
Motor speed -50000 to 50000 ( 0.1[r/min] )
10 #8100 to #8103 +3
11 #8104 to #8107 (Note-1) : The value that the lowest servo monitor device No. was added "+0, +1 ···" on each axis is shown.
12 #8108 to #8111
13 #8112 to #8115
14 #8116 to #8119
15 #8120 to #8123
16 #8124 to #8127
17 #8128 to #8131
18 #8132 to #8135
19 #8136 to #8139
20 #8140 to #8143
21 #8144 to #8147
22 #8148 to #8151
23 #8152 to #8155
24 #8156 to #8159
25 #8160 to #8163
26 #8164 to #8167
27 #8168 to #8171
28 #8172 to #8175
29 #8176 to #8179
30 #8180 to #8183
31 #8184 to #8187
32 #8188 to #8191

APP - 63
APPENDICES

APPENDIX 3.4 Special Relays

Special relays are internal relays whose applications are fixed in the Motion CPU. For
this reason, they cannot be used in the same way as the normal internal relays by the
Motion programs.
However, they can be turned ON/OFF as needed in order to control the Motion CPU.

The headings in the table that follows have the following meanings.

Item Explanation
No. • Indicates the device No. of the special relay.
Name • Indicates the name of the special relay.
Meaning • Indicates the nature of the special relay.
Details • Indicates detailed information about the nature of the special relay.
• Indicates whether the relay is set by the system or user, and, if it is set by system, when
setting is performed.
<Set by>
S : Set by system (Motion CPU)
U : Set by user (Motion program or test operation using a peripheral device)
S/U : Set by both system (Motion CPU) and user
Set by <When set> Indicated only if setting is done by system (Motion CPU) .
(When set) Main process : Set during each main processing (free time processing of the CPU)
Initial process : Set only during initial processing (when power supply is turned ON, or
when executed the reset)
Status change : Set only when there is a change in status
Error : Set when error is occurred.
Request : Set only when there is a user request (Special relay, etc.)
Operation cycle : Set during each operation cycle of the Motion CPU.

APP - 64
APPENDICES

Special relay list

Set by
No. Name Meaning Details Remark
(When set)
OFF : Normal • Turn on when there is one or more output modules control
M9000 Fuse blown detection ON : Fuse blown module of self CPU which fuse has been blown.
detected Remains on if normal status is restored.
• Turn on if a momentary power interruption of less than
OFF : AC/DC DOWN 20ms occurred during use of the AC power supply
not detected module, and reset by turning power off to on.
M9005 AC/DC DOWN detection
ON : AC/DC DOWN • Turn on if a momentary power interruption of less than
detected 10ms occurred during use of the DC power supply
module, and reset by turning power off to on.
• Turned on when the voltage of the external battery
reduces to less than specified value. Turn off when the
OFF : Normal voltage of the external battery becomes normal.
M9006 Battery low
ON : Battery low • Synchronizes with "BAT. LED" S (Occur an error)
• Check the voltage of the external battery, only when it is
set with "external battery use" by system setting.
• Turn on when the voltage of the external battery reduces
to less than specified value. Remains on if normal status is
OFF : Normal restored.
M9007 Battery low latch
ON : Battery low • Synchronizes with "BAT. LED"
• Check the voltage of the external battery, only when it is
set with "external battery use" by system setting.
OFF : No error • Turn on when error is found as a result of self-diagnosis.
M9008 Self-diagnostic error
ON : Error Remains on if normal status is restored.
OFF : No error • Turn on when error is found as a result of diagnosis. New
M9010 Diagnostic error (Note-1)
ON : Error Remains on if normal status is restored.
OFF : Ignored
• Write clock data stored in D9025 to D9028 to the clock
M9025 Clock data set request ON : Set request present U
element when M9025 has changed from off to on.
used
OFF : No error
M9026 Clock data error • Turn on by clock data (D9025 to D9028) error. S (Request)
ON : Error
OFF : Ignored • Read clock data from D9025 to D9028 in BCD when
M9028 Clock data read request U
ON : Read request M9028 is on.
ON • Turn on without regard to position of RUN/STOP switch
M9036 Always ON
OFF on.
S (Main processing)
ON • Turn off without regard to position of RUN/STOP switch
M9037 Always OFF
OFF on.
New
M9060 Error reset OFF ON : Error reset • A release of the error is executed. U (Note-1)

• Turn on when a "watchdog timer error" is detected by the

Motion CPU self-diagnosis function.
When the Motion CPU detects a WDT error, it executes
ON : Abnormal
M9073 PCPU WDT error flag an immediate stop without deceleration of the operating S (Occur an error)
OFF : Normal
axes.
• The error cause is stored in the "Motion CPU WDT error
cause (D9184)".
• When the PLC ready flag (M2000) turn off to on, the
ON
: PCPU READY
fixed parameters, servo parameters and limit switch
PCPU READY complete completion
M9074 output data, etc., are checked, and if no error is detected S (Request)
flag OFF : PCPU READY
this flag turns on.
uncompletion
• Turn off when the PLC ready flag (M2000) turns off.
• This flag status indicates whether a TEST mode
ON : TEST mode is in established from a peripheral device is currently in
effect. effect.
M9075 Test mode ON flag S (Request)
OFF : TEST mode is not in • If the TEST mode is not established in response to a
effect. TEST mode request from a peripheral device, the
"TEST mode request error flag (M9078)" will turn on.
External forced stop ON : Forced stop OFF
M9076 • This flag status indicate whether the forced stop. S (Operation cycle)
input flag OFF : Forced stop ON
(Note-1) : It adds newly at the Motion controller Q series.

APP - 65
APPENDICES

Special relay list (continued)

Set by
No. Name Meaning Details Remark
(When set)
• This flag indicates whether the setting designated at the
ON : At least one D714 to
manual pulse generator axis setting register (D714 to D719)
D719 setting is
Manual pulse generator is normal or abnormal.
M9077 abnormal. S (Occur an error)
axis setting error flag • When this relay turns on, the error content is stored at the
OFF : All D714 to D719
manual pulse generator axis setting error register (D9185 to
settings are normal.
D9187).
• Turn on if the TEST mode is not established in response to a
TEST mode request ON : Abnormal TEST mode request from a peripheral device.
M9078 S (Occur an error)
error flag OFF : Normal • When this relay turns on, the error content is stored at the
TEST mode request error register (D9182 to D9183).
• This flag status indicates whether the positioning data of the
Motion program is normal or abnormal, and if error is
Motion program setting ON : Abnormal
M9079 detected this flag turns on. S (Occur an error)
error flag OFF : Normal
• The content of a Motion program setting error is stored at
D9189 and D9190.
• The servo parameter of servo parameter read request axis
Servo parameter read OFF to ON : Servo
M9104 set as D9104 is reflected in the Motion CPU from the servo U
request flag parameter read
amplifier at the time of OFF to ON.
ON : Servo parameter
• This flag turn on while having read the servo amplifier
Servo parameter reading reading.
M9105 to the Motion CPU. It turn off automatically after reading S (Reading)
flag OFF : Except servo
completion.
parameter reading.
CPU No.1 MULTR OFF to ON : • Turn on when the data read from CPU No.1 is performed
M9216
complete flag CPU No.1 read completion normally by MULTR instruction.
CPU No.2 MULTR OFF to ON : • Turn on when the data read from CPU No.2 is performed
M9217
complete flag CPU No.2 read completion normally by MULTR instruction.
S (Read completion)
CPU No.3 MULTR OFF to ON : • Turn on when the data read from CPU No.3 is performed
M9218
complete flag CPU No.3 read completion normally by MULTR instruction.
CPU No.4 MULTR OFF to ON : • Turn on when the data read from CPU No.4 is performed
M9219
complete flag CPU No.4 read completion normally by MULTR instruction.
• Turn off at reset release of the CPU No.1.
OFF : CPU No.1 reset New
• Turn on during reset of the CPU No.1. (It also contains when a (Note-1)
M9240 CPU No.1 reset flag release
CPU is removed from the base unit.)
ON : CPU No.1 resetting
• The other CPU is also resetting.
• Turn off at reset release of the CPU No.2.
OFF : CPU No.2 reset • Turn on during reset of the CPU No.2. (It also contains when a
M9241 CPU No.2 reset flag release CPU is removed from the base unit.)
ON : CPU No.2 resetting • The error of the "MULTI CPU DOWN" (error code : 7000)
occurs in the other CPU.
• Turn off at reset release of the CPU No.3. S (Change status)
OFF : CPU No.3 reset • Turn on during reset of the CPU No.3. (It also contains when a
M9242 CPU No.3 reset flag release CPU is removed from the base unit.)
ON : CPU No.3 resetting • The error of the "MULTI CPU DOWN" (error code : 7000)
occurs in the other CPU.
• Turn off at reset release of the CPU No.4.
OFF : CPU No.4 reset • Turn on during reset of the CPU No.4. (It also contains when a
M9243 CPU No.4 reset flag release CPU is removed from the base unit.)
ON : CPU No.4 resetting • The error of the "MULTI CPU DOWN" (error code : 7000)
occurs in the other CPU.
(Note-1) : It adds newly at the Motion controller Q series.
(Note-2) : The CPU No.1 is reset after the factor of the stop error is removed to cancel a stop error. Resetting is cancelled.

APP - 66
APPENDICES

Special relay list (continued)

Set by
No. Name Meaning Details Remark
(When set)
OFF : CPU No.1 normal • Turn off when the CPU No.1 is normal. (It contains at
M9244 CPU No.1 error flag ON : On CPU No.1 stop continuation error.)
error • Turn on during stop error of the CPU No.1. (Note-2)
OFF : CPU No.2 normal • Turn off when the CPU No.2 is normal. (It contains at
M9245 CPU No.2 error flag ON : On CPU No.2 stop continuation error.)
error • Turn on during stop error of the CPU No.2. (Note-2) New
S (Change status) (Note-1)
OFF : CPU No.3 normal • Turn off when the CPU No.3 is normal. (It contains at
M9246 CPU No.3 error flag ON : On CPU No.3 stop continuation error.)
error • Turn on during stop error of the CPU No.3. (Note-2)
OFF : CPU No.4 normal • Turn off when the CPU No.4 is normal. (It contains at
M9247 CPU No.4 error flag ON : On CPU No.4 stop continuation error.)
error • Turn on during stop error of the CPU No.4. (Note-2)
(Note-1) : It adds newly at the Motion controller Q series.
(Note-2) : The CPU No.1 is reset after the factor of the stop error is removed to cancel a stop error. Resetting is cancelled.

APP - 67
APPENDICES

APPENDIX 3.5 Special Registers

Special registers are internal registers whose applications are fixed in the Motion CPU.
For this reason, it is not possible to use these registers in Motion programs in the same
way that normal registers are used.
However, data can be written as needed in order to control the Motion CPU.
Data stored in the special registers are stored as BIN values if no special designation
has been made to the contrary.

The headings in the table that follows have the following meanings.

Item Explanation
Number • Indicates the No. of the special register.
Name • Indicates the name of the special register.
Meaning • Indicates the nature of the special register.
Details • Indicates detailed information about the nature of the special register.
• Indicates whether the register is set by the system or user, and, if it is set by system,
when setting is performed.
<Set by>
S : Set by system (Motion CPU)
U : Set by user (Motion program or test operation using a peripheral device)
S/U : Set by both system (Motion CPU) and user
Set by <When set> Indicated only if setting is done by system (Motion CPU) .
(When set) Main process : Set during each main processing (free time processing of the CPU)
Initial process : Set only during initial processing (when power supply is turned ON, or
when executed the reset)
Status change : Set only when there is a change in status
Error : Set when error is occurred.
Request : Set only when there is a user request (Special relay, etc.)
Operation cycle : Set during each operation cycle of the Motion CPU.

APP - 68
APPENDICES

Special register list

Set by
No. Name Meaning Details Remark
(When set)
Module No. with • When fuse blown modules are detected, the lowest I/O module No. is stored
D9000 Fuse blown No.
blown fuse in D9000.
• 1 is added to the stored value each time the input voltage becomes
AC/DC DOWN Number of times 85[%](AC power supply/65[%] DC power supply) or less of the rating while
D9005
counter No. for AC/DC DOWN the CPU module is performing an operation, and the value is stored in BIN
code.
• When error is found as a result of self-diagnosis, error No. is stored in BIN
Diagnostic error code.
D9008 Diagnostic error
number • Refer to the "APPENDIX 1 Multiple CPU Error Codes" for details of the error
code.
• The age (A.D, the rightmost two digits) when data on D9008 are updated,
and the month stored with a BCD code two digits.
D9010 B15 to B8 B7 to B0 Example : October 1995
Year(0 to 99) Month(1 to 12) H9510

• The day when data on D9008 are updated, and the hour stored with a BCD
Diagnostic error Diagnostic error code two digits.
D9011 B15 to B8 B7 to B0 Example : 25st, 10 a.m
occurrence time occurrence time
Day(1 to 31) Hour(0 to 23) H2510
S (Occur an error)
• The minute when data on D9008 are updated, and the second stored with a
BCD code two digits.
D9012 B15 to B8 B7 to B0 Example : 35 min., 48 sec.
Minute(0 to 59) Second(0 to 59) H3548
New
• The classification code to judge the error information stored in the error (Note)

information (D9014) is stored.

Error information Error information • The following codes are stored.
D9013
classification classification code 0 : None
1 : Module No./CPU No./Base No.
2 : Parameter No.
• Error information to comply with the diagnostic error (D9008) is stored.
There are following two types information to be stored.
1) Module No./CPU No./Base No.
• Module No. or CPU No. is stored according to the error which occurred
D9014 Error information Error information
in the case of the Multiple CPU system.
(Refer to each error code which is stored.)
CPU No.1 : 1, CPU No.2 : 2, CPU No.3 : 3, CPU No.4 : 4
2) Parameter No.
• The operation states of CPU as shown below are stored in D9015.
B15 B12 B11 B8 B7 B4 B3 B0

2) 1)
Operating state of Operating state of
D9015 1) Operating state of CPU 0 : RUN
CPU CPU
2 : STOP
S (Main processing)
2) STOP cause 0 : RUN/STOP switch
Note : Priority is earliest first 4 : Error

Scan time • Main cycle is stored in the unit 1ms.

D9017 Scan time
(1ms units) • Setting range (0 to 65535[ms]) New
(Note)
Maximum scan Maximum scan • The maximum value of the main cycle is stored in the unit 1ms.
D9019
time time (1ms units) • Setting range (0 to 65535[ms])
• Stores the year (2 lower digits) and month in BCD.
B15 to B12 B11 to B8 B7 to B4 B3 to B0 Example : July 1993
Clock data
D9025 Clock data H9307 S/U (Request)
(Year, month)

Year Month
(Note) : It adds newly at the Motion controller Q series.

APP - 69
APPENDICES

Special register list (continued)

Set by
No. Name Meaning Details Remark
(When set)
• Stores the day and hour in BCD.
B15 to B12 B11 to B8 B7 to B4 B3 to B0 Example : 31st, 10 a.m.
Clock data
D9026 Clock data H3110
(Day, hour)

Day Hour
• Stores the minute and second in BCD.

B15 to B12 B11 to B8 B7 to B4 B3 to B0 Example : 35 min., 48 sec.

Clock data
D9027 Clock data H3548
(Minute, second)

Minute Second
• Stores the day of the week in BCD. S/U (Request)
B15 to B12 B11 to B8 B7 to B4 B3 to B0
Example :
Friday
H0005
Day of week
Clock data
D9028 Clock data 0 Sunday
(Day of week) "0" must be set here. 1 Monday
2 Tuesday
3 Wednesday
4 Thursday
5 Friday
6 Saturday

Error No. of
D9060 Error reset • Error No. of canceling error is stored. U
releasing an error

D9061 Multiple CPU No. Multiple CPU No. • CPU No. of the self CPU is stored. S (Initial processing) New
(Note)

Servo parameter • Axis No. of servo amplifier which begins to read servo parameter is setting.
Servo parameter
D9104 read request axis Q173CPU(N) : 1 to 32 (Axis1 to 32) U
read axis No.
No. Q172CPU(N) : 1 to 8 (Axis1 to 8)
It is operating in
requirement error • Each axis is stopping : 0/Operating : 1, information is stored as a bit data.
D9182 Test mode
occurrence of the D9182 : b0 to b15 (Axis 1 to Axis 16)
D9183 request error
test mode, axis D9183 : b0 to b15 (Axis 17 to Axis 32)
information
The following error codes are stored in D9184.
1 : S/W fault 1
2 : Operation cycle over
3 : Q bus WDT error
4 : WDT error
30 : Information processor H/W error
Motion CPU Error meaning of
D9184 201 to 215 : Q bus H/W fault
WDT error cause WDT error occurs
250 to 253 : Servo amplifier interface H/W fault
300 : S/W fault3
301 : 15 CPSTART instructions of 8 or more points were started S (Occur an error)
simultaneously.
302 : During ROM operation, system setting data, program and
parameter written to internal FLASH ROM are fault.
• Contents of the manual pulse generator axis setting error is stored when the
manual pulse generator axis setting error flag (M9077) turn on.
(Normal : 0/Setting error : 1)
D9185 : The manual pulse generator axis setting error is stored in b0 to b2
Manual pulse
D9185 Manual pulse (P1 to P3).
generator axis
D9186 generator axis The smoothing magnification setting is stored in b3 to b5 (P1 to
setting error
D9187 setting error P3).
information
D9186 : One pulse input magnification setting error is stored in b0 to b15
(axis 1 to axis 16).
D9187 : One pulse input magnification setting error is stored in b0 to b15
(axis 17 to axis 32).
(Note) : It adds newly at the Motion controller Q series.

APP - 70
APPENDICES

Special register list (continued)

Set by
No. Name Meaning Details Remark
(When set)
Motion operation Motion operation New
D9188 • The time when the motion operation cycle is stored in the [µs] unit. S (Operation cycle) (Note)
cycle cycle
Error program Error program No. of When the Motion program setting error flag (M9079) turns on, the
D9189
No. Motion program erroneous Motion program No. will be stored.
S (Occur an error)
Error item Error code of Motion When the Motion program setting error flag (M9079) turns on, the error
D9190
information program code corresponding to the erroneous setting item will be stored.
• The loading status (loading : 1/non-loading : 0) of the servo amplifier
checked in initial process, and stored as the bit data.
Servo amplifier D9191 : b0 to b15 (axis 1 to axis 16)
D9191 Servo amplifier
loading D9192 : b0 to b15 (axis 17 to axis 32) S (Initial processing)
D9192 loading information
information • The axis which turned from non-loading to loading status after power-on is
handled as loaded. (However, the axis which turned from loading to non-
loading status remains as loaded.)
D9193 Real/virtual mode Real/virtual mode • When a mode switching error occurs in real-to-virtual or virtual-to-real
D9194 switching error Switching mode switching, or a mode continuation error occurs in the virtual mode,
D9195 information error code its error information is stored.

• The following error code is stored.

00 : No error
01 : Receiving timing error S (Occur an error)
PC link PC link 02 : CRC error
D9196 communication communication error 03 : Communication response code error
error codes codes 04 : Received frame error
05 : Communication task start error
(Each error code is reset to "00" when normal communication is
restarted.)
Operation cycle Operation cycle
D9197 of the Motion of the Motion CPU • The time when the setting operation cycle is stored in the [µs] unit. S (Initial processing)
CPU setting setting

• The CPU switch status is stored in the following format.

B15 B12B11 B8 B7 B4 B3 B0

3) No used. 2) 1)

1) CPU switch status 0 : RUN

1 : STOP
2 : L.CLR
D9200 State of switch State of CPU switch S (Main processing)
2) Memory card switch Always OFF
3) Dip switch B8 through B12 correspond to SW1
through SW5 of system setting switch 1.
0 : OFF/1 : ON New
B13 through B15 is not used. (Note)

• Information concerning which of the following states the LEDs on the CPU
are in is stored in the following bit patterns.
• 0 is off, 1 is on, and 2 is flicker
B15 B12 B11 B8 B7 B4 B3 B0

8) 7) 6) 5) 4) 3) 2) 1)
D9201 State of LED State of CPU-LED 1) : RUN 5) : BOOT S (Change status)
2) : ERROR 6) : No used
3) : M.RUN 7) : No used
4) : BAT.ALARM 8) : MODE
Bit patterns for MODE
0 : OFF 1 : Green
2 : Orange
(Note) : It adds newly at the Motion controller Q series.

APP - 71
WARRANTY

Please confirm the following product warranty details before using this product.

1. Gratis Warranty Term and Gratis Warranty Range

If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the
product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or
Mitsubishi Service Company.
However, if repairs are required onsite at domestic or overseas location, expenses to send an engineer will be solely
at the customer's discretion. Mitsubishi shall not be held responsible for any re-commissioning, maintenance, or
testing on-site that involves replacement of the failed module.

[Gratis Warranty Term]

Note that an installation period of less than one year after installation in your company or your customer’s premises
or a period of less than 18 months (counted from the date of production) after shipment from our company,
whichever is shorter, is selected.

[Gratis Warranty Range]

(1) Diagnosis of failure
As a general rule, diagnosis of failure is done on site by the customer.
However, Mitsubishi or Mitsubishi service network can perform this service for an agreed upon fee upon the
customer’s request.
There will be no charges if the cause of the breakdown is found to be the fault of Mitsubishi.

(2) Breakdown repairs

There will be a charge for breakdown repairs, exchange replacements and on site visits for the following four
conditions, otherwise there will be a charge.
1) Breakdowns due to improper storage, handling, careless accident, software or hardware design by the
customer
2) Breakdowns due to modifications of the product without the consent of the manufacturer
3) Breakdowns resulting from using the product outside the specified specifications of the product
4) Breakdowns that are outside the terms of warranty

Since the above services are limited to Japan, diagnosis of failures, etc. are not performed abroad.
If you desire the after service abroad, please register with Mitsubishi. For details, consult us in advance.

2. Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability

Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi; opportunity
loss or lost profits caused by faults in the Mitsubishi products; damage, secondary damage, accident compensation
caused by special factors unpredictable by Mitsubishi; damages to products other than Mitsubishi products; and to
other duties.

3. Onerous Repair Term after Discontinuation of Production

Mitsubishi shall accept onerous product repairs for seven years after production of the product is discontinued.

4. Delivery Term
In regard to the standard product, Mitsubishi shall deliver the standard product without application settings or
adjustments to the customer and Mitsubishi is not liable for on site adjustment or test run of the product.

5. Precautions for Choosing the Products

(1) These products have been manufactured as a general-purpose part for general industries, and have not been
designed or manufactured to be incorporated in a device or system used in purposes related to human life.
(2) Before using the products for special purposes such as nuclear power, electric power, aerospace, medicine,
passenger movement vehicles or under water relays, contact Mitsubishi.
(3) These products have been manufactured under strict quality control. However, when installing the product where
major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the
system.
(4) When exporting any of the products or related technologies described in this catalogue, you must obtain an
export license if it is subject to Japanese Export Control Law.
IB(NA)-0300070-B(0605)MEE
MODEL: Q173-P-SV43-E
MODEL CODE: 1XB784

HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN

When exported from Japan, this manual does not require application to the
Ministry of Economy, Trade and Industry for service transaction permission.

Specifications subject to change without notice.