MOTION CONTROLLER

type A172SHCPUN,A171SHCPUN,A273UHCPU(32 axis feature),A173UHCPU(S1)

(SV43)
Programming Manual
MOTION CONTROLLER (SV43) Programming Manuai,

type A172SHCPUN, A171SHCPUN

A273UHCPU(32 axis feature)
A173UHCPU(S1)

MITSUBISHI
ELECTRIC
 INTORODUCTION

Thank you for purchasing the Mitsubishi Motion Controller/Personal Machine Controller. This instruction
manual describes the handling and precautions of this unit. Incorrect handing will lead to unforeseen events,
so we ask that you please read this manual thoroughly and use the unit correctly.
Please make sure that this manual is delivered to the final user of the unit and that it is stored for future
reference.

Precautions for Safety

Please read this instruction manual and enclosed documents before starting installation, opera-
tion, maintenance or inspections to ensure correct usage. Thoroughly understand the machine,
safety information and precautions before starting operation.
The safety precautions are ranked as "Warning" and "Caution" in this instruction manual.

When a dangerous situation may occur if handling is mistaken

! WARNING
leading to fatal or major injuries.

When a dangerous situation may occur if handling is mistaken

! CAUTION leading to medium or minor injuries, or physical damage.

Note that some items described as cautions may lead to major results depending on the
situation. In any case, important information that must be observed is described.

−I−
For Safe Operation

1. Prevention of electric shocks

! WARNING

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 control unit 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.
Always ground the control unit, servo amplifier and servomotor with Class 3 grounding. 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 control unit, 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 control unit, servo amplifier or servomotor terminal blocks while the power
is ON, as this may lead to electric shocks.
Do not touch the internal power supply, internal grounding or signal wires of the control unit
and servo amplifier, as this may lead to electric shocks.

2. For fire prevention

! CAUTION
Install the control unit, servo amplifier, servomotor and regenerative resistor on inflammable
material. Direct installation on flammable material or near flammable material may lead to
fires.
If a fault occurs in the control unit or servo amplifier, shut the power OFF at the servo
amplifier's power source. If a large current continues to flow, fires may occur.
When using a regenerative resistor, shut the power OFF with an error signal. The regenera-
tive resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and
may lead to fires.
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 fires.

− II −
3. For injury prevention

! CAUTION
Do not apply a voltage other than that specified in A172SHCPUN/A171SHCPUN user's manual,
A273UHCPU user’s manual, A173UHCPU(S1) user’s manual or the instruction manual for the
product you are using 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.
The servo amplifier's heat radiating fins, regenerative resistor and servo amplifier, etc., will
be hot while the power is ON and for a short time after the power is turned OFF. Do not
touch these parts as doing so 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 control unit and servo amplifier power source.
If installation of a magnetic contactor for power shut off during an error, etc., is specified in
the instruction manual for the servo amplifier, etc., always install the magnetic contactor.
Install an external emergency stop circuit so that the operation can be stopped immediately
and the power shut off.
Use the control unit, servo amplifier, servomotor and regenerative resistor with the combi-
nations listed in A172SHCPUN/A171SHCPUN user’s manual or the instruction manual for
the product you are using. Other combinations may lead to fires or faults.
If safety standards (ex., robot safety rules, etc.,) apply to the system using the control unit,
servo amplifier and servomotor, make sure that the safety standards are satisfied.
If the operation during a control unit or servo amplifier error and the safety direction
operation of the control unit differ, construct a countermeasure circuit externally of the
control unit and servo amplifier.
In systems where coasting of the servomotor will be a problem during emergency stop,
servo OFF or when the power is shut 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 emergency stop,
servo OFF or when the power is shut OFF, use both dynamic brakes and magnetic brakes.
The dynamic brakes must be used only during emergency stop and errors where servo OFF
occurs. These brakes must not be used for normal braking.
The brakes (magnetic brakes) assembled into the servomotor are for holding applications,
and must not be used for normal braking.
Construct the system so that there is a mechanical allowance allowing stopping even if the
stroke end limit switch is passed through at the max. speed.

− III −
 ! CAUTION
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 A172SHCPUN/
A171SHCPUN user’s manual or the instruction manual for the product you are using.
The ratings and characteristics of the system parts (other than control unit, servo amplifier,
servomotor) must be compatible with the control unit, 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 magnetic 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 control unit, 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 unit. 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.
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 unit's instruction manual for the
program corresponding to the special function unit.

− IV −
(3) Transportation and installation

! CAUTION
Transport the product with the correct method according to the weight.
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 control unit or servo amplifier, never hold the connected wires or
cables.
When transporting the servomotor, never hold the cables, shaft or detector.
When transporting the control unit or servo amplifier, never hold the front case as it may fall
off.
When transporting, installing or removing the control unit or servo amplifier, never hold the
edges.
Install the unit according to A172SHCPUN/A171SHCPUN user's manual, A273UHCPU user’s
manual, A173UHCPU(S1) user’s manual or the instruction manual for the product you are using
in a place where the weight 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 control unit or servo amplifier and control panel
inner surface or the control unit and servo amplifier, control unit or servo amplifier and other
devices.
Do not install or operate control units, 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 control unit, servo amplifier or servomotor.
The control unit, servo amplifier and servomotor are precision machines, so do not drop or
apply strong impacts on them.
Securely fix the control unit and servo amplifier to the machine according to
A172SHCPUN/A171SHCPUN/A273UHCPU/A173UHCPU(S1) user’s manual or the
instruction manual for the product you are using. 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
Control unit/servo amplifier Servomotor
Ambient 0°C to +55°C 0°C to +40°C
temperature (With no freezing) (With no freezing)
According to each instruction 80%RH or less
Ambient humidity
manual. (With no dew condensation)
Storage According to each instruction
−20°C to +65°C
temperature manual.
Indoors (where not subject to direct sunlight).
Atmosphere
No corrosive gases, flammable gases, oil mist or dust must exist.
Altitude 1000m or less above sea level.
Vibration According to each instruction manual.

−V−
 ! CAUTION
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 unit for a long time, disconnect the power line from the control unit or
servo amplifier.
Place the control unit and servo amplifier in static electricity preventing vinyl bags and store.
When storing for a long time, contact the Service Center or Service Station.

(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 Servo amplifier
installed on the DC relay for the control signal output of VIN
brake signals, etc. Incorrect installation may lead to signals (24VDC)
not being output when trouble occurs or the protective
functions not functioning. Control output
Do not connect or disconnect the connection cables signal RA
between each unit, the encoder cable or sequence ex-
pansion 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 controller or
absolute value motor has been replaced, always perform a home position return.

− VI −
(6) Usage methods

! CAUTION
Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the
control unit, 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 magnetic obstacles to a minimum by installing a noise filter or by using
wire shields, etc. Magnetic obstacles may affect the electronic devices used near the control
unit or servo amplifier.
When using the CE mark-compatible equipment, refer to "EMC Installation Guidelines" (data
number IB(NA)-*****-*) for the motion controller and to the corresponding EMC guideline data for
the servo amplifier, inverter and other equipment.
Use the units with the following conditions.
Item Conditions
According to A172SHCPUN/A171SHCPUN/
Input power A273UHCPU/A173UHCPU(S1) user’s
manual.
According to A172SHCPUN/A171SHCPUN/
Input frequency A273UHCPU/A173UHCPU(S1) user’s
manual.
According to A172SHCPUN/A171SHCPUN/
Tolerable momentary
A273UHCPU/A173UHCPU(S1) user’s
power failure
manual.

(7) Remedies for errors

! CAUTION
If an error occurs in the self diagnosis of the control unit 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 magnetic brakes or install a brake mechanism externally.
Use a double circuit construction so that the
magnetic brake operation circuit can be Shut off with the
operated by emergency stop signals set Shut off servo ON signal OFF, emergency stop
externally. alarm, magnetic brake signal. signal (EMG).

If an error occurs, remove the cause, secure Servo motor RA1 EMG
the safety and then resume operation.
The unit may suddenly resume operation Magnetic
24VDC
after a power failure is restored, so do not go brakes
near the machine. (Design the machine so
that personal safety can be ensured even if
the machine restarts suddenly.)

− VII −
(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
control unit 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 A172SHCPUN/
A171SHCPUN user's manual, A273UHCPU user’s manual, A173UHCPU(S1) user’s manual or
the instruction manual for the product you are using.

! CAUTION
Do not touch the lead sections such as ICs or the connector contacts.
Do not place the control unit 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 control unit or servo amplifier, always set the new unit settings correctly.
When the 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 PC using peripheral device software, switch on the
power again, then perform a home position return operation.
2) Using the backup function of the peripheral device 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
control unit or servo amplifier.
The electrolytic capacitor and fan will deteriorate. Periodically change these to prevent
secondary damage from faults. Replacements can be made by the Service Center or
Service Station.

(9) Disposal

! CAUTION
Dispose of this unit as general industrial waste.
Do not disassemble the control unit, servo amplifier or servomotor parts.
Dispose of the battery according to local laws and regulations.

− VIII −
(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.

− IX −
 Revisions
*The manual number is given on the bottom left of the back cover.
Print Date *Manual Number Revision
Feb., 2000 IB(NA)-0300014-A First edition

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.

© 2000 Mitsubishi Electric Corporation

 CONTENTS

1. GENERAL DESCRIPTION....................................................................................................... 1- 1 to 1-17

1.1 System Configuration ....................................................................................................................... 1- 3

1.1.1 A172SHCPUN system overall configuration ............................................................................. 1- 3
1.1.2 A171SHCPUN system overall configuration ............................................................................. 1- 4
1.1.3 A273UHCPU (32 axis feature) system overall configuration..................................................... 1- 5
1.1.4 A173UHCPU (S1) system overall configuration ........................................................................ 1- 6
1.1.5 System configuration precautions ............................................................................................. 1- 7
1.2 Table of Software Package .............................................................................................................. 1- 9
1.3 Positioning Control by the Servo System CPU ................................................................................ 1- 9

2. PERFORMANCE SPECIFICATIONS ...................................................................................... 2- 1 to 2-10

2.1 SCPU Performance Specifications .................................................................................................. 2- 1

2.2 PCPU Performance Specifications .................................................................................................. 2- 5
2.3 The Differences between A172SHCPUN/A171SHCPUN and A171S (S3) and the Differences between
A273UHCPU (32 axis feature) and A173UHCPU (S1) .................................................................. 2- 9
2.3.1 The differences between A172SHCPUN/A171SHCPUN and A171S(S3) ................................ 2- 9
2.3.2 The differences between A273UHCPU and A173UHCPU (S1)................................................ 2-10

3. POSITIONING SIGNALS ......................................................................................................... 3- 1 to 3-79

3.1 Internal Relays ................................................................................................................................. 3- 2

3.1.1 Axis status ................................................................................................................................ 3-13
3.1.2 Axis command signals.............................................................................................................. 3-24
3.1.3 Common devices...................................................................................................................... 3-35
3.2 Data Registers ................................................................................................................................ 3-41
3.2.1 Axis monitor devices................................................................................................................. 3-50
3.2.2 Control change registers .......................................................................................................... 3-55
3.2.3 Tool length offset data .............................................................................................................. 3-56
3.2.4 Common device ....................................................................................................................... 3-57
3.2.4.1 A172SHCPUN/A171SHCPUN .............................................................................................. 3-57
3.2.4.2 A273UHCPU (32 axis feature)/A173UHCPU (S1) ................................................................ 3-60
3.3 Special Relays (SP.M) .................................................................................................................... 3-65
3.4 Special Registers (SP.D) ................................................................................................................ 3-68
3.4.1 A172SHCPUN/A171SHCPUN ................................................................................................. 3-68
3.4.2 A273UHCPU (32 axis feature)/A173UHCPU (S1) ................................................................... 3-76

4. PARAMETERS FOR POSITIONING CONTROL .................................................................... 4- 1 to 4-35

4.1 System Settings ............................................................................................................................... 4- 2

4.2 Fixed Parameters............................................................................................................................. 4- 3
4.2.1 Setting the number of pulses per revolution/travel value per revolution/unit magnification....... 4- 4
4.2.2 Upper stroke limit value/lower stroke limit value ....................................................................... 4- 6
4.2.3 Command in-position range ...................................................................................................... 4- 7
4.2.4 Rapid feedrate setting ............................................................................................................... 4- 8

−I−
 4.3 Servo Parameters ............................................................................................................................ 4- 9
4.3.1 MR- -B servo parameters..................................................................................................... 4-10
4.3.2 Position control gain 1, 2 .......................................................................................................... 4-15
4.3.3 Speed control gain 1, 2............................................................................................................. 4-16
4.3.4 Speed integral compensation ................................................................................................... 4-17
4.3.5 In-position range....................................................................................................................... 4-17
4.3.6 Feed forward gain..................................................................................................................... 4-17
4.3.7 Load inertia ratio....................................................................................................................... 4-18
4.3.8 Automatic tuning....................................................................................................................... 4-18
4.3.9 Servo responsiveness setting................................................................................................... 4-19
4.3.10 Notch filter .............................................................................................................................. 4-20
4.3.11 Electromagnetic brake sequence ........................................................................................... 4-20
4.3.12 Monitor output mode............................................................................................................... 4-20
4.3.13 Optional function 1.................................................................................................................. 4-20
4.3.14 Optional function 2.................................................................................................................. 4-21
4.3.15 Monitor output 1, 2 offset........................................................................................................ 4-22
4.3.16 Pre-alarm data selection......................................................................................................... 4-23
4.3.17 Zero speed ............................................................................................................................. 4-23
4.3.18 Excessive error alarm level .................................................................................................... 4-23
4.3.19 Optional function 5.................................................................................................................. 4-23
4.3.20 PI-PID switching position droop.............................................................................................. 4-24
4.3.21 Torque control compensation factor....................................................................................... 4-24
4.3.22 Speed differential compensation ............................................................................................ 4-24
4.4 Home Position Return Data ............................................................................................................ 4-25
4.5 JOG Operation Data ....................................................................................................................... 4-27
4.6 Parameter Block.............................................................................................................................. 4-28
4.6.1 Relationships among the speed limit value, acceleration time,
deceleration time, and rapid stop deceleration time ............................................................... 4-31
4.6.2 S curve ratio ............................................................................................................................. 4-33
4.6.3 Allowable error range for circular interpolation ......................................................................... 4-34
4.7 Work Coordinate Data .................................................................................................................... 4-35

5. SEQUENCE PROGRAMS AND SFC PROGRAMS ................................................................ 5- 1 to 5-26

5.1 Cautions on Creating a Sequence Program or SFC Program ......................................................... 5- 1

5.2 Motion Program Start Request Instruction (DSFRP/SVST) ............................................................. 5- 2
5.2.1 Start request instruction for 1 to 3 axes (DSFRP): when using A172SHCPUN/A171SHCPUN
................................................................................................................................................... 5- 2
5.2.2 Start request instruction for 1 to 8/1 to 4 axes (SVST).............................................................. 5- 5
5.3 Home Position Return Instructions (DSFLP/CHGA) ........................................................................ 5- 8
5.3.1 DSFLP instruction: when using A172SHCPUN/A171SHCPUN ................................................ 5- 8
5.3.2 CHGA instruction...................................................................................................................... 5-10
5.4 Speed Change Instructions (DSFLP/CHGV) .................................................................................. 5-12
5.4.1 DSFLP instruction (When using A172SHCPUN/A171SHCPUN)............................................. 5-12
5.4.2 CHGV instruction...................................................................................................................... 5-15
5.5 Moving Backward during Positioning .............................................................................................. 5-18
5.6 CHGT instruction............................................................................................................................. 5-20

− II −
 5.7 SFC Programs ................................................................................................................................ 5-22
5.7.1 Starting and stopping SFC programs ....................................................................................... 5-22
5.7.2 Motion program start request ................................................................................................... 5-23

6. MOTION PROGRAMS FOR POSITIONING CONTROL....................................................... 6- 1 to 6-133

6.1 Motion Program Makeup.................................................................................................................. 6- 1

6.2 Instructions for Creating Motion Programs ...................................................................................... 6- 4
6.3 G Code List ...................................................................................................................................... 6- 8
6.4 Special M Code List ......................................................................................................................... 6- 9
6.5 Instruction Symbol/Character List ................................................................................................... 6-10
6.6 Method for Setting Positioning Data................................................................................................ 6-12
6.6.1 Direct designation (numerical value) ........................................................................................ 6-12
6.6.2 Indirect designation (variable: #****) ......................................................................................... 6-12
6.6.3 About operational data ............................................................................................................. 6-19
6.6.4 Instruction symbol setting range list ......................................................................................... 6-28
6.6.5 Positioning control unit for 1 axis............................................................................................... 6-30
6.6.6 Control units for interpolation control........................................................................................ 6-30
6.6.7 Control in the control unit of “degree” ....................................................................................... 6-32
6.7 About Coordinate Systems.............................................................................................................. 6-34
6.8 G Code ............................................................................................................................................ 6-35
6.8.1 G00 PTP positioning at rapid feedrate ..................................................................................... 6-38
6.8.2 G01 CP positioning at speed specified in F.............................................................................. 6-40
6.8.3 G02 Circular interpolation CW (Circular arc center coordinate designation) ........................... 6-42
6.8.4 G03 Circular interpolation CCW (Circular arc center coordinate designation)......................... 6-44
6.8.5 G02 Circular interpolation CW (Radius designation)................................................................ 6-46
6.8.6 G03 Circular interpolation CCW (Radius designation) ............................................................. 6-48
6.8.7 G04 Dwell ................................................................................................................................. 6-50
6.8.8 G09 Exact stop check .............................................................................................................. 6-52
6.8.9 G23 Cancel, cancel start invalidity............................................................................................ 6-54
6.8.10 G24 Cancel, cancel start ........................................................................................................ 6-56
6.8.11 G25 High-speed oscillation..................................................................................................... 6-58
6.8.12 G26 High-speed oscillation stop............................................................................................. 6-60
6.8.13 G28 Home position return ...................................................................................................... 6-62
6.8.14 G30 Second home position return........................................................................................... 6-64
6.8.15 G32 Skip................................................................................................................................. 6-66
6.8.16 G43 Tool length offset (+)....................................................................................................... 6-70
6.8.17 G44 Tool length offset (-) ....................................................................................................... 6-72
6.8.18 G49 Tool length offset cancel................................................................................................. 6-74
6.8.19 G53 Mechanical coordinate system selection ........................................................................ 6-76
6.8.20 G54 to G59 Work coordinate system selection....................................................................... 6-78
6.8.21 G61 Exact stop check mode ................................................................................................... 6-80
6.8.22 G64 Cutting mode .................................................................................................................. 6-82
6.8.23 G90 Absolute value command ............................................................................................... 6-84
6.8.24 G91 Incremental value command .......................................................................................... 6-86
6.8.25 G92 Coordinate system setting .............................................................................................. 6-88
6.8.26 G100, G101 Time-fixed acceleration/deceleration, acceleration-fixed acceleration/deceleration
switching instructions ........................................................................................................... 6-90

− III −
 6.9 M Code............................................................................................................................................ 6-92
6.10 Special M Code ............................................................................................................................. 6-92
6.10.1 M00 Program stop .................................................................................................................. 6-93
6.10.2 M01 Optional program stop .................................................................................................... 6-95
6.10.3 M02 Program end................................................................................................................... 6-97
6.10.4 M30 Program end................................................................................................................... 6-99
6.10.5 M98, M99 Subprogram call, subprogram end ...................................................................... 6-101
6.10.6 M100 Preread inhibit ............................................................................................................. 6-103
6.11 Miscellaneous.............................................................................................................................. 6-105
6.11.1 Program control function (IF, GOTO statement) .................................................................. 6-106
6.11.2 Program control function (IF, THEN, ELSE, END statements) ............................................ 6-108
6.11.3 WHILE DO statement........................................................................................................... 6-110
6.11.4 Four fundamental operators, assignment operator (+, -, *, /, MOD, =) ................................ 6-112
6.11.5 Trigonometric functions (SIN, COS, TAN, ASIN, ACOS, ATAN) ......................................... 6-114
6.11.6 Real number to BIN value conversion (INT)......................................................................... 6-116
6.11.7 BIN value to real number conversion (FLT) ......................................................................... 6-118
6.11.8 Functions (SQRT, ABS, BIN, BCD, LN, EXP, RND, FIX, FUP) ........................................... 6-120
6.11.9 Logical operators (AND, OR, XOR, NOT, <<, >>)................................................................ 6-122
6.11.10 Move block wait functions (WAITON, WAITOFF) .............................................................. 6-124
6.11.11 Parameter block change (PB) ............................................................................................ 6-126
6.11.12 Torque limit value change (TL)............................................................................................ 6-128
6.11.13 Bit device set, reset functions (SET, RST) ......................................................................... 6-130
6.11.14 Conditional branch using bit device (ON, OFF).................................................................. 6-132

7. AUXILIARY AND APPLIED FUNCTIONS................................................................................ 7- 1 to 7-52

7.1 Limit Switch Output Function ........................................................................................................... 7- 2

7.1.1 Limit switch output data ............................................................................................................. 7- 2
7.1.2 Limit switch output function ....................................................................................................... 7- 2
7.2 Backlash Compensation Function.................................................................................................... 7- 4
7.3 Torque Limit Function ...................................................................................................................... 7- 6
7.3.1 Torque limit value changing function ......................................................................................... 7- 6
7.4 Electronic Gear Function.................................................................................................................. 7- 8
7.5 Absolute Positioning System........................................................................................................... 7-10
7.6 Home Position Return ..................................................................................................................... 7-13
7.6.1 Near-zero point dog type home position return ........................................................................ 7-13
7.6.2 Count type home position return .............................................................................................. 7-15
7.6.3 Data setting type home position return..................................................................................... 7-16
7.6.4 Execution of home position return............................................................................................ 7-17
7.7 Speed Change ................................................................................................................................ 7-19
7.8 JOG Operation ................................................................................................................................ 7-23
7.8.1 Individual start .......................................................................................................................... 7-23
7.8.2 Simultaneous start.................................................................................................................... 7-27
7.9 Manual Pulse Generator Operation ................................................................................................ 7-31
7.10 Override Ratio Setting Function .................................................................................................... 7-40
7.11 FIN Signal Waiting Function.......................................................................................................... 7-43
7.12 Single Block................................................................................................................................... 7-47
7.13 Enhanced Present Value Control .................................................................................................. 7-51
7.14 High-Speed Reading of Designated Data ..................................................................................... 7-52

− IV −
APPENDICES ......................................................................................................................APP- 1 to APP-79

APPENDIX 1 SCPU ERROR CODE LIST ......................................................................................... APP- 1

Appendix 1.1 SCPU Error Code List .............................................................................................. APP- 1
APPENDIX 2 ERROR CODES STORED BY THE PCPU ................................................................. APP- 5
Appendix 2.1 Motion Program Setting Errors ................................................................................. APP- 7
Appendix 2.2 Minor Errors.............................................................................................................. APP- 8
Appendix 2.3 Major Errors............................................................................................................. APP-16
Appendix 2.4 Servo Errors ............................................................................................................ APP-19
Appendix 2.5 PC Link Communication Errors ............................................................................... APP-33
Appendix 2.6 LED Indications When Errors Occur at the PCPU .................................................. APP-34
APPENDIX 3 SPECIAL RELAYS AND SPECIAL REGISTERS ....................................................... APP-37
Appendix 3.1 Special Relays (SP.M)............................................................................................. APP-37
Appendix 3.2 Special Registers (SP.D)......................................................................................... APP-40
APPENDIX 4 EXAMPLE PROGRAMS ............................................................................................. APP-51
Appendix 4.1 Word Data 1 Word Shift to Left ............................................................................... APP-51
Appendix 4.2 Word Data 1 Word Shift to Right............................................................................. APP-53
Appendix 4.3 Reading M Codes.................................................................................................... APP-55
Appendix 4.4 Error Code Reading................................................................................................. APP-56
Appendix 4.5 Magnitude Comparison and Four Fundamental Operations of 32-Bit Monitor Data
................................................................................................................................ APP-57
APPENDIX 5 SERVO MOTOR TYPE-BASED RATED SPEED AND FEEDBACK PULSE COUNT LIST
.................................................................................................................................... APP-59
APPENDIX 6 PROCESSING TIMES ................................................................................................ APP-60

−V−
1. GENERAL DESCRIPTION

1. GENERAL DESCRIPTION
This manual describes the positioning control parameters, positioning-dedicated
devices, positioning methods and other information required to execute positioning
control with the motion controller (SV43). The motion controller (SV43) uses the
NC language (EIA) (hereafter referred to as the "motion program") as a
programming language.
The motion controller (SV43) can exercise the following positioning control.
Number of Axes Controlled in
Applicable CPU
Positioning Control
A172SHCPUN 8
A171SHCPUN 4
A273UHCPU (32 axis feature) 32
A173UHCPU(S1) 32

In this manual, the above CPUs are collectively referred to as the "servo system
CPUs".
The following software packages are used to make system settings, and to set,
test and monitor the servo parameters and motion programs.
• SW2SRX-GSV43P software package
....................... Abbreviated to "GSV43P"
• SW2NX-GSV43P software package

! 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.

1−1
1. GENERAL DESCRIPTION

Conventions Used in this Manual

Positioning signals are always indicated in the following order: signal for
A172SHCPUN signal for A171SHCPUN signal for A273UHCPU (32 axes
feature) signal for A173UHCPU(S1). If only one positioning signal is indicated,
this means that the signal is used in common by every CPUs.
The explanatory text is written with reference to the A172SHCPU: if you are not
using an A172SHCPUN, the positioning signals should be read as the positioning
signals for the CPU you are using.
(For the positioning signals used with each CPU, refer to Appendix 6.)

A172SHCPUN/A171SHCPUN
A273UHCPU (32 axis feature) /A173UHCPU(S1)

3. POSITIONING SIGNALS

3.1.24 Error reset command (M1807+20n/M3207+20n)

(1) The error reset command is used to clear the minor error code or major error
code storage area of an axis for which the error detection signal has come ON
(M1607+20n), and to reset the error detection signal (M1607+20n).

ON
Error detection (M1607+20n)
OFF
ON
Error reset (M1807+20n) OFF

Minor error code storage ** 00

area

Major error code storage ** 00

area
* *: Error code

(2) The motion program running status is reset if the error is reset during a
temporary stop (M1403+10n) made by the stop command (M1800+20n) during
an automatic start or if the error is reset during a block stop made by M00/M01.

Block stop made by M00/M01

Start acceptance (M2001+n)

Automatically operating
(M1402+10n)
Temporary stopping (M1403+10n)

DSFRP/SVST instruction
Temporary stop instruction
(M1500+10n)
ON
Error reset (M1807+20n) OFF

(3) When the error reset command is switched on during automatic operation
(M1402+10n ON), the above reset processing is performed after stop processing
is executed under the temporary stop command (M1500+10n).

3 - 19

1−2
1. GENERAL DESCRIPTION

1.1 System Configuration

1.1.1 A172SHCPUN system overall configuration

An example system configuration with A172SHCPUN is shown below.

Motor slot
Sequencer slot

encoder interface module

generator/synchronous

Limit swith output

Manual pulse

module

Battery

Power supply module

A172SHCPUN A172S A1S
ENC Y42
A6BAT A1S I/O module or
Special function module

Emergency stop input

PC extension base
unit extension cable
Main base unit (A1SC B for A1S6 B PC extension unit
100/200VAC
(A178B-S1/A17 B) and A168B) Up to one extension base unit for A1S6 B
P Manual pulse generator 1 (A1S NB for A6 B) Up to one extension base unit for A168B(GOT compatible)
PC (DOS/V) (MR-HDP01) Up to one extension bese unit for A6 B
Synchronous encoder cable 1
(MR-HSCBL M)
E Synchronous encoder 1
(MR-HENC)

RS422 External input signals

FLS Upper limit LS
RLS Lower limit LS
Communication cable STOP Stop signal
(A270CDCBL M/A270BDCBL M) 8
DOG/CHANGE Near-zero point dog/change
PC (DOS/V)
over between speed and position
TREN Tracking 1
SSCNET2
Brake output
SSCNET interface card/board Motion net cable
(A30CD-PCF/A30BD-PCF)
SSCNET1 d1 d2 d3 d8
Termination resistance

M M M M
E E E E

MR-H-B/MR-J2-B/MR-J-B
servo amplifiers Max. 8 axes

NOTES
(1) When using the PC extension base and bus connection type GOT,
choose the A168B as the PC extension base.
When not using the PC extension base, the bus connection type GOT
can be connected directly to the PC extension base connector of the
main base unit.
(2) Use motion slots to mount PC A1S I/O modules if necessary.
(3) When the power supply to the servo system CPU is switched ON and
OFF, erroneous process outputs may temporarily be made due to the
delay between the servo system CPU power supply and the external
power supply for processing (especially DC), and the difference in startup
times.
For example, if the power supply to the servo system CPU comes ON
after the external power supply for processing comes ON at a DC output
module, the DC output module may temporarily give erroneous outputs
when the power to the servo system CPU comes ON. Accordingly a
circuit that ensures that the power supply to the servo system CPU
comes ON first should be constructed.

1−3
1. GENERAL DESCRIPTION

1.1.2 A171SHCPUN system overall configuration

An example system configuration with A171SHCPUN is shown below.

Motor slot
Sequencer slot

encoder interface module

generator/synchronous

Limit swith output

Manual pulse

Battery unit A171SHCPUN A172S A1S module

Power supply module

ENC Y42
A6BAT A1S I/O module or
Special function module

Emergency stop input

PC extension base
unit extension cable
100/200VAC Main base unit (A1SC B for A1S6 B PC extension unit
(A178B-S1/A17 B) and A168B) Up to one extension base unit for A1S6 B
P Manual pulse generator 1 (A1S NB for A6 B) Up to one extension base unit for A168B(GOT compatible)
(MR-HDP01) Up to one extension bese unit for A6 B
PC (DOS/V)
Synchronous encoder cable 1
(MR-HSCBL M)
E Synchronous encoder 1
(MR-HENC)

RS422 External input signals

FLS Upper limit LS
RLS Lower limit LS
Communication cable
STOP Stop signal 4
(A270CDCBL M/A270BDCBL M)
DOG/CHANGE Near-zero point dog/speed/
PC (DOS/V)
position switching
TREN Tracking 1
SSCNET2
Brake output
SSCNET interface card/board Motion net cable
(A30CD-PCF/A30BD-PCF)
SSCNET1 d1 d2 d3 d4
Termination resistance

M M M M
E E E E

MR-H-B/MR-J2-B/MR-J-B
Servo amplifiers MAX.4 axes

NOTES
(1) When using the PC extension base and bus connection type GOT,
choose the A168B as the PC extension base.
When not using the PC extension base, the bus connection type GOT
can be connected directly to the PC extension base connector of the
main base unit.
(2) Use motion slots to mount PC A1S I/O modules if necessary.
(3) Though A172SENC has external input signals for 8 axes, make settings
for the first 4 axes (PXO to PXOF).
(4) When the power supply to the servo system CPU is switched ON and
OFF, erroneous process outputs may temporarily be made due to the
delay between the servo system CPU power supply and the external
power supply for processing (especially DC), and the difference in startup
times.
For example, if the power supply to the servo system CPU comes ON
after the external power supply for processing comes ON at a DC output
module, the DC output module may temporarily give erroneous outputs
when the power to the servo system CPU comes ON. Accordingly a
circuit that ensures that the power supply to the servo system CPU
comes ON first should be constructed.

1−4
1. GENERAL DESCRIPTION

1.1.3 A273UHCPU (32 axis feature) system overall configuration

The system configuration example of the motion controller (SV43) is shown below.

Control power supply

Servo power supply
module line number

Dynamic brake
Servo external
signal module
<Main base unit> Servo

CPU module
A278B/A275B AC motor drive power Set the line information (wiring information) of:
module supply

module
Servo power supply module (A230P),
(ADU) module
module
Regenerative brake resistor AC motor drive module,
Battery unit MR-JBAT A278LX (brake output) and
0 0 0 0 0 0 MR-RB064
(ADU(ABS)) 4,8,8 n MR-RB10
A240DY
A62P A273UHCPU A278 A240 A221 A211 A222AM-20 A230P
in "System settings".
LX DY AM-20 AM-20 MR-RB30
MR-RB50
1
2 A300RU-50
3 EMG 3-phase power supply
BRAKE 4 200V
Brake output
EMG DB OUTDB IN+ External input signals (5 points)
Emergency DB COMDB IN-
FLS Upper LS
stop
RLS Lower LS
100/200VAC 8
M M M MR-HCBL M STOP Stop signal
E E E DOG Near-zero point dog MELSECNET(II)
MR-HSCBL M
CHANGE Speed position change MELSECNET/B
Motion network cable Up to 16 axes MELSECNET/10
M M
(between CPU and (Up to 32 axes including those PC extension base
E E
separated amplifier) of separated amplifiers) (A68B/A65B/A62B)

Power supply module

MR-JBUS M HA-*H series motor (ABS and incremental systems may be mixed)

Network module
MR-J2HBUS M-A

Separated amplifier (MR-H-B/MR-J-B/MR-J2-B servo amplifier) Sequencer module

SSCNET1

d1 d2 d8
Termination 1
0 1 7
connector
MR-TM/MR-A-TM
M M MR-HCBL M M
E E MR-HSCBL M E
MR-JCCBL M
MR-JHSCBL M
HA-*H series motor
HC-MF series motor
HA-FF series motor
HA-SF series motor
SSCNET2

Up to 8 axes/network, up to a total of 32 axes

( Up to 32 axes including those of ADUs)
d1 d2 d8
0 1 7
MR-JBAT
SSCNET3

M M M Battery unit
<Motion extension base> d1 d2 d8 E E E
Needed when using MR-J-B(ABS)
Pulse generator/synchronous

A268B/A255B 0 1 7
Needed for each network
Limit switch output module
encoder interface module

SSCNET4

M M M
E E E d1 d2 d8
0 1 7
control module
Man-machine

MR-JBAT
M M M
E E E
Motion network cable
1 1 1 1 1 (between separated amplifier)
A62P A271 A273 AY42 A278 A221 A211 A230P MR-HBUS M
Limit output Servo power supply module line number
DVP EX LX AM AM MR-J2HBUS M-A
64 points MR-J2HBUS M

P Manual pulse generator (INC) 3

1 External input signal
3
TREN tracking enable
AX AY

Motion module
PC I/O modules

Up to four extension bases

The I/O numbers of the "PC I/O modules" loaded into the main and
motion extension bases should be assigned to higher than those
used in the PC extension. (Set in "System settings")
4
PC special modules must not be loaded.

1−5
1. GENERAL DESCRIPTION

1.1.4 A173UHCPU(S1) system overall configuration

An example system configuration with A173UHCPU(S1) is shown below.

Motor slot Sequencer slot

generator/synchronous

Limit swith output

PC input module
external signal

Manual pulse
input module
PC I/O module

encoder

module
A173UHCPU A172S A172S A1S A1S A1S
ENC ENC Y42 Y41 6 P

AnS I/O module or AnS I/O module or

Emergency stop
Special function module Special function module

100/200VAC
Main base unit PC extension base: A1S6 B/A168B
(A178B-S2) 1 extension base can be increased *1.

P Manual pulse generator 1 A172SENC: Up to 4 modules usable

(MR-HDP01) When 4 modules are used
External input signals of 32
axes can be entered.
External input signals Tracking enable inputs of 4 points
3 manual pulse generators usable
FLS Upper limit LS Brake output of 1 point
RLS Lower limit LS (all axes in batch)
STOP Stop signal 8
PC (DOS/V) DOG/CHANGE Near-zero point dog/speed/
position switching
TREN Tracking 1
SSCNET
Brake output
SSCNET interface
MR-J2-B/MR-H-B(N) (up to 8 axes per SSCNET line) *1: Use A168B when using PC
card/board
(A30CD-PCF extension base and connecting
SSCNET1 GOT by bus connection.
/A30BD-PCF)

M M M M M M M M
E E E E E E E E
SSCNET2

SSCNET3

SSCNET4

M M M M M M M M
E E E E E E E E

NOTES
When the power supply to the servo system CPU is switched ON and OFF,
erroneous process outputs may temporarily be made due to the delay
between the servo system CPU power supply and the external power supply
for processing (especially DC), and the difference in startup times.
For example, if the power supply to the servo system CPU comes on after the
external power supply for processing comes on at a DC output module, the
DC output module may temporarily give erroneous outputs when the power to
the servo system CPU comes on. Accordingly a circuit that ensures that the
power supply to the servo system CPU comes on first should be constructed.

1−6
1. GENERAL DESCRIPTION

1.1.5 System configuration precautions

The following table summarizes the notes on system configuration, system setup
items, and relative checks that differ from those of the A171SCPU.
Number of
Product Module Relative
Available System Setup Item Notes and Remarks
Name Name Check
Modules
1. MR-J2-B allows the use of the following • Connect the servo
motors with high-resolution encoders. amplifier to the
• HC-MF***W1 (32768PLS) 'SSCNET1'
• HA-FF***W1 (32768PLS) interface.
• HC-SF**2W2 (131072PLS) • The setting range
2. [Allowable travel value during power-off] changes for high-
MR-J2-B • Max. 8 axes for When ABS motor is used, set the resolution encoder
Separated A172SHCPUN allowable travel value during servo support.
MR-H-B
amplifier • Max. 4 axes for amplifier power-off by rpm (rotations per
MR-J-B A171SHCPUN minute).
This setting value is used for checking
when the servo amplifier is switched ON.
Setting range Default value

0 to 16383 (rpm) 10 (rpm)

1. External signals • The same • The external signal

(1) Set the axis numbers which use axis setup window has
external signals FLS, RLS, STOP, and number been improved for
DOG/CHANGE for A172SENC CTRL must not be a better
Manual pulse connector signals PX0 to PX1F. set. understanding.
generator The axes which do not use external • The conventional
signals may be left unspecified. A171SENC can
/synchronous A172SENC 1
CPU unit Setting range Default value also be used for
encoder A171SHCPUN and
Set axes 1 to 8 for Axes 1 to 8
interface A172SHCPUN A172SHCPUN.
PX0 to PX1F. are set.
module Set axes 1 to 4 for
However, it must
Axes 1 to 4 be set as
A171SHCPUN the first half (PX0
are set. A172SENC during
to PX0F).
system setting.
A171SENC 0 Settings cannot be made.
Man/machine
control A271DVP 0 Not available. Settings cannot be made.
module
1. Set the number of points and the starting • The total • Though settings
I/O number for PC CPU I/O modules to be number of can be made within
mounted on the motion extension base points must a range of X/Y0 to
unit. be less than X/Y7FF, they must
The number to be set must not precede or equal to be made in the
PC CPU I/O A1SX** the I/O numbers for use by the PC 256. range defined in the
Up to 256 I/O extension base unit. • The starting left-hand column.
module A1SY**
points (total) I/O number
(motion slot) A1SH42 plus number
Effective of occupied
CPU unit Default value
setting range
points must
A172SHCPUN X/Y0∼X/Y3FF  be less than
A171SHCPUN X/Y0∼X/Y1FF  or equal to
X/Y800.
• Use this unit for
A1S68B
Up to 1 stage systems capable of
PC A1S65B one-stage extension.
extension • Use this base in a
base unit system having two
A168B Up to 3 stages
or more extension
bases.

1−7
1. GENERAL DESCRIPTION

POINT
1. When using the existing A171SCPU user program and parameters,
perform the following procedure:
(1) Start the peripheral S/W package by A172SHCPUN or A171SHCPUN,
then read the sequence file and servo file created for A171SCPU via
the File Read function.

(2) Display the System Setup screen.

The existing system status is displayed with the following alert:
(Start by A172SHCPUN)

Replaces A171SCPU with A172SHCPUN. The character string "A171SHCPUN" is

displayed only when A171SHCPUN is
used for startup.
Replaces A171SENC with A172SENC. This message is displayed only when
A171SENC has been set.
YES NO

(3) Select “YES” and the existing settings will be replaced with those for
the startup CPU module.
Select “NO” and the existing A171SCPU settings will remain in effect.
(4) Utilization of motion program
(a) The handling of the variable type changes.
When a variable has no representation of the type, it is handled as
a 32-bit integer type in the A171SCPU.
A variable is handled as a 16-bit integer type in the
A172SHCPUN/ A171SHCPUN.
"L" or ":L" is added when a variable is handled as a 32-bit integer
type in the A172SHCPUN/A171SHCPUN.
Example:
1) For A171SCPU
#0 ..... [D1,D0] 32-bit integer type
2) For A172SHCPUN/A171SHCPUN
#0 ..... [D0] 16-bit integer type
When handled as 32-bit integer type
#0:L ..... [D1,D0]
For more information, refer to "6.6 Method for Setting the
Positioning Data".
(b) Add a return code to the last line of a program.
The GSV43P edit screen changes.
Before utilizing the program created on SW2SRX-GSV43 Ver.
F/SW2NX-GSV43P Ver. B or earlier, add a return code to the last
line of the program.
After utilization, make an error check for each program number.
The program may not be displayed properly in the presence of an
error.

* Other than system setup data and motion program data can be used
without change.

1−8
1. GENERAL DESCRIPTION

1.2 Table of Software Package

Peripheral software package Unit OS software package model name

For
Peripheral For For A273UH For
Use Applicable
devices Model name A172SH A171SH CPU A173UH
Version
CPUN CPUN (32 axis CPU
feature)
For machine
SW0SRX- SW0SRX- SW2SRX- SW2SRX-
tool DOS/V English SW2SRX-GSV43PE From 00A on
SV43C SV43F SV43U SV43A
peripheral

1.3 Positioning Control by the Servo System CPU

A servo system CPU can execute positioning control and sequence control for 8
axes (when using A172SHCPUN), 4 axes (when using A171SHCPUN) or 32 axes
(when using A273UHCPU (32 axis feature) or A173UHCPU) by means of a multi-
axis positioning control CPU (hereafter called the "PCPU") and a sequence control
CPU (hereafter called the "SCPU").
Sequence control capabilities are equivalent to those of the A2SHCPU's I/O and
memory enhanced version (when using A172SHCPUN), to those of the A2SHCPU
(when using A171SHCPUN), or to those of the A3U (when using A273UHCPU or
A173UHCPU).

(1) Control handled by the SCPU

(a) Sequence control
The SCPU controls I/O modules and special function modules in
accordance with the sequence program.
(The method for executing a sequence program is the same as in the
A2SHCPU's I/O and memory enhanced version, the A2SHCPU and the
A3U.)
(b) Start of positioning start in accordance with sequence program, and setting
of positioning data
1) The SCPU requests motion programs to be executed by the DSFRP
instruction (up to 3 axes for interpolation) or by the SVST instruction (up
to 4 axes for interpolation).
2) The SCPU make a home position return or speed change using the
DSFLP instruction or CHGA/CHGV instruction.
3) The SCPU performs JOG operation.
4) The SCPU sets the data required to execute manual pulse generator
operation.

(2) Control handled by the PCPU

(a) The PCPU executes motion programs requested to be run by the
DSFRP/SVST instruction from the sequence program to exercise the preset
positioning control.
Positioning control data are the positioning control parameters and the
positioning data set in motion programs.
(b) The PCPU changes the set home position return or positioning speed set in
the DSFLP/CHGA/CHGV instruction from the sequence program.
(c) The PCPU performs positioning with a manual pulse generator.

1−9
1. GENERAL DESCRIPTION

[Executing Positioning Control with a Servo System CPU]

The servo system CPU executes positioning control in accordance with the motion
programs designated by the sequence program of the SCPU.
An overview of the method used for positioning control is presented below.

Servo System CPU System

SCPU Control

Sequence program .............. Created and modified

1
using a
peripheral device*
Example: DSFRP instruction (A273UHCPU (32 axIs feature) and
A173UHCPU: unusable
"Execution positioning" command
Interlock condition for axis 1

M2001
DSFRP D1 K15

Motion program No.15

Axis 1 (Controlled axis No.)
Motion program start request

Example: SVST instruction

"Execution positioning" command Request for
Interlock condition for axis 1 execution of
motion program
M2001
SVST J1 K15

Motion program No.15

Axis 1 (Controlled axis No.)
Motion program start request

1) In the sequence program, the motion program number and

controlled axis number are set with the DSFRP/SVST instruction.
2) When the DSFRP/SVST instruction is executed, the PCPU is
requested to execute the program with the designated servo
program number.

(1) Motion programs and positioning control parameters are set using a peripheral
device.

(2) Positioning is started by the sequence program (DSFRP/SVST instruction).

(a) The motion program number and controlled axis number are designated by
the DSFRP/SVST instruction.
1) The motion program number can be set either directly or indirectly.
2) The controlled axis number can only be set directly.

1 − 10
1. GENERAL DESCRIPTION

(3) The positioning specified by the designated motion program is executed.

PCPU Control

Created and modified using a

Motion program ............... 1
peripheral device*
Motion program No.
0015; (Program No. allowing program
N10 G91 G00; designation with the SVST
G28 X0. Y0.; instrctuin)
X250.;
N20 M20;
X-50. Y120.; G-coded motion program
N30 G01 X25. F500.; (Refer to section 6.1.)
N80 M21;
M02;
Program end instruction
%
which must be set

Positioning control Servo

parameters Set and changed using a peripheral
device *1 amplifier
System settings System data such as axis allocations

Fixed parameters Fixed data decided, for example, by Servo motor

the mechanical system
Servo parameters Data decided by the specifications of the
connected servo equipment
Parameters block Data required to execute acceleration,
deceleration, etc. in positioning control
Home position return data Data required to execute home position retrun

JOG operation data Data required for JOG operation

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

Work coordinate setting Data used to set the work coordinate system

REMARK
*1: Any of the following peripheral devices, running the GSV43P software, can
be used.
• An IBM PC/AT or 100% compatible machine in which PC-DOS 5.0 or a
later version has been installed (hereafter called an “IBM PC”)

IBM is a registered trade mark of International Business

Machines Corporation

1 − 11
1. GENERAL DESCRIPTION

[Executing JOG Operation with a Servo System CPU]

The servo system CPU can be used to perform JOG operation on a designated
axis in accordance with a sequence program.
An overview of JOG operation is presented below.

Servo System CPU System

SCPU Control

Created and modified using a

Sequence program .......
peripheral device*1

JOG speed setting command

Interlock signal for axis 1

M2001
DMOVP K1000 D964 JOG speed setting

SET M10
Setting of "JOG speed setting Request for
Forward JOG execution command completed flag" execution of JOG
M10 M1803 Switches the forward JOG operation
M1802 execution command (M1802)
ON/OFF
Reverse JOG execution
command (for interlock)

In the sequence program, after setting the JOG speed, turn the
JOG operation execution flag (M1802/M1803) ON.

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

(2) Using the sequence program, set the JOG speed in the JOG operation speed
setting register for each axis.

(3) JOG operation is executed while the JOG operation execution flag is kept ON
by the sequence program.

1 − 12
1. GENERAL DESCRIPTION

PCPU Control

Positioning control
parameters Set and changed using a peripheral
device *1
System settings System data such as axis allocations

Fixed parameters Fixed data decided, for example, by

the mechanical system
Servo parameters Data decided by the specifications of the
connected servo equipment
Parameters block Data required to execute acceleration,
deceleration, etc. in positioning control
Home position return data Data required to execute home position retrun

JOG operation data Data required for JOG operation Servo

ON/OFF pattern data required to execute the amplifier
Limit switch output data
limit switch output function

Work coordinate setting Data used to set the work coordinate system

Servo motor

REMARK
*1: Any of the following peripheral devices, running the GSV43P software, can
be used.
• IBM PC

1 − 13
1. GENERAL DESCRIPTION

[Executing Manual Pulse Generator Operation with a Servo System CPU]

When executing positioning control with a manual pulse generator connected to an

A172SENC or A171SENC, manual pulse generator operation must be enabled by
the sequence program.
An overview of positioning control using manual pulse generator operation is
presented below.

Servo System CPU System

SCPU Control

Sequence program

Setting for controlling axis 1 with Manual pulse generator used

MOVP K1 D1012
Operated axis
manual pulse generator P1 Operated axis number
Input manual pulse generator used
1 pulse input magnification
1 pulse input magnification
MOVP K100 D1016 Manual pulse generator
setting is 100
enable
Setting of axis 1 manual pulse
SET M2012 generator operation enable flag
Resetting of axis 1 manual pulse generator
operation enable flag
RST M2012 Manual pulse generator operation
completed flag

Use the sequence program to turn the manual pulse generator

operation enable flag ON after setting the manual pulse generator
used, operation number, and magnification for 1 pulse input.

(1) Set the manual pulse generator used, operated axis number, and magnification
for 1 pulse input by using the sequence program.

(2) Turn the manual pulse generator operation enable flag ON by using the
sequence program.
........................................... manual pulse generator operation enabled

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

(4) Turn the manual pulse generator operation enable flag OFF by using the
sequence program.
....................................... manual pulse generator operation completed

1 − 14
1. GENERAL DESCRIPTION

Servo
PCPU
amplifier

Servo motor

Manual pulse
generator

1 − 15
1. GENERAL DESCRIPTION

(1) Positioning control parameters

The positioning control parameters are classified into the eight types shown
below.
Parameter data can be set and corrected interactively by using a peripheral
device.
Item Description Reference
1 System settings The system settings set the modules used, axis numbers, etc. Section 4.1
Fixed parameters are set for each axis. Their settings are
2 Fixed parameters predetermined by the mechanical system. They are used for Section 4.2
servo motor control during positioning control.
Servo parameters are set for each axis. Their settings are
Servo
3 predetermined by the type of servomotor connected. They are Section 4.3
parameters
set to control the servomotors during positioning control.
Home position return data is set for each axis. The return
Home position
4 direction, return method, return speed, etc. are set for home Section 4.4
return data
position return.
JOG operation data is set for each axis. The speed limit value
5 JOG operation Section 4.5
and parameter block number are set for JOG operation.
Up to 16 parameter blocks are set for acceleration,
deceleration, speed control, etc. during positioning control.
They are designated by the servo program, JOG operation
6 Parameter block Section 4.6
data, and home position return data to easily change
acceleration and deceleration (acceleration time, deceleration
time, and speed limit value) during positioning control.
Limit switch output data (ON/OFF pattern data) is set for each
axis to be used when "USE" is set for the limit switch output
Limit switch setting in the fixed parameter. When positioning control takes
7 Section 7.1
output data place on an axis for which limit switch output data has been
set, the set ON/OFF pattern of the axis is output to an external
destination.
Data used to set the work coordinate system. 6 different work
coordinates can be set per axis.
1) G54 Work coordinate system 1
Work coordinate 2) G55 Work coordinate system 2
8 Section 4.7
data 3) G56 Work coordinate system 3
4) G57 Work coordinate system 4
5) G58 Work coordinate system 5
6) G59 Work coordinate system 6

1 − 16
1. GENERAL DESCRIPTION

(2) Motion program

A motion program is designed to exercise positioning control and is requested
to be started by the sequence program.
It comprises a motion program number, G code and positioning data.
For details, see Chapter 6.
• Motion program No. ....... This number is designated in the sequence program.
• G code ........................... Indicates the type of positioning control.
• Positioning data ............. Needed to execute the G code. Required data is
predetermined for each G code.

(3) Sequence program

The sequence program serves to enable the execution of positioning control by
motion programs, JOG operation, and manual pulse generator operation.
For details, see Chapter 5.

1 − 17
2. PERFORMANCE SPECIFICATIONS

2. PERFORMANCE SPECIFICATIONS

2.1 SCPU Performance Specifications

Table 2.1.1 and 2.1.2 give the performance specifications of the SCPU.

Table 2.1.1 SCPU Performance Specifications (A172SHCPUN/A171SHCPUN)

Item A172SHCPUN A171SHCPUN
Control method Stored program repeated operation
I/O control method Refresh method/direct method (selectable)
Sequence control dedicated language
Programming language
(Relay symbol language, logic symbol language, MELSAP II (SFC))
Sequence instructions 26
Basic instructions 131
Number of instructions Applied instructions 102
Special dedicated instructions 12
Motion dedicated instructions 6
Processing speed (µs) Direct method 0.25 to 1.9 µs/step
(Sequence instruction) Refresh method 0.25 µs/step
Number of I/O points 2048 (X/Y0 to X/Y7FF)
Number of real I/O points 1024 (X/Y0 to X/Y3FF) 512 (X/Y0 to X/Y1FF)
Watchdog timer (WDT) 10 to 2000ms
Memory size (internal RAM) 192 kbytes 64 kbytes
Main sequence program Max. 30 k steps Max. 14 k steps
Program capacity Sub-sequence program None None
Micro computer program Max. 58 kbytes Max. 26 kbytes
No. of internal relays (M) (*1) 1000 (M0 to M999) Total 2048 points common to
No. of latch relays (L) 1048 points (M1000 to M2047) M, L, S
No. of step relays (S) 0 point (none at initial status) (set with parameters)
No. of link relays (B) 1024 points (B0 to B3FF)
Points 256 points

Time setting Device

100 ms timer 0.1 to 3276.7s T0 to T199
Timers (T) Specifications 10 ms timer 0.01 to 327.67s T200 to T255
none at initial
100 ms elapsed time indicator 0.1 to 3276.7s
status

Set with parameters

Points 256 points
Device

Setting range Device

Normal counter 1 to 32767 C0 to C255
Counters (C) Specifications
none at initial
Interrupt program counter 1 to 32767
status

Set with parameters

No. of data registers (D) (*1) 1024 points (D0 to D1023)
No. of link registers (W) 1024 points (W0 to W3FF)
No. of annunciators (F) 256 points (F0 to F255)
No. of file registers (R) Max. 8192 points (R0 to R8191) (set with parameters)
No. of accumulators (A) 2 points (A0, A1)
No. of index registers (V, Z) 2 points (V, Z)
No. of pointers (P) 256 points (P0 to P255)
No. of interrupt pointers (I) 32 points (I0 to I31)
No. of special-function relays (M) 256 points (M9000 to M9255)

2−1
2. PERFORMANCE SPECIFICATIONS

Table 2.1.1 SCPU Performance Specifications (Continued)

Item A172SHCPUN A171SHCPUN
No. of special-function registers (D) 256 points (D9000 to D9255)
Max. 10 blocks Max. 2 blocks
No. of expansion file register block
(set by memory capacity) (set by memory capacity)
Max. 4032 (64 kbytes), 1 point = 16 bytes
No. of comments
(Set in 64-point unit)
Max. 3968 points (63 kbytes), 1 point = 16 bytes
Number of expansion comments (*2)
(Set in 64-point unit)
Watchdog error monitoring, memory/CPU/input/output/battery, etc. error
Self-diagnostic function
detection
Operation mode on error Select stop/continue
Output mode selection when switching from STOP to Select re-output operation status before STOP (default) or output after
RUN operation execution.
Year, month, day, hour, minute, day of the week (leap year automatic
Clock function
distinction)
Program/parameter storage in ROM Not possible

(*1) Range of positioning dedicated devices differs depending on the OS. For details, see Chapter 3.
(*2) The expansion comments are not stored in the internal memory of the CPU.

2−2
2. PERFORMANCE SPECIFICATIONS

Table 2.1.2 SCPU Performance Specifications (A273UHCPU/A173UHCPU(S1))

Item A273UHCPU A173UHCPU A173UHCPU-S1
Control method Stored program repeated operation
I/O control method Refresh method (partial direct I/O enabled by instruction)
Sequence control dedicated language
Programming language
(Relay symbol language, logic symbol language, MELSAP II (SFC))
Sequence instructions 22
Basic instructions 252
Number of instructions Applied instructions 252
Special dedicated instructions 204
Motion dedicated instructions 4
Processing speed (µs) (Sequence instruction) 0.15 µs/step
Number of I/O points 8192 (X/Y0 to X/Y1FFF)
2048 (X/Y0 to X/Y7FF)
Number of real I/O points 2048 (X/Y0 to X/Y7FF)
(Within the range of 1 expansion base unit)
Watchdog timer (WDT) 200ms
For loaded memory
Memory size (internal RAM) cassette capacity 256 kbytes 1024kbytes
(Max. 1024kbytes)
Main sequence program Max. 30 k steps
Program capacity
Sub-sequence program Max. 30 k steps
8191
No. of internal relays (M) (*1) (M0 to M999,
M2048 to M8191) Total 8191 points common to
1048 points (M1000 to M, L, S
No. of latch relays (L)
M2047) (set with parameters)
0 point (none at initial
No. of step relays (S)
status)
No. of link relays (B) 8192 points (B0 to B1FFF)
Points 2048 points (Initial status: 256 points)

Time setting Device

100 ms timer 0.1 to 3276.7s T0 to T199
10 ms timer 0.01 to 327.67s T200 to T255
Timers (T)
Specifications none at initial
100 ms elapsed time indicator 0.1 to 3276.7s
status
Time set by word
Extended timer T256 to T2047
device (D, W, R)
Set with parameters
Device

Points 1024 points (Initial status: 256 points)

Setting range Device

Normal counter 1 to 32767 C0 to C255
none at initial
Counters (C) Interrupt program counter C244 to 255
Specifications status
Count value set
Extended counter by word device C256 to C1023
(D, W, R)
Set with parameters
No. of data registers (D) (*1) 8192 points (D0 to D8191)
No. of link registers (W) 8192 points (W0 to W1FFF)
No. of annunciators (F) 2048 points (F0 to F2047)
No. of file registers (R) Max. 8192 points (R0 to R8191) (set with parameters)
No. of accumulators (A) 2 points (A0, A1)
No. of index registers (V, Z) 14 points (V, V1 to V6, Z, Z1 to Z6)
No. of pointers (P) 256 points (P0 to P255)
No. of interrupt pointers (I) 32 points (I0 to I31)
No. of special-function relays (M) 256 points (M9000 to M9255)

2−3
2. PERFORMANCE SPECIFICATIONS

Table 2.1.2 SCPU Performance Specifications (Continued)

Item A273UHCPU A173UHCPU A173UHCPU-S1
No. of special-function registers (D) 256 points (D9000 to D9255)
Max. 46 blocks
Max. 2 blocks Max. 46 blocks
(set by memory
No. of expansion file register block (set by memory (set by memory
cassette or memory
capacity) capacity)
capacity)
Max. 4032 (64 kbytes), 1 point = 16 bytes
No. of comments
(Set in 64-point unit)
Max. 3968 points (63 kbytes), 1 point = 16 bytes
Number of expansion comments (*2)
(Set in 64-point unit)
Watchdog error
monitoring,
Watchdog error monitoring
Self-diagnostic function memory/CPU/input/out
(watchdog timer fixed to 200msec)
put/battery, etc. error
detection
Operation mode on error Select stop/continue
Output mode selection when switching from STOP to Select re-output operation status before STOP (default) or output after
RUN operation execution.
Year, month, day, hour, minute, day of the week (leap year automatic
Clock function (*3)
distinction)
Program/parameter storage in ROM Not possible
RUN-time start method Initial start
L1000 to L2047 (default) (latch ranges can be set for L, B, T, C, D and
Latch (power failure compensation) range
W)
From among X0 to X1FFF, one point can each be set as the RUN and
Remote RUN and PAUSE contacts
PAUSE contacts.
I/O assignment The number of I/O points occupied and module type can be registered.
Step run Sequence program operation can be executed and stopped.
Interrupt processing Interrupt or cyclic interrupt signal can be used to run interrupt program.
Data link MELSECNET/10, MELSECNET(II)

(*1) Range of positioning dedicated devices differs depending on the OS. For details, see Chapter 3.
(*2) The expansion comments are not stored in the internal memory of the CPU.
(*3) The year data read by the clock element is only the lower two digits of the year.
When used in sequence control, the year data must be compensated for by the sequence program in some applications of using the data.

2−4
2. PERFORMANCE SPECIFICATIONS

2.2 PCPU Performance Specifications

Table 2.2.1 and 2.2.2 give the performance specifications of the PCPU.

Table 2.2.1 PCPU Performance Specifications (A172SHCPUN/A171SHCPUN)

Item A172SHCPUN A171SHCPUN
8 axes (simultaneous: 2 to 4 axes, 4 axes (simultaneous: 2 to 4 axes,
Number of control axes
independent: 8 axes) independent: 4 axes)
Interpolation functions Linear interpolation (4 axes max.), circular interpolation (2 axes)
Control modes PTP(point to point), constant speed control, high-speed oscillation control
Control units mm ! inch ! degree
Programming language Dedicated instructions (NC language (EIA))
Capacity 59kbytes
Motion
Number of points Approx. 2700 points/axis
program
for positioning (These values vary depending on the programs. Positioning data can be designated indirectly.)
Program setting method Setting with an IBM PC, running the GSV43P software
Number of simultaneously
8 programs
startable programs
PTP : Selection of absolute data method or
incremental method
Method Constant speed control : The absolute method and incremental method
can be used together
High-speed oscillation control : Absolute data method
Commands can be selected for each axis.

Travel Value Setting

Control Unit Command Unit Address Setting Range
Position Range
Positioning commands mm × 10−4 mm
−2147483648 to 2147483647
inch × 10−5 inch 0 to ±2147483647
−5
degree × 10 degree 0 to 35999999

Control Unit Speed Setting range

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

(*1)
Automatic
trapezoidal Acceleration-fixed acceleration/deceleration Time-fixed acceleration/deceleration
Acceleration/ acceleration/ Acceleration time: 1 to 65535ms Acceleration/deceleration time: 1 to 5000ms
deceleration deceleration Deceleration time: 1 to 65535ms (Only constant speed control is possible.)
control
S curve
acceleration/ S curve ratio setting: 0 to 100%
deceleration
Backlash
(0 to 65535) × position command unit (units converted to pulses: 0 to 65535 pulses)
Compensation compensation
Electronic gear Compensation function for error in actual travel value with respect to command value
When an absolute position system is not used : Selection of near-zero point dog type or count
type
Home position return function
When an absolute position system is used : Selection of data set type, near-zero point dog
type or count type
JOG operation function Provided

2−5
2. PERFORMANCE SPECIFICATIONS

Table 2.2.1 PCPU Performance Specifications (Continued)

Item A172SHCPUN A171SHCPUN
A maximum of one manual pulse generator can be connected.
Manual pulse generator operation
A maximum of three manual pulse generators can be operated.
function
Setting of magnification: 1 to 10000. It is possible to set the smoothing magnification.
M code output function provided
M function
M code completion wait function provided
Skip function Provided
Number of output points 8 point/axis
Limit switch output function
Number of ON/OFF setting points 10 points/axis
Override ratio setting function Override ratio setting: 0 to 100%
High-speed Number of input Max. 9 points
reading of points (TREN input of A172SENC (1 point) + one motion slot PC input module (8 points))
designated At leading edge of the TREN input signal
Data latch timing
data Within 0.8ms of the signal leading edge for the PC input module
Possible with a motor equipped with an absolute position detector.
Absolute position system
(Possible to select the absolute data method or incremental method for each axis)

(*1) Acceleration-fixed acceleration/deceleration and time-fixed acceleration/deceleration are switched over as indicated below.

Acceleration-fixed Time-fixed
acceleration/deceleration acceleration/deceleration
During G100 During G100
G00 (without M code G00 (with M code designation)
designation)
G28 G01
G30 G02
G53 G03
G32
All move commands during
-
G101

2−6
2. PERFORMANCE SPECIFICATIONS

Table 2.2.2 PCPU Performance Specifications (A273UHCPU/A173UHCPU(S1))

Item A273UHCPU (32 axis feature) A173UHCPU(S1)
Number of control axes 32 axes (simultaneous: 2 to 8 axes, independent: 32 axes)
Interpolation functions Linear interpolation (4 axes max.), circular interpolation (2 axes)
Control modes PTP(point to point), constant speed control, high-speed oscillation control
Control units mm ! inch ! degree
Programming language Dedicated instructions (NC language (EIA))
Capacity 126kbytes
Motion
Number of points Approx. 5400 points/axis
program
for positioning (These values vary depending on the programs. Positioning data can be designated indirectly.)
Program setting method Setting with an IBM PC, running the GSV43P software
Number of simultaneously
8 programs
startable programs
PTP : Selection of absolute data method or
incremental method
Method Constant speed control : The absolute method and incremental method
can be used together
High-speed oscillation control : Absolute data method
Commands can be selected for each axis.

Travel Value Setting

Control Unit Command Unit Address Setting Range
Position Range
Positioning commands mm × 10−4 mm
−2147483648 to 2147483647
inch × 10−5 inch 0 to ±2147483647
degree × 10−5 degree 0 to 35999999

Control Unit Speed Setting range

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

(*1)
Automatic
trapezoidal Acceleration-fixed acceleration/deceleration Time-fixed acceleration/deceleration
Acceleration/ acceleration/ Acceleration time: 1 to 65535ms Acceleration/deceleration time: 1 to 5000ms
deceleration deceleration Deceleration time: 1 to 65535ms (Only constant speed control is possible.)
control
S curve
acceleration/ S curve ratio setting: 0 to 100%
deceleration
Backlash
(0 to 65535) × position command unit (units converted to pulses: 0 to 65535 pulses)
Compensation compensation
Electronic gear Compensation function for error in actual travel value with respect to command value
When an absolute position system is not used : Selection of near-zero point dog type or count
type
Home position return function
When an absolute position system is used : Selection of data set type, near-zero point dog
type or count type
JOG operation function Provided

2−7
2. PERFORMANCE SPECIFICATIONS

Table 2.2.2 PCPU Performance Specifications (Continued)

Item A273UHCPU (32 axis feature) A173UHCPU(S1)
Up to 3 manual pulse generators are connectable. Up to 3 axes can be operated simultaneously
Manual pulse generator operation
per manual pulse generator.
function
Input magnification setting: 1 to 10000, with smoothing magnification setting
M code output function provided
M function
M code completion wait function provided
Skip function Provided
Number of output points 8 point/axis
Limit switch output function
Number of ON/OFF setting points 10 points/axis
Override ratio setting function Override ratio setting: 0 to 100%
Max. 11 points Max. 9 points
High-speed Number of input
(TREN input of A273EX (3 points) + one motion (TREN input of A172SENC (1 point) + one
reading of points
slot PC input module (8 points)) motion slot PC input module (8 points))
designated
At leading edge of the TREN input signal
data Data latch timing
Within 0.8ms of the signal leading edge for the PC input module
Possible with a motor equipped with an absolute position detector.
Absolute position system
(Possible to select the absolute data method or incremental method for each axis)

(*1) Acceleration-fixed acceleration/deceleration and time-fixed acceleration/deceleration are switched over as indicated below.

Acceleration-fixed Time-fixed
acceleration/deceleration acceleration/deceleration
During G100 During G100
G00 (without M code G00 (with M code designation)
designation)
G28 G01
G30 G02
G53 G03
G32
All move commands during
-
G101

2−8
2. PERFORMANCE SPECIFICATIONS

2.3 The Differences between A172SHCPUN/A171SHCPUN and A171S(S3) and the Differences between
A273UHCPU (32 axis feature) and A173UHCPU(S1)

2.3.1 The differences between A172SHCPUN/A171SHCPUN and A171S(S3)

Item A172SHCPUN A171SHCPUN A171SCPU(S3)

Number of control axes 8 axes 4 axes 4 axes
Motion

3.5 ms/1 to 3 axes

Computing frequency 3.5ms/1 to 8 axes 3.5ms/1 to 4 axes SV43
7.1 ms/4 axes
Equivalent to reinforced
Sequencer CPU I/O memory of Equivalent to A2SHCPU Equivalent to A1SCPU
A2SHCPU
Processing speed (µs) Direct method 0.25 to 1.9 µs/step 1.0 to 2.3 µs/step
(Sequence instruction) Refresh method 0.25 µs/step 1.0 µs/step
No. of I/O 2048 points −
No. of actual I/O 1024 points 512 points 256 points
PC

192 kbytes (Equivalent to 64 kbytes (Equivalent to

Memory capacity (built-in RAM) 32 kbytes
A3NMCA24) A3NMCA8)
Program capacity (main sequence) Max. 30 k step Max. 14 k step Max. 8 k step
No. of file register (R) Max. 8192 points Max. 4096 points
No. of expansion file register blocks (*1) Max. 10 blocks Max. 3 blocks None
" (By means of
MELSECNET/J " (Supported by special commands)
FROM/TO commands)
Number of PC extension base unit Max. three (*2) Max. one
A171SENC
A172SENC
System configuration

Pulser synchronous encoder interface unit (Corresponding to exter-

(Corresponding to external signal input 8-axes)
nal signal input 4-axes)
2CH. A171S : 1CH.
SSCNET1 ......... For connection of servo amplifier
No. of SSCNET I/F A171S-S3 : 2CH.
SSCNET2 ......... For personal computer link
(as given to the left)
dedicated
No. of available A271DVP Unavailable Max. two
Sequence program, parameter
After starting A172SH/A171SH and reading a file,
Motion program
those created by A171SCPU can be used as it is.
Parameter
Compatibility

By making sure of system setting screen after being

started up by A172SH/A171SH and reading a file,
changeover below is carried out: now the system is
System setting
ready for operation.
A171SCPU → A172SH/A171SHCPUN
A171SENC → A172SENC

• Support of high-resolution encoder

Additional functions

" ×
(32768PLS/131072PLS)

• A torque limit value can be changed from a

sequence program (CHGT instruction " ×
addition).
• Retracing during positioning " ×
(*1) No. of expansion file register blocks varies depending on the setting of program capacity, No. of file registers, and No. of comments.
(*2) Up to one extension base for the MELSEC PC A2SHCPU-S1/A2SHCPU.

2−9
2. PERFORMANCE SPECIFICATIONS

2.3.2 The differences between A273UHCPU and A173UHCPU(S1)

Item A273UHCPU A173UHCPU(S1)

A172SENC used
External input A278LX, A273EX used
(up to 4 inputs usable)
Near-zero point DOG signal and Near-zero point DOG signal and
DOG/CHANGE signal
CHANGE signal are independent CHANGE signal are shared
Synchronous encoder 12 encoders usable 4 encoders usable
3 manual pulse generators usable: one
3 manual pulse generators usable:
Manual pulse generator A172SENC needed per one manual
usable with one A273EX
Motion control

pulse generator
High-speed read (TREN input) 3 points 1 point
External input clutch 12 points 4 points
• MR-J2- B/MR-H B(N)/
• MR-J2- B/MR-H B(N)/
Usable servo amplifier MR-J B
MR-J B
• ADU (AC motor drive module)
Motion extension base Within 4 extension bases None
A173UHCPU
256 lines of resolution × 256 pcs. (set ...... 256 lines of resolution × 64 pcs.
Cam data
by memory cassette) A173UHCPU-S1
...... 256 lines of resolution × 256 pcs.
1 key switch
Sequence control

Key switch 2 key switches

(equivalent to A172SHCPUN)

LED indication With segment indication Without segment indication

PC extension base Within 7 extension bases Within 1 extension base

Usable from among A173UHCPU-

Others

Peripheral software package − compatible versions

(Refer to section 1.3)

2 − 10
3. POSITIONING SIGNALS

3. POSITIONING SIGNALS
The internal signals of the servo system CPU and the external signals sent to the
servo system CPU are used as positioning signals.

(1) Internal signals

Of the devices available in the servo system CPU, the following four types are
used for the internal signals of the servo system CPU.
• Internal relay (M) .............................. M1400 to M2047 (348 points)
M2000 to M3839 (840 points)
M4000 to M4719 (720 points)
• Special relay (SP.M) ........................ M9073 to M9079 (7 points)
M9073 to M9079 (7 points)
• Data register (D) .............................. D500 to D1023 (524 points)
D0 to D1689 (1690 points)
• Special register (SP.D) .................... D9180 to D9199 (20 points)
D1980 to D9199 (20 points)

(2) External signals

The external signals input to the servo system CPU are the upper and lower
stroke end limit switch input signals, stop signals, near-zero point dog signal,
speed/position switching signal, and manual pulse generator input signals.
• Upper and lower stroke end ............ Signals that control the upper limit and
limit switch input signal lower limit of the positioning range
• Stop signal ....................................... Stop signal for speed control
• Near-zero point dog signal............... The ON/OFF signal from the near-zero
point dog
• Speed/position switching signal ....... Signal that switches control from speed to
position control
• Manual pulse generator input .......... Signal from the manual pulse generator
Servo System CPU System

SP.D, SP.M, X*1 *1: SP.D, SP.M and X are signals that notify the
SCPU of the PCPU control status.
Y *2 *2: Y are signals that notify the PCPU of position
SCPU D *3 PCPU control commands from the SCPU.
*3: D are registers that notify the PCPU of control
*4
M commands from the SCPU and the SCPU of
control status information from the PCPU.
*4: M are flags that notify the PCPU of control
commands from the SCPU and the SCPU
of control status information from the PCPU.

Near-zero point dog signal

External
Upper limit/lower stroke end limit switch
interface
Stop signal

Manual pulse generator

Fig.3.1 Flow of Positioning Signals

POINT
When the monitor data (machine values, actual present values, deviation counter, etc.) stored in the
data registers (D) are used for magnitude comparison or four function arithmetic, they must be
transferred to another device memory once and then processed.
For transfer, refer to "Appendix-4.5".

3−1
3. POSITIONING SIGNALS

The following section describes the positioning devices.

It indicates the device refresh cycles for signals with the positioning direction
PCPU→SCPU and the device fetch cycles for those with the positioning direction
SCPU→PCPU.

3.1 Internal Relays

(1) List of internal relays

A273UHCPU (32 axis feature)/
A172SHCPUN A171SHCPUN
A173UHCPU(S1)
Device No. Purpose Device No. Purpose Device No. Purpose
User device User device User device
M0 M0 M0
(1400 points) (1400 points) (2000 points)
Axis status for Axis status for
SV43 SV43 Common device
M1400 M1400 M2000
(10 points × 8 (10 points × 4 (88 points)
axes) axes)
Unusable Unusable Unusable
M1480 M1440 M2320
(20 points) (60 points) (80 points)
Axis command Axis command
Axis status
signal for SV43 signal for SV43
M1500 M1500 M2400 (20 points × 32
(10 points × 8 (10 points × 4
axes)
axes) axes)
Unusable Unusable Unusable
M1580 M1540 M3040
(20 points) (60 points) (160 points)
Axis command
Axis status Axis status
M3200 signal
M1600 (20 points × 8 M1600 (20 points × 4
M3839 (20 points × 32
axes) axes)
axes)
Unusable Unusable User device
M1760 M1680 M3840
(40 points) (120 points) (160 points)
Axis command
Axis command signal Axis status for
M1800
signal (20 points × 4 SV43
M1800 M4000
(20 points × 8 axes) (10 points × 32
axes) Unusable axes)
M1880
(40 points)
Unusable
M1960 M1960 M4320
(80 points)
Axis command
signal for SV43
Common device Common device M4400
M2000 M2000 (10 points × 32
(88 points) (88 points)
axes)
M2047 M2047 M4720
User device
(3472 points)
M8191

3−2
3. POSITIONING SIGNALS

POINTS
• Total Number of User Device Points
A273UHCPU
A172SHCPUN 1400 points
(32 axis feature) 5632 points
A171SHCPUN 1400 points A173UHCPU(S1)

(1) Internal relays for positioning control are not latched even inside 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 "M1400 to
M1999".

(2) Internal relays for positioning control are monitored from peripheral
devices as shown below.
(a) When peripheral devices are started with GSV43P, positioning
control internal relays within a latch range are indicated by L1400 to
L1999.

3−3
3. POSITIONING SIGNALS

(2) Axis status

• Axis status for SV43
Axis A172SHCPUN A171SHCPUN
Signal Name
No. Device Number Device Number
M1400 M1400
1 to to Fetch Signal
M1409 M1409 Signal Name Refresh Cycle
Cycle Direction
M1410 M1410 0 Unusable
−
2 to to 1 Unusable
M1419 M1419 2 Automatically operating
10ms
M1420 M1420 3 Temporarily stopping
3 to to 4 Unusable SCPU
M1429 M1429 ←
5 Unusable PCPU
M1430 M1430 6 Unusable −
4 to to 7 Unusable
M1439 M1439 8 Unusable
M1440 9 Single block mode in progress (*1) 3.5ms
5 to (*1) The single block in progress is not an axis status. It is used with the first axis
M1449 (M1409) only. The user cannot use it for other than the first axis.
M1450
6 to
M1459
M1460
7 to
M1469
M1470
8 to
M1479

• Axis status
Axis A172SHCPUN A171SHCPUN
Signal Name
No. Device Number Device Number
M1600 M1600
1 to to Fetch Signal
M1619 M1619 Signal Name Refresh Cycle
Cycle Direction
M1620 M1620 0 Positioning start completed
2 to to 1 Positioning completed
M1639 M1639 2 In-position
M1640 M1640 3 Command in-position 3.5ms
3 to to 4 Unusable
M1659 M1659 5 Unusable
M1660 M1660 6 Zero pass
4 to to 7 Error detection Immediately
M1679 M1679 8 Servo error detection 3.5ms
SCPU
M1680 9 Home position return request 10ms
←
5 to 10 Home position return completed 3.5ms PCPU
M1699 11 External signal FLS
M1700 12 External signal RLS
10ms
6 to 13 External signal STOP
M1719 14 External signal DOG/CHANGE
M1720 15 Servo ON/OFF
3.5ms
7 to 16 Torque control in progress
M1739 17 (External signal DOG/CHANGE) 10ms
M1740 18 Unusable 
8 to 19 M code output in progress 3.5ms
M1759

3−4
3. POSITIONING SIGNALS

• Axis status
A273UHCPU
Axis No.

(32 axis feature)

A173UHCPU Single name
(S1)
Device No.
1 M2400 to M2419
2 M2420 to M2439 Refresh cycle Fetch cycle
Signal name
3 M2440 to M2459 Set number of axis Set number of axis
A173 Signal
4 M2460 to M2479 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
UHCPU direction
SV43
A273
5 M2480 to M2499 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
UHCPU

6 M2500 to M2519 0 Positioning start completed

7 M2520 to M2539 1 Positioning completed
8 M2540 to M2559 2 In-position
9 M2560 to M2579 3 Command in-position 3.5ms 7.1ms 14.2ms
10 M2580 to M2599 4 Unusable
11 M2600 to M2619 5 Unusable
12 M2620 to M2639 6 Zero pass
13 M2640 to M2659 7 Error detection Immediately
14 M2660 to M2679 8 Servo error detection 3.5ms 7.1ms 14.2ms
SCPU
15 M2680 to M2699 9 Home position return request 10ms 20ms
16 M2700 to M2719 10 Home position return completed 3.5ms 7.1ms 14.2ms
PCPU
17 M2720 to M2739 11 External signal FLS
18 M2740 to M2759 12 External signal RLS
10ms 20ms
19 M2760 to M2779 13 External signal STOP
20 M2780 to M2799 14 External signal DOG
21 M2800 to M2819 15 Servo ON/OFF
3.5ms 7.1ms 14.2ms
22 M2820 to M2839 16 Torque control in progress
23 M2840 to M2859 17 (External signal CHANGE) 10ms 20ms
24 M2860 to M2879 18 Unusable
25 M2880 to M2899 19 M code output in progress 3.5ms 7.1ms 14.2ms
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

3−5
3. POSITIONING SIGNALS

• Axis status for SV43

A273UHCPU
Axis No.

(32 axis feature)

A173UHCPU Single name
(S1)
Device No.
1 M4000 to M4009
2 M4010 to M4019 Refresh cycle Fetch cycle
Signal name
3 M4020 to M4029 Set number of axis Set number of axis
A173 Signal
4 M4030 to M4039 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
UHCPU direction
SV43
A273
5 M4040 to M4049 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
UHCPU

6 M4050 to M4059 0 Unusable

−
7 M4060 to M4069 1 Unusable
8 M4070 to M4079 2 Automatically operating
10ms 20ms
9 M4080 to M4089 3 Temporarily stopping
SCPU
10 M4090 to M4099 4 Unusable
11 M4100 to M4109 5 Unusable
PCPU
12 M4110 to M4119 6 Unusable −
13 M4120 to M4129 7 Unusable
14 M4130 to M4139 8 Unusable
15 M4140 to M4149 9 Single block mode in progress (*1) 3.5ms 7.1ms 14.2ms
16 M4150 to M4159 (*1) The single block in progress is not an axis status. It is used with the first axis (M4009) only. The
17 M4160 to M4169 user cannot use it for other than the first axis.
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

3−6
3. POSITIONING SIGNALS

(3) Axis command signals

• Axis command signals for SV43
Axis A172SHCPUN A171SHCPUN
Signal Name
No. Device Number Device Number
M1500 M1500
1 to to Fetch Refresh Signal
Signal Name
M1509 M1509 Cycle Cycle Direction
M1510 M1510 0 Temporary stop command 3.5ms
2 to to 1 Optional program stop
M1519 M1519 2 At start
Optional block skip

M1520 M1520 3 Single block

3 to to 4 Restart SCPU
M1529 M1529 3.5ms
5 Override valid/invalid PCPU
M1530 M1530 6 Unusable
4 to to 7 Unusable
M1539 M1539 −
8 Single block mode (*1)
M1540 9 Single block start (*1)
5 to (*1) The single block mode and single block start are not axis statuses. They are used
M1549 with the first axis (M1508, M1509) only. The user cannot use them for other than
M1550 the first axis.
6 to
M1559
M1560
7 to
M1569
M1570
8 to
M1579

• Axis command signals

Axis A172SHCPUN A171SHCPUN
Signal Name
No. Device Number Device Number
M1800 M1800
1 to to Fetch Refresh Signal
Signal Name
M1819 M1819 Cycle Cycle Direction
M1820 M1820 0 Stop command
3.5ms
2 to to 1 Rapid stop command
M1839 M1839 2 Forward rotation JOG command
M1840 M1840 3 Reverse rotation JOG command 10ms
3 to to 4 Completion signal OFF command
M1859 M1859 5 Unusable −
M1860 M1860 6 Limit switch output enable 3.5ms
4 to to 7 Error reset
M1879 M1879 10ms
8 Servo error reset
9 At start SCPU
M1880 Start-time stop input invalid
5 to 10 Unusable PCPU
M1899 11 Unusable
M1900 12 Unusable −
6 to 13 Unusable
M1919 14 Unusable
M1920 15 Servo OFF 3.5ms
7 to 16 Unusable
M1939 17 Unusable −
M1940 18 Unusable
8 to 19 FIN signal 3.5ms
M1959

3−7
3. POSITIONING SIGNALS

• Axis command signals

A273UHCPU
Axis No.

(32 axis feature)

A173UHCPU Single name
(S1)
Device No.
1 M3200 to M3219
2 M3220 to M3239 Refresh cycle Fetch cycle
Signal name
3 M3240 to M3259 Set number of axis Set number of axis
A173 Signal
4 M3260 to M3279 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
UHCPU direction
SV43
A273
5 M3280 to M3299 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
UHCPU

6 M3300 to M3319 0 Stop command

3.5ms 7.1ms 14.2ms
7 M3320 to M3339 1 Rapid stop command
Forward rotation JOG
8 M3340 to M3359 2
command
Reverse rotation JOG
9 M3360 to M3379 3 10ms 20ms
command
Completion signal OFF
10 M3380 to M3399 4
command
11 M3400 to M3419 5 Unusable
3.5ms 7.1ms 14.2ms
12 M3420 to M3439 6 Limit switch output enable
13 M3440 to M3459 7 Error reset
10ms 20ms SCPU
14 M3460 to M3479 8 Servo error reset
15 M3480 to M3499 9 Start-time stop input invalid At start
PCPU
16 M3500 to M3519 10 Unusable
−
17 M3520 to M3539 11 Unusable
Present feed value update
18 M3540 to M3559 12 At start
request command
19 M3560 to M3579 13 Unusable
−
20 M3580 to M3599 14 Unusable
21 M3600 to M3619 15 Servo OFF 3.5ms 7.1ms 14.2ms
22 M3620 to M3639 16 Unusable
23 M3640 to M3659 17 Unusable −
24 M3660 to M3679 18 Unusable
25 M3680 to M3699 19 FIN signal 3.5ms 7.1ms 14.2ms
26 M3700 to M3719
27 M3720 to M3739
28 M3740 to M3759
29 M3760 to M3779
30 M3780 to M3799
31 M3800 to M3819
32 M3820 to M3839

3−8
3. POSITIONING SIGNALS

• Axis command signals for SV43

A273UHCPU
Axis No.

(32 axis feature)

A173UHCPU Single name
(S1)
Device No.
1 M4400 to M4409
2 M4410 to M4419 Refresh cycle Fetch cycle
Signal name
3 M4420 to M4429 Set number of axis Set number of axis
A173 Signal
4 M4430 to M4439 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
UHCPU direction
SV43
A273
5 M4440 to M4449 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
UHCPU

6 M4450 to M4459 0 Temporary stop command 3.5ms 7.1ms 14.2ms

7 M4460 to M4469 1 Optional program stop
8 M4470 to M4479 2 Optional block skip At start
9 M4480 to M4489 3 Single block
SCPU
10 M4490 to M4499 4 Restart
3.5ms 7.1ms 14.2ms
11 M4500 to M4509 5 Override valid/invalid
PCPU
12 M4510 to M4519 6 Unusable
13 M4520 to M4529 7 Unusable
−
14 M4530 to M4539 8 Single block mode (*1)
15 M4540 to M4549 9 Single block start (*1)
16 M4550 to M4559 (*1) The single block mode and single block start are not axis statuses. They are used with the first axis
17 M4560 to M4569 (M4408, M4409) only. The user cannot use them for other than the first axis.
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

3−9
3. POSITIONING SIGNALS

(4) Common devices

A172SHCPUN A172SHCPUN
Device Fetch Refresh Device Fetch Refresh
Signal Name Signal Direction Signal Name Signal Direction
Number Cycle Cycle Number Cycle Cycle
M1960 M1960
M1961 M1961
M1962 M1962
M1963 M1963
M1964 M1964
M1965 M1965
M1966 M1966
M1967 M1967
M1968 M1968
M1969 M1969
M1970 M1970
M1971 M1971
M1972 M1972
M1973 M1973
M1974 M1974
M1975 M1975
M1976 M1976
M1977 M1977
M1978 M1978
M1979 M1979
Unusable (40 points) − − − Unusable (40 points) − − −
M1980 M1980
M1981 M1981
M1982 M1982
M1983 M1983
M1984 M1984
M1985 M1985
M1986 M1986
M1987 M1987
M1988 M1988
M1989 M1989
M1990 M1990
M1991 M1991
M1992 M1992
M1993 M1993
M1994 M1994
M1995 M1995
M1996 M1996
M1997 M1997
M1998 M1998
M1999 M1999
M2000 PC READY flag 10ms SCPU→PCPU M2000 PC READY flag 10ms SCPU→PCPU
M2001 Axis 1 M2001 Axis 1
M2002 Axis 2 M2002 Axis 2 START accept flag
10ms SCPU←PCPU
M2003 Axis 3 M2003 Axis 3 (4 points)
M2004 Axis 4 START accept flag M2004 Axis 4
M2005 Axis 5 (8 points) 10ms SCPU←PCPU M2005
M2006 Axis 6 M2006
Unusable (4 points) − − −
M2007 Axis 7 M2007
M2008 Axis 8 M2008
M2009 All-axes servo ON accept flag M2009 All-axes servo ON accept flag 10ms SCPU←PCPU
M2010 M2010
Unusable (2 points) − − − Unusable (2 points) − − −
M2011 M2011
M2012 Manual pulse generator enable flag 10ms SCPU→PCPU M2012 Manual pulse generator enable flag 10ms SCPU→PCPU
M2013 M2013
Unusable (2 points) − − − Unusable (2 points) − − −
M2014 M2014
M2015 JOG simultaneous start command 10ms SCPU→PCPU M2015 JOG simultaneous start command 10ms SCPU→PCPU
M2016 M2016
M2017 M2017
Unusable (4 points) − − − Unusable (4 points) − − −
M2018 M2018
M2019 M2019
M2020 Start buffer full M2020 Start buffer full
M2021 Axis 1 M2021 Axis 1
M2022 Axis 2 M2022 Axis 2 Speed change flag END SCPU←PCPU
M2023 Axis 3 M2023 Axis 3 (4 points)
M2024 Axis 4 Speed change flag END SCPU←PCPU M2024 Axis 4
M2025 Axis 5 (8 points) M2025
M2026 Axis 6 M2026
M2027 Axis 7 M2027
M2028 Axis 8 M2028
M2029 M2029 Unusable (9 points) − − −
M2030 M2030
M2031 Unusable (5 points) − − − M2031
M2032 M2032
M2033 M2033
M2034 PC link communication error flag END SCPU←PCPU M2034 PC link communication error flag END SCPU←PCPU
M2035 M2035
M2036 M2036
M2037 M2037
Unusable (6 points) − − − Unusable (6 points) − − −
M2038 M2038
M2039 M2039
M2040 M2040
M2041 System setting error flag END SCPU←PCPU M2041 System setting error flag END SCPU←PCPU
M2042 All-axes servo ON command 3.5ms SCPU→PCPU M2042 All-axes servo ON command 3.5ms SCPU→PCPU
M2043 M2043
M2044 M2044
Unusable (4 points) − − − Unusable (4 points) − − −
M2045 M2045
M2046 M2046
M2047 Motion slot module error detection flag END SCPU←PCPU M2047 Motion slot module error detection flag END SCPU←PCPU

* The entry "END" in the Refresh Cycle column indicates 80ms or a longer sequence program scan time.

3 − 10
3. POSITIONING SIGNALS

Refresh cycle Fetch cycle Refresh cycle Fetch cycle

Signal name Signal name
Device Set No. of axis Set No. of axis Signal Device Set No. of axis Set No. of axis Signal
No. A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32 direction No. A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32 direction
SV43 SV43
A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
M2000 PLC READY flag 10ms 20ms SCPU → PCPU M2080 Axis20
M2001 Axis1 M2081 Axis21
M2002 Axis2 M2082 Axis22
M2003 Axis3 M2083 Axis23
M2004 Axis4 M2084 Axis24
M2005 Axis5 M2085 Axis25
M2006 Axis6 M2086 Axis26 Speed change flag END SCPU ← PCPU
M2007 Axis7 M2087 Axis27
M2008 Axis8 M2088 Axis28
M2009 Axis9 M2089 Axis29
M2010 Axis10 M2090 Axis30
M2011 Axis11 M2091 Axis31
M2012 Axis12 M2092 Axis32
M2013 Axis13 M2093
M2014 Axis14 M2094
M2015 Axis15 M2095
M2016 Axis16 M2096
Start accept flag 10ms SCPU ← PCPU
M2017 Axis17 M2097
M2018 Axis18 M2098
M2019 Axis19 M2099
M2020 Axis20 M2100
M2021 Axis21 M2101
M2022 Axis22 M2102
M2023 Axis23 M2103
M2024 Axis24 M2104
M2025 Axis25 M2105
M2026 Axis26 M2106
M2027 Axis27 M2107
M2028 Axis28 M2108
M2029 Axis29 M2109
M2030 Axis30 M2110 Unusable (35 points) − − −
M2031 Axis31 M2111
M2032 Axis32 M2112
M2033 Unusable − − − M2113
M2034 PC link communication error flag 10ms SCPU ← PCPU M2114
M2035 M2115
M2036 M2116
M2037 M2117
Unusable (6 points) − − −
M2038 M2118
M2039 M2119
M2040 M2120
M2041 System setting error flag 10ms SCPU ← PCPU M2121
M2042 All axes servo ON command 3.5ms 7.1ms 14.2ms SCPU → PCPU M2122
M2043 M2123
M2044 M2124
Unusable (4 points) − − −
M2045 M2125
M2046 M2126
M2047 Motion slot module error detection flag 10ms SCPU ← PCPU M2127
M2048 JOG simultaneous start command 10ms 20ms SCPU → PCPU M2128 Axis1
M2049 All axes servo ON accept flag M2129 Axis2
END SCPU ← PCPU
M2050 Start buffer full M2130 Axis3
M2051 Manual pulse generator 1 enable flag M2131 Axis4
M2052 Manual pulse generator 2 enable flag 10ms 20ms SCPU → PCPU M2132 Axis5
M2053 Manual pulse generator 3 enable flag M2133 Axis6
M2054 M2134 Axis7
M2055 M2135 Axis8
M2056 M2136 Axis9
M2057 Unusable (7 points) − − − M2137 Axis10
M2058 M2138 Axis11
M2059 M2139 Axis12
M2060 M2140 Axis13
M2061 Axis1 M2141 Axis14
M2062 Axis2 M2142 Axis15
M2063 Axis3 M2143 Axis16 Automatically
3.5ms 7.1ms 14.2ms SCPU ← PCPU
M2064 Axis4 M2144 Axis17 decelerating flag
M2065 Axis5 M2145 Axis18
M2066 Axis6 M2146 Axis19
M2067 Axis7 M2147 Axis20
M2068 Axis8 M2148 Axis21
M2069 Axis9 M2149 Axis22
M2070 Axis10 Speed change flag END SCPU ← PCPU M2150 Axis23
M2071 Axis11 M2151 Axis24
M2072 Axis12 M2152 Axis25
M2073 Axis13 M2153 Axis26
M2074 Axis14 M2154 Axis27
M2075 Axis15 M2155 Axis28
M2076 Axis16 M2156 Axis29
M2077 Axis17 M2157 Axis30
M2078 Axis18 M2158 Axis31
M2079 Axis19 M2159 Axis32
* The entry "END" in the Refresh Cycle column indicates 50ms or a longer sequence program scan time.

3 − 11
3. POSITIONING SIGNALS

Refresh cycle Fetch cycle Refresh cycle Fetch cycle

Signal name Signal name
Device Set No. of axis Set No. of axis Signal Device Set No. of axis Set No. of axis Signal
No. A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32 direction No. A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32 direction
SV43 SV43
A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
M2160 M2240 Axis1
M2161 M2241 Axis2
M2162 M2242 Axis3
M2163 M2243 Axis4
M2164 M2244 Axis5
M2165 M2245 Axis6
M2166 M2246 Axis7
M2167 M2247 Axis8
M2168 M2248 Axis9
M2169 M2249 Axis10
M2170 M2250 Axis11
M2171 M2251 Axis12
M2172 M2252 Axis13
M2173 M2253 Axis14
M2174 M2254 Axis15
M2175 M2255 Axis16 Speed change accepting
3.5ms 7.1ms 14.2ms SCPU ← PCPU
M2176 M2256 Axis17 flag "0"
M2177 M2257 Axis18
M2178 M2258 Axis19
M2179 M2259 Axis20
M2180 M2260 Axis21
M2181 M2261 Axis22
M2182 M2262 Axis23
M2183 M2263 Axis24
M2184 M2264 Axis25
M2185 M2265 Axis26
M2186 M2266 Axis27
M2187 M2267 Axis28
M2188 M2268 Axis29
M2189 M2269 Axis30
M2190 M2270 Axis31
M2191 M2271 Axis32
M2192 M2272
M2193 M2273
M2194 M2274
M2195 M2275
M2196 M2276
M2197 M2277
M2198 M2278

− − −
M2199 Unusable M2279
M2200 (80 points) M2280
M2201 M2281
M2202 M2282
M2203 M2283
M2204 M2284
M2205 M2285
M2206 M2286
M2207 M2287
M2208 M2288
M2209 M2289
M2210 M2290
M2211 M2291
M2212 M2292
M2213 M2293
M2214 M2294

− − −
M2215 M2295 Unusable
M2216 M2296 (48 points)
M2217 M2297
M2218 M2298
M2219 M2299
M2220 M2300
M2221 M2301
M2222 M2302
M2223 M2303
M2224 M2304
M2225 M2305
M2226 M2306
M2227 M2307
M2228 M2308
M2229 M2309
M2230 M2310
M2231 M2311
M2232 M2312
M2233 M2313
M2234 M2314
M2235 M2315
M2236 M2316
M2237 M2317
M2238 M2318
M2239 M2319

* The entry "END" in the Refresh Cycle column indicates 50ms or a longer sequence program scan time.

3 − 12
3. POSITIONING SIGNALS

3.1.1 Axis status

(1) Automatically operating signal (M1402+10n/M4002+10n)

When the axis used is specified in the SVST instruction, this signal is ON while
the block of the specified motion program is being executed. It turns OFF when:
• M02/M30 is executed;
• Temporary stop command turns ON (M1500+10n/M4400+10n);
• External STOP signal turns ON;
• Error reset is made;
• Emergency stop is made;
• Single block execution is ended by M0, M01 or single block;
or
• Stop or rapid stop command turns ON.

[Motion program example]

0001; Program No.
G90 G00 X100.; Absolute value command PTP positioning (X100.)
X200.; PTP positioning (X200.)
M02; Reset
%

100 200
SVST instruction
ON
Start acceptance (M2001+n)
Automatically operating ON
(M1402+10n) OFF
ON
Temporarily stopping
OFF
(M1403+10n) ON
Temporary stop command
OFF
(M1500+10n) ON
Restart (M1504+10n) OFF

3 − 13
3. POSITIONING SIGNALS

(2) Temporarily stopping signal (M1403+10n/M4003+10n)

(a) This signal turns ON if the temporary stop command is given when the
automatically operating signal (M1402+10n/M4002+10n) is ON.
When the restart signal (M1504+10n/M4404+10n) is turned ON during a
temporary stop, automatic operation is resumed from the block where it had
stopped.
There is the following temporary stop command.
• Temporary stop command (M1500+10n/M4400+10n)
(b) The temporarily stopping signal turns OFF when:
• Restart signal (M1504+10n/M4404+10n) is turned ON;
• Error reset (M1807+20n/M3207+20n) is turned ON;
• Servo error reset (M1808+20n/M3208+20n) is turned ON;
• Error occurs;
or
• Emergency stop is made.

[Motion program example]

0001; Program No.
G90 G00 X100.; Absolute value command PTP positioning (X100.)
X200.; PTP positioning (X200.)
M02; Reset
%

100 200
SVST instruction
ON
Start acceptance (M2001+n) *1 OFF
ON
Automatically operating *2
OFF
(M1402+10n)
ON
Temporarily stopping *2 OFF
(M1403+10n) ON
Temporary stop command *2 OFF
(M1500+10n) ON
Restart (M1504+10n) *2 OFF

Fig. 3.2 Temporarily Stopping Signal ON/OFF Timing

REMARKS
*1: n in M2001+n indicates the value corresponding to the axis number.
*2: n indicates the value corresponding to the axis number as listed below.
<A172SHCPUN> <A171SHCPUN> <A273UHCPU (32 axis feature) / A173UHCPU>
Axis Axis Axis Axis Axis Axis
n n n n n n
No. No. No. No. No. No.
1 0 1 0 1 0 9 8 17 16 25 24
2 1 2 1 2 1 10 9 18 17 26 25
3 2 3 2 3 2 11 10 19 18 27 26
4 3 4 3 4 3 12 11 20 19 28 27
5 4 5 4 13 12 21 20 29 28
6 5 6 5 14 13 22 21 30 29
7 6 7 6 15 14 23 22 31 30
8 7 8 7 16 15 24 23 32 31

3 − 14
3. POSITIONING SIGNALS

(3) Single block in progress signal (M1409/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 in progress 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 in progress signal is ON.
When the single block in progress signal is OFF, make an SVST start or
turn single block start from OFF to ON to perform continuous operation.
(c) The single block in progress signal turns ON when:
• The single block mode signal (M1508/M4408) is turned ON.
(d) The single block in progress signal turns OFF when:
• The single block start signal (M1509/M4409) is turned from OFF to ON
after the single block mode signal (M1508/M4408) is turned OFF.

[Motion program example]

0001; Program No.
N1 G90 G01 X100. F1000.; Absolute value command PTP positioning (X100.)
N2 X200.; CP positioning (X200.)
N3 X300.; CP positioning (X300.)
N4 X400.; CP positioning (X400.)
M02; Reset
%

100 200 300 400

Sequence No. 1 2 3 4
ON
SVST instruction
ON
Start acceptance (M2001+n) OFF
ON
Automatically operating OFF
(M1402+10n) ON ON ON
Command in-position OFF
(M1603+20n) ON
Single block in progress (M1409) OFF
ON
Single block mode (M1508) OFF
ON ON
Single block start (M1509) OFF

Fig. 3.3 Single Block Signal Timings

3 − 15
3. POSITIONING SIGNALS

(4) Positioning start completed signal (M1600+20n/M2400+20n)

(a) This signal comes ON when starting of positioning control of the axis
designated by the DSFRP/SVST instruction in the sequence program is
completed.
It does not come ON when positioning control starts due to a home position
return, JOG operation or manual pulse generator operation.
(b) The positioning start completed signal goes OFF at the leading edge
(OFF→ON) of the end signal OFF command (M1804+20n) or when
positioning is completed.
At the leading edge (OFF → ON) of the end signal OFF command (M1804 + 20n)
V Dwell time

DSFRP/SVST instruction
ON
Start reception flag (M2001+n) *1 OFF
ON
Positioning start completed OFF
signal (M1600+20n) *2 ON
End signal OFF command OFF
(M1804+20n) *2

When positioning is completed

V Dwell time
Positioning completed
t

DSFRP/SVST instruction
ON
*1
Start reception flag (M2001+n) OFF
ON
Positioning start completed OFF
signal (M1600+20n) *2

Fig. 3.4 Positioning Start Completed Signal ON/OFF Timing

REMARKS
*1: n in M2001+n indicates the value corresponding to the axis number.
*2: n indicates the value corresponding to the axis number as listed below.
<A172SHCPUN> <A171SHCPUN> <A273UHCPU (32 axis feature) / A173UHCPU>
Axis Axis Axis Axis Axis Axis
n n n n n n
No. No. No. No. No. No.
1 0 1 0 1 0 9 8 17 16 25 24
2 1 2 1 2 1 10 9 18 17 26 25
3 2 3 2 3 2 11 10 19 18 27 26
4 3 4 3 4 3 12 11 20 19 28 27
5 4 5 4 13 12 21 20 29 28
6 5 6 5 14 13 22 21 30 29
7 6 7 6 15 14 23 22 31 30
8 7 8 7 16 15 24 23 32 31

3 − 16
3. POSITIONING SIGNALS

(5) Positioning completed signal (M1601+20n/M2401+20n)

(a) This signal comes ON when positioning control of the axis designated by
the DSFRP/SVST instruction in the sequence program is completed.
It does not come ON when positioning control is started, or stopped part
way through, due to a home position return, JOG operation, manual pulse
generator operation, or speed control.
It does not come ON when positioning is stopped part way through.
(b) The positioning completed signal goes OFF at the leading edge (OFF→ON)
of the end signal OFF command (M1804+20n), or when a positioning
control start is completed.

[Motion program example]

0001; Program No.
N1 G90 G01 X100. F1000.; Absolute value command PTP positioning (X100.)
X200.; PTP positioning (X200.)
G00 X300. G04 P500; PTP positioning (X300.), dwell (500ms)
M02; Reset
%

Dwell

SVST instruction
ON
Start acceptance (M2001+n) *1 OFF
*2 ON
Automatically operating OFF
(M1402+10n) ON ON
Positioning completed *2 OFF
(M1601+20n) ON
Completion signal OFF instruction OFF
(M1804+20n) *2

Fig. 3.5 Positioning Completed Signal ON/OFF Timing

REMARKS
*1: n in M2001+n indicates the value corresponding to the axis number.
*2: n indicates the value corresponding to the axis number as listed below.
<A172SHCPUN> <A171SHCPUN> <A273UHCPU (32 axis feature) / A173UHCPU>
Axis Axis Axis Axis Axis Axis
n n n n n n
No. No. No. No. No. No.
1 0 1 0 1 0 9 8 17 16 25 24
2 1 2 1 2 1 10 9 18 17 26 25
3 2 3 2 3 2 11 10 19 18 27 26
4 3 4 3 4 3 12 11 20 19 28 27
5 4 5 4 13 12 21 20 29 28
6 5 6 5 14 13 22 21 30 29
7 6 7 6 15 14 23 22 31 30
8 7 8 7 16 15 24 23 32 31

3 − 17
3. POSITIONING SIGNALS

(6) In-position signal (M1602+20n/M2402+20n)

(a) The in-position signal comes ON when the number of droop pulses in the
deviation counter enters the "in-position range" set in the servo parameters.
It goes OFF when axis motion starts.
[Motion program example]
0001; Program No.
G90 G00 X100.; Absolute value command PTP positioning (X100.)
X200.; PTP positioning (X200.)
M02; Reset
%

In-position range

SVST instruction

Start acceptance (M2001+n)

Automatically operating
(M1402+10n) ON
In-position (M1602+20n) OFF

(b) An in-position check is performed in the following cases.

• When the servo power supply is switched on
• After automatic acceleration/deceleration is started during positioning
control
• After deceleration is started as a result of the JOG start signal going OFF
• When manual pulse generator operation is in progress
• After the near-zero point dog comes ON during a home position return
• After deceleration is started as a result of a stop command
• When a speed change to a speed of "0" is executed
• After deceleration is started under temporary stop command

(7) Command in-position signal (M1603+20n/M2403+20n)

(a) The command in-position signal comes ON when the absolute value of the
difference between the command position and the feed present value enters
the "command in-position range" set in the fixed parameters.
It goes OFF in the following cases.
• When positioning control starts
• When a home position return is executed
• When speed control is executed
• When JOG operation is performed
• When manual pulse generator operation is performed

3 − 18
3. POSITIONING SIGNALS

(b) Command in-position checks are continually performed during positioning

control.

[Motion program example]

0001; Program No.
G90 G00 X100.; Absolute value command PTP positioning (X100.)
X200.; PTP positioning (X200.)
M02; Reset
%

Command in-position
range

SVST instruction

Start acceptance (M2001+n)

Automatically operating
(M1402+10n) ON
Command in-position OFF
(M1603+20n)

(8) Zero pass signal (M1606+20n/M2406+20n)

This signal comes ON when the zero point is passed after the power to the
servo amplifier has been switched ON.
Once the zero point has been passed, the signal remains ON until the CPU has
been reset.

(9) Error detection signal (M1607+20n/M2407+20n)

(a) The error detection signal comes ON when a minor error or major error is
detected and is used to determine whether or not errors have occurred.
*1
When a minor error is detected, the corresponding error code is stored in
the minor error code storage area. (Refer to section 3.2.1.)
*2
When a major error is detected, the corresponding error code is stored in
the major error code storage area. (Refer to section 3.2.1.)
(b) When the error reset signal (M1807+20n/M3207+20n) comes ON, the error
detection signal goes OFF.

Minor error or major error

detected ON
Error detection signal
(M1607+20n) OFF

ON
Error reset signal
(M1807+20n) OFF

REMARKS
*1: For details on the error codes when minor errors occur, see Appendix
2.2.
*2: For details on the error codes when major errors occur, see Appendix
2.3.

(10) Servo error detection signal (M1608+20n/M2408+20n)

(a) The servo error detection signal comes ON when an error occurs at the
servo amplifier side (excluding errors that cause alarms, and emergency
*1
stops) , and is used to determine whether or not servo errors have
occurred.
When an error is detected at the servo amplifier side, the corresponding
*1
error code is stored in the servo error code storage area.

3 − 19
3. POSITIONING SIGNALS

(b) The servo error detection signal goes OFF when the servo error reset
signal (M1808+20n/M3208+20n) comes ON, or when the servo power
supply is switched back on.

Servo error detected

ON
Servo error detecation signal
(M1608+20n) OFF

ON
Servo error reset OFF
signal (M1808+20n) OFF

REMARK
*1: For details on the error codes of errors detected at the servo amplifier
side, see Appendix 2.4.

(11) Home position return request signal (M1609+20n/M2409+20n)

This signal comes ON when it is necessary to confirm the home position
address when the power is switched on or during positioning control.
(a) When not using an absolute value system
1) The home position return request signal comes ON in the following
cases:
• When the power is switched on, or the servo system CPU is reset.
• During a home position return operation.
2) The home position return request signal goes OFF when the home
position return operation is completed.
(b) When using an absolute value system
1) The home position return request signal comes ON in the following
cases:
• During a home position return operation.
• When a backup data (reference value) sum check error occurs (when
the power is switched on).
2) The home position return request signal goes OFF when the home
position return operation is completed.
Operation in G28 of the motion program changes with the ON/OFF of
the home position return request signal.
When home The axis starts from the present position, passes through the
position return specified mid point, and returns to the home position at rapid
request signal is feedrate.
OFF
When home Dog, count or data setting type home position return is performed
position return in accordance with the home position return data.
request signal is
ON

(12) Home position return completed signal (M1610+20n/M2410+20n)

(a) The home position return completed signal turns ON when a home
position return started by the DSFLP/CHGA instruction is completed
properly.
(b) This signal turns OFF at positioning start, JOG operation start or manual
pulse generator operation start.
(c) If near-zero point dog type home position return is started by the
DSFLP/CHGA instruction while the home position return completed signal
is ON, "continuous home position return start error" occurs and a home
position return start cannot be made.

3 − 20
3. POSITIONING SIGNALS

(13) FLS signal (M1611+20n/M2410+20n)

(a) FLS signal is controlled by the ON/OFF status of the upper stroke end limit
switch input (FLS) to the A172SENC, A171SENC or A278LX from an
external source.
• Upper stroke end limit switch input OFF ...... FLS signal: ON
• Upper stroke end limit switch input ON ........ FLS signal: OFF
(b) The status of the upper stroke end limit switch input (FLS) when the FLS
signal is ON/OFF is indicated in the figure below.
FLS signal: ON FLS signal: OFF
A172SENC, A171SENC or A278LX A172SENC, A171SENC or A278LX
FLS FLS
FLS FLS

COM COM

(14) RLS signal (M1612+20n/M2412+20n)

(a)The RLS signal is controlled by the ON/OFF status of the lower stroke end
limit switch input (FLS) to the A172SENC, A171SENC or A278LX from an
external source.
• Lower stroke end limit switch input OFF ...... RLS signal: ON
• Lower stroke end limit switch input ON ........ RLS signal: OFF
(b) The status of the lower stroke end limit switch input (RLS) when the RLS
signal is ON/OFF is indicated in the figure below.
RLS signal: ON RLS signal: OFF
A172SENC, A171SENC or A278LX A172SENC, A171SENC or A278LX
RLS RLS
RLS RLS

COM COM

(15) STOP signal (M1613+20n/A2413+20n)

(a) The STOP signal is controlled by the ON/OFF status of the stop signal
(STOP) sent to the A172SENC, A171SENC or A278LX from an external
source.
• Stop signal OFF ..... STOP signal: OFF
• Stop signal ON ....... STOP signal: ON
(b) The status of the external stop switch (STOP) when the STOP signal is
ON/OFF is indicated in the figure below.
STOP signal: ON STOP signal: OFF
A172SENC, A171SENC or A278LX A172SENC, A171SENC or A278LX
STOP STOP
STOP STOP

COM COM

(16) DOG/CHANGE signal (M1614+20n) (for A172SHCPUN/A171SHCPUN)

(a) The DOG/CHANGE signal is controlled by the ON/OFF of the external
near-zero point dog input or speed/position control switching input
(DOG/CHANGE) provided to the A172SENC or A171SENC.

3 − 21
3. POSITIONING SIGNALS

(b) Independently of whether the "Leading edge valid" or "Trailing edge valid"
setting has been made in the system settings, the DOG/CHANGE signal
turns ON and the near-zero point dog or CHANGE signal turns OFF when
the near-zero point dog or CHANGE signal turns ON.
(c) When the "Leading edge valid" setting is made in the system settings, a
near-zero point dog or CHANGE input is provided when the near-zero
point dog or CHANGE signal turns ON. When the "Trailing edge valid"
setting is made, a near-zero point dog or CHANGE input is provided when
the near-zero point dog or CHANGE signal turns OFF.

(17) DOG signal (M2414+20n) (for A273UHCPU (32 axis

feature)/A173UHCPU(S1))
(a) The DOG signal is controlled by the ON/OFF of the external near-zero
point dog (DOG) input provided to the A278LX.
(b) Independently of whether the "A contact input" or "B contact input" setting
has been made in the system settings, the near-zero point dog signal turns
ON when the near-zero point dog turns ON, and the near-zero point dog
signal turns OFF when the near-zero point dog turns OFF.
(c) When the "A contact input" setting is made in the system settings, a near-
zero point dog input is provided when the near-zero point dog turns ON,
and when the "B contact input" setting is made, a near-zero point dog input
is provided when the near-zero point dog turns OFF.

(18) Servo READY signal (M1615+20n/M2415+20n)

(a) The servo READY signal comes ON when the servo amplifiers connected
to each axis are in the READY status.
(b) The signal goes OFF in the following cases.
• When M2042 is OFF
• When no servo amplifier is installed
• When the servo parameters have not been set
• When the power supply module has received an emergency stop
input from an external source
• When the M1815+20n signal comes ON and establishes the servo
OFF status
• When a servo error occurs
For details, see Appendix 2.4 "Servo Errors"

POINT
When an axis driven by an MR- -B becomes subject to a servo error, the
affected axis only goes into the servo OFF status.

(19) Torque control in progress signal (M1616+20n/M2416+20n)

Signals for axes whose torque is being controlled are ON.

(20) CHANGE signal (M2417+20n) (for A273UHCPU (32 axis

feature)/A173UHCPU(S1))
(a) The CHANGE signal is controlled by the ON/OFF of the external
speed/position control switching input (CHANGE) provided to the A278LX.
• Speed/position switching input is OFF ..... CHANGE signal: OFF
• Speed/position switching input is ON ....... CHANGE signal: ON

3 − 22
3. POSITIONING SIGNALS

(b) The following diagrams show the positions of the speed select switch
(CHANGE) when the CHANGE signal is ON and OFF.
CHANGE signal: ON CHANGE signal: OFF
A172SENC, A171SENC or A278LX A172SENC, A171SENC or A278LX
CHANGE CHANGE
CHANGE CHANGE

COM COM

(21) M code output signal (M1619+20n/M2419+20n)

(a) This signal turns ON when M** in the motion program is executed.
This signal turns OFF when the FIN signal (M1819+20n/M3219+20n) turns
ON.
Read the M code when the M code outputting signal is ON.
(b) If the G and M codes are described in the same block, the M code output
signal turns ON at the start of G code processing.
(c) When you want to execute the miscellaneous function M after completion
of position control, describe the M code independently.
(d) For M00, M01, M02, M30, M98, M99 and M100, the M code output signal
does not turn ON. (Internal processing only)

[Motion program example]

0001; Program No.
G90 G00 X100. M10.; Absolute value command PTP positioning (X100.) M10
X200.; PTP positioning (X200.)
M02; Reset
%
Command in-position range setting

100 200
SVST instruction

Start acceptance (M2001+n)

M code (D***) M10

ON
M code outputting (M1619+20n) OFF OFF
ON
FIN signal (M1819+20n)

Command in-position
(M1603+20n)

3 − 23
3. POSITIONING SIGNALS

3.1.2 Axis command signals

(1) Temporary stop command (M1500+10n/M4400+10n)

(a) The motion program which is making a positioning start (G00, G01, etc.)
under the DSFRP/SVST instruction is stopped temporarily by the temporary
stop command.
(The motion program stops temporarily if any of the temporary stop
commands for the axis names specified in the SVST instruction turns ON.)
(b) To restart, turn ON M1504+10n/M4404+10n.
[Motion program example]
01; Program No.
G90 G00 X100.; Absolute value command PTP positioning (X100.)
M02; Reset
%
G90 G00 X100.;

DSFRP/SVST instruction

Start acceptance (M2001+n)

Temporarily Temporarily
Automatically operating stopping stopping
(M1402+10n)
Temporarily stopping
(M1403+10n) ON ON
Temporary stop command OFF OFF OFF
(M1500+10n) ON ON
Restart (M1504+10n) OFF OFF OFF

(c) Among the positioning start instructions, the following instructions must be
noted.
1) A dog, count or data setting type home position return under G28 is
stopped and ended by the temporary stop command. After that, restart
(M1504+10n) is invalid.
When you want to execute G28 again, start the motion program using
the SVST instruction.
2) The axis executing G25 (high-speed oscillation) ignores the temporary
stop.

POINT
(1) During a home position return made by JOG operation, manual pulse
generator, DSFLP/CHGA instruction or the like, the temporary stop
command is ignored.

3 − 24
3. POSITIONING SIGNALS

(2) Optional program stop command (M1501+10n/M4401+10n)

This signal is used to select whether a block stop is made in a block where
"M01" exists.
• ON ...... A block stop is made at the end of that block.
• OFF ..... Execution shifts to the next block.

[Motion program example]

0001; Program No.
G90 G00 X100.; Absolute value command PTP positioning (X100.)
M01; Optional program stop command
X200.; PTP positioning (X200.)
M02; Reset
%
When M1501+10n is ON

100 200
DSFRP/SVST instruction

Start acceptance (M2001+n)

ON
Automatically operating
OFF
(M1402+10n)
ON
Restart (M1504+10n) OFF

When M1501+10n is OFF

100 200
DSFRP/SVST instruction

Start acceptance (M2001+n)

ON
Automatically operating
OFF
(M1402+10n)
Restart (M1504+10n) OFF

3 − 25
3. POSITIONING SIGNALS

(3) Optional block skip command (M1502+10n/M4402+10n)

This signal is used to select whether a block headed by "/" is to be executed or
not.
• ON ...... That block is not executed and execution shifts to the next block.
• OFF .... That block is executed.

[Motion program example]

0001; Program No.
G90 G00 X100.; Absolute value command PTP positioning (X100.)
/X200.; PTP positioning (X200.)
M02; Reset
%
When M1502+10n is ON

100
DSFRP/SVST instruction

Start acceptance (M2001+n)

ON
Automatically operating OFF
(M1402+10n)

When M1502+10n is OFF

100 200
DSFRP/SVST instruction

Start acceptance (M2001+n)

ON
Automatically operating OFF
(M1402+10n)

3 − 26
3. POSITIONING SIGNALS

(4) Single block command (M1503+10n/M4403+10n)

This single block is the mode where a single block is specified before a
program start. For the mode where a single block is executed at any point
during program run, refer to the single block mode signal (M1508/M4408).
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 a 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 restart command
(M1504+10n) after execution of the DSFRP/SVST instruction.
After that, a start is made by turning ON the restart command
(M1504+10n/M4404+10n).
• OFF .............. All blocks are executed continuously by the DSFRP/SVST
instruction.

[Motion program example]

0001; Program No.
G90 G00 X100.; Absolute value command PTP positioning (X100.)
X200.; PTP positioning (X200.)
M02; Reset
%
When M1503+10n is ON
G90G00X100. X200. M02
100 200
Single block command
(M1503+10n)
DSFRP/SVST instruction

Start acceptance (M2001+n)

ON
Automatically operating
OFF
(M1402+10n)
Temporarily stopping OFF
(M1403+10n) ON
Restart (M1504+10n) OFF

When M1503+10n is OFF

G90G00X100. X200.

Single block command 100 200

(M1503+10n)
DSFRP/SVST instruction

Start acceptance (M2001+n)

ON
Automatically operating OFF
(M1402+10n)

3 − 27
3. POSITIONING SIGNALS

(5) Restart command (M1504+10n/M4404+10n)

This signal resumes bock execution when it is turned ON during a block stop
under the M00, M01 or single block command or during a temporary stop under
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]

0001; Program No.
G90 G00 X100.; Absolute value command PTP positioning (X100.)
M00; Block stop
X200.; PTP positioning (X200.)
M02; Reset
%

G90G00X100. M00 X200. X200.

DSFRP/SVST instruction

Start acceptance (M2001+n)

ON Block stop Temporarily stopping
Automatically operating
(M1402+10n)
Temporarily stopping
(M1403+10n)
Temporary stop command
(M1500+10n) ON
Restart (M1504+10n) OFF

(6) Override ratio valid/invalid (M1505+10n/M4405+10n)

This signal is used to set whether the override ratio is valid or invalid.
• ON ................ Valid: Turning ON M1505+10n/M4405+10n during motion
program run starts positioning at the specified speed
multiplied by the value (%) stored in the override ratio
setting register.*1
• OFF .............. Invalid: Positioning is controlled at the override ratio of 100%.

REMARK
*1: Under G25 (high-speed oscillation) or G28 (dog, count, data setting) in the
motion program or during a home position return made by JOG operation,
manual pulse generator, DSFLP/CHGA instruction or the like, positioning
is controlled at the override ratio of 100%. (The override ratio is made
invalid.)

(7) Single block mode signal (M1508/M4408)

(a) The single block mode signal makes a single block valid in the mode where
a single block is executed at any point during program execution.
(b) Turning ON the single block mode turns ON the single block in progress
(M1409).

3 − 28
3. POSITIONING SIGNALS

(8) Single block start signal (M1509/M4409)

(a) The single block start signal restarts a single block in the mode where a
single block is executed at any point during program execution.
(b) The single block start is made valid by turning it from OFF to ON. Note that
it is not accepted during axis movement.
(c) When the single block in progress (M1409/M4409) is ON and the single
block mode (M1508/M4408) is ON, making a single block start continues
single block operation.
(d) When the single block in progress (M1409/M4409) is ON and the single
block mode (M1508/M4408) is OFF, making a single block start stops single
block operation and starts continuous operation. At this time, the single
block in progress (M1409/M4409) turns OFF.

(9) Stop command (M1800+20n/M3200+20n)

(a) The stop command is a signal used to stop an axis that is currently being
driven and becomes effective at its leading edge (OFF→ON). (An axis for
which the stop command is ON cannot be started.)

ON
Stop command
OFF
(M1800+20n)
Stop command for
V designated axis

Control when stop

command is OFF
Set speed

Stop

Deceleration processing

(b) During automatic operation started by the DSFRP/SVST instruction, the

program is ended by the stop command. (The motion program is stopped if
any of the stop commands for the axis names specified in the
DSFRP/SVST instruction turns ON.)
(c) M1504+10n/M4404+10n (restart) is valid only after M1500+10n/M4400+10n
(temporary stop).
(d) The following stop processing is performed when the stop command is
turned ON.
Processing when the Stop Command Comes ON
Control Being
If Deceleration Stop Processing is
Executed If Control is Being Executed
Being Executed
Position control
The axis decelerates to a stop in the The stop command is ignored and
during motion
deceleration time set in the parameter deceleration stop processing
program run
block or servo program. (Note 1) continues. (Note 1)
JOG operation
Manual pulse An immediate stop is executed, with
−
generator operation no deceleration processing.
(1) The axis decelerates to a stop in the deceleration time set in the
parameter block.
Home position return
(2) A "stop during home position return" error occurs and the error code
(202) is stored in the minor error storage area for each axis.
(Note 1) The deceleration time under G00 including M code, G01, G02, G03 or G32 is equivalent to the
acceleration time set in the parameter block.

3 − 29
3. POSITIONING SIGNALS

POINT
If a home position return being made is stopped by turning ON the stop
command (M1800+20n/M3200+20n), make a home position return again.
If the stop command is turned ON after the near-zero point dog has turned
ON in the near-zero point dog type home position return, make a home
position return after performing JOG operation, positioning or the like to move
the axis to a position before the near-zero point dog is turned ON.

(10) Rapid stop command (M1801+20n/M3201+20n)

(a) The rapid stop command is a signal used to rapidly stop an axis that is
currently being driven and becomes effective at its leading edge
(OFF→ON). (An axis for which the rapid stop command is ON cannot be
started.)

ON
Rapid stop
OFF
command
(M1801+20n) Rapid stop command
V for designated axis
Control when rapid
stop command is OFF
Set speed

Stop

Rapid stop processing

(b) During automatic operation started by the DSFRP/SVST instruction, the

program is ended by the rapid stop command.
(The motion program is stopped if any of the rapid stop commands for the
axis names specified in the DSFRP/SVST instruction turns ON.)
(c) M1504+10n/M4404+10n (restart) is valid only after M1500+10n/M4400+10n
(temporary stop).
(d) The following stop processing is performed when the rapid stop command is
turned ON.

Processing when the Rapid Stop Command Comes ON

Control Being
If Deceleration Stop Processing is
Executed If Control is Being Executed
Being Executed
Position control
The axis decelerates to a stop in the Deceleration processing is canceled and
during motion
deceleration time set in the parameter rapid stop processing executed instead.
program run
block or servo program. (Note 1) (Note 1)
JOG operation
Manual pulse An immediate stop is executed, with

generator operation no 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 during home position return" error occurs and the error code
(203) is stored in the minor error storage area for each axis.

(Note 1) The deceleration-to-rapid-stop time under G00 including M code, G01, G02, G03 or G32 is
equivalent to the acceleration time set in the parameter block.

3 − 30
3. POSITIONING SIGNALS

POINT
If a home position return being made is stopped by turning ON the rapid stop
command (M1801+20n/M3201+20n), make a home position return again.
If the rapid stop command is turned ON after the near-zero point dog has
turned ON in the near-zero point dog type home position return, make a home
position return after performing JOG operation, positioning or the like to move
the axis to a position before the near-zero point dog is turned ON.

(11) Forward JOG start command (M1802+20n/M3202+20n)/Reverse JOG start

command (M1803+20n/M3203+20n)
(a) While the sequence program keeps M1802+20n/M3203+20n ON, JOG
operation is executed in the direction in which address numbers increase.
When M1802+20n/M3202+20n is turned OFF, a deceleration stop is
executed in the deceleration time set in the parameter block.
(b) While the sequence program keeps M1803+20n/M3203+20n ON, JOG
operation is executed in the direction in which address numbers decrease.
When M1803+20n/M3203+20n is turned OFF, a deceleration stop is
executed in the deceleration time set in the parameter block.

POINT
Establish an interlock in the sequence program to make it impossible for the
forward JOG start command (M1802+20n/M3202+20n) and the reverse JOG
start command (M1803+20n/M3203+20n) to be ON at the same time.

(12) End signal OFF command (M1804+20n/M3204)

(a) The end signal OFF command is used to turn off the positioning start
completed signal (M1600+20n/M2400+20n) and the positioning completed
signal (M1601+20n/M2401+20n) by using the sequence program.

Positioning start t
ON
completed signal
OFF
(M1600+20n)
ON
Positioning completed signal
OFF
(M1601+20n)
ON
End signal OFF command
OFF
(M1804+20n)

POINT
Do not turn the end signal OFF command ON with a PLS command.
If it is turned ON with a PLS command, it will not be possible to turn OFF the
positioning start completed signal (M1600+20n/M2400+20n) or the positioning
completed signal (M1601+20n/M2401+20n).

(13) Limit switch output enable command (M1806+20n/M3208+20n)

The limit switch output enable command is used to enable limit switch output.
• ON .........The limit switch output ON/OFF pattern can be output.
• OFF .......Limit switch output goes OFF.

3 − 31
3. POSITIONING SIGNALS

(14) Error reset command (M1807+20n/M3207+20n)

(a) The error reset command is used to clear the minor error code or major
error code storage area of an axis for which the error detection signal has
come ON (M1607+20n/M3207+20n: ON), and reset the error detection
signal (M1607+20n/M3207+20n).

ON
Error detection (M1607+20n) OFF
ON
Error reset (M1807+20n) OFF

Minor error code storage

** 00
area

Major error code storage

** 00
area
* *: Error code

(b) If an error reset is made during the temporary stop

(M1403+10n/M4003+10n) under the stop command
(M1800+20n/M3200+20n) during automatic operation or if an error reset is
made during a block stop under M00/M01, the motion program running
status is reset.
When a next start is made, the DSFRP/SVST instruction must be
executed. (Restart cannot be made.)

Block stop under M00/M01

Start acceptance (M2001+n)

Automatically operating
(M1402+10n)
Temporarily stopping
(M1403+10n)
DSFRP/SVST instruction
Temporary stop command
(M1500+10n)
ON
Error reset (M1807+20n) OFF

(c) When the error reset command is turned ON during automatic operation
(M1402+10n/M4002+10n ON), the above reset processing is performed
after the stop processing is carried out under the temporary stop command
(M1500+10n/M4400+10n).

3 − 32
3. POSITIONING SIGNALS

(15) Servo error reset command (M1808+20n/M3208+20n)

(a) The servo error reset command is used to clear the servo error code
storage area of an axis for which the servo error detection signal has come
ON (M1608+20n/M2408+20n): ON), and reset the servo error detection
signal (M1608+20n/M2408+20n).

ON
Servo error detection signal
(M1608+20n) OFF
ON
Servo error reset command
(M1808+20n) OFF

Servo error code storage

** 00
area
* *: Error code

(b) If an error reset is made during the temporary stop

(M1403+10n/M4003+10n) under the stop command
(M1800+20n/M2400+20n) during automatic operation or if an error reset is
made during a block stop under M00/M01, the motion program running
status is reset.
When a next start is made, the DSFRP/SVST instruction must be
executed. (Restart cannot be made.)

Block stop underr M00/M01

Start acceptance (M2001+n)

Automatically operating
(M1402+10n)
Temporarily stopping
(M1403+10n)
DSFRP/SVST instruction
Temporary stop command
(M1500+10n)
ON
Servo error reset (M1808+20n) OFF

(c) When the error reset command is turned ON during automatic operation
(M1402+10n/M4002+10n ON), the above reset processing is performed
after the stop processing is carried out under the temporary stop command
(M1500+10n/M4400+10n).

POINT
*: Do not turn the error reset command (M1807+20n/M3207+20n) or servo
error reset command (M1808+20n/M3208+20n) ON with a PLS
command.
If a PLS command is used, it will not be possible to reset the error or
servo error.

REMARK
For details on minor error code, major error code, and servo error code
storage areas, see Appendix 2.

3 − 33
3. POSITIONING SIGNALS

(16) External STOP input/invalid when starting command

(M1809+20n/M3209+20n)
This signal is used to make external STOP signal input valid or invalid.
• ON.........External STOP input is set as invalid, and even axes for which STOP
input is currently ON can be started.
• OFF.......External STOP input is set as valid, and axes for which STOP input is
currently ON cannot be started.

POINTS
(1) To stop an axis by external STOP input after it has been started with the
M1809+20n/M3209+20n command ON, switch the STOP input from OFF
to ON
(if STOP input is ON when the axis is started, switch it from ON to OFF to
ON).
(2) External STOP input causes a block stop during automatic operation
(M1402+10n/M4002+10n ON).

(17) Servo OFF command (M1815+20n/M3215+20n)

The servo OFF command is used to establish the servo OFF status (free run
status).
• M1815+20n/M3215+20n : OFF .........Servo ON
• M1815+20n/M3215+20n : ON...........Servo OFF (free run status)
This command is not effective during positioning and should therefore be
executed on completion of positioning.

CAUTION

Turn the power supply at the servo side OFF before turning a servomotor by hand.

(18) FIN signal (M1819+20n/M3219+20n)

When an M code is set in a point during positioning, travel to the next block
does not take place until the FIN signal state changes as follows:
OFF→ON→OFF
Positioning to the next block begins after the FIN signal state changes as
above.
[Motion program example]
0001; Program No.
G90 G00 X100. M10; Absolute value command PTP positioning (X100.) M10
X200.; PTP positioning (X200.)
M02; Reset
%
Command in-position range setting

100 200
DSFRP/SVST instruction

Start acceptance (M2001+n)

M code (D***) M10

M code outputting (M1619+20n)

ON
FIN signal (M1819+20n) OFF

Command in-positiion
(1603+20n)

3 − 34
3. POSITIONING SIGNALS

3.1.3 Common devices

POINTS
(1) Internal relays for positioning control are not latched even inside 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
M2047".
(2) The range of devices allocated as internal relays for positioning control
cannot be used by the user even if their applications have not been set.

(1) PC READY flag (M2000)...........Signal sent from SCPU to PCPU

(a) This signal serves to notify the PCPU that the SCPU is normal. It is
switched ON and OFF by the sequence program.
1) While M2000 is ON, the positioning control or home position return
specified by the motion program, or the JOG operation or manual pulse
generator operation specified by the sequence program, can be
executed.
2) Control in above (1) is not exercised if M2000 is turned ON while M2000
is OFF or in the test mode using peripheral device [while the test mode in
progress flag (M9075) is ON].
(b) The fixed parameters, servo parameters, and limit switch output parameters
can only be changed using a peripheral device when M2000 is OFF. If an
attempt is made to change this data while M2000 is ON, an error will occur.
(c) When M2000 is switched from OFF to ON, the following processing occurs.
1) Processing details
• The servo parameters are transferred to the servo amplifier.
• The M code storage area for all axes is cleared.
• The default value of 300% is set in the torque limit value storage area.
(See Section 4.6.)
• The PCPU READY-completed flag (M9074) is turned ON.
2) If there is an axis currently being driven, an error occurs, and the
processing in (c) 1) above is not executed.
3) While the test mode is in effect, the processing in (c) 1) above is not
executed. When the test mode is cancelled, the processing in (c) 1)
above is executed if M2000 is ON.

V
Positioning start Deceleration to stop

ON
PC READY flag
(M2000) OFF
ON
PCPU READY
completed flag OFF
(M9074) The PCPU READY-completed
flag (M9074) does not come ON
because deceleration is in progress.
Servo parameters set in the servo
amplifiers, M code cleared.

3 − 35
3. POSITIONING SIGNALS

(d) When M2000 is switched from ON to OFF, the following processing is

executed.
1) Processing details
• The PCPU READY-completed flag (M9074) is turned OFF.
• The axis being driven is decelerated to a stop.

POINT
The PC READY flag (M2000) goes OFF when the servo system CPU is in the
STOP status. When the RUN status is re-established, the status is the same
as before the STOP was executed.
ON

OFF
M2000
Switch from RUN to STOP Switch from STOP to RUN

(2) Start accept flag (M2001+n)...........Signal sent from PCPU to SCPU

(a) The start accept flag comes ON when the positioning start (DSFRP/ SVST)
instruction is executed in the sequence program: use it as an interlock to
enable or disable execution of the DSFRP/SVST instruction.
Example
When requesting execution of the servo programs for positioning on axis 1
and axis 3, use the start accept flags in the way shown below.
DSFRP/SVST instruction execution request
DSFRP/SVST instruction execution
M2001 M2003 enable/disabled specification
SVST J1J3 K1
Axis 1 start Axis 3 start
accept flag accept flag

(b) The start accept flag ON/OFF processing takes the following form.
1) The start accept flag for the designated axis comes ON in response to a
DSFRP/SVST instruction, and goes OFF on completion of positioning.
The start accept flag will also go OFF if positioning is stopped part way
through.
(However, if positioning is stopped part way through by a speed change
to speed 0, the start accept flag will remain ON.)

Positioning completed normally Positioning stopped part way through

V V
Dwell time
t t
Positioning Positioning Stopped part
DSFRP/SVST DSFRP/SVST
completion start way through
instruction instruction
ON ON
Start accept flag Start accept flag
(M2001+n) OFF (M2001+n)
OFF
Positioning completed Positioning
completed OFF
(M1601+20n)
ON (M1601+20n) ON
Positioning start
OFF Positioning start OFF
completed
(M1600+20n) completed
(M1600+20n)

3 − 36
3. POSITIONING SIGNALS

2) When positioning control is executed by turning ON the JOG operation

command (M1802+20n/M3202+20n or M1803+20n/M3203+20n), the
start accept flag goes OFF when positioning is stopped by turning the
JOG operation command OFF.
3) The start accept flag is ON while the manual pulse generator enable flag
(M2012/M2051: ON) is ON.
The start accept flag is OFF while the manual pulse generator enable
flag (M2012/M2051: OFF) is OFF.
4) When M2000 is OFF, execution of a DSFRP/SVST instruction causes
the start accept flag to come ON; the flag goes OFF when M2000 comes
ON.

ON
PC READY (M2000) OFF

DSFRP/SVST instruction
ON
Start accept flag OFF

CAUTION

The user must not turn start accept flags ON/OFF.

• If a start accept flag that is ON is switched OFF with the sequence program or a peripheral
device, no error will occur but the positioning operation will not be reliable. Depending on the
type of machine, it might operate in an unanticipated manner.
• If a start accept flag that is OFF is switched ON with the sequence program or a peripheral
device, no error will occur at that time, but the next time an attempt is made to start the axis an
error will occur during a start accept flag being ON and the axis will not start.

REMARK
A numerical value corresponding to an axis number is entered for "n".
<A172SHCPUN> <A171SHCPUN> <A273UHCPU (32 axes feature) / A173UHCPU>
Axis Axis Axis Axis Axis Axis
n n n n n n
No. No. No. No. No. No.
1 0 1 0 1 0 9 8 17 16 25 24
2 1 2 1 2 1 10 9 18 17 26 25
3 2 3 2 3 2 11 10 19 18 27 26
4 3 4 3 4 3 12 11 20 19 28 27
5 4 5 4 13 12 21 20 29 28
6 5 6 5 14 13 22 21 30 29
7 6 7 6 15 14 23 22 31 30
8 7 8 7 16 15 24 23 32 31

3 − 37
3. POSITIONING SIGNALS

(3) All axis servo start accept flag (M2009/M2049)

.......................................................Signal sent from PCPU to SCPU
The all axis servo start accept flag serves to notify that servo operation is
possible.
• ON ........The servomotor can be driven.
• OFF ........The servomotor cannot be driven.

ON
All axes servo start
OFF
accept flag (M2009)

ON
All axes servo start OFF
command (M2042)
ON
Servo ON OFF

(4) Manual pulse generator enable flag (M2012/M2051 to M2053)

.......................................................Signal sent from SCPU to PCPU
The manual pulse generator enable flags set the enabled or disabled status for
positioning with the pulse input from the manual pulse generators connected to
P1 of the A273EX/A172SENC/A171SENC.
• ON ........Positioning control is executed in accordance with the input from
the manual pulse generators.
• OFF ........Positioning with the manual pulse generators is not possible
because the input from the manual pulse generators is ignored.

REMARK
*: For details on the P1 connector of the A273EX/A172SENC/A171SENC,
refer to the (A172SHCPUN/A171SHCPUN/A273UHCPU/A173UHCPU(S1))
Motion Controller User's Manual.

(5) JOG simultaneous start command (M2015/M2048)

.......................................................Signal sent from SCPU to PCPU
(a) When M2015/M2048 is turned ON, JOG operation is simultaneously started
on the axes for which JOG operation is to be executed (of axes 1 to 4) as
set in the JOG operation simultaneous start axis setting register (D1015).
(b) When M2015/M2048 is turned OFF, motion on the axis currently executing
JOG operation decelerates to a stop.

(6) Start buffer full (M2020/M2050) ............... Signal sent from PCPU to SCPU
(a) This signal comes ON when 16 or more requests have been issued
simultaneously to the PCPU by means of position start (DSFRP/SVST)
instructions and/or control change (DSFLP) instructions in the sequence
program.
(b) Reset M2020/M2050 by using the sequence program.

3 − 38
3. POSITIONING SIGNALS

(7) Speed change flags (M2021 to M2028/M2061+n)

............................................................ Signal from PCPU to SCPU
The speed change flags come ON when a speed change is executed in
response to a control change (DSFLP/CHGV) instruction in the sequence
program: use them for interlocks in speed change programs.

ON
Speed change OFF
command Delay due to sequence program

DSFLP instruction

ON
Speed change flag OFF

13 to 16ms
Speed change
Speed after
Set speed
speed change

t
Speed change completed

(8) System setting error flag (M2041)................. Signal sent from PCPU to SCPU
When the power is switched ON, or when the servo system CPU is reset, the
system setting data set with a peripheral device is input, and a check is
performed to determine if the set data matches the module mounting status (of
the main base unit and extension base units).
• ON .......................... Error
• OFF ........................ Normal
(a) When an error occurs, the ERROR LED at the front of the CPU comes ON.
Also, the error log can be known from the peripheral devices started by
GSV43P.
(b) When M2041 is ON, positioning cannot be started. You must eliminate the
cause of the error and switch the power back ON, or reset the servo system
CPU.

REMARK
Even if a module is loaded at a slot set as "NO USE"
in the system setting data set with a peripheral device, that slot will be
regarded as not used.

3 − 39
3. POSITIONING SIGNALS

(9) All axes servo start command (M2042) ............. Signal from SCPU to PCPU
The all axes servo start command is used to enable servo operation.
(a) Servo operation enabled⋅ ⋅ ⋅ ⋅ ⋅ ⋅ M2042 is turned ON while the servo OFF
signal (M1815+20n) is OFF and there is no
servo error.
(b) Servo operation disable⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅• M2042 is OFF
• The servo OFF signal (M1815+20n) is
ON
• Servo error

ON
All axes servo start command (M2042) OFF

ON
All axes servo start accept command
(M2009) OFF

Servo ON

POINT
M2042 has been turned ON, it will not go OFF even if the CPU is set in the
STOP status.

(10) Motion slot module fault detection flag (M2047)

........................................................... Signal from PCPU to SCPU
This flag is used to determine whether the modules loaded in the motion slots
of the main base unit are "normal" or "abnormal".
• ON ...... Loaded module is abnormal
• OFF .... Loaded module is normal
The module information at power-on and the module information after power-
on are always checked to detect abnormality.
(a) When M2047 turns ON, the ERROR LED of the
A172SHCPUN/A171SHCPUN/A173UHCPU(S1) is lit.
The following message appears on the LED display of the A273UHCPU.

"SL00 UNIT ERROR"

I/O slot No. (0 to 7)

Base unit No. (0: Main base 1: Motion extension base)

(b) Use the sequence program to perform appropriate processing (e.g. stop
the operating axis or switch servo OFF) at detection of a fault.

3 − 40
3. POSITIONING SIGNALS

3.2 Data Registers

(1) Data registers

A273UHCPU (32 axis feature) /

A172SHCPUN A171SHCPUN
A173UHCPU (S1)
Device No. Purpose Device No. Purpose Device No. Purpose
Axis monitor
User device User device device
D0 D0 D0
(500 points) (500 points) (20 points × 32
axes)
Control change Control change Control change
register for SV43 register for SV43 register
D500 D500 D640
(6 points × 8 (6 points × 4 (2 points × 32
axes) axes) axes)
D704
Tool length offset Tool length offset Common device
D560 D560
data (40 points) data (40 points) (96 points)
D799
Axis monitor Axis monitor Axis monitor
device for SV43 device for SV43 device for SV43
D600 D600 D800
(20 points × 8 (20 points × 4 (20 points × 32
axes) axes) axes)
Control change
Unusable Unusable register for SV43
D760 D680 D1440
(40 points) (120 points) (6 points × 32
axes)
Axis monitor Axis monitor
device device Unusable
D800 D800 D1632
(20 points × 8 (20 points × 4 (18 points)
axes) axes)
Control change
register Unusable Tool length offset
D960 D880 D1650
(6 points × 8 (80 points) data (40 points)
axes)
Control change
D1008 D1690
Common device register User device
D960
(16 points) (6 points × 4 (6502 points)
D1023 D8191
axes)
Unusable
D984
(24 points)
D1008
Common device
(16 points)
D1023

POINT
• Total number of user device points
A273UHCPU
A172SHCPUN 800 points
(32 axis feature) 6502 points
A171SHCPUN 800 points A173UHCPU (S1)

3 − 41
3. POSITIONING SIGNALS

(2) Axis monitor devices

• Axis monitor devices for SV43
Axis A172SHCPUN A171SHCPUN
Signal name
No. Device No. Device No.
D600 D600
1 to to Refresh Fetch Signal
Signal name Unit
D619 D619 cycle cycle direction
D620 D620 0 Command
Current value
2 to to 1 unit
D639 D639 2 Execution sequence No. (main) −
D640 D640 3 Execution block No. (main) END −
3 to to 4 Execution program No. (sub) −
D659 D659 5 Execution sequence No. (sub) −
D660 D660 6 Execution block No. (sub) −
4 to to 7 Unusable − −
D679 D679 8 G43/44 command −
D680 9 Tool length offset data No. − SCPU←
END PCPU
5 to 10 Command
Tool length offset
D699 11 unit
D700 12 Unusable −
6 to 13 Unusable −
D719 14 Unusable −
D720 15 Unusable −
−
7 to 16 Unusable −
D739 17 Unusable −
D740 18 Unusable −
8 to 19 Unusable −
D759
• Axis monitor devices
Axis A172SHCPUN A171SHCPUN
Signal name
No. Device No. Device No.
D800 D800
1 to to Refresh Fetch Signal
Signal name Unit
D819 D819 cycle cycle direction
D820 D820 0 Command
Machine value
2 to to 1 unit
D839 D839 2 Command
Actual current value 3.5ms
D840 D840 3 unit
3 to to 4
Deviation counter value PLS
D859 D859 5
D860 D860 6 Minor error code Immedi- −
4 to to 7 Major error code ately −
D879 D879 8 Servo error code 10ms −
D880 9 Command SCPU←
Travel after DOG/CHANGE ON END
5 to 10 unit PCPU

D899 11 Home position return second travel PLS

D900 12 Execution program No. −
3.5ms
6 to 13 M code −
D919 14 Torque limit value %
D920 15 Unusable −
−
7 to 16 Unusable −
D939 17 Command
Actual present value at STOP input END
D940 18 unit
8 to 19 Unusable − −
D959

* The entry "END" in the Refresh Cycle column indicates 80ms or a longer sequence program scan time.

3 − 42
3. POSITIONING SIGNALS

(2) Axis monitor device

• Axis monitor device
A273UHCPU
Axis (32 axis feature)/
Signal name
No. A173UHCPU(S1)
Device No.
1 D0 to D19
2 D20 to D39 Refresh cycle Fetch cycle
Signal name
3 D40 to D59 Set No. of axis Set No. of axis Signal
Unit
4 D60 to D79 A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32 direction
SV43
5 D80 to D99 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
6 D100 to D119 0 Command
Machine value
7 D120 to D139 1 Unit
8 D140 to D159 2 Command
Actual current value 3.5ms 7.1ms 14.2ms
9 D160 to D179 3 Unit
10 D180 to D199 4
Deviation counter value PLS
11 D200 to D219 5
12 D220 to D239
6 Minor error code −
13 D240 to D259
Immediately
14 D260 to D279
7 Major error code −
15 D280 to D299
16 D300 to D319
8 Servo error code 10ms 20ms −
17 D320 to D339
18 D340 to D359 Home position return second SCPU
9 3.5ms 7.1ms 14.2ms PLS
19 D360 to D379 Travel ←
20 D380 to D399 10 Travel after DOG/CHANGE Command PCPU
END
21 D400 to D419 11 ON unit
22 D420 to D439
12 Execution program No. At start −
23 D440 to D459
24 D460 to D479 13 M code −
3.5ms 7.1ms 14.2ms
25 D480 to D499 14 Torque limit value %
26 D500 to D519
27 D520 to D539 15 Unusable −
28 D540 to D559 −
29 D560 to D579 16 Unusable −
30 D580 to D599 17 Unusable −
31 D600 to D619 18 Actual present value at stop Command
END
32 D620 to D639 19 input unit

*"END" in Refresh Cycle indicates a longer one of "50ms" and "sequence program scan time".

3 − 43
3. POSITIONING SIGNALS

(2) Axis monitor device

• Axis monitor device for SV43
A273UHCPU
Axis (32 axis feature)/
Signal name
No. A173UHCPU(S1)
Device No.
1 D800 to D819
2 D820 to D839 Refresh cycle Fetch cycle
Signal name
3 D840 to D859 Set No. of axis Set No. of axis Signal
Unit
4 D860 to D879 A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32 direction
SV43
5 D880 to D899 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
6 D900 to D919 0 Command
Current value
7 D920 to D939 1 Unit
8 D940 to D959 2 Execution sequence No. (main) −
9 D960 to D979 3 Execution block No. (main) −
END
10 D980 to D999 4 Execution program No. (sub) −
11 D1000 to D1019 5 Execution sequence No. (sub) −
12 D1020 to D1039
6 Execution block No. (sub) −
13 D1040 to D1059
14 D1060 to D1079
7 Unusable − −
15 D1080 to D1099
16 D1100 to D1119
8 G43/G44 command −
17 D1120 to D1139
18 D1140 to D1159 SCPU
9 Tool length offset data No. END −
19 D1160 to D1179 ←
20 D1180 to D1199 10 Command PCPU
Tool length offset
21 D1200 to D1219 11 unit
22 D1220 to D1239
12 Unusable −
23 D1240 to D1259
24 D1260 to D1279 13 Unusable −
25 D1280 to D1299 14 Unusable −
26 D1300 to D1319
27 D1320 to D1339 15 Unusable − −
28 D1340 to D1359
29 D1360 to D1379 16 Unusable −
30 D1380 to D1399 17 Unusable −
31 D1400 to D1419 18 Unusable −
32 D1420 to D1439 19 Unusable −

*"END" in Refresh Cycle indicates a longer one of "50ms" and "sequence program scan time".

3 − 44
3. POSITIONING SIGNALS

(3) Control change register

• Control change register for SV43
Axis A172SHCPUN A171SHCPUN
Signal name
No. Device No. Device No.
D500 D500
1 to to Refresh Fetch Signal
Signal name Unit
D505 D505 cycle cycle direction
D506 D506 0 Override ratio setting register 3.5ms %
2 to to 1 Unusable −
SCPU
D511 D511 2 Unusable −
→
D512 D512 3 Unusable − −
PCPU
3 to to 4 Unusable −
D517 D517 5 Unusable −
D518 D518
4 to to
D523 D523
D524
5 to
D529
D530
6 to
D535
D536
7 to
D541
D542
8 to
D547
D548 D524
to to Unusable
D559 D559

• Control change register

Axis A172SHCPUN A171SHCPUN
Signal name
No. Device No. Device No.
D960 D960
1 to to Refresh Fetch Signal
Signal name Unit
D965 D965 cycle cycle direction
D966 D966 0 Unusable −
2 to to 1 Unusable −
D971 D971 2 At SCPU
Command
Speed change flag DSFLP →
D972 D972 3 unit
execution PCPU
3 To To 4 Command
JOG speed setting register *1 At start
D977 D977 5 unit
D78 D78 (*1) indicates the backup register.
4 to to
D983 D983
D984
5 to
D989
D990
6 to
D995
D996
7 to
D1001
D1002
8 to
D1007

3 − 45
3. POSITIONING SIGNALS

(3) Control change register

• Control change register
A273UHCPU
Axis (32 axis feature)/
Signal name
No. A173UHCPU(S1)
Device No.
1 D640, D641
2 D642, D643 Refresh cycle Fetch cycle
Signal name
3 D644, D645 Set No. of axis Set No. of axis Signal
Unit
4 D646, D647 A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32 direction
SV43
5 D648, D649 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
6 D650, D651 0 Command SCPU
JOG speed setting register At start
7 D652, D653 1 unit → PCPU
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

3 − 46
3. POSITIONING SIGNALS

(3) Control change register

• Control change register for SV43
A273UHCPU
Axis (32 axis feature)/
Signal name
No. A173UHCPU(S1)
Device No.
1 D1440 to D1445
2 D1446 to D1451 Refresh cycle Fetch cycle
Signal name
3 D1452 to D1457 Set No. of axis Set No. of axis Signal
Unit
4 D1458 to D1463 A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32 direction
SV43
5 D1464 to D1469 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
6 D1470 to D1475 0 Override ratio setting register 3.5ms 7.1ms 14.2ms %
7 D1476 to D1481 1 Unusable − −
8 D1482 to D1487 2 Unusable − − SCPU
9 D1488 to D1493 3 Unusable − − → PCPU
10 D1494 to D1499 4 Unusable − −
11 D1500 to D1505 5 Unusable − −
12 D1506 to D1511
13 D1512 to D1517
14 D1518 to D1523
15 D1524 to D1529
16 D1530 to D1535
17 D1536 to D1541
18 D1542 to D1547
19 D1548 to D1553
20 D1554 to D1559
21 D1560 to D1565
22 D1566 to D1571
23 D1572 to D1577
24 D1578 to D1583
25 D1584 to D1589
26 D1590 to D1595
27 D1596 to D1601
28 D1602 to D1607
29 D1608 to D1613
30 D1614 to D1619
31 D1620 to D1625
32 D1626 to D1631

3 − 47
3. POSITIONING SIGNALS

(4) Common devices

A172SHCPUN A171SHCPUN
Device Refresh Signal Device Refresh Signal
Signal Name Fetch Cycle Signal Name Fetch Cycle
No. Cycle Direction No. Cycle Direction
D1008 D1008
D1009 Limit switch output disable D1009 Limit switch output disable
3.5ms 3.5ms
D1010 setting register (4 points) D1010 setting register (4 points)
D1011 D1011
SCPU SCPU
Manual Manual
→PCPU →PCPU
Setting Register for a axis pulse Setting Register for a axis pulse
D1012 number controlled with generator D1012 number controlled with generator
manual pulse generator 1 operation manual pulse generator 1 operation
enabled enabled
D1013 D1013
Unusable (2 points) − − − Unusable (2 points) − − −
D1014 D1014
JOG operation simultane- JOG operation simultane-
D1015 ous start axis setting At driving D1015 ous start axis setting At driving
register register
D1016 Axis 1 D1016 Axis 1 1 pulse input modi- Manual SCPU
D1017 Axis 2 D1017 Axis 2 fication setting reg- pulse →PCPU
D1018 Axis 3 1 pulse input modi- Manual SCPU D1018 Axis 3 ister for manual generator
fication setting pulse →PCPU pulse generator (4 operation
D1019 Axis 4 D1019 Axis 4
register for manual generator points) enabled
D1020 Axis 5 pulse generators operation D1020
D1021 Axis 6 (8 points) enabled D1021
Unusable (4 points) − − −
D1022 Axis 7 D1022
D1023 Axis 8 D1023

3 − 48
3. POSITIONING SIGNALS

(4) Common devices

A273UHCPU (32 axis feature) / A173UHCPU (S1)
Refresh cycle Fetch cycle
Signal name
Set No. of axis Set No. of axis
Device No. Signal direction
A173UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
SV43
A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
D704
D705
D706
Unusable (6 points) − − −
D707
D708
D709
D710
D711
JOG simultaneous start axis setting register At start
D712
D713
D714
Manual pulse generator 1 axis No. setting register
D715
D716
Manual pulse generator 2 axis No. setting register
D717
D718
Manual pulse generator 3 axis No. setting register
D719
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
SCPU → PCPU
D734 Axis 15
D735 Axis 16 Manual pulse generator 1-pulse input magnification
When manual pulse generator enable
D736 Axis 17 setting register
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
Manual pulse generator 1 smoothing magnification setting regis-
D752
ter
Manual pulse generator 2 smoothing magnification setting regis-
D753
ter
Manual pulse generator 3 smoothing magnification setting regis-
D754
ter
D755
D756
D757 Unusable (5 points) − − −
D758
D759
D760
D761
D762
D763
D764
D765
D766
D767
Limit switch output disable setting register
D768
D769
D770
D771
D772
D773
D774
D775
3.5ms 7.1ms 14.2ms
D776
D777
D778
D779
D780 SCPU → PCPU
D781
D782
D783
Limit switch output status storage register
D784
D785
D786
D787
D788
D789
D790
D791
D792
D793
D794
D795
Servo amplifier type At power ON
D796
D797
D798
D799

3 − 49
3. POSITIONING SIGNALS

3.2.1 Axis monitor devices

(1) Monitor data areas (D600 to D759, D800 to D959, D800 to D1439, D0 to D639)
.........................................................................................Data from PCPU to SCPU
The monitor data areas are used by the PCPU to store data such as the
present value, actual machine value and deviation counter's droop pulse value
during positioning control.
They can be used to check the positioning control status in the sequence
program.
The user cannot write data into the monitor data areas.
For the delay time from when a positioning device (input, internal relay, special
relay) turns ON/OFF until data is stored into the monitor data area, refer to
Appendix 6 Processing Time List.
(a) Present value..........................................................Data from PCPU to SCPU
1) This register stores the address in the work coordinate system (G54 to
G59) specified in the motion program.
This value is stored on the assumption that 0.0001mm is equal to 1.
(1mm = 10000)
The following assumes that the setting from the peripheral device is
G54=1000.
Machine value 10000000 0

Machine value zero position

Present value 0 -1000000

Work coordinate system G54 zero position

At the 10000000 position of the machine value, the present value is 0.

2) The present value shifts 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 status, the present value is as follows.
Machine value 10000000 0

Machine value zero position

Present value 0 -1000000

Work coordinate system G54 zero position

"G92 X500." executed
5000000 0 -5000000

The 0 position of the present value is re-set to 500., which results in the
present value of 5000000.

3 − 50
3. POSITIONING SIGNALS

(b) Execution sequence No. (main) storage register ...Data from PCPU to SCPU
This register stores the N No. (sequence No.) of the main sequence being
executed.
This number changes to zero at a motion program start.
The following data are the changes of the execution motion program No.,
execution sequence No. and execution block No.
Program Execution motion program No. Execution sequence No. Execution block No.
0001; 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

(c) Execution block No. (main) storage register...........Data from PCPU to SCPU
This register stores the block No. being executed.
This number changes to zero when the motion program is started by the
DSFRP/SVST instruction.
This number changes to zero when the sequence No. (N****) described in
the motion program is executed, and is incremented every time a single
block is executed. (Be careful when executing the IF-THEN-ELSE-END or
WHILE-DO instruction. For details, refer to Sections 6.11.2 and 6.11.3.)
(d) Execution program No. (sub) storage register .......Data from PCPU to SCPU
1) This register stores the 0 No. of the subprogram started by "M98"
(subprogram call).
2) When a subprogram is called from a subprogram, this number changes
to the 0 No. of the subprogram called.
When the subprogram is ended by "M99", this number changes to the 0
No. of the subprogram which called.
3) This number changes to 0 when the motion program is started by the
DSFRP/SVST instruction.
(e) Execution sequence No. (sub) storage register .....Data from PCPU to SCPU
1) This register stores the 0 No. of the subprogram started by "M98"
(subprogram call).
2) When a subprogram is called from a subprogram, this number changes
to the 0 No. of the subprogram called.
When the subprogram is ended by "M99", this number changes to the 0
No. of the subprogram which called.
3) This number changes to 0 when the motion program is started by the
DSFRP/SVST instruction.
(f) Execution block No. (sub) storage register .............Data from PCPU to SCPU
1) This register stores the block No. of the subprogram started by "M98"
(subprogram call).
2) 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.
3) This number changes to 0 when the motion program is started by the
DSFRP/SVST instruction.

3 − 51
3. POSITIONING SIGNALS

(g) G43/G44 instruction storage register......................Data from PCPU to SCPU

1) Any of the following values is stored 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
2) This value defaults to 0.
(h) Tool length offset data No ......................................Data from PCPU to SCPU
1) When the tool length offset (G43, G44) command is given, this register
stores the preset tool length offset data No.
[Example] When the X axis is assigned to axis 3
"G43 X100. H20;" is executed.
↓
20 is stored into D649.
2) This value defaults to 0.
(i) Tool length offset
1) This register stores the offset value specified in the tool length offset data
No.
2) When the tool length offset (G43, G44) command is given, the contents
of the corresponding data registers (D560 to D599: offset value) are
stored into the tool length offset area according to the preset tool length
offset data No.
[Example] When the X axis is assigned to axis 3
D560 = 50000 (H1 = 5.0000mm)
"G43 X50. H1;" is executed.
↓
50000 is stored into D610 and D611.

"G49 X50.;" is executed.

↓
0 is stored into D610 and D611.
(j) Machine value storage register................................Data from PCPU to SCPU
The machine value represents the address in the mechanical coordinate
system determined by a home position return.
This value remains unchanged 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.
(k) Actual machine value..............................................Data from PCPU to SCPU
1) This register stores the actual motor position (machine value - deviation
counter value).
2) In a stop status, the machine value is equal to the actual machine value.
(At a motor stop, the servo lock force of the motor causes the actual
machine value to vary slightly.)
(l) Deviation counter value (droop pulses) ...................Data from PCPU to SCPU
This register stores the difference between the machine value and actual
machine value.

3 − 52
3. POSITIONING SIGNALS

(m) Minor error code ....................................................Data from PCPU to SCPU

1) This register stores the corresponding error code at occurrence of a
minor error.
If another minor error occurs after the storage of the error code, the old
error code is overwritten by a new error code.
2) Use the error reset (M1807+20n) to clear the minor error code.
(n) Major error code .....................................................Data from PCPU to SCPU
1) This register stores the corresponding error code at occurrence of a
major error.
If another major error occurs after the storage of the error code, the old
error code is overwritten by a new error code.
2) Use the error reset (M1807+20n) to clear the major error code.
(o) Servo error code .....................................................Data from PCPU to SCPU
1) This register stores the corresponding error code at occurrence of a
servo error.
If another servo error occurs after the storage of the error code, the old
error code is overwritten by a new error code.
2) Use the servo error reset (M1808+20n) to clear the servo error code.
(p) After near-zero point dog ON travel storage register
................................................................................Data from PCPU to SCPU
This register stores the distance (unsigned) traveled from when the near-
zero point dog turns ON after start of home position return until completion
of home position return.
(q) Home position return second travel storage register
................................................................................Data from PCPU to SCPU
If the position where the axis has stopped as specified in the travel setting
after near-zero point dog ON by the peripheral device is not the zero point,
the axis is moved to the zero point in the second travel.
At this time, this register stores the distance (signed) traveled by the axis up
to the zero point in the second travel.
(In the data setting type, the data remains unchanged from the previous
value.)
(r) Execution program No. (main) storage register ......Data from PCPU to SCPU
1) When the SVST instruction is executed, this register stores the 0 No.
(motion program No.) of the main program being run.
The 0 No. of the subprogram started by "M98" (subprogram call) is
stored into another register.
2) When JOG operation, manual pulse generator operation or home
position return operation is performed, the corresponding value is stored
as follows.
• JOG operation ....................................... FFFFH
• Manual pulse generator operation......... FFFEH
• Home position return operation ............. FFFCH
• At power-on ........................................... FF00H
3) FFFDH is stored while the following items are executed in the test mode
using peripheral device.
• Home position return is made.
• Position loop gain or position control gain 1 check is executed in servo
diagnostics.
(s) M code storage register ..........................................Data from PCPU to SCPU
1) The M code set in the motion program is stored at the start of executing
that block.
This value is "0" if the M code is not set in the motion program.
2) The preceding value remains until the M code is executed next.

3 − 53
3. POSITIONING SIGNALS

(t) Torque limit value storage register ..........................Data from PCPU to SCPU
This register stores the torque limit value commanded to the servo.
300% is stored at power-on of the servo or on the leading edge of PC ready
(M2000).
(u) STOP input-time actual machine value storage register
................................................................................Data from PCPU to SCPU
This area stores the actual machine value at input of the external "STOP"
signal.

3 − 54
3. POSITIONING SIGNALS

3.2.2 Control change registers

(1) Control changing data storage areas (D500 to D559, D960 to D1007, D1440 to
D1631, D640 to D703) ................................................Data from SCPU to PCPU
The control changing data storage areas are used to store the override ratio
setting data, speed change data and JOG operation speed data.
(a) Override ratio setting register
1) This register is used to set the override ratio of 0 to 100% in 1%
increments to the command speed in the motion program.
2) The actual feed rate is the result of multiplying the command speed in the
motion program by the override ratio of 0 to 100% in 1% increments.
3) Refer to Section 7.10 for details of override ratio setting.
(b) Speed change register
1) When the speed of the operating axis is changed, this register stores a
new speed.
2) The ranges of setting made to the speed change register are indicated
below.
Unit mm inch degree
Item Setting range Unit Setting range Unit Setting range Unit
×10 mm/min ×10 inch/min ×10 degree/min
-2 -3 -3
New speed value 0 to 600000000 0 to 600000000 0 to 2147483647

3) Execution of the positioning control change instruction (DSFLP) causes

the value set in the speed change register to be used as the positioning
speed.
4) Refer to Section 7.7 for details of speed changing.
(c) JOG speed setting register
1) This register stores the JOG speed for JOG operation.
2) The setting ranges of the JOG speed are indicated below.
Unit mm inch degree
Item Setting range Unit Setting range Unit Setting range Unit
×10 mm/min ×10 inch/min ×10 degree/min
-2 -3 -3
JOG speed 1 to 600000000 0 to 600000000 0 to 2147483647

3) The JOG speed is the value stored in the JOG speed setting register on
the leading edge (OFF to ON) of the JOG start signal.
The JOG speed cannot be changed if the data is changed during JOG
operation.
4) Refer to Section 7.8 for details of JOG operation.

3 − 55
3. POSITIONING SIGNALS

3.2.3 Tool length offset data

(1) Tool length offset data setting registers (D560 to D599/D1650 to D1689)
.....................................................................................Data from SCPU to PCPU
(a) These registers are used to set the tool length offset values.
(b) The tool length offset data No. can be set within the range H1 to H20.
Tool length offset data setting registers
Corresponding Registers Corresponding Registers
Tool Length Offset Data
A172SHCPUN/A171SHCPUN A273UHCPU (32 axis feature) / A173UHCPU (S1)
No.
Upper Lower Upper Lower
H1 D561 D560 D1651 D1650
H2 D563 D562 D1653 D1652
H3 D565 D564 D1655 D1654
H4 D567 D566 D1657 D1656
H5 D569 D568 D1659 D1658
H6 D571 D570 D1661 D1660
H7 D573 D572 D1663 D1662
H8 D575 D574 D1665 D1664
H9 D577 D576 D1667 D1666
H10 D579 D578 D1669 D1668
H11 D581 D580 D1671 D1670
H12 D583 D582 D1673 D1672
H13 D585 D584 D1675 D1674
H14 D587 D586 D1677 D1676
H15 D589 D588 D1679 D1678
H16 D591 D590 D1681 D1680
H17 D593 D592 D1683 D1682
H18 D595 D594 D1685 D1684
H19 D597 D596 D1687 D1686
H20 D599 D598 D1689 D1688

(c) The setting ranges of the tool length offset data are indicated below.
Unit mm degree
Item Setting range Unit Setting range Unit
Tool -999.9999 -359.99999
compensation to mm to degree
(H1 to H20) 999.9999 359.99999

(d) Refer to Sections 6.8.16 and 6.8.17 for the tool length offset details.

3 − 56
3. POSITIONING SIGNALS

3.2.4 Common device

3.2.4.1 A172SHCPUN/A171SHCPUN

(1) Limit switch output disable setting register (D1008 to D1011) .......... Data from
SCPU to PCPU
(a) This is a register for disabling the external output of limit switch output in 1
point units. If a bit is set to "1", the output of the corresponding limit switch is
disabled, then the external output goes OFF.

<A172SHCPUN>

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D1008 LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00

For axis 2 For axis 1

D1009 LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10

For axis 4 For axis 3

D1010 LY2F LY2E LY2D LY2C LY2B LY2A LY29 LY28 LY27 LY26 LY25 LY24 LY23 LY22 LY21 LY20

For axis 6 For axis 5

D1011 LY3F LY3E LY3D LY3C LY3B LY3A LY39 LY38 LY37 LY36 LY35 LY34 LY33 LY32 LY31 LY30

For axis 8 For axis 7

1) "1" or "0" is stored for each bit.
1: Disable The limit switch output status is OFF.
0: Enable The limit switch output comes ON and goes OFF in accordance with
the set data.
2) LY of LY00 to LY3F shows the limit switch output.

<A171SHCPUN>

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D1008 LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00

For axis 2 For axis 1

D1009 LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10

For axis 4 For axis 3

1) "1" or "0" is stored for each bit.
1: Disable The limit switch output status is OFF.
0: Enable The limit switch output comes ON and goes OFF in accordance with
the set data.
2) LY of LY00 to LY1F shows the limit switch output.

3 − 57
3. POSITIONING SIGNALS

(2) Registers for setting axis numbers controlled by manual pulse generators
(D1012) ......Data from SCPU to PCPU
(a) These registers store the axis numbers controlled by manual pulse
generators.

b15 b12 b11 b8 b7 b4 b3 b0

P1 D1012

3 digits 2 digits 1 digit

With a maximum of 3 decimal digits, set the controlled axes for each digit.
A172SHCPUN Axis 1 to 8
A171SHCPUN Axis 1 to 4

(b) For details on manual pulse generator operation, see Section 7.9.

(3) JOG operation simultaneous start axis setting register (D1015) .......Data from
SCPU to PCPU
(a) This register is used to set the axis numbers of axes on which JOG
operation is to be executed, and the direction of motion.

<A172SHCPUN>

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D1015 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axes started in reverse JOG operation Axes started in forward JOG operation

*The possible settings for each axis moved in a simultaneous start JOG operation are "1" to "0".
1: Simultaneous start executed
0: Simultaneous start not executed

<A171SHCPUN>

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D1015 Axis 4 Axis 3 Axis 2 Axis 1 Axis 4 Axis 3 Axis 2 Axis 1

Axes started in reverse JOG operation Axes started in forward JOG operation

*The possible settings for each axis moved in a simultaneous start JOG operation are "1" to "0".
1: Simultaneous start executed
0: Simultaneous start not executed

(b) For details on simultaneous starting in JOG operation, see Section 7.8.2.

3 − 58
3. POSITIONING SIGNALS

(4) 1 pulse input magnification setting registers for manual pulse generators
(D1016 to D1023).........................................................Data from SCPU to PCPU
(a) This register is used to set the magnification (from 1 to 100) per pulse for
the number of input pulses from a manual pulse generator in manual pulse
generator operation.
<A172SHCPUN>
1-pulse Input Magnification Corresponding Axis Setting Range
Setting Register No.
D1016 Axis 1
D1017 Axis 2
D1018 Axis 3
D1019 Axis 4
1 to 100
D1020 Axis 5
D1021 Axis 6
D1022 Axis 7
D1023 Axis 8

<A171SHCPUN>
1-pulse Input Magnification Corresponding Axis Setting Range
Setting Register No.
D1016 Axis 1
D1017 Axis 2
1 to 100
D1018 Axis 3
D1019 Axis 4

(b) For details on manual pulse generator operation, see Section 7.9.

3 − 59
3. POSITIONING SIGNALS

3.2.4.2 A273UHCPU (32 axis feature)/A173UHCPU(S1)

(1) Jog operation simultaneous start axis setting registers (D710 to D713)
.....................................................................................Data from SCPU to PCPU
(a) These registers are used to set the axis numbers and directions of the axes
which are simultaneously started for 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 JOG operation

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 JOG operation

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

*The possible settings for each axis moved in a simultaneous start JOG operation are "1" to "0".
1: Simultaneous start executed
0: Simultaneous start not executed

(b) Refer to Section 7.19.3 for details of simultaneous start of JOG operation.

(2) Manual pulse generator-controlled axis No. setting registers (D714 to D719)
.....................................................................................Data from SCPU to PCPU
(a) These registers are used to store the axis numbers controlled by the manual
pulse generators.

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

*The possible settings for each axis moved in a simultaneous start JOG operation are "1" to "0".
1: Simultaneous start executed
0: Simultaneous start not executed

(b) Refer to Section 7.20 for details of manual pulse generator operation.

3 − 60
3. POSITIONING SIGNALS

(3) 1 pulse input magnification setting registers for manual pulse generators (D720
to D751) .......................................................................Data from SCPU to PCPU
(a) This register is used to set the magnification (from 1 to 100) per pulse for
the number of input pulses from a manual pulse generator in manual pulse
generator operation.
1-pulse Input 1-pulse Input
Corresponding Axis Corresponding Axis
Magnification Setting Setting Range Magnification Setting Setting Range
No. No.
Register 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 100 1 to 100
D728 Axis 9 D744 Axis 24
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

(b) For details on manual pulse generator operation, see Section 7.9.
(4) Manual pulse generator smoothing magnification setting area (D752 to D754)
.....................................................................................Data from SCPU to PCPU
(a) These devices are used to set the smoothing time constants of the manual
pulse generators.
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

(b) By setting the smoothing magnification, the smoothing time constant is as

indicated by the following equation.
Smoothing time constant (t) = (smoothing magnification + 1) × 56.8 [ms]
(c) Operation
Manual pulse generator input

ON
Manual pulse generator enable flag
(M2051) OFF

V
V1

t t t t

Output speed (V1) = (number of input pulses/ms) (manual pulse generator 1-pulse input magnification setting)
Travel (L) = (travel per pulse) (number of input pulses) (manual pulse generator 1-pulse input magnification setting)

REMARKS
1) The travel per pulse of the manual pulse generator is as follows.
Setting unit mm :0.1 m
inch :0.00001inch
degree :0.00001degree
PULSE :1pulse
2) The smoothing time constant is 56.8ms to 3408ms.

3 − 61
3. POSITIONING SIGNALS

(5) Limit switch output disable setting registers (D760 to D775)

.....................................................................................Data from SCPU to PCPU
(a) These registers are used to disable the external outputs of the limit switch
outputs on a point by point basis. Set the corresponding bit to 1 to disable
the limit switch output and turn OFF the external output.

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D760 LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00

For axis 2 For axis 1

D761 LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10

For axis 4 For axis 3

D762 LY2F LY2E LY2D LY2C LY2B LY2A LY29 LY28 LY27 LY26 LY25 LY24 LY23 LY22 LY21 LY20

For axis 6 For axis 5

D763 LY3F LY3E LY3D LY3C LY3B LY3A LY39 LY38 LY37 LY36 LY35 LY34 LY33 LY32 LY31 LY30

For axis 8 For axis 7

D764 LY4F LY4E LY4D LY4C LY4B LY4A LY49 LY48 LY47 LY46 LY45 LY44 LY43 LY42 LY41 LY40

For axis 10 For axis 9

D765 LY5F LY5E LY5D LY5C LY5B LY5A LY59 LY58 LY57 LY56 LY55 LY54 LY53 LY52 LY51 LY50

For axis 12 For axis 11

D766 LY6F LY6E LY6D LY6C LY6B LY6A LY69 LY68 LY67 LY66 LY65 LY64 LY63 LY62 LY61 LY60

For axis 14 For axis 13

D767 LY7F LY7E LY7D LY7C LY7B LY7A LY79 LY78 LY77 LY76 LY75 LY74 LY73 LY72 LY71 LY70

For axis 16 For axis 15

D768 LY8F LY8E LY8D LY8C LY8B LY8A LY89 LY88 LY87 LY86 LY85 LY84 LY83 LY82 LY81 LY80

For axis 18 For axis 17

D769 LY9F LY9E LY9D LY9C LY9B LY9A LY99 LY98 LY97 LY96 LY95 LY94 LY93 LY92 LY91 LY90

For axis 20 For axis 19

D770 LYAF LYAE LYAD LYAC LYAB LYAA LYA9 LYA8 LYA7 LYA6 LYA5 LYA4 LYA3 LYA2 LYA1 LYA0

For axis 22 For axis 21

D771 LYBF LYBE LYBD LYBC LYBB LYBA LYB9 LYB8 LYB7 LYB6 LYB5 LYB4 LYB3 LYB2 LYB1 LYB0

For axis 24 For axis 23

D772 LYCF LYCE LYCD LYCC LYCB LYCA LYC9 LYC8 LYC7 LYC6 LYC5 LYC4 LYC3 LYC2 LYC1 LYC0

For axis 26 For axis 25

D773 LYDF LYDE LYDD LYDC LYDB LYDA LYD9 LYD8 LYD7 LYD6 LYD5 LYD4 LYD3 LYD2 LYD1 LYD0

For axis 28 For axis 27

D774 LYEF LYEE LYED LYEC LYEB LYEA LYE9 LYE8 LYE7 LYE6 LYE5 LYE4 LYE3 LYE2 LYE1 LYE0

For axis 30 For axis 29

D775 LYFF LYFE LYFD LYFC LYFB LYFA LYF9 LYF8 LYF7 LYF6 LYF5 LYF4 LYF3 LYF2 LYF1 LYF0

For axis 32 For axis 31

1) Specify 1 or 0 to set each bit.

1: Disable ..... Limit switch output remains OFF.
0: Enable ...... Limit switch output turns ON/OFF based on set data.
2) "LY" in LY00 to LYFF indicates limit switch output.

3 − 62
3. POSITIONING SIGNALS

(6) Limit switch output status storage registers (D776 to D791)

.....................................................................................Data from PCPU to SCPU
(a) The output states (ON/OFF) of the limit switch outputs set on the peripheral
device and output to the AY42 are stored in terms of 1 and 0.
• ON .........................................1
• OFF........................................0
(b) These registers can be used to export the limit switch output data in the
sequence program, for example.

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D776 LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00

Axis 2 Axis 1

D777 LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10

Axis 4 Axis 3

D778 LY2F LY2E LY2D LY2C LY2B LY2A LY29 LY28 LY27 LY26 LY25 LY24 LY23 LY22 LY21 LY20

Axis 6 Axis 5

D779 LY3F LY3E LY3D LY3C LY3B LY3A LY39 LY38 LY37 LY36 LY35 LY34 LY33 LY32 LY31 LY30

Axis 8 Axis 7

D780 LY4F LY4E LY4D LY4C LY4B LY4A LY49 LY48 LY47 LY46 LY45 LY44 LY43 LY42 LY41 LY40

Axis 10 Axis 9

D781 LY5F LY5E LY5D LY5C LY5B LY5A LY59 LY58 LY57 LY56 LY55 LY54 LY53 LY52 LY51 LY50

Axis 12 Axis 11

D782 LY6F LY6E LY6D LY6C LY6B LY6A LY69 LY68 LY67 LY66 LY65 LY64 LY63 LY62 LY61 LY60

Axis 14 Axis 13

D783 LY7F LY7E LY7D LY7C LY7B LY7A LY79 LY78 LY77 LY76 LY75 LY74 LY73 LY72 LY71 LY70

Axis 16 Axis 15

D784 LY8F LY8E LY8D LY8C LY8B LY8A LY89 LY88 LY87 LY86 LY85 LY84 LY83 LY82 LY81 LY80

Axis 18 Axis 17

D785 LY9F LY9E LY9D LY9C LY9B LY9A LY99 LY98 LY97 LY96 LY95 LY94 LY93 LY92 LY91 LY90

Axis 20 Axis 19

D786 LYAF LYAE LYAD LYAC LYAB LYAA LYA9 LYA8 LYA7 LYA6 LYA5 LYA4 LYA3 LYA2 LYA1 LYA0

Axis 22 Axis 21

D787 LYBF LYBE LYBD LYBC LYBB LYBA LYB9 LYB8 LYB7 LYB6 LYB5 LYB4 LYB3 LYB2 LYB1 LYB0

Axis 24 Axis 23

D788 LYCF LYCE LYCD LYCC LYCB LYCA LYC9 LYC8 LYC7 LYC6 LYC5 LYC4 LYC3 LYC2 LYC1 LYC0

Axis 26 Axis 25

D789 LYDF LYDE LYDD LYDC LYDB LYDA LYD9 LYD8 LYD7 LYD6 LYD5 LYD4 LYD3 LYD2 LYD1 LYD0

Axis 28 Axis 27

D790 LYEF LYEE LYED LYEC LYEB LYEA LYE9 LYE8 LYE7 LYE6 LYE5 LYE4 LYE3 LYE2 LYE1 LYE0

Axis 30 Axis 29

D791 LYFF LYFE LYFD LYFC LYFB LYFA LYF9 LYF8 LYF7 LYF6 LYF5 LYF4 LYF3 LYF2 LYF1 LYF0

Axis 32 Axis 31
"1" or "0" is set at each bit of D776 to D791.
ON 1
OFF 0

REMARK
LY in LY of D776 to D791 indicates limit switch output.

3 − 63
3. POSITIONING SIGNALS

(7) Servo amplifier type (D792 to D799) ........................... Data from PCPU to SCPU
The servo amplifier types set in system settings are stored when the servo
system CPU control power supply (A6 P) is switched on or reset.

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 Unused axis
1 ADU (Main base)
2 MR- -B
3 ADU (Motion extension base)

3 − 64
3. POSITIONING SIGNALS

3.3 Special Relays (SP.M)

The servo system CPU has 256 special relay points from M9000 to M9255.
Of there, the 7 points from M9073 to M9079 are used for positioning control, and
their applications are indicated in Table 3.1.

Table 3.1 Special Relays

Device No. Signal Name Fetch Cycle Refresh Cycle Signal Direction
M9073 PCPU WDT error flag
M9074 PCPU REDAY-completed flag
M9075 In-test-mode flag
M9076 External emergency stop input flag END PCPU → SCPU
M9077 Manual pulse generator axis setting error flag
M9078 Test mode request error flag
M9079 Servo program setting error flag

*"END" in Refresh Cycle indicates a longer one of "80ms" and "sequence program scan time".

(1) PCPU WDT error flag (M9073).....................Signal sent from PCPU to SCPU
This flag comes ON when a "watchdog timer error" is detected by the PCPU's
self-diagnosis function.
When the PCPU detects a WDT error, it executes an immediate stop without
deceleration on the driven axis.
When the WDT error flag has come ON, reset the servo system CPU with the
key switch.
If M9073 remains ON after resetting, there is a fault at the PCPU side.
The error cause is stored in the PCPU error cause storage area (D9184) (see
Section 3.4 (2)).

(2) PCPU REDAY-completed flag (M9074)...... Signal sent from PCPU to SCPU
This flag is used to determine whether the PCPU is normal or abnormal from
the sequence program.
(a) When the PC READY flag (M2000) turns from OFF to ON, the fixed
parameters, servo parameters, limit switch output data, etc., are checked,
and if no error is detected the PCPU READY-completed flag comes ON.
The servo parameters are written to the servo amplifiers and the M codes
are cleared.
(b) When the PC READY flag (M2000) goes OFF, the PCPU READY-
completed flag also goes OFF

PC READY
(M2000) t

PCPU READY
completed flag Writing of servo parameters to
(M9074) servo amplifiers
Clearance of M codes

3 − 65
3. POSITIONING SIGNALS

(3) In-test-mode(M9075) ......Signal from PCPU to SCPU

(a) This flag is used to determine whether or not a test mode established from
a peripheral device is currently effective. Use it, for example, for an interlock
effective when starting a servo program with a DSFRP/SVST instruction in
the sequence program.
• OFF ....... When the test mode is not in effect
• ON ......... When the test mode is in effect
(b) If a test mode request is issued from a peripheral device but the test mode
is not established, the test mode request error flag (M9078) comes ON.

(4) External emergency stop input flag (M9076) Signal from PCPU to SCPU
This flag is used to check the ON or OFF status of external emergency stop
signal input at the EMG terminal.
• OFF ...... External emergency stop input is ON
• ON........ External emergency stop input is OFF

(5) Manual pulse generator axis setting error flag (M9077) ....... Signal sent from
PCPU to SCPU
(a) This flag is used to determine whether the setting in the manual pulse
generator axis setting register (D1012/D714 to D719) is normal or
abnormal.
• OFF ....... When D1012/D714 to D719 is normal
• ON ......... When D1012/D714 to D719 is abnormal
(b) When M9077 comes ON, the error contents are stored in the manual pulse
generator axis setting error register (D9187).

3 − 66
3. POSITIONING SIGNALS

(6) Test mode request error flag (M9078) ......Signal sent from PCPU to SCPU
(a) This flag comes ON if the test mode is not established when a test mode
request is sent from a peripheral device
(b) When M9078 comes ON, the error contents are stored in the test mode
request error register (D9188/D9182, D9183).

POINTS
(1) When an emergency stop signal (EMG) is input during positioning, the
feed present value is advanced within the rapid stop deceleration time set
in the parameter block. At the same time, the servo OFF status is
established because the all axes servo start command (M2042) goes
OFF. When the rapid stop deceleration time has elapsed after input of
the emergency stop signal, the feed present value returns to the value at
the point when the emergency stop was initiated.

(2) If the emergency stop is reset before the emergency stop deceleration
time has elapsed, a servo error occurs.

(3) If you do not want to establish the servo ON status immediately after an
emergency stop has been reset, include the following section in the
sequence program.
All axes servo start command
execution signal
PLS M0
M0
SET M2042

(7) Motion program setting error flag (M9079) ...Signal from PCPU to SCPU
This flag is used to determine whether the positioning data of the motion
program designated by a DSFRP/SVST instruction is normal or abnormal.
• OFF ...... Normal
• ON........ Abnormal

3 − 67
3. POSITIONING SIGNALS

3.4 Special Registers (SP.D)

3.4.1 A172SHCPUN/A171SHCPUN

A servo system CPU has 256 special register points from D9000 to D9255.
Of these, the 20 points from D9180 to D9199 are used for positioning control.
The special registers used for positioning are shown in the table below (for the
applications of special registers other than D9180 to D9199, see Appendix 3.2.)

Table 3.2 Special Registers

A172SH

CPUN/

A171SH
Signal Name Refresh Cycle Fetch Cycle Signal Direction
CPUN

Device

Number

D9180
D9181
Limit switch output status 3.5ms
D9182
D9183
At PCPU WDT error
D9184 PCPU WDT error cause
occurrence
D9185
Servo amplifier type Power ON SCPU←PCPU
D9186
Manual pulse generator axis setting Manual pulse generator
D9187
error information operation enabled
D9188 Test mode request error information Test mode request
D9189 Error program number
At driving
D9190 Error item information
D9191 Servo amplifier loading information Power ON, 10 ms
Manual pulse generator 1 smoothing Manual pulse generator
D9192 SCPU→PCPU
magnification setting register operation enabled
D9193
D9194 Unusable − − −
D9195
D9196 PC link communication error code 3.5ms SCPU←PCPU
D9197
D9198 Unusable − − −
D9199

3 − 68
3. POSITIONING SIGNALS

(1) Limit switch output status storage register (D9180 to D9183) ...... Data from
PCPU to SCPU
(a) This register stores the output status (ON/OFF) for limit switch output to
AY42 with a peripheral device as "1" or "0".
• ON ........ 1
• OFF ...... 0
(b) This register can be used for purposes such as outputting limit switch output
data to external destinations by using the sequence program.
<A172SHCPUN>

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D9180 LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00

For axis 2 For axis 1

D9181 LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10

For axis 4 For axis 3

D9182 LY2F LY2E LY2D LY2C LY2B LY2A LY29 LY28 LY27 LY26 LY25 LY24 LY23 LY22 LY21 LY20

For axis 6 For axis 5

D9183 LY3F LY3E LY3D LY3C LY3B LY3A LY39 LY38 LY37 LY36 LY35 LY34 LY33 LY32 LY31 LY30

For axis 8 For axis 7

*"1" or "0" is set at each bit of D9180 to D9183.

ON 1
OFF 0

REMARK
"LY" in LY of D9180 to D9181 indicates a limit switch output.

<A171SHCPUN>

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D9180 LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00

For axis 2 For axis 1

D9181 LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10

For axis 4 For axis 3

*"1" or "0" is set at each bit of D9180 to D9181.

ON 1
OFF 0

REMARK
"LY" in LY of D9180 to D9181 indicates a limit switch output.

3 − 69
3. POSITIONING SIGNALS

(2) PCPU error cause(D9184) .......Data from PCPU to SCPU

This register is used to identify the nature of errors occurring in the PCPU part
of
the servo system.
Operation when Error
Error Code Error Cause Action to Take
Occurs
1 PCPU software fault 1 All axes stop immediately, Reset with the reset key.
2 PCPU operation synchronization time over after which operation
3 PCPU software fault 2 cannot be started.
30 PCPU/SCPU hardware fault
Hardware fault of module loaded on motion main Reset with the reset key.
base unit or extension base unit. If the error reoccurs after
Indicates the slot number (0,1) where resetting, the relevant
200
200 the module with the fault is loaded. module or the relevant
201 Indicates the stage number of the base slot (base unit) is
on which the module with the fault is probably faulty: replace
loaded. the module/base unit.
0: Main base

SSCNET interface hardware fault Exchange the CPU unit.

250
250
Faulty SSCNET No.
251
0: SSCNET 1 (Amplifier interface)
1: SSCNET 2 (PC link interface)

300 PCPU software fault 3 Reset with the reset key.

Data stored in flash ROM is not normal when CPU power Data in flash ROM is not After checking the
is switched on in "ROM operation mode" setting loaded into built-in SRAM program parameter of
(registered code is unauthorized). and "ROM operation the built-in SRAM,
mode" is not established. perform "ROM write →
After that, a STOP status ROM operation mode"
is set up and a start is not operation again.
302 made. If the error recurs, the
flash ROM has reached
the end of its life.
Perform operation in
"RAM operation mode"
or change the CPU
module.

3 − 70
3. POSITIONING SIGNALS

(3) Servo amplifier classification (D9185 to D9186) .......Data from PCPU to SCPU
On switching on the power to the servo system CPU or resetting, the servo
amplifier type set in the system settings is set in these devices.
(a) A172SHCPUN

b15 to b12 b11 to b8 b7 to b4 b3 to b0

D9185 Axis 4 Axis 3 Axis 2 Axis 1
D9186 Axis 8 Axis 7 Axis 6 Axis 5

Servo amplifier type

0 Unused axis
2 MR- -B

(b) A171SHCPUN

b15 to b12 b11 to b8 b7 to b4 b3 to b0

D9185 Axis 4 Axis 3 Axis 2 Axis 1
D9186 0

Servo amplifier type

0 Unused axis
2 MR- -B

3 − 71
3. POSITIONING SIGNALS

(4) Manual pulse generator axis setting error (D9187).......Data from PCPU to
SCPU
When the manual pulse generator axis setting error flag (M9077) turns ON, the
definition of the manual pulse generator axis setting error is stored into this
register.
(a) A172SHCPUN
b15 b14 b13 b12 b11 b10 b9 b8 b3 b0
D9187 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 0 P1 0 P1

Manual pulse generator axis

setting error
1 pulse input magnification setting error
0: Normal
0: Normal
1: Setting error
1: Setting error (Outside the range 1 to 10000)
(When the axis setting for
each digit is outside the
range 1 to 8)

Manual pulse generator

smoothing magnification setting
error
0: Normal
1: Setting error
(Outside the range 0 to 59)

(b) A171SHCPUN
b15 b11 b10 b9 b8 b3 b0
D9187 0 Axis 4 Axis 3 Axis 2 Axis 1 0 P1 0 P1

Manual pulse generator axis

setting error
1 pulse input magnification setting error
0: Normal
0: Normal
1: Setting error
1: Setting error (Outside the range 1 to 100)
(When the axis setting for
each digit is outside the
range 1 to 4)

Manual pulse generator

smoothing magnification setting
error
0: Normal
1: Setting error
(Outside the range 0 to 59)

3 − 72
3. POSITIONING SIGNALS

(5) Test mode request error (D9188) ...... Data from PCPU to SCPU
When the test mode request error flag (M9078) turns ON, the data of the
operating axes are stored into this register.
(a) A172SHCPUN
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
D9188 0 0 0 0 0 0 0 0 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Stores the operating/stopped

status of each axis.
0: Stopped
1: Operating
All set to "0"

(b) A171SHCPUN
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
D9188 0 0 0 0 0 0 0 0 0 0 0 0 Axis 4 Axis 3 Axis 2 Axis 1

Stores the operating/stopped

status of each axis.
0: Stopped
1: Operating
All set to "0"

(6) Error program No. (D9189) .......Data from PCPU to SCPU

(a) When the motion program setting error flag (M9079) turns on, the motion
program No. (1 to 256) in error is stored into this register.
(b) When an error program No. has been stored and an error occurs in another
motion program, the new error program No. is stored.

(7) Error item information (D9190) ................................................. Data from PCPU

to SCPU
When the motion program setting error flag (M9079) turns on, the error code
corresponding to the setting item in error is stored into this register.
The error code No. list is given in Appendix 2.1.

3 − 73
3. POSITIONING SIGNALS

(8) Servo amplifier installation information (D9191) .......Data from PCPU to SCPU
On switching on the control power supply to the servo system CPU or resetting,
the servo amplifier installation status is checked and the result is set in this
device.
Lower 8 bits ...... Servo amplifier installation status (A172SHCPUN)
Lower 4 bits ...... Servo amplifier installation status (A171SHCPUN)

The "installed" status will be stored for axes for which an amplifier is installed
after the power is switched on. However, if the amplifier for an axis is removed,
the "installed" status will not change to "not installed".
<A172SHCPUN>

b15 to b8 b7 b6 b5 b4 b3 b2 b1 b0
D9191 0 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Servo amplifier installation

status
Installed 1
Not installed 0

<A171SHCPUN>

b15 to b4 b3 b2 b1 b0
D9191 0 Axis 4 Axis 3 Axis 2 Axis 1

Servo amplifier installation

status
Installed 1
Not installed 0

(a) Servo amplifier installation status

1) Installed/not installed status
• "installed" status............... The MR- -B is normal
(i.e. communication with the servo amplifier is
normal)
• "not installed" status......... No servo amplifier is installed.
The servo amplifier power is OFF.
Normal communication with the servo
amplifier is not possible due, for example, to a
connecting cable fault.
2) The system settings and servo amplifier installation statuses are
indicated below.

MR- -B
System Setting
Installed Not Installed
Used (axis number setting) "1" is stored "0" is stored
Unused "0" is stored "0" is stored

3 − 74
3. POSITIONING SIGNALS

(9) Area for setting the smoothing magnification for the manual pulse generator
(D9192) ......Data from SCPU to PCPU
(a) This device stores the manual pulse generator smoothing time constant.

Manual Pulse Generator Smoothing

Setting Range
Magnification Setting Register
D9192 0 to 59

(b) When the smoothing magnification is set, the smoothing time constant is
determined by the formula given below.
Smoothing time constant (t) = (smoothing magnification + 1) × 56.8 [ms]
(c) Operation
Manual pulse
generator input
ON
Manual pulse generator
enable flag (M2012) OFF

V
V1

t t t t

Output Number of input 1 manual pulse generator pulse

=
speed (V1) pulses/ms input magnification setting

Travel Travel value Number of input 1 manual pulse generator pulse

=
value (L) per pulse pulses input magnification setting

REMARKS
1) The travel value per manual pulse generator pulse is set in one of the
following units.
Setting unit mm :0.0001mm
inch :0.00001inch
degree :0.00001degree

2) The range for the smoothing time constant is 56.8 ms to 3408 ms.

3 − 75
3. POSITIONING SIGNALS

3.4.2 A273UHCPU (32 axis feature)/A173UHCPU(S1)

A servo system CPU has 256 points of special registers from D9000 to D9255.
Among these, the 20 points of D9180 to D9199 are used for positioning control.
The special registers used for positioning control are listed below. (Refer to
Appendix 3.2 for the applications of special registers other than D9180 to D9199.)

Table 3.3 Special Register List

Refresh cycle Fetch cycle
Signal name
Set number of axes Set number of axes Signal
Device No.
A173UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32 direction
SV43
A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
D9180
Unusable − − −
D9181
D9182
Test mode request error information When test mode is requested
D9183
SCPU
D9184 PCPU WDT error cause When PCPU WDT error occurs
←
D9185
Manual pulse generator axis setting When manual pulse generator PCPU
D9186
error information operation is enabled
D9187
D9188 Unusable − − −
D9189 Error program No.
At start SCPU
D9190 Error item information
←
D9191 At power-on and
Servo amplifier loading information PCPU
D9192 10ms 20ms
D9193
D9194 Unusable − − −
D9195
SCPU
Personal computer link
D9186 3.5ms 7.1ms 14.2ms ←
communication error code
PCPU
D9187
D9198 Unusable − − −
D9199

(1) Test mode request error information (D9182 to D9183)

............................................................................................... Data from PCPU to SCPU
If there are axes operating at the peripheral device's request for test mode, a test
mode request error occurs, the error flag (M9078) turns ON, and the
operating/stopping information of each axis is stored.

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D9182 Axis16 Axis15 Axis14 Axis13 Axis12 Axis11 Axis10 Axis9 Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1

D9183 Axis32 Axis31 Axis30 Axis29 Axis28 Axis27 Axis26 Axis25 Axis24 Axis23 Axis22 Axis21 Axis20 Axis19 Axis18 Axis17

Stores the operating/stopped

status of each axis
0: Stopped
1: Operating

3 − 76
3. POSITIONING SIGNALS

(2) PCPU error cause (D9184) .........................................Data from PCPU to SCPU

This register is used to identify the faults of the PCPU section in the sequence
program.

Operation when Error

Error Code Error Cause Action to Take
Occurs
1 PCPU software fault 1 All axes stop immediately, Reset with the reset key.
2 PCPU operation synchronization time over after which operation
3 PCPU software fault 2 cannot be started.
30 PCPU/SCPU hardware fault
AC servo motor drive module CPU fault Servo error detection flag Reset with the reset key.
(M2408+20n) of the If the error recurs after
100 corresponding axis turns reset, change the ADU
Indicates the slot No.(0 to 7) on, resulting in servo OFF module as it may be
status. After that, faulty.
where the AC motor drive module processing follows the
100 to 107 with the fault is loaded. "ADU servo error-time
110 to 117 Indicates the stage No. of the base processing setting" in
120 to 127 on which the AC motor drive module system settings.
130 to 137
with the fault is loaded.
140 to 147
0: Main base
1: Extension base 1st stage
2: Extension base 2nd stage
3: Extension base 3rd stage
4: Extension base 4th stage
Motion main/extension base-loaded module hardware All axes stop immediately, Reset with the reset key.
fault after which operation If the error recurs after
cannot be started. reset, change the
200 corresponding module or
Indicates the slot No.(0 to 7) slot (base) as it may be
faulty.
where the module with the fault
200 to 207 is loaded.
210 to 217
220 to 227 Indicates the stage No. of the base
230 to 237 on which the module with the fault
240 to 247 is loaded.
0: Main base
1: Extension base 1st stage
2: Extension base 2nd stage
3: Extension base 3rd stage
4: Extension base 4th stage
Separated servo amplifier (MR- -B) interface hardware
fault
250

250 to 253 Faulty SSCNET No.

0: SSCNET 1
1: SSCNET 2
2: SSCNET 3
3: SSCNET 4
300 PCPU software fault 3 Reset with the reset key.
CPSTART instructions of 8 or more points were given in Reset with the reset key.
excess of the number of simultaneously startable Reduce the CPSTART
programs. instructions of 8 or more
Number of points to less than the
Simultaneously number of
301 Startable Programs simultaneously startable
Conventional programs.
20
function version
Added function
14
version

3 − 77
3. POSITIONING SIGNALS

(3) Manual pulse generator axis setting error information (D9185 to D9187)
.....................................................................................Data from PCPU to SCPU
If an error is found after checking of the set data on the leading edge of the
manual pulse generator enable signal, 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 A273EX.
0: Normal
1: Setting error
(Axis setting in each digit is other than 1 to 32)

Store the smoothing magnification setting errors

of the manual pulse generators connected to P1
to P3 of A273EX.
0: Normal
1: Setting error
(Axis setting in each digit is other than 0 to 59)

All turn to 0.

D9186 Axis16 Axis15 Axis14 Axis13 Axis12 Axis11 Axis10 Axis9 Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1

D9187 Axis32 Axis31 Axis30 Axis29 Axis28 Axis27 Axis26 Axis25 Axis24 Axis23 Axis22 Axis21 Axis20 Axis19 Axis18 Axis17

Store the 1-pulse input magnification setting

errors of the axes.
0: Stopping
1: Operating
(Input magnification of each axis is other than
1 to 100)

(4) Error program No. (D9189) Data from .........................Data from PCPU to SCPU
(a) When an error occurs in the servo program at a servo program start (SVST
instruction), the servo program setting error flag (M9079) turns ON and the
faulty servo program No. (0 to 4095) is stored into this register.
(b) When an error program No. has been stored and an error occurs in another
servo program, the new error program No. is stored.

(5) Error item information (D9190).....................................Data from PCPU to SCPU

When an error occurs in the servo program at a servo program start (SVST
instruction), the servo program setting error flag (M9079) turns on and the error
code corresponding to the setting item in error is stored into this register.
For details of the servo program setting errors, refer to Appendix 2.1.

3 − 78
3. POSITIONING SIGNALS

(6) Servo amplifier loading information (D9191 to D9192)

.....................................................................................Data from PCPU to SCPU
When the servo system CPU control power supply (A6 P) is switched on or
reset, the servo amplifier and option slot loading states are checked and its
results are stored.
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 handled as loaded.

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D9191 Axis16 Axis15 Axis14 Axis13 Axis12 Axis11 Axis10 Axis9 Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1

D9192 Axis32 Axis31 Axis30 Axis29 Axis28 Axis27 Axis26 Axis25 Axis24 Axis23 Axis22 Axis21 Axis20 Axis19 Axis18 Axis17

Sarvo amplifier loading status

Loaded 1
Non-loaded 0

(a) Servo amplifier loading status

1) Loading/non-loading status
• Loading status...................................The ADU or MR- -B is normal
(communication with the servo amplifier
can be made properly).
• Non-loading status............................The servo amplifier is not loaded.
Servo amplifier power is OFF.
Due to connection cable fault or the like,
communication with the servo amplifier
cannot be made properly.
2) The system setting and servo amplifier loading status are listed below.
ADU MR- -B
System Setting
Loaded Non-loaded Loaded Non-loaded
Used (Axis No.
1 is stored Major error 1 is stored 0 is stored
setting)
Not used 0 is stored 0 is stored 0 is stored 0 is stored

(7) PC link communication error code (D9196)

When an error occurs during PC link communication, the error code that
corresponds to the error is stored in this device.

PC Communication Error Code

Contents
Storage Register
00: No error
01: Receiving timing error
02: CRC error
03: Communication response code error
D9196
04: Receiving flame error
05: Communication task start error
(Each error code is reset to 00 when
normal communication is restarted.)

For details of PC link communication errors, see Appendix 2.5.

3 − 79
4. PARAMETERS FOR POSITIONING CONTROL

4. PARAMETERS FOR POSITIONING CONTROL

There are the following eight different parameters for positioning control.

(1) System settings

The system settings are used to set the used modules, axis numbers and
others.
For details, refer to Section 4.1.

(2) Fixed parameters

The fixed parameters are set for each axis and their data are determined in
accordance with the mechanical system or other factors.
They are used for command position calculation, etc. when exercising
positioning control.
For details, refer to Section 4.2.

(3) Servo parameters

The servo parameters are set for each axis and their data are determined by
the servo motor connected, e.g. servo model and motor type.
They are used to control the servo motor when exercising positioning control.
For details, refer to Section 4.3.

(4) Home position return data

The home position return data are set for each axis and they are such data as
the home position return direction, method and speed.
They are used when making a home position return.
For details, refer to Section 4.4.

(5) JOG operation data

The JOG operation data are set for each axis and they are JOG speed limit
value and parameter block No. data.
They are used when exercising positioning control by JOG operation.
For details, refer to Section 4.5.

(6) Parameter blocks

The parameter blocks are data such as acceleration and declaration times and
speed limit value, and you can set 16 blocks.
The parameter blocks are specified in the sequence program, JOG operation
data or home position return data to facilitate acceleration/deceleration
processing (acceleration/declaration time, speed limit value) and other
changes.
For details, refer to Section 4.6.

(7) Limit switch output data

The limit switch output data is set for the axis used and it is the ON/OFF pattern
data output when the limit switch output setting is "Used" in the fixed parameter.
The axis where the limit switch output data is set outputs the ON/OFF pattern
set for positioning control.
For details, refer to Section 7.1.

(8) Work coordinate data

The work coordinate data are used to set the work coordinates and you can set
six different work coordinates (G54 to G59) per axis.
For the work coordinate system, specify the position with the offset from the
mechanical coordinate system. Set the offset value with the distance from the
mechanical coordinate system home position (0).
For details, refer to Section 4.7.

4−1
4. PARAMETERS FOR POSITIONING CONTROL

4.1 System Settings

(1) System settings such as base unit selection, unit allocation, axis number setting
in programs, servo motor setting (model name), and servo amplifier setting
(model name) are made according to the actual system.
(No settings are required when the unit is used as a PC extension base.)

(2) Data settings and modifications can be made interactively for some peripheral
devices.

4−2
4. PARAMETERS FOR POSITIONING CONTROL

4.2 Fixed Parameters

(1) The fixed parameters are set for each axis and their data is fixed in accordance
with the mechanical system or other factors.

(2) The fixed parameters are set with a peripheral device.

(3) The fixed parameters to be set are shown in Table 4.1.

Table 4.1 Fixed Parameters
Setting Range Default
Expla-
mm inch degree
No. Item Remarks natory
Setting Setting Setting Initial Value Units
Units Units Units Section
Range Range Range
• Set the command unit for
1 Unit setting 0 − 1 − 2 − 0 − −
positioning control per axis.
Number of • Set the number of feedback
pulses per pulses per motor revolution
Travel value per pulse (A)

2 1 to 65535 PLS 20000 PLS

revolution determined by the
(AP) mechanical system.
Travel
0.0001 0.00001 • Set the travel per motor
value per 0.00001 to 4.2.1
3 to mm inch to degree 2.0000 mm revolution determined by
revolution 0.65535
6.5535 0.65535 the mechanical system.
(AL)
Unit • Set to change the
4 magnifica- 1: ×1, 10: ×10, 100: ×100, 1000: ×1000 − − magnification for travel per
tion (AM) pulse.
• Set the amount of backlash
in the machine.
Backlash
• Backlash compensation is
5 compensation 0 to 6.5535 mm 0 to 0.65535 inch 0 to 0.65535 degree 0 mm 7.2
made every time the
amount
positioning direction
changes during positioning.
−214748.3648 −21474.83648 0
Upper stroke • Set the upper limit value of
6 to mm to inch to degree 214748.3647 mm
limit the machine moving range.
214748.3647 214748.3647 359.99999
4.2.2
−214748.3648 −21474.83648 0
Lower stroke • Set the lower limit value of
7 to mm to inch to degree 0 mm
limit the machine moving range.
214748.3647 21474.83647 359.99999
• Set the position where the
Command 0.0001 0.00001 0.00001 command in-position signal
8 in-position to mm to inch to degree 0.0100 mm (M1603+20n) is turned ON 4.2.3
range 214748.3647 21474.83647 359.99999 [(positioning address)-
(present value)].
Limit switch • Set whether the limit switch
0: Not used
9 output 0 − output function is used or 7.1
1: used
used/not used not for each axis.
• Set the positioning speed
0.01 0.001 0.001
mm/ under G00.
10 Rapid feedrate to mm/min to inch/min to degree/min 2000.00 4.2.4
min • Set the home position
6000000.00 600000.000 2147483.647
return speed under G28.

4−3
4. PARAMETERS FOR POSITIONING CONTROL

4.2.1 Setting the number of pulses per revolution / travel value per revolution / unit magnification

This section explains how to set the number of pulses per revolution, the travel
value per revolution, and the unit magnification.
(1) Setting method 1
(a) Finding the smallest position resolution (∆1).
The smallest position resolution (∆1) is determined by the travel value per
revolution (∆S) and the number of encoder feedback pulses (Pf).
S
1=
Pf

(b) Finding the unit magnification (AM)

Find the unit magnification on the basis of ∆1 determined as described in (a)
above. However, make sure that the smallest command unit is not smaller
than ∆1.
∆1 found in (a) [mm] Smallest Command Unit [mm] Unit Magnification (AM)
0.00001 < ∆1 ≤ 0.0001 0.0001 1
0.0001 < ∆1 ≤ 0.001 0.001 10
0.001 < ∆1 ≤ 0.01 0.01 100
0.01 < ∆1 ≤ 0.1 0.1 1000

[Example] Assuming that the travel value per revolution (∆S) is 10 [mm] and the
number of encoder feedback pulses (Pf) is 12000 [pulse/rev]:
10[mm]
1= =0.00083 0.0001<0.00083<0.001
12000[pulse/rev]

This means that the smallest command unit is 0.001 [mm] and the unit
magnification (AM) is 10.
Therefore, 0.001 [mm] units can be specified in commands.
(c) Finding the travel value per revolution (AL).
If the unit magnification (AM) is 1, the travel value per revolution is the value
of AL as it is. However, if the unit magnification (AM) is not 1, the travel
value per revolution is the product of AL and AM.
[Example] Assume that the travel value per revolution is 10[mm] and the unit
magnification is 10:
10.0000[mm]
AL= =1.0000[mm]
10

Accordingly, set the travel value per revolution (AL) to 1000.0[µm].

(d) Number of pulses per revolution (AP)
Set the number of feedback pulses per revolution of the encoder.

4−4
4. PARAMETERS FOR POSITIONING CONTROL

(e) The number of pulses per revolution, travel value per revolution, and unit
magnification for the example configuration shown here are calculated
below.
Gear ratio = Z1 : Z2=1.25
Number of feedback pulses=12000[pulse/rev]
Servo motor 1
10[mm]
25

1) Travel value per feedback pulse

Z1 1
S=10 =10
Z2 25
S 10
1= = =0.000033.... 1=0.0001
Pf 25 12000

2) Unit magnification (AM)

Since ∆1 is 0.0001, the unit magnification (AM) is "1".
3) Travel distance per revolution (AL)
10[mm]
AL= =0.4[mm]=400.0[ m]
25
4) Number of pulses per revolution (AP)
AP = 12000 [pulse/rev] ... fixed according to the encoder model.

(2) Setting method 2

If AL cannot be set by using setting method 1, calculate the numerator and
denominator of the electronic gear, and set AP as the numerator and AL × AM
as the denominator.
Electronic gear
Servo system CPU Amplifier Motor
AP
Command M
AL AM

Example: With the example configuration shown above, and under the following
conditions;
Gear ratio=Z1 : Z2=1 : 39
Ball screw pitch=25.4[mm]
25.4[mm]
AL= =0.65128205[mm]
29
=651.28205[ m]

and AL cannot be set, calculate as follows....

Elecronic gear
Pf 12000[pulse] 468000 2340 AP
= = =
S 1 25400 127 AL AM
25.4[mm] 1000
39
AP=2340[pulse]
AL*=12.7[ m] .... and set the following values
AM=1

* : When actually setting AL, calculate it as indicated in the table

below.
Unit Set Value for A (when AM is "1")
mm Denominator × 10−1 [µm]
inch Denominator × 10−5 [inches]
degree Denominator × 10−5 [degrees]

4−5
4. PARAMETERS FOR POSITIONING CONTROL

4.2.2 Upper stroke limit value/lower stroke limit value

These are the settings for the upper limit value and lower limit value in the travel
range of the mechanical system.
Use the values in the mechanical coordinate system to set the upper and lower
stroke limit values. The mechanical coordinate system is determined by a home
position return.

Limit switch for

emergency stop
RLS FLS
(Travel range of the machine)
Lower stroke limit Upper stroke limit

Fig. 4.1 Travel Range When Setting the Upper Stroke Limit Value and Lower Stroke Limit Value

(1) Stroke limit range check

The stroke limit range check is made at start or during progress of any of the
following operations after home position return completion (M1610+20n ON).
Check Executed/
Operation Started Remarks
Not Executed

• When positioning is started, whether the positioning address is within

the stroke limit range or not is checked. If it is outside the range, an error

Positioning control (PTP, CP) Executed (error code: 580) occurs and positioning is not executed.
• If the interpolation path goes out of the stroke limit range during circular
interpolation, an error (error code: 207, 208) occurs and the axis
decelerates to a stop.
• The axis stops if the present value goes out of the stroke limit range.
JOG operation Executed (Error code: 207) The axis can move in the direction of returning to
within the stroke.
• The axis stops if the present value goes out of the stroke limit range.
Manual pulse generator operation Executed (Error code: 207) The axis can move in the direction of returning to
within the stroke.

POINTS
(1) Besides setting the stroke limit upper limit value/lower limit value in the
fixed parameters, the stroke limit range can also be set by using the
external limit signals (FLS, RLS).
(2) When the external limit signal goes OFF, a deceleration stop is executed.
The time taken to decelerate to a stop can be set by setting the
"deceleration time" and "rapid stop deceleration time" in the parameter
block.
(3) The stroke limit range check for positioning control (PTP, CP) is made
after completion of a home position return. If a home position return is not
yet completed, an error (error code: 162) occurs and the check cannot be
made.
Always perform a home position return after power-on.
(4) Positioning cannot be started from outside the stroke limit range. Start
positioning control after returning the axis to within the stroke by JOG or
manual pulse generator operation.

4−6
4. PARAMETERS FOR POSITIONING CONTROL

4.2.3 Command in-position range

The command in-position is the difference between the positioning address

(command position) and feed present value.
Once the value for the command in-position has been set, the command in-
position signal (M1603 + 20n) will come ON when the difference between the
command position and the feed present value enters the set range [(command
position − feed present value) ≤ (command in-position range)].
The command in-position range check is executed continuously during positioning
control.

V
Positioning
Command in-position set value
control start

ON
Command in-position
(M1603+20n) OFF

Execution of command in-position check

4−7
4. PARAMETERS FOR POSITIONING CONTROL

4.2.4 Rapid feedrate setting

The rapid feedrate is the positioning speed used to perform positioning under G00
or to make a home position return under G28, and this data is needed to execute
G00 or G28.
When exercising interpolation control under G00, change the speed of each axis
on the basis of the axis whose time to reach the target position is the longer, and
find the composite speed.
The following is a rapid feedrate setting example for interpolation control under
G00.
[Example] When exercising interpolation control from the present position (X=0,
Y=0) to the target position (X=200, Y=100)
High feedrate setting X axis 20(mm/min)
Y axis 1(mm/min)

G00 X200. Y100. : (Interpolation control executed) Y

Find the composite travel.
100mm2+200mm2 = 223.6067 (mm)
100.mm (Target position)
Rapid feedrate
1mm/min

X
0 200.mm
(Present position) Rapid feedrate
20mm/min

After the above program is run, the target position 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 composite speed.
(Composite travel)
223.6067mm
1mm/min = 2.23mm/min
100mm
(Reference axis feedrate) (Reference axis travel) (Composite speed)

POINTS
(1) The rapid feedrate of each axis is clamped at the speed limit value of the
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 travels and feed rates used are values without
units. Care must be taken when their units differ.
(Example) 10000 for the travel of 1mm, 100000 for 1 degree, 100000 for
1 inch
100 for the feed rate of 1mm/min, 1000 for 1 degree/min,
1000 for 1 inch/min

4−8
4. PARAMETERS FOR POSITIONING CONTROL

4.3 Servo Parameters

(1) The servo parameters are parameters set for each axis: their settings are data
fixed by the specifications of the controlled motors and data required to execute
servo control.

(2) The servo parameters are set with a peripheral device.

CAUTION

After setting the servo parameters at a peripheral device, execute a "RELATIVE CHECK" and
execute positioning control in the "NO ERROR" status. If there is an error, check the relevant
points indicated in this manual and reset it.

4−9
4. PARAMETERS FOR POSITIONING CONTROL

4.3.1 MR- -B servo parameters

The servo parameters to be set are indicated in Tables 4.2 through 4.4.

(1) Basic parameters

Table 4.2 Servo Parameters (Basic Parameters)

Setting Range Default
Expla-
mm inch degree
No. Item Initial Remarks natory
Setting Setting Units
Units Units Setting Range Units Value Section
Range Range
Amplifier
*1
setting
Regenerative
*2
resistor
External 4.1
*3
dynamic brake
Set automatically in accordance with the system settings.
*4 Motor type
*5 Motor capacity
6 Motor rpm (R)
Number of
7 feedback APP. 5
pulses (N)
• Set the direction of rotation
Direction of 0: Forward rotation (CCW) when the positioning address increases. as seen from the load side.
8 0  
rotation 1: Reverse rotation (CW) when the positioning address decreases. Forward rotation:
reverse rotation:
0: Speed only • Set the gain
Automatic 1 *1
9 1: Position/speed  (speed/position, speed) for 4.3.8
tuning
2: Not executed executing automatic setting.
Servo
• Set in order to increase
10 responsive- 1 to 12 1  4.3.9
servo responsiveness.
ness

*1: For MR-J-B, the default is "2".

POINT
After changing any of the items marked "*" in the table above, turn the servo
power supply on after resetting the servo system CPU with the key switch or
turning the PC READY signal (M2000) ON.

4 − 10
4. PARAMETERS FOR POSITIONING CONTROL

(2) Adjustment parameters

Table 4.3 Servo Parameter List (Adjustment Parameters)

Setting Range Default
Expla-
mm inch degree
No. Item Remarks natory
Setting Setting Setting Initial Value Units
Units Units Units Section
Range Range Range
Load inertia 3.0*1 • Set the ratio of moment of
1 0.0 to 100.0  4.3.7
ratio load inertia for the motor.
• Set to increase the follow-
Position Valid range 4 to 1000 rad/sec rad/
2 70 up with respect to the 4.3.2
control gain 1 Setting range 1 to 9999 rad/sec sec
position command.
• Set to increase the follow-
Speed control Valid range 20 to 5000 rad/sec rad/
3 1200 up with respect to the 4.3.3
gain 1 Setting range 1 to 9999 rad/sec sec
speed command.
• Set to increase the position
Position Valid range 10 to 500 rad/sec rad/
4 25 response with respect to 4.3.2
control gain 2 Setting range 1 to 9999 rad/sec sec
load disturbance.
• Set when vibration is
Speed control Valid range 20 to 5000 rad/sec 600*
2 rad/ generated, for example in
5 4.3.3
gain 2 Setting range 1 to 9999 rad/sec sec machines with a large
backlash.
Speed integral Valid range 1 to 1000 rms • Set the time constant for
6 20 ms 4.3.4
compensation Setting range 1 to 9999 rad/sec integral compensation.
0: Not used
1: 1125
2: 750
3: 562 • Set the frequency for the
7 Notch filter 0 Hz 4.3.10
4: 450 notch filter.
5: 375
6: 321
7: 281
• Set the feed forward
Feed forward 0 to 100%
8 0 % coefficient used in 4.3.6
gain 0: Feed forward control is not executed.
positioning control.
• Sets the quantity of droop
pulses in the deviation
counter.
• The in-position signal is ON
0.00001 0.00001 when the number of droop
In-position 0.0001 to
9 range*3 mm to inch to degree 0.0100 mm pulses is within the set 4.3.5
214748.3647
21474.83647 359.99999 range. The expression
below shows the setting
range.
1 ≤ (in-position range) ×
AP/AL ! AM ≤ 32767
• Set the time delay between
Electromagnet
actuation of the
10 ic brake 0 to 1000 ms 100 ms 4.3.11
sequence*4 electromagnetic brake and
base disconnection.
Monitor output (MR-H-B/MR-J-B) (MR-J2-B)
11 mode 0: Speed (±) 0: Speed (±) 0 
(monitor 1) 1: Torque (±) 1: Torque (±)
2: Speed (+) 2: Speed (+)
3: Torque (+) 3: Torque (+)
• Set the monitor items
4: Current command output 4: Current command output
output as analog outputs in 4.3.12
Monitor output 5: Command F∆T 5: Command F∆T
real time.
12 mode 6: Droop pulse 1/1 6: Droop pulse 1/1 1 
(monitor 2)*4 7: Droop pulse 1/4 7: Droop pulse 1/16
8: Droop pulse 1/16 8: Droop pulse 1/64
9: Droop pulse 1/32 9: Droop pulse 1/256
10: Droop pulse 1/1024

*1: For MR-J2-B, the default is "7.0".

*2: For MR-J-B, the default is "500".
*3: The display of the possible setting range differs according to the electronic gear value.
*4: Setting not possible for MR-J-B.

4 − 11
4. PARAMETERS FOR POSITIONING CONTROL

Table 4.3 Servo Parameter List (Adjustment Parameters) (Continued)

Setting Range Default
Expla-
mm inch degree
No. Item Remarks natory
Setting Setting Setting Initial Value Units
Units Units Units Section
Range Range Range
Optional
• Set "low noise" to improve
function 1
0: 2.25 kHz (non low-noise operation) the sound of the
13 (carrier 0 kHz 4.3.13
3: 9 kHz (low-noise operation) frequencies generated from
frequency
the motor.
selection)
Optional
function 1 0: 2-wire type • Set the type of encoder
14 0  4.3.13
(Encoder 1: 4-wire type cable.
type)*4
Optional
function 2 • To check the status without
0: Invalid
15 (selection of 0  connecting a motor, set 4.3.14
1: Valid
no-motor "valid".
operation)*6
Optional
function 1 • To invalidate the external
0: Used
16 (external 0  emergency stop signal 4.3.13
1: Not used
emergency (EMG) set "not used".
stop signal)*5
Optional 0: Regardless of the rotational speed of the servo motor, output occurs under any of the
function 2 following conditions.
(electro- • Servo OFF • Set the interlock timing for
17 magnetic • Occurrence of an alarm 0  the electromagnetic brake 4.3.14
brake interlock • Emergency stop input OFF (valid) interlock signal.
output 1: Output occurs under any of the above conditions provided that the servo motor
timing) * 6
rotational speed is zero (expansion parameters).
Optional
function 2
(selection of 0: Valid • Set "valid" to suppress
18 0  4.3.14
microvibration 1: Invalid vibration on stopping.
suppression
function)*5
Optional
• To carry out test operation
function 2 0: Valid
19 0  without rotating the motor, 4.3.14
(motor lock 1: Invalid
operation)*5 set "valid".

*4: Setting not possible for MR-J-B.

*5: Cannot be set with MR-H-B/MR-J-B
*6: Cannot be set with MR-J2-B

4 − 12
4. PARAMETERS FOR POSITIONING CONTROL

(3) Expansion parameters

Table 4.4 Servo Parameters (Expansion Parameters)

Setting Range Default
Expla-
mm inch degree
No. Item Initial Remarks natory
Setting Setting Units
Units Units Setting Range Units Value Section
Range Range
Motion output (MR-H-B/MR-J-B) (MR-J2-B) • Set the offset value for
1 0 mv
1 offset −9999 to 9999 mv −999 to 999 mv motion output 1.
4.3.15
Motion output (MR-H-B/MR-J-B) (MR-J2-B) 0 *3 • Set the offset value for
2 2 offset*1 mv
−9999 to 9999 mv −999 to 999 mv motion output 2.
0: 1.77
Pre-alarm
1: 3.55
data selection
3 2: 7.11 0 ms
(sampling time
selection)*1 3: 14.2
4: 28.4
Pre-alarm 0: Speed (±)
data selection 1: Torque (±)
4 0  • Set the analog data output
(data selection 2: Speed (+) 4.3.16
when an alarm occurs.
1)*
1
3: Torque (+)
4: Current command output
Pre-alarm 5: Command F∆T
data selection 6: Droop pulse 1/1
5 0 
(data selection 7: Droop pulse 1/4
2)*1 8: Droop pulse 1/16
9: Droop pulse 1/32
• Set the speed at which the
6 Zero speed 0 to 10000 r/min 10000 r/min motor speed is judged to be 4.3.17
"0".
Excessive • Set the value at which an
7 error alarm 1 to 1000kPLS 80 kPLS excessive droop pulses 4.3.18
level alarm is output.
Close encoder
8 rotation
direction
Home position Unusable
return
9
reference
encoder
Optional
0: Invalid
function 5 (PI- • Set the conditions for PI-
10 1: Switching in accordance with droop during position control valid 0 
PID control PID control switching.
2: Speed amplifier proportional control valid
switching)
Optional 4.3.19
function 5
0: Japanese • Set the display format for
11 (Servo 0 
1: English the parameter unit.
readout
characters)*1
PI-PID • Set the amount of position
switching droop at the switch to PI-
12 0 to 50000 PLS 0 PLS 4.3.20
position PID control when position
droop*1 control is executed.
• Set to expand the torque
Torque control
control range up to the
13 compensation −19 to 9979 0  4.3.21
factor*1*2 speed limit value in torque
control.
Speed • Set the differential
14 differential 0 to 1000 980  compensation value for the 4.3.22
compensation actual speed loop.

*1: Cannot be set when using MR-J-B.

*2: Cannot be set when using MR-J2-B.
*3: For MR-J2-B, the default is "1".

4 − 13
4. PARAMETERS FOR POSITIONING CONTROL

Table 4.4 Servo Parameters (Expansion Parameters) (Continued)

Setting Range Default
Expla-
mm inch degree
No. Item Initial Remarks natory
Setting Setting Units
Units Units Setting Range Units Value Section
Range Range
Number of
15 gear teeth at
motor side
Number of
16 gear teeth at
Unusable
machine side
Number of
closed
17
encoder
pulses

*1: Cannot be set when using MR-J-B.

*2: Cannot be set when using MR-J2-B.
*3: For MR-J2-B, the default is "1".

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 from a peripheral
device, but if a setting outside the "valid range" is set, the following servo
errors will occur when the power to the servo system CPU is turned ON,
when the CPU is reset, and at the leading edge of the PC ready signal
(M2000).
Servo Error Code Error Contents Processing
Initial parameter error
2613
(position control gain 1)
Initial parameter error
2614 Correct the setting for the
(speed control gain 1)
relevant parameter so that it is
Initial parameter error
2615 within the "valid range", turn
(position control gain 2)
M2000 from OFF to ON, or reset
Initial parameter error
2616 with the reset key.
(speed control gain 2)
Initial parameter error
2617
(speed integral compensation)

4 − 14
4. PARAMETERS FOR POSITIONING CONTROL

4.3.2 Position control gain 1, 2

(1) Position control gain 1

(a) Position control gain 1 is set in order to make the stabilization time shorter.
(b) If the position control gain 1 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) Position control gain 2 is set in order to increase position response with
respect to load disturbance.
(b) Calculate the position control gain 2 value to be set from 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 setting is too low, the number of droop
pulses will increase and a servo error (excessive error) will occur at high
speed.
(2) The position control gain 1 setting can be checked from a peripheral
device.
(For the method used to execute this check, refer to the operating
manual for the peripheral device used.)

4 − 15
4. PARAMETERS FOR POSITIONING CONTROL

4.3.3 Speed control gain 1, 2

(1) Speed control gain 1

(a) In the speed control mode
Normally, no change is necessary.
(b) In the position control mode
Set to increase the follow-up with respect to commands.

(2) Speed control gain 2

(a) Speed control gain 2 is set when vibration occurs, for example in low-rigidity
machines or machines with a large backlash.
When the speed control gain 2 setting is increased, responsiveness is
improved but vibration (abnormal motor noise) becomes more likely.
(b) A guide to setting speed gain 2 is presented in Table 4.5 below.

Table 4.5 Guide to Speed Control Gain 2 Setting

Load Inertia Ratio 30 or
1 3 5 10 20 Remarks
(GDL2/GDM2) Greater
Setting possible within the range 1 to 9999
Set value (ms) 800 1000 1500 2000 2000 2000
(valid range: 20 to 5000)

POINTS
(1) When the setting for speed control gain 1 is increased, the overshoot
becomes greater and vibration (abnormal motor noise) occurs on
stopping.
(2) The speed control gain 1 setting can be checked from a peripheral
device.
(For the method used to execute this check, refer to the operating
manual for the peripheral device used.)

4 − 16
4. PARAMETERS FOR POSITIONING CONTROL

4.3.4 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 presented in Table 4.6
below.

Table 4.6 Guide to Speed Integral Compensation Setting

Load Inertia Ratio 30 or
1 3 5 10 20 Remarks
(GDL2/GDM2) Greater
Setting possible within the range 1 to 9999
Set value (ms) 20 30 40 60 100 200
(valid range: 1 to 1000)

4.3.5 In-position range

(1) The "in-position" refers to the quantity of droop pulses in the deviation counter.

(2) If an in-position value is set, the in-position signal (M1602 + 20n) will come ON
when the difference between the position command and position feedback from
the servomotor enters the set range.

Amount of droop

Set value for in-position range

In-position signal ON
(M1602+20n)
OFF

4.3.6 Feed forward gain

This parameter is used to improve the follow-up of the servo system.

The setting range is as follows:
When using an MR- -B..................0 to 100 (%)

4 − 17
4. PARAMETERS FOR POSITIONING CONTROL

4.3.7 Load inertia ratio

(1) This parameter sets the ratio of moment of load inertia for the servomotor.
The ratio of moment of load inertia is calculated using the equation below:

Moment of load inertia

Ratio of moment of load inertia =
Motor's moment of inertia

(2) If automatic tuning is used, the result of automatic tuning is automatically set.

4.3.8 Automatic tuning

This is a function whereby the moment of inertia of the load is automatically

calculated, and the most suitable gain is automatically set, by sensing the current
and speed when motion starts.

POINT
When performing automatic tuning with MB-J-B, set the zero speed in the
expansion parameters to at least 50rpm.

4 − 18
4. PARAMETERS FOR POSITIONING CONTROL

4.3.9 Servo responsiveness setting

(1) This parameter setting is used to increase servo responsiveness.

Changing the set value to a higher value in the sequence 1, 2..., 5 improves
servo responsiveness.
For machines with high friction, use the set values in the range 8 through C.
Response settings
1: Low-speed response
2:
Normal machine
3: Standard mode
(MR- -B usable)
4:
5: High-speed response
8: Low-speed response
9:
Machines with high friction
A: High frictional load mode
(only MR-H-B usable)
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 greater.

(3) The figure below shows how the motor's response changes according to the
servo responsiveness setting.

Motor speed

Response setting
Command value
5 4 3 2 1

Time
Change in motor response in accordance with response setting
(at the time of position control)

(4) Change the servo responsiveness setting while the motor is stopped.

4 − 19
4. PARAMETERS FOR POSITIONING CONTROL

4.3.10 Notch filter

This parameter sets the notch frequency for the notch filter.
Set Value Notch Frequency (Hz)
0 Not used
1 1125
2 750
3 562
4 450
5 375
6 321
7 281

4.3.11 Electromagnetic brake sequence

This parameter sets the time delay between actuation of the electromagnetic brake
and base disconnection.
(applies only when using MR-H-B/MR-J2-B.)

4.3.12 Monitor output mode

This parameter is set to output the operation status of the servo amplifier in real
time as analog data.
This analog output makes it possible to check the operation status.
Note that the number of monitored items that can be set depends on the servo
amplifier used, as indicated below:
When using an MR-H-B/MR-J2-B.......... 2 types
When using an MR-J-B........................... 1 type

4.3.13 Optional function 1

(1) Selection of carrier frequency

When low noise is set, the amount of electromagnetic noise of audible
frequencies emitted from the motor can be reduced.

(2) Encoder type (applies only when using MR-H-B/MR-J2-B)

Set the type of encoder cable used.
0 0

Carrier frequency selection

0: 2.25kHz (non low-noise)
3: 9kHz (low-noise)

Encoder type
0: Two-wire type
1: Four-wire type

POINT
(1) Optional function 1 (carrier frequency selection)
When low-noise is set, the continuous output capacity of the motor is
reduced.

4 − 20
4. PARAMETERS FOR POSITIONING CONTROL

(3) External emergency stop signal (applies only when using MR-J2-B)
The external emergency stop signal (EMG) can be made invalid.
0: External emergency stop signal is valid.
1: External emergency stop signal is invalid (automatically turned ON internally).
Since the emergency stop signal at the MR-J2-B cannot be used, do not set "0".

4.3.14 Optional function 2

(1) Selection of no-motor operation (applies when using MR-H-B/MR-J-B only)

0: Invalid
1: Valid
If no-motor operation is selected, the output signals that would be output if the motor
were actually running can be output, and statuses indicated, without connecting the
motor.
This makes it possible to check the sequence program of the servo system CPU
without connecting a motor.
(2) Electromagnetic brake interlock output timing (applies only when using MR-H-
B/MR-J2-B)
Select the output timing for the electromagnetic brake interlock signal from
among the following.
0: Regardless of the rotational speed of the servo motor, output occurs under
any of the following conditions.
• Servo OFF
• Occurrence of an servo alarm
• Emergency stop input
1: Output occurs under any of the above conditions provided that the servo
motor rotational speed is zero (expansion parameters).
(3) Selection of microvibration suppression function (applies to MR-J2-B)
Set to suppress vibration specific to the servo system on stopping.
0: Microvibration suppression control is invalid.
1: Microvibration suppression control is valid.
(4) Motor lock operation (applies only when using MR-J2-B)
Allows test operation with the motor connected but without rotating the motor.
The operation is the same as no-motor operation with MR-H-B/MR-J-B.
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-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.

POINT
(1) 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, and the peak load display value
and the regenerative load ratio is always 0, which is not the case when an
actual motor is run.

4 − 21
4. PARAMETERS FOR POSITIONING CONTROL

4.3.15 Monitor output 1, 2 offset

Set the offset value for the monitored items set when setting monitor outputs 1 and
2.

4 − 22
4. PARAMETERS FOR POSITIONING CONTROL

4.3.16 Pre-alarm data selection

Used to output from the servo amplifier in analog form the data status when an
alarm occurs.
(applies only when using MR-H-B/MR-J2-B)
(1) Sampling time selection
Set the intervals in which the data status data when an alarm occurs 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.
0

Data selection 2 0: Speed (±)

1: Torque (±)
2: Speed (+)
3: Torque (+)
Data selection 1 4: Current command output
5: Command F T
6: Droop pulse 1/1
7: Droop pulse 1/4
8: Droop pulse 1/16
9: Droop pulse 1/32
Sampling time selection
0: 1.77[ms]
1: 3.55[ms]
2: 7.11[ms]
3: 14.2[ms]
4: 28.4[ms]

4.3.17 Zero speed

This parameter sets the speed at which the motor speed is judged to be zero.

4.3.18 Excessive error alarm level

This parameter sets the range in which the alarm for excessive droop pulses is
output.

4.3.19 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 (applies only when using MR-H-B/MR-J2-B)

When the optional parameter unit is connected, set whether the screen display
on the parameter unit will be in Japanese or English.

4 − 23
4. PARAMETERS FOR POSITIONING CONTROL

4.3.20 PI-PID switching position droop

This parameter sets the amount of position droop on switching to PI-PID control
during position control. (applies only when using MR-H-B/MR-J2-B.)
The setting becomes effective when switching in accordance with the droop during
position control is made valid by the setting for PI-PID control switching made using
optional function 5.

4.3.21 Torque control compensation factor

This parameter is used to expand the torque control range up to the speed control
value during torque control. (applies only when using MR-H-B.)
If a large value is set, the speed limit value may be exceeded and the motor may
rotate.

4.3.22 Speed differential compensation

This parameter sets the differential compensation value for the actual speed loop.
In PI (proportional integration) control, if the value for speed differential compensa-
tion is set at 1000, the range 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.

4 − 24
4. PARAMETERS FOR POSITIONING CONTROL

4.4 Home Position Return Data

The home position return data are data used to make a home position return.
Set them on the peripheral device.
For details of the setting, refer to Section 7.6.

Table 4.7 Home Position Return Data List

Setting Range Default
Expla-
mm inch degree
No. Item Remarks natory
Setting Setting Setting Initial Value
Units Units Units Section
Range Range Range
• Set the direction in which a
home position return will be
Home position
0: Reverse direction (address decreasing direction) made.
1 return 0 −
0: Forward direction (address increasing direction) • Starting a home position
direction
return moves the axis in the
specified direction.
• Set the home position
return method.
• It is recommended to use
the near-zero point dog or
0: Near-zero point dog type count type for the servo
Home position
2 1: Count type 0 amplifier which is not −
return method
2: Data setting type absolute value-compatible,
and the data setting type
for the servo amplifier
which is absolute value-
compatible.
• Set the present value of the
home position on
completion of home
-2147483648 -2147483648 position return.
Home position -4 -5 0 to -5
3 to ×10 mm to ×10 inch ×10 degree 0 • It is recommended to define −
address 35999999
2147483647 2147483647 the home position address
at either of the upper or
lower limit value of the
stroke limit.
• Set the present value of the
second home position on
completion of the second
Second home -2147483648 -2147483648 home position return.
-4 -5 0 to -5
4 position to ×10 mm to ×10 inch ×10 degree 0 • It is recommended to define −
35999999
address 2147483647 2147483647 the second home position
address at either of the
upper or lower limit value of
the stroke limit.
0.01 0.001 0.001
Home position • Set the speed for home
5 to mm/min to inch/min to degree/min 0.01 −
return speed position return.
6000000.00 600000.000 2147483.647
• Set the creep speed after
near-zero point dog ON
0.01 0.001 0.001 (low speed immediately
6 Creep speed to mm/min to inch/min to degree/min 0.01 before a stop which is −
6000000.00 600000.000 2147483.647 made after deceleration
from the home position
return speed).
• For the count type, set the
travel after near-zero point
Setting of
dog ON.
travel after 0 to 0 to 0 to
7 mm inch degree − • Set the value not less than 4.4 (1)
near-zero 214748.3647 21474.83647 21474.83647
the distance of deceleration
point dog
made from the home
position return speed.
• Set the parameter block
Parameter
(refer to Section 4.6)
8 block 1 to 16 1 −
number used for home
designation
position return.

4 − 25
4. PARAMETERS FOR POSITIONING CONTROL

(1) Setting of travel after near-zero point dog ON

(a) This data is the travel after near-zero point dog ON and is set when the
count type home position return is made.
(b) The first zero point after the movement of the preset travel after near-zero
point dog ON is the home position.
(c) The setting of the travel after near-zero point dog ON should be not less
than the distance of deceleration made from the home position return
speed.
Example
The following example gives how to calculate the deceleration distance when the
speed limit value, home position return speed, creep speed and deceleration time are
set as follows.
[Home position return operation]
Speed limit value: Vp = 200kpps

Home position return speed: VZ = 10kpps

Creep speed: VC = 1kpps

VZ t
Actual deceleration time: t = TB
VP
TB
Deceleration time: TB = 300ms

[Deceleration distance (Shaded area in the chart)]

1 VZ
= t
2 1000
Converted into speed per 1ms
VZ TB VZ
=
2000 VP

10 103 300 10 103

=
2000 200 10
= 75 Set 75 or more.

4 − 26
4. PARAMETERS FOR POSITIONING CONTROL

4.5 JOG Operation Data

The JOG operation data is used to perform JOG operation.

Set this data on the peripheral device.

Table 4.8 JOG Operation Data List

Setting Range Default
Expla-
mm inch degree
No. Item Remarks natory
Setting Setting Setting Initial Value Units
Units Units Units Section
Range Range Range
• Set the maximum speed for
JOG operation.
0.01 0.001 0.001
JOG speed mm/ • If the JOG speed setting is
1 to mm/min to inch/min to degree/min 200.00 −
limit value min higher than the JOG speed
6000000.00 600000.000 2147483.647
limit value, it is controlled at
the JOG speed limit value.
Parameter • Set the parameter block
2 block 1 to 16 1 − number used for JOG 4.6
designation operation.

(1) Checking the JOG operation data

A relative check is made on the preset JOG operation data at any of the
following timings:
• At power-on
• On leading edge (OFF to ON) of PC ready (M2000)
• When test mode is selected.

(2) Processing at data error

• When a relative check is made, only the data where an error has been
detected is controlled at the default value.
• The error code corresponding to each data of the faulty axis is stored into the
data register.

POINT
(1) During JOG operation, the axis cannot be started toward the outside of the
stroke limit range in the fixed parameter. However, when the axis is
outside the stroke limit range, JOG operation can be performed in the
rotation direction toward the stroke limit range.
Lower stroke limit Upper stroke limit

The start is disable. The start is disable.

The start is able. The start is able.

4 − 27
4. PARAMETERS FOR POSITIONING CONTROL

4.6 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 of 16 blocks can be set as parameter blocks.

(3) Parameter blocks can be set at a peripheral device.

(4) The parameter block settings to be made are shown in Table 4.9.

Table 4.9 Parameter Block Settings

Setting Range Default
Expla-
mm inch degree
No. Item Remarks natory
Setting Setting Setting Initial Value Units
Units Units Units Section
Range Range Range
• Set the units for
compensation control.
• Can also be used as the
Interpolation
1 0 − 1 − 2 − 0  units for the command speed 6.6.5
control unit
and allowable error range for
circular interpolation set in
the motion program.
• Set the maximum speed for
positioning/home position
return.
• If the positioning speed or
Speed limit 0.01 to 0.001 to 0.001 to mm/
2 mm/min inch/min degree/min 2000.00 home position return speed
value 6000000.00 600000.000 2147483.647 min
setting exceeds the speed
limit value, control is
executed at the speed limit
value.
• Set the time from start of
Acceleration-fixed acceleration/deceleration
1 to 65535ms operation until the speed
mode
Acceleration limit value is reached.
3 1000 ms 4.6.1
time • The acceleration/
Time-fixed acceleration/deceleration mode 1 to 5000ms deceleration time is always
as preset.
• Set the time from the speed
Acceleration-fixed acceleration/deceleration
Deceleration 1 to 65535ms limit value until a stop is
4 mode 1000 ms
time made.
Time-fixed acceleration/deceleration mode Invalid • The setting is ignored.
• For a rapid stop, set the time
Acceleration-fixed acceleration/deceleration
Rapid stop 1 to 65535ms from the speed limit value
mode
5 deceleration 1000 ms until a stop is made.
time
Time-fixed acceleration/deceleration mode Invalid • The setting is ignored.

• Set the S curve ratio for S-

pattern
acceleration/deceleration
Acceleration-fixed acceleration/deceleration processing.
0 to 100%
mode • Trapezoidal
6 S curve ratio 0 % acceleration/deceleration 4.6.2
processing is performed at
the S curve ratio of 0%.

Time-fixed acceleration/deceleration mode Invalid • Always set 0%.

Torque limit • Set the torque limit value in

7 1 to 500% 300 % 
value the servo program.
Deceleration • Set the deceleration
processing 0: Deceleration stop executed based on the deceleration time. processing when external
8 0  
on STOP 1: Deceleration stop executed based on the rapid stop deceleration time. signals (STOP, FLS, RLS)
input are input.
Allowable
• Set the permissible range for
error range
9 0 to 10.0000 mm 0 to 1.00000 inch 0 to 1.00000 degree 0.0100 mm the locus of the arc and the 4.6.3
for circular
set end point coordinates.
interpolation

4 − 28
4. PARAMETERS FOR POSITIONING CONTROL

POINTS
(1) Parameter blocks are designated in the home position return data, JOG
operation data, or sequence program.
(2) The speed limit value is the feed rate setting range of the feed rate (F) set
in the motion program.

4 − 29
4. PARAMETERS FOR POSITIONING CONTROL

POINT
(1) The data set in the parameter block are used for positioning control,
home position return and JOG operation.
(a) The parameter block No. used in positioning control is set by indirect
designation of the SVST instruction in the sequence program from the
peripheral device.
For indirect designation, specify the motion program No. (0 No.) and
parameter block No.
When the parameter block No. setting is 0 (no setting) or 17 or more,
control is exercised with the data of parameter block No. 1.
[Sequence program]
Start M2001
SVST J1 D100

Motion program No.

setting (D100)
Parameter Block No.
setting (D101)
Sequence Program No.
setting (D102)
Axis No. setting

(b) The parameter block No. used for home position return is set when
setting the "home position return data" with a peripheral device.
[Home position return data setting screen]
[HOME POSITION RETURN DATA]
X AXIS <mm> SETTING DATA SETTING RANGE

A DIRECTION 0 0: REVERSE 1: FORWARD

B METHOD 0 0: DOG 1: COUNT 2: DATA SET
C ADDRESS 0.0000 -214748.3648 - 214748.3647 ( mm)
D 2ND ADDRESS 0.0000 -214748.3648 - 214748.3647 ( mm)
E SPEED 0.01 0.01 - 6000000.00 ( mm/min)
F CREEP SPEED 0.01 0.01 - 6000000.00 ( mm/min)
G MOVEMENT AFTER DOG
H P.B. NO. 1 1 - 16

Parameter block No. setting

End: SET Esc: STOP
1 2 3 4 5 6 7 8 9 0

(c) The parameter block No. used for JOG operation is set when setting
the "JOG operation data" with a peripheral device.
[JOG operation data setting screen]
[JOG OPERATION DATA]
X AXIS <mm> SET DATA SETTING RANGE

1 SPEED LIMIT 2000.00 0.01 - 6000000.00 ( mm/min)

2 P.B NO. 1 1 - 16

Parameter block No. setting

End: SET Esc: STOP

1 2 3 4 5 6 7 8 9 0

4 − 30
4. PARAMETERS FOR POSITIONING CONTROL

4.6.1 Relationships among 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
(a) G01, G02, G03 or G32 during G101 execution
The acceleration/deceleration mode is acceleration-fixed
acceleration/deceleration.
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 the acceleration time, deceleration time and rapid stop
deceleration time used are 1 to 65535ms.
(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 is acceleration-fixed
acceleration/deceleration.
The calculation of acceleration for acceleration/deceleration is based on the
lower speed of the feedrate from the rapid feedrate in the fixed parameter
(refer to Section 4.2.4) and the speed limit value in the parameter block.
At the override of 100%, the actual acceleration time, actual rapid stop
deceleration time and actual deceleration time are equal to their settings.
The setting ranges of the acceleration time, deceleration time and rapid stop
deceleration time used are 1 to 65535ms.

(2) Time-fixed acceleration/deceleration

(a) G00 including M code during G100 execution (default), G01, G02, G03 or
G32
The acceleration/deceleration mode is time-fixed acceleration/deceleration.
The preset acceleration time is used to perform acceleration, deceleration
or rapid stop deceleration processing.
The setting range of the acceleration time used is 1 to 5000ms.
If the setting exceeds 5000ms, the acceleration time is clamped at 5000ms.
At this time, an error does not occur.

4 − 31
4. PARAMETERS FOR POSITIONING CONTROL

(1) Acceleration-fixed acceleration/deceleration

(a) G01, G02, G03 or G32 during G101 execution
Speed limit value
1) Actual acceleration time
Speed
Rapid stop cause occurrence Time until the positioning speed set in the motion
program is reached
Positioning speed
2) Actual rapid stop deceleration time
set in motion
program Time from the positioning speed set in the motion
1) Actual 2) Actual rapid
program to a rapid stop
acceleration Time
time
stop deceleration 3) Actual deceleration time
time
Setting Setting rapid Time from the positioning speed set in the motion
acceleration stop deceleration 3) Actual
time time deceleration time program to a stop
Setting 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 1) Actual acceleration time
Speed Equal to the preset acceleration time
Rapid feedrate at the override of 100%.
2) Actual rapid stop deceleration time
Equal to the preset rapid stop deceleration time
at the override of 100%.
1) Actual 2) Actual rapid
acceleration stop deceleration Time 3) Actual deceleration time
time time
Setting rapid
Equal to the preset deceleration time
Setting acceleration time
stop deceleration
3) Actual
at the override of 100%.
time
deceleration time
Setting deceleration time

(2) Time-fixed acceleration/deceleration

(a) G00 including M code during G100 execution (default), G01, G02, G03 or G32
Positioning speed

The acceleration/deceleration time is fixed independently

of the positioning speed (always acceleration time).
The deceleration time and rapid stop time are ignored.
Setting acceleration time Setting acceleration time

Fig. 4.2 Relationships among the Speed Limit Value, Acceleration Time,
Deceleration Time, and Rapid Stop Deceleration Time

4 − 32
4. PARAMETERS FOR POSITIONING CONTROL

4.6.2 S curve ratio

The S curve ratio used when S pattern processing is used as the acceleration and
deceleration processing method can be set.
The setting range for the S curve ratio is 0 to 100 (%).
If a setting that is outside the applicable range is made, an error occurs on starting,
and control is executed with the S curve ratio set at 100%.
Errors are set in the servo program setting error area (D9190).
Setting an S curve ratio enables acceleration and deceleration processing to be
executed gently.
The S curve ratio is set by the parameter block. (Refer to section 4.6.)
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 and deceleration curve.

V A
(Example) B
A Positioning
B speed
B/2 B/2

B/A=1.0

t
When the S curve ratio is 100%

V
Positioning
speed
Sine curve B B/A=0.7
A

S curve ratio = B/A 100%

t
When the S curve ratio is 70%

Note: Under G00 including M code, G01, G02, G03 or G32, the S curve ratio is ignored and operation is always performed at the ratio
of 0%.

4 − 33
4. PARAMETERS FOR POSITIONING CONTROL

4.6.3 Allowable error range for circular interpolation

In control with the center point designated, the locus of the arc calculated from the
start point address and center point address may not coincide with the set end
point address.
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 the setting range is exceeded, an error occurs and positioning does not start.
When such an error occurs, the relevant axis is set in the minor error code area.
Error
End address determined by calculation
Locus determined by spiral interpolation

Set end address

Start point address Center point address

Fig. 4.3 Spiral Interpolation

4 − 34
4. PARAMETERS FOR POSITIONING CONTROL

4.7 Work Coordinate Data

(1) The work coordinate data are used to set the work coordinates and you can set
six different work coordinates (G54 to G59) per axis. (For details, refer to
Section 4.7.)

(2) For the work coordinate system, specify the position with the offset from the
mechanical coordinate system home position. The offset setting is the distance
from the mechanical coordinate system home position (0).

(3) Set the work coordinate data on the peripheral device.

(4) The work coordinate data to be set are listed in Table 4.10.

Table 4.10 Work Coordinate Data List

Setting range Default Section
No. Item mm inch degree Initial Remark For
Unit
Setting range Unit Setting range Unit Setting range Unit value details
-214748.3648 -21474.83648 -359.99999
1 G54 to mm to inch to degree 0 mm
214748.3647 21474.83647 359.99999
-214748.3648 -21474.83648 -359.99999
2 G55 to mm to inch to degree 0 mm
214748.3647 21474.83647 359.99999
-214748.3648 -21474.83648 -359.99999
3 G56 to mm to inch to degree 0 mm
Set the work
214748.3647 21474.83647 359.99999
coordinate systems 1 6.7
-214748.3648 -21474.83648 -359.99999
to 6.
4 G57 to mm to inch to degree 0 mm
214748.3647 21474.83647 359.99999
-214748.3648 -21474.83648 -359.99999
5 G58 to mm to inch to degree 0 mm
214748.3647 21474.83647 359.99999
-214748.3648 -21474.83648 -359.99999
6 G59 to mm to inch to degree 0 mm
214748.3647 21474.83647 359.99999

(5) When a home position return is made on the basis of 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 the 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
completion point
Mechanical
- + Monitor data
coordinate
0 200.00 300.00 machine value
system

- + Work coordinate Present 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 present value to -100.00(mm).
When the work coordinate data is set to 0, the present value is equal to the
machine value.

4 − 35
5. SEQUENCE PROGRAMS AND SFC PROGRAMS

5. SEQUENCE PROGRAMS AND SFC PROGRAMS

This section explains how to start a motion program using a sequence program or
SFC program for positioning control, and gives other information.

5.1 Cautions on Creating a Sequence Program or SFC Program

The following cautions should be observed when creating a sequence program or

SFC program.

(1) Positioning control instructions

The motion program start request instruction (DSFRP)/(SVST) (see Section
5.2) and the home position return instructions (DSFLP)/(CHGA) (See section 5.3)
speed change instructions (see Section 5.4) are used as positioning
instructions.

(2) Unusable instructions

It is not possible to use the DSFL (word data 1 word shift to left) or DSFR (word
data 1 word shift to right) instruction.
If a DSFL instruction of DSFR instruction is executed, an operation error occurs
and the following happens:
(a) Operation error flag (M9010, M9011) is turned ON.
(b) 50(OPERATION ERROR) is stored in the self-diagnosis error code register
(D9008)
(c) The step in which the DSFR or DSFL instruction was executed is stored in
the error step register (D9010, D9011).
In order to shift word data, use the BMOV instruction (see Appendix 4).

(3) Dedicated devices for the PCPU

Of the servo system CPU devices, those shown in Table 5.1 are exclusively for
use with the PCPU.
Check the applications of devices before using them in the sequence program
(for details, see Chapter 3).

Table 5.1 Dedicated Devices for the PCPU

Device Name Device No.
Internal relays M1400 to M2047
Data registers D500 to D1023
Special relays M9073 to M9079
Special registers D9180 to D9199

Note that internal relays (M1400 to M2047) and data registers (D500 to D1023)
will not be latched even if a latch range setting is made for them. (The device
symbols for M1400 to M2047 are displayed as M, L, and S by the GPP device
in accordance with the M, L, and S settings in the parameters.)

(4) SFC programs

Refer to the manuals below for details on the SFC programming method.
MELSAP II Programming Manual (IB-66361)

5−1
5. SEQUENCE PROGRAMS AND SFC PROGRAMS

5.2 Motion Program Start Request Instruction (DSFRP/SVST)

There are two motion program start request instructions: the DSFRP instruction
and the SVST instruction.
When executing positioning control, up to 3 axes can be controlled with the DSFRP
instruction and up to 4 axes can be controlled with the SVST instruction.
When the A273UHCPU (32 axis feature)/A173UHCPU(S1) is used, the DSFRP
instruction cannot be used as a servo program start request instruction. It may be
used only as a word data shift instruction.

5.2.1 Start request instruction for 1 to 3 axes (DSFRP): when using A172SHCPUN/A171SHCPUN

Usable Devices

Digit Designation

Number of Steps
Carry
Error Flag
Flag
Bit Devices Word (16 Bit) Devices Constants Pointers Level

Subset

Index
X Y M L S B F T C D W R A0 A1 Z V K H P I N M9012 M9010 M9011

(D) !
7 × ! !
n ! !

SEQUENCE PROGRAM Setting data Setting range

[Execution (D)
No. of axis to be D1 to D8 (A172SHCPUN)
DSFRP (D) n started D1 to D4 (A171SHCPUN)
condition]
Execution command Direct
1 to 256
designation
No. of servo program K30000 to
n Decimal
to be executed Indirect K30497
designation H7530 to
Hexadecimal
H7721

The following processing is executed at the leading edge (OFF→ON) of the

DSFRP instruction:
• The start accept flag (M2001+n) designated in (D) is turned ON (see Section
3.1.3 (2)).
• A start request is issued for the servo program designated by "n".

ON
Execution command OFF

DSFRP instruction
ON
Start accept flag OFF

Designated servo
program

5−2
5. SEQUENCE PROGRAMS AND SFC PROGRAMS

[Data Settings]
(1) Setting the axes to be started
The axes to be started are set in (D) in the way shown below.

Designate digits from 1 to 3.

1 axis to started Make the setting for 1 axis (1 digit)
2 axis to interpolation to be started Make the setting for 2 axes (2 digits)
3 axis to interpolation to be started Make the setting for 3 axes (3 digits)
Designate started axis numbers 1 to 4 for an A171SHCPUN,
or 1 to 8 for an A172SHCPUN.
Device symbol (only "D" can be used)

Example
The axes to be started are designated as follows.
• Axis 1 .......................................D1
• Axis 1 and axis 2......................D12
• Axis 1, axis 2, and axis3 ..........D123

(2) Motion program No. setting

There are two types of motion program number setting: direct and indirect.
(a) In direct setting, the motion program number is designated directly as the
number itself (1 to 256).
Example
Motion program No.50 would be set as follows.
• When designated with a K device........... K50

(b) In indirect setting, the motion program number, the parameter block No. and
the sequence program No. are set as a value in a data register.
The data registers that can be used are D0 to D497, and they are set as
follows.
1) K 3 0

Designation of the data register number (000 to 497)

3 digits must be set.
Example: For 50, set 050.
Date register disignation
Set the data register values as indicated below.
Data register of specified number ...............................Motion program No.
Data register of specified number + 1 ........................Parameter block No.
Data register of specified number + 2 ................... Sequence program No.
2) It is also possible to designate a hexadecimal number (H7530 to H7721)
converted from a decimal (K) number.

5−3
5. SEQUENCE PROGRAMS AND SFC PROGRAMS

Example
Make the following setting when specifying the motion program number,
parameter block number and sequence program number to be started as the data
register (D50, D51, D52) data.
*1 *2
When designated with a K device K30050 Specifies D50, D51, D52.

*1: When the parameter block number setting (D51) is outside the range 1 to 16,
control is exercised with the parameter block No. 1.
*2: When the sequence number setting (D52) is outside the range 1 to 9999, a
start is made at the beginning of the motion program.

POINTS
(1) (1) In (D), specify all axes described in the motion program.
(2) In (D), "D" is used as the device symbol but the present values of the
data register numbers used in the sequence program are ignored.

[Error Details]
In the following cases, an operation error occurs and the DSFRP instruction is not
executed.,
• When the setting for (D) comprises 4 or more digits.
• When the axis number given in any digit of (D) is a number other than 1 to 8
(A172SHCPUN).
• When the axis number given in any digit of (D) is a number other than 1 to 4
(A171SHCPUN).
• When the same axis number is set twice in (D).
• When n is a value outside the range 1 to 256.
• When the settings for (D) or n are made by indirect setting with an index register
(Z, V).

POINT
• For indirect designation, do not specify the last data register (D499) and its
preceding register (D498).

5−4
5. SEQUENCE PROGRAMS AND SFC PROGRAMS

5.2.2 Start request instruction for 1 to 8/1 to 4/1 to 32 axes (SVST)

Usable Devices

Digit Designation

Number of Steps
Carry
Error Flag
Flag
Bit Devices Word (16 Bit) Devices Constants Pointers Level

Subset

Index
X Y M L S B F T C D W R A0 A1 Z V K H P I N M9012 M9010 M9011

(D) *1
13
n

*1: Possible with indirect setting only

SEQUENCE PROGRAM Setting data Setting range

[Execution J1 to J8 (A172SHCPUN)
condition] SVST (D) n J1 to J4 (A171SHCPUN)
J+No. of axis to be
(D) J1 to J32
Executiion command started
(A273UHCPU (32 axis feature)/
A173UHCPU (S1))
Direct
1 to 256
designation
Indirect
No. of servo program designation
n
to be executed (Indirect D0 to D497
designation W0 to W3FE
device uses
3 words.)

The following processing is executed at the leading edge (OFF ON) of the SVST
instruction.
• The start accept flag (M2001+n) corresponding to the axis designated in (D) is
turned ON (see Section 3.1.3 (2)).
• A start request is issued for the motion program designated by "n".

ON
Execution command OFF

SVST instruction
ON
Start accept flag OFF

desiagnated motion program

5−5
5. SEQUENCE PROGRAMS AND SFC PROGRAMS

[Data Settings]
(1) Setting the axes to be started
The axes to be started are set in (D) in the way shown below.

Setting for 1 to 8 axes (A172SHCPUN)

Setting for 1 to 4 axes (A171SHCPUN)
1 axis to be started Make the setting for 1 axis (J**)
2 axes interpolation to be started Make the setting for 2 axis (J**J**)
3 axes interpolation to be started Make the setting for 3 axis (J**J**J**)
4 axes interpolation to be started Make the setting for 4 axis (J**J**J**J**)
Designate J+started axis number 1 to 8 for an A172SHCPUN
Designate J+started axis number 1 to 4 for an A171SHCPUN
Designate J+started axis number 1 to 32 for an A273UHCPU
(32 axis feature) / A173UHCPU(S1)
The number of digits in the axis number display is fixed at 3 including J (i.e. "J**")

Example
The axes to be started are designated as follows.
• Axis 1 ...................................................... J1
• Axis 1 and axis 2..................................... J1J2
• Axis 1, axis 2, and axis3 ......................... J1J2J3
• Axis 1, axis 2, axis3, and axis4 ............... J1J2J3J4

(2) Motion program No. setting

There are two types of servo program number setting: direct and indirect.
(a) In direct setting, the motion program number is designated directly as the
number itself (1 to 256).
Example
Motion program No.50 would be set as follows.
• When designated with a K device........... K50

(b) In indirect setting, the motion program number, parameter block number
and sequence program number are set as word device values.
The word device values are set as follows.
Specified word device ......................................................Motion program No.
Word device next to specified one .................................Parameter block No.
Word device second next to specified one ................ Sequence program No.

POINT
(1) In (D), specify all axes described in the motion program.

1) The word devices that can be used are indicated in the table below.
Usable Devices
A273UHCPU (32 axis
Word Device A172SHCPUN/
feature)/
A171SHCPUN
A173UHCPU (S1)
D 0 to 497 1690 to 8199
W 0 to 3FD 0 to 1FFD

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5. SEQUENCE PROGRAMS AND SFC PROGRAMS

Example
Make the following setting when specifying the motion program number,
parameter block number and sequence program number to be started as the data
register (D50, D51, D52) data.
When word device is used to specify SVST J1J2J3 D50

D50: Motion program No.

D51: Parameter block No.*1
D52: Sequence program No.*2
*1: When the parameter block number setting (D51) is outside the range 1 to 16,
control is exercised with the parameter block No. 1.
*2: When the sequence number setting (D52) is outside the range 1 to 9999,
a start is made at the beginning of the motion program.

2) An index register (Z, V) can be used for index designation of the indirectly
set word device.
• For details on index registers (Z, V), see the ACPU Programming
Manual (Fundamentals) (IB-66249).

[Error Details]
In the following cases, an operation error occurs and the SVST instruction is not
executed.
• When the setting for (D) is for 9 or more axes (A172SHCPUN/A273UHCPU (32
axis feature)/A173UHCPU (S1)).
• When the setting for (D) is for 5 or more axes (A171SHCPUN).
• When the axis number given in any digit of (D) is a number other than J1 to J4
(A171SHCPUN).
• When the axis number given in any digit of (D) is a number other than J1 to J8
(A172SHCPUN).
• When the axis number given in any digit of (D) is a number other than J1 to J32
(A273UHCPU (32 axis feature)/A173UHCPU (S1)).
• When the same axis number is set twice in (D).
• When the setting for n is outside the applicable range.

[Program example]

M9039
0 M2000 PC READY flag turned ON
M9074
2 M2042 All axes servo start command turned ON
X0 M9074 M2009 M9076
4 PLS M0 When X0 comes ON, the start
M0 command flag (M1) for motion program
11 SET M1 No.50 comes ON.
M1 M9074 M2001 M2002 M2003 M2004 K
13 SVST J1J2J3J4 50 Execution request for motion program No.50

On completion of the request for execution

RST M1
of motion program No.50, M1 is turned OFF.
Start accept flags
CIRCUIT END

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5. SEQUENCE PROGRAMS AND SFC PROGRAMS

5.3 Home Position Return Instructions (DSFLP/CHGA)

These instructions are used to make a home position return of the axis at a stop.

5.3.1 DSFLP instruction: when using A172SHCPUN/A171SHCPUN

Usable Devices

Digit Designation

Number of Steps
Carry
Error Flag
Flag
Bit Devices Word (16 Bit) Devices Constants Pointers Level

Subset

Index
X Y M L S B F T C D W R A0 A1 Z V K H P I N M9012 M9010 M9011

(D)
7
n

SEQUENCE PROGRAM Setting data Setting range

Axis No. which will be
[Execution D1 to D8 (A172SHCPUN)
DSFLP (D) n (D) returned to home
condition] D1 to D4 (A171SHCPUN)
position
Execution command
Designation of home
n K2 or H2
position return

(1) The following processing is performed on the leading edge (OFF to ON) of the
DSFLP instruction execution command.
1) The start acceptance flag (M2001 to M2008/M2001 to M2004) corresponding
to the axis specified in (D) is turned ON.
2) The axis specified in (D) is returned to the home position in accordance with
the home position return data specified in the parameters.
3) The start acceptance is turned OFF on completion of the home position
return.

[Operation Timing]
ON
Execution command OFF

DSFLP instruction
Home position return
Start accept flag completion

[Data Settings]
(1) Setting of the axis which will be returned to home position
In (D), set the axis which will be returned to the home position as follows.

Started axis No.

The relevant axis No. can be set in the range 1 to 8 or 1 to 4.
Set the interpolation control time for one of the axes controlled in
interpolation.
Devices symbol (only D can be set)

Example
The axes to be started are designated as follows.
• Axis 1 ...................................................... D1

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5. SEQUENCE PROGRAMS AND SFC PROGRAMS

(2) Home position return

Set a home position return as indicated below.
• Home position return ...................Set K2 or H2.

POINT
For the DSFLP instruction, indirect setting cannot be made in (D) and n using
the index register.

DSFLP DOZ K2

Indirect designation using index register

If indirect setting is made using the index register, an operation error occurs
and the DSFLP instruction is not executed.

[Error Details]
(1) In the following cases, an operation error occurs and the DSFLP instruction is
not executed.
• Setting in (D) is other than 1 to 8/1 to 4.
• Setting in n is other than 1 or 2.
• Setting in (D) or n has been made by indirect setting using the index register
(Z, V).

(2) In the following case, a minor error (error at control change) occurs and a home
position return is not made.
At this time, the error detection flag (M1607+20n) is turned ON and the error
code is stored into the minor error code area of the corresponding axis.
• When the axis specified in (D) for home position return is operating

[Program Example]
(1) The following program is designed to make a home position return of axis 2.
(a) Conditions
1) Home position return command.......... Leading edge (OFF to ON) of X0
2) Home position return execution flag.... M1
3) Axis 2 start acceptance (axis 2 stopping/operating confirmation) flag
............................................................ M2002 (axis 2 start acceptance
flag)
(b) Program example

M9039
0 M2000 Turns ON PC ready.

M9074
2 M2042 Turns ON all-axis servo start command.

X0 M9074 M2009 M9076

4 PLS M0
Turns ON axis 2 home position return
M0 Start acceptance flag start command flag (M1) at OFF to ON of X0.
11 SET M1
M9074 M1 M2002 M1603 P K
13 DSFL D2 2 Axis 2 home position return execution request

Turns OFF M1 on completion of axis 2 home

PCPU RST M1 position return execution request.
ready signal In-position signal
CIRCUIT END

POINT
When making a home position return, provide M9074 and in-position signal as
interlock conditions.

5−9
5. SEQUENCE PROGRAMS AND SFC PROGRAMS

5.3.2 CHGA instruction

Usable Devices

Digit Designation

Number of Steps
Carry
Error Flag
Flag
Bit Devices Word (16 Bit) Devices Constants Pointers Level

Subset

Index
X Y M L S B F T C D W R A0 A1 Z V K H P I N M9012 M9010 M9011

(D)
7
n

SEQUENCE PROGRAM Setting data Setting range

[Execution J + axis No. which will

J1 to J8 (A172SHCPUN)
CHGA (D) n J1 to J4 (A171SHCPUN)
condition] (D) be returned to home
J1 to J32 (A273UHCPU (32 axis
Execution command position
feature)/A173UHCPU (S1))

n Dummy

(1) The following processing is performed on the leading edge (OFF to ON) of the
CHGA instruction execution command.
1) The start acceptance flag (M2001 to M2008/M2001 to M2004) corresponding
to the axis specified in (D) is turned ON.
2) The axis specified in (D) is returned to the home position in accordance with
the home position return data specified in the parameters.
3) The start acceptance is turned OFF on completion of the home position
return.

[Operation Timing]
ON
Execution command OFF

CHGA instruction
Home position return
Start accept flag completion

[Data Settings]
(1) Setting of the axis which will be returned to home position
In (D), set the axis which will be returned to the home position as follows.

Started axis No.

The relevant axis No. can be set in the range 1 to 8 or 1 to 4.

Only J can be set.

Example
The axes to be started are designated as follows.
• Axis 1 ...................................................... J1

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5. SEQUENCE PROGRAMS AND SFC PROGRAMS

(2) Home position return setting

Set a dummy for a home position return.
Example

Set a dummy. CHGA J1 K00

Dummy

[Error Details]
(1) In the following case, an operation error occurs and the CHGA instruction is not
executed.
• Setting in (D) is other than J1 to J8/J1 to J4.
(2) In the following case, a minor error (error at control change) occurs and a home
position return is not made.
At this time, the error detection flag (M1607+20n) is turned ON and the error
code is stored into the minor error code area of the corresponding axis.
• When the axis specified in (D) for home position return is operating
[Program Example]
(1) The following program is designed to make a home position return of axis 2.
(a) Conditions
1) Home position return command.......... Leading edge (OFF to ON) of X0
2) Home position return execution flag.... M1
3) Axis 2 start acceptance (axis 2 stopping/operating confirmation) flag
...................................................... M2002 (axis 2 start acceptance flag)
(b) Program example

M9039
0 M2000 Turns ON PC ready.

M9074
2 M2042 Turns ON all-axis servo start command.

X0 M9074 M2009 M9076

4 PLS M0
Turns ON axis 2 home position return
M0 Start acceptance flag start command flag (M1) at OFF to ON of X0.
11 SET M1
M9074 M1 M2002 M1603 K
13 CHGA J2 2 Axis 2 home position return execution request

Turns OFF M1 on completion of axis 2 home

PCPU RST M1 position return execution request.
ready signal In-position signal
CIRCUIT END

(2) The following program is designed to change the positioning speed of axis 2.
(a) Condition
1) Speed change command .................... Leading edge (OFF to ON) of X000
(b) Program example

Speed change in progress flag

X000 M2022 K Axis 2 speed change
0 CHGV J2 10
execution request

CIRCUIT END

POINT
When override is valid, the speed change using DSFLP/CHGV is ignored for
the axes operating automatically.

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5. SEQUENCE PROGRAMS AND SFC PROGRAMS

5.4 Speed Change Instructions (DSFLP/CHGV)

This instruction is used to change the speed of an axis during positioning or JOG
operation.

5.4.1 DSFLP instruction (When using A172SHCPUN/A171SHCPUN)

Usable Devices

Digit Designation

Number of Steps
Carry
Error Flag
Flag
Bit Devices Word (16 Bit) Devices Constants Pointers Level

Subset

Index
X Y M L S B F T C D W R A0 A1 Z V K H P I N M9012 M9010 M9011

(D)
7
n

SEQUENCE PROGRAM Setting data Setting range

[Execution (D)
No. of speed change D1 to D8 (A172SHCPUN)
condition] DSFLP (D) n axis D1 to D4 (A171SHCPUN)
Execution command Speed change
n K1 or H1
designation

(1) The following processing is executed at the leading edge (OFF ON) of the
DSFLP instruction:
(a) Present value change
1) The speed change in progress (M2021 to M2028/M2021 to M2024)
corresponding to the axis designated in (D) is turned ON.
2) A command to change the currently effective positioning speed to the
speed stored in the speed change register for the axis designated in (D)
is issued.
3) The speed change in progress flag is turned OFF.

(2) The numbers of registers used for present value change and speed change
operations are indicated in the table below. (For details, see Section 3.2.2.)
<A172SHCPUN> <A171SHCPUN>
Speed Change Registers Speed Change Registers
Axis No. Axis No.
Upper Lower Upper Lower
Axis 1 D963 D962 Axis 1 D963 D962
Axis 2 D969 D968 Axis 2 D969 D968
Axis 3 D975 D974 Axis 3 D975 D974
Axis 4 D981 D980 Axis 4 D981 D980
Axis 5 D987 D986
Axis 6 D993 D992
Axis 7 D999 D998
Axis 8 D1005 D1004

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5. SEQUENCE PROGRAMS AND SFC PROGRAMS

[Operation Timing]

ON
Execution command OFF

DSFLP instruction
Speed change
Speed chage flag completion

[Data Settings]
(1) Setting the axis for which the speed change is to be executed
The axis for which the speed change set in (D) is executed is set as follows.

Started axis No.

The relevant axis No. can be set in the range 1 to 4 or 1 to 8.
Set the interpolation control time for one of the axes controlled in
interpolation.
Devices symbol (only D can be set)

Example
The started axis is designated as follows.
• Axis 1 ......................................................................D1
• Interpolation control with axis 1 and axis 2 .............D1 or D2

(2) Speed change

The setting for a present value change/speed change is as follows.
• Speed change ........................Set K1 or H1.

POINT
When using a DSFLP instruction, it is not possible to indirectly designate (D)
or n using index registers (Z, V).

DSFLP DOZ K1

Indirect designation using index register

If an indirect designation with an index register is made, an operation error

occurs, and the DSFLP instruction is not executed.

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5. SEQUENCE PROGRAMS AND SFC PROGRAMS

[Error Details]
(1) In the following cases an operation error occurs and the DSFLP instruction is
not executed.
• When the setting for (D) is other than 1 to 8/1 to 4.
• When the setting for n is a value other than 1 and 2.
• When the setting for (D) or n has been indirectly designated using an index
register (Z, V).
(2) In the following cases, a minor error (error on control change) occurs and the
speed change is not executed.
When this happens, the error detection flag (M1607+20n) is turned ON and the
error code is stored in the minor error code area for the relevant axis.
• When the axis designated in (D) is executing a home position return when the
speed change is made.
• When the axis designated in (D) is decelerating when the speed change is
made.
• When the absolute value of speed designated in n exceeds the speed limit
value when the speed change is made.
[Program Example]
The program shown below changes the positioning speed of axis 2 to the value set
with an 8-digit digital switch.
(1) Conditions
1) Numbers of inputs for the digital switch......... X010 to X02F
2) Speed Change command.............................. Leading edge (OFF→ON) of
X000
(2) Program example
Speed change in progress flag
X000 M2022 P K8 The value set with the digital switch is stored
0 DBIN X0010 D968 in the speed change register for axis 2
(D968, D969).
P K
DSFL D2 1 Axis 2 speed change execution request

CIRCUIT END

POINT
• Points to note when a speed change is performed
• If a speed change instruction (CHGV) is executed in the period between
execution of the servo program start request instruction (SVST/DSFRP)
and the point where the "positioning start completion signal" comes ON,
the speed change may be invalid. To perform speed changes in
approximately the same timing as a start, be sure to enter the positioning
start completion signal ON status as an interlock for execution of the
speed change instruction.
Example)
Execution Speed change in
command progress flag
CHGV J2 K10
Positioning start completion signal

Start reception
Positioning start
completion signal

Positioning
completion
signal Speed change designated during this
period may be invalid.

5 − 14
5. SEQUENCE PROGRAMS AND SFC PROGRAMS

5.4.2 CHGV instruction

Usable Devices

Digit Designation

Number of Steps
Carry
Error Flag
Flag
Bit Devices Word (16 Bit) Devices Constants Pointers Level

Subset

Index
X Y M L S B F T C D W R A0 A1 Z V K H P I N M9012 M9010 M9011

(D)
7
n

SEQUENCE PROGRAM Setting data Setting range

[Execution J1 to J8 (A172SHCPUN)
CHGV (D) n J + No. of speed J1 to J4 (A171SHCPUN)
condition] (D)
change axis J1 to J32 (A273UHCPU (32 axis
Executiion command
feature)/A173UHCPU (S1))
mm : −600000000 to
600000000
×10−2mm/min
inch : −600000000 to
Direct
Setting of speed 600000000
designation
to be changed ×10−3inch/min
n
(Indirect designation deg : −2147483648 to
device uses 2 words) 2147483647
−3
×10 deg/min
D0 to D498
Indirect
W0 to W3FE
designation
R0 to R8190

(1) The following processing is executed at the leading edge (OFF→ON) of the
CHGV intruction:
1) The speed change flag (M2021 to M2028/M2021 to M2024/M2061 to
M2092) corresponding to the axis designated in (D) is turned ON.
2) The speed of the axis designated in (D) is changed to the present value
designated in n.
3) The speed change in progress flag is turned OFF.

[Operation Timing]

ON
Execution command OFF

CHGV instruction

Speed chage completion

Speed change flag

5 − 15
5. SEQUENCE PROGRAMS AND SFC PROGRAMS

[Data Settings]
(1) Setting the axis for which a speed change is to be executed
The axis with respect to which the speed change set in (D) is to be executed is
set as follows.

Started axis No.

Set the relevant axis No. in the range 1 to 4 / 1 to 8.
Set the interpolation control time for one of the axes
involved in the interpolation.
Only J can be used.

Example
Axes to be started are designated as shown below.
• Axis 1 .................. J1

(2) Setting the speed change

There are two types of setting for speed changes: direct setting and indirect
setting.
(a) In direct setting, the speed to be changed to is specified directly as a
numerical value. (For the setting range, refer to Section 3.2.2.).
Example
If the speed to be changed "10", the setting as follows.
• When designated with a K device................ K10

(b) The word devices that can be used are indicated in the table below.
1) The word devices that can be used are indicated in the table below.
Usable Devices
A273UHCPU (32 axis
Word Device A172SHCPUN/
feature)/
A171SHCPUN
A173UHCPU (S1)
D 0 to 498 1690 to 8190
W 0 to 3FE 0 to 1FFF
R 0 to 8190 0 to 8190

Example
Make the following setting to designate the present value to be changed to
with the data stored in data register D50:
Designated with a word device CHGV J11 D50

2) An index register (Z, V) can be used for index designation of the indirectly
set word device.

5 − 16
5. SEQUENCE PROGRAMS AND SFC PROGRAMS

[Error Details]
(1) In the following cases an operation error occurs and the CHGV instruction is not
executed.
• When the setting for (D) is other than J1 to J8/J1 to J4.
(A172SHCPUN/A171SHCPUN)
• When the setting for (D) is other than J1 to J32.
(A273UHCPU (32 axis feature)/A173UHCPU (S1))
(2) In the following cases, a minor error (error on control change) occurs and the
speed change is not executed.
When this happens, the error detection flag (M1607+20n/M2407+20n) is turned
ON and the error code is stored in the minor error code area for the relevant
axis.
• When the axis designated in (D) is executing a home position return when the
speed change is made.
• When the axis designated in (D) is decelerating when the speed change is
made.
• When the speed designated by n is outside the range of 0 to the speed limit
value when the speed change is made.
[Program Example]
The program shown below changes the present value for axis 2.
(1) Conditions
1) Speed change command............................... Leading edge (OFF→ON) of
X000
(2) Program example
Speed change in progress flag
X000 M2022 M2420 K Axis 2 present value change
0 CHGV J2 10
execution request
Positioning start completion signal

CIRCUIT END

POINT
• Points to note when a speed change is performed
• If a speed change instruction (DSFLP) is executed in the period between
execution of the servo program start request instruction (SVST/DSFRP)
and the point where the "positioning start completion signal" comes ON,
the speed change may be invalid. To perform speed changes in
approximately the same timing as a start, be sure to enter the positioning
start completion signal ON status as an interlock for execution of the
speed change instruction.
Example)
Execution Speed change in
command progress flag
DSFLP D2 K1
Positioning start completion signal

Start reception
Positioning start
completion signal

Positioning
completion
signal Speed change designated during
this period may be invalid.

5 − 17
5. SEQUENCE PROGRAMS AND SFC PROGRAMS

5.5 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 The axis is reversed in travel direction, returns to the
G28 (high-speed home position return) positioning start point at the specified speed, and
G30 stops (stands by) there.
G53
G02
G03
G01 The axis is reversed in travel direction, returns to the
G32 preceding point at the specified speed, and stops
(waits) there.
G25 Speed change cannot be Minor error 310 occurs.
G28 (dog, count type home position return) made. Minor error 301 occurs.
JOG operation Speed change to Minor error 305 occurs.
negative speed is not
made.
Speed is controlled at
speed limit value.
(Reference) Minor error 301: Speed change was made during home position return.
Minor error 305: Preset speed is outside the range of 0 to speed limit value.
Minor error 310: Speed change was made during high-speed oscillation.

[Control Details]
(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, minor error 305 occurs and the speed is
controlled at the speed limit value.

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

(a) Signal states
• Start acceptance (M2001+20n) ON (Remains unchanged from before
execution of CHGV)
• Positioning start completion (M1600+20n/M2400+20n) ON (Remains
unchanged from before execution of CHGV)
• Positioning completion (M1601+20n/M2401+20n) OFF
• In-position (M1602+20n/M2402+20n) OFF
• Command in-position (M1603+20n/M2403+20n) OFF
(b) When making a restart, make a speed change to positive speed.
(c) When terminating positioning, turn ON the stop command.
(d) A speed change made to negative speed again will be ignored.

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5. SEQUENCE PROGRAMS AND SFC PROGRAMS

[Operation Example under G01]

O10; Y axis
G90; N3
N1 G01 X10000 Y0 F10000; P2 P3
N2 Y10000;
N3 X10000;
M02; N2
% Changed to negative speed

Starting point P1 X axis

N1

Start request SVST

Start acceptance (M2001+n)

Speed change request CHGV

New speed -1000 1000

Composite speed

Return operation to point P1 Standing by at point P1

Command in-position

Speed chage "0"

acceptance 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) While the axis is standing by after returning to P1, a speed change to negative
speed is invalid (ignored) if it is made again.

(2) While the axis is standing by at P1, the start acceptance (M2001+n) remains
ON. To terminate positioning at this point, turn ON the stop command.

(3) A speed change to negative speed is ignored if it is made while the axis is
waiting for FIN during a stop using the M code FIN waiting function under
constant-speed control.

(4) In the above example, the axis returns to P2 if the axis passes through P2
during a speed change made to negative speed immediately before P2.
Y axis P2 P3

Speed change
was made here.

Starting point P1 X axis

5 − 19
5. SEQUENCE PROGRAMS AND SFC PROGRAMS

5.6 CHGT Instruction

Usable Devices

Digit Designation

Number of Steps
Carry
Error Flag
Flag
Bit Devices Word (16 Bit) Devices Constants Pointers Level

Subset

Index
X Y M L S B F T C D W R A0 A1 Z V K H P I N M9012 M9010 M9011

(D)
7
n

SEQUENCE PROGRAM Setting data Setting range

[Execution J1 to J8 (A172SHCPUN)
J + axis No. which will
CHGT (D) n J1 to J4 (A171SHCPUN)
condition] (D) be changed in torque
J1 to J32 (A273UHCPU (32 axis
Execution command limit value
feature)/A173UHCPU (S1))
New torque limit value
(%)
n 1 to 500 (%)
(Indirect designation
device uses 1 word)

This instruction changes the torque limit value on the leading edge (OFF to ON) of
the CHGT instruction execution command in the sequence program.

[Operation Timing]
Any axis that has completed starting may be changed in torque limit value in any of
the operating, stopping, servo ON and servo OFF statuses.
ON
Execution command OFF

CHGT instruction

New torque limit value 100%

Torque limit value 300% 100%

commanded to servo

[Operation Details]
If any torque limit value has been set in the motion program, the torque limit value
cannot be changed to the value higher than the new torque limit value specified in
the CHGT instruction. (The torque limit value can changed to the value lower than
the new torque limit value specified in the CHGT instruction.)
(1) If the torque limit value is changed by the CHGT instruction before a motion
program start or JOG operation start, the torque limit value is clamped at the
torque limit value specified in the CHGT instruction when the torque limit value
set in the motion program to be started is higher than that limit value.

(2) During interpolation operation, the above clamp processing of the torque limit
value is performed only for the axis whose torque limit value has been changed
by the CHGT instruction.

(3) When the torque limit value is set at a mid point under constant-speed control,
the torque limit value cannot be changed to a value higher than the torque limit
value specified in the CHGT instruction.

(4) While the motion program is running the CHGT instruction also allows the
torque limit value to be changed to a value higher than the torque limit value set
in that motion program.

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5. SEQUENCE PROGRAMS AND SFC PROGRAMS

[Error Details]
(1) The setting range is 1 to 500(%).
If the setting is outside this range, the minor error 311 occurs and a torque limit
value change is not made.

(2) When the CHGT instruction is executed for any axis that has not yet been
started, the minor error 312 occurs and a torque limit value change is

5 − 21
5. SEQUENCE PROGRAMS AND SFC PROGRAMS

5.7 SFC Programs

This section explains how to start motion programs using SFC programs.

5.7.1 Starting and stopping SFC programs

SFC programs are started and stopped from the main sequence program. The
methods for starting and stopping SFC programs are described below.

(1) Starting SFC programs

(a) An SFC program is started by turning M9101 (SFC program start/stop) ON
in the main sequence program.
Start command
PLS M0

M0
SET M9101

(b) There are two types of SFC program start, as indicated below, and the one
that is effective is determined by the ON/OFF status of special relay M9102
(SFC program start status selection).
1) SFC program initial start
By turning special relay M9101 ON while special relay M9102 is OFF, the
SFC program is started from the initial step of block 0.
2) SFC program resumptive start
By turning special relay M9101 ON while special relay M9102 is ON, the
SFC program is started from the block and step that was being executed
immediately before operation was stopped.
(c) On creation of an SFC program, if no main sequence program has been
created (applies only when step 0 is an END instruction), the circuit shown
below is automatically created in the main sequence program area by the
peripheral device.
M9036
SET M9101

(2) Stopping SFC programs.

(a) An SFC program is stopped by turning M9101 (SFC program start/stop)
OFF in the main sequence program.
Stop command
PLS M1

M1
RST M9101

(b) When an SFC program is stopped, all the operation outputs in the step
being executed are turned OFF.

POINT
Write during run in the SFC mode is not possible with respect to the motion
controller.

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5. SEQUENCE PROGRAMS AND SFC PROGRAMS

5.7.2 Motion program start request

A motion program can be started in one of two ways: by using the program start-up
symbol intended for this purpose ([SV]), or by inputting a motion program start
request instruction in the internal circuit of a normal step.( )

(1) When an [SV] step is created.

<Main sequence program> <SFC program>

Start command M9101 ON

PLS M0

M0
SET M9101

Initial step
Stop command
Repetition

PLS M1 Switching condition 1

M1 Step 1
SET M9101 (creation of motion
SV
program start instruction)
M9101 Switching condition 2
OFF

Step 2

End step

<Switching conditions and operation output>

Switching condition 1

M2001M2002 M2003M2004
Tran

Interlock

Step 1 (motion program start request instruction)

K
SVST J1J2J3J4 10

Switching condition 2

M2001 M2002M2003M2004
Tran

Interlock

5 − 23
5. SEQUENCE PROGRAMS AND SFC PROGRAMS

POINT
(1) When an [SV] step is created, the motion program start request ladder
block ( SVST *** ) is mandatorily inserted in the sequence
program.
(2) When a DSFRP instruction is used, input it directly into the sequence
program at a normal step ( ).
(3) If an SVST instruction is edited and converted, a start accept bit (M2001
to M2008/M2001 to M2004) is automatically inserted into the switching
conditions before and after the relevant SFC step to act as an interlock.
However, if the order of steps has been changed by addition or insertion,
this interlock may not be automatically added/deleted in the switching
conditions. Therefore, if a step has been added or inserted, always
display the switching conditions using ZOOM display and check the
interlock.
(4) Only the sequence ( SVST *** ) can be set at an [SV] step.
If any additional instructions are to be set, either set them in a normal
step ( ) or set another sequence instruction section executed in parallel
as a normal step ( ).

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5. SEQUENCE PROGRAMS AND SFC PROGRAMS

(2) When a motion program start instruction is input inside a normal step ( )

<Main sequence program> <SFC program>

Start command M9101 ON

PLS M0
(When a normal
M0 step is used)
SET M9101

Initial step
Stop command

Repetition
PLS M1 Switching condition 1
M1 Step 1
SET M9101 (creation of motion
program start instruction)
M9101 Switching condition 2
OFF

Step 2

End step

<Switching conditions and operation output>

Switching condition 1

M2001M2002M2003M2004
Tran

Interlock

Step 1 (motion program start request instruction)

K
SVST J1J2J3J4 10

Switching condition 2

M2001M2002M2003M2004
Tran

Interlock

5 − 25
5. SEQUENCE PROGRAMS AND SFC PROGRAMS

POINTS
(1) When a DSFRP or DSFLP instruction is used, input it directly into the
internal circuit of a normal step ( ).
(2) If an SVST/DSFRP instruction is edited and converted, a start accept bit
(M2001+n) is automatically inserted into the switching conditions before
and after the relevant SFC step to act as an interlock.
(3) If a DSFLP instruction is edited and converted, a speed change in progress
flag (M2021 to M2028/M2021 to M2024) is automatically inserted into the
switching conditions before and after the relevant SFC step to act as an
interlock.
(4) Set commands such as speed change commands and stop commands,
which are executed in an arbitrary timing, in the main sequence program.

5 − 26
6. MOTION PROGRAMS FOR POSITIONING CONTROL

6. MOTION PROGRAMS FOR POSITIONING CONTROL

The motion controller (SV43) uses a motion program in the NC language (EIA)
format as a programming language.
A motion program is used to specify the positioning control type and positioning
data required for the servo system CPU to exercise positioning control. The
makeup and specifying method of a motion program will be described.

6.1 Motion Program Makeup

This section provides the format and makeup of a motion program.

A motion program is called a word address format, which consists of a single
alphabet (address) and numerals.

(1) Word and address

A word is a collection of characters arranged in given order and this is used as
a unit to process that information to perform a specific operation.
In the motion controller (SV43), a word is made up of a single alphabet
(address) and a subsequent several-digit number. (The number may be
headed by a "+" or "-" sign.)
<Word makeup>

X 1) 2) 3) ········ 9)

*Alphabet (address) Number

Word

* The alphabet at the beginning of a word is called an address and defines the
meaning of the subsequent numeric information.

6−1
6. 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 makeup>
1) 2) 3) 4) 5) 6)
N100 G01 X250. Y-123.4 F1500. ;

Word Word Word Word Word E0B

Block

1) N100 ........... Sequence number : Used to identify a program block

and represented by a number
(max. 4 digits) after alphabet N.

2) G01 ............. Preparatory code : Denotes the basic instruction

which commands the motion of
motion control. (G code)

3) X250. .......... Coordinate position data* : Indicates the command for the
coordinate position of the X axis.
This word commands 250mm of
the X axis.

4) Y-123.4 ....... Coordinate position data* : Indicates the command for the
coordinate position of the Y axis.
This word commands -123.4mm
of the Y axis.

5) F1500.......... Feedrate : Represents the command of

feedrate in linear or circular
interpolation. (F code)
This word indicates the speed of
1500mm per minute.

6) ;................... EOB (End Of Block) : Denotes the end (separation) of

a program block.

* The coordinate position data has the following two modes.

Incremental value command ............Mode in which a command of the next
target position is given on the basis of
the present position (G91)
Absolute value command .................Mode in which the axis moves to the
specified coordinate position
independently of the present position
(G90)

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6. MOTION PROGRAMS FOR POSITIONING CONTROL

(3) Motion program

A motion program is a collection of several blocks and commands a series of
operations.

<Motion program makeup>

00001 O100; 1) Motion program number

00002 N10 G91 G00;
00003 G28 X0. Y0.;
00004 X250.;
00005 N20 M20;
00006 X-50. Y120.; 2) Program block
00007 N30 G01 X25. F500.;
···

···
00020 N80 M21;
00021 M02;
00022 % Indicates a program end.
3) Line number

1) Motion program number ......... Number specified in a sequence program.

You can set alphabet O (oh) and any number
of 1 to 256.

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 on the
peripheral device.

POINT
The motion controller (SV43) can store up to 256 motion programs in
memory.
These motion programs are managed using motion program numbers.

6−3
6. MOTION PROGRAMS FOR POSITIONING CONTROL

6.2 Instructions for Creating Motion Programs

(1) A motion program cannot be rewritten during its execution.

Write a program after making sure that the PC ready flag (M2000) is OFF.

(2) Calling of a subprogram from another subprogram (nesting) is allowed up to

eight levels.

(3) In one block, one G code can be selected from each modal group. Up to two G
codes can be commanded.
For G code combinations, refer to Table 6.1.

Table 6.1 G Code Combination List

Second G Codes
G00 G01 G02 G03 G04 G09 G28 G43 G44 G49 G53 G54 G55 G56 G57 G58 G59 G61 G64 G90 G91 G92
G00
G01
G02
G03
G04
G09
G23
G24
G25
G26
G28
G30
G32
First G G43
Codes G44
G49
G53
G54
G55
G56
G57
G58
G59
G61
G64
G90
G91
G92

How to use the above table

(a) When G09 is specified as the first G code, G01, G02 or G03 may be
specified as the second code.

IMPORTANT
If motion programs are specified for the same axis, they cannot be run
concurrently.
If they are run, we cannot guarantee their operations.

6−4
6. MOTION PROGRAMS FOR POSITIONING CONTROL

(b) When G90 is specified as the first G code, G00, G01, G02 or G03 may be
specified as the second code.
G90 G61; and G90 G64; result in a format error.

(4) With the exception of M00, M01, M02, M30, M98, M99 and M100, the M code
may be specified with another command in the same block. However, if it is
specified together with the move command (G00 to G03), operation is
performed as follows.
• The M function is executed simultaneously with the move command (G00 to G03,
G32).

(5) With the exception of M00, M01, M02, M30, M98, M99 and M100, multiple M
codes may be specified in one block but only the last one is valid.

(6) When there is the miscellaneous function (M) at any point in continuous G01
blocks
If the M code is set at any point in continuous G01 blocks, operation is
performed in either of the following two ways.
O100;
1) G90 G01 X100. F1000.; CP positioning of X
2) X200. M10; CP positioning of X, M code
3) X300.; CP positioning of X
(a)

100. 200. 300.

M code 10

M code outputting

FIN signal

Command in-position

When the FIN signal is not turned from OFF to ON to OFF during
positioning in block 2), the axis decelerates to a stop once in the block of
the M code.
(b)

100. 200.

M code 10

M code outputting

FIN signal

Command in-position

When the FIN signal is turned from OFF to ON to OFF during positioning in
block 2), the axis performs CP operation without decelerating to a stop in
the block of the M code.

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6. MOTION PROGRAMS FOR POSITIONING CONTROL

(7) With the exception of M00, M01, M02, M30, M98, M99 and M100, the M code
is output to the data registers (D813, D833, ...) and axis input signals (M code
outputting signals: M1619+20n) of all axes specified in the SVST instruction.
However, the data register data and axis input signals are not output to the axis
in execution of high-speed oscillation. Also, the FIN signal (M1819+20n)
entered into 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 )
01;
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;
G25
X axis

To next block
Y axis G00 Y10. M77

M1619 Not turned ON for X axis

M code
outputting signal M1639

M1819 Invalid for X axis

FIN signal
M1839

D813 Unchanged (M code not output to X axis)

M code data
D833 77

(8) Acceleration/deceleration processing of G01

G91 G01 X100. Y100. F100.; CP positioning of X, Y.........Block 1
Y100.; CP positioning of Y .............Block 2
X100.; CP positioning of X .............Block 3
When the above program is run, the acceleration/deceleration processings of
the X and Y axes are as follows.

X axis

100. 200.

Y axis

100. 200.

• Both the acceleration and deceleration times are equal to the acceleration
time of the parameter block.
• When the M code is commanded in G00, the acceleration and deceleration
times are also equal to the acceleration time of the 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 the parameter block as in G01.

6−6
6. MOTION PROGRAMS FOR POSITIONING CONTROL

(9) Operation of G09 (exact stop check)

Since a shift cannot be made by the command in-position, execution shifts to
the next block after the command is given.

(10) G28 (home position return) operation

The axis whose home position return request signal (M1609+20n) is ON
makes a dog, count or data setting type home position return.
The axis whose home position return request signal (M1609+20n) is OFF
makes a high-speed feed home position return.

(11) Checking the used axes at program start

(a) If there is an axis used in the already started program and an attempt is
made to start that axis in another program, that program cannot be run
because an error (error code: 101) occurs at 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,
the corresponding axis in the program stops due to an error (error code:
594) when its positioning processing is started.

(12) Variable prereading

Variables in up to eight blocks including the one currently executed are
preread. Where possible, set variables before starting the program.

(13) About the motion program including high-speed oscillation

Note the following when high-speed oscillation (G25) is to be performed for all
axes specified in SVST.
(Program No. 1 is started with X (axis 1) and Y (axis 2) specified
SVST J1J2 K1 )
01 ;
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 when programming N3 and later.
···

(a) The G code instructions other than G26 (high-speed oscillation stop) and
G04 (dwell) should not be executed.
(b) The M codes other than M00, M01, M02, M30, M98 and M99 should not be
executed.

6−7
6. MOTION PROGRAMS FOR POSITIONING CONTROL

6.3 G Code List

Table 6.2 indicates the G codes used in motion programs.

Table 6.2 G Code List

G Code Group* Function
G00* PTP positioning at rapid feedrate
G01 CP positioning at speed specified in F
01
G02 Circular interpolation (CW)
G03 Circular interpolation (CCW)
G04 00 Dwell (standby)
Exact stop check
G09 00
When G01 blocks continue, a stop is made at each block before execution of the next block.
G23* Cancel, cancel start invalid
02
G24 Cancel, cancel start
G25 00 High-speed oscillation
G26 00 High-speed oscillation stop
Home position return (positioning to home position address at rapid feedrate at the second time and
G28 00
later)
G30 00 Second home position return (positioning to second home position address at rapid feedrate)
G32 00 Skip
G43 Tool length offset (+)
G44 08 Tool length offset (-)
G49* Tool length offset cancel
G53 00 Machine coordinate system selection
G54* Work coordinate system 1 selection
G55 Work coordinate system 2 selection
G56 Work coordinate system 3 selection
12
G57 Work coordinate system 4 selection
G58 Work coordinate system 5 selection
G59 Work coordinate system 6 selection
G61 Exact stop check mode (stopped when G01 continues)
13
G64* Cutting mode (not stopped when G01 continues)
G90* Absolute value command
03
G91 Incremental value command
Coordinate system setting
G92 00
Work coordinate system is shifted by setting virtual mechanical coordinate system.
G100  Time-fixed acceleration/deceleration switch-over instruction
G101  Acceleration-fixed acceleration/deceleration switch-over instruction
* indicates the G code selected at power-on.

*The above groups will be described.

Class Description
Once any G code is commanded, it is valid until another G code in the same group is commanded.
Initial status (at power-on) is as follows.
Group 01..........G00 (PTP positioning at rapid feedrate)
Modal G codes Group 02..........G23 (Cancel, cancel start invalid)
(Groups 01, 02, 03, 08, 12, 13) Group 03..........G90 (Absolute value command)
Group 08..........G49 (Tool length offset cancel)
Group 12..........G54 (Word coordinate system 1 selection)
Group 13..........G64 (Cutting mode)
Unmodal G codes
Valid only for the block in which any G code has been commanded.
(Group 00)

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6. MOTION PROGRAMS FOR POSITIONING CONTROL

6.4 Special M Code List

Table 6.3 indicates the special M codes used in motion programs.

Table 6.3 Special M Code List

M Code Function Remarks
Executing this code stops the program at the end of that
M00 Program stop
block.
Has the same function as M00 if M1501+10n is ON.
M01 Optional program stop
Invalid if it is OFF.
M02 Program end Specify M02/M30 at program end.
M30 Program end Specify M02/M30 at program end.
M98 Subprogram call
M99 Subprogram end
M100 Preread inhibit

• Special M codes are not output to the PC.

6−9
6. MOTION PROGRAMS FOR POSITIONING CONTROL

6.5 Instruction Symbol/Character List

Table 6.4 indicates the instruction symbols/characters used in motion programs.

Table 6.4 Instruction Symbol/Character List

Symbol/Character Function Description
A Coordinate position data
B Coordinate position data
C Coordinate position data
U Coordinate position data Symbols used to specify the axes to be moved when
V Coordinate position data commanding positioning.
W Coordinate position data Set the axis numbers and axis names in system settings.
X Coordinate position data
Y Coordinate position data
Z Coordinate position data
I Circular arc center coordinate 1
Used in G02 or G03 (arc center coordinate designation).
J Circular arc center coordinate 2
R Radius of R point-designated circular arc Used in G02 or G03 (R designation).
F Interpolation feed composite speed Used in G01, G02 or G03.
G Preparatory function (G code) Refer to Section 6.3 G Code List.
Subprogram call sequence number Used in M98.
H
Tool length offset data number Used in G43 or G44.
L Subprogram repeat count Used in M98.
M Miscellaneous function (M code) Refer to Section 6.4 Special M Code List and Section 6.9.
N Sequence number Indicates a sequence number.
O Program number Indicates a motion program number.
Dwell timer Used in G04.
P Start program No. Used in G24.
Subprogram call number Used in M98.
PB Parameter block No. Changes the parameter block.
TL Torque limit value Changes 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 3.1.29.)
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 code 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

• Multiple operators cannot be used in one block.

• For the instruction symbol setting ranges, refer to Section 6.6.4.

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6. MOTION PROGRAMS FOR POSITIONING CONTROL

Table 6.4 Instruction Symbol/Character List (Continued)

Symbol/Character Function Description
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)
AND Logical operation instruction (AND)
SIN Trigonometric function (sine)
COS Trigonometric function (cosine)
TAN Trigonometric function (tangent) Used in arithmetic operation commands.
ASIN Trigonometric function (arcsine)
ACOS Trigonometric function (arccosine)
ATAIN Trigonometric function (arctangent)
INT Numerical conversion (real number to integer)
FLT Numerical conversion (integer to real number)
SET Specified device ON
Used in extended control instructions.
RST Specified device OFF
CAN Cancel device designation Used in G24.
START Starting angle designation
Used in G25.
STRK Amplitude designation
SKIP Skip device designation Used in G32.

• Multiple operators cannot be used in one block.

• For the instruction symbol setting ranges, refer to Section 6.6.4.

6 − 11
6. MOTION PROGRAMS FOR POSITIONING CONTROL

6.6 Method for Setting Positioning Data

This section explains how to set the positioning data (addresses, speeds,
operational expressions) used in motion programs.
There are the following two ways to set the positioning data.
• Direct designation (entering numerical values for data setting)
...........................................................................................Refer to Section 6.6.1.
• Indirect designation (using variable: #**** or device: #W*** for data setting)
........................................................................................... Refer to Section 6.6.2.
"Direct designation" and "indirect designation" can be used together in one motion
program.

6.6.1 Direct designation (numerical value)

Direct designation is a way to set each positioning data with a numerical value,
and these data are fixed data. Data setting and correction may be made on the
peripheral device only.
<Example of setting positioning data by direct designation>

O200;
N99 G90 G00 X100. Y110.; Values specified as positioning data
G01 X200. Y202. F204.;
G91 G00 Z300.;
M02;
%

6.6.2 Indirect designation (variable: #****)

Indirect designation is a way to use variables (#****) or devices (#W****) to specify

values used in the addresses, speeds and operational expressions in a motion
program.
By using variables or devices to set values, multiple positioning controls can be
exercised in one motion program.
(1) About variable representation
The 16-bit integer type, 32-bit integer type and 64-bit double precision real
number can be handled as variables.
When handled, these variables are described as follows.
Variable (D register) Device (W register)
16-bit integer type #n, #Dn, #DnS, #n: S, #Dn: S #Wn: S
32-bit integer type #nL, #DnL, #n: L, #Dn: L #Wn: L
64-bit double precision real number #nF, #DnF, #n: F, #Dn: F #Wn: F

6 − 12
6. MOTION PROGRAMS FOR POSITIONING CONTROL

(2) About 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 the 32-bit integer type.
15 0

16 bit to 32 bit The most significant bit is handled

as a sign bit.
31 15 0 If the sign bit is "1", bits 15 to 31
are "1".

The 16-bit integer type is converted to the 64-bit double precision real number.
15 0
The most significant 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 the 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
The most significant bit is handled
as a sign bit.

The 32-bit integer type is converted to the 64-bit double precision real number.
31 0
The most significant 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 the 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
The most significant bit is handled
as a sign bit.

The 64-bit double precision real number is converted to the 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 Fractional portion is dropped.
part Any value other than -2147483648 to 2147483647
Bit 63: Sign part results in an error. (Error 531)
31 0
The most significant bit is handled
as a sign bit.

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6. MOTION PROGRAMS FOR POSITIONING CONTROL

(3) Variable designation (#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 designated 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
may be used. The data size of a variable is 4 bytes.
<Example of setting positioning data by variable designation>

Motion program No. (0) cannot be set indirectly.

O200;
N99 G90 G00 X#100 Y#110;
Indirect designation (address, speed, operational expression)
G01 X#200 Y#202 F#204;
#300 = #302 - #304;
G91 G00 Z300.; Direct designation
IF [#310 EQ 1000] GOTO99;
M02;
%

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6. MOTION PROGRAMS FOR POSITIONING CONTROL

(c) How to handle variable as 64-bit double precision real number (#n:F)
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 an upper-case ":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 into 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 real number, [#33, #32, #31, #30], is expanded in sign to
a 32-bit integer, [#41, #40]

<Restrictions>
Functions INT and FLT cannot use 64-bit double precision real
numbers.

(4) About assignment of variable

When a decimal point is added for assignment of a value to a variable, the
value is assigned as indicated below.
#10: L= 1.; → 10000 enters #10, #11.
#10: F=1.; → 10000 (64-bit double precision real number) enters #10, #11,
#12, #13.
"1." is converted into a value of four decimal places.
(Converted into a value of four decimal places independently of the unit
(mm, inch, degree).)

6 − 15
6. MOTION PROGRAMS FOR POSITIONING CONTROL

[Example]
<For command address 1>
G91;
#10: L= 1.;
G0 X#10: L ← The travel of the X axis is any of the following values.
mm inch degree
1mm 0.1 inch 0.1 degree

<For command address 2>

G91;
#10: L= 1.;
G0 X#10: F ← The travel of the X axis is equivalent to any of the
following values if it is "#10F=1.;" (64-bit double precision
real number).
mm inch degree
1mm 0.1 inch 0.1 degree

<For feedrate (F) 1>

G91;
#10: L= 1.;
G01 X10. F#10: L ← The feedrate (F) of X is any of the following values.
mm inch degree
100mm/min 10 inch/min 10 degree/min

<For feedrate (F) 2>

G91;
#10: F= 1.;
G01 X10. F#10: F ← The feedrate (F) of X is equivalent to any of the
following values if it is "#10F=1.;" (64-bit double
precision real number).
mm inch degree
100mm/min 10 inch/min 10 degree/min

(5) Device designation (#Xx, Xx is device)

The word device (D, W) or bit device (X, Y, M, TC, TT, CC, CT, B, F) of the
sequence control section can be referred to by device designation.
The four fundamental operations of bit devices cannot be performed.
[Example]
#X180: X180
#M2000: M2000
#D100: L: [D101, D100] ([upper, lower])

6 − 16
6. MOTION PROGRAMS FOR POSITIONING CONTROL

(6) About usable device ranges

PC devices can be used to indirectly specify all the positioning addresses,
command speeds, M codes and others set in a motion program.
(a) Word devices
CPU Device Reference Range Writable Range
A172SHCPUN D 0 to 799 0 to 499
A171SHCPUN W 000 to 3FF 000 to 3FF
A273UHCPU (32-axis feature) D 0 to 8191 1690 to 8191
A173UHCPU (S1) W 0000 to 1FFF 0000 to 1FFF

POINT
• For two-word designation, always specify an even-numbered device.
Also, when setting data to that device in a sequence program, always use
the "DMOV(P)" instruction.

(b) Bit devices

CPU Device Reference Range SET/RST Enabled Range (*1)
X 000 to 7FF 
Y 000 to 7FF 000 to 7FF
M/L 0 to 2047 0 to 1399
M 9000 to 9255 
A172SHCPUN B 0 to 3FF 
A171SHCPUN F 0 to 255 
TT (timer contact) 0 to 255 
TC (timer coil) 0 to 255 
CT (counter contact) 0 to 255 
CC (counter coil) 0 to 255 
X 000 to 1FFF 
Y 000 to 1FFF 000 to 1FFF
0 to 1999
M/L 0 to 8191
4720 to 8191
M 9000 to 9255 
A273UHCPU
B 000 to 1FFF 
(32-axis feature)
F 0 to 2047 
TT (timer contact) 0 to 2047 
TC (timer coil) 0 to 2047 
CT (counter contact) 0 to 1023 
CC (counter coil) 0 to 1023 

(*1) Even outside the SET/RST enabled range, an error will not occur if the bit device is within the reference range.

Conditions of SET/RST-enabled bit devices

1) Write (SET/RST) cannot be performed from both programs of sequence
ladder and motion program to the same bit device (in increments of 16
points). (Write operation will not be guaranteed.)
Therefore, the user should manage the side where write is performed. The
minimum increments are 16 points.
2) When the I/O control system is the "direct mode"
(A172SHCPUN/A171SHCPUN), output will not be provided to the output
card of the PC slot if write to device Y is performed. To provide PC output,
use the "refresh mode".

6 − 17
6. MOTION PROGRAMS FOR POSITIONING CONTROL

(7) Device data import

The data of the indirectly designated devices are imported by the PCPU during
motion program run.
Therefore, when making indirect designation, inhibit preread of M100.The
following table indicates the device data setting procedures and instructions on
a starting method basis.
Starting Method Setting procedure Instructors
At start using SVST instruction Set data to the indirectly designated devices Do not change the indirectly designated
(Indirect designation in SVST ↓ devices until the "positioning start
instruction) Start is made by SVST. completion signal" of the started axis
At automatic start by cancel start Set data to the indirectly designated devices set turns ON.
in the start program.
Indirect designation of
start program ↓
Turn ON the cancel command device.

Set command data to the indirectly designated Example

devices. 010;
↓ N1 G00 X0 F1000. ;
Execute M100 preread inhibit. N2 M100;
↓ N3 G01 X100. F1500. ;
After program start
Refer to the values set to the indirectly N4 G01 X#D0L F1500;
(Indirect designation in program)
designated devices until M100 is executed. N2;
%
Set "D0, D1" before execution of N2.
They may not be reflected after
execution of N2.

POINTS
(1) The motion program No. (0) cannot be set indirectly.
(2) Provide interlocks using the start acceptance signals (M2001 to M2008)
to ensure that the data of the devices specified for indirect setting from
being changed until the specified axes accept a start.
If the data is changed before the acceptance of a start, positioning control
may not be exercised with proper values.
(3) Set a variable latch on the peripheral device.
(4) Variable designated #**** is the same in value as device-designated
#D**** which uses data registers.
Example) #0=1;
#D0=2; ← The value of #0 is also 2.
(5) In variable designation or device designation using word devices, the
PCPU imports the data of the specified devices (2-word or 4-word) when
it runs a motion program.
When performing positioning control, therefore, a motion program start
request must be made after data have been set to the indirect setting
devices.

6 − 18
6. MOTION PROGRAMS FOR POSITIONING CONTROL

6.6.3 About operational data

(1) Four fundamental operations (+, -, *, /, MOD)

The following table indicates the data type combinations and conversion
methods for four fundamental operations (+, -, *, /, MOD).
Operation result = [data 1] operator [data 2]

Operator denotes +, -, *, / 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.
n: Indicates variable number or device number.

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
#n (16 bit) bit range. (Error 531)
No conversion #nF, #n: F (64 bit)
64-bit data is converted into 16-bit data.
Fractional portion is dropped during
3
conversion.
Error occurs if conversion result exceeds 16
bit range. (Error 531)
#n (16 bit)
4
No conversion
#nL, #n: L (32 bit)
32-bit data is converted into 16-bit data.
5 #n (16 bit)
#nL, #n: L (32 bit) Error occurs if conversion result exceeds 16
No conversion
32-bit data is converted into 16-bit data. bit range. (Error 531)
Error occurs if operation
Error occurs if conversion result exceeds #nF, #n: F (64 bit)
result exceeds 16 bit
16 bit range. (Error 531) 64-bit data is converted into 16-bit data.
range. (Error 531)
Fractional portion is dropped during
6
conversion.
Error occurs if conversion result exceeds 16
bit range. (Error 531)
#n (16 bit)
7
No conversion
#nL, #n: L (32 bit)
#nF, #n: F (64 bit) 32-bit data is converted into 16-bit data.
8
64-bit data is converted into 16-bit data. Error occurs if conversion result exceeds 16
Fractional portion is dropped during bit range. (Error 531)
conversion. #nF, #n: F (64 bit)
Error occurs if conversion result exceeds 64-bit data is converted into 16-bit data.
16 bit range. (Error 531) Fractional portion is dropped during
9
conversion.
Error occurs if conversion result exceeds 16
bit range. (Error 531)

6 − 19
6. MOTION PROGRAMS FOR POSITIONING CONTROL

n: Indicates variable number or device number.

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
No conversion
#n (16 bit) #nF, #n: F (64 bit)
16-bit data is converted into 32-bit data. 64-bit data is converted into 32-bit data.
Fractional portion is dropped during
12
conversion.
Error occurs if conversion result exceeds 32
bit range. (Error 531)
#n (16 bit)
13
16-bit data is converted into 32-bit data.
#nL, #n: L (32 bit) #nL, #n: L (32 bit)
14
(32 bit) No conversion
No conversion #nL, #n: L (32 bit) #nF, #n: F (64 bit)
Error occurs if operation No conversion 64-bit data is converted into 32-bit data.
result exceeds 32 bit Fractional portion is dropped during
15
range. (Error 531) conversion.
Error occurs if conversion result exceeds 32
bit range. (Error 531)
#n (16 bit)
16
16-bit data is converted into 32-bit data.
#nF, #n: F (64 bit) #nL, #n: L (32 bit)
17
64-bit data is converted into 32-bit data. No conversion
Fractional portion is dropped during #nF, #n: F (64 bit)
conversion. 64-bit data is converted into 32-bit data.
Error occurs if conversion result exceeds Fractional portion is dropped during
18
32 bit range. (Error 531) conversion.
Error occurs if conversion result exceeds 32
bit range. (Error 531)

• For +, -, *, / (except MOD)

n: Indicates variable number or device number.

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 data. 32-bit data is converted into 64-bit 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 data. 32-bit data is converted into 64-bit data.
No conversion
#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

6 − 20
6. MOTION PROGRAMS FOR POSITIONING CONTROL

• For MOD
n: Indicates variable number or device number.

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
No conversion
#n (16 bit) #nF, #n: F (64 bit)
16-bit data is converted into 32-bit data. 64-bit data is converted into 32-bit data.
Fractional portion is dropped during
30
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.
#nL, #n: L (32 bit)
32 #nF, #n: F (64 bit)
No conversion
(64 bit)
#nL, #n: L (32 bit) #nF, #n: F (64 bit)
Internal operation result
No conversion 64-bit data is converted into 32-bit data.
(32 bit) is converted into
Fractional portion is dropped during
33 64-bit data.
conversion.
Error occurs if conversion result exceeds 32
bit range. (Error 531)
#n (16 bit)
34
16-bit data is converted into 32-bit data.
#nF, #n: F (64 bit) #nL, #n: L (32 bit)
35
64-bit data is converted into 32-bit data. No conversion
Fractional portion is dropped during #nF, #n: F (64 bit)
conversion. 64-bit data is converted into 32-bit data.
Error occurs if conversion result exceeds Fractional portion is dropped during
36
32 bit range. (Error 531) conversion.
Error occurs if conversion result exceeds 32
bit range. (Error 531)

6 − 21
6. MOTION PROGRAMS FOR POSITIONING CONTROL

(2) Logical operations (AND, OR, XOR, NOT), shift operators (<<, >>)
• For AND, OR, XOR, <<, >>
The following table indicates the data type combinations and conversion
methods for logical operations (AND, OR, XOR) and shift operators (<<, >>).
Operation result = [data 1] operator [data 2]

Operator denotes AND, OR, XOR,

<< or >>.
For logical and shift operations, operation including the 64-bit floating-point
type cannot be performed. (Error 560: format error)

n: Indicates variable number or device number.

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) Operation
3
Operation cannot be performed. disabled
#n (16 bit)
4
#nL, #n: L (32 bit) No conversion
#n (16 bit) 32-bit data is converted into 16- #nL, #n: L (32 bit)
No conversion bit data. 32-bit data is converted into 16-bit data.
5
Error occurs if conversion result Error occurs if conversion result exceeds
exceeds 16 bit range. (Error 16 bit range. (Error 531)
531) #nF, #n: F (64 bit) Operation
6
Operation cannot be performed. disabled
#n (16 bit) Operation
7
Operation cannot be performed. disabled
#nF, #n: F (64 bit) #nL, #n: L (32 bit) Operation
8
Operation cannot be performed. Operation cannot be performed. disabled
#nF, #n: F (64 bit) Operation
9
Operation cannot be performed. disabled
#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-
No conversion
bit data.
#nF, #n: F (64 bit) Operation
12
Operation cannot be performed. disabled
#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) Operation
15
Operation cannot be performed. disabled
#n (16 bit) Operation
16
Operation cannot be performed. disabled
#nF, #n: F (64 bit) #nL, #n: L (32 bit) Operation
17
Operation cannot be performed. Operation cannot be performed. disabled
#nF, #n: F (64 bit) Operation
18
Operation cannot be performed. disabled

6 − 22
6. 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)

n: Indicates variable number or device number.

No. Operation Result Data 1 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) Operation
3
Operation cannot be performed. disabled
#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) Operation
6
Operation cannot be performed. disabled

6 − 23
6. MOTION PROGRAMS FOR POSITIONING CONTROL

(3) Trigonometric functions (SIN, COS, TAN, ASIN, ACOS, ATAN)

The following table indicates the data type combinations and conversion
methods for trigonometric functions (SIN, COS, TAN, ASIN, ACOS, ATAN).
Operation result = trigonometric function [data 1]

Trigonometric function denotes

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.

n: Indicates variable number or device number.

No. Operation Result Data 1 Remarks

#n (16 bit) #n (16 bit)
1 Internal operation result (64 bit) is multiplied by 16-bit data is converted into 64-bit data.
10000 and result of multiplication is converted Data is divided by 10000 during conversion.
into 16-bit data. #nL, #n: L (32 bit)
2 Fractional portion is dropped during 32-bit data is converted into 64-bit data.
conversion. Data is divided by 10000 during conversion.
Error occurs if operation result exceeds 16 bit #nF, #n: F (64 bit)
3
range. (Error 531) Data is divided by 10000 during conversion.
#nL, #n: L (32 bit) #n (16 bit)
4 Internal operation result (64 bit) is multiplied by 16-bit data is converted into 64-bit data.
10000 and result of multiplication is converted Data is divided by 10000 during conversion.
into 32-bit data. #nL, #n: L (32 bit)
5 Fractional portion is dropped during 32-bit data is converted into 64-bit data.
conversion. Data is divided by 10000 during conversion.
Error occurs if operation result exceeds 32 bit #nF, #n: F (64 bit)
6
range. (Error 531) Data is divided by 10000 during conversion.
Different from
#n (16 bit)
7 current one in
16-bit data is converted into 64-bit data.
usage.
#nF, #n: F (64 bit) Different from
#nL, #n: L (32 bit)
8 Internal operation result (64 bit) is stored as it current one in
32-bit data is converted into 64-bit data.
is. usage.
Different from
#nF, #n: F (64 bit)
9 current one in
No conversion
usage.

6 − 24
6. MOTION PROGRAMS FOR POSITIONING CONTROL

(4) Floating-point type real number processing instructions (INT, FLT)

The following table indicates the data type combination and conversion method
for floating-point type real number processing instructions (INT, FLT).
Operation result = function [data 1]

Function denotes 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.

n: Indicates variable number or device number.

No. Operation Result Data 1

#nL, #n: L (32 bit)
<INT>
32-bit floating-point type is converted into 32-bit type.
#nL, #n: L (32 bit)
1 Fractional portion is dropped during conversion.
No conversion
Error occurs if operation result exceeds 32 bit range. (Error 531)
<FLT>
32-bit type is converted into 32-bit floating-point type.

6 − 25
6. MOTION PROGRAMS FOR POSITIONING CONTROL

(5) Functions (SQRT, ABS, LN, EXP)

The following table indicates the data type combinations and conversion
methods for functions (SQRT, ABS, LN, EXP).
Operation result = function [data 1]
Function denotes 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
n: Indicates variable number or device number.

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 converted into 16-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. (Error 531) #nF, #n: F (64 bit)
3
No 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 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. (Error 531) #nF, #n: F (64 bit)
6
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

• For ABS
n: Indicates variable number or device number.

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 323-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

6 − 26
6. MOTION PROGRAMS FOR POSITIONING CONTROL

(6) Functions (BIN, BCD)

The following table indicates the data type combinations and conversion
methods for functions (BIN, BCD).
Operation result = function [data 1]

Function denotes 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.

n: Indicates variable number or device number.

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 data. #nL, #n: L (32 bit)
2
Error occurs if operation result exceeds 16 bit range. (Error 531) No conversion
#nF, #n: F (64 bit)
3
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 conversion No conversion
#nF, #n: F (64 bit)
6
Operation cannot be performed.

(7) Functions (round-off (RND), round-down (FIX), round-up (FUP))

The following table indicates the data type combinations and conversion
methods for round-off (RND), round-down (FIX) and round-up (FUP).
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)

n: Indicates variable number or device number.

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.

6 − 27
6. MOTION PROGRAMS FOR POSITIONING CONTROL

6.6.4 Instruction symbol setting range list

Table 6.5 lists the setting ranges of the instruction symbols used in motion
programs.

Table 6.5 Instruction Symbol Setting Range List

Setting Range
Symbol Function
Motion program description Variable (D register setting)
A Coordinate position data
B Coordinate position data
C Coordinate position data
U Coordinate position data -214748.3648 to 214748.3647
V Coordinate position data (mm)
-2147483648 to 2147483647
W Coordinate position data -21474.83648 to 21474.83647
0 to 35999999
X Coordinate position data (inch)
Address
Y Coordinate position data 0 to 359.99999 (degree)
Z Coordinate position data
I Circular arc center coordinate 1
J Circular arc center coordinate 2
0 to 214748.3647 (mm)
Radius of R point specified circular 0 to 2147483647
R 0 to 21474.83647 (inch)
arc 0 to 35999999
0 to 359.99999 (degree)
0.01 to 6000000.00 (mm/min)
1 to 600000000
Speed F Interpolation feed composite speed 0.001 to 600000.000 (inch/min)
0.001 to 2147483.647 (degree/min) 1 to 2147483647
00, 01, 02, 03, 04, 09, 24, 25, 26,
G G instruction 28, 30, 32, 43, 44, 49, 53, 54, 55, 
56, 57, 58, 59, 61, 64, 90, 91, 92
Subprogram call sequence number 1 to 9999 1 to 9999
H
Tool length offset data number 1 to 20 1 to 20
L Repeat count 0 to 9999 0 to 9999
M Miscellaneous function (M code) 0 to 9999 0 to 9999
Others
N Sequence number 1 to 9999 
O Motion program number 1 to 256 
Dwell time 1 to 65535 1 to 65535
P Start program No. 1 to 256 1 to 256
Subprogram call number 1 to 256 1 to 256
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

6 − 28
6. MOTION PROGRAMS FOR POSITIONING CONTROL

REMARK
(1) About the command unit
A decimal point can be entered in the motion program input information
which define the command address, speed, etc.
[Example] 123456.7890
A decimal point may also be omitted.
When a decimal point is omitted, a command address is represented in
0.0001mm, 0.00001 inch or 0.00001 degree increments, for example.
<For command address> <For feedrate (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

6 − 29
6. MOTION PROGRAMS FOR POSITIONING CONTROL

6.6.5 Positioning control unit for 1 axis

For one axis, positioning control is exercised in the control unit specified in the
fixed parameter.
(The control unit specified in the parameter block is ignored.)

6.6.6 Control units for interpolation control

(1) A check is made on the interpolation control unit specified in the parameter
block and the control unit set in the fixed parameter.
For interpolation control, if the interpolation control unit in the parameter block
differs from the control unit in the fixed parameter of each axis, the result will
be as described below.
Interpolation Control Unit in Parameter Block
Starting Method
mm inch degree
Condition for There are axes There are axes There are axes Control starts in the interpolation control unit of
normal start whose control unit whose control unit whose control unit the parameter block.
set in fixed set in fixed set in fixed
parameter is mm. parameter is inch. parameter is
degree.
Condition for unit When the control unit of any axis in the fixed parameter does • If the control units of the axes to be
mismatch error not match the interpolation control unit of the parameter block. interpolation-controlled are the same, control
(error code 40) starts in the preset control unit.
• If the control units of the axes to be
interpolation-controlled are different, control
starts in the unit of the highest priority as
indicated below.
Priority degree>inch>mm

(2) In interpolation control, the combinations of axis control units are classified as
indicated below.
mm inch degree REMARKS
mm 1) 2) 2)
1): Same unit
Inch 2) 1) 2)
2): Unit mismatch
degree 2) 2) 1)

(a) Same unit (1))

The position command is calculated for positioning according to the preset
address/travel, positioning speed and electronic gear.

6 − 30
6. MOTION PROGRAMS FOR POSITIONING CONTROL

(b) Unit mismatch (2))

• On a unit mismatch, the travel and positioning speed are calculated for
each axis.
a) The travel is converted into the PLS unit using the electronic gear of its
own axis.
b) The positioning speed is converted into the PLS/sec unit using the
electronic gear of the axis whose control unit matches the interpolation
control unit.
The travel converted into PLS, the speed converted into PLS/sec, 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 number is used to calculate the
positioning speed.

POINT
(1) For circular interpolation control
When degree is used as the control unit of one axis, degree should also
be used with the other axis.

6 − 31
6. MOTION PROGRAMS FOR POSITIONING CONTROL

6.6.7 Control in the control unit of "degree"

When the control unit is degree, the following items are different from those of the
other control units.

(1) Present value address

The present value address in degree is the ring address of 0 to 360°.
359.99999° 359.99999°

0° 0° 0°

(2) Stroke limit valid/invalid setting

The upper and lower limit values of a stroke limit in degree is between 0° and
359.99999°.
(a) Setting for making stroke limit valid
To make the stroke limit valid, set the lower limit value of the stroke limit
first, then the upper limit value in the clockwise direction.
0°
Clockwise
315.00000°
Section A

90.00000°

Section B

1) Set the moving range in section A as follows.

a) Lower limit value of stroke limit ..... 315.00000°
b) Upper limit value of stroke limit ..... 90.00000°
2) Set the moving range in section B as follows.
a) Lower limit value of stroke limit ...... 90.00000°
b) Upper limit value of stroke limit ...... 315.00000°
(b) Setting for making stroke limit invalid
To make the stroke limit invalid, set to make the "lower stroke limit value"
equal to the "upper stroke limit value".
Control can be exercised independently of the stroke limit setting.

POINT
You cannot make circular interpolation which includes the axis whose stroke
limit has been set to be invalid.

6 − 32
6. MOTION PROGRAMS FOR POSITIONING CONTROL

(3) Positioning control

The positioning control methods in the control unit of degree will be explained
below.
(a) Absolute value command
Under the absolute value command, positioning is carried out relative to the
present value in the direction nearer to the specified address.
Example
(1) When the axis is moved from the present value of 315.00000° to 0°,
clockwise positioning is performed.

(2) When the axis is moved from the present value of 0° to 315.00000°,
counterclockwise positioning is performed.
From 315.00000° to 0° From 0° to 315.00000°

0° 0°

315.00000° 315.00000°

POINTS
(1) The positioning direction of the absolute value command is determined
by the way of setting the stroke limit range, and positioning may not be
made in the direction nearer to the specified address.
Example
When the axis is moved from the present value of 0° to 315.00000°,
clockwise positioning is performed if the lower stroke limit value is 0°
and the upper stroke limit value is 345.00000°.
0°
345.00000°
315.00000°

Clockwise positioning is performed.

(2) The positioning address is within the range 0° to 360°.

When carrying out positioning of more than one revolution, use the
incremental value command.

(b) Incremental value command

Under the incremental value command, positioning of the specified travel is
performed in the specified direction. The moving direction depends on the
sign of the travel.
1) Positive moving direction ......... Clockwise
2) Negative moving direction........ Counterclockwise

POINT
Under the incremental value command, positioning of more than 360° can be
done.

6 − 33
6. MOTION PROGRAMS FOR POSITIONING CONTROL

6.7 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
4.7 or 6.8.19.)
By setting multiple work coordinates, you can easily perform
multiple positioning operations with a single program.
Y Y
Reference point
Y
Basic mechanical
coordinate system
Work coordinate system

X
Work coordinate system 2
X
Reference point 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

6 − 34
6. MOTION PROGRAMS FOR POSITIONING CONTROL

6.8 G Codes

This section explains the instruction codes used in motion programs.

Each instruction is described in the following format.
Indicates the input or description method.
Briefly explains the function The " " mark indicates that a space must be
outline of the instruction. placed at the time of program input.

1)
2)

5)

6)
3)

4)

1) Name of the instruction code.

2) Indicates the model name.
3) Gives the detailed explanation or precautions.
4) Indicates the parameters related to this instruction. (Parameters whose values must be set)
5) Shows a program example which uses this instruction.
6) Provides supplementary explanation or instructions related to this instruction.

6 − 35
6. MOTION PROGRAMS FOR POSITIONING CONTROL

Table 6.6 indicates the arguments of the G codes.

Table 6.6 G Code Arguments
Axis command (*1)

Amplitude (STRK)
Radius command

Cancel command
command (I • J)
Skip command

Starting angle
Center point

M code (*2)
Remarks

(START)

Feed (F)
G code
(SKIP)

(CAN)
(R)

PB
O
H

P
L
Only G codes of G04, G43, G44 and
G00
G49 are available.*
Only G codes of G04, G43, G44 and
G01
G49 are available.*
Only G code of G04 is available.
Center point command and axis
G02
command may be specified for up to 2
axes.
Only G code of G04 is available.
G02 Radius command and axis command
may be specified for up to 2 axes.
Only G code of G04 is available.
Center point command and axis
G03
command may be specified for up to 2
axes.
Only G code of G04 is available.
G03 Radius command and axis command
may be specified for up to 2 axes.
G04 Dwell
Only G codes of G01, G02 and G03
G09
are available.*
G23
P: Start program number
G24
PB: Parameter block number
Specify only axis name for axis
G25
command and frequency for F.
Specify only axis name for axis
G26
command.
G28 Only G code of G53 is available.
G30 Only G code of G53 is available.
P must not be specified for axis
G32
command and M code simultaneously.
G43
G44
G49 Only G code of G28 is available.
G53 Only G code of G28 is available.
Only G codes of G00, G01, G02, G03
G54
and G92 are available.*
Only G codes of G00, G01, G02, G03
G55
and G92 are available.*
Only G codes of G00, G01, G02, G03
G56
and G92 are available.*
Only G codes of G00, G01, G02, G03
G57
and G92 are available.*
Only G codes of G00, G01, G02, G03
G58
and G92 are available.*
Only G codes of G00, G01, G02, G03
G59
and G92 are available.*
Only G codes of G00, G01, G02 and
G61
G03 are available.*
Only G codes of G00, G01, G02 and
G64
G03 are available.*
Only G codes of G00, G01, G02 and
G90
G03 are available.*
Only G codes of G00, G01, G02 and
G91
G03 are available.*
G92
G100
G101

6 − 36
6. MOTION PROGRAMS FOR POSITIONING CONTROL

: May be specified.
: Must 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.
For *, the G code may be set in the first parameter only.

*1 The axis commands are X, Y, Z, U, V, W, A, B and C.

*2 The M codes are other than M00, M01, M02, M30, M98, M99 and M100.

6 − 37
 Positions the specified axes. (PTP)

Code G00

PTP positioning at rapid

Function
feedrate

6.8.1 G00 PTP positioning at rapid feedrate

[Explanation]
• Linearly positions all the specified axes from the present value to the specified
coordinate axis position at the fixed speed.

• Being a modal instruction, this command is valid until another G code in the same
group is used. Hence, if the next command is the same G code, it may be enabled
by specifying only the axis name. (Group (01) is made up of G00, G01, G02 and
G03.)

• This command always increases or decreases speed at the starting or end point of
a block and proceeds to the next block.

• The positioning speed is not more than the rapid feedrate of each axis.
[Example]
G00 X100. ;
X150. ;
(When rapid feedrate is 10000mm/min and speed limit value in parameter block is
12000mm/min)
V Speed limit value in parameter block
Rapid feedrate
12000
10000

T
Acceleration time Deceleration time Acceleration time Deceleration time

• Acceleration-fixed acceleration/deceleration is made.

Acceleration is calculated from the lower speed of the rapid feedrate and speed
limit value and the acceleration time and deceleration time in the parameter block.

• The positioning data can be set by direct designation (numerical value) or indirect
designation (variable: #****).

• Commanding the M code in G00 also causes acceleration/deceleration to be made

in the acceleration time of the parameter block as in G01. (Example G00 X
M ;)

[Related Parameters]
Rapid feedrate: Set the maximum feedrate of each axis.
(Refer to Section 4.2.4 for the rapid feedrate setting in the fixed
parameter.)
When G00 is executed, positioning takes place in the shortest path
which connects the starting point and end point.
The positioning speed is within the rapid feedrate of each axis.

6 − 38
 G00 X x Y y Z z;
Axis names
Positioning addresses
Format

[Program Example]
• Program used to position the axes at points A, B, C, D and E. (Under absolute
value command)
1) G00 X100. Y100. ; (A point positioning)
2) X200. ; (B point positioning) Travel under G00
3) Y200. ; (C point positioning)
4) G01 Y300. F100. ; (D point positioning)
Travel under 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)

REMARKS
• To determine the feedrate of G00, the axis whose time to reach the target
position is the longest in the travel/rapid feedrate (fixed parameter) of all
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
4.2.4.)
• The rapid feedrate 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.

6 − 39
 Linearly interpolates the axes from the present value to the
specified end point at the specified feedrate. (CP)
Code G01 As the feedrate, specify the linear speed (composite speed) in
the advance direction.

CP positioning at speed
Function
specified in F

6.8.2 G01 CP positioning at speed specified in F

[Explanation]
• Being a modal instruction, this command is valid until another G code in the same
group is used. Hence, when the next command is G01, it may be enabled by
specifying only the axis name, unless the feedrate is changed.

• As the command unit of the feedrate, specify the interpolation control unit of the
parameter block.

• The maximum command value of the feedrate is the speed limit value set in the
parameter block.

• If the F command is not set in the first G01 command, a program error (error code:
501) occurs.

• When this command is executed continuously, the feedrate is not increased or

decreased at the starting or end point of a block since the status is not the exact
stop check mode.
[Example]
G01 X100. F200. ;
X150. ;
V

X axis

• The positioning data can be set by direct designation (numerical value) or indirect
designation (variable: #****).

• Specify G61 when making acceleration/deceleration at block switching.

• The axes do not decelerate to a stop if the G02 or G03 command is given between
the G01 commands (CP positioning).
[Example]
G01 X100. Y100. Z100. ;
G02 X0. Y0. I0. J50. F500. ;
Constant-speed control is exercised in this area.
G03 X0. Y0. I0. J50. F500. ;
G01 X100. ;

6 − 40
 G01 X x Y y Z z F f;
Feedrate
Feedrate command
Format Positioning addresses
Axis names

• Acceleration/deceleration processing under G01 command

G91 G01 X100. Y100. F100. ; CP positioning of X, Y ....................Block 1
Y100. ; CP positioning of Y ........................Block 2
X100. ; CP positioning of X ........................Block 3

When the above program is run, the acceleration/deceleration processing of the X

and Y axes is performed as shown below.

X axis
100 200

Y axis
200

Note: • Both the acceleration and deceleration times are the acceleration time of
the parameter block.
• As under the M code command, the acceleration/deceleration time under
the G0 command is the acceleration time of the parameter block.
[Related Parameters]
Speed limit value: Set the maximum feedrate of each axis.
(Refer to the speed limit value of the parameter block in Section
4.6.)
[Program Example]
• Program which performs positioning to A, B, C, D and E points. (Under absolute
value command)
1) G01 X100. Y100. F100. ; (A point positioning) Travel under G01
2) X200. ; (B point positioning) (Travel at feedrate
3) Y200. ; (C point positioning) of 100mm/min)
4) G00 Y300. F100. ; (D point positioning)
Travel under G00
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)

6 − 41
 Moves the axes from the current position (starting point) to
the specified coordinate position (end point) along a circular
Code G02 arc (CW).
The travel speed is the specified feedrate.

Circular interpolation (CW)

Function Circular arc center
coordinate designation

6.8.3 G02 Circular interpolation CW (Circular arc center coordinate designation)

[Explanation]
• Use the incremental values (always use incremental values) from the current
position (starting point) 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 center coordinates of the circular arc
with I and J.
The center coordinates 1, 2 are I and J in order of lower axis numbers.
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)

• 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

• If the end point is in the same position as the starting point, the circular arc is 360
degrees (perfect circle).

• If they cannot be linked by a circular arc,

Within the permissible circular arc error range: The starting and end points are
connected by helical interpolation.
Beyond the permissible circular arc error range: An error occurs at the circular arc
starting point.

• When this command is executed continuously, the feedrate is not increased or

decreased at the starting or end point of a block since the status is not the exact
stop check mode.

• When the circular arc center coordinates and radius are specified for G02 (CW) at
the same time, the radius-specified circular interpolation has priority.

• The positioning data can be set by direct designation (numerical value) or indirect
designation (variable: #****).

6 − 42
 G02 X x Y y I i J j F f;
Feedrate
Feedrate command
Format Circular arc center
coordinates 1, 2
End point X, Y coordinates

[Related Parameters]
Speed limit value: Set the maximum feedrate of each axis.
(Refer to the speed limit value of the parameter block in Section
4.6.)
Circular arc error: Set the permissible circular arc error range.
(Refer to the permissible circular arc error range of the parameter
block in Section 4.6.3.)
[Program Example]
• 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

Feedrate
50
500mm/min

X
Starting point
(Unit: mm)

• Program which performs circular interpolation from the current position to draw a
perfect circle.
G02 X0. Y0. I0. J50. F500. ; (Perfect circular command)
Y

Feedrate
50
500mm/min

X
Starting/end point
(Unit: mm)

REMARKS
• The end point and circular arc center coordinates cannot be omitted.
Always specify them for two axes.
• Circular interpolation cannot be made if it includes the degree axis whose
stroke limit is set to be invalid.
• Circular interpolation cannot be made for the unit combination of mm and
degree or inch and degree.

6 − 43
 Moves the axes from the current position (starting point) to
the specified coordinate position (end point) along a circular
Code G03 arc (CCW).
The travel speed is the specified feedrate.

Circular interpolation (CCW)

Function Circular arc center
coordinate designation

6.8.4 G03 Circular interpolation CCW (Circular arc center coordinate designation)

[Explanation]
• Use the incremental values (always use incremental values) from the current
position (starting point) 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 center coordinates of the circular arc
with I and J.
The center coordinates 1, 2 are I and J in order of lower axis numbers.
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)

• 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

• If the end point is in the same position as the starting point, the circular arc is 360
degrees (perfect circle).

• If they cannot be linked by a circular arc,

Within the permissible circular arc error range: The starting and end points are
connected by helical interpolation.
Beyond the permissible circular arc error range: An error occurs at the circular arc
starting point.

• When this command is executed continuously, the feedrate is not increased or

decreased at the starting or end point of a block since the status is not the exact
stop check mode.

• When the circular arc center coordinates and radius are specified for G03 (CCW)
at the same time, the radius-specified circular interpolation has priority.

• The positioning data can be set by direct designation (numerical value) or indirect
designation (variable: #****).

6 − 44
 G03 X x Y y I i J j F f;
Feedrate
Feedrate command
Format Circular arc center
coordinates 1, 2
End point X, Y coordinates

[Related Parameters]
Speed limit value: Set the maximum feedrate of each axis.
(Refer to the speed limit value of the parameter block in Section
4.6.)
Circular arc error: Set the permissible circular arc error range.
(Refer to the permissible circular arc error range of the parameter
block in Section 4.6.3.)
[Program Example]
• 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

Feedrate
50
500mm/min

X
Starting point
(Unit: mm)

• Program which performs circular interpolation from the current position to draw a
perfect circle.
G03 X0. Y0. I0. J50. F500. ; (Perfect circular command)
Y

Feedrate
50
500mm/min

X
Starting/end point
(Unit: mm)

REMARKS
• The end point and circular arc center coordinates cannot be omitted.
Always specify them for two axes.
• Circular interpolation cannot be made if it includes the degree axis whose
stroke limit is set to be invalid.
• Circular interpolation cannot be made for the unit combination of mm and
degree or inch and degree.

6 − 45
 Moves the axes from the current position (starting point) to
the specified coordinate position (end point) along a circular
Code G02 arc of the specified radius (CW).
The travel speed is the specified feedrate.

Circular interpolation (CW)

Function Radius specified circular
interpolation

6.8.5 G02 Circular interpolation CW (Radius designation)

[Explanation]
• 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.
End point

Radius value Negative Radius value Positive

Starting point

An error occurs if the distance between

starting and end points - radius × 2 > circular arc error.

• If a perfect circuit command (the starting point is the same as the end point) is
specified in R-specified circular interpolation, an error (error code: 108) occurs and
no operation is performed. Therefore, specify the circular arc center coordinates
for the perfect circuit command.

• A circular arc of more than 180° is drawn at a negative circular arc radius (R)
value, or a circular arc of less than 180° is drawn at a positive R value.

• When this command is executed continuously, the feedrate is not increased or

decreased at the starting or end point of a block since the status is not the exact
stop check mode.

• When the circular arc center coordinates and radius are specified for G02 (CW) at
the same time, the radius-specified circular interpolation has priority.

• The positioning data can be set by direct designation (numerical value) or indirect
designation (variable: #****).

[Related Parameters]
Speed limit value: Set the maximum feedrate of each axis.
(Refer to the speed limit value of the parameter block in Section
4.6.)
Circular arc error: Set the permissible circular arc error range.
(Refer to the permissible circular arc error range of the parameter
block in Section 4.6.3.)

6 − 46
 G02 X x Y y R r F f;
Feedrate
Feedrate command
Format Circular arc radius
End point X, Y coordinates

[Program Example]
• 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

Feedrate
50 End point X50,Y50
500mm/min

X
Starting 50
point (Unit: mm)

• Program which draws a circular arc of less than 180° at a positive circular arc
radius (R) value.
G91 G02 X50. Y50. R50. F500. ;
Y

50 End point X50,Y50

Feedrate
500mm/min
X
Starting 50
point (Unit: mm)

REMARKS
• The end point coordinates and circular arc radius cannot be omitted.
Always specify the end point coordinates and circular arc radius.
• Circular interpolation cannot be made if it includes the degree axis whose
stroke limit is set to be invalid.
• Circular interpolation cannot be made for the unit combination of mm and
degree or inch and degree.

6 − 47
 Moves the axes from the current position (starting point) to
the specified coordinate position (end point) along a circular
Code G03 arc of the specified radius (CCW).
The travel speed is the specified feedrate.

Circular interpolation (CCW)

Function Radius specified circular
interpolation

6.8.6 G03 Circular interpolation CCW (Radius designation)

[Explanation]
• 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.
Starting point

Radius value Negative Radius value Positive

End point

An error occurs if the distance between

starting and end points - radius × 2 > circular arc error.

• If a perfect circuit command (the starting point is the same as the end point) is
specified in R-specified circular interpolation, an error (error code: 108) occurs and
no operation is performed. Therefore, specify the circular arc center coordinates
for the perfect circuit command.

• A circular arc of more than 180° is drawn at a negative circular arc radius (R)
value, or a circular arc of less than 180° is drawn at a positive R value.

• When this command is executed continuously, the feedrate is not increased or

decreased at the starting or end point of a block since the status is not the exact
stop check mode.

• When the circular arc center coordinates and radius are specified for G03 (CCW)
at the same time, the radius-specified circular interpolation has priority.

• The positioning data can be set by direct designation (numerical value) or indirect
designation (variable: #****).

[Related Parameters]
Speed limit value: Set the maximum feedrate of each axis.
(Refer to the speed limit value of the parameter block in Section
4.6.)
Circular arc error: Set the permissible circular arc error range.
(Refer to the permissible circular arc error range of the parameter
block in Section 4.6.3.)

6 − 48
 G03 X x Y y R r F f;
Feedrate
Feedrate command
Format Circular arc radius
End point X, Y coordinates

[Program Example]
• 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

Feedrate
End point X-50,Y50 50
500mm/min

X
-50 Starting point
(Unit: mm)

• Program which draws a circular arc of less than 180° at a positive circular arc
radius (R) value.
G91 G03 X-50. Y50. R50. F500. ;
Y

End point X-50,Y50 50

Feedrate
500mm/min
X
-50 Starting point
(Unit: mm)

REMARKS
• The end point coordinates and circular arc radius cannot be omitted.
Always specify the end point coordinates and circular arc radius.
• Circular interpolation cannot be made if it includes the degree axis whose
stroke limit is set to be invalid.
• Circular interpolation cannot be made for the unit combination of mm and
degree or inch and degree.

6 − 49
 Waits for the next block to be executed for the specified
Code G04 period of time.

Function Dwell

6.8.7 G04 Dwell

[Explanation]
• For the dwell command, specify the time from a stop after deceleration under the
preceding move command until the next block starts.

• The symbol indicating the dwell time is "P".

• The dwell time can be specified in the range 1 to 65535 in increments of 0.001
seconds.
Therefore, setting of G04 P1000 indicates a wait time of 1 second.
V

Dwell time

• The dwell time can be set by direct designation (numerical value) or indirect
designation (variable: #****).

• When specifying dwell in the same block as the move block, describe dwell after
the move command.
Also, describe the dwell time (P) after G04.
[Example]
G00 X100 Y100 G04 P2000;
Dwell command
Move command
(G00, G02, G01 or G03 can be specified)

Next block
Dwell command
Move command

6 - 50
 G04 P p;
Format Dwell time (1 to 65535)

[Program Example]
• Program in which dwell time is placed between positioning operation instructions.
1) G01 X100. F10. ; (Positioning)
2) G04 P2000; (Dwell time set to 2 seconds)
3) G01 X200. ; (Positioning)
V

X axis 1) 2)

Dwell time
2000×0.001=2 seconds

The X axis is positioned to 100., stops there for 2 seconds, and starts positioning
operation to 200. again.

REMARK
• A decimal point cannot be specified for the dwell time.

6 - 51
 Moves the axis in the specified block point-to-point.
Code G09

Function Exact stop check

6.8.8 G09 Exact stop check

[Explanation]
• This command is used with the interpolation instruction. Executing this command
moves the axis point-to-point in only the specified block.
The interpolation instruction codes usable with this command are G01, G02 and
G03 only.

• In this system, the next block is executed after deceleration to a stop in the
specified coordinate position.

•Not being a modal instruction, this command is valid for the specified block only.

<When exact stop check is used>

G09 G01 X100. F300. ;
X200. ;
V

X axis

<When exact stop check is not used>

G01 X100. F300. ;
X200. ;
V

X axis

• The positioning data can be set by direct designation (numerical value) or indirect
designation (variable: #****).

6 - 52
 G09 G01 X x F f;
Format May be used only in the G01, G02
or G03 program

[Program Example]
• Program which uses the exact stop check for positioning.
1) G09 G01 X100. F500. ; (Positioning using exact stop check)
2) X200. ; (Positioning)
3) X300. ; (Positioning)
4) G09 G01 X400. ; (Positioning using exact stop check)
V

X axis 1) 2) 3) 4)

6 - 53
 Makes invalid G24 (cancel function, cancel start function)
Code G23 which has already been made valid.
Valid until G24 (cancel function, cancel start function) is
executed.
Function Cancel, cancel start invalidity

6.8.9 G23 Cancel, cancel start invalidity

[Explanation]
• This command makes invalid the cancel or cancel start function which has already
been made valid.

• This function is also 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 invalid
(Cancel function is also made invalid for
the high-speed oscillation axis.)

6 - 54
 G23;
Format

[Program Example]
• Program which makes the cancel start function valid/invalid during execution of a
010 program.
010
G24 CAN #X100 P100 PB1; Execution of cancel start function
G90 G01 X200. F1000. ;
G23; Cancel start function invalid

6 - 55
 Cancels the running program and automatically starts the
specified start program.
Code G24 This function is valid until cancel or cancel start function
invalidity (G23) is executed.

Function Cancel, cancel start

6.8.10 G24 Cancel, cancel start

[Explanation]
• Turning ON the cancel device signal during execution of this command
decelerates the axis to a stop and cancels the running program (cancel function).
When the start program number Pn has been set, turning ON the cancel signal
decelerates the axis to a stop and automatically starts the specified program
(cancel start function).

• This command cannot be used with the home position return (G28) instruction.

• In a waiting status for a restart (single block, M00, M01) during macro processing,
this command is made valid after completion of the processing.

• If the cancel device turns ON during move block switching, a cancel start is made
valid at the processing of the next move block when there are no operating axes
(no high-speed oscillation axes).

• The devices that may be used for cancel are X, Y, M, TC, TT, CC, CT, B and F. By
assigning the input signal designed for high-speed read function to the cancel
device, response is made faster than the input from the PC.

• The setting range of the program number Pn for a start is 1 to 256.

• The parameter block of the start program can be set with PBn. The setting range
of the parameter block number PBn is 1 to 16. If the setting of the parameter block
number PBn is omitted, it is fixed to parameter block number 1.

• The program number Pn and parameter block number PBn set for a start can be
set by indirect designation using a variable, D or W (2-word data).

• When G24 exists at any point between continuous CP blocks, the axis decelerates
to a stop once.
N1 G24 CAN #X100;
Cancel function for N1 is valid until G24 or G23 is
N2 G01 X200. F2000. ;
specified.
N3 X300.Y200. ;
N4 G24 CAN #X101; Cancel function for N1 is made invalid and the axis
decelerates to a stop.
N5 G01 X50.Y50 F1000. ; Cancel function for N4 is valid until G24 or G23 is
specified.

6 − 56
 G24 CAN #X x P n PBn;
Parameter block number
(can be specified indirectly)
Format Start program number
(can be specified indirectly)
Cancel device (X, Y, M, TC,
TT, CC, CT, B, F)
Cancel designation

• When G24 is executed after high-speed oscillation (G25), the high-speed

oscillation axis also stops.
N1 G25 X START90. STRKI. F10;
N2 G24 CAN #X100 P100; Cancel function for N2 is valid between N3
N3 G01 Y100. Z100. F1000. ; and N5. Note that the high-speed oscillation
N4 G26 X; axis also stops if cancel is made invalid in
N5 G01 X0. Y0. Z0. F1000. ; this area.
N6 G23;

• If the start program number Pn is omitted (cancel function), the running program
ends when the cancel device turns ON.

• When setting the start axes in the SVST instruction, also include the axis number
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.

[Program Example]
• Program which cancels program operation during a 010 program run and starts
0100. (Command unit is mm)
010;
1) G24 CAN #X100 P100 PB1; Execution of cancel start function
2) G90 G01 X200. F1000. ; Cancel device X100 turns ON midway.
After deceleration to stop, 0100 starts.
0100;
3) G90 G01 X50. F600. ; X axis moves to 50mm position at 600mm/min.
Speed (mm/min)

1000.

Time

-600.
Program 010 Program 0100

Device
X100

M2001

6 − 57
 Oscillates the specified axis in a sine curve.

Code G25

Function High-speed oscillation

6.8.11 G25 High-speed oscillation

[Explanation]
• The specified axis oscillates in a sine curve.

360[degree]
Amplitude 0

Starting angle

Amplitude : Specify the oscillating amplitude in the setting unit. It can be

specified indirectly by a variable, D or W (2-word data). The setting
range is 1 to 2147483647. If the setting is outside the range, a
minor error (error code: 585) occurs, disabling a start.
Starting angle: Specify the starting position with the angular position of a sine
curve. It can be specified indirectly by a variable, D or W (2-word
data). Set it within the range is 0 to 359.9 [degrees] in 0.1 degree
increments. If the setting is outside the range, a minor error (error
code: 586) occurs, disabling a start.
Frequency : Specify the number of cycles in which the axis will be operated for 1
minute in a sine curve. It can be specified indirectly by a variable, D
or W (2-word data). The setting range is 1 to 5000 [CPM]. If the
setting is outside the range, a minor error (error code: 587) occurs,
disabling a start.

6 - 58
 G25 X START s STRK a F f;
Frequency
(can be specified
indirectly)
Frequency designation
(can be specified
indirectly)
Amplitude
(can be specified
Format indirectly)
Amplitude designation
Starting angle
(can be specified
indirectly)
Starting angle
designation
Axis name

• This command is valid for the specified block only (group 00).

• After a start, operation continues until G26, high-speed oscillation stop, is

executed or the stop command is entered.

• Acceleration/deceleration processing is not performed. When you want to avoid a

sudden start, set the starting angle to 90.0 [degrees] or 270.0 [degrees].

[Program Example]
• 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 (degrees).
(2) START 90. .............. Means 9.0 (degrees).
(3) In START #10
#10 = 900 ............... Means 90.0 (degrees).
#10 = 1 ................... Means 0.1 (degrees).

6 - 59
 Terminates the high-speed oscillation of the axis which is
Code G26 performing high-speed oscillation.

High-speed oscillation stop

Function
function

6.8.12 G26 High-speed oscillation stop

[Explanation]
• Stops the high-speed oscillation of the axis which is performing high-speed
oscillation.

• 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.

6 - 60
 G26 X;
Format Axis name

[Program Example]
N01 G91 G01 X10. Y10. F100. ;
N02 G25 X START 0. STRK 1000. F100. ;
N03 G01 Y10. ;
N04 G26 X;
N05 G01 X10. Y10. ;
M02;

Y axis
speed

G01 G01 G01

X axis
speed

G26 Time

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.

6 - 61
 When the home position return request is ON, ignores the mid
Code G28 point specified and makes a dog, count or data setting type
home position return. When the home position return request
is OFF, returns the axis from the present position to the home
Function Home position return position through the specified mid point at rapid feedrate.

6.8.13 G28 Home position return

[Explanation]
• 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 is OFF, this command positions the axis from the present position to the
home position through the specified mid point at rapid feedrate.
Mid point

Present position Home position

When home position return request is ON

• When the home position return request is ON, the home position return method is
determined by the home position return data.
Note: When the home position return request is ON and the data setting type is
specified, the axis must always be made to pass through the zero point.
A "zero point non-passage error" will occur if a home position return is made
without passing through the zero point once. If this error has occurred, reset
the error, perform JOG operation or the like to run the servo motor more than
one revolution, then execute a home position return again.
Use the zero point passage signal (M1606+20n) to check whether the axis
has passed through the zero point.

• Always specify the axis which will be returned to the home position. If it is not
specified, a home position return will not be made.

• Always set the mid point coordinates.

• The mid point data setting can be made by direct designation (numerical value) or
indirect designation (variable: #****).

• The tool length offset and virtual mechanical coordinates (refer to Section 6.8.25)
of the axis which was returned to the home position are canceled.
Mid point designation depends on the position command system (G90, G91)
currently selected.

• When the control unit is degrees, operation from the mid point to the home position
differs between the absolute value command (G90) and incremental value
command (G91).
The axis moves 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]
Home position address: Set the present value of the home position. (Refer to the
home position return data in Section 4.4.)
Rapid feedrate : Set the rapid feedrate of each axis. (Refer to the fixed
parameters in Section 4.2.4.)

6 - 62
 G28 X x Y y Z z;
Format Mid point coordinates

[Program Example]
• Program which returns the axis from the present position to the home position
through the A point (mid point).
G90;
G28 X200. Y200. ; (Home position return)
A point (mid point coordinates X200, Y200)

Present position Home position

When home position return request is ON

REMARK
• When the G28 command is given, a home position return is made at rapid
feedrate.

6 - 63
 Returns the axis from the present position to the second
Code G30 home position through the specified mid point at rapid
feedrate.

Function Second home position return

6.8.14 G30 Second home position return

[Explanation]
• This command positions the specified axis from the present position to the second
home position through the specified mid point at rapid feedrate.
Mid point

Present position Second home position

• Always specify the axis which will be returned to the second home position. If it is
not specified, a second home position return will not be made.

• Always set the mid point coordinates.

• The mid point data setting can be made by direct designation (numerical value) or
indirect designation (variable: #****).

• The tool length offset and virtual mechanical coordinates (refer to Section 6.8.25)
of the axis which was returned to the second home position are canceled.
Mid point designation depends on the position command system (G90, G91)
currently selected.

• When the control unit is degrees, operation from the mid point to the second home
position differs between the absolute value command (G90) and incremental value
command (G91).
The axis moves 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: Set the present value of the second home position.
(Refer to the home position return data in Section
4.4.)
Rapid feedrate : Set the rapid feedrate of each axis. (Refer to the
fixed parameters in Section 4.2.4.)

6 - 64
 G30 X x Y y Z z;
Format Mid point coordinates

[Program Example]
• Program which returns the axis from the present position to the second home
position through the A point (mid point).
G90;
G30 X200. Y200. ; (Second home position return)
A point (mid point coordinates X200, Y200)

Present position Second home position

REMARK
• When the G30 command is given, a second home position return is made at
rapid feedrate.

6 - 65
 Moves the axis at the specified feedrate, suspends the
remaining command at the input of an external signal, and
executes the next block.
Skips dwell similarly when there is only the dwell command.
Code G32

Function Skip

6.8.15 G32 Skip

[Explanation]
• When the skip signal is entered during execution of G32, skip, the remaining
motion 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.

• A format error occurs if the axis command or M code and the dwell command are
described at the same time.

• Specify the dwell time in the range 1 to 65535 in increments of 0.001 seconds.

• Specify the skip signal in the program.

• The skip function makes a skip when the skip signal turns ON.

• This command is valid for the specified block only (group 00). The interpolation
type of this command is the CP mode.

• When the skip signal is not input until the end point of this command block, the
block completes at the end point.

• For dwell/skip, the block completes on completion of the dwell processing.

• The next circular interpolation cannot be made.

• The F command is handled like G01.

6 - 66
 <When axis is specified>

G32 X x Y y F f SKIP #Xx;

Skip device
(X,Y,M,TC,TT,CC,CT,B,F)
Skip command
Feedrate
(can be specified indirectly)
Feedrate command
Positioning address
Format
(can be specified indirectly)
Axis name
<When dwell is specified>

G32 P p SKIP #Xx;

Skip device
(X,Y,M,TC,TT,CC,CT,B,F)
Skip command
Dwell time
Dwell command

• The coasting value δA between skip signal detection and a stop is represented by
the following expression.
F tcl
δA(mm)= (t1+ +Tr)
60 2
F : Command speed [mm/min]
t1 : Signal import delay time = 0.004 + detection delay time [sec]
tcl : Acceleration/deceleration time [sec]
Tr : Position loop time constant [sec]
(Reciprocal number of position control gain 1 value set in servo
parameter. When position control gain 1 = 25, Tr = 1/25 = 0.04
[sec])

• Under the following conditions, G32 makes deceleration to a stop once, then
proceeds to the next block.
1) When the PTP mode (G00, G25, G28, G30 or the like) is executed after the
G32 block
N10 G32 X100. F1000. SKIP #X10;
The axis decelerates to a stop
N20 G00 X200. ;
before this block.
N30 G32 X300. F1000. SKIP #X11;
2) 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;
The axis decelerates to a stop
N30 G26 Y;
before this block.
G32 X200. F1000. SKIP #X11;
3) 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;
The axis decelerates to a stop
N30 G91;
before this block.
N40 G32 X200. F1000. SKIP #X11;

6 - 67
 4) When the block immediately after G32 is in the CP mode but its command axes
do not include the specified axis of the G32 block
N10 G32 X100. F1000. SKIP #X10;
The axis decelerates to a stop
N20 G32 X100. Z100. F1000. SKIP #X11;
before this block.

[Program Example]
• 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.
X axis speed

Time
0

X180
X181
X182

• 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 #X1000;
N02 G90 G0 X100. ;

6 - 68
 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, under this condition, an instruction of an absolute value command exists after a skip, 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>
G90; <Motion without a skip>
G32 X180. SKIP#X100 F10. ; 0 180 350 170 (degree)
G01 X350. ;
G01 X170. ; <Motion with a skip>
(When a skip is made at 100 (degree))

0 100 350 170 (degree)

The last positioning point is the same if a skip is not

provided.

(*) It should be noted that the above explanation is valid between a skip (G32) and deceleration to a
stop (CP to PTP, etc.) After deceleration to a stop, operation of the ordinary degree axis is
performed. The conditions of deceleration to a stop after a skip (G32) are described below. For
more information, refer to "6.8.15 G32 Skip".
1) When the PTP mode (G00, G25, G28, G30 or the like) is executed after the G32 block
2) 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 CP mode but its command axes do not
include the specified axis of the G32 block

6 - 69
 Moves the axis with the preset offset value added to the move
Code G43 command.
By setting a difference between the tool length value and
actual tool length as the offset value, you can create a
Function Tool length offset (+) program without being aware of the tool length.

6.8.16 G43 Tool length offset (+)

[Explanation]
• By executing this command, the axis moves 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 move command.
• In the following case, the tool length offset command is canceled.
G49; Tool length offset cancel command
G43 H0;
Set the offset data number 0 to cancel the tool length offset.
G44 H0;
• This command may be given to one axis only. If this command is given to two or
more axes, it is valid for the last specified axis.
G43 X1. Y1. Z1. H1;  The Z axis is made valid.
If no axis is specified, the last specified axis is made valid.
G01 Z1;
G43 H1;  The Z axis is made valid.

• As this command is a modal instruction, the offset value is retained until the offset
value is canceled (G49).

• Tool length offset may 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 3.2.3.)

6 - 70
 G43 X x H h;
Format Offset data number
Positioning address
Axis name

[Program Example]
• Program designed to position the axis with the offset value added to the command
position. (For absolute value command)
(Data of the tool length offset data setting registers are as follows:
H1 = 5mm (D560, 561 = 50000), H2 = 10mm (D562, 563 = 100000))
G90; (Absolute value command)
G00 G43 X50. H1 (With the addition of the offset value of 5mm, the X axis is
positioned to its 55mm position)
G01 X25. F500. ; (The X axis moves to its 30mm position at 500mm/min.)
Y100. ; (The Y axis moves to its 100mm position at 500mm/min.)
G43 X200. H2; (With the addition of the offset value of 10mm, the X axis
moves to its 210mm position (offset value change))

6 - 71
 Moves the axis with the preset offset value subtracted from
Code G44 the move command.
By setting a difference between the tool length value and
actual tool length as the offset value, you can create a
Function Tool length offset (-) program without being aware of the tool length.

6.8.17 G44 Tool length offset (-)

[Explanation]
• By executing this command, the axis moves 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 move command.

• In the following case, the tool length offset command is canceled.

G49; Tool length offset cancel command
G43 H0;
Set the offset data number 0 to cancel the tool length offset.
G44 H0;
• This command may be given to one axis only. If this command is given to two or
more axes, it is valid for the last specified axis.
G44 X1. Y1. Z1. H1;  The Z axis is made valid.
If no axis is specified, the last specified axis is made valid.
G01 Z1. ;
G44 H1;  The Z axis is made valid.

• As this command is a modal instruction, the offset value is retained until the offset
value is canceled (G49).

• 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 3.2.3.)

6 - 72
 G44 X x H h;
Format Offset data number
Positioning address
Axis name

[Program Example]
• Program designed to position the axis with the offset value subtracted from the
command position. (For absolute value command)
(Data of the tool length offset data setting registers are as follows:
H1 = 5mm (D560, 561 = 50000), H2 = 10mm (D562, 563 = 100000))
G90; (Absolute value command)
G00 G44 X50. H1; (With the subtraction of the offset value of 5mm, the X axis is
positioned to its 45mm position)
G01 X25. F500. ; (The X axis moves to its 20mm position at 500mm/min.)
Y100. ; (The Y axis moves to its 100mm position at 500mm/min.)
G44 X200. H2; (With the subtraction of the offset value of 10mm, the X axis
moves to its 190mm position (offset value change))

6 - 73
 Cancels the preset tool length offset value (G43, G44).
Code G49

Function Tool length offset cancel

6.8.18 G49 Tool length offset cancel

[Explanation]
• This command cancels the preset tool length offset value (G43, G44) and performs
the specified positioning.

• Always specify the positioning address for tool length offset cancel.

[Related Parameters]
Power-on mode: At power-on, the tool length offset cancel mode is established.

6 - 74
 G49 X x;
Format Positioning address
Axis name

[Program Example]
• 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 = 5mm (D560, 561 = 50000), H2 = 10mm (D562, 563 = 100000))
G90; (Absolute value command)
G00 G43 X50. H1; (With the addition of the offset value of 5mm, the X axis is
positioned to its 55mm position)
G01 X25. F500. ; (The X axis moves to its 30mm position at 500mm/min.)
Y100. ; (The Y axis moves to its 100mm position at 500mm/min.)
G43 X200. H2; (With the addition of the offset value of 10mm, the X axis
moves to its 210mm position (offset value change))
G49 X100. ; (With the offset value canceled, the X axis moves to its
100mm position at 500mm/min.)

6 - 75
 Moves the axes to the command position in the basic
Code G53 mechanical coordinate system at rapid feedrate.

Mechanical coordinate
Function
system selection

6.8.19 G53 Mechanical coordinate system selection

[Explanation]
• 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 DSFLP instruction at power-on.

• Not being a modal instruction, this command is valid for the specified block only.

• 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)

• When G53 and G30 are specified in the same block, the latter command is valid.
G53 G30........;  G28 is valid (second home position return command)
G30 G53........;  G53 is valid (mechanical coordinate system selection
command)

• The offset specified in G92 is not valid.

• The tool length offset specified in G43 or G44 is not valid.

• Under the incremental value command (G91), the axes move at the incremental
value in the mechanical coordinate system, and under the absolute value
command (G90), the axes move at the absolute value in the mechanical
coordinate system.
[Example]
G91; (For incremental value G90; (For absolute value command)
command) G53 X10. Y10. ;
G53 X10. Y10.;
Y Y

30 (30,30) 30

20 20 Present position (20, 20)

Present position (20, 20)

10 10
(10,10)

X X
10 20 30 10 20 30
Basic mechanical coordinates Basic mechanical coordinates

• Positioning data can be set by direct designation (numerical value) or indirect

designation (variable: #****).

6 - 76
 G53 X x Y y Z z;
Format Coordinates in basic mechanical
coordinate system

[Program Example]
• 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.
0) G90; (Absolute value command)
1) G53 X10. Y10. ; (Axes move to X10. Y10. in the basic mechanical
coordinates)
2) G01 X10. Y10. F20. ; (Axes move to X10. Y10. in the work coordinates)
Y Y

Present position

10
1)

X
10 Work coordinates
2)
10

X
10 Basic mechanical coordinates
(Unit: mm)

REMARK

• Motion under G53 is always processed by G00. (The modal group 01 is

not changed.)

6 - 77
 G54, G55, G56, G57, Selects the work coordinate system and moves the axes to
Code the specified position in the work coordinate system at the
G58, G59
speed specified in the feedrate.
Work coordinate system 1 to
Function
6 selection

6.8.20 G54 to G59 Work coordinate system selection

[Explanation]
• Work coordinate systems 1 to 6 are coordinate systems specified in the
parameters or work coordinate system setting.
Set the offset value in the work coordinate system using the distance from the
basic mechanical coordinate system origin (0).

• The coordinate system of G54 is selected at a motion program start.

• Being a modal command, any of work coordinate systems 1 to 6 is valid until the
next work coordinate system 1 to 6 selection command is given.

• Giving the G92 command in any of the G54 to G59 modes allows a new work
coordinate system to be set.
Giving the G92 command causes all work coordinates systems (1 to 6) to move in
parallel.

<Work coordinate system selection>

G54 Xx Yy Zz;

<Work coordinate system change>

G54 G92 Xx Yy Zz; ..........Work coordinates 2 to 6 also move in parallel similarly.

• Move mode (moving method): G00 to G03 depend on the data of the modal
information group 01.

• CP mode (constant-speed control): G61 and G64 depend on the the data of the
modal information group 13.

• Positioning data can be set by direct designation (numerical value) and indirect
designation (variable: #****).

[Related Parameters]
Work coordinate system offset value: Specify the offset in the work coordinate
system using the distance from the basic
mechanical coordinates. (Refer to the work
coordinate data in Section 4.7.)
Up to six work coordinate systems may be set.
(Work coordinate systems 1 to 6)

6 - 78
 G54 X x Y y Z z;
Format Position located in specified

G59 work coordinate system

[Program Example]
<Work coordinate system selection>
• Program designed to position the axes to the specified position in the work
coordinate system 1.
(The offset of the work coordinate system 1 is X500, Y500)
0) G90; (Absolute value command)
1) G28 X0. Y0.; (Home position return)
2) G53 X0. Y0.; (Axes move to the basic mechanical coordinate origin)
3) G54 X500. Y500.; (Axes move to the specified position in the work
coordinate system 1)
4) G91 G01 X500. F10. ; (Incremental value command positioning)
Y Y

4)
1000 500

3)
1)
500 X
500 1000 Work coordinate system 1

2)
X
500 1000 1500 Basic mechanical coordinates
(Unit: mm)

<Work coordinate system change>

• Program designed to set the offset of the work coordinate system 1 to X500,
Y500 in the parameter setting of work coordinate data, then change the work
coordinate system to new work coordinate system 1.
1) G54 G92 X-200. Y-200. ; (New work coordinate system 1 setting)
(After execution of 1), the present value is changed to X-200, Y-200.)
Y Y Y *The offsets of the work coordinate systems 2 to 6
are also shifted.
1000

X New work coordinate system 1

Y-200 (0,0)
500 X Old work coordinate system 1
1)
Work position

X Basic mechanical coordinates

500 1000 1500

X-200

6 - 79
 Moves the axis point-to-point (PTP).
Code G61

Function Exact stop check mode

6.8.21 G61 Exact stop check mode

[Explanation]
• This command is used with the interpolation instruction. Executing this command
moves the axis PTP.
The instruction codes usable with this command are G01, G02 and G03 only.

• In this system, the next block is executed after deceleration to a stop per specified
coordinates.

• Being a modal instruction, this command is valid until the cutting mode (G64) is
commanded.

<In exact stop check mode>

G61 G01 X100. F500.;
X200. ;
V

X axis

<No in exact stop check mode>

G01 X100. F500.;
X200. ;
V

X axis

6 - 80
 G61;
Format

[Program Example]
• Program designed to position the axis 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)
V

X axis 1) 2) 3)

REMARK

• Only the rapid feedrate may be the specified speed in G00. To specify the
speed every time PTP positioning is executed, you can use G61 and G01.

6 - 81
 Executes the next block continuously without deceleration to
Code G64 a stop between cutting feed blocks.

Function Cutting mode

6.8.22 G64 Cutting mode

[Explanation]
• Designed to position the axis to the specified coordinate position approximately,
this command performs continuous operation without deceleration to a stop per
specified coordinates unlike the exact stop check mode.
Use this command when you want to make a smooth connection with the
interpolation instruction (G01, G02, G03).

• The cutting mode is established at a motion program start.

• Being a modal instruction, this command 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

6 - 82
 G64;
Format

[Program Example]
• Program designed to position the axis 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)

6 - 83
 Sets the coordinate command as an absolute value
Code G90 command.

Function Absolute value command

6.8.23 G90 Absolute value command

[Explanation]
• In the absolute value command mode, the axes move to the specified coordinate
position independently of the present position. The positioning command set after
execution of this command performs operation with the absolute value from the
origin coordinates.

• Being a modal instruction, this command is valid until the incremental value
command mode (G91) is commanded.

• The absolute value command mode is established at a motion program start.

[Example]
G90 X100. Y100.;
Y Y

100 (100,100) 100 (100,100)

50 50
Present value (50, 50)
Present value (80, 20)
X X
50 100 50 100
(Unit: mm)
At present position coordinates of X50, Y50 At present position coordinates of X80, Y20

• Positioning data can be set by direct designation (numerical value) and indirect
designation (variable: #****).

6 - 84
 G90 X x Y y Z z;
Format Locating position

[Program Example]
• Example of comparison of positioning between the absolute value command and
incremental value command
Y
<Incremental value command example>
Under
G91 X70. Y70.;
incremental
(100,100)
value
<Absolute value command example> command
(70,70)
G90 X70. Y70.; Under absolute
value command
Present value (30, 30)
X
(Unit: mm)

6 - 85
 Sets the coordinate command as an incremental value
Code G91 command.

Function Incremental value command

6.8.24 G91 Incremental value command

[Explanation]
• In the incremental value command mode, the axes move the distance of the
specified relative value from the starting point (0) of the present position.
The positioning command set after execution of this command performs operation
with the incremental value from the present position.

• Being a modal instruction, this command is valid until the absolute value command
mode (G90) is commanded.

• The absolute value command mode is established at a motion program start.

[Example]
G91 X100. Y100.;
Y Y

150 (150,150) 150

(180,120)
100 100

50 50
Present value (50, 50)
Present value (80, 20)
X X
50 100 150 50 100 150 200
(Unit: mm)
At present position coordinates of X50, Y50 At present position coordinates of X80, Y20

• Positioning data can be set by direct designation (numerical value) and indirect
designation (variable: #****).

6 - 86
 G91 X x Y y Z z;
Format Locating position

[Program Example]
• Example of comparison of positioning between the incremental value command
and absolute value command
Y
<Absolute value command example>
Under
G90 X70. Y70.; incremental
(100,100)
value
<Incremental value command example> command
(70,70)
G91 X70. Y70.; Under absolute
value command
Present value (30, 30)
X
(Unit: mm)

6 - 87
 Sets the mechanical coordinates (virtual mechanical
Code G92 coordinates) simulatively.
Setting the virtual mechanical coordinate system also
changes the work coordinate systems 1 to 6.
Function Coordinate system setting

6.8.25 G92 Coordinate system setting

[Explanation]
• The present position in the work coordinate system is changed to the specified
coordinate value to set new work coordinates. The work coordinate system is set
in the specified position (offset from the present position).
Making coordinate system setting sets the virtual mechanical coordinates and
moves the work coordinate systems 1 to 6 in parallel.
[Example]
G92 X20. Y30.;
Y Y Y Y

Present position Present position

X
New work coordinates

X
Work coordinates Old work coordinates

X
Virtual mechanical coordinates
X
Mechanical coordinates Mechanical coordinates

• Positioning data can be set by direct designation (numerical value) and indirect
designation (variable: #****).
• When the software version of the controller operating system SV43C, SV43F,
SV43U or SV43B is Ver. 00F or earlier and G92 is to be executed in the CP mode
(e.g. G01), execute G92 after executing M100 (preread inhibit) to decelerate the
axes to a stop once.
• When the software version of the controller operating system SV43C or SV43F is
Ver. 00G or later, executing G92 in the CP mode (e.g. G01) decelerates the axes
to a stop once. When G92 is executed in the single block mode with this software
version or later, making a single block start twice in the same block shifts
execution to the next block.

POINT
If the present value is changed in G92, the present value data restored after a
power failure is based on the status prior to execution of G92.

[Program Example]
• Program designed to set the work coordinate system in the specified position.
G92 X20. Y30.;

6 - 88
 G92 X x Y y Z z;
Format Set coordinate value
(Specify the offset from the present position)

Y Y Y Y

Present position 30 Present position

X
20
New work coordinates
X
Work coordinates Old work coordinates

X
Virtual mechanical coordinates
X
Mechanical coordinates Mechanical coordinates

(Unit :mm)

6 - 89
 Changes the acceleration/deceleration system to time-fixed
acceleration/deceleration or acceleration-fixed
Code G100, G101 acceleration/deceleration.

Time-fixed
acceleration/deceleration,
Function acceleration-fixed
acceleration/deceleration
switching instructions

6.8.26 G100, G101 Time-fixed acceleration/deceleration, acceleration-fixed acceleration/deceleration

switching instructions

[Explanation]
• The acceleration/deceleration system of the move command G01, G02, G03, G32
or G00 (with M code) is switched to time-fixed acceleration/deceleration or
acceleration-fixed acceleration/deceleration.

• Specify the G code of this command independently.

• Use G100 to choose time-fixed acceleration/deceleration.

The G100 status is established at a start.

• Use G101 to choose acceleration-fixed acceleration/deceleration.

• Under G101, acceleration-fixed acceleration/deceleration, the M code does not

wait for FIN. (The M code is output to the M code storage register but the M code
outputting signal does not turn ON.)

• Acceleration/deceleration in the acceleration-fixed mode is valid until:

1) G100, time-fixed acceleration/deceleration instruction, is executed;
2) The program ends under M02;
3) The program is stopped by the rapid stop command, stop command, error reset
or emergency stop; or
4) The program is stopped at error occurrence.

• When G100 is changed to G101 or G101 to G100, the axes decelerate to a stop.

6 − 90
 G100;
G101;
Format

[Program Example]
• 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)
010;
G91;
N1 G28 X0. Y0.;
N2 G01 X100. F1000.; Time-fixed acceleration/deceleration (at start, operation
N3 Y100.; is performed under G100) Deceleration to stop after execution
N4 G101;
Acceleration-fixed acceleration/deceleration
N5 X100.;
Deceleration to stop after execution
N6 Y100.;
N7 G100;
N8 X100.; Time-fixed acceleration/deceleration
N9 Y100.;
M02;
%

6 − 91
6. MOTION PROGRAMS FOR POSITIONING CONTROL

6.9 M Codes

This section explains the M codes used in motion programs.

(1) M codes
When a motion program is run, 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
(M1819+20n/M3219+20n) is entered.
(Refer to Section 7.11 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
6.10 for the special M codes.)

6.10 Special M Codes

Table 6.7 lists the arguments of the special M codes.

Table 6.7 Special M Code Argument List

Axis Radius Center Point M Code
G code Feed (F) H L N O P Remarks
Command (*1) Command (R) Command (I,J) (*2)
M00
M01
M02
M30
M98
M99
M100
Other M
codes
: May be set.
Blank : Must not be set.

*1 The axis commands are X, Y, Z, U, V, W, A, B, and C.

*2 M codes indicate those other than M00, M01, M02, M30, M98, M99 and M100.

6 − 92
 Stops a program run.
Code M00

Function Program stop

6.10.1 M00 Program stop

[Explanation]
• Executing this command stops the program without execution of the next block.
By turning ON the restart signal (M1504+10n/M4404+10n) after a stop, execution
resumes from the next block.

6 - 93
 M00;
Format

[Program Example]
• Program designed to make a stop during positioning operation and restart
positioning.
1) G01 X100. F10.; (Positioning)
2) M00; (Program stop) ← Restart signal (M1504+10n/M4404+10n) ON
3) G01 X200.; (Restart signal resumes positioning)
V

X axis 1) G01 X100. 3) G01 X200.

T
2)

Restart (M1504+10n/M4404+10n) ON
During stop as M00 is being executed

6 - 94
 When the optional program stop is ON, executing M01 stops
Code M01 a program run.

Function Optional program stop

6.10.2 M01 Optional program stop

[Explanation]
• When the optional program stop (M1501+10n/M4401+10n) is ON, executing this
command stops the program without execution of the next block.
By turning ON the restart signal (M1504+10n/M4404+10n) after a stop, execution
resumes from the next block.

• When the optional program stop (M1501+10n/M4401+10n) is OFF, the next block
is executed without a program stop.

6 - 95
 M01;
Format

[Program Example]
• Program which uses the optional program stop (M01).
1) G01 X100. F10.; (Positioning)
2) M01; (Optional program stop)
3) G01 X200.; (Positioning)

<When optional program stop (M1501+10n/M4401+10n) is ON>

V

X axis 1) G01 X100. 3) G01 X200.

T
2)

Restart (M1504+10n/M4401+10n) ON
During stop as M01 is being executed

<When optional program stop (M1501+10n/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
(M1501+10n/M4401+10n) is ON.

6 - 96
 Ends a program.
Code M02

Function Program end

6.10.3 M02 Program end

[Explanation]
• Executing this command ends a program run.
This command is required at the end of a program.

6 - 97
 M02;
Format

[Program Example]
• Program which is ended 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.

6 - 98
 Ends a program.
Code M30

Function Program end

6.10.4 M30 Program end

[Explanation]
• Executing this command ends a program run.
This command is required at the end of a program.

6 - 99
 M30;
Format

[Program Example]
• Program which is ended 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.

6 - 100
 Make subprogram call (M98) and subprogram end (M99).

Code M98, M99

Subprogram call,
Function
subprogram end

6.10.5 M98, M99 Subprogram call, subprogram end

[Explanation]
• A program of the same pattern can be registered as a single subprogram and
called as required from the main program.

<Program call> (M98)

• Argument program number, sequence number and repeat number may be omitted.
When omitted, these numbers are as follows.
Program number : Main program
Sequence number : First
Repeat count : Once
[Example]
•
•
•
•
•
•

M98; Executes once from the beginning of the main program.

• 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
0100; 0110; 0120; 0130; 0180;

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

<Subprogram end> (M99)

• Returns to the block next to the call block.

6 − 101
 M98 P p H h L l;
Subprogram repeat count (0 to 9999)
Subprogram call sequence number (1 to 9999)
Format Subprogram call program number (1 to 256)

M99;

[Program Example]
• Program designed to run the specified subprogram twice repeatedly, return to the
main program, and complete operation.
Main program Subprogram

0110; 0120;

M98 P120 H20 L2; N20;

M02
% M99;
%

• Program designed to call a subprogram from another subprogram.

1)

2)

Main program Subprogram Subprogram

0200; 0201; 0202;
N010 M98 P202; 1) N200 G91; N300 G91;
N020 G90; N210 G01 X100. Y100. F2000.; G61;
G61; 3) X200.; 4) 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.; M99; 6)
N070 M98 P202; 7) %
N080 G91 G01 X100. F700.; 6) 5)
X20.;
Y30.;
M02;
%
7)

8)

6 − 102
 Does not execute preread on the G code software.
Code M100

Function Preread inhibit

6.10.6 M100 Preread inhibit

[Explanation]
• Executing this command does not execute preread on the G code software.
After completion of motion up to the preceding block, the next block is processed.

6 - 103
 M100;
Format

[Program Example]
N10 G01 X10. F10.; ← Since M100 exists in the next block, a
M100; change in #100 during execution of the
IF [#100 EQ150] GOTO20; command on this line is reflected on the IF
N15 G01 Y10.; statement below.
N20 G01 X0. Y0.;
When #100 150 When #100=150
X speed X speed

Time Time

Y speed Y speed

Time Time
*1 *1

N10 N15 N10 N20

*1 When M100 is executed, CP does not continue from N10 to N15 or from N10 to N20 and
the axis decelerates to a stop once after execution of N10.

6 - 104
6. MOTION PROGRAMS FOR POSITIONING CONTROL

6.11 Miscellaneous

Table 6.8 lists the arguments that may be specified in the first character.

Table 6.8 Argument List

Logical
() [] Operator Assignment (=) GOTO G M Remarks
Operator
# 
IF 
GOTO 
/ Depends on the data after "/".
G Refer to Section 6.8.
Refer to Section 6.10 for M00, M01,
M
M02, M30, M98, M99 and M100.
Axis Depends on the G code in the
command modal 01 group.
Depends on the G code in the
Feed
modal 01 group.
O 
Regards the line number and later
N
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.

6 − 105
 Controls the flow of a run program according to the condition.
Code IF, GOTO

Function Program control function

6.11.1 Program control function (IF, GOTO statement)

[Explanation]
• If the specified expression is true (1) (condition is satisfied), execution jumps to the
sequence number 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.

• 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 (<=)

• The expression must be enclosed in "[", "]".

• The line number specified in GOTO must exist in the same program. If it does not,
an error (error code: 541) occurs.

• If only GOTOn is specified, execution jumps to the specified line number

unconditionally.

6 - 106
 IF [expression] GOTOn
Format Sequence number

[Program Example]
• Program designed to cause a jump to the specified line if the condition is satisfied.
0201;
N200 G91;
N210 G01 X100. Y100. F2000.;
X200.;
Y200.;
IF [#100] GOTO230; (If #100 if 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 if 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.

6 - 107
 Controls the flow of a run program according to the condition.

Code IF, THEN, ELSE, END

Function Program control function

6.11.2 Program control function (IF, THEN, ELSE, END statements)

[Explanation]
• 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 [#110 EQ1] THEN 1;
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;

• When ELSE is omitted, the block group up to END is executed only if the
conditional expression is true.
IF [#100 EQ1] THEN 1;
If #100 is 1, the block group described here is executed.
END1;

• The multiprogramming depth is up to three levels including that of the WHILE

statement.
IF [ ] THEN1 ;
IF [ ] THEN2 ;
IF [ ] THEN3 ;

END3 ;
END2 ;
END1 ;
• The GOTO statement cannot cause execution to go into or come out of the THEN
and ELSE statements.

6 - 108
 IF [expression] THENm;
IF identification number
(1 to 32)
Block U group
Format ELSEm;

Block U group
ENDm;

[Program Example]
01;
N1 G91;
N2 G01 X100. Y100. F2000;
N3 X200.;
N4 Y200.;
N5 IF [#100 EQ0] THEN1;
N6 G01 Y300. F1500; When #100=0, THEN1 to END1 are executed.
N7 X300.;
N8 END1;
N9 G02 X50. Y50. I0. J50. F800;
N10 G01 X100. Y500. F2000;
N11 IF [#110] THEN2;
N12 G00 X10.; When #110 is true, THEN2 to ELSE2 are executed.
N13 Y100.;
N14 ELSE2;
N15 G28 X0. Y0.; When #110 is false, ELSE2 to ELSE2 are executed.
N16 END2;
N17 M02;
%
Caution: Note that if the sequence number (N**) is omitted in the above program,
the block number changes as indicated below.
Program Execution Block No. (A) Execution Block No. (B) Execution Block No. (C) Execution Block No. (D)
01; 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.

6 - 109
 Controls the flow of a run program according to the condition.
Code WHILE, DO

Function Program control function

6.11.3 WHILE DO statement

[Explanation]
• 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.

• WHILE [conditional expression] DOm and ENDm are used in pairs.

The identification number m range is 1 to 32.

• The multiprogramming depth of the WHILE statement is up to three levels.

[Example 1] The identification number m can be used any number of times as

desired.
WHILE [ ] DO1;
to
END1;
to
WHILE [ ] DO5;
to
END5;
to
WHILE [ ] DO1;
to
END1;
[Example 2] The multiprogramming depth is up to three levels.
WHILE [ ] DO1;
to
WHILE [ ] DO2;
to
WHILE [ ] DO3;
to (Third level) (Second level) (First level)
END3;
to
END2;
to
END1;

6 - 110
 WHILE [conditional expression] DOm
Format WHILE
identification
number
(1 to 32)

[Program Example]
• Program designed to cause a jump to the specified line if the condition is satisfied.
0110;
N1 #0=0;
N2 G91 G00 X25. Y50.;
N3 WHILE [#0 LT3] DO1;
N4 G03 X0. Y0. I25. J0. F100.; *1
;
N5 #0=#0+1; ............................. *2
N6 END1;
N7 G28 X0. Y0.;
N8 M02;
%

50

25

X
0 25 50 75

*1: N3 to N6 are repeated while variable #0<3 holds.

*2: Every time this block is executed once, 1 is added to variable #0.
The program on the left ends after drawing a circle three times.

Caution: Note that if the sequence number (N**) is omitted in the above program,
the block number changes as indicated below.
Program Execution Block No.
0110; 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
% 

6 - 111
 Perform addition (+), subtraction (-), multiplication (*), division
Code +, -, *, /, MOD, = (/), remainder (MOD) and assignment (=).

Four fundamental operators,

Function assignment operator

6.11.4 Four fundamental operators, assignment operator (+, -, *, /, MOD, =)

[Explanation]
• Calculation of the specified operator is performed.
• 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

• 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
• 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.
• 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 1, 2 into operation result type.
result is 64-bit type, Note that if operation result is 64-bit type, 32-bit type is
32-bit type is converted used to perform operation.
into 64-bit type.
• The following operational expressions will result in an error (560: format error).
#10 = ##20; Possible if #10 = # [#20];
#10 = #20 +- #30; Possible if #10 = #20 + [- #30];
• 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.

6 - 112
 n1 Operator n2
Format Numerical value or variable
Operator (+, -, *, /, MOD)
Numerical value or variable

[Program Example]
• Program designed to carry out positioning according to the result of the specified
operation.
0200;
#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;
%

6 - 113
 SIN, COS, TAN, ASIN, Perform operations of SIN (sine), COS (cosine), TAN
Code (tangent), ASIN (arcsine), ACOS (arccosine) and ATAN
ACOS, ATAN
(arctangent).

Function Trigonometric functions

6.11.5 Trigonometric functions (SIN, COS, TAN, ASIN, ACOS, ATAN)

[Explanation]

• The operation of the specified trigonometric function is performed.

• The operation result is a 32-bit integer (BIN value) including four decimal places.

• When the argument of the trigonometric function has no decimal point, the
operation result is similarly a BIN value including four decimal places.

6 - 114
 function [n];
Format Numerical value (can be specified indirectly)
Trigonometric function
(SIN, COS, TAN, ASIN, ACOS, ATAN)

[Program Example]
#10:L = SIN [60.]; #10:L = 8660
#16:L = SIN [600000]; #16:L = 8660
#20:L = COS [45.]; #20:L = 7071
#26:L = COS [450000]; #26:L = 7071
#30:L = TAN [30.]; #30:L = 5773
#36:L = TAN [300000]; #36:L = 5773
#40:L = ASIN [0.8660]; #40:L = 599970
#46:L = ASIN [8660]; #46:L = 599970
#50:L = ACOS [0.7071]; #50:L = 450005
#56:L = ACOS [7071]; #56:L = 450005
#60:L = ATAN [1.]; #60:L = 450000
#66:L = ATAN [10000]; #66:L = 450000

6 - 115
 Converts a floating-point type real number into a 32-bit integer
Code INT (BIN value) including four decimal places.

Floating-point type real number

Function processing instruction
Real number to BIN value

6.11.6 Real number to BIN value conversion (INT)

[Explanation]
• A floating-point type real number is converted into a 32-bit integer (BIN value)
including four decimal places.

• 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

Bit 31: Sign part

• The following values can be handled as floating-point type real numbers.

128 -126 -126 128
-1.0×2 <value≤-1.0×2 , 0, 1. 0×2 ≤value<1.0×2

6 - 116
 INT [n] ;
Format Indirect designation only
Real number to 32-bit integer
(BIN value) conversion command

[Program Example]
#2:L = 10000;
#4:L = FLT[#2:L]; #4:L = (461C4000)16
(D4,5 = (461C4000)16)
#6:L = INT[#4:L]; #6:L = 10000

6 - 117
 Converts a 32-bit integer (BIN value) including four decimal
Code FLT places into a floating-point type real number.

Floating-point type real number

Function processing instruction
BIN value to real number conversion

6.11.7 BIN value to real number conversion (FLT)

[Explanation]
• A 32-bit integer (BIN value) including four decimal places is converted into a
floating-point type real number.

• 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

Bit 31: Sign part

• The following values can be handled as floating-point type real numbers.

128 -126 -126 128
-1.0×2 <value≤-1.0×2 , 0, 1.0×2 ≤value<1.0×2

6 - 118
 FLT [n] ;
Format Indirect designation only
32-bit integer (BIN value) to real
number conversion command

[Program Example]
#2:L = 10000;
#4:L = FLT[#2]; #4:L = (461C4000)16
(D4,5 = (461C4000) 16)
#6:L = INT[#4]; #6:L = 10000

6 - 119
 SQRT, ABS, BIN, BCD, Perform operations of SQRT (square root), ABS (absolute
Code value), BIN (BCD to BINARY conversion), BCD (BINARY to
LN, EXP, RND, FIX,
FUP BCD conversion), LN (natural logarithm), EXP (base e
exponent), RND (round off), FIX (round down) and FUP
Function Functions (round up).

6.11.8 Functions (SQRT, ABS, BIN, BCD, LN, EXP, RND, FIX, FUP)

[Explanation]
• Operation of the specified function is performed.

• For the operation result, refer to Items (5), (6), (7) in Section 6.3.3.

6 - 120
 function [n];
Format Numerical value (can be specified indirectly)
Trigonometric Function
(SQRT, ABS, BIN, BCD, LN, EXP, RND, FIX, FUP)

[Program Example]
#10L = SQRT [100] 10 enters [D11, D10].
#20L = ABS [-25] 25 enters [D21, D20].
#30L = BIN [100] 64 enters [D31, D30].
#40L = BCD [100] 256 enters [D41, D40].
#50L = LN [1000000] 13 enters [D51, D50].
#60L = EXP [20] 485165195 enters [D61, D60].
#70F = RND [14/3] 5 enters [D73, D72, D71, D70] (64-bit floating-point type).
#80F = FIX [14/3] 4 enters [D83, D82, D81, D80] (64-bit floating-point type).
#90F = FUP [14/3] 5 enters [D93, D92, D91, D90] (64-bit floating-point type).
#170F = RND [-14/3] -5 enters [D173, D172, D171, D170] (64-bit floating-point
type).
#180F = FIX [-14/3] -5 enters [D183, D182, D181, D180] (64-bit floating-point
type).
#190F = FUP [-14/3] -4 enters [D193, D192, D191, D190] (64-bit floating-point
type).

6 - 121
 Perform logical product (AND), logical add (OR), exclusive
AND, OR, XOR, NOT, logical add (XOR), logical NOT (NOT) and shift operations
Code <<, >> (<<, >>).

Function Logical operators

6.11.9 Logical operators (AND, OR, XOR, NOT, <<, >> )

[Explanation]
• Operation of the specified logical operator is performed.
• 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.
• 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.

• 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[[# 100 AND #200] EQ #300] GOTO2;
If the result of ANDing #100 and #200 contents is equal to #300, the N2 line is
executed.

6 - 122
 <For AND, OR, XOR, <<, >> >

n1 Operator n2;
Numerical value or variable
Operator (AND, OR, XOR, <<, >>)
Format Numerical value or variable

<For NOT>

NOT [n1] ;
Numerical value or variable

[Program Example]
Operator Program Example Operation
#10L = 01100100
#10L = 100;
AND 15 = 00001111
#20L = #10L AND 15;
#20L = 00000100 = 4
#10L = 01100100
#10L = 100;
OR 14 = 00001110
#20L = #10L OR 14;
#20L = 01100100 = 110
#10L = 01100100
#10L = 100;
XOR 14 = 00001110
#20L = #10L XOR 14;
#20L = 01101010 = 106
#10L = 90; #10L = 01011010
NOT
#20L = NOT [#10L]; #20L = 10100101 = 165
#10L = 20; #10L = 00010100
<<
#20L = #10L << 2; #20L = 01010000 = 80
#10L = 80; #10L = 01010000
>>
#20L = #10L >> 2; #20L = 00010100 = 20

6 - 123
 Executes the next move block when the ON/OFF condition of
Code WAITON, WAITOFF the specified device holds.

Function Move block wait functions

6.11.10 Move block wait functions (WAITON, WAITOFF)

[Explanation]
• Execution waits the next move block to be executed until the ON/OFF condition of
the specified device holds. Note that the operation block is executed.

• The response time of WAITON/WAITOFF is the operation cycle time (approx.

3.5msec for 8 or less axes).

• It takes about 7 to 64msec from when a program is started until the program is
actually run. Therefore, WAITON/WAITOFF can be used to start a motion program
fast. By setting a wait for a shift to the next block with WAITON or WAITOFF after a
program start has been made by the SVST instruction in a sequence program,
prereading of the next block has been completed, and therefore, the next block
can be executed at high speed (approx. 3.5msec for 8 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;
%

• The grammar is indicated below.

<WAITON statement>: WAITON #<device>
[Example] WAITON #X10;
<WAITOFF statement>: WAITOFF #<device>
[Example] WAITOFF #X11;

• WAITON/WAITOFF cannot be used with the home position return instruction.

6 - 124
 WAITON #Xx ;
Device (X, Y, M, TC, TT, CC, CT, B, F)
Format
WAITOFF #Xx ;
Device (X, Y, M, TC, TT, CC, CT, B, F)

[Program Example]
Program which executes the next block when a condition holds.
00001 WAITON #X10;
00002 N1 G01 X100. Y200. F1000.;
00003 WAITOFF #X11;
00004 N2 #10 = 5
00005 G00 X0. Y-10.;
00006 WAITON #X12;
00007 GOTO 10;

00015 N10 G00 X0. Y0.;

00020 #0 = 5;
00021 WAITOFF #XFF;
00022 IF [#0 EQ 5] GOTO 20;
00023 N15 G01 X200. Y200. F2000.;

00027 N20 G01 X100. Y100. F2000.;

00028 M02;
00029 %

The above program is run 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, #0=5 to line 27 are executed. Because of
preread processing, N15 is not executed and execution jumps to N20 if the
#0(D0) value is changed from sequence program while execution waits for XFF to
turn from ON to OFF in the WAITOFF statement.

6 - 125
 Uses the parameter block of the specified number.
Code PB

Function Parameter block change

6.11.11 Parameter block change (PB)

[Explanation]
• The numerical value following PB is used as a parameter block number.

• The parameter block value may also be specified indirectly by a variable, D or W

(2-word data).

• Any of 1 to 16 may be specified as the parameter block value.

Specifying any other value than the above will result in a "format error". (Error code
560)

• 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 made, the specified torque limit
value is used.

• When a parameter block change (PB) is made during a torque limit value change
(TL), the torque limit value in the new parameter block is used.

• When a parameter block change is made during a CP motion, the axis decelerates
to a stop once and the next CP motion is executed.
G01 X100. F500. ; Deceleration to a stop at X100.
PB3 ; After that, parameter block 3 is used.
G01 X200. ;

• At a home position return (G28), the parameter block at a program start is used.

• The parameter block change command cannot be described in the same block as
another command.

• If a cancel start is made during a parameter block change, the start program uses
the parameter block for execution of the start program.

• A parameter block change (PB) is valid for the next travel.

6 - 126
 PB pb;
Format Parameter block number
Parameter block change command

[Program Example]
1) When a parameter block change is made during PTP
N01 G00 X0.; Uses the parameter block at a program start.
N02 G00 X100.;
N03 PB3; Changes to parameter block 3.
N04 G00 X300.;

N01 N02 N04

PB at program start is used. PB3 is used.

2) When a parameter block change is made during CP

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.;

N01 N02 N04

PB at 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.;

N01 N02 N03 N05

PB at program start is used. PB10 is used.

Torque limit value within
PB at program start Torque limit value 300% Torque limit value within PB10

6 - 127
 Changes the torque limit value to the specified value.
Code TL

Function Torque limit value change

6.11.12 Torque limit value change (TL)

[Explanation]
• 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 or W (2-word
data).
(After the TL code, the torque limit value in the parameter block is not used.)

• 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)

• 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.

• At a home position return (G28), the torque limit value in the parameter block at a
program start is used.

• 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 the start program.

• 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.

• The torque limit value change (TL) is valid for all axes specified in SVST. 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.

• 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.

• 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.

6 - 128
 TL t;
Format Torque limit value
Torque limit value change command

[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;
N03 G00 X200.; Controls at the torque limit value of 100%.
N04 G00 X300. TL300; Controls at the torque limit value of 300%.

N01 N02 N03 N04

Torque limit value within Controlled at torque limit

PB at 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;
N03 G01 X200.; Controls at the torque limit value of 200%.
N04 PB5; Changes to parameter block 5.
N05 G01 X300. ; Controls at the torque limit value in parameter block 5.

N01 N02 N03 N05

Torque limit value within Controlled at torque limit value

PB at program start Controlled at torque limit value of 300% in PB5

6 - 129
 Turns the specified device ON/OFF.

Code SET, RST

Function Bit device set, reset functions

6.11.13 Bit device set, reset functions (SET, RST)

[Explanation]
• The specified device can be turned ON/OFF from the G code program.

• Refer to Section 6.6.2 (6) for the usable device ranges.

6 - 130
 SET #Yy;
ON device (Y, M)
Device ON command
RST #Yy;
Format
OFF device (Y, M)
Device OFF command

[Program Example]
1) SET #M0; Turns ON device M0.
2) RST #M0; Turns OFF device M0.
3) SET#Y10; Turns ON device Y10.

6 - 131
 By describing this command in the conditional expression of
Code ON, OFF IF or WHILE, branches processing according to the ON/OFF
status of the specified bit device.

Function Bit device conditional branch

6.11.14 Conditional branch using bit device (ON, OFF)

[Explanation]
• 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.

• [ ] 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.

• 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.

• The bit devices usable in the ON/OFF command are X, Y, M, TC, TT, CC, CT, B and F.

• The ON/OFF command is available for the conditional expressions of the program
control functions (IF GOTO, IF THEN, WHILE).

6 - 132
 IF [ON #M100] GOTO1;
Format ON/OFF device
(X, Y, M, TC, TT, CC, CT, B, F)
ON/OFF command (describe OFF for OFF)
*Conditional expression of IF THEN or WHILE can also be described similarly.

[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 M100 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] DO2; Executes blocks within WHILE while M300 is OFF.
N02 G91 G01 X10. F100.;
N03 #10 = #10 + 1;
N04 END2;
N05 G90 G00 X0.; Executed when M300 turns ON.

6 - 133
7. AUXILIARY AND APPLIED FUNCTIONS

7. AUXILIARY AND APPLIED FUNCTIONS

This section describes the auxiliary and applied functions available for positioning
control by the servo system CPU.

(1) Limit switch output function ..................................................... Section 7.1

(2) Backlash compensation function ............................................ Section 7.2

(3) Torque limit function................................................................ Section 7.3

(4) Electronic gear function........................................................... Section 7.4

(5) Absolute positioning system.................................................... Section 7.5

(6) Home position return............................................................... Section 7.6

(7) Speed change ......................................................................... Section 7.7

(8) JOG operation......................................................................... Section 7.8

(9) Manual pulse generator operation .......................................... Section 7.9

(10) Override ratio setting function ............................................... Section 7.10

(11) FIN signal waiting function .................................................... Section 7.11

(12) Single block........................................................................... Section 7.12

(13) Enhanced present value control............................................ Section 7.13

(14) High-speed reading of designated data ................................ Section 7.14

7−1
7. AUXILIARY AND APPLIED FUNCTIONS

7.1 Limit Switch Output Function

The limit switch output function allows the A1SY42 output module or AY42 output
module to output ON/OFF signals corresponding to the positioning address set for
each axis.

7.1.1 Limit switch output data

Initial
Item Settings Remarks
Value
• −2147483648 to 2147483647 Units
−4 • Up to 10 points can
ON/OFF point (× 10 mm,× 10−5inch) 10-4mm
10-5inch 0 be set for each
setting • 0 to 35999999
−5 10-5degree axis.
(× 10 degree)

7.1.2 Limit switch output function

[Control Details]
(1) The limit switch function outputs the ON/OFF pattern from the A1SY42/ AY42
at the set addresses.
Before running the limit switch output function, the ON/OFF point addresses
and the ON/OFF pattern must be set from a peripheral device.
(Settings cannot be made by the sequence program.)
The number of limit switch outputs per axis and the ON/OFF points are as
follows:
(a) Number of limit switch output points .............8 points/axis,
total 64 points
(b) ON/OFF points...............................................10 points/axis
Set an address in the stroke limit
range for each point.
ON/OFF switching points 10 points/axis.
(Common for Point 1 through Point 8)
MIN MAX
1 2 3 4 5 6 7 8 9 10
ON
Point 1 OFF
ON
Point 2 OFF

ON
Point 3 OFF

ON
Point 4 OFF
8 points/axis ON
Point 5 OFF

ON ON
Point 6 OFF
ON
Point 7 OFF

ON
Point 8 OFF

7−2
7. AUXILIARY AND APPLIED FUNCTIONS

(2) Limit Switch Enable/Disable Setting

The following devices can be used to enable or disable the limit switch output
from each axis or each point.

Table 7.1 Limit Switch Enable/Disable Settings

Setting
Set Data/Device Processing Set Data Valid Timing
Unit
Used
Limit switch output (1) Leading edge of PC
Set ON/OFF pattern can be output for the
used/not used setting ready (M2000)
Axis appropriate axis.
in the fixed (2) When test mode is
Not Used
parameters. started
All outputs OFF for the appropriate axis.
ON
ON/OFF pattern is output for the
Limit switch output appropriate axis based on the set Limit switch output
enable signal ON/OFF pattern and the limit switch used/not used setting in
Axis
(M1806 + 20n/M3206 output disable setting registers (D1008 the fixed parameters is
+ 20n) and D1009). set to "used."
OFF
All outputs OFF for the appropriate axis.
Disable bit (1)
Limit switch output Outputs corresponding to disable bits set
disable setting to "1" are OFF.
While M1806 +
registers Point Enable bit (0)
20n/M3206+20n is ON.
(D1008 and Outputs corresponding to enable bits set
D1009/D760 to D775) to "0" output an ON/OFF pattern based on
the set ON/OFF pattern.

REMARK
The data in Table 7.1 is also valid during the test mode set by a peripheral
device.

(3) Cautions
(a) The limit switch output is based on the "feed present value" for each axis
after PC ready (M2000) turns ON and the PCPU ready flag (M9074) is ON.
All points turn OFF when the PCPU ready flag (M9074) turns OFF.
(b) While the PCPU ready flag (M9074) is ON and the feed present value is
outside the set stroke limits, the limit switch output is based on M1806 +
20n/M3206+20n.
Consequently, the user should apply an interlock to ensure that the
sequence program turns M1806 + 20n/M3206+20n ON inside the stroke
limit range only.

7−3
7. AUXILIARY AND APPLIED FUNCTIONS

7.2 Backlash Compensation Function

The backlash compensation function compensates for the backlash amount in the
mechanical system. When the backlash compensation amount is set, extra pulses
equivalent to the backlash compensation amount are output after a change in
travel direction resulting from positioning control, JOG operation, or manual pulse
generator operation.

Feed screw

Workpiece

Backlash compensation amount

Figure 7.1 Backlash Compensation Amount

(1) Setting 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) Millimeter units
0 to 6.5535
(Backlash compensation amount)
0< <65535(PLS)
(Travel value per pulse)
(Decimal fraction rounded down.)

(b) Inch or Degree Units

0 to 0.65535
(Backlash compensation amount)
0< <65535(PLS)
(Travel value per pulse)
(Decimal fraction rounded down.)

7−4
7. AUXILIARY AND APPLIED FUNCTIONS

(2) Backlash compensation processing

The details of backlash compensation processing are shown in the table 7.2.

Table 7.2 Details of Backlash Compensation Processing

Condition Processing
• No backlash compensation if travel direction = home position
return direction.
First motion after power on
• Backlash compensation if travel direction ≠ home position
return direction.
• Minimum backlash amount on first JOG operation after travel
JOG operation start
direction change.
Positioning start • Backlash compensation if travel direction changed.
Manual pulse generator
• If travel direction changed.
operation
• Backlash compensation amount is valid after home position
Home position return start
return is started.
• Status stored at power off and applied to absolute position
Absolute position system
system.

POINTS
(1) The feed pulses equivalent to the backlash compensation amount are not
added to the feed present value.
(2) Home position return is required after the backlash compensation amount
is changed.
The original backlash compensation amount is retained until home
position return is carried out.

7−5
7. AUXILIARY AND APPLIED FUNCTIONS

7.3 Torque Limit Function

The torque limit function controls the torque generated by the servomotor within the
set range.
The torque is controlled to the set torque limit value if the torque required during
positioning control exceeds the set limit value.
(1) Torque limit value set range
Set the torque limit value between 1% and 500% of the rated torque.

7.3.1 Torque limit value changing function

At a program start or jog start, the torque limit value can be changed from the
motion program or sequence program.
(1) At a program start or for jog operation, the torque limit value is changed to the
value in the specified parameter block.

(2) From the motion program, the TL or PB instruction is used to change the torque
limit value.
When the PB instruction is used, the torque limit value is changed to the one in
the specified parameter block.

(3) From the sequence program, the CHGT instruction (refer to Section 5.6) is
used to change.

[Control Details]
(1) The torque limit value at a motion program start or jog start is changed to the
value specified in the 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 the CHGT instruction.

[Program Example]
• It is supposed that before a program start, the torque limit value has been set to
300% for each axis in the CHGT instruction.
• The program is run with the torque limit value of the parameter block set to
200%.
• After execution of N1, the torque limit value is changed to 100% by the TL
instruction.
• During execution of N2, the torque limit values of the X and Y axes are changed
to 250% and 50%, respectively, by the CHGT instruction.
010;
G90;
N1 G00 X100. Y100.;
TL100;
N2 G00 X200. Y200.;
N3 G00 X300. Y300.;
M02;
%

7−6
7. AUXILIARY AND APPLIED FUNCTIONS

Speed

Time

Sequence No. N1 N2 N3

*1
Torque limit value (%)
200 100
Program command

CHGT 300 *2 250

instruction
Servo 300
X axis 250
command 200
100
0

CHGT 300 *2 50
instruction
Servo 300
Y axis 200
command
100
0 50

*1: Indicates the torque limit value changes from the program and CHGT and the resultant
command to the servo in %.
(1) The program command indicates a change of the torque limit value by the TL or PB
instruction at a SVST start. The torque limit value under the program command is given
to all the operating axes.
(2) Torque limit value changed by the CHGT instruction. Given to the corresponding axes.
(3) The servo command indicates the torque limit value given actually to the servo amplifier.
*2: When the CHGT instruction is not executed after power-on, the torque limit value is 300%.

Explanation
1) The torque limit value given at a program start is the lower value of the torque limit value of
the parameter block specified in the SVST instruction and the value in the preceding CHGT
instruction. In this case, the value is 200% in each axis.
2) The torque limit value of the TL instruction at N2 execution is 100% in each axis.
3) During N1 execution, the torque limit value is changed by the CHGT instruction to 250% in
the X axis and to 50% in the Y axis.

7−7
7. AUXILIARY AND APPLIED FUNCTIONS

7.4 Electronic Gear Function

The electronic gear function changes the travel value per pulse.
The electronic gear is set by setting the travel value per pulse (see Section 4.2.1).
Using the electronic gear function allows positioning control without the need to
select the encoder to match the mechanical system.
[Example]
Positioning speed
Servo motor
10[mm]

Motor n
m

n: m = electronic gear

Pulses per motor revolution .................10000 [PLS]

Travel value per motor revolution ........10 [mm]

(1) Electronic gear 1:1 (electronic gear setting = 1)

Travel value per motor revolution 10 [mm]
Travel value per pulse = =
Pulses per motor revolution 10000 [PLS]
=0.001 [mm/PLS]
Positioning control is executed at the commanded speed.

(2) Electronic gear 2:1 (electronic gear setting = 0.5)

Travel value per motor revolution 5 [mm]
Travel value per pulse = =
Pulses per motor revolution 10000 [PLS]
=0.0005 [mm/PLS]
Positioning control is executed faster than the commanded speed.

(3) Electronic gear 1:2 (electronic gear setting = 2)

Travel value per motor revolution 20 [mm]
Travel value per pulse = =
Pulses per motor revolution 10000 [PLS]
=0.002 [mm/PLS]
Positioning control is executed slower than the commanded speed.

7−8
7. AUXILIARY AND APPLIED FUNCTIONS

The relationship between the commanded speed (positioning speed set in the
servo program) and actual speed (actual positioning speed) is shown below for
different electronic gear settings.
• if electronic gear setting = 1, commanded speed = actual speed
• if electronic gear setting < 1, commanded speed < actual speed
• if electronic gear setting > 1, commanded speed > actual speed
V
Speed limit
value 1) electronic gear setting = 1
2) electronic gear setting < 1
2)
3) electronic gear setting > 1
Commanded
1)
speed
3)

t
Actual Actual
acceleration deceleration
time time

Set acceleration Set deceleration

time time
The speed limit value, acceleration time and deceleration time are data from the designated parameter block.

Figure 7.2 Relationship Between Commanded Speed and Actual Speed

7−9
7. AUXILIARY AND APPLIED FUNCTIONS

7.5 Absolute Positioning System

The absolute positioning system can be used for positioning control when using an
absolute-position-compatible servomotor and MR-[ ]-B.
Home position return is not necessary using the absolute positioning system
because after the machine position is initially established at system startup, the
absolute position is sensed each time the power is turned on.
The machine position is established using a home position return initiated from the
sequence program or a peripheral device.
(1) Absolute position system startup procedure
The system startup procedure is shown below.
Absolute position system startup

For MR- -B
Connect CPU to absolute-position-
compateible MR- -B
Connect FLS, RLS, STOP etc. wiring to
A172SENC/A171SENC.

Adjust Machine Position

Adjust machine to home position.

Turn On Power
Turn on the servo amplifier and servo
system CPU power.

Set Positioning Parameters Parametersf marked* must be set.

Set the following positioning parameters: (Do not change them after they are set.)
System setting* Default values are used if the parameter
Fixed parameters* block is not set.
Servo parameters*
Home position return data*
Parameter block
Work coordinate data*

Sense Absolute Position Turn ON M2000 in a sequence program.

Make a sense absolute position request Select test mode with a peripheral device.
from the sequence program or a peripheral
device.

Adjust the Machine Position Enable manual pulse generator operation

Make any required adjustments to the from the sequence program or a peripheral
machine position using the manual pulse device.
generator or JOG operation. JOG operation is possible from the sequence
program or a peripheral device.
Establish Absolute Position The methods of home position return are
Establish the absolute position using home two types indicated below.
position return by data set method. DSFLP/CHGA instructions of a sequence
program.
Test mode in a peripheral device.
End

7 − 10
7. AUXILIARY AND APPLIED FUNCTIONS

(2) In the absolute positioning system, the absolute position may be lost under the
following conditions:
Re-establish the absolute position using home position return or by aligning the
machine position and using present value change.
(a) After removing or replacing the battery unit.
(b) On occurrence of a servo battery error (detected at servo amplifier power
on).
(c) After the mechanical system is disturbed by a shock.

(3) Power OFF Allowed Traveling Points can be monitored in the system setting
mode of a peripheral device, and the present value history can be monitored in
the monitor mode.
(For details on monitoring Power OFF Allowed Traveling Points and the present
value history, refer to the operating manual for the peripheral device being
used.)
(a) Present value history monitor
1) Month/day/hour/minute
The time when a home position return is completed or the servo amplifier
power is turned ON or OFF is indicated.
In order to display the time correctly, it is necessary to first set the clock
data at the programmable controller side, then switch ON M9028 (clock
data read request) from the sequence program.
2) Encoder present value
When using MR-H-B (version BCD-B13W000-B2 or later) or MR-J2-B
(version BCD-B20W200-A1 or later), the multiple revolution data and
within-one-revolution data read from the encoder is displayed.
Note: For the encoder present value in the home position data area, the
encoder present value when the motor is within the in-position range
after completion of a home position return is displayed (not the
encoder value at the home position).
3) Servo command value
The command value issued to the servo amplifier is displayed.
4) Monitor present value
The present value controlled within the servo system CPU is displayed.
Note: A value close to the feed present value is displayed, but, since the
monitor present value and feed present value are different data, the
display of different values does not indicate an error.
5) Alarms
When an error involving resetting of the present value occurs while the
servo amplifier power is ON, an error code is displayed. For details of the
error, refer to the error contents area (related error list) at the bottom of
the screen.

CAUTION

After removing or replacing the battery unit, correctly install the new unit and establish the
absolute position.
After a servo battery error occurs, eliminate the cause of the error and ensure operation is safe
before establishing the absolute position.
After the mechanical system is disturbed by a shock, make the necessary checks and repairs,
and ensure operation is safe before establishing the absolute position.

7 − 11
7. AUXILIARY AND APPLIED FUNCTIONS

POINTS
(1) The address setting range in the absolute position system is -2147483648
to 2147483647. It is not possible to restore position commands that
exceed this limit, or present values after a power failure.
When performing an infinite feed operation, solve this problem by setting
the units to degrees.
(2) If the present value address is changed by the coordinate system setting
instruction (G92), the restored data of the present value after a power
failure is the value based on the status prior to execution of the
coordinate system setting instruction.
(3) When home position return has not been completed, restoration of the
present value after a power failure is not done properly.

7 − 12
7. AUXILIARY AND APPLIED FUNCTIONS

7.6 Home Position Return

(1) Make a home position return when the machine origin must be checked, e.g. at
power-on.

(2) The following three methods are available for a home position return.
• Near-zero point dog type Used in other than an absolute position
• Count type system.
Recommended for use in an absolute position
• Data setting type ..............................
system.

(3) Before starting a home position return, the home position return data (refer to
Section 4.4) must be set to each axis.

7.6.1 Near-zero point dog type home position return

[Control Details]
(1) Near-zero point dog type
The near-zero point dog type is a method in which the home position is a zero
point after the near-zero point dog has turned from ON to OFF.

(2) Near-zero point dog type home position return

The operation of the near-zero point dog type home position return is shown in
Fig. 7.3.

Home position Home position return direction *When the near-zero point dog turns OFF,
Home positon return speed the axis is decelerated to a stop and then
V return start
positioned from there to the zero point.
Creep speed The distance to the zero point is
calculated on the basis of the
servo side data.
t

Near-zero point dog

ON OFF
Zero point
The travel in this section is stored into the
"after-near zero point dog ON travel" monitor
registers.
The travel in this section is stored into the
"home position return second travel" monitor
register.

Fig. 7.3 Near-Zero Point Dog Type Home Position Return Operation

(3) Execution of home position return

Execute a home position return using the DSFLP/CHGA instruction in Section
7.6.4.
When the home position return request is ON, a near-zero point dog/count/data
setting type home position return is also made under G28 of a motion program.

7 − 13
7. AUXILIARY AND APPLIED FUNCTIONS

[Cautions]
The following instructions are given for a near-zero point dog type home position
return.

(1) Keep the near-zero point dog ON until the axis decelerates from the home
position speed to the creep speed.
If the near-zero point dog turns OFF before the axis decelerates to the creep
speed, the axis decelerates to a stop and the next zero point is defined as a
home position.

When the near-zero point dog

Home positon return speed turns OFF, the axis passes
through the zero point during
deceleration to a stop.
Preset creep speed

Near-zero point dog

ON OFF
Zero point

The zero point in this section is not used as a home position.

The next zero point is used as a home position.

(2) Adjust the position where the near-zero point dog turns OFF so that the "home
position return second travel" becomes half of the travel corresponding to one
motor revolution.
If the "home position return second travel" is not half of the travel corresponding
to one motor revolution, the home position may shift by one motor revolution as
shown below.

If the axis decelerated to a stop

by near-zero point dog OFF has
stopped just near the zero point,
the home position may shift by one
motor revolution according to the
creep speed/deceleration setting.

Near-zero point dog

ON OFF
Zero point

IMPORTANT
(1) In either of the following cases, make a home position return after
performing JOG operation or the like to return the axis to the position
before the near-zero point dog turned ON.
A home position return cannot be made without returning the axis to the
position before the near-zero point dog.
(a) Home position return in the position after the near-zero point dog has
turned from ON to OFF
(b) Home position return when power is switched from OFF to ON after
completion of a home position return

7 − 14
7. AUXILIARY AND APPLIED FUNCTIONS

7.6.2 Count type home position return

[Control Details]
(1) Count type
The count type is a method in which the home position is a zero point in the
specified distance (travel after near-zero point dog ON) after the near-zero point
dog has turned ON.
Set the travel after near-zero point dog ON to the home position return data
(refer to Section 4.4).

(2) Count type home position return

The operation of the count type home position return is shown in Fig. 7.4.

* After the near-zero point dog has

turned ON, the axis is positioned
Home positon return by the "travel after near-zero point
direction dog ON" of the home position return
Home positon return data and then positioned from there
V start Home positon return speed
to the zero point.

Creep speed The distance to the zero point

is calculated on the basis of
the servo side data.
t

Near-zero point dog

ON
Zero point
The travel in this section is stored
into the "after-near zero point dog
ON travel" monitor registers.
The travel in this section is stored
into the "home position return
second travel" monitor register.

Fig. 7.4 Count Type Home Position Return Operation

(3) Execution of home position return

Execute a home position return using the DSFLP/CHGA instruction in Section
7.6.4.

[Cautions]
(1) The near-zero point dog should be turned OFF a sufficient distance away from
the home position.

(2) In the count type, you can execute a home position return on the near-zero
point dog or consecutive starts of a home position return.
When a home position return on the near-zero point dog or consecutive starts
of a home position return have been executed, the axis is returned to the OFF
position of the near-zero point dog once and makes a home position return.

7 − 15
7. AUXILIARY AND APPLIED FUNCTIONS

7.6.3 Data setting type home position return

[Control Details]
(1) Data setting type
The data setting type is a method which does not use a near-zero point dog
and can be used in an absolute position system.

(2) Data setting type home position return

The home position address is the present value during execution of a home
position return made by the DSFRP/CHGA instruction.

Address provided by execution

of home position return is registered
as home position address.
t

Home position return made

by DSFRP/CHGA instruction

Fig. 7.5 Data Setting Type Home Position Return Operation

(3) Execution of home position return

Execute a home position return using the DSFLP/CHGA instruction in Section
7.6.4.

[Cautions]
(1) The axis must have passed through the zero point from power-on till the
execution of a home position return.
A "zero point non-passage error" occurs if a home position return is executed
without the axis passing through the zero point once. If the "zero point non-
passage error" has occurred, reset the error, perform JOG operation or the like
to run the servo motor one revolution or more, then make a home position
return again.
Whether the axis has passed through the zero point or not can be checked by
the zero pass signal (M1606+20n/M2406+20n).

(2) In a system other than an absolute position system, a data setting type home
position return start has the same function as a present value change.

(3) The home position return data used for the data setting type are the home
position return method and home position address.

7 − 16
7. AUXILIARY AND APPLIED FUNCTIONS

7.6.4 Execution of home position return

Use the DSFLP/CHGA instruction to execute a home position return.

[Control Details]
(1) A home position return is made in the home position return method specified in
the home position return data (refer to Section 4.4). For details of the home
position return method, refer to the following sections.
• Near-zero point dog type .............Section 7.6.1
• Count type ...................................Section 7.6.2
• Data setting type..........................Section 7.6.3

[Cautions]
(1) After the PC ready flag (M2000) has turned ON, making a near-zero point dog
type home position return in the following ladder before the PCPU ready flag
(M9074) turns ON causes a home position return request to be given again
after a home position return.
When making a home position return, use M9074 and M1602+20n or
M2402+20n (in-position signal) as interlock conditions.
(Refer to the program example.)

Start accept flag

Home position return completed signal

M2001 M1610 M9074 M1602 P K

0 DSFL D1 2
CIRCUIT END
In-position signal

7 − 17
7. AUXILIARY AND APPLIED FUNCTIONS

[Program Example]
A program using the DSFLP/CHGA instruction to make a home position return is
explained under the following conditions.

(1) System configuration

Axis 4 is returned to the home position.
A172 A172 A1SX
SHCPUN SENC 10
A172B

Home positon return command (X000)

MR- -B MR- -B MR- -B MR- -B

Axis 1 Axis 2 Axis 3 Axis

M M M 4 M

(2) Sequence program example

A sequence program used to execute a home position return is shown below.

M9039
0 M2000 Turns ON PC ready.
M9074 Turns ON the all-axis servo
2 M2042
start command.
X0000 M9074 M2009 M9076 Turns ON the start command
4 PLS M0
flag (M1) of servo program No.
M0 0 when X000 turns from OFF
11 SET M1
to ON.
M9074 M1 M2004 M1662 P K
13 DSFL D4 2 Axis 4 home position return
execution request
RST M1 Turns OFF M1 on completion
of axis 4 home position return
CIRCUIT END execution request.

7 − 18
7. AUXILIARY AND APPLIED FUNCTIONS

7.7 Speed Change

Used to change speed during positioning control or JOG operation.

A speed change is made with the DSFLP or CHGV instruction in a sequence
program.

[Control Details]
(1) The speed of an operating axis is forcibly changed to the speed specified in the
speed changing registers.

(2) A speed change is made using the DSFLP or CHGV instruction. Refer to
Section 5.4 for details of the DSFLP or CHGV instruction.

(3) A speed change should be made in the range - speed limit value to + speed
limit value. Error "305" will occur if it is made outside the range.

(4) Make the override invalid when making a speed change during positioning
control for program operation. When the override is valid, a speed change is
not made.

(5) During a temporary stop, a speed change is not made.

(6) A speed change during CP control (when the axis moves through mid points
consecutively during execution of G01, G02, G03 or G32) should be made
within the range -F command to +F command. If a speed change is made
outside the range, the speed is controlled by the F command.

(7) The F command after a speed change during CP control is made valid within
the range of not higher than the new speed.

(8) If a speed change is made during positioning control for program operation, the
new speed is used for operation up to the instruction in the next move block.
Depending on the type of the mode of the move block to be executed next,
whether the speed change value is maintained or the command speed in the
program will be used changes as indicated in Table 7.3.

(9) A speed change is invalid for the high-speed oscillation axis.

7 − 19
7. AUXILIARY AND APPLIED FUNCTIONS

Table 7.3 Command Speed after Execution of Speed Change

Move Mode at Speed Command Speed at Execution of Move
Move Mode after Speed Change *1
Change *1 Instruction after Speed Change
1 PTP/OSC *2
PTP *2 Program command speed*6 is used.
2 CP *3
3 PTP/OSC *2 Program command speed*6 is used.
4 CP *3 with F command Program command speed*7 is used.
CP *3
5 CP *3 Without F command and without special M New speed is maintained.
code*4
CP *3
6 Program command speed*6 is used.
Without F command and with special M code*5

*1: A speed change is valid only for execution of move in the PTP or CP move mode.
*2: The PTP mode is a move mode executed under G00, G28, G30 or G53. The OSC mode is a move mode executed under G25.
*3: The CP mode is a move mode executed under G01, G2, G3 or G32. The independent M code is also handled as the CP mode.
*4: CP without special M code indicates that the special M code (M00, M01, M02, M30, M98, M99, M100) is not executed during the
CP mode after a speed change.
*5: CP with special M code indicates that the special M code (M00, M01, M02, M30, M98, M99, M100) is executed during the CP mode
after a speed change.
The axis decelerates to a stop as soon as the special M code is executed.
*6: The program command speed indicates the rapid feedrate in the PTP mode, the F (frequency) command in the OSC mode, or the
F (speed) command in the CP mode.
Example (CHGV executed during N1) Speed
010;
N1 G00 X100. ; Program command speed
N2 G00 X200. ;
Speed change value
M02;
% CHGV Time
N1 N2
Block switching

*7: The F (speed) command is used. Note that it is clamped at the speed change value.
Example (CHGV 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

7 − 20
7. AUXILIARY AND APPLIED FUNCTIONS

[Data setting]
(1) The speed changing registers of each axis are indicated below.
(A172SHCPUN/A171SHCPUN only)
<A172SHCPUN> <A171SHCPUN>
Speed Change Registers Speed Change Registers
Axis No. Axis No.
Upper Lower Upper Lower
1 D963 D962 1 D963 D962
2 D969 D968 2 D969 D968
3 D975 D974 3 D975 D974
4 D981 D980 4 D981 D980
5 D987 D986
6 D993 D992
7 D999 D998
8 D1005 D1004

(2) The setting ranges to the speed change registers are indicated below.
Unit mm inch degree
Item Setting range Unit Setting range Unit Setting range Unit
Speed change -2 -3 -3
0 to 600000000 ×10 mm/min 0 to 600000000 ×10 inch/min 0 to 2147483.647 ×10 degree/min
value

POINT
When setting the speed in a sequence program, store into the speed change
registers a value which is 100 times (unit: mm)/1000 times (unit: inch, degree)
the actual speed.

Example
To change the speed to 10000.00mm/min, store "1000000" into the
speed change registers.

[Cautions]
A speed change will not be made if any of the following errors occurs.
(A check is made at execution of the DSFLP/CHGV instruction.)
Error Definition Error Processing Error Code
Axis No. setting is other than 1 to 8/1 to
4. • Error step is stored into D9010 or D9011.
−
Axis No. setting is indirectly specified by • M9010 or M9011 turns ON.
Data setting
index qualification.
error
• Error detection flag (M1607+20n) turns ON.
Preset speed is outside the range 0 to
• Error code given on the right is stored into the minor 305
speed limit value.
error code storage register of the corresponding axis.
Specified axis was making home position
• Error detection flag (M1607+20n) turns ON. 301
Speed return.
• Error code given on the right is stored into the minor
change error Deceleration was being made due to OFF
error code storage register of the corresponding axis. 304
of the JOG operation signal.

(1) If a speed change is made, the preset speed is ignored in any of the following
cases. (An error will not occur.)
(a) During motion program execution
(b) During deceleration under the stop command
(c) During a stop
(d) During manual pulse generator operation

7 − 21
7. AUXILIARY AND APPLIED FUNCTIONS

[Operation Timing]
The operation timing for making a speed change is shown in Fig. 7.6.

V
Motion for JOG operation at V1
V1
V2
V3

Speed change registers V2 V3

DSFLP

Fig. 7.6 Operation Timing for Speed Change

[Program Example]
A program example for making a speed change is described under the following
conditions.
(1) Speed changing conditions
(a) Axis No. whose speed is changed................ Axis 4
(b) New speed.................................................... 5000
(c) Speed change command.............................. X000

(2) Sequence program

X000 Detection of the leading edge

0 PLS M151 (OFF to ON) of X000
M151 Turns ON M152 (speed change
4 SET M152 execution command) on the
leading edge of X000.
M152 M9074 M2024 P K Stores 5000 into the speed
6 DMOV 5000 D980
change registers (D980, D981)
K of axis 4.
CHGV J4 1 Makes an axis 4 speed change
request.
RST M152 Turns OFF M152 on completion
of the axis 4 speed change request.
CIRCUIT END

7 − 22
7. AUXILIARY AND APPLIED FUNCTIONS

7.8 JOG Operation

Preset JOG operation is performed.

Individual start or simultaneous start can be made for JOG operation.
JOG operation can be performed from a sequence program or in the test mode of
the peripheral device.
(For the JOG operation method in the test mode of the peripheral device, refer to
the operating manual of the peripheral device used.)
To perform JOG operation, the JOG operation data (refer to Section 4.5) must be
set to each axis.

7.8.1 Individual start

JOG operation of the specified axis is started.

The following JOG operation signals are used for JOG operation.
• Forward rotation JOG operation........M1802+20n
• Reverse rotation JOG operation .......M1803+20n

[Control Details]
(1) While the JOG operation signal is ON, JOG operation is performed using the
JOG operation speed setting register value. When the JOG operation signal
turns OFF, the axis decelerates to a stop.
Acceleration/deceleration is controlled in accordance with the data set to the
JOG operation data.

V Acceleration based
on "JOG operation JOG speed operation
data"
Deceleration to stop
based on "JOG
operation data"
t

ON
JOG operation signal OFF
(M1802+20n/M1803+20n)

JOG operation of the axis whose JOG operation speed is ON is performed.

(2) The following table lists the JOG operation signal, JOG operation setting
registers and setting range of each axis.
<A172SHCPUN/A171SHCPUN>
A172SHCPUN A171SHCPUN Setting range
JOG operation JOG operation
JOG operation speed setting JOG operation speed setting mm inch degree
No. registers registers
Forward Reverse Forward Reverse
rotation rotation Upper Lower rotation rotation Upper Lower Setting range Unit Setting range Unit Setting range Unit
JOG JOG JOG JOG
1 M1802 M1803 D965 D964 M1802 M1803 D965 D964
2 M1822 M1823 D971 D970 M1822 M1823 D971 D970
3 M1842 M1843 D977 D976 M1842 M1843 D977 D976
-2 -3 10-3
4 M1862 M1863 D983 D982 M1862 M1863 D983 D982 1 to 10 1 to 10 1 to
degree
5 M1882 M1883 D987 D986 − − − − 600000000 mm/min 600000000 inch/min 2147483647
/min
6 M1902 M1903 D993 D992 − − − −
7 M1922 M1923 D999 D998 − − − −
8 M1942 M1943 D1005 D1004 − − − −

7 − 23
7. AUXILIARY AND APPLIED FUNCTIONS

<A273UHCPU (32-axis feature)/A173UHCPU(S1)>

JOG operation speed setting Setting range
JOG operation
registers mm inch degree PULSE
No.
Forward Reverse Setting Setting Setting Setting
Upper Lower Unit Unit Unit Unit
rotation JOG rotation JOG range 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
-2 -2 -2
10 10 10
16 M3502 M3503 D671 D670 1 to 1 to 1 to 1 to PLS/
mm/ inch/ degree/
17 M3522 M3523 D673 D672 600000000 600000000 2147483647 10000000 sec
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

POINT
When setting the JOG operation speed in a sequence program, store into the
JOG operation speed setting registers a value which is 100 times (unit:
mm)/1000 times (unit: inch, degree) the actual speed.
Example
To set the JOG operation speed to 6000.00mm/min, store "600000" into
the JOG operation speed setting registers.

7 − 24
7. AUXILIARY AND APPLIED FUNCTIONS

[Cautions]
(1) Forward rotation JOG operation will be performed if the forward rotation JOG
signal (M1802+20n/M3202+20n) and reverse rotation JOG signal (M1803+20n/
M3203+20n) of one axis have turned ON at the same time.
When the axis is decelerated to a stop after the forward rotation JOG signal
has turned OFF, reverse rotation JOG operation is performed if the reverse
rotation JOG signal is ON.
V Forward rotation JOG operation

Stop
t

ON
Forward rotation JOG signal OFF Reverse rotation JOG operation

ON
Reverse rotation JOG signal OFF
Reverse rotation JOG
operation is ignored.

(2) If the JOG operation signal turns ON during deceleration due to OFF of the
JOG operation signal, the axis decelerates to a stop down to speed 0 and then
resumes JOG operation.
V JOG operation

JOG operation ON
signal OFF

(3) In the test mode using the peripheral device, JOG operation under control of
the JOG operation signal (M1802+20n/M1803+20n/M3202+20n/M3203+20n) is
not performed.
After the test mode is canceled, JOG operation is started on the leading edge
(OFF to ON) of the JOG operation signal.
As this is not leading edge of JOG
V JOG operation executed
operation signal, JOG operation
cannot be performed.
Because of test mode,
JOG operation cannot
be performed (starting error).

Test mode ON
(M9075) OFF
ON
JOG operation OFF
signal

7 − 25
7. AUXILIARY AND APPLIED FUNCTIONS

[Program Example]
A program for JOG operation is described under the following conditions.

(1) System configuration

JOG operation of axis 4 is performed.
A172 A172S A1S
A172B SHCPUN ENC X10

Forward rotation JOG operation command (X000)

Reverse rotation JOG operation command (X001)

MR- -B MR- -B MR- -B MR- -B

Axis 1 Axis 2 Axis 3 Axis

M M M 4 M

(2) JOG operation conditions

(a) Axis No ............................................... Axis 4
(b) JOG operation speed ......................... 1000
(c) JOG operation commands
1) Forward rotation JOG operation..... During ON of X000
2) Reverse rotation JOG operation .... During ON of X001

(3) Sequence program

M9039
0 M2000 Turns ON PC ready.

M9074
2 M2042 Turns ON all-axis servo start command.

X000 M9074 M2009 M9076 M2004 K Stores JOG operation speed 1000 into D982,
4 DMOV 1000 D982
D983 when X000 or X001 turns ON.
X001
SET M140 Turns ON M140 on completion of JOG
operation speed storage.
M140 X000 M1863
18 M1862 Performs forward rotation JOG operation.
M140 X001 M1862
22 M1863 Performs reverse rotation JOG operation.
X000 X001 Turns OFF M140 when X000 and X001 turn
26 RST M140
OFF.
CIRCUIT END

7 − 26
7. AUXILIARY AND APPLIED FUNCTIONS

7.8.2 Simultaneous start

JOG operations of the specified multiple axes are started simultaneously.

[Control Details]
• A172SHCPUN/A171SHCPUN
(1) While the JOG simultaneous start command flag (M2015) is ON, JOG
operation is performed using the JOG operation speed setting register value of
each axis. When M2015 turns OFF, the axes decelerate to a stop.
Acceleration/deceleration is controlled in accordance with the data set to the
JOG operation data.

Acceleration based on
V "JOG operation data"
JOG operation speed
Deceleration to stop
based on "JOG operation data"

t
JOG operation is
performed using
D1015 data.
D1015
ON
M2015 OFF

(2) Set the axes for JOG operation to the JOG operation simultaneous start axis
setting area (D1015).

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D1015 Axis4 Axis3 Axis2 Axis1 Axis4 Axis3 Axis2 Axis1

Reverse rotation JOG Forward rotation JOG

1: JOG operation executed

0: JOG operation not executed
Example
Make setting as follows when using the MOV instruction to perform forward rotation JOG
operation of axes 1 and 2 and reverse rotation JOG operation of axis 4.

(1) For setting in hexadecimal (H) MOV H0803 D1015

(2) For setting in decimal (K) MOV K2051 D1015

(3) The following table lists the JOG operation speed setting registers.
A172SHCPUN A171SHCPUN Setting range
JOG operation JOG operation
JOG operation speed setting JOG operation speed setting mm inch degree
No. registers registers
Forward Reverse Forward Reverse
rotation rotation Upper Lower rotation rotation Upper Lower Setting range Unit Setting range Unit Setting range Unit
JOG JOG JOG JOG
1 M1802 M1803 D965 D964 M1802 M1803 D965 D964
2 M1822 M1823 D971 D970 M1822 M1823 D971 D970
3 M1842 M1843 D977 D976 M1842 M1843 D977 D976
-2 -2 10-2
4 M1862 M1863 D983 D982 M1862 M1863 D983 D982 1 to 10 1 to 10 1 to
degree
5 M1882 M1883 D987 D986 − − − − 600000000 mm/min 600000000 inch/min 2147483647
/min
6 M1902 M1903 D993 D992 − − − −
7 M1922 M1923 D999 D998 − − − −
8 M1942 M1943 D1005 D1004 − − − −

7 − 27
7. AUXILIARY AND APPLIED FUNCTIONS

[Program Example]
A program for simultaneous start of JOG operations is described under the
following conditions.

(1) System configuration

JOG operations of axes 1, 2 and 4 are performed.
A172 A172S A1S
A172B SHCPUN ENC X10

JOG operation command (X000)

MR- -B MR- -B MR- -B MR- -B

Axis Axis Axis Axis

1 M 2 M 3 M 4 M

(2) JOG operation conditions

(a) JOG operation conditions are listed below.
Item JOG Operation Conditions
Control axis Axis 1 Axis 2 Axis 4
JOG operation speed 1000 500 1000
JOG operation direction Forward Forward Reverse

(b) JOG operation command During ON of X000

(3) Sequence program

M9039
0 M2000 Turns ON PC ready.
M9074 Turns ON all-axis servo
2 M2042
start command.
X000 M9074 M2009 M9076 M2001 M2002 M2004 H
4 MOV 0803 D1015 Stores simultaneously started
axes into D1015 when X000 turns ON.
K
DMOV 1000 D964
Stores JOG operation speed into
K
DMOV 500 D970 JOG operation speed registers of
each axis.
K
DMOV 1000 D982
Turns ON M141 on completion of
SET M141 simultaneously started axis and JOG
operation speed setting.
X000 M141
38 M2015 Performs JOG operations.
X000 Turns OFF M141 when X000 turns
41 RST M141
OFF.
CIRCUIT END

7 − 28
7. AUXILIARY AND APPLIED FUNCTIONS

• A273UHCPU (32-axis feature)/A173UHCPU (S1)

(1) While the JOG simultaneous start command flag (M2048) is ON, JOG
operation is performed using the JOG operation speed setting register value of
each axis. When M2048 turns OFF, the axes decelerate to a stop.
Acceleration/deceleration is controlled in accordance with the data set to the
JOG operation data.

VAcceleration based on
"JOG operation data" JOG operation speed

Deceleration to stop
based on "JOG operation
data"
t
JOG operation is
performed using
D710 to D713 data.
D710 to D713
ON
M2048 OFF

(2) Set the axes for JOG operation to the JOG operation simultaneous start axis
setting areas (D710 to D713).

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D710 Axis16 Axis15 Axis14 Axis13Axis12 Axis11Axis10 Axis9 Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1
Forward rotation
JOG
D711 Axis32 Axis31 Axis30 Axis29Axis28 Axis27Axis26 Axis25 Axis24 Axis23 Axis22 Axis21 Axis20 Axis19 Axis18 Axis17

D712 Axis16 Axis15 Axis14 Axis13Axis12 Axis11Axis10 Axis9 Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1
Reverse rotation
JOG
D713 Axis32 Axis31 Axis30 Axis29Axis28 Axis27Axis26 Axis25 Axis24 Axis23 Axis22 Axis21 Axis20 Axis19 Axis18 Axis17

*Set 1/0 to specify JOG operation simultaneous start axes.

1: Simultaneous start executed
0: Simultaneous start not executed

Make setting as follows when using the MOV instruction to perform forward rotation JOG
operation of axes 1 and 2 and reverse rotation JOG operation of axis 4.

(1) For setting in hexadecimal (H) DMOV H0003 D710

DMOV H0008 D712

(2) For setting in decimal (K) DMOV K3 D710

DMOV K8 D712

7 − 29
7. AUXILIARY AND APPLIED FUNCTIONS

(3) The following table lists the JOG operation speed setting registers.

JOG operation speed setting Setting range

JOG operation
registers mm inch degree PLUSE
No.
Forward Reverse Setting Setting Setting Setting
Upper Lower Unit Unit Unit Unit
rotation JOG rotation JOG range 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
-2 -3 -3
10 10 10
16 M3502 M3503 D671 D670 1 to 1 to 1 to 1 to PLS/
mm/ inch/ degree/
17 M3522 M3523 D673 D672 600000000 600000000 2147483647 10000000 sec
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

7 − 30
7. AUXILIARY AND APPLIED FUNCTIONS

7.9 Manual Pulse Generator Operation

Positioning control is exercised according to the number of pulses entered from the
manual pulse generator.
One manual pulse generator enables simultaneous operation of 1 to 3 axes and
the number of manual pulse generators connected is as follows.
Number of Connectable Manual Pulse Generators
A172SHCPUN/A171SHCPUN A273UHCPU (32-axis feature)/A173UHCPU(S1)
1 3

[Control Details]
• A172SHCPUN/A171SHCPUN
(1) The axes set to the manual pulse generator axis setting register are positioned
according to the pulse input from the manual pulse generator.
Manual pulse generator operation is made valid only when the manual pulse
generator enable flag is ON.
Manual Pulse Generator Axis Setting Register Manual Pulse Generator Enable Flag
D1012 M2012

(2) The travel and output speed of positioning control according to the input from
the manual pulse generator are as follows.
(a) Travel
The travel according to the pulses input from the manual pulse generator is
calculated by the following expression.
[Travel] = [travel per pulse] × [number of input pulses] × [manual pulse generator 1-pulse input magnification setting]

The travels per pulse in manual pulse generator operation are as indicated
below.
Unit Travel
mm 0.0001mm
inch 0.00001inch
degree 0.00001degree

When the unit is mm, the input of one pulse commands the travel of
(0.0001mm) × (1 pulse) × (manual pulse generator 1-pulse input
magnification setting).
(b) Output speed
In manual pulse generator operation, the axis is positioned at the speed
which meets the number of input pulses per unit time.
[Output speed] = [number of input pulses per 1ms] × [manual pulse generator 1-pulse input magnification setting]

7 − 31
7. AUXILIARY AND APPLIED FUNCTIONS

(3) Setting of control axes operated by manual pulse generator

(a) Set the axes to be controlled by the manual pulse generator to the manual
pulse generator axis setting register (D1012).
Set the axis to be controlled (1 to 8/1 to 4) in each digit of up to 3 decimal
digits.
(The set number of digits indicates the number of axes to be operated
simultaneously.)
Example

Make the following setting to control axes 3 and 4 by the manual pulse generator.

MOVP K34 D1012

Axes 3 and 4 specified.

(4) Manual pulse generator 1-pulse input magnification setting

(a) Set to each axis the magnification at input of one pulse from the manual
pulse generator.
<A172SHCPUN>
Corresponding Axis
1-Pulse Input Magnification Setting Register Setting Range
No.
D1016 Axis 1
D1017 Axis 2
D1018 Axis 3
D1019 Axis 4
1 to 10000
D1020 Axis 5
D1021 Axis 6
D1022 Axis 7
D1023 Axis 8

<A171SHCPUN>
Corresponding Axis
1-Pulse Input Magnification Setting Register Setting Range
No.
D1016 Axis 1
D1017 Axis 2
1 to 10000
D1018 Axis 3
D1019 Axis 4

(5) For the manual pulse generator 1-pulse input magnification which has been set,
the "manual pulse generator 1-pulse input magnification setting register" of the
corresponding axis is checked on the leading edge of the manual pulse
generator enable flag.
If the value is outside the setting range, the manual pulse generator axis setting
error storage register (D9187) and manual pulse generator axis setting error
flag (M9077) are set and the magnification is controlled as "1".

7 − 32
7. AUXILIARY AND APPLIED FUNCTIONS

(6) Manual pulse generator smoothing magnification setting

Set the magnification for smoothing the leading and trailing edges of manual
pulse generator operation.
Manual Pulse Generator Smoothing Magnification
Setting Range
Setting Register
D9192 0 to 59

(a) Operation
Manual pulse
generator input

Manual pulse generator ON

enable flag OFF
(M2012)

V
V1

t t t t

Output speed (V1) = (number of input pulses/ms) (manual pulse generator 1-pulse input magnification setting)
Travel (L) = (travel per pulse) number of input pulses (manual pulse generator 1-pulse input magnification setting)

REMARKS
1) The travel per pulse of the manual pulse generator is as indicated below.
Setting unit mm :0.0001mm
inch :0.00001inch
degree :0.00001degree

2) The smoothing time constant is 56.8ms to 3408ms.

(7) The definitions of errors at manual pulse generator operation data setting are
indicated below.
Error Definition Error Processing
• Only the digit in error is ignored.
Axis setting specified in any digit is other than 1 • The axes of the digits where any of 1 to 8/1 to 4
to 8/1 to 4. is set are made valid and perform manual pulse
generator operation.
• Axis of overlapped designation is ignored.
Axis set to manual pulse generator operation is
• Manual pulse generator operation specified first
specified.
is performed.
Setting is made in 4 or more digits. • All axes set are ignored.

7 − 33
7. AUXILIARY AND APPLIED FUNCTIONS

• A273UHCPU (32-axis feature)/A173UHCPU (S1)

POINTS
• When the A273UHCPU is used and two or more A273EX modules are
loaded, connect the manual pulse generator to the first A273EX (starting
from slot 0 of the main base).
(The manual pulse generator is valid for the first module only).
• When the A173UHCPU is used, one A172SENC is required for one manual
pulse generator. Connect manual pulse generators to the first to third
A172SENCs.

(1) The axes set to the manual pulse generator axis setting register are positioned
according to the pulse input from the manual pulse generator.
Manual pulse generator operation is made valid only when the manual pulse
generator enable flag is ON.
Manual Pulse Generator Connecting Manual Pulse Generator Axis Setting
Manual Pulse Generator Enable Flag
Position Registers
P1 D714, D715 M2051
P2 D716, D717 M2052
P3 D718, D719 M2053

(2) The travel and output speed of positioning control according to the input from
the manual pulse generator are as follows.
(a) Travel
The travel according to the pulses input from the manual pulse generator is
calculated by the following expression.
[Travel] = [travel per pulse] × [number of input pulses] × [manual pulse generator 1-pulse input magnification setting]

The travels per pulse in manual pulse generator operation are as indicated
below.
Unit Travel
mm 0.1µm
inch 0.00001inch
degree 0.00001degree
PULSE 1PULSE

When the unit is mm, the input of one pulse commands the travel of
(0.1µm) × (1 pulse) × (manual pulse generator 1-pulse input magnification
setting).
(b) Output speed
In manual pulse generator operation, the axis is positioned at the speed
which meets the number of input pulses per unit time.
[Output speed] = [number of input pulses per 1ms] × [manual pulse generator 1-pulse input magnification setting]

7 − 34
7. AUXILIARY AND APPLIED FUNCTIONS

(3) Setting of control axes operated by manual pulse generator

(a) Set the axes to be controlled by the manual pulse generator to the manual
pulse generator axis setting registers (D714 to D719).
Set the bits corresponding to the controlled axes (1 to 32).
Example
Make the following setting to control axes 1, 22 and 30 by the manual pulse generator 1.
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
D714 Axis16 Axis15 Axis14 Axis13Axis12 Axis11Axis10 Axis9 Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1

D715 Axis32 Axis31 Axis30 Axis29Axis28 Axis27Axis26 Axis25 Axis24 Axis23 Axis22 Axis21 Axis20 Axis19 Axis18Axis17

(1) For setting in hexadecimal (H) DMOV H20200001 D714

(2) For setting in decimal (K) DMOV K538968065 D714

(4) Manual pulse generator 1-pulse input magnification setting

(a) Set to each axis the magnification at input of one pulse from the manual
pulse generator.
1-Pulse Input Magnification
Corresponding Axis No. Setting range
Setting Register
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 100
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

7 − 35
7. AUXILIARY AND APPLIED FUNCTIONS

(5) For the manual pulse generator 1-pulse input magnification which has been set,
the "manual pulse generator 1-pulse input magnification setting register" of the
corresponding axis is checked on the leading edge of the manual pulse
generator enable flag.
If the value is outside the setting range, the manual pulse generator axis setting
error storage registers (D9185 to D9187) and manual pulse generator axis
setting error flag (M9077) are set and the magnification is controlled as "1".

(6) Manual pulse generator smoothing magnification setting

Set the magnification for smoothing the leading and trailing edges of manual
pulse generator operation.
Manual Pulse Generator Smoothing Magnification
Setting range
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

Manual pulse generator ON

enable flag OFF
(M2012)

V
V1

t t t t

Output speed (V1) = (number of input pulses/ms) (manual pulse generator 1-pulse input magnification setting)
Travel (L) = (travel per pulse) number of input pulses (manual pulse generator 1-pulse input magnification setting)

REMARKS
1) The travel per pulse of the manual pulse generator is as indicated below.
Setting unit mm :0.1 m
inch :0.00001inch
degree :0.00001degree
PULSE :1pulse

2) The smoothing time constant is 56.8ms to 3408ms.

(7) The definitions of errors at manual pulse generator operation data setting are
indicated below.
Error Definition Error Processing
• Only the digit in error is ignored.
Axis setting specified in any digit is other than 1 • The axes of the digits where any of 1 to 32 is
to 32. set are made valid and perform manual pulse
generator operation.
• Axis of overlapped designation is ignored.
Axis set to manual pulse generator operation is
• Manual pulse generator operation specified first
specified.
is performed.
• Only three axes starting from the lower number
The axes set are 4 or more axes. of the manual pulse generator axis setting
registers are made valid and operated.

7 − 36
7. AUXILIARY AND APPLIED FUNCTIONS

[Cautions]
(1) The start acceptance flag turns ON for the axis set to manual pulse generator
operation.
Therefore, positioning control, home position return or the like cannot be started
by the servo system CPU or peripheral device.
Turn OFF the manual pulse generator enable flag after manual pulse generator
operation is finished.

(2) The torque limit value is fixed at 300% during manual pulse generator
operation.

(3) When the manual pulse generator enable flag is turned ON for the axis which is
being operated by positioning control, JOG operation or the like, error 214 is set
to the corresponding axis and manual pulse generator input is not enabled.
After the axis has stopped, the rise of the manual pulse generator enable flag is
made valid to enable the manual pulse generator input, and the start
acceptance flag turns ON to import the input from the manual pulse generator.

(4) If the manual pulse generator enable flag of another manual pulse generator is
turned ON for the axis which is performing manual pulse generator operation,
error 214 is set to the corresponding axis and input is not enabled for that
manual pulse generator. After the manual pulse generator operation enabled
for input first has stopped, turn ON the manual pulse generator enable flag
again.

(5) If, after the manual pulse generator enable flag has been turned OFF, the
manual pulse generator enable flag is turned ON again for the axis which is
making smoothing deceleration, error 214 is set and manual pulse generator
input is not enabled. After the axis has stopped after smoothing deceleration
(the start acceptance flag has turned OFF), turn ON the manual pulse
generator enable flag.

(6) If, after the manual pulse generator enable flag has been turned OFF, you set
another axis and turn ON the same manual pulse generator enable flag during
smoothing deceleration, 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 (D9187/D9185 to D9187) turns ON
and the manual pulse generator axis setting error flag (M9077) turns ON. As
the condition to turn ON the manual pulse generator enable flag, provide OFF
of the start acceptance flag of the specified axis as an interlock.

7 − 37
7. AUXILIARY AND APPLIED FUNCTIONS

[Program Example]
A program for manual pulse generator operation is described under the following
conditions.

(1) System configuration

Manual pulse generator operation of axis 1 is performed.
A172 A172 A1S
A172B SHCPUN SENC X10

Manual pulse generator operation enable (X000)

Manual pulse generator operation end (X001)

Manual pulse generator

MR- -B MR- -B MR- -B MR- -B

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
(b) Manual pulse generator 1-pulse input magnification ..................................100
(c) Manual pulse generator enable ............... Leading edge (OFF to ON) of X000
(d) Manual pulse generator end .................... Leading edge (OFF to ON) of X001

(3) Sequence program example

A sequence program used to perform manual pulse generator operation is
shown below.

M9039
0 M2000 Turns ON PC ready.
M9074 Turns ON the all-axis servo
2 M2042
start command.
X000 M9074 M2009 M9076 Detection of the leading
4 PLS M140
edge (OFF to ON) of X000
M9074 M140 M2001 K Sets the axis (axis 1) operated
11 MOV 1 D1012
by the manual pulse generator.
K
MOV 100 D1016 Manual pulse generator 1-pulse
input magnification of axis 1
SET M2012 Turns ON the manual pulse
generator enable flag.
X001
25 PLS M141 Turns OFF the manual pulse
M141 generator enable flag when
29 RST M2012 X001 turns ON.

CIRCUIT END

7 − 38
7. AUXILIARY AND APPLIED FUNCTIONS

[Manual Pulse Generator Operation Procedure]

The manual pulse generator operation procedure is indicated below.
START

Set the manual pulse generator

1-pulse input magnification.

Set the manual pulse generator

Using a sequence program
operation axes.

Turn ON the manual pulse

generator enable flag.

Axes are positioned by the

manual pulse generator.

Turn OFF the manual pulse

Using a sequence program
generator enable flag.

END

7 − 39
7. AUXILIARY AND APPLIED FUNCTIONS

7.10 Override Ratio Setting Function

With the override ratio setting function, you can set the ratio of override to the
command speed in a motion program to change the speed.

[Control Details]
(1) To the command speed in a motion program, set the override ratio in the range
0 to 100% in 1% increments. The value obtained by multiplying the command
speed by the override value is the actual feedrate.

(2) Set the override ratio to each axis.

The default value is 100% in all axes.

[Data Setting]
(1) Use the override ratio setting register to change the speed with the override
ratio setting function.
The following table lists the override ratio setting register of each axis.
<A172SHCPUN/A171SHCPUN>
Axis No. Override Ratio Setting Register
1 D500
2 D506
3 D512
4 D518
5 D524
6 D530
7 D536
8 D542

<A273UHCPU (32-axis feature)/A173UHCPU(S1)>

Override Ratio Override Ratio Override Ratio Override Ratio
Axis No. Axis No. Axis No. Axis No.
Setting Register Setting Register Setting Register Setting Register
1 D1440 9 D1488 17 D1536 25 D1584
2 D1446 10 D1494 18 D1542 26 D1590
3 D1452 11 D1500 19 D1548 27 D1596
4 D1458 12 D1506 20 D1554 28 D1602
5 D1464 13 D1512 21 D1560 29 D1608
6 D1470 14 D1518 22 D1566 30 D1614
7 D1476 15 D1524 23 D1572 31 D1620
8 D1482 16 D1530 24 D1578 32 D1626

(2) Set the ratio to the override ratio setting register in the range 0 to 100%.

(3) When the override ratio enable/disable (M1505+10n) is ON, the content of the
override ratio setting register is valid. When M1505+10n is OFF, the speed is
controlled at the override ratio of 100%.

7 − 40
7. AUXILIARY AND APPLIED FUNCTIONS

[Cautions]
(1) When the DSFRP/SVST instruction is executed, the override ratio setting
register data of the operating axis having the lowest number is made valid.
[Example]
Axis 2, 3, 4 start instruction

SVST J2J3J4 K100

• When the above DSFRP/SVST instruction is executed, the data of axis 2 is made
valid. (The data of axes 3, 4 are made invalid.)

(2) When the speed is changed by the override ratio setting function,
acceleration/deceleration processing is performed according to the
"acceleration time" and "deceleration time" in the parameter block.

(3) The override ratio setting is valid only for motion program operation. (Invalid for
JOG operation and so on.)

(4) The definitions of errors at override ratio data setting are indicated below.
Error Definition Error Processing Error Code
At a start, the value set in the override ratio setting • Operation is performed at 100%.
190
register is other than 0 to 100%. (Operation is performed at command speed in
During operation, the value set in the override ratio motion program.)
290
setting register is other than 0 to 100%.

[Operation Timing]
The speed change timing by the override ratio setting function is shown in Fig. 7.7.

V
Command speed
Operation performed at 75%
100% in second block Operation performed at 50%
in third block

50%

t
Override ratio
setting register 100 25 0 50 75 50

1st block start 1st block 1st block completion 2nd block 3rd block
Override ratio changed to 50% before a
start of third block.

Fig. 7.7 Operation Timing at Override Ratio Setting

7 − 41
7. AUXILIARY AND APPLIED FUNCTIONS

[Program Example]
A program example using the override ratio setting function is described under the
following conditions.

(1) Override ratio setting conditions

(a) Axis No. ........................................................ Axis 1
(b) Override ratio ................................................ 50%
(c) Override ratio setting command.................... X180
(d) Motion program start command ................... X181

(2) Sequence program

M9039
0 M2000 Turns ON PC ready.
X0 Detection of the leading edge (OFF to ON)
2 PLS M151
of X000
M151
6 SET M152 Turns ON M152 (override ratio execution
command flag) on the leading edge of X000.
M152 M9074 M2021 P K
8 MOV 50 D500 Stores 50 into the override ratio setting
register (D500) of axis 1.
RST M152 Turns OFF M152 on completion of the axis
M9074 1 override ratio setting.
19 M2042 Turns ON the all-axis servo start command.
X1 M9074 M2009 M9076
21 PLS M0 Turns ON the start command flag (M1) of
M0 motion program No. 100 when X1 turns
28 SET M1 from OFF to ON.
M1 M9074 M2001 M2002 M2003 K
30 SVST J1J2J3 100 Motion program No. 100 execution request
Turns OFF M1 on completion of the motion
RST M1
program No. 100 execution request.
X2 Start acceptance flags
49 M1505 Turns ON X2 to make the override ratio
valid before the motion program is started.
CIRCUIT END

7 − 42
7. AUXILIARY AND APPLIED FUNCTIONS

7.11 FIN Signal Waiting Function

The FIN signal waiting function is designed to synchronize the processing

completion of each mid point with the FIN signal.
By setting the M code to each mid point for positioning, the execution of each point
can be controlled by the FIN signal.

[Data Setting]
(1) The FIN signal and M code outputting signal correspond to the following
devices of each axis.
<A172SHCPUN/A171SHCPUN>
Axis No. 1 2 3 4 5 6 7 8
A172SHCPUN M1819 M1839 M1859 M1879 M1899 M1919 M1939 M1959
FIN signal
A171SHCPUN M1819 M1839 M1859 M1879 − − − −
M code A172SHCPUN M1619 M1639 M1659 M1679 M1699 M1719 M1739 M1759
outputting signal A171SHCPUN M1619 M1639 M1659 M1679 − − − −

<A273UHCPU (32-axis feature)/A173UHCPU(S1)>

Axis No. 1 2 3 4 5 6 7 8
FIN signal M3219 M3239 M3259 M3279 M3299 M3319 M3339 M3359
M code outputting signal M2419 M2439 M2459 M2479 M2499 M2519 M2539 M2559
Axis No. 9 10 11 12 13 14 15 16
FIN signal M3379 M3399 M3419 M3439 M3459 M3479 M3499 M3519
M code outputting signal M2579 M2599 M2619 M2639 M2659 M2679 M2699 M2719
Axis No. 17 18 19 20 21 22 23 24
FIN signal M3539 M3559 M3579 M3599 M3619 M3639 M3659 M3679
M code outputting signal M2739 M2759 M2779 M2799 M2819 M2839 M2859 M2879
Axis No. 25 26 27 28 29 30 31 32
FIN signal M3699 M3719 M3739 M3459 M3779 M3799 M3819 M3839
M code outputting signal M2899 M2919 M2939 M2959 M2979 M2999 M3019 M3039

(2) The acceleration/deceleration system is the fixed acceleration/deceleration time

mode.
The acceleration/deceleration time used is the acceleration time in the selected
parameter block.

[Program Example]

01; Point in execution 1 FIN waiting 2

G01 X20. Y20. F100. M10; (Point 1)

M code 10 11
X30. Y25. M11; (Point 2)
(D**)
X35. Y30. M12; (Point 3)
X40. Y40; (Point 4) M code outputting
M02; (M1619+20n)
% FIN signal
(M1819+20n)
Operation explanation chart
1. When positioning of the axis to point 1 starts, the M code is
output and the M code outputting signal turns ON.
2. In response to this, the PLC performs necessary processing
and then turns ON the FIN signal. Until the FIN signal turns ON,
the axis does not move to the next point.
3. When the PLC turns ON the FIN signal, the M code outputting
signal turns OFF.
4. After the M code outputting signal has turned OFF, the PLC
turns OFF the FIN signal. After this, positioning to next point 2 starts.

7 − 43
7. AUXILIARY AND APPLIED FUNCTIONS

[Cautions]
(1) The M code outputting signal turns OFF when the stop command (external,
M1800+20n, M1801+20n), cancel signal or skip signal is entered.

(2) When the M code is set to the last point, positioning is completed after the FIN
signal is turned from OFF to ON to OFF.

(3) When the FIN waiting function is used , a shift to a point is made under the
command before acceleration or deceleration. (Refer to the chart in (6) 2).)

(4) During interpolation, the M code outputting signal is output to all interpolation
axes.
When inputting the FIN signal to interpolation axes, turn ON the signal of any of
the interpolation axes.
Note that 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 waiting function is executed.
Example: When the FIN waiting function for point 1 is executed with the signal for the
second axis kept ON
Point in execution 1 FIN waiting 2

M code 10 11
(D**)
M code outputting
(M1619+20n)
FIN signal (1st axis)
(M1819)
FIN signal (2nd axis)
(M1839)
When FIN signal for second axis turns OFF,
M code outputting signal turns ON.
Since FIN signal for second axis is ON, M code
output signal does not turn ON.

7 − 44
7. AUXILIARY AND APPLIED FUNCTIONS

(6) When the FIN waiting function is used, the command in-position signal is output
as described below.
1) When automatic deceleration is started by positioning to the executed point
(including the last point) during FIN waiting
If the difference between the positioning address (command position) of the
executed point and the feed present value falls within the command in-
position range during FIN waiting, the command in-position signal
(M1603+20n/M2403+20n) turns ON.
When the axis moves to the next point, the command in-position signal turns
OFF.

Automatic deceleration
Command in-position setting value

Point in execution 1 FIN waiting 2

M code 10 11
(D**)
M code outputting
(M1619+20n)
FIN signal
(M1819+20n)
Command in-position
(M1603+20n)

2) When the axis moves to the next point without automatic deceleration being
made by positioning to the executed point during FIN waiting
If the axis moves 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 in execution 1 2 3

M code 10 11 12
(D**)
M code outputting
(M1619+20n)
FIN signal
(M1819+20n)
Command in-position
(M1603+20n)

7 − 45
7. AUXILIARY AND APPLIED FUNCTIONS

POINT
In the fixed acceleration/deceleration mode, the time required for acceleration/deceleration is fixed at different
speeds.
V

Acceleration/deceleration time is fixed.

(1) In the fixed acceleration/deceleration mode, the following processing and parameters are invalid.
• Deceleration time and rapid stop deceleration time in parameter block
• S-pattern acceleration/deceleration
(2) When positioning operation (constant-speed control) as shown below is to be performed, speed processing of
each axis is as shown below.
Y V
Ay
Axis 1
Axis 2
Address Ax
X t
Axis 1 Ax Ax
V
Positioning operation

Axis 2
Address Ay
t
Ay
Constant-Speed Control Processing of Each Axis

7 − 46
7. AUXILIARY AND APPLIED FUNCTIONS

7.12 Single Block

The single block function is designed to execute program operation block-by-block

to check of run of a motion program.
The single block function is available in either of the following two modes. One is
the mode in which the single block function is specified before a program start and
the other is the mode in which the single block function is executed midway
through a program run.
This section explains the latter mode where the single block function is executed
midway through a program run.

[Control Details]
Single block mode
OFF ON
Single block start

Push button

During continuous operation, turn ON the single block mode signal and turn the
single block start signal from OFF to ON to start single block operation at any point
during operation.
(1) Single block signal devices
The following signals are related to the single block function.
Device No.
Signal Name A273UHCPU (32-axis Signal Direction
A172SHCPUN/A171SHCPUN
feature)/A173UHCPU
Single block in progress M1409 M4009 SCPU ← PCPU
Single block mode M1508 M4408
SCPU → PCPU
Single block start M1509 M4409

Single block in progress

Single block mode

Single block start

These signals are valid for all program operations executed concurrently.
1) Single block in progress (M1409/M4009)
The single block in progress signal indicates that the single block function
can be executed. When the single block in progress signal is ON, the single
block function is executed. When the single block in progress signal is OFF,
turn the SVST start or single block start signal from OFF to ON to start
continuous operation.
When the single block mode signal is turned ON, the single block in progress
signal turns ON.
When the single block mode signal is turned OFF and the single block start
signal is then turned from OFF to ON, the single block in progress signal
turns OFF.
2) Single block mode (M1508/M4408)
The single block mode signal is designed to make the single block function
valid.
3) Single block start (M1509/M4409)
The single block start signal is designed to start a program in a single block
waiting status.

7 − 47
7. AUXILIARY AND APPLIED FUNCTIONS

(2) How to execute single block from a start

Turning ON the single block mode signal turns ON the single block in progress
signal. In this status, turn ON the SVST start signal.
After the first block is executed, execution waits for the single block start signal
to turn from OFF to ON.

Executed sequence No. N1 N2

Start acceptance

SVST

Single block in progress

Single block mode

Single block start

(3) How to continue single block

With the single block in progress signal ON, turn the single block start signal
from OFF to ON. After one block program is run, execution waits for the single
block start signal to turn ON.

Executed sequence No. N1 N2 N3

Single block in progress

Single block mode

Single block start

(4) How to start operation continuously during execution of single block

Turn ON the single block mode signal. In this state, turn the single block start
signal from OFF to ON. This turns OFF the single block in progress signal and
starts the program running continuously.

Continuous
operation from
N3
Executed sequence No. N1 N2 N3 N4

Single block in progress

Single block mode

Single block start

7 − 48
7. AUXILIARY AND APPLIED FUNCTIONS

(5) How to perform continuous operation from a start (Ordinary operation)

With the single block in progress signal OFF, start a program with SVST to run
the program continuously.

Executed sequence No. N1 N2

Start acceptance

SVST

Single block in progress

Single block mode

Single block start

(6) How to execute single block during continuous operation

Turn ON the single block mode signal 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 to turn from OFF to
ON.

Executed sequence No. N1 N2 N3

Single block in progress

Single block mode

Single block start

7 − 49
7. AUXILIARY AND APPLIED FUNCTIONS

A macro instruction block, e.g. arithmetic operation, is preread 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 preread during motion,
the executed block number and executed sequence number displayed are those in
the preread area.
010;
N1 G01 X100. F100.; (Single block in progress is ON)
N2 #D0 = 0;
N3 #D2 = 1;
N4 #D3 = 2;
N5 #D4 = 3; (Preread completion block)
M02;
%

During N1 execution, the single block in progress signal is turned ON. If the macro
instructions in up to N5 have been preread at this time, making a single block start for
one block changes the executed sequence No. from N1 to N5.

Executed sequence No. N1 N5

Single block in progress

Single block mode

Single block start

[Cautions]
(1) Single block mode (M1508/M4408) and single block command
(M1503+10n/M4403+10n)
If the single block mode signal (M1508/M4408) and single block command
(M1503+10n/M4403+10n) are used to execute the single block function
simultaneously, the operation performed by the single block command
(M1503+10n/M4403+10n) is made invalid.

(2) Emergency stop, stop command, rapid stop command and error when single
block in progress is ON
When the single block in progress signal is ON, it does not turn OFF if an
emergency stop is made, the stop command or rapid stop command is given,
or an error occurs.
The single block in progress signal turns OFF by turning OFF the single block
mode signal and then turning the single block start signal 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 in progress signal is ON, the
automatically operating signal (M1402+10n/M4002+10n) does not turn OFF. At
this time, the command in-position signal (M1603+20n/M2403+20n) turns ON.

(4) Single block start during move instruction execution

During axis motion (except high-speed oscillation), the single block start signal
is not accepted. Make a block start after the axis has been stopped by the
single block function.

7 − 50
7. AUXILIARY AND APPLIED FUNCTIONS

7.13 Enhanced Present Value Control

The following functions have been added to provide enhanced present value
control when the ABS encode is used.
(1) Enhanced functions
(a) Function for checking the validity of an encoder during operation
• Checks whether encoder's variance in a 3.5ms time interval is within 180
degrees at the motor axis. (An error is indicated when the variance is not
within 180 degrees.)
• Checks whether encoder data matches feed-back positions managed by
the servo amplifier. (An error is indicated when the data does not match
the feed-back positions.)
(b) Present value log monitor for checking the following values with peripheral
devices
• Encoder present value, servo commanded value, and monitor present
value (mechanical value) at power-on sequence
• Encoder present value, servo commanded value, and monitor present
value (mechanical value) at power-off sequence
• Encoder present value, servo commanded value, and monitor present
value (mechanical value) at home position return
(c) If an allowable travel value is set at power-off sequence, whether encoder
data has changed exceeding the setting range at power-off sequence can
be checked at servo amplifier power-on sequence. (An error is indicated
when the encoder data has exceeded the setting range.)

(2) Restrictions on the servo amplifier

The following restrictions are imposed according to the servo amplifier
combinations:
Servo amplifier Restrictions
MR-H-B : BCD-B13W000-B2 and after
No restrictions
MR-J2-B : BCDB20W200-A1 and after
MR-H-B : BCD-B13W000-B1 and after
MR-J2-B : BCD-B20W200-A0 and before
All enhanced functions cannot be used.
MR-J-B : All types
ADU : All types

7 − 51
7. AUXILIARY AND APPLIED FUNCTIONS

7.14 High−Speed Reading of Designated Data

This function stores the designated positioning data in the designated device (D,
W) with the signal from an input module mounted on the motion base as the
trigger.
It can be set in the system setting of a peripheral device software package.
(1) Positioning data that can be set
1. Positioning command
2. Actual present value
3. Position droop
4. M codes
5. Torque limit value
6. Motor current
7. Motor rpm
8. Servo command value

(2) Modules and signals used

<A172SHCPUN/A171SHCPUN>
Input Module Signal Reading Timing Number of Points Settable
A172SENC/A171SENC TREN 1
0.8ms
PC input module X device 8

Note: Only one PC input module can be used.

<A273UHCPU (32 axis feature)/A173UHCPU (S1)>

Input Module Signal Reading Timing Number of Points Settable
A273EX 3
TREN
A172SENC 0.8ms 1
PC input module X device 8

Note: Only one PC input module can be used.

7 − 52
APPENDICES

APPENDICES

APPENDIX 1 SCPU ERROR CODE LIST

If an error occurs when the PC is switched to the RUN status or is in the RUN
status, the error indication and error code (including the step number) are stored in
a special register by the self-diagnosis function. When an error occurs, refer to
Table 1.1 for its cause and the corrective action to take.
Eliminate the cause of the error by taking the appropriate corrective action.
Error codes can be read at a peripheral device; for details on the relevant
operation, see the Operating Manual for the peripheral device.

CAUTION

When an error occurs, check the points stated in this manual and reset the error.

Appendix 1.1 SCPU Error Code List

The list presented below gives the error numbers, and the error contents, causes,
and corrective actions for each error message.

Table 1.1 Error Code List

Contents of
Special
Error Message CPU
Register Error Contents and Cause Corrective Action
(When an A273UHCPU is Used) Status
D9008
(BIN Value)
"INSTRCT.CODE ERR" An instruction code that cannot be decoded has been (1) Read the error step with a
included in the program. peripheral device, and correct the
(1) A ROM which includes undecodable instruction program at that step.
10 Stopped codes has been installed. (2) If the ROM is the problem, either
(2) The memory contents have changed for some rewrite its contents or replace it
reason and now include an undecodable instruction with a ROM into which the correct
(When an instruction is executed.) code. contents have been written.
"PARAMETER ERROR" The parameter data in the CPU’s memory has been (1) Check the installation of the
changed due to noise or incorrect installation of the memory and install it correctly.
memory. (2) Read the parameter data of the
On switching on the power or resetting. CPU memory at a peripheral
11 Stopped
On switching from device, check the data, correct it,
STOP RUN and write the corrected data back
to
PAUSE STEP RUN into the memory.

"MISSING END INS." (1) There is no END (FEND) instruction in the program. (1) Write an END instruction at the end
(2) When a subprogram is set in the parameters, there of the program.
When M9056 or M9057 is ON. is no END instruction in the subprogram.
On switching from 12 Stopped
STOP RUN
to
PAUSE STEP RUN

"CAN'T EXECUTE (P)" (1) The jump destination designated with a (1) Read the error step with a
CJ/SCJ/CALL/CALLP/JMP instruction does not exist, peripheral device, and correct the
or more than one exists. program at that step.(Correct, for
(2) There is a CHG instruction but no subprogram is set. example, by inserting a jump
(3) Although there is no CALL instruction, there is a destination, or making sure there is
RET instruction in the program and is has been only one jump destination.)
executed.
(4) A CJ/SCJ/CALL/CALLP/JMP instruction whose jump
destination is at or beyond the END instruction has
been executed.
13 Stopped (5) The number of FOR instructions does not match the
number of NEXT instructions.
(6) A JMP instruction has been included between a
FOR and NEXT command, exiting the FOR - NEXT
sequence.
When a CJ/SCJ/JMP/CALL(P)/ (7) The subroutine has been exited by execution of a
FOR-NEXT instruction is executed. JMP instruction before execution of a RET
On switching from instruction.
STOP RUN (8) Execution of a JMP instruction has caused a jump
to
PAUSE STEP RUN into a step in a FOR - NEXT range, or into a
subroutine.

APP − 1
APPENDICES

Table 1.1 Error Code List (Continued)

Contents of
Special
Error Message CPU
Register Error Contents and Cause Corrective Action
(When an A273UHCPU is Used) Status
D9008
(BIN Value)
"CHK FORMAT ERR." (1) An instruction other than an LDX, LDIX, ANDX, or (1) Check if any of items (1) to (6) in
ANIX instruction (including NOP) has been included the column to the left apply to the
in the same ladder block as a CHK instruction. program with the CHK instruction
(2) More than one CHK instruction exists. ladder block, correct any problem in
(3) The number of contacts in a CHK instruction ladder the program with a peripheral
block exceeds 150. device, then restart program
(4) The device number of an X device in a CHK operation.
instruction ladder block exceeds X7FE when using (2) This error code is only valid when
an A373CPU or X1FFE when using an the I/O control method used is the
A373U/A273U. direct method.
(5) The following ladder block
14 Stopped
CJ
has not been inserted before the CHK instruction
ladder block.
(6) The D1 device (number) of a CHK D1 D2 instruction
is not the same as the device (number) of the
contact before the CJ[ ] instruction.
(7) The pointer P254 is not appended at the head of a
On switching from CHK instruction ladder block.
STOP RUN
to
PAUSE STEP RUN P254 CHK D1 D2
"CAN'T EXECUTE (I)" (1) An interrupt module is used but there is no number (1) Check the whether or not an
for the corresponding interrupt pointer I in the interrupt program corresponding to
program. Or, more than one exists. the interrupt module exists and
(2) There is no IRET instruction in the interrupt either create an interrupt program
program. or eliminate the duplicated I
(3) There is an IRET instruction other than in the number.
15 Stopped interrupt program. (2) Check if there is an IRET
instruction in the interrupt program:
When an interruption occurs. if there is not, insert one.
On switching from (3) Check if there is an IRET
STOP RUN instruction other than in the
to
PAUSE STEP RUN interrupt program: if there is, delete
it.
"CASSETTE ERROR" No memory cassette is installed. Install a memory cassette and reset.
16 Stopped
(On switching on the power or resetting.)
"RAM ERROR" (1) On checking if data can be read from and written to There is a hardware fault. Contact
the CPU data memory area normally, it is your nearest Mitsubishi service center,
On switching on the power or resetting. determined that one or both are not possible. agent, or office, and explain the
20 Stopped
When M9084 is turned ON in the problem.
STOP status.

"OPE.CIRCUIT ERR." (1) The operation circuit that executes sequence

21 Stopped processing in the CPU does not operate normally.
(On switching on the power or resetting.)
"WDT ERROR" The scan time has exceeded the watchdog error (1) Calculate and check the scan time
monitor time. for the user program and shorten
(1) The user program scan time has been exceeded due the scan time, e.g. by using a CJ
to the conditions. instruction.
(2) A momentary power interruption has occurred during (2) Monitor the contents of special
22 Stopped scanning, extending the scan time. register D9005 with a peripheral
device. If the contents are other
than "0" the power supply voltage is
unstable: in this case check the
power supply and reduce voltage
(At any time) fluctuation.
"END NOT EXECUTE" (1) When the END instruction is executed it is read as (1) Reset and establish the RUN status
another instruction code, e.g. due to noise. again.If the same error is displayed
(2) The END instruction has been changed to another again, the cause is a CPU
24 Stopped instruction code somehow. hardware error.
Contact your nearest Mitsubishi
service center, agent, or office, and
(When END processing is executed.)” explain the problem.
"WDT ERROR" A loop has been established for execution of the Check if any program will be run in an
25 Stopped sequence program, due for example to a CJ instruction, endless loop: if there is such a
(At any time) and the END instruction cannot be executed. program, modify the program.

APP − 2
APPENDICES

Table 1.1 CPU Error Code List (Continued)

Contents of
Special
Error Message CPU
Register Error Contents and Cause Corrective Action
(When an A273UHCPU is Used) Status
D9008
(BIN Value)
"UNIT VERIFY ERR." The I/O information does not match a loaded module (1) The bit in special registers D9116
when the power is switched ON. to D9123 that corresponds to the
(1) An I/O module (this includes special function module for which the verification
modules) is loose, or has become detached, during error occurred will be set to "1":
operation. Or, a completely different module has check for the module whose bit is
Stopped been loaded. set to "1" by monitoring these
31
(RUN) registers with a peripheral device
and replace that module.
When an END instruction is executed. (2) If the current arrangement of
However, no check is performed when loaded modules is acceptable,
M9084 or M9094 is ON. reset with the reset switch.

"FUSE BREAK OFF" There is an output module with a blown fuse. (1) Check the blown fuse indicator
LEDs of the output modules and
replace the fuse of the module
whose indicator LED is lit.
(2) Modules with blown fuses can also
RUN be detected by using a peripheral
32 device.
(Stopped)
The bit in special registers D9100
to D9107 that corresponds a
When an END instruction is executed. module whose fuse has blown will
However, no check is performed when be set to "1": monitor these
M9084 or M9094 is ON. registers to check.

"CONTROL-BUS ERR." FROM, TO instructions cannot be executed. (1) There is a hardware fault of the
(1) Fault in the control bus to the special function special function module, CPU
module. module, or base unit: replace each
module/unit to find the defective
When FROM, TO instruction are one.
40 Stopped
executed. On switching on the power Contact your nearest Mitsubishi
or resetting. On switching from service center, agent, or office, and
STOP RUN explain the problem with the
to
PAUSE STEP RUN defective module/unit.

"SP.UNIT DOWN" On execution of a FROM, TO instruction, a special There is a hardware fault in the
function module was accessed but no response was accessed special function module:
When FROM, TO instruction are received. contact your nearest Mitsubishi service
executed. On switching on the power (1) The accessed special function module is faulty. center, agent, or office, and explain the
41 Stopped
or resetting. On switching from problem.
STOP RUN
to
PAUSE STEP RUN

"LINK UNIT ERROR" (1) A data link module for use with MELSECNET has (1) Remove the data link module for
been loaded at the master station. MELSECNET from the master
On switching on the power or resetting. station.
On switching from 42 Stopped After making this correction, reset
STOP RUN and start operation from the initial
to status.
PAUSE STEP RUN

"I/O INT.ERROR" An interruption has occurred although there is no (1) There is a hardware fault in one of
interrupt module. the modules: replace each module
in turn to determine which one is
43 Stopped defective. Contact your nearest
Mitsubishi service center, agent, or
office, and explain the problem with
(When an interruption occurs.) the defective module.
"SP.UNIT LAY.ERR." (1) Three or more computer link modules have been (1) Do not install more than two
installed for one CPU module. computer link modules.
(2) Two or more data link modules for MELSECNET (2) Do not install more than one data
have been installed. link module for MELSECNET.
44 Stopped (3) Two or more interrupt modules have been installed. (3) Install only one interrupt module.
On switching on the power or resetting. (4) In the parameter settings made at a peripheral (4) Re-set the I/O allocations in the
On switching from device, an allocation for a special function module parameter settings made at the
STOP RUN has been made where there is in fact an I/O module, peripheral device so that they
to
PAUSE STEP RUN or vice versa. agree with the loaded modules.

APP − 3
APPENDICES

Table 1.1 CPU Error Code List (Continued)

Contents of
Special
Error Message CPU
Register Error Contents and Cause Corrective Action
(When an A273UHCPU is Used) Status
D9008
(BIN Value)
"SP.UNIT ERROR" (1) A location where there is no special function module (1) Read the error step using a pe-
has been accessed (when the FROM, TO instruction ripheral device, check the contents
Stopped
46 was executed). of the FROM, TO instruction at that
(RUN)
step, and correct it using the
(When a FROM, TO instruction is executed) peripheral device.
"LINK PARA.ERROR" (1) The data written to the link parameter area when link (1) Write the parameters again and
range settings are made by parameter setting at a check.
peripheral device differ for some reason from the (2) If the error is displayed again, there
On switching on the power or resetting. parameter data read by the CPU. is a hardware fault.
47 RUN
On switching from (2) The setting for the total number of slave stations is Contact your nearest Mitsubishi
STOP RUN "0". service center, agent, or office, and
to
PAUSE STEP RUN explain the problem.

"OPERATION ERROR" (1) The result of BCD conversion is outside the (1) Read the error step with a
stipulated range (max. 9999 or 99999999). peripheral device, and correct the
RUN (2) A setting exceeding the stipulated device range has program at that step.
50
(Stopped) been made and operation is therefore impossible. (Check the device setting range,
(3) A file register has been used in the program without BCD conversion value, etc.)
(When a command is executed) having made a file register capacity setting.
"BATTERY ERROR" (1) The battery voltage has fallen below the stipulated (1) Replace the battery.
value. (2) If the battery is used to back up the
(2) The battery's lead connector has not been installed. RAM memory or to retain memory
At any time 70 RUN contents during momentary power
However, no check is performed when interruptions, install a lead
M9084 is ON. connector.

APP − 4
APPENDICES

APPENDIX 2 ERROR CODES STORED BY THE PCPU

The errors that are detected at the PCPU are servo program setting errors and
positioning errors.
(1) Motion program setting errors
Motion program setting errors are errors as the results of checking a parameter
block No. or an axis No. when executing SVST instructions.
When an error occurs, the following happens:
• The motion program setting error flag (M9079) comes ON.
• The program number of the program in which the error occurred is stored in
the error program No. register (D9189).
• The error code is stored in the error point block No. register (D9195).
• The error code is stored in the error item information register (D9190).

(2) Positioning error

(a) Positioning errors are errors that occur when positioning starts or during
positioning: they are classified into minor errors, major errors, and servo
errors.
1) Minor errors ............. These are errors generated by sequence programs
or servo programs; they are assigned error codes 1
to 999.
The cause of minor errors can be eliminated by
checking the error code and correcting the
sequence program or servo program.
2) Major error............... These are errors generated by external input signals
or control commands from the SCPU; they are
assigned error codes 1000 to 1999.
When a major error occurs, check the error code
and eliminate the error cause in the external input
signal status or sequence program.
3) Servo error .............. These are errors detected by the servo amplifier;
they are assigned error codes 2000 to 2999.
When a servo error occurs, check the error code
and eliminate the error cause at the servo side.
(b) When an error occurs, the error detection signal for the relevant axis comes
ON, and the error code is stored in the minor error code, major error code,
or servo error code register.
<A172SHCPUN> Table 2.1 Error Code Registers, Error Flags
Device Error Code Register Error Detection
Error
Class Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Signal

Minor error D806 D826 D846 D866 D886 D906 D926 D946
M1607+20n
Major error D807 D827 D847 D867 D887 D907 D927 D947
Servo error D808 D828 D848 D868 D888 D908 D928 D948 M1608+20n

<A171SHCPUN> Table 2.2 Error Code Registers, Error Detection Flags

Device Error Code Register Error Detection
Error
Class Axis 1 Axis 2 Axis 3 Axis 4 Signal

Minor error D806 D826 D846 D866

M1607+20n
Major error D807 D827 D847 D867
Servo error D808 D828 D848 D868 M1608+20n

APP − 5
APPENDICES

<A273UHCPU (32 axis feature)/A173UHCPU (S1)>

Table 2.3 Error Code Registers, Error Flags
Device Error Code Register Error Detection
Error
Class Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Signal

Minor error D6 D26 D46 D66 D86 D101 D126 D146

M2407+20n
Major error D7 D27 D47 D67 D87 D107 D127 D147
Servo error D8 D28 D48 D68 D88 D108 D128 D148 M2408+20n

Device Error Code Register Error Detection

Error
Class Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16 Signal

Minor error D166 D186 D206 D226 D246 D266 D286 D306
M2407+20n
Major error D167 D187 D207 D227 D247 D267 D287 D307
Servo error D168 D188 D208 D228 D248 D268 D288 D308 M2408+20n

Device Error Code Register Error Detection

Error
Class Axis 17 Axis 18 Axis 19 Axis 20 Axis 21 Axis 22 Axis 23 Axis 24 Signal

Minor error D326 D346 D366 D386 D406 D426 D446 D466
M2407+20n
Major error D327 D347 D367 D387 D407 D427 D447 D467
Servo error D328 D348 D368 D388 D408 D428 D448 D468 M2408+20n

Device Error Code Register Error Detection

Error
Class Axis 25 Axis 26 Axis 27 Axis 28 Axis 29 Axis 30 Axis 31 Axis 32 Signal

Minor error D486 D506 D526 D546 D566 D586 D606 D626
M2407+20n
Major error D487 D507 D527 D547 D567 D587 D607 D627
Servo error D488 D508 D528 D548 D568 D588 D608 D628 M2408+20n

(c) If another error occurs after an error code has been stored, the existing
error code is overwritten, deleting it.
However, it is possible to check the history of error occurrence by using a
peripheral device started up with the GSV43P software.
(d) Error detection flags and error codes are latched until the error code reset
signal (M1807+20n/M3207+20n) or servo error reset signal
(M1808+20n/M3208+20n) comes ON.

POINTS
(1) When some servo errors occur, the same error code will be stored again
even if the servo error reset signal (M1808+20n/M3208+20n: ON) is
issued.

(2) When a servo error occurs, reset the servo error after first eliminating the
error cause at the servo side.

APP − 6
APPENDICES

Appendix 2.1 Motion Program Setting Errors

The error codes, error definitions and corrective actions for motion program setting
errors are indicated in Table 2.4.

Table 2.4 Motion Program Setting Errors

Error Code Stored in
Error Name Definition Error Processing Corrective Action
D9190
Parameter block The specified The motion program is Specify the parameter
block number in the
number setting error parameter block executed with the
range 1 to 16.
1 number is outside the parameter block
range 1 to 16. number set to the
default value of "1".
Axis number setting The axis not used in the Positioning control does Set the axis number that
was specified in the
error system settings has not start.
system settings.
been specified for the
906
motion program set in
the DSFRP/SVST
instruction.
Start program excess An attempt was made Positioning control does Set up to 8 programs as
the simultaneously run
error to start and run 9 or not start.
programs.
more programs
3300
simultaneously with the
DSFRP/SVST
instruction.

APP − 7
APPENDICES

Appendix 2.2 Minor Errors

Minor errors are those that occur in the sequence program or servo program.
The error codes for these errors are from 1 to 999.
Minor errors include set data errors, positioning control start-up errors, positioning
control errors, and control change errors.
(1) Set 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
2.5 below.

Table 2.5 Set Data Error List (1 to 99)

Data Where
Error
Error Check Timing Error Cause Error Processing Corrective Action
Code
Occurred
When count type, The home position address of Set the home position
near-zero-point dog a degree axis is outside the address within the
21 type, or data set type range 0 to 35999999 permissible range with a
or home position (×10−5degrees). peripheral device.
return is started.
The home position return Set the home position return
speed is set outside the range speed at or below the speed
22
When a count type, or of 1 to the speed limit value. limit value by using a
near-zero-point dog peripheral device.
Home type home position The creep speed is set Set the creep speed at or
Home position return
position return return is started. outside the range of 1 to the below the home position
23 is not started.
data home position return speed. return speed by using a
peripheral device.
The travel value after the Set the travel value after the
When a count type
near-zero-point dog comes near-zero-point dog to within
24 home position return
ON is outside the range of 0 the permissible range with a
is started.
to 231−1(× unit). peripheral device.
When a count type, The parameter block No. is Set the parameter block No.
near-zero-point dog outside the range of 1 to the within the permissible range
25
type or home position maximum No. with a peripheral device.
return is started.
The unit for interpolation Control is executed Designate the same control
control designated in the using the control unit unit in the fixed parameters
Parameter When interpolation parameter block is different designated in the and servo parameters.
40
block control is started from the control unit fixed parameters.
designated in the fixed
parameters.

POINT
Sometimes, if the interpolation control unit designated in the parameter block
and the control unit designated in the fixed parameters are different, no error
code is stored; this depends on the combination of units designated.
For details, see Section 6.6.6.

APP − 8
APPENDICES

(2) Positioning control start-up errors (100 to 199)

The errors shown in this section are those detected when positioning control is
started.
Error codes, causes, processing, and corrective actions are shown in Table 2.6
below.
*: When interpolation control is being executed, the error codes are stored in
the error code storage areas of all the axes involved in the interpolation.

Table 2.6 Positioning Control Start-Up Error List (100 to 199)

Control Mode
Manual Pulse Generator

Home Position Return

Error
Error Cause Error Processing Corrective Action
Code
Positioning

JOG

• The PC ready flag (M2000) or PCPU ready • Set the servo system CPU to RUN.
100 ! ! ! ! flag (M9074) is OFF. • Turn the PC ready flag (M2000) ON.
• The start accept flag (M2001 to • Provide an interlock in the program to prevent
M2008/M2001 to M2004) of the relevant axis the axis from being started while in motion
101 ! ! ! !
has been turned ON. (use the turning OFF of the start accept
signal for the axis as the interlock condition).
• The stop command (M1800+20n) of the • Turn the stop command (M1800+20n) OFF
103 ! ! ! !
relevant axis has been turned ON. and start positioning.
• The rapid stop command (M1801+20n) of the • Turn the rapid stop command (M1801+20n)
104 ! ! ! !
relevant axis has been turned ON. OFF and start positioning.
• On starting, the feed present value is outside • Move back inside the stroke range using JOG
the stroke limit range. operation.
105 ! • Enter inside the stroke range by executing a
home position return or present value
change.
• Positioning outside the stroke limit has been • Positioning end point must be within the
106* !
designated. specified stroke limit.
• An address that does not generate an arc • Designate correct addresses in the servo
was designated in circular interpolation for program.
which an auxiliary point is designated.
107 !
Error in relationship between the start
point, auxiliary point, and end point
Positioning control does not start.
• An address that does not make an arc was
designated in circular interpolation for which
a radius is designated.
108* !
Error in relationship between the start
point, auxiliary point, and end point

• An address that does not generate an arc

was designated in circular interpolation for
which a center point is designated.
109 !
Error in relationship between the start
point, auxiliary point, and end point

• In circular interpolation, the difference

between the end point address and the ideal
110* !
end point exceeded the allowable error range
for circular interpolation.
• The home position return completed signal • Resumptive starts are not possible for home
(M1610+20n) has been turned ON during a position return operations.
near-zero point dog type home position return Use JOG operation or positioning operation
115 !
operation. to return the axis to a point before the near-
zero point dog signal was output, then retry
the home position return operation.

APP − 9
APPENDICES

Table 2.6 Positioning Control Start-Up Error List (100 to 199) (Continued)
Control Mode
Manual Pulse Generator

Home Position Return

Error Error
Error Cause Corrective Action
Code Processing
Positioning

JOG

• The set JOG speed is 0. Positioning • Set a correct speed

control does (within the specified range).
not start.
• The set JOG speed exceeds the JOG speed limit value. Control is
116 !
executed at
the JOG
speed limit
value.
• Both forward and reverse motion were designated when simultaneously starting Only the axis • Set correct data.
JOG operation programs. set to move
117 ! in the forward
direction
starts.
ZCT not set Home • Carry out the home position return after the
During second travel in dog type or count type home position return, or when data position home position has been passed.
120 ! set type home position return is started, the zero pass signal (M1606+20n) is OFF. return is not
completed
correctly.
• In linear interpolation for which a reference axis is designated the travel value of • Do not set an axis whose travel value is 0
140 !
the reference axis is set at "0". as the reference axis.
• An external input signal has come ON although external input signal setting has • Perform external input signal setting in
142 !
not been performed for that signal in the system settings. Positioning system setting.
• The operating axis is specified in the SVST instruction. control does • Start after the operating signal has turned
160 ! not start. OFF. Provide an SVST instruction
operating interlock.
• An attempt was made to start the program whose number is outside the range 1 to • Reconsider the SVST instruction.
161 !
256.
• The sequence number specified in SVST is outside the range 0 to 9999. Positioning • Set the sequence number within the range
control starts 0 to 9999.
163 ! from the
beginning of
the program.
• At a start, the override ratio is outside the range 0 to 100%. Operation is • Set the override ratio within the range 0 to
190 ! performed at 100%.
100%.

APP − 10
APPENDICES

(3) Positioning control errors (200 to 299)

The errors shown in this section are those detected during positioning control.
Error codes, causes and corrective actions are shown in Table 2.7.

Table 2.7 Positioning Control Start-Up Error List (200 to 299)

Control Mode
Manual Pulse Generator

Home Position Return

Error
Error Cause Error Processing Corrective Action
Code
Positioning

JOG

• The PC ready flag (M2000) was turned OFF • Turn the PC ready flag (M2000) ON after all
while positioning was being started in axes have stopped.
200 ! ! !
response to a start request issued by a
sequence program.
• The PC ready flag (M2000) was turned OFF Axis motion decelerates to a stop. • After turning the PC ready flag (M2000) ON
201 !
during a home position return operation. or turning the stop command (M1800+20n) or
• The stop command (M1800+20n) has been rapid stop command (M1801+20n) OFF, re-
202 ! turned ON during a home position return attempt home position return.
operation.
In the case of a near-zero-point dog
• The rapid stop command (M1801+20n) has type home position return, use JOG
been turned ON during a home position
operation or positioning operation to
return operation.
203 ! Axis motion stops immediately., return the axis to the point before the
near-zero-point dog signal was output,
and re-attempt home position return.

• The PC ready flag (M2000) was turned back • Turn the PC ready flag (M2000) ON after all
ON during deceleration initiated by turning axes have stopped.
204 ! ! ! ! OFF the PC ready flag (M2000). No processing Turning ON the PC ready flag (M2000)
during deceleration is ignored.

• While a home position return operation was • In the case of a near-zero point dog type
in progress, an emergency stop was executed home position return, use JOG operation or
in the test mode at a peripheral device by positioning operation to return the axis to the
pressing the [Back Space] key. point before the near-zero point dog signal
was output, and re-attempt home position
return.
• If the near-zero point dog signal is turned
OFF when executing a count type home
position return, use JOG operation or
206 ! Axis motion stops immediately. positioning operation to return the axis to the
point before the near-zero point dog signal
was output, and re-attempt home position
return.
In the near-zero-point dog signal is
turned ON when executing count type
home position return, re-attempt the
home position return.

• The feed present value exceeded the stroke • Correct the stroke limit or travel value setting
limit during positioning. so that positioning is executed within the
In the case of circular interpolation, an error stroke limit.
code is stored only for axes whose feed
207 ! !
present value exceeded the stroke limit.
In the case of linear interpolation, error codes
are stored for all axes involved in the
interpolation.
• During circular interpolation or during
simultaneous operation of multiple manual
Axis motion decelerates to a stop.
208 ! ! pulse generators, the feed present value of
another axis exceeded the stroke limit value.
(For detection of other axis errors).
• An overrun has occurred because the set • Correct the speed setting so that overrun
travel value exceeds the deceleration does not occur.
distance when a speed/position change • Set a travel value which will not cause an
209 ! (CHANGE) signal is input during overrun.
speed/position switching control, or when the
near-zero-point dog signal is input during
count type home position return.

APP − 11
APPENDICES

Table 2.7 Positioning Control Error List (200 to 299) (Continued)

Control Mode
Manual Pulse Generator

Home Position Return

Error
Error Cause Error Processing Corrective Action
Code
Positioning

JOG

• During positioning, an overrun occurs • Set a speed at which overrun does not occur.
because the deceleration distance for the • Set a travel value which will not cause an
211 ! output speed is not attained at the point Axis motion decelerates to a stop. overrun.
where the final positioning address is
detected.
• An attempt was made to control an axis • Perform the manual pulse generator
already being moved by the manual pulse The manual pulse generator input is ignored operation after the axis has stopped.
214 !
generator by setting the manual pulse until the axis stops.
generator operation enable flag for that axis.
• At a start, the override ratio is outside the • Set the override ratio within the range 0 to
290 ! Operation is performed at 100%.
range 0 to 100%. 100%.

APP − 12
APPENDICES

(4) Errors occurring at speed changes and torque limit value changes (300 to 399)
The errors shown in this section are those that occur on execution of speed
changes and torque limit value changes.
Error codes, causes, processing, and corrective actions are shown in table 2.8.

Table 2.8 List of Errors that Occur at Speed Changes and Torque Limit Value Changes
Control Mode
Manual Pulse Generator

Home Position Return

Error
Error Cause Error Processing Corrective Action
Code
Positioning

JOG

• An attempt was made to change the speed of • The speed of an axis executing a home
301 !
an axis executing a home position return. position return cannot be changed.
• An attempt was made to change the speed of • The speed of an axis cannot be changed after
303 ! an axis after automatic deceleration had automatic deceleration has started.
started in positioning. The speed is not changed.
• An attempt was made to change the speed of • Do not attempt a speed change during
an axis during deceleration initiated by deceleration initiated by turning OFF the JOG
304 !
turning OFF the JOG operation start signal operation start signal (M1802+20n,
(M1802+20n, M1803+20n). M1803+20n).
• The speed to be changed to in a speed • Set the speed within the range from 0 to the
! change was set outside the range of 0 to the speed limit value.
speed limit value.
305 The speed is kept at the speed limit value.
• The absolute value of speed to be changed to • Set the absolute value of speed within the
! in a speed change was set outside the range range from 0 to the speed limit value.
of 0 to the speed limit value.
• A speed change was attempted during high- • Do not perform speed changes during high-
speed oscillation. speed oscillation.
310 The speed is not changed.
• A speed change to "0" request was issued
during high-speed oscillation.
• A value outside the range 1 to 500% was set • Make a change request within the range 1 to
311 in the torque limit value change request 500% .
(CHGT). The torque limit value is not changed.
• A torque limit change request (CHGT) was • Make a change request for a started axis.
312
made for an axis not started yet.

APP − 13
APPENDICES

(5) Motion program running errors (500 to 599)

These errors are detected during motion program execution.
Check the executed motion program number, executed sequence number and
executed block number, and correct the motion program.
Table 2.9 lists the processings and corrective actions for motion program
running errors.
Table 2.9 Motion Program Running Error (500 to 599) List
Control Mode
Manual Pulse Generator

Home Position Return

Error
Error Cause Error Processing Corrective Action
Code
Positioning

JOG

• 0 is specified as the N number. • Set the N number of a sequence program

500 !
within the range 1 to 9999.
• There is no F command. • Specify F before and during execution of
501 ! Speed is "0". Deceleration to stop G01, G02, G03.
Specify the speed of "1" or higher.
• The command value is greater than the • Set the address, speed, dwell time, etc. within
502 !
range. the ranges.
• The speed command specified is greater than Speed is clamped at speed limit value for • Set the correct speed (within the range).
503 !
the speed limit value of the parameter block. 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. • Specify the correct G code.
• The interpolation length is greater than the • Specify the axis address within the range.
513 !
range.
• Subprogram level excess. Subprogram • Set the calling depth within 8 levels.
525 !
calling depth exceeded 8 levels.
530 ! • Arithmetic expression is not correct. • Use a correct arithmetic expression.
• Integer value overflow. • Reconsider the variable value and arithmetic
531 ! The integer value exceeded the range during expression.
arithmetic operation.
• The numbers of "[" and "]" specified in one • Set the numbers of "[" and "]" in pairs.
532 !
block differ.
533 ! • The denominator of division is 0. • Set the denominator to other than 0.
• The IF [condition] GOTO statement is in • Reconsider the IF statement.
535 !
error.
536 ! • The variable number exceeds the range. • Set the variable within the range.
• The variable definition statement does not • Add "=".
537 ! Deceleration to stop
have "=".
• The sequence number specified for • Set the sequence number.
541 ! subprogram call, return from subprogram or
GOTO is not set.
• In the specified motion program, the • Reconsider the motion program.
542 !
WHILE[]DOm-ENDm statement is in error.
• In the specified motion program, the nesting
543 ! of the DOm-ENDm statement is greater than
the limit.
• In the specified motion program, DOm-ENDm
544 !
are not in pairs.
• In the specified motion program, the
545 !
IF[]THENm-ENDm statement is in error.
• In the specified motion program, the nesting
546 ! of the IF[]THENm-ENDm statement is greater
than the limit.
• In the specified motion program, IF[]THENm,
547 !
ELSEm and ENDm are not in pairs.
• At a subprogram call, the specified • Create the specified subprogram. Change the
555 !
subprogram is not registered. call number.

APP − 14
APPENDICES

Table 2.9 Motion Program Running Error (500 to 599) List (Continued)
Control Mode
Manual Pulse Generator

Home Position Return

Error
Error Cause Error Processing Corrective Action
Code
Positioning

JOG

• The command format in the motion program • Reconsider the motion program. Reconsider
560 !
is not 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.
• For the tool length offset (G43, G44) • Reconsider the offset data number.
command, the offset data number is not
570 !
specified.
The offset data number is not correct. Deceleration to stop
• For the tool length offset (G43, G44) or tool • Specify the axis corresponding to
offset cancel (G49) command, the axis compensation.
571 !
corresponding to compensation is not
specified.
• The command beyond the preset stroke • Give the command within the preset stroke
580 !
range was executed. range.
• The move command was given to the high- • Do not give the move command to the high-
581 !
speed oscillation operation axis. speed oscillation operation axis.
• High-speed oscillation cancel was given to No processing • High-speed oscillation cancel is invalid.
582 ! the axis which was not operating in high-
speed oscillation.
584 ! • Cancel start (G24) program number error • Reconsider the motion program number.
• High-speed oscillation (G25) amplitude range • Reconsider the high-speed oscillation (G25)
585 !
error amplitude range.
• High-speed oscillation (G25) starting angle • Reconsider the high-speed oscillation (G25)
586 !
range error starting angle range.
• High-speed oscillation (G25) frequency range • Reconsider the high-speed oscillation (G25)
587 !
error frequency range.
591 ! • A fault occurred in the system. Deceleration to stop • Consult your sales representative.
• The axis name is incorrect. • Use X, Y, Z, U, V, W, A, B, C.
592 ! Match the axis name with the one in the
system settings.
• 0 number designated in the specified motion • Reconsider the 0***; part.
593 !
program is incorrect.
• The axis not specified in SVST is specified in • Reconsider the SVST instruction.
594 !
the motion program. Reconsider the motion program.

(6) System errors (900 to 999)

Table 2.10 System Error List (900 to 999)

Control Mode
Manual Pulse Generator

Home Position Return

Error
Error Cause Error Processing Corrective Action
Code
Positioning

JOG

• When the servo amplifier power is switched • Correct the motor type setting in the system
ON, the motor type set in the "system settings.
900 settings" differs from the motor type actually
installed.
(Checked only when using MR-J2-B)
Further operation is impossible.
• When the servo amplifier power is switched • Check the position.
ON, the motor travel value while the power Check the encoder battery.
901 was OFF is found to have exceeded the
"Power OFF Allowed Traveling Points" setting
made in the system settings.

APP − 15
APPENDICES

Appendix 2.3 Major Errors

Major errors are caused by external input signals or by control commands from the
SCPU. The error codes for major errors are 1000 to 1999.
Major errors consist of control start-up errors, positioning errors, absolute system
errors, and system errors.
(1) Positioning control start-up errors (1000 to 1099)
The errors shown in this section are those detected when positioning control is
started.
Error codes, error causes, error processing and corrective actions are shown in
Table 2.11.

Table 2.11 Positioning Control Start-Up Error List (1000 to 1099)

Control Mode
Manual Pulse Generator

Home Position Return

Error
Error Cause Error Processing Corrective Action
Code
Positioning

JOG

• The external stop signal of the corresponding • Turn OFF the STOP signal.
1000 ! ! ! !
axis was turned ON.
• When positioning was started in the forward • Move the axis in the reverse direction in the
1001 ! ! ! direction (addresses increasing), the external JOG mode until it enters the external limit
FLS (upper limit LS) signal was turned OFF. range.
• When positioning was started in the reverse • Move the axis in the forward direction in the
1002 ! ! ! direction (addresses decreasing), the external JOG mode until it enters the external limit
RLS (lower limit LS) signal was turned OFF. range.
• When near-zero point type home position • Move the axis to a point before the near-zero
1003 ! return was started, the external DOG (near- point dog in the JOG mode and then execute
zero point dog) signal was turned ON. a home position return.
• The servo state of the corresponding axis is • Wait until the servo status is READY
not servo READY. Positioning control does not start. (M1615+20n: OFF).
(M1615+20n: OFF).
(1) The power supply to the servo amplifier is
OFF.
1004 ! ! ! ! (2) Initial processing is in progress after
turning on the servo amplifier.
(3) The servo amplifier has not been
installed.
(4) A servo error has occurred.
(5) Cable fault.
• The servo error detection signal of the • Eliminate the error at the servo side, reset the
corresponding axis (M1608+20n) was turned servo error detection signal (M1608+20n) by
1005 ! ! ! !
ON. using the servo error reset command
(M1808+20n), then start operation.

APP − 16
APPENDICES

(2) Positioning control errors (1100 to 1199)

The errors shown in this section are those detected during positioning.
Error codes, error causes, error processing, and corrective actions are shown
in Table 2.12.

Table 2.12 Positioning Control Error List (1100 to 1199)

Control Mode
Manual Pulse Generator

Home Position Return

Error
Error Cause Error Processing Corrective Action
Code
Positioning

JOG

• When positioning was started in the forward • Move axis in the reverse direction in the JOG
1101 ! ! ! ! direction (addresses increasing), the external mode until it enters the external limit range.
FLS (upper limit LS) signal was turned OFF.
• When positioning was started in the reverse • Move the axis in the forward direction in the
1102 ! ! ! ! direction (addresses decreasing), the external Axis motion decelerates to a stop in accordance JOG mode until it enters the external limit
RLS (lower limit LS) signal was turned OFF. with the "deceleration processing on STOP range.
• The external STOP signal (stop signal) was input" setting in the parameter block. • When executing a near-zero point dog type
turned ON while the axis was moving. home position return, move the axis to a point
1103 ! before the near-zero point dog in the JOG
mode and then execute a home position
return.
• The servo error detection signal • After taking the appropriate corrective action
The axis stops immediately without
1104 ! ! ! ! (M1608+20n) was turned ON while an axis for the servo error, the axis can be restarted.
decelerating.
was in motion.
• The power supply to the servo amplifier was • Turn ON the power supply to the servo
turned OFF while an axis was in motion. amplifier.
1105 ! ! ! ! M1615+20n turned OFF.
(Servo not installed status detected, cable • Check the cable to servo amplifier connecting
fault, etc.) cable.

APP − 17
APPENDICES

(3) Absolute System Errors (1200 to 1299)

The errors shown in this section are those detected in an absolute system.
Error codes, error causes, error processing, and corrective actions are shown
in Table 2.13.

Table 2.13 Absolute System Error List (1200 to 1299)

Control Mode

Position Follow-Up Control

Speed/Position Switching

Manual Pulse Generator

Home Position Return

Error Error
Error Cause Corrective Action
Code Processing
Fixed-Pitch Feed

Speed Switching

Constant Speed
Positioning

Speed

OSC
JOG

• When the servo amplifier power was switched Home • Check the battery of the CPU module and
ON, a sum check error occurred with the backup position execute a home position return.
data in the controller. return
1201 • Home position return has not been performed. request ON
• CPU module battery error.
• Home position return has been performed, but
not completed.
• When the servo amplifier power is turned ON, a Home • Check the motor and encoder cables and
communication error in communication between position perform home position return again.
the servo amplifier and encoder occurs. return
1202*
request ON,
servo error
2016 set.
• During operation, the amount of change in the • Check the motor and encoder cables.
encoder present value complies with the
following expression: "Amount of change in
encoder present value/3.5 ms > 180° of motor
1203*
revolution"
After the servo amplifier power has been turned
ON, a continual check is performed (in both
No
servo ON and OFF states).
Processing
• During operation, the following expression holds:
"Encoder present value (PLS) ≠ feedback
present value (PLS) (encoder effective bit
1204* number)".
After the servo amplifier power has been turned
ON , a continual check is performed (in both
servo ON and OFF states).

*: These errors occur only when using MR-H-B and MR-J2-B servo amplifiers.

(4) System errors (1300 to 1399/1500 to 1599)

These are errors which are detected at power-on.
Table 2.14 lists the error codes, error causes, error processings and corrective
actions.

Table 2.14 Main Base Side (1300 to 1399/1500 to 1599) List

Control Mode
Manual Pulse Generator

Home Position Return

Error
Error Cause Error Processing Corrective Action
Code
Positioning

JOG

• Initial communication with the servo system • Change the servo system CPU.
1310 CPU is not completed normally. Positioning control does not start.
• Servo system CPU fault

APP − 18
APPENDICES

Appendix 2.4 Servo Errors

The servo errors include the servo amplifier errors and servo power supply module
errors.
You can set to each line the processings to be performed on detection of servo
errors. (Only the servo errors detected by the ADU (when A273UHCPU is used))
Specify the processings and lines in the system settings of the peripheral device.
Setting Control
Line-by-line servo OFF (default) • When a servo error has occurred in any of the ADU axes, all axes in that
1 line are put in servo OFF status. (Control exercised is the same as at all-
axis servo OFF.)
Only own axis servo OFF • Only the ADU axis where a servo error has occurred is placed in servo
OFF status and no influence is given to the other axes.
• However, note that:
1) For the 2 axes/1 module type, both axes are put in servo OFF status if a
servo error has occurred in one axis.
2) The line-by-line servo OFF status is established if any of the following
2
servo errors occurs.
Overcurrent (2032)
Undervoltage (2810)
Excessive regeneration (2830)
Overvoltage (2833)
Amplifier power supply overheat (2847)

(1) Servo amplifier errors (2000 to 2799)

The servo amplifier errors are detected by the servo amplifier and assigned
error codes 2000 to 2799.
The servo errors include errors in the ADU and errors in the MR- -B.
For the servo amplifier types, the ADU is abbreviated to A and the MR- -B
to M .
When any of the servo amplifier errors occurs, the servo error detection signal
(M2408+20n) turns ON. Eliminate the error cause and turn ON the servo error
reset (M3208+20n) to reset the servo error, and make a restart. (However, the
servo error detection signal will not turn ON for any of the error codes 2100 to
2499 as they are warning.)
Note: 1. For regenerative alarm protection (error code 2030) and overload
protection 1, 2 (error code 2050, 2051), the status when the protective
circuit was activated is still retained in the servo amplifier after
activation. The data stored is cleared when the external power is
switched OFF, but is not cleared by the RESET signal.
2. If the external power is switched OFF repeatedly to reset any of the
error codes 2030, 2050 and 2051, overheat may lead to damage to
the devices. Therefore, resume operation after removing the cause
without fail.
The servo error definitions are given in Table 2.15.

! CAUTION

If a controller or servo amplifier self-diagnostic error has occurred, make check in accordance
with this manual and restore to normal.

APP − 19
APPENDICES

Table 2.15 Servo Amplifier Error (2000 to 2799) List

Error Amplifier Error Cause Process-
Error Check Timing Corrective Action
code Type Name Definition ing
• P-N of the servo power supply module are • Reconsider wiring.
A P-N non-wiring
not wired to P-N of the ADU.
• The power supply voltage is less than • Measure the input voltage (R,
160VAC. S, T) with a voltmeter.
2010 • Instantaneous power failure occurred for Any time • On an oscilloscope, check for
M Undervoltage longer than 15msec. an instantaneous power failure.
• Due to power supply capacity shortage, the • Reconsider the power supply
power supply voltage dropped at a start or capacity.
the like.
Internal memory • ADU's SRAM fault. • At power-on of servo • Change the ADU.
A
alarm amplifier
• Servo amplifier's SRAM is faulty. • At power-on of servo • Change the servo amplifier.
• Servo amplifier's EPROM checksum does amplifier
not match • On PC ready
2012
(M2000) leading
M Memory alarm 1
edge
• At servo error reset
• At power-on of servo
system CPU
2013 M Clock alarm • Servo amplifier's clock is faulty. • Change the servo amplifier.
• Servo control system fault. • Reset and recheck the servo
A Any time
system CPU.
2014 Watchdog • ADU fault. • Change the ADU.
• Servo amplifier hardware is faulty. Imme- • Change the servo amplifier.
M
• Servo system CPU hardware is faulty. diate • Change the servo system CPU.
• ADU's 2-port memory fault. • At power-on of servo stop • Reset and recheck the servo
2-port memory
A amplifier system CPU.
alarm
• At servo error reset • Change the ADU.
• Servo amplifier's EEPROM is faulty. • At power-on of servo • Change the servo amplifier.
amplifier
2015 • On PC ready
(M2000) leading
M Memory alarm 2
edge
• At servo error reset
• At power-on of servo
system CPU
• At initialization, communication with encoder • At power-on of servo • Reset and recheck the servo
is not normal. amplifier system CPU.
• The encoder type (ABS/INC) set in system • At servo error reset • Change the servo motor
A
settings differs from the actual encoder type. (encoder).
• Reconsider the system
settings.
Detector alarm • Communication with encoder is in error. • At power-on of servo • Check the detector cable
2016
1 amplifier connector for disconnection.
• On PC ready • Change the servo motor.
(M2000) leading • Change the detector cable.
M
edge • Check the combination of
• At servo error reset detector cable type (2-wire/4-
• At power-on of servo wire type) and servo
system CPU parameter.

APP − 20
APPENDICES

Table 2.15 Servo Amplifier Error (2000 to 2799) List (Continued)

Error Amplifier Error Cause Process-
Error Check Timing Corrective Action
Code Type Name Definition ing
• ADU's analog-to-digital converter is faulty. • At power-on of servo • Reset and recheck the servo
A amplifier system CPU.
• At servo error reset • Change the ADU.
• Device on the servo amplifier board is faulty. • At power-on of servo • Change the servo amplifier.
amplifier
2017 Board alarm • On PC ready
(M2000) leading
M
edge
• At servo error reset
• At power-on of servo
system CPU
• Servo amplifier's flash ROM checksum does • At power-on of servo • Change the servo amplifier.
not match. amplifier
• On PC ready
(M2000) leading
2019 M Memory alarm 3
edge
• At servo error reset
• At power-on of servo
system CPU
• During operation, communication with the • Check wiring between the
Detector alarm encoder is not normal. encoder and ADU.
A
2 • Change the servo motor
(encoder).
2020
• Communication with the encoder is in error. • Check the detector cable
Detector alarm connector for disconnection.
M Imme-
2 • Change the servo motor.
Any time diate
• Change the detector cable.
stop
• U, V or W of the servo amplifier is in ground • Use a multimeter to check
fault. across U, V, W terminals and
Output side earth.
2024 M
ground fault • Use a multimeter and megger
to check across U, V, W
terminals and core.
• In the absolute value encoder, the voltage of • At power-on of servo • Change the battery (MR-JBAT-
the super capacitor in the encoder is less amplifier ).
Absolute
A than 2.5±0.2V. • At servo error reset • Check the wiring between
position erase
• In the absolute value encoder, speed was encoder and ADU.
500rpm or higher during a power failure.
• Reduction in the voltage of the super • At power-on of servo • Switch power on for a few
capacitor in the absolute value encoder amplifier minutes, charge the super
• On PC ready capacitor, then switch power
2025
(M2000) leading from OFF to ON, and make
edge home position setting.
M Battery alarm • Battery voltage reduction. • At servo error reset • After powering off the servo
• At power-on of servo amplifier, measure the battery
system CPU voltage.
• Battery cable or battery fault. (After • Change the servo amplifier
deactivating the error, home position return battery.
must be made again.)
• The servo parameter (system settings) does • At power-on of servo • Reconsider the system
Module
2026 A not match the actual servo amplifier. amplifier settings.
mismatch
• At servo error reset

APP − 21
APPENDICES

Table 2.15 Servo Amplifier Error (2000 to 2799) List (Continued)

Error Amplifier Error Cause Process-
Error Check Timing Corrective Action
Code Type Name Definition ing
• The ON/OFF frequencies of the • Check the regenerative level
regenerative power transistor are too high. (%) of the servo monitor and
(Be careful as the regenerative brake reduce the
resistor may overheat.) acceleration/deceleration
frequencies or feedrate.
• Decrease the load.
• Increase the servo motor
capacity.
Excessive • Servo parameter (system settings) setting • Check the servo parameters
2030 M mistake. (regenerative brake resistor
regeneration
and motor type set in system
settings).
• Regenerative brake resistor wiring mistake. • Connect the regenerative
brake resistor properly.
• Regenerative brake resistor fault. • Change the regenerative
brake.
• The regenerative power transistor was • Change the servo amplifier.
damaged in short circuit status.
• The command speed is too high. • Reconsider the command
speed.
• Overshoot occurred during acceleration. • Reconsider the servo
A parameter.
• Encoder fault. • Change the encoder.
• Encoder cable fault or wiring mistake. Any time • Check the wiring between
encoder and ADU.
• The motor speed is higher than 115% of the • Check the motor speed in the
rated speed. servo parameter.
• Check whether the number of
Imme-
pulses per revolution and the
diate
travel per revolution in the fixed
stop
parameters match the machine
specifications.
2031 Overspeed • The acceleration/deceleration time constant • If overshoot occurs during
is too small, resulting in overshoot. acceleration/deceleration,
check the acceleration and
deceleration times in the fixed
M parameters.
• The servo system is instable to cause • If overshoot occurs, adjust the
overshoot. position loop gain/position
control gain 1, 2, speed loop
gain/speed control gain 1, 2 in
the servo parameters or
increase the speed integral
compensation.
• Detector fault. • Check the detector cable for
wire breakage.
• Change the servo motor.
• The servo motor connected is not as set. • Reconsider the system
settings.
• The U, V, and W phases of the ADU output • Check the servo motor cable.
resulted in a short circuit or ground fault.
• Wiring mistake of the U, V, and W phases • At power-on of servo • Correct the servo motor wiring.
2032 A Overcurrent of the ADU output. amplifier
• Damage to the ADU's transistor module. • At servo error reset • Change the ADU.
• ADU fault.
• Coupling fault of servo motor and encoder. • Change the servo motor.
• The servo motor oscillated. • Reconsider the servo
parameters.

APP − 22
APPENDICES

Table 2.15 Servo Amplifier Error (2000 to 2799) List (Continued)

Error Amplifier Error Cause Process-
Error Check Timing Corrective Action
Code Type Name Definition ing
• U, V, and W of the servo amplifier output • Check U, V, and W of the
resulted in a short circuit. servo amplifier output for a
short circuit.
• U, V, and W of the servo amplifier output • Check U, V, and W of the
resulted in a ground fault. servo amplifier output and the
earth for a ground fault. Check
U, V, and W of the servo
amplifier output and the core
for a ground fault. If a ground
fault is found, change the servo
amplifier and motor.
2032 M Overcurrent • Wiring mistake of the U, V, and W phases • Correct the wiring.
of the servo amplifier output.
• Damage to the servo amplifier transistor. • Change the servo amplifier.
• Coupling fault of servo motor and encoder. • Change the servo motor.
• Encoder cable fault. • Change the encoder cable.
• The servo motor connected differs from the • Check the connected motor in
setting. the system settings.
• The servo motor oscillated. • Check and adjust the gain
settings in the servo
parameters.
• Noise entered the overcurrent detection • Check for the actuated relay or
circuit. valve in the peripheral.
• The converter bus voltage exceeded 400V. • Increase the acceleration and
• The acceleration frequency was too high deceleration times in the fixed
and exceeded the regenerative capability. parameters.
• Regenerative brake resistor connection • Check connection across C-P
mistake. of the regenerative terminal
block.
• The regenerative brake resistor in the servo • Measure the voltage across C-
amplifier is dead. Imme- P of the regenerative terminal
Any time diate block with a multimeter. If the
2033 M Overvoltage
stop voltage is abnormal, change
the servo amplifier. (Make
measurement about 3 minutes
after the charge lamp has gone
off.)
• The regenerative power transistor has been • Change the servo amplifier.
damaged.
• The power supply voltage is high. • Measure the input voltage (R,
S, T) with a voltmeter.
• Receive data from the servo system CPU is • Check the motion bus cable.
in error. • Check the motion bus cable for
Communication
2034 M wire breakage.
alarm
• Check whether the motion bus
cable is clamped properly.
• The command speed is too high. • Reconsider the command
speed.
A
• Servo system CPU fault. • Change the servo system
CPU.
• The position command variation from the • Check the command speed
servo system CPU is too large or the and the number of pulses per
command speed is too high. revolution and travel per
revolution in the fixed
2035 Data alarm parameters.
• Noise entered the command from the servo • Check connection of the
M system CPU. motion bus cable connector.
• Check the motion bus cable for
wire breakage.
• Check whether the motion bus
cable is clamped properly.
• Check for the actuated relay or
valve in the peripheral.

APP − 23
APPENDICES

Table 2.15 Servo Amplifier Error (2000 to 2799) List (Continued)

Error Amplifier Error Cause Process-
Error Check Timing Corrective Action
Code Type Name Definition ing
• Servo system CPU fault. • Change the servo system
A
CPU.
• Communication with the servo system CPU • Check connection of the
is in error. motion bus cable connector.
2036 Transfer alarm
• Check the motion bus cable for
M
wire breakage.
• Check whether the motion bus
cable is clamped properly.
2042 M Feedback alarm • Encoder signal is in error. • Change the servo motor.
• The ADU fan is at a stop. • Change the ADU fan.
Amplifier fin • The continuous output current of the ADU is • Reduce the load.
A
overheat exceeded.
• ADU's thermal sensor fault. • Change the ADU.
• The heat sin in the servo amplifier is • If the effective torque of the
overheated. servo motor is large, reduce
• Amplifier fault (rated output excess). the load.
• Power ON and OFF are repeated in an • Reduce the
overload status. acceleration/deceleration
• Cooling fault. frequencies.
• Check whether the amplifier
2045 fan is at a stop. (MR-H150B or
more)
M Fin overheat • Check for ventilation
obstruction.
• Check whether the
temperature in the panel is
proper (0 to +55 C ).
• Check whether the
electromagnetic brake is
operated externally during
Imme- operation.
Any time diate • Change the servo amplifier.
• The thermal protector built in the servo stop • Change the servo motor.
motor malfunctioned.
A
• The continuous output of the servo motor is • Reduce the load.
exceeded.
• The servo motor is overloaded. • If the effective torque of the
Servo motor servo motor is large, reduce
2046
overheat the load.
• The servo motor and regenerative brake • Check the ambient
M temperature (0 to +40 C ) of
option are overheated.
the servo motor.
• The thermal protector built in the encoder is • Change the servo motor.
faulty.
• The rated current of the servo motor is • Reduce the load.
exceeded.
A Overload • Load inertia or friction is too large.
• Hunting due to parameter setting mistake. • Reconsider the servo
parameters.
• Overload current of about 200% flew • Check for machine collision.
continuously in the servo amplifier and servo • If the load inertia is extremely
motor. large, increase the
acceleration/deceleration time
2050 constant or reduce the load.
• If hunting has occurred, adjust
the position loop gain in the
M Overload 1
servo parameter.
• Check the U, V, W connections
of the servo amplifier and servo
motor.
• Check the detector cable for
wire breakage.
• Change the servo motor.

APP − 24
APPENDICES

Table 2.15 Servo Amplifier Error (2000 to 2799) List (Continued)

Error Amplifier Error Cause Process-
Error Check Timing Corrective Action
Code Type Name Definition ing
• The servo amplifier and servo motor are • Check for machine collision.
overloaded near the maximum torque (more • If the load inertia is extremely
than 95% of the current limit value). large, increase the
acceleration/deceleration time
constant or reduce the load.
• If hunting has occurred, adjust
the position loop gain/position
control gain 1, 2, speed loop
gain/speed control gain 1, 2 in
the servo parameters.
2051 M Overload 2
• Check the U, V, W connections
of the servo amplifier and servo
motor.
• Check the detector cable for
wire breakage.
• Change the servo motor.
• If the bus voltage in the servo
amplifier is low (the charge
lamp is off), change the servo
Imme- amplifier.
• The deviation counter value exceeded the diate • Reconsider the servo
specified value. stop parameters.
A • Inertia is too large to make enough
acceleration.
• Encoder or cable fault. • Change the encoder or cable.
• A difference between servo amplifier • Check for machine collision.
command pulses and feedback pulses • Increase the
exceeded 80000 pulses. acceleration/deceleration time
constant.
2052 Error excessive • Increase the position loop
gain/position control gain 1, 2
in the servo parameters.
M
Any time • Check the detector cable for
wire breakage.
• Change the servo motor.
• If the bus voltage in the servo
amplifier is low (the charge
lamp is off), change the servo
amplifier.
2057 A Hardware alarm • ADU hardware fault. • Change the ADU.

RS232 • Parameter unit communication error • Check the parameter unit cable
2086 M communication for wire breakage.
alarm • Change the parameter unit.
• The absolute value encoder battery voltage • Change the battery (MR-JBAT-
A ).
dropped.
2102 Battery warning
• The voltage of the battery loaded in the • Change the battery.
M
servo amplifier dropped.
• The power supply voltage supplied to the • Change the battery.
absolute position detector dropped. • Check the detector cable for
Open battery
2103 M wire breakage.
cable warning
• Change the servo motor.
Con- • Change the servo amplifier.
• An excessive regeneration error (2030) may tinued • Refer to details of the
Excessive
occur. (The 85% level of the max. load excessive regeneration error
2140 M regeneration
capacity was detected in the regenerative (2030).
warning
brake resistor)
• The 80% level of the overload error (2050) • Refer to details of the overload
A
Overload level was detected. error (2050).
2141
warning • An overload error (2050, 2051) may occur. • Refer to details of the overload
M
(85% level was detected) error (2050, 2051).
Absolute value • Encoder fault. • Change the encoder.
2143 A
counter warning
Servo • 1A-1B (emergency stop input) of the servo • Short 1A-1B of the servo
2146 M
emergency stop amplifier connector CN6 were disconnected. amplifier connector CN6.

APP − 25
APPENDICES

Table 2.15 Servo Amplifier Error (2000 to 2799) List (Continued)

Error Amplifier Error Cause Process-
Error Check Timing Corrective Action
Code Type Name Definition ing

A • Brought to an emergency stop. Imme- • Reset the emergency stop.

2147 Emergency stop • The emergency stop (EMG) signal is input diate
M stop
from the servo system CPU.
• The servo ON (SON) signal was turned ON • Turn ON the main circuit
Main circuit OFF when the contactor is OFF. contactor or main circuit power.
2149 M
warning • At not more than 50RPM, the main circuit
bus voltage dropped to or below 215V.
Home position • After the home position setting command is • Make a home position return
2196 M setting error given, the droop pulse value did not fall again.
warning within the in-position range.
• The parameter that was set is unauthorized. • Reconsider the system settings
2201 Amplifier setting and servo parameters.
2202 Motor type
2203 Motor capacity
2204 Number of feedback pulses
2205 In-position range
Position control gain 2
2206
(actual position gain)
Speed control gain 2
2207
(actual speed gain)
2208 Speed integral compensation
Any time
Forward rotation torque limit
2209 Con-
value
tinued
Reverse rotation torque limit
2210
value
2201 Emergency stop time delay
Parameter 2211
to A Position control gain 1
warning
2224 2212
(model position gain)
Speed control gain 1
2213
(model speed gain)
2214 Load inertia ratio
2215 Error excessive alarm level
2216 Special compensation processing
2217 Special servo processing
2218 Td dead zone compensation
2219 Feed forward gain
2220 Unbalance torque compensation
2221 Dither command
2222 Gain operation time
2223 Servo response level setting
2224 −

APP − 26
APPENDICES

Table 2.15 Servo Amplifier Error (2000 to 2799) List (Continued)

Error Amplifier Error Cause Process-
Error Check Timing Corrective Action
Code Type Name Definition ing
• The servo parameter value is outside the • Reconsider the setting ranges
setting range. (Any unauthorized parameter of the servo parameters.
is ignored and the value before setting is
retained.)
2301 Amplifier setting
2302 Regenerative brake resistor
2303 Motor type
2304 Motor capacity
2305 Motor speed
2306 Number of feedback pulses
2307 Rotation direction setting
2308 Auto tuning setting
2309 Servo response level setting
Forward rotation torque limit
2310
value
Reverse rotation torque limit
2311
value
2312 Load inertia ratio
2313 Position control gain 1
2314 Speed control gain 1
2315 Position control gain 2
2316 Speed control gain 2
2301
Parameter 2317 Speed integral compensation Con-
to M 2318 Notch filter selection
Any time
alarm tinued
2336
2319 Feed forward gain
2320 In-position range
Electromagnetic brake sequence
2321
output
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 Prealarm data selection
2330 Zero speed
2331 Error excessive alarm level
2332 Optional function 5
2333 Optional function 6
2334 PI-PID switching position droop
2335 Torque limit compensation factor
Speed differential compensation
2336 (actual speed differential
compensation)

APP − 27
APPENDICES

Table 2.15 Servo Amplifier Error (2000 to 2799) List (Continued)

Error Amplifier Error Cause Process-
Error Check Timing Corrective Action
Code Type Name Definition ing
• The servo parameter value is outside the • Reconsider the setting ranges
setting range. (Any unauthorized parameter of the servo parameters.
is ignored and the value before setting is
retained.)
2301 Amplifier setting
2302 Motor type
2303 Motor capacity
2304 Number of feedback pulses
2305 In-position range
Position control gain 2
2306
(actual position gain)
Speed control gain 2
2307
(actual speed gain)
2308 Speed integral compensation
Forward rotation torque limit
2309
value
2301 Reverse rotation torque limit
Parameter 2310
to A value Any time
alarm Emergency stop time delay
2324 2311
Position control gain 1
2312
(model position gain) Con-
Speed control gain 1 tinued
2313
(model speed gain)
2314 Load inertia ratio
2315 Error excessive alarm level
2316 Special compensation processing
2317 Special servo processing
2318 Td dead zone compensation
2319 Feed forward gain
2320 Unbalance torque compensation
2321 Dither command
2322 Gain operation time
2323 Servo response level setting
2324 −

• Among the servo parameters, any of the • At power-on of servo • Reconsider the system settings
following items is unauthorized. amplifier and servo parameters.
• Amplifier • At servo error reset
Parameter
2500 A • External regenerative brake resistor
alarm
setting
• Motor type
• Motor capacity

APP − 28
APPENDICES

Table 2.15 Servo Amplifier Error (2000 to 2799) List (Continued)

Error Amplifier Error Cause Process-
Error Check Timing Corrective Action
Code Type Name Definition ing
• The parameter that was set is unauthorized. • At power-on of servo • Reconsider the system settings
2501 Amplifier setting amplifier and servo parameters.
2502 Motor type • On PC ready
(M2000) leading
2503 Motor capacity
edge
2504 Number of feedback pulses
• At servo error reset
2505 In-position range
Position control gain 2
2506
(actual position gain)
Speed control gain 2
2507
(actual speed gain)
2508 Speed integral compensation
Forward rotation torque limit
2509
value
Reverse rotation torque limit
2510
value
2501 2511 Emergency stop time delay
Parameter Con-
to A Position control gain 1
alarm tinued
2524 2512
(model position gain)
Speed control gain 1
2513
(model speed gain)
2514 Load inertia ratio
2515 Error excessive alarm level
2516 Special compensation processing
2517 Special servo processing
2518 Td dead zone compensation
2519 Feed forward gain
2520 Unbalance torque compensation
2521 Dither command
2522 Gain operation time
2523 Servo response level setting
2524 −

APP − 29
APPENDICES

Table 2.15 Servo Amplifier Error (2000 to 2799) List (Continued)

Error Amplifier Error Cause Process-
Error Check Timing Corrective Action
Code Type Name Definition ing
• The parameter setting is wrong. • At power-on of servo • After checking and correcting
• The parameter data was corrupted. amplifier the parameter setting, turn the
2601 Amplifier setting • On PC ready servo system CPU power from
2602 Regenerative brake resistor (M2000) leading OFF to ON or turn PC ready
2603 Motor type edge (M2000) from OFF to ON.
• At servo error reset
2604 Motor capacity
• At power-on of servo
2605 Motor speed
system CPU
2606 Number of feedback pulses
2607 Rotation direction setting
2608 Auto tuning setting
2609 Servo response level setting
Forward rotation torque limit
2610
value
Reverse rotation torque limit
2611
value
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
2601 Imme-
Initial parameter 2618 Notch filter selection
to M diate
alarm 2619 Feed forward gain
2636 stop
2620 In-position range
Electromagnetic brake sequence
2621
output
2622 Monitor output mode
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 Prealarm data selection
2630 Zero speed
2631 Error excessive alarm level
2632 Optional function 5
2633 Optional function 6
2634 PI-PID switching position droop
2635 Torque limit compensation factor
Speed differential compensation
2636 (actual speed differential
compensation)

APP − 30
APPENDICES

Table 2.15 Servo Amplifier Error (2000 to 2799) List (Continued)

Error Amplifier Error Cause Process-
Error Check Timing Corrective Action
Code Type Name Definition ing
• The parameter setting is wrong. • At power-on of servo • After checking and correcting
• The parameter data was corrupted. amplifier the parameter setting, turn the
2601 Amplifier setting • On PC ready servo system CPU power from
2602 Motor type (M2000) leading OFF to ON or turn PC ready
edge (M2000) from OFF to ON.
2603 Motor capacity
• At servo error reset
2604 Number of feedback pulses
• At power-on of servo
2605 In-position range system CPU
Position control gain 2
2606
(actual position gain)
Speed control gain 2
2607
(actual speed gain)
2608 Speed integral compensation
Forward rotation torque limit
2609
value
Reverse rotation torque limit
2610
value
2601 Imme-
Initial parameter Emergency stop time delay
to A 2611 diate
alarm
2624 Position control gain 1 stop
2612
(model position gain)
Speed control gain 1
2613
(model speed gain)
2614 Load inertia ratio
2615 Error excessive alarm level
2616 Special compensation processing
2617 Special servo processing
2618 Td dead zone compensation
2619 Feed forward gain
2620 Unbalance torque compensation
2621 Dither command
2622 Gain operation time
2623 Servo response level setting
2624 −

APP − 31
APPENDICES

(2) Servo power supply module errors (2800 to 2999)

The servo power supply module errors are detected by the servo amplifier and
assigned error codes 2800 to 2999.
When any of the servo errors occurs, the servo error detection signal
(M2408+20n) turns ON. Eliminate the error cause and turn ON the servo error
reset (M3208+20n) to reset the servo error, and make a restart. (However, the
servo error detection signal will not turn ON for any of the error codes 2900 to
2999 as they are warning.)
Note: 1. For regenerative alarm protection (error code 2830), the status when
the protective circuit was activated is still retained in the servo amplifier
after activation. The data stored is cleared when the external power is
switched OFF, but is not cleared by the RESET signal.
2. If the external power is switched OFF repeatedly to reset the error code
2830, overheat may lead to damage to the devices. Therefore, resume
operation after removing the cause without fail.
The servo power supply module error definitions are given in Table 2.16.

Table 2.16 Servo Power Supply Module Error (2800 to 2999) List
Error Cause Error Check
Error code Processing Corrective Action
Name Definition Timing
• The power supply voltage of the servo • Reconsider the power supply
power supply module fell below 170VAC. equipment.
2810 Undervoltage • Instantaneous power failure occurred.
• Load is too large. • Reconsider the power supply
equipment.
• High-duty operation or continuous • Reconsider the operation
regenerative operation caused the max. pattern, e.g. decrease the
load capacity of the regenerative brake acceleration/deceleration
resistor to be exceeded. frequencies or reduce the
Excessive speed.
2830
regeneration • Regenerative power transistor was • Change the servo power supply
damaged. module.
• Regenerative brake resistor setting mistake • Reconsider the system
in system settings settings.
• Regenerative brake resistor wiring mistake. Immediate stop • Correct the wiring.
• Regenerative brake resistor connection • Correct the wiring.
Any time
mistake.
• Regenerative power transistor was • Change the servo power supply
damaged. module.
2833 Overvoltage
• Regenerative brake resistor is dead. • Change the regenerative brake
resistor.
• Power supply voltage is high. • Reconsider the power supply
equipment.
• The servo power supply module fan is at a • Change the fan.
stop.
Amplifier power • The continuous output current of the servo • Reduce the load.
2847
supply overheat power supply module is exceeded.
• Thermal sensor fault. • Change the servo power supply
module.
Excessive • 80% level of the excessive regeneration • Refer to details of the
2940 regeneration error (2830) was detected. Continued excessive regeneration error
warning (2830).

APP − 32
APPENDICES

Appendix 2.5 PC Link Communication Errors

Table 2.17 PC Link Communication Error Codes

Error Codes
Error Description Action to Take
Stored in D9196
A receiving packet for PC link • Check whether the PC has been switched
communication does not arrive. ON.
The arrival timing of the receiving • Check whether the communication cable
packet is too late. has been connected firmly.
01
• Check whether the communication cable
has been broken.
• Check whether the A30BD-PCF or A30CD-
PCF has been mounted normally.
A receiving packet CRC code is • Check whether there is a noise source near
invalid. the PC.
• Check whether the communication cable
02
has been connected firmly.
• Check whether the communication cable
has been broken.
A receiving packet data ID is • Check whether the A30BD-PCF or A30CD-
03 invalid. PCF has been mounted normally.
• Replace the A30BD-PCF or A30CD-PCF.
The number of received frames is • Check whether the communication cable
invalid. has been connected firmly.
• Check whether the communication cable
04
has been broken.
• Check whether there is a noise source near
the PC.
A PC communication task is not • Start the PC communication task.
05
active yet.

APP − 33
APPENDICES

Appendix 2.6 LED Indications when Errors Occur at the PCPU

<A172SHCPUN/A171SHCPUN>
When the errors listed below occur, they are indicated by the "ERROR" LED on the
front panel of the A172SHCPUN, and the LED on the front panel of the
A171SHCPUN. The error message can be read on the error list monitor screen of
the peripheral device.
For details on the operating procedure, refer to the operating manual for the
peripheral device.
Table 2.18 LED Indications When Errors Occur at PCPU
"ERREOR"LED
Operation when
!:Lit Error Cause Error Check Timing
Error Occurs
Error Set Device Corrective Action
":Not lit
• The slot set in the "system settings" has nothing mounted When power • Start is disabled. • System setting • Set the "system
!
in it, or has a different module mounted in it. switched ON error flag (M2041) settings" correctly
• Axis number settings are duplicated in the "system On resetting with the ON in accordance with
! RESET key switch the modules
settings".
• Not even one axis No. has been set in the "system actually mounted,
! then reset with the
settings".
• No system setting data has been written. RESET key switch.
• The system setting data has been written without
! performing a relative check. Or it has been written
although an error occurred in the relative check.
• There is no battery in the memory cassette.
• An axis No. that exceeds the "number of controlled axes"
!
setting in the "system settings" has been set.
• The total number of I/O points of the PC I/O modules set in
!
motion slots in the "system settings" exceeds 256.
• The amplifier type set in the "system settings" (MR-H- When the servo • Servo operation
B/MR-J-B/MR-J2-B) disagrees with the amplifier type amplifier power is does not start for
actually installed (MR-H-B/MR-J-B/MR-J2-B). turned ON the relevant axis
!
only. Starting of
this axis is
disabled.
• In the case of MR- • Servo error • Ellminate the error
For servo error H-B, MR-J-B and detection flag cause and perform
! MR-J2-B axes, (M1608+20n) ON a servo error reset.
only the relevant • Servo error code After servo error
axis enters the device reset. If the servo
servo OFF status. (D808+20n) set status is normal at
• Occurrence of a servo error or servo warming
• In the case of all axes, the LED
• When using the LED does not light for a warning.
ADU axes, display is cleared.
For warning
according to the
" setting of
At all times "corrective action
for ADU servo
errors".
• Detection of motion slot module abnormality (module • Motion slot module • Switch off the
comes out, or is loose, during operation) error detection flag power and mount
! −
(M2047) ON the module
correctly.
• Occurrence of a PCPU WDT error • immediate stop of • PCPU WDT error • See Section 3.5.2.
all axes flag (M9073) ON
!
• PCPU WDT error
cause (D9184) set

REMARK
Numerical values corresponding to axis numbers are entered for "n" in Table
2.18 (error set device).
<A172SHCPUN> <A171SHCPUN>
Axis No. n Axis No. n
1 0 1 0
2 1 2 1
3 2 3 2
4 3 4 3
5 4
6 5
7 6
8 7

APP − 34
APPENDICES

<A273UHCPU (32-axis feature)/A173UHCPU(S1)>

When any of the errors listed below occurs, it is indicated on the LED on the front
panel of the A273UHCPU. The error message can be read on the "error list
monitor" screen of the peripheral device.
For the operating procedure, refer to the operating manual of the peripheral device.

Table 2.19 LED Indications at Error Occurrence on PCPU

A173UHCPU(S1)
"ERREOR"LED A273UHCPU Front LED Operation when
Error Cause Error Check Timing Error Set Device Corrective Action
!:Lit Indication Error Occurs
":Not lit
• The slot set in "system • Start is disabled. • System setting • Match "system
L AY E R R OR ( SL )
! settings" contains no or error flag (M2041) settings" with the
(*1) Base No.+Slot No. different module. ON actual module and
reset with the reset
• There are overlapping axis
key.
! AXI S N O . MU L T I D E F
number settings in "system
settings".
• Not one axis number is set
! AM P NO S ET T I NG
in "system settings".

• When the ADU axis is set

in "system settings", the
− PW NO S ET T I NG servo power supply module
(A230P) is not set.
• "System settings data" is
At power-on
not written.
• "System settings data" was At reset with reset
written without relative key
! SY S . S E T D A T A E RR
check, or was written with
an error found in relative
check.
• Memory cassette battery is
dead.
• The axis number set in
"system settings" is greater
! A X I S N O. E R R OR than the number of control
axes.
• The total I/O points of the
PC I/O modules set to the
! I / O P O I N T S OV ER
motion slots in "system
settings" are greater than
256 points.
• The amplifier type (MR-H- • Only the
B/MR-J-B/MR-J2-B) set in corresponding axis
AM P T Y P E E R RO R "system settings" differs At power-on of servo is not put in servo
!
Axis No. (01 to 32) from the actual amplifier amplifier ON status and
type (MR-H-B/MR-J-B/MR- cannot be started.
J2-B).
• ADU hardware fault. • The corresponding • Servo error • Change the ADU.
ADU axis cannot detection flag
ADU E R R OR ( SL )
At power-on
be placed in servo (M2408+20n) ON
− (At reset with reset
(*1) Base No.+Slot No. ON status. • Servo error code
key) device (D08+20n)
set

APP − 35
APPENDICES

Table 2.19 LED Indications at Error Occurrence on PCPU (Continued)

A173UHCPU(S1)
"ERREOR"LED A273UHCPU Front LED Operation when
Error Cause Error Check Timing Error Set Device Corrective Action
!:Lit Indication Error Occurs
":Not lit
At servo error • Servo error or warning • For the MR-H- • Servo error • Remove the error
SV . ERRO R ( )
! occurrence B/MR-J-B/MR-J2- detection flag cause and reset
Servo error code Axis No. B axis, only that (M2408+20n) ON the servo error. If
(01 to 32) axis is put in servo • Servo error code the servos of all
(**) indicates that the code is
OFF status. device (D08+20n) axes return to
common to all axes.
• For the ADU axis, set normal after servo
At warning processing is error reset, the
" performed in LED indication
accordance with goes off.
the setting of "ADU
servo error
processing".
• Servo power supply • In that line, all
SV . E RRO R ( P ) module (A230P)-detected axes are put in
Servo error code servo error or warning servo OFF status.
occurrence
Indicates the "n"th servo
power supply module.

• Servo power supply • In that line, all • Major error • Remove the error
SY S . E RR . ( P ) Any time
module (A230P)-detected axes are put in detection flag cause and give all-
System error code system error (major error) servo OFF status. (M2407+20n) ON axis servo ON
(major error) detected occurrence • Major error code command. If all
by servo power supply device (D07+20n) axes are put in
module set servo ON status
Indicates the "n"th servo
properly, the LED
power supply module.
goes off.
* indicates the system error
which is independent of the
servo power supply module
line.

• Motion slot module fault • Motion slot module • Switch power off
SL UN I T E RRO R
detection (During fault detection flag and load the
! (*1) Base No.+Slot No. −
operation, the module has (M2047) ON module properly.
come off or is coming off)
• PCPU WDT error • All axes stop • PCPU WDT error • Refer to Sections
PC PU WD T E RR.
occurrence immediately. flag (M9073) ON 3.3, 3.4.
! PCPU WDT error code • PCPU WDT error
cause (D9184) set

(*1) Indicates the base number, slot number and slot information in error.
(SL )

Slot Number in error

0: I/O slot 0

7: I/O slot 7
Base number in error
0: Main base
1: Motion extension base 1
2: Motion extension base 2
3: Motion extension base 3
4: Motion extension base 4
REMARKS
n in Table 2.19 (Error Set Device) is the value corresponding to the axis number.
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 the device number corresponding to each axis as described below.

M2408+20n (servo error detection flag) = M2408 + 20 × 31 = M3028
D07+20n (major error code device) = D07 + 20 × 31 = D627

APP − 36
APPENDICES

APPENDIX 3 SPECIAL RELAYS AND SPECIAL REGISTERS

Appendix 3.1 Special Relays (SP, M)

The special relays are internal relays with fixed applications in the programmable
controller. Accordingly, they must not be turned ON and OFF in sequence
programs (those marked *1 and *2 in the table are exceptions).

Table 3.1 Special Relay List

Number Name Stored Data Explanation
OFF Normal
*1 ! Comes ON even if there is only one output module with a blown fuse,
M9000 Fuse blown ON There is a module with a blown
and remains ON even after return to normal.
fuse.
*1 OFF Normal ! Comes ON if there is a discrepancy between the actual I/O modules
M9002 I/O unit verify error
ON Error and the registered information when the power is turned on.
*1 OFF AC DOWN detected ! Comes ON when there is a momentary power interruption not
M9005 AC DOWN detection
ON AC DOWN not detected exceeding 20 ms; reset by turning the power OFF then ON again.
OFF Normal ! Comes ON when the battery voltage falls below the stipulated value;
M9006 Battery low
ON Low battery voltage goes OFF when normal battery voltage is re-established.
*1 OFF Normal ! Comes ON when the battery voltage falls below the stipulated value;
M9007 Battery low latch
ON Low battery voltage remains ON even after normal battery voltage is re-established.
*1 OFF No error
M9008 Self-diagnostic error ! Comes ON when an error occurs as a result of self-diagnosis.
ON Error
OFF No F number detected ! Comes ON when OUT F, SET F instructions are executed.
M9009 Annunciator detection
ON F number detected Goes OFF when 0 is stored in D9124.
OFF No error ! Comes on when an operation error occurs during execution of an
M9010 Operation error flag
ON Error application instruction; goes OFF when the error is cleared.
*1 OFF No error ! Comes on when an operation error occurs during execution of an
M9011 Operation error flag
ON Error application instruction; remains ON even after the error is cleared.
OFF Carry OFF
M9012 Carry flag ! Carry flag used in an application instruction.
ON Carry ON
! When M9016 is ON, all data memory contents, including those in the
OFF No processing latch range but with the exception of special relays/registers, are
M9016 Data memory clear flag
ON Output cleared cleared on reception of remote RUN from a computer or other
device.
! When M9017 is ON, all data memory contents that are not latched,
OFF No processing
M9017 Data memory clear flag with the exception of special relays/registers, are cleared on
ON Output cleared
reception of remote RUN from a computer or other device.
M9020 User timing clock No.0 ! Relay repeats ON/OFF switching at fixed scan intervals.
! Starts from the OFF status when the power is turned ON or on resetting.
M9021 User timing clock No.1 n2 n2 ! The ON/OFF intervals are set with the DUTY instruction.
Scan Scan
M9022 User timing clock No.2
n1 DUTY n1 n2 M9020
M9023 User timing clock No.3 Scan

M9024 User timing clock No.4

APP − 37
APPENDICES

Table 3.1 Special Relay List (Continued)

Number Name Stored Data Explanation
! Writes the clock data stored in D9025 to D9028 to the clock devices
*1 OFF No processing
M9025 Clock data set request after execution of the END instruction in the scan in which M9025 is
ON Data set request
switched ON.
OFF No error ! Comes ON when there is an error in he clock data (D9025 to D9028)
M9026 Clock data error
ON Error values. OFF when there is no error.
*2 OFF No processing ! When M9029 is ON, the clock data is read to D9025 to D9028 as
M9028 Clock data read request
ON Read request BCD data.

0.05 0.05
M9030 0.1 second clock SEC. SEC.

0.1 0.1
M9031 0.2 second clock SEC. SEC.
! These relays generate the 0.1 second, 0.2 second, 1 second, 2
second, and 1 minute clocks.
0.5 0.5 ! These relays do not go ON/OFF with each scan but when their
M9032 1 second clock SEC. SEC. respective fixed intervals have elapsed, even during a scan.
! These relays start from the OFF status when the power is turned on
1 1 or resetting.
M9033 2 second clock SEC. SEC.

30 30
M9034 1 minute clock
SEC. SEC.

ON
M9036 Always ON
OFF
! Relay used for initialization during a sequence program or as a
ON
dummy contact for an application instruction.
M9037 Always OFF ! M9036 and M9037 retain their ON or OFF status regardless of the
OFF settings of the key switch on the front of the CPU, but M9038 and
M9039 change in accordance with the key switch status. They go
ON OFF when the key switch is set to the STOP position.
ON for 1 scan only after
M9038 1 scan When the key switch is at a position other than STOP, M9038 comes
RUN
OFF ON for one scan only, and M9039 goes OFF for one scan only.

ON
RUN flag (OFF for 1 scan
M9039 1 scan
only after RUN)
OFF
OFF PAUSE disable
M9040 PAUSE enable coil ! When the RUN/STOP key switch is set to PAUSE or the remote
ON PAUSE enabled
PAUSE contact is turned on, provided M9040 is ON, the PAUSE
OFF PAUSE not in effect
M9041 PAUSE status contact status is established and M9041 comes ON.
ON PAUSE in effect
OFF STOP not in effect
M9042 STOP status contact ! ON when the RUN/STOP key switch is set to STOP.
ON STOP in effect
! Comes ON on completion of the number of sampling traces set in the
Sampling trace OFF Sampling trace in progress
M9043 parameters are completed after execution of the STRA instruction.
completed ON Sampling trace completed
After that, it is reset by execution of the STRAR instruction.
OFF Trace not in progress
M9046 Sampling trace ! ON during execution of a sampling trace
ON Trace in progress
! A sampling trace cannot be executed unless M9047 has been turned
Sampling trace OFF Sampling trace stop
M9047 ON.
preparation ON Sampling trace start
When M9047 is turned OFF, the sampling trace is stopped.
Number of output OFF Output until NUL code ! When M9049 is OFF, output continues until the NUL (00H) code.
M9049
characters selection ON 16 characters output When M9049 is ON, ASCII code for 16 characters is output.
! When M9052 is ON it is executed as the I/O partial refresh
*2 OFF 7-segment display
M9052 SEG instruction switch instruction. When M9052 is ON, it is executed as the 7-segment display
ON I/O part refresh
instruction.
*2 OFF Sequence interrupt control ! Turn ON when a link refresh enable/disable (EI, DI) instruction is
M9053 EI/DI instruction switch
ON Link interrupt control executed.

APP − 38
APPENDICES

Table 3.1 Special Relay List (Continued)

Number Name Stored Data Explanation
OFF STEP RUN not in effect
M9054 STEP RUN flag ! ON when the RUN/STOP key switch is set to the RUN position.
ON STEP RUN in effect
Status latch completion OFF Not completed ! Comes ON when status latch is completed.
M9055
flag ON Completed Goes OFF on execution of a reset instruction.
! Set whether or not the error check shown below is executed on END
instruction processing. (Used to shorten END instruction processing
*2 OFF Error check executed time.)
M9084 Error check
ON No error check (1) Blown fuse check
(2) I/O module verification check
(3) Battery check

POINTS
(1) All special relays, M, are turned OFF by turning the power, OFF,
performing latch clear, or resetting with the RESET key switch.
When the RUN key switch is set to "STOP", the special relay settings are
retained.
(2) The special relays marked "*1" in the table above remain "ON" even after
a return to normal. They must therefore be turned OFF by using one of
the following methods.
(a) Method using the user
program
Insert the ladder block at
right into the program and
turn the reset execution
command contact ON to
clear the special relay.
(b) Method using a peripheral
device Reset execution command
Perform a forced reset RST M9000
using the test function of Enter the special relay
the peripheral device. to be reset here.
For details on this
operation, refer to the
manual for the peripheral
device.
(c) Turn the special relay OFF
by setting the RESET key
switch on the front panel of
the CPU module to
"RESET".
(3) The ON/OFF status of special relays marked "*2" in the table above is
controlled by the sequence program.
(4) The special relays marked *3 are reset only when power is switched from
OFF to ON.

APP − 39
APPENDICES

Appendix 3.2 Special Registers (SP.D)

The special registers are data registers used for specific purposes in the
programmable controller. Therefore, do not write data to the special registers in the
*2
program (with the exception of those whose numbers are marked in the table).
Of the special relays, those from D9180 to D9199 are used for positioning control.

Table 3.2 Special Register List

Number Name Stored Data Explanation
! When modules with a blown fuse are detected, the lowest I/O number of the
detected modules is stored in hexadecimal in this special relay.
(Example: Blown fuses at the output modules Y50 to 6F... "50" is stored in
D9000 Fuse blown Number of module with blown fuse hexadecimal.)
For monitoring at a peripheral device, use hexadecimal display monitor
operations.
(Cleared when the contents of D9100 are all "0".)
! If I/O modules that do not match the registered data are detected when the power
is turned on, the first I/O number of the lowest module number among the
I/O unit verify I/O module verification error detected modules is stored in hexadecimal (the storage method is the same as for
D9002
error module number D9000). When monitoring with a peripheral device, use a hexadecimal display
monitoring operation.
(Cleared when all contents of D9116 to D9123 are reset to zero.)
! 1 is added to the stored value each time the input voltage becomes 80% or less of
*1 AC DOWN
D9005 AC DOWN occurrence count the rating while the CPU module is performing an operation, and the value is
counter
stored in BIN code.
*1 Self-diagnostic ! 1 is added to the stored value when an error is found as a result of self-diagnosis,
D9008 Self-diagnostic error number
error the error number, and the value is stored in BIN code.
! When one of F0 to 255 is turned on by OUT F or SET F , the F number
detected earliest among the F numbers which have been turned on is stored in
BIN code.
Annunciator F number at which external failure
D9009 ! D9009 can be cleared by executing a RST F or LEDR instruction. If another
detection has occurred
F
number has been detected, the clearing of D9009 causes the next number to be
stored in D9009.
! When an operation error occurs during execution of an application instruction, the
Step number at which operation
D9010 Error step step No. where the error occurred is stored in BIN cod, and thereafter, every time
error has occurred
an operation error occurs the contents of D9010 are updated.
! When an operation error occurs during execution of an application instruction, the
Step number at which operation step number at which the error occurs is stored in this register in BIN code. Since
D9011 Error step
error has occurred storage is executed when M9011 changes from OFF to ON, the contents of D9011
cannot be updated unless it is cleared by the user program.
! The set control mode is represented as follows:
D9014 I/O control mode I/O control mode number 0: I/O in direct mode
3: I/O in refresh mode

APP − 40
APPENDICES

Table 3.2 Special Register List (Continued)

Number Name Stored Data Explanation
! The CPU operation states indicated in the figure below are stored in D9015.
B15 B12B11 B8 B7 B4 B3 B0

Remains unchanged in
CPU key switch remote run/stop mode

0 RUN
1 STOP

Remote RUN/STOP by parameter setting

0 RUN
CPU operating
D015 Operating states of CPU 1 STOP
states
2 PAUSE*

Status in program
0 Other than below
1 STOP instruction execution

Remote RUN/STOP by computer

0 RUN
1 STOP
2 PAUSE*

*: When the CPU is in the RUN status and M9040 is OFF, the CPU remains
in RUN mode even if set to PAUSE.

0: ROM
ROM/RAM ! Indicates the setting for the memory selection chip; one of the values 0 to 2 is set
D9016 1: RAM
setting 2 in BIN code.
2: E PROM
! At each END instruction, if the scan time is shorter than the contents of D9017,
D9017 Scan time Minimum scan time (10 ms units) the new value is stored in this register. In other words, the minimum value for
scan time is stored in D9017, in BIN code.
! The scan time is stored in BIN code at each END instruction and is always
D9018 Scan time Scan time (10 ms units)
rewritten.
! At each END instruction, if the scan time is longer than the contents of D9019, the
D9019 Scan time Maximum scan time (10 ms units) new value is stored in this register. In other words, the maximum value for scan
time is stored in D9019, in BIN code.
! When user programs are executed at fixed intervals, used to set the execution
intervals, in 10 ms units.
*2 Constant scan time
D9020 Constant scan 0 : Constant scan function not used
(user-specified in 10 ms units)
1 to 200 : Constant scan function used
program executed at intervals of (set value)×10 ms.

APP − 41
APPENDICES

Table 3.2 Special Register List (Continued)

Number Name Stored Data Explanation
! The year (last two digits) and month are stored in BCD code in D9025 as shown
below.
B15 B12B11 B8 B7 B4 B3 B0
*2 Clock data
D9025 Clock data Example
(year, month)
: July, 1993
Year Month
H9307
! The day and hour are stored in BCD code in D9026 as shown below.
B15 B12B11 B8 B7 B4 B3 B0
*2 Clock data Example
D9026 Clock data
(day, hour) : 31st, 10th hour
Day Hour
H3110
! The minute and second are stored in BCD code in D9027 as shown below.
B15 B12B11 B8 B7 B4 B3 B0
*2 Clock data Example
D9027 Clock data
(minute, second) : 35ms, 48s
Minute Second
H3548
! The day of week is stored in BCD code in D9028 as shown below.
B15 B12B11 B8 B7 B4 B3 B0
Example
: Friday
H0005

Day of week
*2 Clock data "0" must be set here.
D9028 Clock data 0 Sunday
(0, day of week)
1 Monday
2 Tuesday
3 Wednesday
4 Thursday
5 Friday
6 Saturday

! The element numbers for priorities 1 to 4 (D9038) and 5 to 7 (D9039) for the
lighting (or flashing) of the ERROR LED when an error occurs, are set and
changed.
B15 B12 B11 B8 B7 B4 B3 B0 B15 B12 B11 B8 B7 B4 B3 B0

_ _ _ 5 4 3 2 1(Position)

Priority of position

Element
*2
Content
M9038 LED display Priorities 1 to 4 No,
*2
M9039 priority Priorities 5 to 7 0. Not displayed
1. I/O verify, fuse blown
Even if "0" is set, errors which cause Special function
CPU operation to stop (including module, link
parameter settings) are unconditionally 2. parameters, SFC
displayed on the LED display. parameters, SFC
Default values: D9038=H4321 operation
D9039=H0006 3. CHK instruction error
4. Annunciator (F)
5. LED instruction related
6. Parity error

APP − 42
APPENDICES

Table 3.2 Special Register List (Continued)

Number Name Stored Data Explanation
! Indicates the output module numbers with blown fuses (in units of 16 points) in a
bit pattern. (Parameter assignment is valid)
! Also indicates the blown fuse states of the output modules in remote stations.

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
1 1
D9100 0 0 0 (YC0) 0 0 0 (Y80)
0 0 0 0 0 0 0 0
Bit pattern of fuse blown modules 1 1
D9100 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Fuse blown in units of 16 points D9101 (Y1F0) (Y1A)
to
module (D9100 to D9101 are used for
D9101 1 1
A172SHCPUN/A171SHCPUN) D9107 0 0 0 0 (Y7B0)
0 0 0 0 0 0 0 (Y730)
0 0 0

Indicates a blown fuse.

! Turn M9197 and M9198 ON/OFF to change the I/O module number range
displayed.
! Clear the blown fuse module data by turning OFF M9000 (blown fuse).
! Indicates the I/O module numbers (in units of 16 points) when the I/O modules
different from the registered I/O module information are detected at power-on.
(Parameter assignment is valid)
! Also indicates the I/O module information in remote stations.

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
1
D9116 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 X/Y
Bit pattern of verify error modules 0
D9116 Input/Output 1
in units of 16 points 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
to module D9117 X/Y
(D9116 to D9117 are used for 190
D9123 verification error
A172SHCPUN/A171SHCPUN) 1
D9123 0 X/Y 0 0 0 0 0 0 0 0 0 0 0 0 0 0
7F0

Indicates an input/output module verification error.

! Turn M9197 and M9198 ON/OFF to change the I/O module number range
displayed.
! Clear the verify error data by turning OFF M9002 (verify error).
! When one of F0 to 255 is turned on by an OUT F or SET F , 1 is added to the
contents of D9124.
Annunciator
When the RST F or LEDR instruction is executed, 1 is subtracted from the
D9124 detection Number of detected annunciators
quantity contents of D9124.
The number of annunciators that has been turned on by OUT F or SET F is
stored in D9124: the maximum stored value is 8.
! When F numbers in the range F0 to 255 are turned on by OUT F or SET F ,
they
are entered in D9125 to D9132 in ascending order of register numbers.
An F number which is turned off by RST F is erased from D9125 to D9132, and
the contents of the data registers following the one where the erased F number
was stored are each shifted to the preceding data register. When the LEDR
instruction is executed, the contents of D9125 to D9132 are shifted upward by
one. When there are 8 annunciator detections, a 9th one is not stored in D9125 to
D9132 even if detected.
SET SET SET SET SET SET SET SET SET SET SET
F50 F25 F99 F25 F15 F70 F65 F38 F110 F151 F210 LEDR

D9009 0 50 50 50 50 50 50 50 50 50 50 50 99

D9125 Annunciator D9124 0 1 2 3 2 3 4 5 6 7 8 8 8

to detection Annunciator detection number
D9132 number D9125 0 50 50 50 50 50 50 50 50 50 50 50 99

D9126 0 0 25 25 99 99 99 99 99 99 99 99 15

D9127 0 0 0 99 0 15 15 15 15 15 15 15 70

D9128 0 0 0 0 0 0 70 70 70 70 70 70 65

D9129 0 0 0 0 0 0 0 65 65 65 65 65 38

D9130 0 0 0 0 0 0 0 0 38 38 38 38 110

D9131 0 0 0 0 0 0 0 0 0 110 110 110 151

D9132 0 0 0 0 0 0 0 0 0 0 151 151 210

APP − 43
APPENDICES

POINTS
(1) All special register data is cleared by the power-off, latch clear, and reset
operations. The data is retained when the RUN/STOP key switch is set to
STOP.
(2) The contents of the special relays marked *1 in the table above are not
cleared even after the normal status is restored. To clear the contents,
use one of the following methods:
(a) Using a user program
Insert the ladder block
shown at right into the
program and turn on the
clear execution command
contact to clear the
contents of the register.
(b) Using a peripheral device
Using the test function of a
peripheral device, set the
Clear execution command
register to "0" by using
RST M9005
present value change or
forced reset.
For details on the operation
involved, refer to the
manual for the relevant
peripheral device.
(c) Set the special register to
"0" by setting the RESET
key switch on the front of
the CPU to the RESET
position.
(3) For special registers marked "*2", data is written in the sequence
program.
(4) The special registers marked *3 are cleared only when power is switched
from OFF to ON.

APP − 44
APPENDICES

Table 3.2 Special Register List (Continued)

Number Name Stored Data Explanation
! The status of output (ON/OFF) to limit switch output AY42 set with a peripheral
device is stored as "1" or "0".
1: ON
0: OFF
! These registers can be used to output limit switch output data to an external
device using the sequence program.
(1) A172SHCPUN
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
D9180 LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00

For axis 2 For axis 1

D9181 LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10

For axis 4 For axis 3

D9182 LY2F LY2E LY2D LY2C LY2B LY2A LY29 LY28 LY27 LY26 LY25 LY24 LY23 LY22 LY21 LY20
Limit switch output storage area
D9180 Limit switch For axis 6 For axis 5
1: ON
to output storage D9183 LY3F LY3E LY3D LY3C LY3B LY3A LY39 LY38 LY37 LY36 LY35 LY34 LY33 LY32 LY31 LY30
0: OFF
D9183 area
(A172SHCPUN/A171SHCPUN) For axis 8 For axis 7

* "1" or "0" is stored for each of the bits in D9180 through D9183.
1) 1.......... ON
2) 0.......... OFF
(2) A171SHCPUN
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
D9180 LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00

For axis 2 For axis 1

D9181 LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10

For axis 4 For axis 3

* "1" or "0" is stored for each of the bits in D9180 through D9181.
1) 1.......... ON
2) 0.......... OFF

APP − 45
APPENDICES

Table 3.2 Special Register List (Continued)

Number Name Stored Data Explanation
! The PCPU WDT errors tabled below are stored in D9184.

Error Code Error Cause

1 PCPU software fault 1
2 PCPU excessive operation frequency
3 PCPU software fault 2
30 Hardware fault between PCPU and SCPU
AC motor drive unit CPU fault
100

Indicates the slot No.(0 to 7)

where the AC motor drive module
100 to 107 with the fault is loaded.
110 to 117 Indicates the stage No. of the base
120 to 127 on which the AC motor drive module
130 to 137
with the fault is loaded.
140 to 147
0: Main base
1: Extension base 1st stage
2: Extension base 2nd stage
3: Extension base 3rd stage
4: Extension base 4th stage

Motion main base/extension base-loaded

module hardware fault
200

Indicates the slot No.(0 to 7)

Cause of PCPU
D9184 PCPU WDT error number where the module with the fault
error
200 to 207 is loaded.
210 to 217
220 to 227 Indicates the stage No. of the base
230 to 237 on which the module with the fault
240 to 247 is loaded.
0: Main base
1: Extension base 1st stage
2: Extension base 2nd stage
3: Extension base 3rd stage
4: Extension base 4th stage

Separated servo amplifier (MR- -B) interface

hardware fault
250

Faulty SSCNET No.

250 to 253
0: SSCNET 1
1: SSCNET 2
2: SSCNET 3
3: SSCNET 4

300 PCPU software fault 3

21 or more programs were started simultaneously by
the CPSTART instruction of 8 or more points.
301
Up to 20 programs may be started simultaneously by
the CPSTART instruction of 8 or more points.

APP − 46
APPENDICES

Table 3.2 Special Register List (Continued)

Number Name Stored Data Explanation
! On switching the power ON or resetting, the servo amplifier type set in the system
settings is set in these devices.
(1) When an A172SHCPUN is used
b15 to b12 b11 to b8 b7 to b4 b3 to b0
D9185 Axis 4 Axis 3 Axis 2 Axis 1
D9185 D9186 Axis 8 Axis 7 Axis 6 Axis 5

Servo amplifier type

Servo amplifier Servo amplifier type
0 Unused axis
type (A172SHCPUN/A171SHCPUN) 2 MR- -B
(2) When an A171SHCPUN is used
b15 to b12 b11 to b8 b7 to b4 b3 to b0
D9185 Axis 4 Axis 3 Axis 2 Axis 1

D9186 D9186 0
Servo amplifier type
0 Unused axis
2 MR- -B
! Stores the contents of the manual pulse generator axis setting error when the
manual pulse generator axis setting flag (M9077) comes ON.
(1) When an A172SHCPUN is used
b15 b8 b3 b0
D9187 Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1 0 P1 0 P1

1 pulse input magnification setting error Manual pulse generator axis

0: Normal setting error
1: Setting error 0: Normal
(Outside the range 1 to 100) 1: Setting error
(When the axis setting for
each digit is outside the
range 1 to 8)
Manual pulse generator
smoothing magnification setting
error
0: Normal
Manual pulse Manual pulse generator axis 1: Setting error
D9187 generator axis setting error (Outside the range 0 to 59)
setting error (A172SHCPUN/A171SHCPUN)
(2) When an A171SHCPUN is used
b15 b11 b8 b3 b0
D9187 0 Axis4 Axis3 Axis2 Axis1 0 P1 0 P1

1 pulse input magnification setting error Manual pulse generator axis

0: Normal setting error
1: Setting error 0: Normal
(Outside the range 1 to 100) 1: Setting error
(When the axis setting for
each digit is outside the
range 1 to 4)
Manual pulse generator
smoothing magnification setting
error
0: Normal
1: Setting error
(Outside the range 0 to 59)

! Stores the data of axes being operated when the test mode request error flag
(M9078) comes ON.
(1) When an A172SHCPUN is used
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
D9188 0 0 0 0 0 0 0 0 Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1

All set to "0" Stores the operating/stopped

status of each axis
Test mode Test mode request error 0: Stopped
D9188 1: Operating
request error (A172SHCPUN/A171SHCPUN)
(2) When an A171SHCPUN is used
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
D9188 0 0 0 0 0 0 0 0 0 0 0 0 Axis4 Axis3 Axis2 Axis1

All set to "0" Stores the operating/stopped

status of each axis
0: Stopped
1: Operating

APP − 47
APPENDICES

Table 3.2 Special Register List (Continued)

Number Name Stored Data Explanation
! Stores the motion program number (range: 1 to 256) affected by the error when
Error program Error program number the motion program setting error flag (M9079) comes ON.
D9189
No. (A172SHCPUN/A171SHCPUN) ! If, once an error program number has been stored, an error occurs in another
motion program, the program number of the program with the new error is stored.
! Stores the error code corresponding to the setting item in error when the motion
program setting error flag (M9079) turns ON.
Error Code Error Definition
The parameter block number
1
specified is outside the range 1 to 16.
Motion program setting error
Error item The motion program set in the
D9190 number
information 906 DSFRP/SVST instruction has the
(A172SHCPUN/A171SHCPUN)
unused axis in system settings.
An attempt was made to start and run
3300 9 or more programs simultaneously
with the DSFRP/SVST instruction.
For the error processings and corrective actions, refer to Appendix 2.1.
! When the power is turned ON, or on resetting, the servo amplifier and option slot
installation statuses are checked and the results stored in this device.
(1) When an A172SHCPUN is used
b15 b8 b7 b6 b5 b4 b3 b2 b1 b0
D9191 0 Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1

Stores the operating/stopped

status of each axis
Servo amplifier Servo amplifier installation Installed 1
D9191 installation information Not installed 0
information (A172SHCPUN/A171SHCPUN)
(2) When an A171SHCPUN is used
b15 b4 b3 b2 b1 b0
D9191 0 Axis4 Axis3 Axis2 Axis1

Stores the operating/stopped

status of each axis
Installed 1
Not installed 0
! Stores the manual pulse generator smoothing time constant.
Area for setting ! The smoothing time constant is calculated using the following formula:
Areas for setting manual pulse
the smoothing
generator smoothing Smoothing time Smoothing
D9192 magnification for
magnifications = magnification+1 56.8[ms]
manual pulse
(A172SHCPUN/A171SHCPUN)
constant (t)
generator 1 (P1)
The setting range for smoothing magnification is 0 to 59.

APP − 48
APPENDICES

Table 3.2 Special Register List (Continued)

Number Name Stored Data Explanation
Manual pulse ! Stores the smoothing time constant of the manual pulse generator.
generator 1 (P1) ! The smoothing time constant is calculated by the following expression.
D752 smoothing Smoothing time constant (t) = (smoothing magnification + 1) × 56.8 [ms]
magnification Note that the setting range of the smoothing magnification is 0 to 59.
setting area
Manual pulse
Manual pulse generator smoothing
generator 2 (P2)
magnification setting area
D753 smoothing
(For A273UHCPU (32-axis
magnification
feature)/A173UHCPU(S1))
setting area
Manual pulse
generator 3 (P3)
D754 smoothing
magnification
setting area
! Stores 1 or 0 to indicate the output status (ON/OFF) to the limit switch output
AY42 set in the peripheral device.
1: ON
0: OFF
! May be used to export the limit switch output data in a sequence program.
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
D776 LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00

Limit switch output status storing For axis 2 For axis 1

Axis 1 to 32 limit area D777 LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10
D776
switch output 1: ON
to For axis 4 For axis 3
status storing 0: OFF
D791
area (For A273UHCPU (32-axis
feature)/A173UHCPU(S1)) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
D790 LYEF LYEE LYED LYEC LYEB LYEA LYE9 LYE8 LYE7 LYE6 LYE5 LYE4 LYE3 LYE2 LYE1 LYE0

For axis 30 For axis 29

D791 LYFF LYFE LYFD LYFC LYFB LYFA LYF9 LYF8 LYF7 LYF6 LYF5 LYF4 LYF3 LYF2 LYF1 LYF0

For axis 32 For axis 31

* "1" or "0" is stored for each bit of D776 to D791.
1) 1: ON
2) 0: OFF

! Stores the servo amplifier type specified in the system settings at power-on or
reset.
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
D792 Servo amplifier type D796 Axis 20 Axis 19 Axis 18 Axis 17
Servo amplifier
to (For A273UHCPU (32-axis D797 Axis 24 Axis 23 Axis 22 Axis 21
type
D799 feature)/A173UHCPU(S1))
D798 Axis 28 Axis 27 Axis 26 Axis 25
D799 Axis 32 Axis 31 Axis 30 Axis 29

Servo amplifier type

0 Unused axis
1 ADU (Main base)
2 MR- -B
3 ADU (Motion extension base)

! Stores the operating axis data when the test mode request error flag (M9078)
turns ON.

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D9182 Axis16 Axis15 Axis14 Axis13 Axis12 Axis11 Axis10 Axis9 Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1
D9182 Test mode request error D9183 Axis32 Axis31 Axis30 Axis29 Axis28 Axis27 Axis26 Axis25 Axis24 Axis23 Axis22 Axis21 Axis20 Axis19 Axis18 Axis17
Test mode
to (For A273UHCPU (32-axis
request error
D9183 feature)/A173UHCPU(S1))
Stores the operating/stopped
status of each axis
0: Stopped
1: Operating

APP − 49
APPENDICES

Table 3.2 Special Register List (Continued)

Number Name Stored Data Explanation
! Stores the definitions of manual pulse generator axis setting errors when 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

All turn to 0. Stores the axis setting

errors of the manual
pulse generators
connected to P1 to P3
of A273EX.
0: Normal
Manual pulse generator axis 1: Setting error
D9185 Manual pulse (Axis setting in any digit
setting error
to generator axis is other than 1 to 8)
(For A273UHCPU (32-axis
D9187 setting error Stores the smoothing magnification setting errors of the manual pulse generators connected
feature)/A173UHCPU(S1)) to P1 to P3 of A273EX.
0: Normal
1: Setting error
(Axis setting in any digit is other than 1 to 59)

D9186 Axis16 Axis15 Axis14 Axis13 Axis12 Axis11 Axis10 Axis9 Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1

D9187 Axis32 Axis31 Axis30 Axis29 Axis28 Axis27 Axis26 Axis25 Axis24 Axis23 Axis22 Axis21 Axis20 Axis19 Axis18 Axis17

Stores 1-pulse input magnification setting error of each axis.

0: Normal
1: Setting error
(Input magnification of any axis is other than 1 to 100)

! Stores the motion program number (1 to 256) in error when the motion program
setting error flag (M9079) turns ON.
Error program number ! If an error occurs in another motion program when the error program number is
Error program
D9189 (For A273UHCPU (32-axis stored, the new error program number is stored.
number
feature)/A173UHCPU(S1))

! Stores the error code corresponding to the setting item in error when the motion
program setting error flag (M9079) turns ON.
Error Code Error Definition
The parameter block number
1
Servo program setting error specified is outside the range 1 to 16.
Error item number The motion program set in the SVST
D9190
information (For A273UHCPU (32-axis 906 instruction has the unused axis in
feature)/A173UHCPU(S1)) system settings.
An attempt was made to start and run
3300 9 or more programs simultaneously
with the SVST instruction.
For the error processings and corrective actions, refer to Appendix 2.1.
! Stores the result of servo amplifier and optional slot loading status check made at
power-on or reset.
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
D9191 Axis16 Axis15 Axis14 Axis13 Axis12 Axis11 Axis10 Axis9 Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1

D9192 Axis32 Axis31 Axis30 Axis29 Axis28 Axis27 Axis26 Axis25 Axis24 Axis23 Axis22 Axis21 Axis20 Axis19 Axis18 Axis17

D9191 Servo amplifier Servo amplifier loading information

to loading (For A273UHCPU (32-axis
D9192 information feature)/A173UHCPU(S1)) Servo amplifier loading status
No loading or ADU fault, MR- -B
0
power off or connection cable fault *1
1 Servo amplifier loading status
*1: For the ADU, no loading causes a major error to be displayed if the
axis number is set in system settings.

APP − 50
APPENDICES

APPENDIX 4 EXAMPLE PROGRAMS

Appendix 4.1 Word Data 1 Word Shift to Left

(1) A program for shifting to the left a range of devices that comprises n points and
starts with a designated word device is shown here.
Shift range (n)

D +(n-1) D +(n-2) D +(n-3) D +2 D +1 D

Before
execution

0 is entered here.
After
0
execution

(2) Word data can be shifted one word to the left by using the BMOV (P) instruction
and RST instruction.
The format for a program for shifting data one word to the left by using the
BMOV (P) instruction and RST instruction is shown in Figure 4.1.

Execution command
*
BMOV(P) S D1 n

RST D2

(1) S, D1, D2, and n are explained below.

S, D2 : Head number of the devices to be shifted to the left
D1 : Number of (word device designated by S+1) device
n : Number of shifted devices
(2) *: BMOV(P) indicates the BMOV instruction and the BMOVP instruction.

Fig.4.1 Format for Left shift Using BMOV(P) Instruction and RST Instruction

APP − 51
APPENDICES

Example
(1) A program that shifts the contents of D683 to D689 one word to the left at
the leading edge (OFF to ON) of XB is shown here.
[Operation]
Shift range

D689 D688 D687 D686 D685 D684 D683

Before
-100 503 600 -336 3802 -32765 5003
execution

0
After
503 600 -336 3802 -32765 5003 0
execution

[Program Example]
X000B P K
0 BMOV D683 D684 6

RST D683

CIRCUIT END

(3) Execution condition

The execution condition when the BMOV instruction and BMOVP instruction
are used is as follows.
ON
Execution
OFF
command

Executed Executed
BMOV
each scan each scan
instruction

BMOVP
instruction Executed Executed
once only once only

APP − 52
APPENDICES

Appendix 4.2 Word Data 1 Word Shift to Right

(1) A program for shifting to the right a range of devices that comprises n points
and starts with a designated word device is shown here.
Shift range (n)

D +(n-1) D +(n-2) D +(n-3) D +2 D +1 D

Before
execution
0 is entered here.

After
0
execution

(2) Word data can be shifted one word to the right by using the BMOV (P)
instruction and RST instruction.
The format for a program for shifting data one word to the right by using the
BMOV (P) instruction and RST instruction is shown in Figure 4.2.

Execution command
*
BMOV(P) S D1 n

RST D2

(1) S, D1, D2, and n are explained below.

S : Head number of the devices to be shifted to the right
D1 : Number of (word device designated by S+1) device
D2 : Final device number of word devices to be shifted to be shifted to right
n : Number of shifted devices
(2) *: BMOV(P) indicates the BMOV instruction and the BMOVP instruction.

Fig.4.2. Format for Right Shift Using BMOV(P) Instruction and RST Instruction

APP − 53
APPENDICES

Example
(1) A program that shifts the contents of D683 to D689 one word to the right
at the leading edge (OFF to ON) of XB is shown here.
[Operation]
Shift range

D689 D688 D687 D686 D685 D684 D683

Before
-100 503 600 -336 3802 -32765 5003
execution

0
After
0 -100 503 600 -336 3802 -32765
execution

[Program Example]
X000B P K
0 BMOV D684 D683 6

RST D689

CIRCUIT END

(3) Execution condition

The execution condition when the BMOV instruction and BMOVP instruction
are used is as follows.
ON
Execution
OFF
command

Executed Executed
BMOV
each scan each scan
instruction

BMOVP
instruction Executed Executed
once only once only

APP − 54
APPENDICES

Appendix 4.3 Reading M Codes

An example of a program for reading an M code on completion of positioning start

or on completion of positioning is shown here.
The distinction between positioning start completion and positioning completion is
made with the following signals.
• Positioning start completed .........M1600+20n/M2400+20n
(positioning start completed signal)
• Positioning completed..................M1601+20n/M2401+20n
(positioning completed signal)

[Program Example]
(1) A program that outputs the M code for axis 1 from Y000 to Y00F to an external
destination on completion of positioning start and after conversion to BCD
code, is shown here.

System configuration Sequence program

A172B Axis 1 positioning start completed signal

A172SHCPUN A A1S
172 X10 M1600 P K4
S 0 BCD D813 Y0000
ENC

CIRCUIT END
Y000 to Y00F designation
M code storage area for axis 1
(Refer to Section 3.2.1.)
A1S
Y40 BCD conversion instruction
Power supply
module

Y000
to
Y00F

(2) A program that outputs the M code for axis 1 from Y000 to Y00F to an external
destination on completion of positioning and after conversion to BCD code, is
shown here.

System configuration Sequence program

A172B Axis 1 positioning completed signal

A172SHCPUN A A1S
172 X10 M1601 P K4
S 0 BCD D813 Y0000
ENC

CIRCUIT END
Y000 to Y00F designation
M code storage area for axis 1
(Refer to Section 3.2.1.)
A1S
Y40 BCD conversion instruction
Power supply
module

Y000
to
Y00F

APP − 55
APPENDICES

Appendix 4.4 Error Code Reading

A program that reads the error code when an error occurs is shown here.
The following signals are used to determine whether or not an error has occurred:
• Minor errors, major errors............Error detection signal
(M1607+20n/M2407+20n)
• Servo errors .................................Servo error detection signal
(M1608+20n/M2408+20n)

POINT
(1) The following delay occurs between the leading edge (OFF to ON) of
M1607+20n/M1608+20n/M2407+20n/M2408+20n and storage of the
error code.
(a) If the sequence program scan time is less than 80 ms, there will be a
delay of up to 80 ms.
(b) If the sequence program scan time is longer than 80 ms, there will be
a delay of up to one scan time.
Program so that error code reading is executed after sufficient time
has elapsed for error codes to be written in the various error code
storage areas after
M1607+20n/M1608+20n/M2407+20n/M2408+20n comes ON.

[Program Example]
(1) A program that converts the error code to BCD and outputs it to Y000 to Y00F
when an axis 1 error occurs (minor error, major error) is shown here.
System configuration Sequence program

A172B Error detection signal for axis 1

A172SHCPUN A A1S
172 X10 M1607 K P K4
S 0 <> D806 0 BCD D806 Y0000 Minor error output
ENC

K P K4
<> D807 0 BCD D807 Y0000

M1608 K P K4
A1S
Y40
<> D808 0 BCD D808 Y0000 Servo error output
Power supply

CIRCUIT END
module

Y000
to Y000 to Y00F designation
Y00F
Error code storage area for
axis 1
BCD conversion instruction
Major error code storage area
for axis 1
Minor error code storage area
for axis 1
For determining whether or not
an error code is stored

APP − 56
APPENDICES

Appendix 4.5 Magnitude Comparison and Four Fundamental Operations of 32-Bit Monitor Data

When a machine value, actual present value or deviation counter value is used to
perform magnitude comparison or four fundamental operations, the value must be
transferred to another device memory once and the device memory of the transfer
destination be used to perform processing as described below.
(1) Magnitude comparison example
(a) To set the device when the machine value has become greater than the set
value
Magnitude comparison execution command
DMOV S D1

D> D1 D2 SET D3

1) S, D1, D2 and D3 indicate the following.

S: Machine value
D1: Device memory for temporary storage
D2: Set value for magnitude comparison
D3: Device for setting magnitude comparison result
(b) When one piece of monitor data is referred to many times to perform
comparison processing, intended operation may not be performed if the
monitor data is transferred every processing as shown in program example
1.
In program example 1, neither Y1 nor Y2 may not turn ON. (This also
applies to the case of 16-bit monitor data.)
This is because the S value varies asynchronously with the PC scan.
To perform such processing, transfer the monitor data to another device
memory once, and after that, use that value to perform comparison
processing as shown in program example 2.
[Program example 1]
Magnitude comparison execution command
DMOV S D1
S may vary
D> D1 D2 Y1
in this section.
DMOV S D1

D<= D1 D2 Y2

[Program example 2]
Magnitude comparison execution command
DMOV S D1

D> D1 D2 Y1

D<= D1 D2 Y2

1) S, D1, D2, Y1 and Y2 indicate the following.

S: Machine value
D1: Device memory for temporary storage
D2: Set value for magnitude comparison
Y1: Magnitude comparison result output device (Result: Greater than)
Y2: Magnitude comparison result output device (Result: Equal to or less
than)

APP − 57
APPENDICES

(2) Four fundamental operations example

To divide the actual present value by the set value
Execution command

BMOVP S D1

D / D1 D2 D3

1) S, D1, D2 and D3 indicate the following.

S: Actual present value
D1: Device memory for temporary storage
D2: Division
D3: Operation result storage device

APP − 58
APPENDICES

APPENDIX 5 SERVO MOTOR TYPE-BASED RATED SPEED AND FEEDBACK PULSE

COUNT LIST
Table 5.1 lists the rated speeds and feedback pulse counts on a servo motor type
basis.

Table 5.1 Servo Motor Type-Based Rated Speed and Feedback Pulse Count List
Number of Number of
Motor Model Rated Speed [rpm] Feedback Pulses Motor Model Rated Speed [rpm] Feedback Pulses
[PLS] [PLS]
HA-MH053 HA-LH52
HA-MH13 HA-LH102
HA-MH23 HA-LH152
HA-MH43 HA-LH202
HA-MH73 HA-LH302
HA-FH053 3000 8192 HA-LH502
HA-FH13 HA-LH702
HA-FH23 HA-LH11K2
HA-FH33 HA-LH15K2 2000 16384
HA-FH43 HA-LH22K2
HA-FH63 HA-UH32
HA-SH81 HA-UH52
HA-SH121 HA-UH102
1000
HA-SH201 HA-UH152
HA-SH301 HA-UH222
HA-SH52 HA-UH352
HA-SH102 HA-UH452
HA-SH152 HA-FF053
HA-SH202 2000 HA-FF13
HA-SH352 HA-FF23
HA-SH502 16384 HA-FF33
HA-SH702 HA-FF43
HA-SH53 HA-FF63 3000 8192
HA-SH103 HC-MF053
HA-SH153 HC-MF13
HA-SH203 HC-MF23
3000
HA-SH353 HC-MF43
HA-RH103 HC-MF73
HA-RH153 HC-SF52
2000 16384
HA-RH223 HC-SF102

APP − 59
APPENDICES

APPENDIX 6 PROCESSING TIMES

The following tables list the processing time of each instruction for positioning
control in the servo system CPU.

(1) Motion operation cycle (ms)

CPU A172SHCPUN A171SHCPUN
Number of set axes 1 to 8 1 to 4
Operation cycle 3.5ms 3.5ms

CPU A273UHCPU
A173UHCPU(S1)
(32 axis feature)
Number of set axes (SV43) 1 to 8 9 to 18 19 to 32 1 to 12 13 to 24 25 to 32
Operation cycle 3.5ms 7.1ms 14.2ms 3.5ms 7.1ms 14.2ms

(2) SCPU instruction processing time (µs)

A273UHCPU A173UHCPU
CPU A172SHCPUN A171SHCPUN
(32 axis feature) (S1)
Number of set axes 1 to 8 1 to 4 1 to 32
1 axis started 48 35
SVST 2 or 3 axes started 105 70
Error 50 150
1 axis started 48
DSFRP 2 to 4 axes started 65
Error 60
CHGV 27 20
DSFLP Normal 28
(speed change) Error 50
CHGA 32 25
DSFLP Normal 28
(present value change) Error 50
CHGT 24 20
END 1400 Max.5000

(3) CPU processing time (ms)

CPU A172SHCPUN A171SHCPUN
Number of set axes 1 to 8 1 to 4
Servo program start processing time 4 to 11 4 to 11
Speed change response 0 to 4 0 to 4
Torque limit value change response 0 to 4 0 to 4
Simultaneous start processing time (*1) 7 to 17 7 to 17
Time from PC ready flag (M2000) ON to
50 to 600 50 to 350
PCPU ready flag (M9074) ON

A273UHCPU
CPU A173UHCPU(S1)
(32 axis feature)
Number of set axes (SV43) 1 to 8 9 to 18 19 to 32 1 to 12 13 to 24 25 to 32
Servo program start processing time 4 to 11 10 to 18 14 to 21 4 to 11 10 to 18 14 to 21
Speed change response 0 to 4 0 to 8 0 to 14 0 to 4 0 to 8 0 to 14
Torque limit value change response 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4
Simultaneous start processing time (*1) 7 to 17 10 to 24 14 to 28 7 to 17 10 to 24 14 to 28
Time from PC ready flag (M2000) ON to 100 to 100 to
8 to 100 90 to 400 8 to 100 90 to 400
PCPU ready flag (M9074) ON 800 800
(*1) This processing time varies depending on the commands to be started simultaneously. Use this time merely for
reference.

For other sequence program instruction processing times, refer to the ACPU
Programming Manual.

APP − 60
APPENDICES

(4) Axis status

• Axis status for SV43
Axis A172SHCPUN A171SHCPUN
Signal Name
No. Device Number Device Number
M1400 M1400
1 to to Fetch Signal
M1409 M1409 Signal Name Refresh Cycle
Cycle Direction
M1410 M1410 0 Unusable
−
2 to to 1 Unusable
M1419 M1419 2 Automatically operating
10ms
M1420 M1420 3 Temporarily stopping
3 to to 4 Unusable SCPU
M1429 M1429 ←
5 Unusable PCPU
M1430 M1430 6 Unusable −
4 to to 7 Unusable
M1439 M1439 8 Unusable
M1440 9 Single block mode in progress (*1) 3.5ms
5 to (*1) The single block in progress is not an axis status. It is used with the first axis
M1449 (M1409) only. The user cannot use it for other than the first axis.
M1450
6 to
M1459
M1460
7 to
M1469
M1470
8 to
M1479

• Axis status
Axis A172SHCPUN A171SHCPUN
Signal Name
No. Device Number Device Number
M1600 M1600
1 to to Fetch Signal
M1619 M1619 Signal Name Refresh Cycle
Cycle Direction
M1620 M1620 0 Positioning start completed
2 to to 1 Positioning completed
M1639 M1639 2 In-position
M1640 M1640 3 Command in-position 3.5ms
3 to to 4 Unusable
M1659 M1659 5 Unusable
M1660 M1660 6 Zero pass
4 to to 7 Error detection Immediately
M1679 M1679 8 Servo error detection 3.5ms
SCPU
M1680 9 Home position return request 10ms
←
5 to 10 Home position return completed 3.5ms PCPU
M1699 11 External signal FLS
M1700 12 External signal RLS
10ms
6 to 13 External signal STOP
M1719 14 External signal DOG/CHANGE
M1720 15 Servo ON/OFF
3.5ms
7 to 16 Torque control in progress
M1739 17 (External signal DOG/CHANGE) 10ms
M1740 18 Unusable 
8 to 19 M code output in progress 3.5ms
M1759

APP − 61
APPENDICES

(4) Axis status

• Axis status
A273UHCPU
Axis No.

(32 axis feature)

A173UHCPU Single name
(S1)
Device No.
1 M2400 to M2419
2 M2420 to M2439 Refresh cycle Fetch cycle
Signal name
3 M2440 to M2459 Set number of axis Set number of axis
A173 Signal
4 M2460 to M2479 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
UHCPU direction
SV43
A273
5 M2480 to M2499 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
UHCPU

6 M2500 to M2519 0 Positioning start completed

7 M2520 to M2539 1 Positioning completed
8 M2540 to M2559 2 In-position
9 M2560 to M2579 3 Command in-position 3.5ms 7.1ms 14.2ms
10 M2580 to M2599 4 Unusable
11 M2600 to M2619 5 Unusable
12 M2620 to M2639 6 Zero pass
13 M2640 to M2659 7 Error detection Immediately
14 M2660 to M2679 8 Servo error detection 3.5ms 7.1ms 14.2ms
SCPU
15 M2680 to M2699 9 Home position return request 10ms 20ms
16 M2700 to M2719 10 Home position return completed 3.5ms 7.1ms 14.2ms
PCPU
17 M2720 to M2739 11 External signal FLS
18 M2740 to M2759 12 External signal RLS
10ms 20ms
19 M2760 to M2779 13 External signal STOP
20 M2780 to M2799 14 External signal DOG
21 M2800 to M2819 15 Servo ON/OFF
3.5ms 7.1ms 14.2ms
22 M2820 to M2839 16 Torque control in progress
23 M2840 to M2859 17 (External signal CHANGE) 10ms 20ms
24 M2860 to M2879 18 Unusable
25 M2880 to M2899 19 M code output in progress 3.5ms 7.1ms 14.2ms
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

APP − 62
APPENDICES

(4) Axis status

• Axis status for SV43
A273UHCPU
Axis No.

(32 axis feature)

A173UHCPU Single name
(S1)
Device No.
1 M4000 to M4009
2 M4010 to M4019 Refresh cycle Fetch cycle
Signal name
3 M4020 to M4029 Set number of axis Set number of axis
A173 Signal
4 M4030 to M4039 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
UHCPU direction
SV43
A273
5 M4040 to M4049 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
UHCPU

6 M4050 to M4059 0 Unusable

−
7 M4060 to M4069 1 Unusable
8 M4070 to M4079 2 Automatically operating
10ms 20ms
9 M4080 to M4089 3 Temporarily stopping
SCPU
10 M4090 to M4099 4 Unusable
11 M4100 to M4109 5 Unusable
PCPU
12 M4110 to M4119 6 Unusable −
13 M4120 to M4129 7 Unusable
14 M4130 to M4139 8 Unusable
15 M4140 to M4149 9 Single block mode in progress (*1) 3.5ms 7.1ms 14.2ms
16 M4150 to M4159 (*1) The single block in progress is not an axis status. It is used with the first axis (M4009) only. The
17 M4160 to M4169 user cannot use it for other than the first axis.
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

APP − 63
APPENDICES

(5) Axis command signals

• Axis command signals for SV43
Axis A172SHCPUN A171SHCPUN
Signal Name
No. Device Number Device Number
M1500 M1500
1 to to Fetch Refresh Signal
Signal Name
M1509 M1509 Cycle Cycle Direction
M1510 M1510 0 Temporary stop command 3.5ms
2 to to 1 Optional program stop
M1519 M1519 2 At start
Optional block skip

M1520 M1520 3 Single block

3 to to 4 Restart SCPU
M1529 M1529 3.5ms
5 Override valid/invalid PCPU
M1530 M1530 6 Unusable
4 to to 7 Unusable
M1539 M1539 −
8 Single block mode (*1)
M1540 9 Single block start (*1)
5 to (*1) The single block mode and single block start are not axis statuses. They are used
M1549 with the first axis (M1508, M1509) only. The user cannot use them for other than
M1550 the first axis.
6 to
M1559
M1560
7 to
M1569
M1570
8 to
M1579

• Axis command signals

Axis A172SHCPUN A171SHCPUN
Signal Name
No. Device Number Device Number
M1800 M1800
1 to to Fetch Refresh Signal
Signal Name
M1819 M1819 Cycle Cycle Direction
M1820 M1820 0 Stop command
3.5ms
2 to to 1 Rapid stop command
M1839 M1839 2 Forward rotation JOG command
M1840 M1840 3 Reverse rotation JOG command 10ms
3 to to 4 Completion signal OFF command
M1859 M1859 5 Unusable −
M1860 M1860 6 Limit switch output enable 3.5ms
4 to to 7 Error reset
M1879 M1879 10ms
8 Servo error reset
9 At start SCPU
M1880 Start-time stop input invalid
5 to 10 Unusable PCPU
M1899 11 Unusable
M1900 12 Unusable −
6 to 13 Unusable
M1919 14 Unusable
M1920 15 Servo OFF 3.5ms
7 to 16 Unusable
M1939 17 Unusable −
M1940 18 Unusable
8 to 19 FIN signal 3.5ms
M1959

APP − 64
APPENDICES

(5) Axis command signals

• Axis command signals
A273UHCPU
Axis No.

(32 axis feature)

A173UHCPU Single name
(S1)
Device No.
1 M3200 to M3219
2 M3220 to M3239 Refresh cycle Fetch cycle
Signal name
3 M3240 to M3259 Set number of axis Set number of axis
A173 Signal
4 M3260 to M3279 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
UHCPU direction
SV43
A273
5 M3280 to M3299 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
UHCPU

6 M3300 to M3319 0 Stop command

3.5ms 7.1ms 14.2ms
7 M3320 to M3339 1 Rapid stop command
Forward rotation JOG
8 M3340 to M3359 2
command
Reverse rotation JOG
9 M3360 to M3379 3 10ms 20ms
command
Completion signal OFF
10 M3380 to M3399 4
command
11 M3400 to M3419 5 Unusable
3.5ms 7.1ms 14.2ms
12 M3420 to M3439 6 Limit switch output enable
13 M3440 to M3459 7 Error reset
10ms 20ms SCPU
14 M3460 to M3479 8 Servo error reset
15 M3480 to M3499 9 Start-time stop input invalid At start
PCPU
16 M3500 to M3519 10 Unusable
−
17 M3520 to M3539 11 Unusable
Present feed value update
18 M3540 to M3559 12 At start
request command
19 M3560 to M3579 13 Unusable
−
20 M3580 to M3599 14 Unusable
21 M3600 to M3619 15 Servo OFF 3.5ms 7.1ms 14.2ms
22 M3620 to M3639 16 Unusable
23 M3640 to M3659 17 Unusable −
24 M3660 to M3679 18 Unusable
25 M3680 to M3699 19 FIN signal 3.5ms 7.1ms 14.2ms
26 M3700 to M3719
27 M3720 to M3739
28 M3740 to M3759
29 M3760 to M3779
30 M3780 to M3799
31 M3800 to M3819
32 M3820 to M3839

APP − 65
APPENDICES

(5) Axis command signals

• Axis command signals for SV43
A273UHCPU
Axis No.

(32 axis feature)

A173UHCPU Single name
(S1)
Device No.
1 M4400 to M4409
2 M4410 to M4419 Refresh cycle Fetch cycle
Signal name
3 M4420 to M4429 Set number of axis Set number of axis
A173 Signal
4 M4430 to M4439 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
UHCPU direction
SV43
A273
5 M4440 to M4449 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
UHCPU

6 M4450 to M4459 0 Temporary stop command 3.5ms 7.1ms 14.2ms

7 M4460 to M4469 1 Optional program stop
8 M4470 to M4479 2 Optional block skip At start
9 M4480 to M4489 3 Single block
SCPU
10 M4490 to M4499 4 Restart
3.5ms 7.1ms 14.2ms
11 M4500 to M4509 5 Override valid/invalid
PCPU
12 M4510 to M4519 6 Unusable
13 M4520 to M4529 7 Unusable
−
14 M4530 to M4539 8 Single block mode (*1)
15 M4540 to M4549 9 Single block start (*1)
16 M4550 to M4559 (*1) The single block mode and single block start are not axis statuses. They are used with the first axis
17 M4560 to M4569 (M4408, M4409) only. The user cannot use them for other than the first axis.
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

APP − 66
APPENDICES

(6) Axis monitor devices

Axis A172SHCPUN A171SHCPUN
Signal name
No. Device No. Device No.
D600 D600
1 to to Refresh Fetch Signal
Signal name Unit
D619 D619 cycle cycle direction
D620 D620 0 Command
Current value
2 to to 1 unit
D639 D639 2 Execution sequence No. (main) −
D640 D640 3 Execution block No. (main) END −
3 to to 4 Execution program No. (sub) −
D659 D659 5 Execution sequence No. (sub) −
D660 D660 6 Execution block No. (sub) −
4 to to 7 Unusable − −
D679 D679 8 G43/44 command −
D680 9 Tool length offset data No. − SCPU←
END PCPU
5 to 10 Command
Tool length offset
D699 11 unit
D700 12 Unusable −
6 to 13 Unusable −
D719 14 Unusable −
D720 15 Unusable −
−
7 to 16 Unusable −
D739 17 Unusable −
D740 18 Unusable −
8 to 19 Unusable −
D759

Axis A172SHCPUN A171SHCPUN

Signal name
No. Device No. Device No.
D800 D800
1 to to Refresh Fetch Signal
Signal name Unit
D819 D819 cycle cycle direction
D820 D820 0 Command
Machine value
2 to to 1 unit
D839 D839 2 Command
Actual current value 3.5ms
D840 D840 3 unit
3 to to 4
Deviation counter value PLS
D859 D859 5
D860 D860 6 Minor error code Immedi- −
4 to to 7 Major error code ately −
D879 D879 8 Servo error code 10ms −
D880 9 Command SCPU←
Travel after DOG/CHANGE ON END
5 to 10 unit PCPU

D899 11 Home position return second travel PLS

D900 12 Execution program No. −
3.5ms
6 to 13 M code −
D919 14 Torque limit value %
D920 15 Unusable −
−
7 to 16 Unusable −
D939 17 Command
Actual present value at STOP input END
D940 18 unit
8 to 19 Unusable − −
D959

* The entry "END" in the Refresh Cycle column indicates 80ms or a longer sequence program scan time.

APP − 67
APPENDICES

(6) Axis monitor device

• Axis monitor device
A273UHCPU
Axis (32 axis feature)/
Signal name
No. A173UHCPU(S1)
Device No.
1 D0 to D19
2 D20 to D39 Refresh cycle Fetch cycle
Signal name
3 D40 to D59 Set No. of axis Set No. of axis Signal
Unit
4 D60 to D79 A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32 direction
SV43
5 D80 to D99 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
6 D100 to D119 0 Command
Machine value
7 D120 to D139 1 Unit
8 D140 to D159 2 Command
Actual current value 3.5ms 7.1ms 14.2ms
9 D160 to D179 3 Unit
10 D180 to D199 4
Deviation counter value PLS
11 D200 to D219 5
12 D220 to D239
6 Minor error code −
13 D240 to D259
Immediately
14 D260 to D279
7 Major error code −
15 D280 to D299
16 D300 to D319
8 Servo error code 10ms 20ms −
17 D320 to D339 SCPU
18 D340 to D359 Home position return second ←
9 3.5ms 7.1ms 14.2ms PLS
19 D360 to D379 Travel PCPU
20 D380 to D399 10 Travel after DOG/CHANGE Command
END
21 D400 to D419 11 ON unit
22 D420 to D439
12 Execution program No. At start −
23 D440 to D459
24 D460 to D479 13 M code −
3.5ms 7.1ms 14.2ms
25 D480 to D499 14 Torque limit value %
26 D500 to D519 15 Unusable −
27 D520 to D539 16 Unusable − −
28 D540 to D559 17 Unusable −
29 D560 to D579 18 Actual present value at stop Command
END
30 D580 to D599 19 input unit
31 D600 to D619
32 D620 to D639

*"END" in Refresh Cycle indicates a longer one of "50ms" and "sequence program scan time".

APP − 68
APPENDICES

(6) Axis monitor device

• Axis monitor device for SV43
A273UHCPU
Axis (32 axis feature)/
Signal name
No. A173UHCPU(S1)
Device No.
1 D800 to D819
2 D820 to D839 Refresh cycle Fetch cycle
Signal name
3 D840 to D859 Set No. of axis Set No. of axis Signal
Unit
4 D860 to D879 A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32 direction
SV43
5 D880 to D899 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
6 D900 to D919 0 Command
Current value
7 D920 to D939 1 Unit
8 D940 to D959 2 Execution sequence No. (main) −
9 D960 to D979 3 Execution block No. (main) END −
10 D980 to D999 4 Execution program No. (sub) −
11 D1000 to D1019 5 Execution sequence No. (sub) −
12 D1020 to D1039 6 Execution block No. (sub) −
13 D1040 to D1059 7 Unusable − −
14 D1060 to D1079 8 G43/G44 command −
SCPU
15 D1080 to D1099 9 Tool length offset data No. −
END ←
16 D1100 to D1119 10 Command
Tool length offset PCPU
17 D1120 to D1139 11 unit
18 D1140 to D1159 12 Unusable −
19 D1160 to D1179 13 Unusable −
20 D1180 to D1199 14 Unusable −
21 D1200 to D1219 15 Unusable −
−
22 D1220 to D1239 16 Unusable −
23 D1240 to D1259 17 Unusable −
24 D1260 to D1279 18 Unusable −
25 D1280 to D1299 19 Unusable −
26 D1300 to D1319
27 D1320 to D1339
28 D1340 to D1359
29 D1360 to D1379
30 D1380 to D1399
31 D1400 to D1419
32 D1420 to D1439

*"END" in Refresh Cycle indicates a longer one of "50ms" and "sequence program scan time".

APP − 69
APPENDICES

(7) Control change register

Axis A172SHCPUN A171SHCPUN
Signal name
No. Device No. Device No.
D500 D500
1 to to Refresh Fetch Signal
Signal name Unit
D505 D505 cycle cycle direction
D506 D506 0 Override ratio setting register 3.5ms %
2 to to 1 Unusable −
SCPU
D511 D511 2 Unusable −
→
D512 D512 3 Unusable − −
PCPU
3 to to 4 Unusable −
D517 D517 5 Unusable −
D518 D518
4 to to
D523 D523
D524
5 to
D529
D530
6 to
D535
D536
7 to
D541
D542
8 to
D547
D548 D524
to to Unusable
D559 D559

Axis A172SHCPUN A171SHCPUN

Signal name
No. Device No. Device No.
D960 D960
1 to to Refresh Fetch Signal
Signal name Unit
D965 D965 cycle cycle direction
D966 D966 0 Unusable −
2 to to 1 Unusable −
D971 D971 2 At SCPU
Command
Speed change flag DSFLP →
D972 D972 3 unit
execution PCPU
3 To To 4 Command
JOG speed setting register *1 At start
D977 D977 5 unit
D78 D78 (*1) indicates the backup register.
4 to to
D983 D983
D984
5 to
D989
D990
6 to
D995
D996
7 to
D1001
D1002
8 to
D1007

APP − 70
APPENDICES

(7) Control change register

• Control change register
A273UHCPU
Axis (32 axis feature)/
Signal name
No. A173UHCPU(S1)
Device No.
1 D640, D641
2 D642, D643 Refresh cycle Fetch cycle
Signal name
3 D644, D645 Set No. of axis Set No. of axis Signal
Unit
4 D646, D647 A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32 direction
SV43
5 D648, D649 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
6 D650, D651 0 Command SCPU
JOG speed setting register At start
7 D652, D653 1 unit → PCPU
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

APP − 71
APPENDICES

(7) Control change register

• Control change register for SV43
A273UHCPU
Axis (32 axis feature)/
Signal name
No. A173UHCPU(S1)
Device No.
1 D1440 to D1445
2 D1446 to D1451 Refresh cycle Fetch cycle
Signal name
3 D1452 to D1457 Set No. of axis Set No. of axis Signal
Unit
4 D1458 to D1463 A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32 direction
SV43
5 D1464 to D1469 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
6 D1470 to D1475 0 Override ratio setting register 3.5ms 7.1ms 14.2ms %
7 D1476 to D1481 1 Unusable − −
8 D1482 to D1487 2 Unusable − − SCPU
9 D1488 to D1493 3 Unusable − − → PCPU
10 D1494 to D1499 4 Unusable − −
11 D1500 to D1505 5 Unusable − −
12 D1506 to D1511
13 D1512 to D1517
14 D1518 to D1523
15 D1524 to D1529
16 D1530 to D1535
17 D1536 to D1541
18 D1542 to D1547
19 D1548 to D1553
20 D1554 to D1559
21 D1560 to D1565
22 D1566 to D1571
23 D1572 to D1577
24 D1578 to D1583
25 D1584 to D1589
26 D1590 to D1595
27 D1596 to D1601
28 D1602 to D1607
29 D1608 to D1613
30 D1614 to D1619
31 D1620 to D1625
32 D1626 to D1631

APP − 72
APPENDICES

(8) Common devices

A172SHCPUN A172SHCPUN
Device Fetch Refresh Device Fetch Refresh
Signal Name Signal Direction Signal Name Signal Direction
Number Cycle Cycle Number Cycle Cycle
M1960 M1960
M1961 M1961
M1962 M1962
M1963 M1963
M1964 M1964
M1965 M1965
M1966 M1966
M1967 M1967
M1968 M1968
M1969 M1969
M1970 M1970
M1971 M1971
M1972 M1972
M1973 M1973
M1974 M1974
M1975 M1975
M1976 M1976
M1977 M1977
M1978 M1978
M1979 M1979
Unusable (40 points) − − − Unusable (40 points) − − −
M1980 M1980
M1981 M1981
M1982 M1982
M1983 M1983
M1984 M1984
M1985 M1985
M1986 M1986
M1987 M1987
M1988 M1988
M1989 M1989
M1990 M1990
M1991 M1991
M1992 M1992
M1993 M1993
M1994 M1994
M1995 M1995
M1996 M1996
M1997 M1997
M1998 M1998
M1999 M1999
M2000 PC READY flag 10ms SCPU→PCPU M2000 PC READY flag 10ms SCPU→PCPU
M2001 Axis 1 M2001 Axis 1
M2002 Axis 2 M2002 Axis 2 START accept flag
10ms SCPU←PCPU
M2003 Axis 3 M2003 Axis 3 (4 points)
M2004 Axis 4 START accept flag M2004 Axis 4
M2005 Axis 5 (8 points) 10ms SCPU←PCPU M2005
M2006 Axis 6 M2006
Unusable (4 points) − − −
M2007 Axis 7 M2007
M2008 Axis 8 M2008
M2009 All-axes servo ON accept flag M2009 All-axes servo ON accept flag 10ms SCPU←PCPU
M2010 M2010
Unusable (2 points) − − − Unusable (2 points) − − −
M2011 M2011
M2012 Manual pulse generator enable flag 10ms SCPU→PCPU M2012 Manual pulse generator enable flag 10ms SCPU→PCPU
M2013 M2013
Unusable (2 points) − − − Unusable (2 points) − − −
M2014 M2014
M2015 JOG simultaneous start command 10ms SCPU→PCPU M2015 JOG simultaneous start command 10ms SCPU→PCPU
M2016 M2016
M2017 M2017
Unusable (4 points) − − − Unusable (4 points) − − −
M2018 M2018
M2019 M2019
M2020 Start buffer full M2020 Start buffer full
M2021 Axis 1 M2021 Axis 1
M2022 Axis 2 M2022 Axis 2 Speed change flag END SCPU←PCPU
M2023 Axis 3 M2023 Axis 3 (4 points)
M2024 Axis 4 Speed change flag END SCPU←PCPU M2024 Axis 4
M2025 Axis 5 (8 points) M2025
M2026 Axis 6 M2026
M2027 Axis 7 M2027
M2028 Axis 8 M2028
M2029 M2029 Unusable (9 points) − − −
M2030 M2030
M2031 Unusable (5 points) − − − M2031
M2032 M2032
M2033 M2033
M2034 PC link communication error flag END SCPU←PCPU M2034 PC link communication error flag END SCPU←PCPU
M2035 M2035
M2036 M2036
M2037 M2037
Unusable (6 points) − − − Unusable (6 points) − − −
M2038 M2038
M2039 M2039
M2040 M2040
M2041 System setting error flag END SCPU←PCPU M2041 System setting error flag END SCPU←PCPU
M2042 All-axes servo ON command 3.5ms SCPU→PCPU M2042 All-axes servo ON command 3.5ms SCPU→PCPU
M2043 M2043
M2044 M2044
Unusable (4 points) − − − Unusable (4 points) − − −
M2045 M2045
M2046 M2046
M2047 Motion slot module error detection flag END SCPU←PCPU M2047 Motion slot module error detection flag END SCPU←PCPU

* The entry "END" in the Refresh Cycle column indicates 80ms or a longer sequence program scan time.

APP − 73
APPENDICES

(8) Common devices (A273UHCPU(32 axis feature)/A173UHCPU(S1))

Refresh cycle Fetch cycle Refresh cycle Fetch cycle
Signal name Signal name
Device Set No. of axis Set No. of axis Signal Device Set No. of axis Set No. of axis Signal
No. A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32 direction No. A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32 direction
SV43 SV43
A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
M2000 PLC READY flag 10ms 20ms SCPU → PCPU M2080 Axis20
M2001 Axis1 M2081 Axis21
M2002 Axis2 M2082 Axis22
M2003 Axis3 M2083 Axis23
M2004 Axis4 M2084 Axis24
M2005 Axis5 M2085 Axis25
M2006 Axis6 M2086 Axis26 Speed change flag END SCPU ← PCPU
M2007 Axis7 M2087 Axis27
M2008 Axis8 M2088 Axis28
M2009 Axis9 M2089 Axis29
M2010 Axis10 M2090 Axis30
M2011 Axis11 M2091 Axis31
M2012 Axis12 M2092 Axis32
M2013 Axis13 M2093
M2014 Axis14 M2094
M2015 Axis15 M2095
M2016 Axis16 M2096
Start accept flag 10ms SCPU ← PCPU
M2017 Axis17 M2097
M2018 Axis18 M2098
M2019 Axis19 M2099
M2020 Axis20 M2100
M2021 Axis21 M2101
M2022 Axis22 M2102
M2023 Axis23 M2103
M2024 Axis24 M2104
M2025 Axis25 M2105
M2026 Axis26 M2106
M2027 Axis27 M2107
M2028 Axis28 M2108
M2029 Axis29 M2109
M2030 Axis30 M2110 Unusable (35 points) − − −
M2031 Axis31 M2111
M2032 Axis32 M2112
M2033 Unusable − − − M2113
M2034 PC link communication error flag 10ms SCPU ← PCPU M2114
M2035 M2115
M2036 M2116
M2037 M2117
Unusable (6 points) − − −
M2038 M2118
M2039 M2119
M2040 M2120
M2041 System setting error flag 10ms SCPU ← PCPU M2121
M2042 All axes servo ON command 3.5ms 7.1ms 14.2ms SCPU → PCPU M2122
M2043 M2123
M2044 M2124
Unusable (4 points) − − −
M2045 M2125
M2046 M2126
M2047 Motion slot module error detection flag 10ms SCPU ← PCPU M2127
M2048 JOG simultaneous start command 10ms 20ms SCPU → PCPU M2128 Axis1
M2049 All axes servo ON accept flag M2129 Axis2
END SCPU ← PCPU
M2050 Start buffer full M2130 Axis3
M2051 Manual pulse generator 1 enable flag M2131 Axis4
M2052 Manual pulse generator 2 enable flag 10ms 20ms SCPU → PCPU M2132 Axis5
M2053 Manual pulse generator 3 enable flag M2133 Axis6
M2054 M2134 Axis7
M2055 M2135 Axis8
M2056 M2136 Axis9
M2057 Unusable (7 points) − − − M2137 Axis10
M2058 M2138 Axis11
M2059 M2139 Axis12
M2060 M2140 Axis13
M2061 Axis1 M2141 Axis14
M2062 Axis2 M2142 Axis15
M2063 Axis3 M2143 Axis16 Automatically
3.5ms 7.1ms 14.2ms SCPU ← PCPU
M2064 Axis4 M2144 Axis17 decelerating flag
M2065 Axis5 M2145 Axis18
M2066 Axis6 M2146 Axis19
M2067 Axis7 M2147 Axis20
M2068 Axis8 M2148 Axis21
M2069 Axis9 M2149 Axis22
M2070 Axis10 Speed change flag END SCPU ← PCPU M2150 Axis23
M2071 Axis11 M2151 Axis24
M2072 Axis12 M2152 Axis25
M2073 Axis13 M2153 Axis26
M2074 Axis14 M2154 Axis27
M2075 Axis15 M2155 Axis28
M2076 Axis16 M2156 Axis29
M2077 Axis17 M2157 Axis30
M2078 Axis18 M2158 Axis31
M2079 Axis19 M2159 Axis32
* The entry "END" in the Refresh Cycle column indicates 50ms or a longer sequence program scan time.

APP − 74
APPENDICES

(8) Common devices (A273UHCPU(32 axis feature)/A173UHCPU(S1))

Refresh cycle Fetch cycle Refresh cycle Fetch cycle
Signal name Signal name
Device Set No. of axis Set No. of axis Signal Device Set No. of axis Set No. of axis Signal
No. A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32 direction No. A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32 direction
SV43 SV43
A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
M2160 M2240 Axis1
M2161 M2241 Axis2
M2162 M2242 Axis3
M2163 M2243 Axis4
M2164 M2244 Axis5
M2165 M2245 Axis6
M2166 M2246 Axis7
M2167 M2247 Axis8
M2168 M2248 Axis9
M2169 M2249 Axis10
M2170 M2250 Axis11
M2171 M2251 Axis12
M2172 M2252 Axis13
M2173 M2253 Axis14
M2174 M2254 Axis15
M2175 M2255 Axis16 Speed change accepting
3.5ms 7.1ms 14.2ms SCPU ← PCPU
M2176 M2256 Axis17 flag "0"
M2177 M2257 Axis18
M2178 M2258 Axis19
M2179 M2259 Axis20
M2180 M2260 Axis21
M2181 M2261 Axis22
M2182 M2262 Axis23
M2183 M2263 Axis24
M2184 M2264 Axis25
M2185 M2265 Axis26
M2186 M2266 Axis27
M2187 M2267 Axis28
M2188 M2268 Axis29
M2189 M2269 Axis30
M2190 M2270 Axis31
M2191 M2271 Axis32
M2192 M2272
M2193 M2273
M2194 M2274
M2195 M2275
M2196 M2276
M2197 M2277
M2198 M2278

− − −
M2199 Unusable M2279
M2200 (80 points) M2280
M2201 M2281
M2202 M2282
M2203 M2283
M2204 M2284
M2205 M2285
M2206 M2286
M2207 M2287
M2208 M2288
M2209 M2289
M2210 M2290
M2211 M2291
M2212 M2292
M2213 M2293
M2214 M2294

− − −
M2215 M2295 Unusable
M2216 M2296 (48 points)
M2217 M2297
M2218 M2298
M2219 M2299
M2220 M2300
M2221 M2301
M2222 M2302
M2223 M2303
M2224 M2304
M2225 M2305
M2226 M2306
M2227 M2307
M2228 M2308
M2229 M2309
M2230 M2310
M2231 M2311
M2232 M2312
M2233 M2313
M2234 M2314
M2235 M2315
M2236 M2316
M2237 M2317
M2238 M2318
M2239 M2319
* The entry "END" in the Refresh Cycle column indicates 50ms or a longer sequence program scan time.

APP − 75
APPENDICES

(8) Common devices

A273UHCPU(32 axis feature)/A173UHCPU(S1)
Refresh cycle Fetch cycle
Signal name
Set number of axes Set number of axes Signal
Device No.
A173UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32 direction
SV43
A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
D9180
Unusable − − −
D9181
D9182
Test mode request error information When test mode is requested
D9183
SCPU
D9184 PCPU WDT error cause When PCPU WDT error occurs
←
D9185
Manual pulse generator axis setting When manual pulse generator PCPU
D9186
error information operation is enabled
D9187
D9188 Unusable − − −
D9189 Error program No.
At start SCPU
D9190 Error item information
←
D9191 At power-on and
Servo amplifier loading information PCPU
D9192 10ms 20ms
D9193
D9194 Unusable − − −
D9195
SCPU
Personal computer link
D9186 3.5ms 7.1ms 14.2ms ←
communication error code
PCPU
D9187
D9198 Unusable − − −
D9199

APP − 76
APPENDICES

(8) Common devices

A172SHCPUN A171SHCPUN
Device Refresh Signal Device Refresh Signal
Signal Name Fetch Cycle Signal Name Fetch Cycle
No. Cycle Direction No. Cycle Direction
D1008 D1008
D1009 Limit switch output disable D1009 Limit switch output disable
3.5ms 3.5ms
D1010 setting register (4 points) D1010 setting register (4 points)
D1011 D1011
SCPU SCPU
Manual Manual
→PCPU →PCPU
Setting Register for a axis pulse Setting Register for a axis pulse
D1012 number controlled with generator D1012 number controlled with generator
manual pulse generator 1 operation manual pulse generator 1 operation
enabled enabled
D1013 D1013
Unusable (2 points) − − − Unusable (2 points) − − −
D1014 D1014
JOG operation JOG operation
simultaneous start axis simultaneous start axis
D1015 At driving D1015 At driving
setting setting
register register
SCPU
D1016 Axis 1 D1016 Axis 1 1 pulse input Manual
→PCPU
D1017 Axis 2 D1017 Axis 2 modification setting pulse
SCPU
D1018 Axis 3 1 pulse input Manual D1018 Axis 3 register for manual generator
→PCPU pulse generator (4 operation
D1019 Axis 4 modification setting pulse D1019 Axis 4
register for manual generator points) enabled
D1020 Axis 5 pulse generators operation D1020
D1021 Axis 6 (8 points) enabled D1021
Unusable (4 points) − − −
D1022 Axis 7 D1022
D1023 Axis 8 D1023

APP − 77
APPENDICES

(8) Common devices

A273UHCPU (32 axis feature) / A173UHCPU (S1)
Refresh cycle Fetch cycle
Signal name
Set No. of axis Set No. of axis
Device No. Signal direction
A173UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
SV43
A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
D704
D705
D706
Unusable (6 points) − − −
D707
D708
D709
D710
D711
JOG simultaneous start axis setting register At start
D712
D713
D714
Manual pulse generator 1 axis No. setting register
D715
D716
Manual pulse generator 2 axis No. setting register
D717
D718
Manual pulse generator 3 axis No. setting register
D719
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 SCPU → PCPU
D733 Axis 14
D734 Axis 15 When manual pulse generator enable
D735 Axis 16 Manual pulse generator 1-pulse input magnification
D736 Axis 17 setting register
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
D752 Manual pulse generator 1 smoothing magnification setting register
D753 Manual pulse generator 2 smoothing magnification setting register
D754 Manual pulse generator 3 smoothing magnification setting register
D755
D756
D757 Unusable (5 points) − − −
D758
D759
D760
D761
D762
D763
D764
D765
D766
D767
Limit switch output disable setting register
D768
D769
D770
D771
D772
D773
D774
D775
3.5ms 7.1ms 14.2ms
D776
D777
D778
D779
D780 SCPU → PCPU
D781
D782
D783
Limit switch output status storage register
D784
D785
D786
D787
D788
D789
D790
D791
D792
D793
D794
D795
Servo amplifier type At power ON
D796
D797
D798
D799

APP − 78
APPENDICES

(9) Special Relays

Device No. Signal Name Fetch Cycle Refresh Cycle Signal Direction
M9073 PCPU WDT error flag
M9074 PCPU REDAY-completed flag
M9075 In-test-mode flag
M9076 External emergency stop input flag END PCPU → SCPU
M9077 Manual pulse generator axis setting error flag
M9078 Test mode request error flag
M9079 Servo program setting error flag

* The entry “END” in the Refresh Cycle column indicates 80ms (A172SHCPUN/A171SHCPUN) or 50ms (A273UHCPU (32 axis
feature) / A173UHCPU (S1)), or a longer sequence program scan time.

(10) Table 3.2 Special Registers (A172SHCPUN / A171SHCPUN)

A172SH

CPUN/

A171SH
Signal Name Refresh Cycle Fetch Cycle Signal Direction
CPUN

Device

Number

D9180
D9181
Limit switch output status 3.5ms
D9182
D9183
At PCPU WDT error
D9184 PCPU WDT error cause
occurrence
D9185
Servo amplifier type Power ON SCPU←PCPU
D9186
Manual pulse generator axis setting Manual pulse generator
D9187
error information operation enabled
D9188 Test mode request error information Test mode request
D9189 Error program number
At driving
D9190 Error item information
D9191 Servo amplifier loading information Power ON, 10 ms
Manual pulse generator 1 smoothing Manual pulse generator
D9192 SCPU→PCPU
magnification setting register operation enabled
D9193
D9194 Unusable − − −
D9195
D9196 PC link communication error code 3.5ms SCPU←PCPU
D9197
D9198 Unusable − − −
D9199

APP − 79
 MITSUBISHI ELECTRIC CORPORATION
HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 TELEX: J24532 CABLE MELCO TOKYO
NAGOYA WORKS : 1-14 , YADA-MINAMI 5 , HIGASHI-KU , NAGOYA , JAPAN

IB (NA) 0300014-A (0002) MEE Printed in Japan Specifications subject to change without notice.