MITSUBISHI ELECTRIC
MITSUBISHI ELECTRIC
! DANGER
CAUTION
For Safe Operations
1. Prevention of electric shocks
!DANGER
2. For fire prevention
!CAUTION
3. For injury prevention
4. Various precautions
(1) System structure
(2) Parameter settings and programming
(3) Transportation and installation
Page
(4) Wiring
(5) Trial operation and adjustment
(6) Usage methods
(7) Corrective actions for errors
(8) Maintenance, inspection and part replacement
(9) About processing of waste
(10) General cautions
Page
Page
Page
Page
Page
Page
Page
Page
1. OVERVIEW
REMARK
1.2 Features
1.2.1Performance Specifications
(1)Motion control specifications
Motion control specifications (continued)
1.2.2 Differences between Q173HCPU/Q172HCPU and Q173CPU(N)/Q172CPU(N)
(1)Differences between Q173HCPU/Q172HCPU and Q173CPU(N)/Q172CPU(N)
Page
2. POSITIONING CONTROL BY THE MOTION CPU
Page
Page
Page
Page
Page
Page
Page
Page
Page
Page
(1) Positioning control parameters
(2) Servo program
(3) Motion SFC program
(4) PLC program
Page
3. POSITIONING DEDICATED SIGNALS
3.1 Internal Relays
(1) Internal relay list
Internal relay list (Continued)
POINT
Axis status list
(3) Axis command signal list
Common device list
Common device list (Continued)
3POSITIONING DEDICATED SIGNALS
Page
(5) Special relay allocated device list (Status)
(6)Common device list (Command signal)
(7) Special relay allocated device list (Command signal)
3.1.1 Axis statuses
(1)Positioning start complete signal (M2400+20n) .......... Status signal
(2)Positioning complete signal (M2401+20n) ..................Status signal
In-position
(4)Command in-positionsignal (M2403+20n) .................Status signal
(5)Speed controlling signal (M2404+20n) ........................Status signal
(6)Speed/position switching latch signal (M2405+20n)
.........................Status signal
(7) Zero pass signal (M2406+20n)
(8)Error detection signal (M2407+20n) ............................Status signal
(9)Servo error detection signal (M2408+20n) ..................Status signal
(10)Home position return request signal (M2409+20n)
(11)Home position return complete signal (M2410+20n)
.......................Status signal
(12)
FLS signal (M2411+20n)
(13)
RLS signal (M2412+20n)
STOP signal (M2413+20n) ........................................Status signal
(15)DOG/CHANGE signal (M2414+20n) (Note-1) ..................Statussignal
(16)Servo ready signal (M2415+20n) ..............................Status signal
(17) Torque limiting signal (M2416+20n)
(18)M-codeoutputting signal (M2419+20n) .....................Status signal
POINTS
3.1.2Axis command signals
(1)Stop command (M3200+20n) ............................... Command signal
(2)Rapid stop command (M3201+20n) ..................... Command signal
(4) Complete signal OFF command (M3204+20n)
......................... Command signal
(5) Speed/position switching enable command (M3205+20n)
......... Command signal
(6) Error reset command (M3207+20n) ..................... Command signal
(7) Servo error reset command (M3208+20n) ........... Command signal
(8)External stop input disable at start command (M3209+20n)
....................... Command signal
(9)Feed current value update request command (M3212+20n)
(10) Servo OFF command (M3215+20n)
Command signal
(11)Gain changing command (M3216+20n) ............. Command signal
(12) Control loop changing command (M3216+20n)
(13) FIN signal (M3219+20n)
3.1.3 Common devices
(1)PLC ready flag (M2000) ..............………………… Command signal
Page
Start accept flag (M2001 to M2032) ............................ Status signal
(3)Personal computer link communication error flag (M2034)
....………. Status signal
(4) Motion SFC error history clear request flag (M2035)
.……. Command signal
(5) Motion SFC error detection flag (M2039) .....….…… Status signal
(6)Speed switching point specified flag (M2040) ...... Command signal
(8) All axes servo ON command (M2042)
(9) Motion slot fault detection flag (M2047)
(10)JOG operation simultaneous start command (M2048)
(11) All axes servo ON accept flag (M2049)
(12) Manual pulse generator enable flag (M2051 to M2053)
.......... Command signal
(13) Operation cycle over flag (M2054)
(14) Speed changing flag (M2061 to M2092)
(15) Automatic decelerating flag (M2128 to M2159)
(16) Speed change "0" accepting flag (M2240 to M2271)
Page
Page
(17)Control loop monitor status (M2272 to M2303)
............................... Command signal
3.2 Data Registers
Data register list
(2) Axis monitor device list
(3) Control change register list
(4)Common device list
3.2.1 Axis monitor devices
(1) Feed current value storage register (D0+20n, D1+20n)
....…….. Monitor device
(2)Real current value storage register (D2+20n, D3+20n)
(3)Deviation counter value storage register (D4+20n, D5+20n)
(5)Major error code storage register (D7+20n) ............. Monitor device
(6)Servo error code storage register (D8+20n) ......... Monitor device
(7)Home position return re-travelvalue storage register (D9+20n)
(8)Travel value after proximity dog ON storage register
(D10+20n, D11+20n) ………………………………… Monitor device
(9) Execute program No. storage register (D12+20n)
(10)M-codestorage register (D13+20n) ..........……….. Monitor device
(11) Torque limit value storage register (D14+20n)
Monitor device
(12) Data set pointer for constant-speedcontrol (D15+20n)
Page
(13) Travel value change register (D16+20n, D17+20n)
....…….. Command device
(14)Real current value at STOP input storage register
(D18+20n, D19+20n) .............……………………... Monitor device
3.2.2 Control change registers
Table 3.1 Data storage area for control change list
(1)JOG speed setting registers (D640+2n) ....…….. Command device
3.2.3Common devices
Details of the request register
(3)Manual pulse generator axis No. setting registers (D714 to D719)
(4)Manual pulse generator 1-pulseinput magnification setting
registers (D720 to D751)
Command device
Page
(6) Real mode axis information register (D790, D791)
.................................................... Monitor device
3.3 Motion Registers (#)
(1) Servo monitor devices (#8064 to #8191) ................. Monitor device
3.4 Special Relays (SP.M)
Table 3.2 Special relay list
(2) PCPU REDAY complete flag (M9074) ………............ Status signal
(3)TEST mode ON flag (M9075) ........……...................... Status signal
(4)External forced stop input flag (M9076) ....…………… Status signal
(5)Manual pulse generator axis setting error flag (M9077)
.………...... Status signal
(6)TEST mode request error flag (M9078) ..........………. Status signal
3.5 Special Registers (SP.D)
Table 3.3 Special register list
(1) Connect/disconnect (D9112)
..................................... Command device/Monitor device
(2)Test mode request error information (D9182, D9183)
........... Monitor device
(3)Motion CPU WDT error cause (D9184) ………........ Monitor device
(4)Manual pulse generator axis setting error information
(5) Motion operation cycle (D9188) ….……..…………. Monitor device
(6)Error program No. (D9189) .................……….......... Monitor device
(7)Error item information (D9190) ...........………........... Monitor device
(8) Servo amplifier loading information (D9191 to D9192)
(9) PC link communication error codes (D9196) ........... Monitor device
(10)Operation cycle of the Motion CPU setting (D9197)
(11) State of switch (D9200) ………………………….. Monitor device
(12) State of LED (D9201)…………………………..…… Monitor device
Page
4. PARAMETERS FOR POSITIONING CONTROL
4.2Fixed Parameters
Table 4.1 Fixed parameter list
4.2.1 Number of pulses/travel value per rotation
(1) Number of pulses/travel value per rotation
Fig. 4.1 Control content of the Motion CPU
Page
4.2.2Backlash compensation amount
4.2.3 Upper/lower stroke limit value
Fig. 4.3 Travel range at the upper/lower stroke limit value setting
(1) Stroke limit range check
4.2.4 Command in-positionrange
4.2.5 Speed control 10multiplier setting for degree axis
Page
Page
4.3Parameter Block
Table 4.2 Parameter Block Setting List
Page
4.3.2 S-curveratio
4.3.3 Allowable error range for circular interpolation
Fig. 4.4 Spiral Interpolation
5. SERVO PROGRAMS FOR POSITIONING CONTROL
5.1.2Servo program area
(1)Servo program area
(2) Servo program capacity
Fig. 5.2 Servo program area
5.2 Servo Instructions
(1) Guide to servo instruction list
Table. 5.1 Guide to Servo Instruction List
(2) Servo instruction list
Table 5.2 Servo instruction list
Page
Table 5.2 Servo Instruction List (continued)
Page
Page
Page
Page
Page
Page
Page
Page
Page
5SERVO PROGRAMS FOR POSITIONING CONTROL
5.3 Positioning Data
Table 5.3 Positioning data
Page
Table 5.3 Positioning data (Continued)
Page
Page
Page
5.4 Setting Method for Positioning Data
5.4.1 Setting method by specifying numerical values
Fig. 5.3 Setting example of positioning data by specifying numerical value
5.4.2 Indirect setting method by word devices (D, W and #)
(1) Devices for indirect setting data
Fig. 5.4 Example of setting positioning data by numerical value setting
(2) Inputting of positioning data
6. POSITIONING CONTROL
6.1.2 Positioning speed at the interpolation control
(1) 1 axis linear control
(2) Linear interpolation control
Page
Page
Page
Page
6POSITIONING CONTROL
(3)Circular interpolation control
6.1.3 Control units for 1 axis positioning control
6.1.4Control units for interpolation control
Remarks
6.1.5 Control in the control unit "degree
(1) Current value address
(2) Stroke limit valid/invalid setting
(3)Positioning control
6.1.6 Stop processing and restarting after stop
(1)Stop processing
Page
(c)Stop commands and stop causes
(2)Re-startingafter stop
(3)Continuation of positioning control
Page
6.1.7 Acceleration/deceleration processing
(1) Trapezoidal acceleration/deceleration processing
(2) S-curveacceleration/deceleration processing
(a) Direct specification
(b) Indirect specification
6.2 1 Axis Linear Positioning Control
Fig.6.1 Positioning using absolute data method
Fig.6.2 Positioning using incremental data method
(1) System configuration
(2) Positioning operation details
(3) Operation timing
(4) Servo program
(5) Motion SFC program
6.3 2 Axes Linear Interpolation Control
Fig.6.3 Positioning using absolute data method
Fig.6.4 Positioning using incremental data method
(2)Positioning operation details
(3)Positioning conditions
(4)Operation timing
(5) Servo program
(6) Motion SFC program
6.4 3 Axes Linear Interpolation Control
Fig.6.5 Positioning using absolute data method
Fig.6.6 Positioning using incremental data method
Page
(4) Operation timing
Page
6.5 4 Axes Linear Interpolation Control
Fig.6.7 Axis configuration
Fig.6.8 Positioning for 4 axes linear interpolation control
Page
Page
6.6 Auxiliary Point-SpecifiedCircular Interpolation Control
Fig.6.9 Circular interpolation control using absolute data method
Fig.6.10 Maximum arc
Fig.6.11 Circular interpolation control using incremental data method
Fig.6.12 Maximum arc
(2) Positioning details
Page
Page
6.7 Radius-SpecifiedCircular Interpolation Control
Fig.6.13 Circular interpolation control using absolute data method
Fig.6.14 Maximum arc
Fig.6.15 Circular interpolation control using incremental data method
Fig.6.16 Maximum arc
Page
Page
Page
6.8 Central Point-SpecifiedCircular Interpolation Control
Fig.6.17 Circular interpolation control using absolute date method
Fig.6.18 Positioning control of a complete round
Fig.6.19 Maximum arc
Fig.6.20 Circular interpolation control using incremental data method (INC )
Fig.6.21 Positioning control of a complete round
Fig.6.22 Maximum arc radius
Page
Page
Page
6.9 Helical Interpolation Control
6.9.1 Circular interpolation specified method by helical interpolation
Page
Page
(1) Servo program
(2) Motion SFC program
Page
Page
Page
Page
Page
Page
Page
Page
Page
Page
Page
Page
Page
Page
Page
Page
6.10 1 Axis Fixed-PitchFeed Control
Fig.6.23 1 axis fixed-pitchfeed control
(2)Fixed-pitchfeed control conditions
(3)Operation timing
Page
6.11 Fixed-PitchFeed Control Using 2 Axes Linear Interpolation
Fig.6.24 Fixed-pitchfeed control using 2 axes linear interpolation
(2)Fixed-pitchfeed control
Page
Page
6.12 Fixed-PitchFeed Control Using 3 Axes Linear Interpolation
Fig. 6.25 Fixed-pitchfeed control using 3 axes linear interpolation
Page
Page
Page
6.13Speed Control ()
Table.6.1 Stop commands and stop processing
(2)Speed control () conditions
Page
6.14Speed Control ()
Page
Page
Page
Page
Page
Page
Page
(2)Positioning conditions
Page
6.15.2 Re-startingafter stop during control
Fig. 6.27 Re-startingduring speed control
Fig.6.28 Re-startingduring speed control
Fig.6.29 Re-startingafter speed change
Page
Page
Page
6.16Speed-SwitchingControl
(1) VSTART
(2) VEND
(1) ABS-1/INC-1
(2) ABS-2/INC-2
(3) ABS-3/INC-3
Page
(2) Positioning conditions
(3) Operation timing and speed-switchingpositions
Page
Page
(3)FOR-OFF (loop-outtrigger condition setting)
(1) Operation in condition
(2) Operation in condition
(3)Operation in condition
(3)Operation timing and speed-switchingpositions
Page
Page
6.17Constant-SpeedControl
Page
Page
Page
6.17.1 Specification of pass points by repetition instructions
Page
Page
Page
Page
6.17.2 Speed-switchingby instruction execution
Page
Page
Page
Page
6.17.3 1 axis constant-speedcontrol
(1) CPSTART1
(2) CPEND
(3)Details of positioning operation
Page
Page
6.17.4 2 to 4 axes constant-speedcontrol
(1) CPSTART2
(2) CPSTART3
(3) CPSTART4
(4) CPEND
(1) ABS-2/INC-2
(6)ABS/INC , ABS/INC
Fig.6.30 Positioning for Axis 2 and Axis
Page
Page
Page
Page
6.17.5 Constant speed control for helical interpolation
Page
Page
6.17.6 Pass point skip function
(1) Skip signal devices
Page
6.17.7 FIN signal wait function
(1)FIN signal wait function by the PLC program
Page
Page
(2)FIN signal wait function using the Motion SFC program
Page
Page
Page
Page
6.18 Position Follow-UpControl
Page
Page
Page
Page
Page
6.19 Speed control with fixed position stop
Page
Page
Page
Page
6.20Simultaneous Start
(2) Number of specified servo programs and program No
Start conditions
Servo program
Page
6.21 JOG Operation
6.21.1 JOG operation data
Table 6.2 JOG operation data list
6.21.2 Individual start
Page
Page
(2)JOG operation conditions
Page
6.21.3 Simultaneous start
Page
Page
6.22 Manual Pulse Generator Operation
Page
Page
Page
Page
(2)Manual pulse generator operation conditions
(3)Motion SFC program
6.23Home Position Return
Page
6.23.1 Home position return data
Table 6.3 Home position return data list
Page
(1)Travel value after proximity dog ON
Fig. 6.31 Operation for home position return retry function
(3)Home position shift amount/speed set at the home position shift
Fig. 6.32 Home position shift amount/speed set at the home position shift
(4)Torque limit value at the creep speed
(5)Operation setting for incompletion of home position return
(6)Indirect setting of home position return data
(7)Setting items for home position return data
6.23.2 Home position return by the proximity dog type
(1) Proximity dog type
(2) Home position return by the proximity dog type
Fig. 6.33 Home position return operation by the proximity dog type
(3) Home position return execution
(4)Cautions
Page
6.23.3 Home position return by the proximity dog type
Page
6.23.4Home position return by the count type
(1)Count type
(2) Home position return by the count type
Fig. 6.35 Home position return operation by the count type
Page
6.23.5Home position return by the count type
Fig. 6.36 Home position return operation by the count type
6.23.6Home position return by the count type
Page
6.23.7 Home position return by the data set type
(1) Data set type
(2) Home position return by the data set type
Fig. 6.38 Home position return operation by the date set type
6.23.8 Home position return by the data set type
Fig. 6.39 Home position return operation by the date set type
6.23.9 Home position return by the dog cradle type
(1) Dog cradle type
(2) Home position return by the dog cradle type
Fig. 6.40 Home position return operation by the dog cradle type
Page
Page
Page
6.23.10 Home position return by the stopper type
(1) Stopper type
(2) Home position return by the stopper type
Fig. 6.41 Home position return operation by the stopper type
Page
6.23.11 Home position return by the stopper type
Fig. 6.42 Home position return operation by the stopper type
Page
6.23.12 Home position return by the limit switch combined type
(1) Limit switch combined type
(2) Home position return by the limit switch combined type
Fig. 6.43 Home position return operation by the limit switch combined type
Page
6.23.13 Home position return retry function
[Data Setting]
Table 6.4 Home position return data
Fig. 6.44 Operation for home position return retry (proximity dog type)
Page
Fig. 6.45 Dwell time setting at the home position return retry
Page
6.23.14 Home position shift function
Table 6.5 Home position return data
Fig. 6.46 Operation for home position shift
Fig. 6.47 Setting range of home position shift amount
Fig. 6.48 Operation for home position shift with the home position return speed
Fig. 6.49 Operation for home position shift with the creep speed
6.23.15 Condition selection of home position set
Table 6.6 Servo parameter (expansion setting parameter)
6.23.16 Servo program for home position return
(2)Servo program example
6.24 High-SpeedOscillation
Page
7. AUXILIARY AND APPLIED FUNCTIONS
(3) Resetting of M-codes
7AUXILIARY AND APPLIED FUNCTIONS
(4)Program example
7.2 Backlash Compensation Function
Fig.7.1 Backlash compensation amount
(1) Setting of the backlash compensation amount
(2)Backlash compensation processing
Table 7.2 Details of backlash compensation processing
7.3 Torque Limit Function
Page
7.4 Skip Function in which Disregards Stop Command
Page
7.5 Cancel of the Servo Program
7.5.1 Cancel/start
Page
APPENDICES
Table 1.1 Error code storage registers, error detection signals
APPENDIX 1.1 Servo program setting errors (Stored in D9190)
Table 1.2 Servo program setting error list
Table 1.2 Servo program setting error list (Continued)
Page
Page
APPENDIX 1.2 Minor errors
(1) Setting data errors (1 to 99)
Table 1.3 Setting data error (1 to 99) list
(2) Positioning control start errors (100 to 199)
Table 1.4 Positioning control start error (100 to 199) list
Table 1.4 Positioning control start error (100 to 199) list (Continued)
Page
Page
(3) Positioning control errors (200 to 299)
Table 1.5 Positioning control error (200 to 299) list
Table 1.5 Positioning control error (200 to 299) list (Continued)
Page
(4) Current value/speed change errors (300 to 399)
Table 1.6 Current value/speed change error (300 to 399) list
(5) System errors (900 to 999)
Table 1.7 System error (900 to 999) list
APPENDIX 1.3 Major errors
(1) Positioning control start errors (1000 to 1099)
Table 1.8 Positioning control start error (1000 to 1099) list
(2) Positioning control errors (1100 to 1199)
Table 1.9 Positioning control error (1100 to 1199) list
(3) Absolute position system errors (1200 to 1299)
Table 1.10 Absolute position system error (1200 to 1299) list
(4) System errors (1300 to 1399)
Table 1.11 System error (1300 to 1399) list
APPENDIX 1.4 Servo errors
(1) Servo amplifier errors (2000 to 2899)
Table 1.12 Servo error (2000 to 2899) list
Table 1.12 Servo error (2000 to 2899) list (Continued)
Page
Page
Page
Page
Page
Page
Page
Page
Page
Page
Page
Page
Page
Page
Page
Page
APPENDIX 1.5 PC link communication errors
Table 1.13 PC link communication error codes list
APPENDIX 2 Special Relays/special registers
APPENDIX 2.1 Special relays
Table 2.1 Special relay list
Table 2.1 Special relay list (continued)
APPENDIX 2.2 Special registers
Table 2.2 Special register list
Table 2.2 Special register list (continued)
Page
APPENDIX 3 Example Programs
APPENDIX 3.1 Reading M-code
APPENDIX 3.2 Reading error code
Page
APPENDIX 4 Setting Range for Indirect Setting Devices
(1) Device range
(2) Inputting device data
APPENDIX 5 Processing Times of the Motion CPU
(1) Motion operation cycle [ms] (Default)
(2) CPU processing time [ms]
Page
(4) Axis command signal list
Page
Page
Page
(6) Special relay allocated device list (Status)
(7) Common device list (Command signal)
(8) Special relay allocated device list (Command signal)
(9) Axis monitor device list
(10) Control change register list
(11) Common device list
(12) Motion register list (#)
(13) Special relay list
(14) Special register list
3 axes linear interpolation control (P3)
For linear/circular interpolation: 
For helical interpolation: 2 axes