Industrial Automation

System

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MITSUBISHI ELECTRIC

EUROPE B.V.

System Q

Motion Controller

Industrial Automation

System

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Contents

•

Overview

•

System Configuration

•

Multiple CPU Configuration

•

Connection to Servo Ampifiers

•

Motion CPU Modules

•

Motion SFC Performance Specification

•

Q172LX Servo External Signals Interface Module

•

Q172EX Serial Absolute Synchronous Encoder Interface

•

Q173PX Manual Pulse Generator Interface Module

Contents

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Q-Motion System

Industrial Automation

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Main Features of System Q Motion CPU Modules

Main Features

Motion CPU, PLC CPU and PC-CPU can be combined in a multiple
CPU system.

While the Motion CPU controls complicated servo operations, the
PLC CPU controls machine operations and communications.

By distributing control to independent CPUs the total performance of
the system is improved.

Motion CPU Integrated in a Multiple CPU System.

Application Tailored Software Packages

Motion CPU module operating system software is specifically tailored and packed
with functionality specific for your application needs.

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Main Features of System Q Motion CPU Modules

Main Features

SSCNET (Servo System Controller NETwork) allows high speed
communication with high performance servo amplifiers with 5.6
Mbps.

Through the fast and simple connecting SSCNET up to 32 servo
amplifiers can be controlled by one Q173 Motion CPU Module. The
Q172CPU controls a maximum of 8 axes.

High functionality such as absolute system, torque control,
synchronization etc.

Programming of the Motion CPU can be performed by connecting a
PC with an optional I/F-card to the SSCNET.

Download of servo parameters is possible via the Motion CPU.

Use of SSCNET, the High Speed Synchronous Communication Network

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System Configuration

PLC CPU

Motion CPU

Modules controlled by Motion CPU

Power Supply

Base
unit

Modules controlled by PLC CPU

SSCNET

Up to 32 Servo amplifiers

Servo motors

Serial absolute synchronous
encoder (MR-HENC)

Manual pulse
generator

Interrupt signals

Inputs/Output
s

Servo external input
signals

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Multiple CPU Configuration

Motion CPU

Main base

unit

Extension
cable

Extension
base unit

Power supply, I/O modules,
intelligent function
modules

Motion modules

Q172LX, Q172EX,

Q173PX

Q CPU

SSCNET connection
to Servo Amplifiers

Multiple CPU Layout

(up to 3 modules)

Motion modules

Q172LX, Q172EX,

Q173PX

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Automatic Data Exchange between

CPUs

Data exchange between CPUs is performed by auto-refresh of specified devices.

No PLC-Program is required to read data from other CPUs.

Read/write is supported by the host CPU

Data from CPU 1

Data from CPU3

Data from CPU 2

Data from CPU 3

Data from CPU 1

Max.

words

CPU 3

Devices

(Example)

Data from CPU 3

Data from CPU 1

Data from CPU 2

D100

D200

D300

D199

D299

D399

CPU 2

CPU 1

These areas are read only

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Multiple CPU Configuration

Write is performed at END processing
of CPU 1

Automatic

refresh area

Shared memory

Device

memory

Data from

CPU 2

CPU1: PLC CPU

(sequence control)

Data of CPU 1

Automatic

refresh area

Shared memory

Device

memory

Data from

CPU 1

CPU2: Motion CPU

(servo control)

Data of CPU 2

Read is performed at END processing
of CPU 2

Automatic refresh is used to exchange data between CPUs

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Automatic Refresh of Shared

Memories

 Each CPU can send 2048 words to the other CPUs (All together 4K words!)

 Four refresh settings can be made for each CPU. Bit device and word device

data can be refreshed separately.

 Usable devices for auto-refresh:

– Data register (D)
– Link register (W)
– File register (R, ZR)
– Internal relays (M)
– Link relays (B)
– Outputs (Y)

 The devices are specified in units of 2 words.

 The first number of the bit devices must be either 0 or a multiple of 16.

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Multiple CPU Configuration

Parameter Setting for Multiple CPU Sytem

As the Motion CPU is one element of the multiple CPU system, it is necessary
to set the parameters of the Multiple PLC system for each CPU.

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Multiple CPU Configuration

Which Modules can be controlled by Motion CPU ?

Control is mandatory for:

Modules dedicated for the Motion CPU like Q172LX, Q172EX and Q17PX.
These Modules will not operate correctly if a Q CPU is set as the control CPU.

Control is possible for:

I/O modules when using the Motion SFC as the operating system software.

Control is not possible for:

Link modules and grafic operator terminals (GOT)

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 No empty slot is allowed between two CPU modules.

Precautions for the Motion Module Mounting Positions

 The first CPU must be mounted on the CPU slot.

 Motion CPUs must be mounted on the right side of the PLC CPUs.

In turn, no PLC CPU is allowed on the right side of a Motion CPU.

 The Motion CPU cannot be used as a standalone module. It must always used in

combination with a PLC CPU.

Multiple CPU Configuration

 There is no restriction on the positions at which the modules controlled by the

Motion CPU (Q172EX, Q172LX etc.) may be installed.

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Q172CPU

Connection to Servo Amplifiers

SSCNET LINE 1

Servo amplifier,
max. 8 axes

Compatible servo amplifiers:

• MR-J2S-B

• MR-J2-B

A external battery can be fitted
by using the battery unit
Q170BAT and
a special SSCNET cable.

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Q173CPU

Connection to Servo Amplifiers

SSCNET LINE 4

Servo amplifier,
max. 8 axes

The dividing unit also offers
a holder for a external
battery.

SSCNET LINE 1

SSCNET LINE 2

SSCNET LINE 3

Servo amplifier,
max. 8 axes

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Motion CPU Modules

Connection of Peripheral Devices

A Personal Computer used for programming the Motion CPU can be connected
in 3 different ways:

USB

(12Mbps)

RS-232

(115.2

kbps)

SSCNET

(5.6 Mbps)

SSC I/F Card/Board

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Motion CPU Modules

Q172CPU, Q173CPU

The Q172CPU is able to control up to 8 axes, the
Q173CPU controls up to 32 axes.

Communication with servo amplifiers is
performed via the high speed SSCNET.

Two types of Motion CPUs are available for your
applications.

Selectable control frequency and number of axis (Q173CPU)

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Motion CPU Modules, Specifications

(1)

Basic Specifications (1)

Item

Q172CPU

Q173CPU

Number of control axes

SV13

0.88 ms / 1 to 8 axes

1.77 ms / 9 to 16 axes

3.55 ms / 17 to 32 axes

Operation cycle

(default)

SV22

0.88 ms / 1 to 4 axes

1.77 ms / 5 to 8 axes

0.88 ms / 1 to 4 axes

1.77 ms / 5 to 12 axes

3.55 ms / 13 to 24 axes

7.11 ms / 25 to 32 axes

Interpolation functions

Linear interpolation (4 axes max.)

Circular interpolation (2 axes)

Helical interpolation (3 axes)

Control modes

PTP (Point to Point), Speed control, Speed-position

control, Fixed-pitch feed, Constant speed control,

Position follow-up control, Speed switching control, High-

speed oscillation control, Synchronous control (SV22)

Acceleration /

Deceleration control

Automatic trapezoidal acceleration/deceleration

S-curve acceleration/deceleration

Compensation

Backlash compensation, Electronic gear

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Motion CPU Modules, Specifications

(2)

Basic Specifications (2)

Item

Q172CPU

Q173CPU

Programming language

Motion SFC, dedicated instruction, Mechanical support

language (SV22)

Program capacity

14 k steps

Number of positioning

points

3200

(Positioning data can be designated indirectly)

Home position return

function

Proximity dog type, Count type, Data set type (2 types)

J OG operation function

Provided

Connectable manual pulse

generators

Connectable synchronous

encoders

(serial absolute and

incremental synchronous

encoders combined)

M-code function

M-code output function is provided

M-code completion wait function provided

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Motion CPU Modules, Specifications

(3)

Basic Specifications (3)

Item

Q172CPU

Q173CPU

Absolute position system

Made compatible by setting battery to servo amplifier

For each axis either the absolute data method or the

incremental method can be selected.

Peripheral interfaces

USB (12 Mbps), RS-232 (115.2 kbps), SSCNET (5.6 Mbps)

Number of SSCNET I/F

5 CH

2 CH

Manual pulse generator /

synchronous encoder

interface modules

3 modules (Q173PX) usable 4 modules (Q173PX) usable

Serial absolute synchronous

encoder interface modules

4 modules (Q172EX) usable 6 modules (Q172EX) usable

Servo external signals

interface module

1 module (Q172LX) usable

4 modules (Q172LX) usable

Limit switch output function Up to 32 output points per axis

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Program Capacity

Motion SFC Performance

Specifications (1)

Item

Q172CPU/Q173CPU

Code total

(Motion SFC chart + Operation control +

Transition)

287k bytes

Text total

(Operation Control + Transition)

224k bytes

Motion SFC Program

Item

Q172CPU/Q173CPU

Number of Motion SFC programs

256 (No. 0 to 255)

Motion SFC chart size per program

Max. 64k bytes

(Motion SFC chart comments included)

Number of Motion SFC steps per

program

Max. 4094 steps

Number of selective branches per branch 255
Number of parallel branches per branch

255

Parallel branch nesting

Up to 4 levels

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Motion SFC Performance

Specifications (2)

Operation control program (F, FS), Transition program (G)

Item

Q172CPU/Q173CPU

Number of operation control programs

4096 with F (once execution type) and FS

(scan execution type) combined

F/FS 0 to F/FS 4096

Number of transition programs

4096 (G0 to G4095)

Code size per program

Max. approx. 64k bytes (32766 steps)

Number of blocks (line) per program

Max. 8192 blocks

(in the case of 4 steps (min)/block)

Number of characters per program

Max. 128 (comment included)

Number of operands per program

Max. 64 (operands: constants, word devices,

bit devices)

Nesting per block

Max. 32

Operation control

program

Calculation expression, bit conditional

expression

Descriptive

Expression

Transition program

Calculation expression, bit conditional

expression, comparision conditional

expression

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Motion SFC Performance

Specifications (3)

Execution Specifications

Item

Q172CPU/Q173CPU

Number of multi executed programs

Max. 256

Number of multi active steps

Max 256 steps in all programs

Normal task

Executed in motion main cycle

Fixed cycle Executed in fixed cycle

(0.88 ms, 1.77 ms, 3.55 ms, 7.11 ms, 14.2 ms)

External

interrupt

Executed when an input of an interrupt

module is ON

Event task

(Execution can

be masked)

PLC

interrupt

Executed at an interrupt from PLC CPU

(When PLC CPU dedicated command

S(P).GINT is executed)

Executed

task

NMI task

Executed when an input of an interrupt

module is ON

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Motion SFC Performance

Specifications (4)

Item

Q172CPU/Q173CPU

Inputs/outputs (X/Y)

8192 points

Real inputs/outputs (X/Y)

Total 256 points

Internal relay (M)
Latch relay (L)

Total 8192 points

Link relay (B)

8192 points

Annunciators (F)

2048 points

Special relay (M)

256 points

Data register (D)

8192 points

Link register (W)

8192 points

Special register (D)

256 points

Motion register (#)

8192 points

Coasting timer (FT)

1 point (888 s)

Number of Devices (Devices in Motion CPU only)

The positioning dedicated devices are included in the above table.

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Q172LX

The Q172LX receives external signals of up to 8 axis required for positioning control.

For each axis 4 signals can be connected:

 Lower stroke limit switch (RLS)

 Stop signal (STOP)

For stopping under speed or positioning control

 Proximity dog/Speed-position switching signal

(DOG/CHANGE)
For detection of proximity dog at proximity dog or

count type home position return or for switching
from speed to position switching control

 Upper stroke limit switch (FLS)

Q172LX Servo External Signals Interface module

The status of each input is indicated by a LED

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Q172LX

Specifications

Item

Q172LX Servo External Signals Interface

Number of inputs

32 points (4 servo external signals for each of 8 axis)

Type of servo external signals

 Upper stroke limit

 Lower stroke limit

 Stop input

 Proximity dog/Speed-position switching signal

Input method

Sink/Source type

Isolation method

Photocoupler

Rated input voltage

12/24 VDC

Rated input current

2 mA @ 12 VDC, 4 mA @ 24 VDC

Operating voltage range

10.2 to 26.4 VDC

(12/24 VDC +10% / -15%, ripple ratio 5% or less)

ON voltage/current

Min. 10 VDC or more / 2.0 mA or more

OFF voltage/current

Max. 1.8 VDC or less / 0.18 mA or less

Input resistance

Approx. 5.6 kΩ
Upper/Lower stroke limit and stop signal: 1 ms

Response time

(OFF to ON / ON to OFF)

Proximity dog/Speed-position switching signal:

0.4 ms / 0.6 ms / 1 ms

(CPU parameter setting, default 0.4 ms)

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Q172LX

Pin Layout of the CTRL Connector

Group

Pin LED Signal Name

Group

Pin LED Signal Name

B20

FLS1

A20

FLS5

B19

RLS1

A19

RLS5

B18

STOP1

A18

STOP5

B17

DOG1/CHANGE1

A17

DOG5/CHANGE5

B16

FLS2

A16

FLS6

B15

RLS2

A15

RLS6

B14

STOP2

A14

STOP6

B13

DOG2/CHANGE2

A13

DOG6/CHANGE6

B12

FLS3

A12

FLS7

B11

RLS3

A11

RLS7

B10

STOP3

A10

STOP7

DOG3/CHANGE3

DOG7/CHANGE7

FLS4

FLS8

RLS4

1D RLS8

STOP4

STOP8

DOG4/CHANGE4

DOG8/CHANGE8

No connect

COM

No connect

COM

No connect

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Q172LX

Example for Wiring the Servo External Signals

Upper stroke limit input

Lower stroke limit input

Stop signal input

Proximity dog/Speed-position switching signal

Internal circuit

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Q172EX

Q172EX Serial Absolute Synchronous Encoder Interface Module

Up to 2 encoders of the serial absolute output type
(MR-HENC) can be connected to the Q172EX.

Backup of the absolute position is provided by a
build-in battery.

The module also offers 2 tracking enable
signal inputs which are used as a high-speed
reading function.

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Q172EX

Specifications (Serial Absolute Synchronous Encoder Input)

Item

Q172EX

Applicable encoder types

MR-HENC

Position detection method

Absolute method

Transmision method

Serial communication

Communication speed

2.5 Mbps

Synchronous method

Counter-clock-wise (viewed from end of shaft)

Resolution

16384 pulses per revolution (14 bit)

Cable lenght

Max. 30 m (98.36 ft)

Number of encoders per Q172EX 2
Isolation method

Photocoupler

Backup of the absolute position

With integrated battery A6BAT/MR-BAT

Battery service life time

With 1 encoder: 15000 h

With 2 encoders: 30000 h

(At an ambient temperature of 40 °C (104 °F)

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Q172EX

Specifications (Tracking Enable Signal Inputs)

Item

Q172EX

Number of inputs

2 points

Input method

Sink/Source type

Isolation method

Photocoupler

Rated input voltage

12/24 VDC

Rated input current

2 mA @ 12 VDC, 4 mA @ 24 VDC

Operating voltage range

10.2 to 26.4 VDC

(12/24 VDC +10% / -15%, ripple ratio 5% or less)

ON voltage/current

Min. 10 VDC or more / 2.0 mA or more

OFF voltage/current

Max. 1.8 VDC or less / 0.18 mA or less

Input resistance

Approx. 5.6 kΩ

Response time

(OFF to ON / ON to OFF)

0.4 ms / 0.6 ms / 1 ms

(CPU parameter setting, default 0.4 ms)

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Q172EX

Pin Layout of the SY.ENC Connectors

Pin

Signal

Name

Description

Pin

Signal

Name

Description

Ground

TREN

Tracking enable

input

TREN.COM Tracking enable

input

No connect

Not usable

MDR

Not usable

Encoder signal

input

MRR

Encoder signal

input

No connect

BAT

Battery voltage (+) 19

5 VDC (+)

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Interface between SY.ENC Connector and External Equipment

Q172EX

Q172CP
U
Q173CP
U

Q172EX

Serial absolute
synchronous encoder
cable (MR-JHSCBLM-H)

Serial absolute synchronous
encoder (MR-HENC)

Internal circuit

Q172EX

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Q173PX

Q173PX Manual Pulse Generator Interface Module

The Q173PX offers 3 inputs for manual pulse generators or incremental synchronous
encoders.

Voltage output/open collector type or differential-output
type manual pulse generators and incremental
synchronous encoders can be used.

To start the input from incremental synchronous encoders,
the Q173PX is equipped with 3 tracking enable signal
inputs which can also be used as for high-speed reading
functions.

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Q173PX

Specifications ( A-phase and B-phase Inputs from Manual Pulse Generator or
Incremental Synchronous Encoder)

Item

Q173PX

Applicable encoder types

 Voltage-output type / Open collector type (5 VDC)

(MR-HDP01 is recommended)

 Differential-output type

(Selectable by connector wiring)

HIGH level

3.0 to 5.25 VDC / 3 mA or more

LOW level

0 to 1.0 VDC / 0.3 mA or less

Input frequency

Max. 400 kpps (After magnification by 4)

Voltage-output/Open

collector type

Max. 10 m (32.79 ft)

Cable

lenght

Differential-output type Max. 30 m (98.36 ft)

Number of manual pulse

generators / incremental

synchronous encoders per

Q173PX

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Q173PX

Pulse width

2.5 μs
or more

10 μs or more

Specifications for Phases A and B

1.2 μs
or more

Phase A

Phase B

The value of the position is increased
when Phase A leads Phase B.

The value of the position is decreased
when Phase B leads Phase A.

Duty cycle: 50 %
±25 %

Rise and fall time: 1 μs or
less

Phase difference

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Q173PX

Specifications (Tracking Enable Signal Inputs)

Item

Q173PX

Number of inputs

3 points

Input method

Sink/Source type

Isolation method

Photocoupler

Rated input voltage

12/24 VDC

Rated input current

2 mA @ 12 VDC, 4 mA @ 24 VDC

Operating voltage range

10.2 to 26.4 VDC

(12/24 VDC +10% / -15%, ripple ratio 5% or less)

ON voltage/current

Min. 10 VDC or more / 2.0 mA or more

OFF voltage/current

Max. 1.8 VDC or less / 0.18 mA or less

Input resistance

Approx. 5.6 kΩ

Response time

(OFF to ON / ON to OFF)

0.4 ms / 0.6 ms / 1 ms

(CPU parameter setting, default 0.4 ms)

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Q173PX

Pin Signal Name

Pin

Signal Name Description

B20 HB1

A20 HA1

B19 SG

A19 SG

Input for a voltage output/open

collector type

B18 P5

A18 HPSEL1

5 VDC out / output type selection

B17 HA1N

A17 HA1P

B16 HB1N

A16 HB1P

Inputs for differential-output type

B15 HB2

A15 HA2

B14 SG

A14 SG

Input for a voltage output/open

collector type

B13 P5

A13 HPSEL2

5 VDC out / output type selection

B12 HA2N

A12 HA2P

B11 HB2N

A11 HB2P

Inputs for differential-output type

B10 HB3

A10 HA3

B9 SG

Input for a voltage output/open

collector type

B8 P5

HPSEL3

5 VDC out / output type selection

B7 HA3N

HA3P

B6 HB3N

HB3P

Inputs for differential-output type

B5 NC

No connect

B4 TREN1-

TREN1+

B3 TREN2-

TREN2+

B2 TREN3-

TREN3+

Tracking enable signal inputs

B1 FG

Frame ground (for shielding)

Pin Layout of the PULSER Connector

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Q173PX

Connection of a Manual Pulse Generator (Voltage-output/Open collector type)

Internal circuit

MR-HDP01

Separate power
supply

The P5 and SG terminals of the
Q173PX must not be connected is a
separate power
supply is used.

Q173PX

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Q173PX

Connection of a Differential-Output Type Incremental Synchronous Encoder

Internal
circuit

Q173P
X

Separate
power
supply

The P5 and SG terminals of the
Q173PX must not be connected is a
separate power
supply is used.

Encode
r

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Q173PX

Connection of Tracking Enable Signals

Internal circuit

12 to 24 VDC

TREN+

TREN-

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SV13 (Real Mode) and SV22 (Virtual

Mode)

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Example Application (SV13)

X-Y Table control
• Up to 4 axes linear interpolation
• 2 axes circular interpolation
• Uniform velocity locus control (CP control)

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Example Application (SV13)

Sealing

•

Uniform velocity control

• Linear and circular interpolation
• High-speed, high precision locus
calculation

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Feed Control

• Speed change control
• There is no limit to the number of speed
change points

Example Application (SV13)

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Example Application (SV13)

Incremental Hole Drilling

• Speed / position control
• Switching with external input

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Example Application (SV13)

Rotary Table Indexing

• Single degree setting
• Short indexing
• Rotation direction indexing

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Example Application (SV13)

Roll feeder

• Incremental feed
• High-speed, high-frequency positioning
• High-speed response

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Servo instruction of SV13 (Real

Mode)

1 Axis

ABS-1
INC-1

Absolute axis-1 positioning
Incremental axis-1 positioning

2 Axis

ABS-2
INC-2

Absolute axis-2 positioning
Incremental axis-2 positioning

3 Axis

ABS-3
INC-3

Absolute axis-3 positioning
Incremental axis-3 positioning

4 Axis

ABS-4
INC-4

Absolute axis-4 positioning
Incremental axis-4 positioning

2 Axis

ABS

INC

Absolute auxiliary point specification,
circular interpolation
Incremental auxiliary point specification,
circular interpolation

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Servo instruction of SV13 (Real

Mode)

2 Axis

ABS

INC

Absolute circular interpolation less then
CW 180°
Incremental circular interpolation less then
CW 180°

2 Axis

ABS

INC

Absolute circular interpolation CW 180°
or more
Incremental circular interpolation CW 180°
or more

2 Axis

ABS

INC

Absolute circular interpolation less then
CCW 180°
Incremental circular interpolation less then
CCW 180°

2 Axis

ABS

INC

Absolute circular interpolation CCW 180°
or more
Incremental circular interpolation CCW 180°
or more

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Servo instruction of SV13 (Real

Mode)

2 Axis

ABS
INC

Absolute center point circular interpolation CW
Incremental center point circular interpolation CW

2 Axis

ABS
INC

Absolute center point circular interpolation CCW
Incremental center point circular interpolation CCW

1 Axis

FEED-1

Axis 1 incremental feed start

2 Axis

FEED-2

Axis 2 linear incremental interpolation feed start

3 Axis

FEED-3

Axis 3 linear incremental interpolation feed start

VF,VVF

Speed control forward start

VR,VVR Speed control reverse start

VPF

Speed and position control forward start

VPR

Speed and position control reverse start

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Servo instruction of SV13 (Real

Mode)

VPSTART Speed and position control restart

VSTART

Speed switching control start

VEND

Speed switching control end

VABS

Speed switching control absolute

VINC

Speed switching control incremental

CPSTART Constant velocity control start

CPEND

Constant velocity control end

ZERO

Start return to Zero point

START

Simultaneous start

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Example Application (SV22)

Filling Machine

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Example Application (SV22)

Draw control application

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Example Application (SV22)

Press Conveyance

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Mechanical Language of SV22

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Mechanical Language of SV22

Speed variation

device

Change the speed of the output modules

Differential gears

Rotation from the virtual main shaft and

the auxilary input axis is reduced and

transfered to the output axis

Differential gears

Rotation from the virtual main shaft and

the auxilary input axis is reduced and

transfered to the output axis

Roller

Final output module for speed control

Ball screw

Final output module for linear

positioning

Rotating table

Final output module for angle control

Cam

Final output module for cam control

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Start up of the Motion Controller

1. Installation of the programming software

(GSV22P for SV22 or GSV13P for SV13)

2. Installation of the operating system of the Motion Controller

(SV22 for Virtual Mode or SV13 for Real Mode)

3. System settings

(Designate the settings for base unit, axis No., motor and amplifier)

4. Positioning data settings

(Designate the parameter of the servo motors and servo amplifiers)

5. Servo program creation

(Program for each motor’s positioning control format and data)

6. Sequence program creation

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Motion Controller Software

1. Installing Software SW6RNC-GSV22P on a
WINDOWS 98, WINDOWS 2000 or NT4 PC

•SW6RN-SNETP

SSCNet Communication driver

•SW6RN-GSV13P or SW3RN-GSV22P

Programming tool

•SW6RN-DOSCP

Digital oscilloscope

•SW6RN-GSVHELPE

Helpfiles

•SW3RN-CAMP

Software tool for creation of CAM curves

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Installing Motion OS

The Motion Controller operation system (OS) resides
in the Flash Memory, which can be written by a PC.
No OS is installed in the Motion Controller at the time
of purchase.

OS area

flash

memory

Motion Controller

Unit OS

software

package

Install Unit OS

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Installation of Motion OS

Install one of these OS to the motion
CPU

Application

Q172 CPU

Q173 CPU

SV13 (Motion SFC)

SW6RN-SV13QB

SW6RN-SV13QD

SV22 (Motion SFC)

SW6RN-SV22QC

SW6RN-SV22QA

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1. Installation of Motion OS

Turn ON switch 5 in front of the
Motion CPU when installing the OS

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System Settings

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Multi CPU System Setting

 Click on “Base Setting“

The multiple PLC settings have to be made for each CPU.

 Click on “Multiple PLC setting“

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Multi CPU System Setting

Number of

mounted

CPU modules

(1, 2, 3 or 4)

Determine whether
system keeps running
or stops when one CPU
fails

Selection of the automatically
refreshed devices

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Servo Data Setting

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Servo Parameter

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Parameter Block

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• With the SFC program, when several programs are started, the
process is carried out with multi-task operation

• Multiple steps can be simultaneously executed with parallel
branching even within one program.

• A program that executes multiple processes simultaneously, or a
program that groups the control axis for independent movements
can be created easliy

• A higjly independent programming is possible according to the
process details, so an easy-to-comprehend program can be created

SFC with Multi-task processing

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• You can create up to 256 SFC
programs

The SFC programs are stored in

the normal project folder

SFC-Program Manager

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To create a new SFC program just

klick New and enter a free SFC

program No. and a description

name. You will then find a new

entry in the SFC program list. To

edit the program you can dubble

klick on the program name.

SFC-Programing

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With this

button you

can switch

between

the

program

manager

and the

editor

This area is

used for the

grafik design

This area shows the

generated code of

the SFC program

SFC-Program-Editor

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SFC-Program Manager

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SFC-Program Manager

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SFC-Program Manager

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SFC Start / End

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SFC Step

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Dubbleklick on the

K opens a new

window, there you

can select a K-

Program No. and

description

Your First SFC-Programming

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In this area you can

now enter the

commands for our

positioning.

Please dubbleklick

SFC-Programming

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This is the area for
the Servo Program

Editor

SFC-Programming

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To enter a servo program

there are special

commands available.

Depending of your

application you select the

command class

SFC-Programming

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SFC-Programming

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The servo program is

now entered in this

window

With this button

you can now

batch convert

your SFC

program

SFC-Programming

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SFC-Programing download

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SFC-Programming-Operation-

Control

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SFC-Programming

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SFC Operation control step

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Word device descriptions

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Bit device descriptions

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SFC-Programming

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SFC Step

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Subroutine

call

dubbleklick to

open new

window

SFC-Programming

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SFC-Programming

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SFC Transition

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The shift transition G0 becomes true after M2000 AND M9076 AND

M9074 are all true, the system does not check if the motion is moving

or not.

SFC-Programming

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F0: is the all axis

servo on

command

SFC-Programming

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Jog forward

Zerro pass

Stop jog f.

Movement compl.

SFC-Programming

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G4 checks if all 3 axis have

completed the home position

return, and waits till the

movements has completed

before calling the subroutine

SFC_Prg

SFC-Programming

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SFC Transition

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SFC Transition

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SFC Transition

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In this case

excecution of the

motion movement

has to be completet

before G111

becomes active

SFC-Programming

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SFC Jump

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You can use up to 16384 Pointer !

SFC-Programming

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If you start a subroutine with

a loop inside make sure that

you stop the subroutine with

the CLR function

SFC-Programming

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Reaction time of a fast input/output

signal

Q173: ~3 ms
A172SH: ~20 ms

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SFC program reaction time

Q173: 1.1 ms ~ 1.6 ms
A172SH: ~20 ms

Q173: ~5.5 ms
A172SH: ~30ms

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1. Automatic start:

An automatic start is made by turning PLC Ready
M2000 ON.

2. Start from SFC program:

A start is made by executing a subroutine call/start step
in the SFC program.

3. Start from PLC program:

The SFC program can be started by executing the SFCS
instruction in PLC program.

Start of SFC program

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S.SFCS (n1) (n2) (d1) (d2)
SP.SFCS (n1) (n2) (d1) (d2)

(n1):

Motion CPU number [16 Bit INT] CPU 2 = 3E1, CPU 3 = 3E2, CPU 4 = 3E3

(n2):

Motion SFC program number [16 Bit INT]

(d1):

Status block [2 Bit BOOL]
(d1+0) : Start of SFC program without error
(d1+1) : Start of SFC program with error

(d2):

Status word [16 Bit INT]

Requests startup of the motion SFC program

K10

START

END

Q-Motion

Motion SFC

S(P).SFCS

Q-CPU

G10

SFCS Instruction

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S.GINT (n1) (n2)
SP.GINT (n1) (n2)

(n1):

Motion CPU number [16 Bit INT] CPU 2 = 3E1, CPU 3 = 3E2, CPU 4 = 3E3

(n2):

Interrupt number [16 Bit INT]

Requests start up of other CPU interruption programs

F10

START

END

Q-Motion

Interrupt SFC prog.

S(P).GINT

Q-CPU

GINT instruction

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Writes Q-CPU device data into Q-Motion devices

Device memory

Q-Motion

S(P).DDWR

Q-CPU

Device memory

reads the

device memory

writes in
the device
memory

S.DDWR (n1) (s1) (s2) (d1) (d2)
SP.DDWR (n1) (s1) (s2) (d1) (d2)

(n1):

Motion CPU number [16 Bit INT] CPU 2 = 3E1, CPU 3 = 3E2, CPU 4 = 3E3

(s1):

Control area [2*16 Bit INT]

(s1+0) : Status =0 without error, >0 error code

(s1+1) : Number of devices

(s2):

First device of Q-CPU [n * 16 Bit INT]

(d1):

First device of Q-Motion CPU [n * 16 Bit INT]

(d2):

Status block [2 Bit BOOL]

(d2+0) : Write complete

(d2+1) : Write with error

DDWR instruction

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Device memory

Q-Motion

S(P).DDRD

Q-CPU

Device memory

writes in the

device memory

reads the
device
memory

Reads Q-Motion devices data into the Q-CPU

S.DDRD (n1) (s1) (s2) (d1) (d2)
SP.DDRD (n1) (s1) (s2) (d1) (d2)

(n1):

Motion CPU number [16 Bit INT] CPU 2 = 3E1, CPU 3 = 3E2, CPU 4 = 3E3

(s1):

Control area [2*16 Bit INT]

(s1+0) : Status =0 without error, >0 error code

(s1+1) : Number of devices

(s2):

First device of Q-CPU [n * 16 Bit INT]

(d1):

First device of Q-Motion CPU [n * 16 Bit INT]

(d2):

Status block [2 Bit BOOL]

(d2+0) : Read complete

(d2+1) : Read with error

DDRD instruction

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Virtual Servo 1

Clutch

Roller

Cam Curve

Virtual Mode (SV22)

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SVST J1 K2000

M2001

ABS-1
Axis

100000
Speed

1000

<K2000>

Virtual

The servo motor can be operated simultaneously with

other motor control conditions. Using the mechanism

support language, synchronous control settings like gears,

clutches and cams can be released.

Automatic Machinery SV22 (Virtual

Mode)

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Virtual Axis 1

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Clutch Parameter 1 & 2 & 3

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Roller

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CAM curve

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• Resolution per cycle 256, 512, 1024, 2048
• Max. number of CAM curves 256
• Change of CAM curve online during run
• CAM curves could be generated by software package on
the PC and then downloaded
• 8 Limit switch outputs per axes

CAM curves