Q173CPU (N) /Q172CPU (N) Motion Controller (SV13/SV22) Programming Manual (Motion SFC)

Q173CPU(N)/Q172CPU(N)
Motion Controller (SV13/SV22)

Programming Manual (Motion SFC)
-Q172CPU
-Q173CPU
-Q172CPUN
-Q173CPUN
SAFETY PRECAUTIONS
(Please read these instructions before using this equipment.)
Before using this product, please read this manual and the relevant manuals introduced in this manual
carefully and pay full attention to safety to handle the product correctly.
These precautions apply only to this product. Refer to the Q173CPU(N)/Q172CPU(N) Users manual for a
description of the Motion controller safety precautions.
In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".
Indicates that incorrect handling may cause hazardous

DANGER conditions, resulting in death or severe injury.
Indicates that incorrect handling may cause hazardous

CAUTION conditions, resulting in medium or slight personal injury or
physical damage.
Depending on circumstances, procedures indicated by CAUTION may also be linked to serious

results.
In any case, it is important to follow the directions for usage.
Please save this manual to make it accessible when required and always forward it to the end user.
A-1
For Safe Operations
1. Prevention of electric shocks
DANGER
Never open the front case or terminal covers while the power is ON or the unit is running, as this
may lead to electric shocks.
Never run the unit with the front case or terminal cover removed. The high voltage terminal and
charged sections will be exposed and may lead to electric shocks.
Never open the front case or terminal cover at times other than wiring work or periodic
inspections even if the power is OFF. The insides of the Motion controller and servo amplifier are
charged and may lead to electric shocks.
Completely turn off the externally supplied power used in the system before mounting or
removing the module, performing wiring work, or inspections. Failing to do so may lead to electric
shocks.
When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and
then check the voltage with a tester, etc. Failing to do so may lead to electric shocks.
Be sure to ground the Motion controller, servo amplifier and servomotor. (Ground resistance :
100 or less) Do not ground commonly with other devices.
The wiring work and inspections must be done by a qualified technician.
Wire the units after installing the Motion controller, servo amplifier and servomotor. Failing to do
so may lead to electric shocks or damage.
Never operate the switches with wet hands, as this may lead to electric shocks.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this
may lead to electric shocks.
Do not touch the Motion controller, servo amplifier or servomotor terminal blocks while the power
is ON, as this may lead to electric shocks.
Do not touch the built-in power supply, built-in grounding or signal wires of the Motion controller
and servo amplifier, as this may lead to electric shocks.
2. For fire prevention

CAUTION
Install the Motion controller, servo amplifier, servomotor and regenerative resistor on
incombustible. Installing them directly or close to combustibles will lead to fire.
If a fault occurs in the Motion controller or servo amplifier, shut the power OFF at the servo
amplifier’s power source. If a large current continues to flow, fire may occur.
When using a regenerative resistor, shut the power OFF with an error signal. The regenerative
resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead
to fire.
Always take heat measures such as flame proofing for the inside of the control panel where the
servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may
lead to fire.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this
may lead to fire.
A-2
3. For injury prevention
CAUTION
Do not apply a voltage other than that specified in the instruction manual on any terminal.
Doing so may lead to destruction or damage.
Do not mistake the terminal connections, as this may lead to destruction or damage.
Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and
servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this
timing, these parts become very hot and may lead to burns.
Always turn the power OFF before touching the servomotor shaft or coupled machines, as these
parts may lead to injuries.
Do not go near the machine during test operations or during operations such as teaching.
Doing so may lead to injuries.
4. Various precautions
Strictly observe the following precautions.
Mistaken handling of the unit may lead to faults, injuries or electric shocks.
(1) System structure
CAUTION
Always install a leakage breaker on the Motion controller and servo amplifier power source.
If installation of an electromagnetic contactor for power shut off during an error, etc., is specified in
the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor.
Install the emergency stop circuit externally so that the operation can be stopped immediately and
the power shut off.
Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the correct
combinations listed in the instruction manual. Other combinations may lead to fire or faults.
Use the Motion controller, base unit and motion module with the correct combinations listed in the
instruction manual. Other combinations may lead to faults.
If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller,
servo amplifier and servomotor, make sure that the safety standards are satisfied.
Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal
operation of the Motion controller or servo amplifier differ from the safety directive operation in the
system.
In systems where coasting of the servomotor will be a problem during the forced stop, emergency
stop, servo OFF or power supply OFF, use dynamic brakes.
Make sure that the system considers the coasting amount even when using dynamic brakes.
In systems where perpendicular shaft dropping may be a problem during the forced stop,
emergency stop, servo OFF or power supply OFF, use both dynamic brakes and electromagnetic
brakes.
A-3
CAUTION
The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or
servo OFF. These brakes must not be used for normal braking.
The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications,
and must not be used for normal braking.
The system must have a mechanical allowance so that the machine itself can stop even if the
stroke limits switch is passed through at the max. speed.
Use wires and cables that have a wire diameter, heat resistance and bending resistance
compatible with the system.
Use wires and cables within the length of the range described in the instruction manual.
The ratings and characteristics of the parts (other than Motion controller, servo amplifier and
servomotor) used in a system must be compatible with the Motion controller, servo amplifier and
servomotor.
Install a cover on the shaft so that the rotary parts of the servomotor are not touched during
operation.
There may be some cases where holding by the electromagnetic brakes is not possible due to the
life or mechanical structure (when the ball screw and servomotor are connected with a timing belt,
etc.). Install a stopping device to ensure safety on the machine side.
(2) Parameter settings and programming

CAUTION
Set the parameter values to those that are compatible with the Motion controller, servo amplifier,
servomotor and regenerative resistor model and the system application. The protective functions
may not function if the settings are incorrect.
The regenerative resistor model and capacity parameters must be set to values that conform to
the operation mode, servo amplifier and servo power supply module. The protective functions
may not function if the settings are incorrect.
Set the mechanical brake output and dynamic brake output validity parameters to values that are
compatible with the system application. The protective functions may not function if the settings
are incorrect.
Set the stroke limit input validity parameter to a value that is compatible with the system
application. The protective functions may not function if the setting is incorrect.
Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value
that is compatible with the system application. The protective functions may not function if the
setting is incorrect.
Set the servomotor capacity and type (standard, low-inertia, flat, etc.) parameter to values that
are compatible with the system application. The protective functions may not function if the
settings are incorrect.
Set the servo amplifier capacity and type parameters to values that are compatible with the
system application. The protective functions may not function if the settings are incorrect.
Use the program commands for the program with the conditions specified in the instruction
manual.
A-4
CAUTION
Set the sequence function program capacity setting, device capacity, latch validity range, I/O
assignment setting, and validity of continuous operation during error detection to values that are
compatible with the system application. The protective functions may not function if the settings
are incorrect.
Some devices used in the program have fixed applications, so use these with the conditions
specified in the instruction manual.
The input devices and data registers assigned to the link will hold the data previous to when
communication is terminated by an error, etc. Thus, an error correspondence interlock program
specified in the instruction manual must be used.
Use the interlock program specified in the intelligent function module's instruction manual for the
program corresponding to the intelligent function module.
(3) Transportation and installation

CAUTION
Transport the product with the correct method according to the mass.
Use the servomotor suspension bolts only for the transportation of the servomotor. Do not
transport the servomotor with machine installed on it.
Do not stack products past the limit.
When transporting the Motion controller or servo amplifier, never hold the connected wires or
cables.
When transporting the servomotor, never hold the cables, shaft or detector.
When transporting the Motion controller or servo amplifier, never hold the front case as it may fall
off.
When transporting, installing or removing the Motion controller or servo amplifier, never hold the
edges.
Install the unit according to the instruction manual in a place where the mass can be withstood.
Do not get on or place heavy objects on the product.
Always observe the installation direction.
Keep the designated clearance between the Motion controller or servo amplifier and control panel
inner surface or the Motion controller and servo amplifier, Motion controller or servo amplifier and
other devices.
Do not install or operate Motion controller, servo amplifiers or servomotors that are damaged or
that have missing parts.
Do not block the intake/outtake ports of the Motion controller, servo amplifier and servomotor with
cooling fan.
Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil
enter the Motion controller, servo amplifier or servomotor.
The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or
apply strong impacts on them.
Securely fix the Motion controller, servo amplifier and servomotor to the machine according to
the instruction manual. If the fixing is insufficient, these may come off during operation.
A-5
CAUTION
Always install the servomotor with reduction gears in the designated direction. Failing to do so
may lead to oil leaks.
Store and use the unit in the following environmental conditions.
Conditions
Environment
Motion controller/Servo amplifier Servomotor
Ambient 0°C to +40°C (With no freezing)
According to each instruction manual.
temperature (32°F to +104°F)
80% RH or less
Ambient humidity According to each instruction manual.
(With no dew condensation)
Storage -20°C to +65°C
According to each instruction manual.
temperature (-4°F to +149°F)
Indoors (where not subject to direct sunlight).
Atmosphere
No corrosive gases, flammable gases, oil mist or dust must exist
Altitude 1000m (3280.84ft.) or less above sea level
Vibration According to each instruction manual
When coupling with the synchronous 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 synchronous encoder and servomotor
shaft. Doing so may lead to shaft breakage.
When not using the module for a long time, disconnect the power line from the Motion controller
or servo amplifier.
Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store.
When storing for a long time, please contact with our sales representative.
Also, execute a trial operation.
A-6
(4) Wiring
CAUTION
Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal
screws for tightness after wiring. Failing to do so may lead to run away of the servomotor.
After wiring, install the protective covers such as the terminal covers to the original positions.
Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF)
on the output side of the servo amplifier.
Correctly connect the output side (terminal U, V, W) and ground. Incorrect connections will lead
the servomotor to operate abnormally.
Do not connect a commercial power supply to the servomotor, as this may lead to trouble.
Do not mistake the direction of the surge absorbing diode
installed on the DC relay for the control signal output of brake Servo amplifier
signals, etc. Incorrect installation may lead to signals not being VIN
output when trouble occurs or the protective functions not (24VDC)
functioning. Control output

signal RA
Do not connect or disconnect the connection cables between
each unit, the encoder cable or PLC expansion cable while the
power is ON.
Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may
lead to the cables combing off during operation.
Do not bundle the power line or cables.
(5) Trial operation and adjustment

CAUTION
Confirm and adjust the program and each parameter before operation. Unpredictable
movements may occur depending on the machine.
Extreme adjustments and changes may lead to unstable operation, so never make them.
When using the absolute position system function, on starting up, and when the Motion
controller or absolute value motor has been replaced, always perform a home position return.
A-7
(6) Usage methods
CAUTION
Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the
Motion controller, servo amplifier or servomotor.
Always execute a test operation before starting actual operations after the program or
parameters have been changed or after maintenance and inspection.
Do not attempt to disassemble and repair the units excluding a qualified technician whom our
company recognized.
Do not make any modifications to the unit.
Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using
wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the
Motion controller or servo amplifier.
When using the CE Mark-compliant equipment, refer to the "EMC Installation Guidelines" (data
number IB(NA)-67339) for the Motion controllers and refer to the corresponding EMC guideline
information for the servo amplifiers, inverters and other equipment.
Use the units with the following conditions.
Item Conditions
Input power According to each instruction manual.
Input frequency According to each instruction manual.
Tolerable momentary power failure According to each instruction manual.
(7) Corrective actions for errors

CAUTION
If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the
check details according to the instruction manual, and restore the operation.
If a dangerous state is predicted in case of a power failure or product failure, use a servomotor
with electromagnetic brakes or install a brake mechanism externally.
Use a double circuit construction so that the electromagnetic brake operation circuit can be
operated by emergency stop signals set externally.
Shut off with the
Shut off with servo ON signal OFF, emergency stop
alarm, electromagnetic brake signal. signal (EMG).
Servomotor
RA1 EMG
Electromagnetic
brakes
24VDC
If an error occurs, remove the cause, secure the safety and then resume operation after alarm
release.
The unit may suddenly resume operation after a power failure is restored, so do not go near the
machine. (Design the machine so that personal safety can be ensured even if the machine
restarts suddenly.)
A-8
(8) Maintenance, inspection and part replacement
CAUTION
Perform the daily and periodic inspections according to the instruction manual.
Perform maintenance and inspection after backing up the program and parameters for the Motion
controller and servo amplifier.
Do not place fingers or hands in the clearance when opening or closing any opening.
Periodically replace consumable parts such as batteries according to the instruction manual.
Do not touch the lead sections such as ICs or the connector contacts.
Before touching the module, always touch grounded metal, etc. to discharge static electricity from
human body. Failure to do so may cause the module to fail or malfunction.
Do not directly touch the module's conductive parts and electronic components.
Touching them could cause an operation failure or give damage to the module.
Do not place the Motion controller or servo amplifier on metal that may cause a power leakage
or wood, plastic or vinyl that may cause static electricity buildup.
Do not perform a megger test (insulation resistance measurement) during inspection.
When replacing the Motion controller or servo amplifier, always set the new module settings
correctly.
When the Motion controller or absolute value motor has been replaced, carry out a home
position return operation using one of the following methods, otherwise position displacement
could occur.
1) After writing the servo data to the Motion controller using programming software, switch on the
power again, then perform a home position return operation.
2) Using the backup function of the programming software, load the data backed up before
replacement.
After maintenance and inspections are completed, confirm that the position detection of the
absolute position detector function is correct.
Do not drop or impact the battery installed to the module.
Doing so may damage the battery, causing battery liquid to leak in the battery. Do not use the
dropped or impacted battery, but dispose of it.
Do not short circuit, charge, overheat, incinerate or disassemble the batteries.
The electrolytic capacitor will generate gas during a fault, so do not place your face near the
Motion controller or servo amplifier.
The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary
damage from faults. Replacements can be made by our sales representative.
Lock the control panel and prevent access to those who are not certified to handle or install
electric equipment.
Do not burn or break a module and servo amplifier. Doing so may cause a toxic gas.
A-9
(9) About processing of waste
When you discard Motion controller, servo amplifier, a battery (primary battery) and other option
articles, please follow the law of each country (area).
CAUTION
This product is not designed or manufactured to be used in equipment or systems in situations
that can affect or endanger human life.
When considering this product for operation in special applications such as machinery or systems
used in passenger transportation, medical, aerospace, atomic power, electric power, or
submarine repeating applications, please contact your nearest Mitsubishi sales representative.
Although this product was manufactured under conditions of strict quality control, you are strongly
advised to install safety devices to forestall serious accidents when it is used in facilities where a
breakdown in the product is likely to cause a serious accident.
(10) General cautions

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.
A - 10
REVISIONS
The manual number is given on the bottom left of the back cover.
Print Date Manual Number Revision
Jun., 2002 IB(NA)-0300042-A First edition
Feb., 2004 IB(NA)-0300042-B [Addition model]
Q173CPUN-T/Q172CPUN-T, A31TU-D3K13/A31TU-DNK13,
Q172EX-S1, Q173PX-S1, Q00CPU, Q01CPU, 64AD, Q68ADV, Q68ADI,
Q62DA, Q64DA, Q68DAV, Q68DAI, Q170TUD3CBL3M,
Q170TUDNCBL3M, Q170TUDNCBL03M-A, Q170TUTM, A31TUD3TM,
FR-V5 0- , Software for SV43
[Addition function]
For WindowsXP, Home position return function, ROM operation function,
Online change function
[Additional correction/partial correction]
Safety precautions, About processing of waste, Startup slow of the
Multiple CPU system, User file list, Error code list, etc.
[partial correction]
Mar., 2006 IB(NA)-0300042-C [Addition model]
Q62P, Q172EX-S2, Q172EX-S3, Q170ENC
[Addition function]
Cam axis command signal, Smoothing clutch complete signal, Gain
changing signal, Real mode axis information register, Motion SFC
instruction "FMOV", Bit device setting by Motion SFC instruction, Security
function
[Additional correction/partial correction]
Safety precautions, User file list, Error code list, Warranty, Manual model
code (1CT781 1XB781), etc.
Apr., 2010 IB(NA)-0300042-D [Additional correction/partial correction]
Safety precautions, "1.6.1 I/O No. for I/O modules and intelligent function
modules", Warranty
Japanese Manual Version IB(NA)-0300023
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.
© 2002 MITSUBISHI ELECTRIC CORPORATION
A - 11
INTRODUCTION
Thank you for choosing the Q173CPU(N)/Q172CPU(N) Motion Controller.

Please read this manual carefully so that equipment is used to its optimum.
CONTENTS
Safety Precautions .........................................................................................................................................A- 1

Revisions ........................................................................................................................................................A-11
Contents .........................................................................................................................................................A-12
About Manuals ...............................................................................................................................................A-18
1. OVERVIEW 1- 1 to 1-96
1.1 Overview................................................................................................................................................... 1- 1
1.2 Features ................................................................................................................................................... 1- 3
1.2.1 Features of Motion CPU ................................................................................................................... 1- 3
1.2.2 Basic specifications of Q173CPU(N)/Q172CPU(N)......................................................................... 1- 6
1.2.3 Operation control/transition control specifications ........................................................................... 1- 9
1.2.4 Differences between Q173CPU(N)/Q172CPU(N)and A173UHCPU/A172SHCPUN.................... 1-13
1.2.5 Positioning dedicated devices/special relays/special registers ....................................................... 1-15
1.3 Hardware Configuration ........................................................................................................................... 1-55
1.3.1 Motion system configuration ............................................................................................................. 1-55
1.3.2 Q173CPU(N) System overall configuration...................................................................................... 1-61
1.3.3 Q172CPU(N) System overall configuration...................................................................................... 1-63
1.3.4 Software packages............................................................................................................................ 1-65
1.3.5 Restrictions on motion systems........................................................................................................ 1-69
1.4 Multiple CPU System ............................................................................................................................... 1-71
1.4.1 Overview............................................................................................................................................ 1-71
1.4.2 Installation of PLC CPU and Motion CPU ........................................................................................ 1-72
1.4.3 Precautions for using Q series I/O modules and intelligent function modules................................ 1-73
1.4.4 Modules subject to installation restrictions ....................................................................................... 1-74
1.4.5 Processing time of the Multiple CPU system ................................................................................... 1-75
1.4.6 How to reset the Multiple CPU system............................................................................................. 1-76
1.4.7 Processing at a CPU DOWN error occurrence by a PLC CPU or Q173CPU(N)/Q172CPU(N).... 1-77
1.5 System Settings ....................................................................................................................................... 1-80
1.5.1 System data settings......................................................................................................................... 1-80
1.5.2 Common system parameters ........................................................................................................... 1-81
1.5.3 Individual parameters........................................................................................................................ 1-87
1.6 Assignment of I/O No............................................................................................................................... 1-92
1.6.1 I/O No. for I/O modules and intelligent function modules ................................................................ 1-92
1.6.2 I/O No. of PLC CPU and Q173CPU(N)/Q172CPU(N)..................................................................... 1-95
1.6.3 Setting I/O No. ................................................................................................................................... 1-96
2. STARTING UP THE MULTIPLE CPU SYSTEM 2- 1 to 2- 2
2.1 Startup Flow of the Multiple CPU System ............................................................................................... 2- 1
A - 12
3. COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM 3- 1 to 3-26
3.1 Automatic Refresh Function of The Shared CPU Memory .................................................................... 3- 1

3.2 Control Instruction from the PLC CPU to The Motion CPU (Motion dedicated instructions) ................ 3-20
3.3 Reading/Writing Device Data .................................................................................................................. 3-21
3.4 Shared CPU Memory............................................................................................................................... 3-22
4. STRUCTURE OF THE MOTION CPU PROGRAM 4- 1 to 4- 4
4.1 Motion Control in SV13/SV22 Real Mode............................................................................................... 4- 2

4.2 Motion Control in SV22 Virtual Mode ...................................................................................................... 4- 3
5. MOTION DEDICATED PLC INSTRUCTION 5- 1 to 5-48
5.1 Motion Dedicated PLC Instruction........................................................................................................... 5- 1

5.1.1 Restriction item of the Motion dedicated PLC instruction ................................................................ 5- 1
5.2 Motion SFC Start Request from The PLC CPU to The Motion CPU:
S(P).SFCS (PLC instruction: S(P).SFCS ) ............................................................................................ 5- 9
5.3 Servo Program Start Request from The PLC CPU to The Motion CPU:
S(P).SVST (PLC instruction: S(P).SVST ) ........................................................................................... 5-12
5.4 Current Value Change Instruction from The PLC CPU to The Motion CPU:
S(P).CHGA (PLC instruction: S(P).CHGA ) .......................................................................................... 5-17
5.5 Speed Change Instruction from The PLC CPU to The Motion CPU:
S(P).CHGV (PLC instruction: S(P).CHGV ) .......................................................................................... 5-30
5.6 Torque Limit Value Change Request Instruction from The PLC CPU to The Motion CPU:
S(P).CHGT (PLC instruction: S(P).CHGT )........................................................................................... 5-34
5.7 Write from The PLC CPU to The Motion CPU: S(P).DDWR (PLC instruction: S(P).DDWR )............. 5-38
5.8 Read from The Devices of The Motion CPU: S(P).DDRD (PLC instruction: S(P).DDRD ) ................. 5-42
5.9 Interrupt Instruction to The Other CPU: S(P).GINT (PLC instruction: S(P).GINT ).............................. 5-46
6. MOTION SFC PROGRAMS 6- 1 to 6-28
6.1 Motion SFC Program Configuration ........................................................................................................ 6- 1

6.2 Motion SFC Chart Symbol List ................................................................................................................ 6- 2
6.3 Branch and Coupling Chart List............................................................................................................... 6- 5
6.4 Motion SFC Program Name .................................................................................................................... 6- 9
6.5 Steps......................................................................................................................................................... 6-10
6.5.1 Motion control step ............................................................................................................................ 6-10
6.5.2 Operation control step....................................................................................................................... 6-11
6.5.3 Subroutine call/start step................................................................................................................... 6-12
6.5.4 Clear step .......................................................................................................................................... 6-14
6.6 Transitions ................................................................................................................................................ 6-15
6.7 Jump, Pointer ........................................................................................................................................... 6-17
6.8 END .......................................................................................................................................................... 6-17
6.9 Branches, Couplings................................................................................................................................ 6-18
6.9.1 Series transition................................................................................................................................. 6-18
A - 13
6.9.2 Selective branch, selective coupling................................................................................................. 6-19
6.9.3 Parallel branch, parallel coupling...................................................................................................... 6-20
6.10 Y/N Transitions....................................................................................................................................... 6-22
6.11 Motion SFC Comments ......................................................................................................................... 6-26
7. OPERATION CONTROL PROGRAMS 7- 1 to 7-96
7.1 Operation Control Programs.................................................................................................................... 7- 1

7.2 Device Descriptions ................................................................................................................................. 7- 7
7.3 Constant Descriptions.............................................................................................................................. 7- 9
7.4 Binary Operations .................................................................................................................................... 7-10
7.4.1 Substitution : =................................................................................................................................... 7-10
7.4.2 Addition : +......................................................................................................................................... 7-12
7.4.3 Subtraction : .................................................................................................................................. 7-13
7.4.4 Multiplication : * ................................................................................................................................. 7-15
7.4.5 Division : / .......................................................................................................................................... 7-16
7.4.6 Remainder : %................................................................................................................................... 7-17
7.5 Bit Operations........................................................................................................................................... 7-18
7.5.1 Bit inversion(Complement) : ~ .......................................................................................................... 7-18
7.5.2 Bit logical AND : & ............................................................................................................................. 7-19
7.5.3 Bit logical OR : |................................................................................................................................. 7-20
7.5.4 Bit exclusive logical OR : ^................................................................................................................ 7-21
7.5.5 Bit right shift : >>................................................................................................................................ 7-22
7.5.6 Bit left shift : <<.................................................................................................................................. 7-23
7.5.7 Sign inversion(Complement of 2) : ............................................................................................... 7-24
7.6 Standard Functions .................................................................................................................................. 7-25
7.6.1 Sine : SIN........................................................................................................................................... 7-25
7.6.2 Cosine : COS..................................................................................................................................... 7-26
7.6.3 Tangent : TAN ................................................................................................................................... 7-27
7.6.4 Arcsine : ASIN ................................................................................................................................... 7-28
7.6.5 Arccosine : ACOS ............................................................................................................................. 7-29
7.6.6 Arctangent : ATAN ............................................................................................................................ 7-30
7.6.7 Square root : SQRT .......................................................................................................................... 7-31
7.6.8 Natural logarithm : LN ....................................................................................................................... 7-32
7.6.9 Exponential operation : EXP............................................................................................................. 7-33
7.6.10 Absolute value : ABS ...................................................................................................................... 7-34
7.6.11 Round-off : RND.............................................................................................................................. 7-35
7.6.12 Round-down : FIX ........................................................................................................................... 7-36
7.6.13 Round-up : FUP .............................................................................................................................. 7-37
7.6.14 BCD BIN conversion : BIN ......................................................................................................... 7-38
7.6.15 BIN BCD conversion : BCD........................................................................................................ 7-39
7.7 Type Conversions .................................................................................................................................... 7-40
7.7.1 Signed 16-bit integer value conversion : SHORT ............................................................................ 7-40
7.7.2 Unsigned 16-bit integer value conversion : USHORT ..................................................................... 7-41
7.7.3 Signed 32-bit integer value conversion : LONG............................................................................... 7-42
7.7.4 Unsigned 32-bit integer value conversion : ULONG........................................................................ 7-43
7.7.5 Signed 64-bit floating-point value conversion : FLOAT ................................................................... 7-44
7.7.6 Unsigned 64-bit floating-point value conversion : UFLOAT ............................................................ 7-45
A - 14
7.8 Bit Device Statuses .................................................................................................................................. 7-46
7.8.1 ON (Normally open contact) : (None) ............................................................................................... 7-46
7.8.2 OFF (Normally closed contact) : !..................................................................................................... 7-47
7.9 Bit Device Controls................................................................................................................................... 7-48
7.9.1 Device set : SET................................................................................................................................ 7-48
7.9.2 Device reset : RST ............................................................................................................................ 7-50
7.9.3 Device output : DOUT ....................................................................................................................... 7-52
7.9.4 Device input : DIN ............................................................................................................................. 7-53
7.9.5 Bit device output : OUT .................................................................................................................... 7-54
7.10 Logical Operations ................................................................................................................................. 7-56
7.10.1 Logical acknowledgement : (None) ................................................................................................ 7-56
7.10.2 Logical negation : ! .......................................................................................................................... 7-57
7.10.3 Logical AND : * ................................................................................................................................ 7-58
7.10.4 Logical OR : +.................................................................................................................................. 7-59
7.11 Comparison Operations......................................................................................................................... 7-60
7.11.1 Equal to : == .................................................................................................................................... 7-60
7.11.2 Not equal to : != ............................................................................................................................... 7-61
7.11.3 Less than : <.................................................................................................................................... 7-62
7.11.4 Less than or equal to : <= ............................................................................................................... 7-63
7.11.5 More than : > ................................................................................................................................... 7-64
7.11.6 More than or equal to : >=............................................................................................................... 7-65
7.12 Motion-Dedicated Functions(CHGV, CHGT) ........................................................................................ 7-66
7.12.1 Speed change request : CHGV ...................................................................................................... 7-66
7.12.2 Torque limit value change request : CHGT.................................................................................... 7-72
7.13 Other Instructions................................................................................................................................... 7-74
7.13.1 Event task enable : EI ..................................................................................................................... 7-74
7.13.2 Event task disable : DI .................................................................................................................... 7-75
7.13.3 No operation : NOP......................................................................................................................... 7-76
7.13.4 Block transfer : BMOV .................................................................................................................... 7-77
7.13.5 Same data block transfer : FMOV .................................................................................................. 7-80
7.13.6 Write device data to shared CPU memory of the self CPU : MULTW .......................................... 7-82
7.13.7 Read device data from shared CPU memory of the other CPU: MULTR..................................... 7-85
7.13.8 Write device data to intelligent function module/special function module : TO............................. 7-88
7.13.9 Read device data from intelligent function module/special function module : FROM .................. 7-91
7.13.10 Time to wait : TIME ....................................................................................................................... 7-94
7.14 Comment Statement : //......................................................................................................................... 7-96
8. TRANSITION PROGRAMS 8- 1 to 8- 2
8.1 Transition Programs................................................................................................................................. 8- 1
9. MOTION CONTROL PROGRAMS 9- 1 to 9-22
9.1 Servo Instruction List................................................................................................................................ 9- 1

9.2 Servomotor/Virtual Servomotor Shaft Current Value Change................................................................ 9-14
9.3 Synchronous Encoder Shaft Current Value Change Control (SV22 Only)............................................ 9-17
9.4 Cam Shaft Within-One-Revolution Current Value Change Control (SV22 Only) .................................. 9-20
A - 15
9.5 Programming Instructions........................................................................................................................ 9-22
9.5.1 Cancel • start ..................................................................................................................................... 9-22
9.5.2 Indirect designation using motion devices........................................................................................ 9-22
10. MOTION DEVICES 10- 1 to 10- 6
10.1 Motion Registers (#0 to #8191) ............................................................................................................ 10- 1

10.2 Coasting Timer (FT).............................................................................................................................. 10- 6
11. MOTION SFC PARAMETER 11- 1 to 11-20
11.1 Task Definitions.................................................................................................................................... 11- 1

11.2 Number of Consecutive Transitions and Task Operation .................................................................. 11- 2
11.2.1 Number of consecutive transitions ............................................................................................... 11- 2
11.2.2 Task operation............................................................................................................................... 11- 3
11.3 Execution Status of The Multiple Task................................................................................................ 11- 7
11.4 Task Parameters.................................................................................................................................. 11- 8
11.5 Program Parameters............................................................................................................................ 11-10
11.6 How to Start The Motion SFC Program .............................................................................................. 11-16
11.6.1 Automatic start .............................................................................................................................. 11-16
11.6.2 Start from the Motion SFC program ............................................................................................. 11-16
11.6.3 Start from PLC (PLC instruction S(P).SFCS )............................................................................ 11-16
11.7 How to End The Motion SFC Program ............................................................................................... 11-17
11.8 How to Change from One Motion SFC Program to Another.............................................................. 11-17
11.9 How to Manage The Executing Program ............................................................................................ 11-17
11.10 Operation Performed at CPU Power-Off or Reset.......................................................................... 11-18
11.11 Operation Performed when CPU is Switched from RUN/STOP ...................................................... 11-18
11.12 Operation Performed when PLC Ready flag (M2000) Turns OFF/ON ............................................ 11-19
11.13 Operation at The Error Occurrence................................................................................................... 11-20
12. USER FILES 12- 1 to 12- 8
12.1 Projects................................................................................................................................................. 12- 1

12.2 User File List ........................................................................................................................................ 12- 2
12.3 Online Change in The Motion SFC Program ...................................................................................... 12- 3
12.3.1 Operating method for The Online Change................................................................................... 12- 4
12.3.2 Transfer of program ...................................................................................................................... 12- 7
13. LIMIT SWITCH OUTPUT FUNCTION 13- 1 to 13- 8
13.1 Operations............................................................................................................................................ 13- 1

13.2 Limit Output Setting Data..................................................................................................................... 13- 4
14. ROM OPERATION FUNCTION 14- 1 to 14-12
14.1 About the ROM Operation Function.................................................................................................... 14- 1

14.2 Specifications of LED • Switch............................................................................................................. 14- 3
14.3 ROM Operation Function Details ........................................................................................................ 14- 5
14.4 Operating Procedure of "ROM writing" ............................................................................................... 14-11
A - 16
15. SECURITY FUNCTION 15- 1 to 15- 6
15.1 Password Registration/change............................................................................................................ 15- 1

15.2 Password Clearance............................................................................................................................ 15- 3
15.3 Password Check .................................................................................................................................. 15- 4
15.4 Password Save .................................................................................................................................... 15- 5
15.5 Clear All ................................................................................................................................................ 15- 6
16. COMMUNICATIONS VIA NETWORK 16- 1 to 16-10
16.1 Specifications of The Communications via Network........................................................................... 16- 2

16.2 Access Range of The Communications via Network ......................................................................... 16- 3
16.2.1 Network configuration via the MELSECNET/10(H) or the Ethernet............................................ 16- 3
16.2.2 Network configuration via the CC-Link ......................................................................................... 16- 5
16.2.3 Network configuration via the RS422/485.................................................................................... 16- 6
16.2.4 Network configuration which MELSECNET/10 (H), Ethernet, CC-Link, RS422/485 were mixed
.................................................................................................................................................................. 16- 7
17. MONITOR FUNCTION OF THE MAIN CYCLE 17- 1 to 17- 2
18. SERVO PARAMETER READING FUNCTION 18- 1 to 18- 2
18.1 About The Servo Parameter Read Request Devices......................................................................... 18- 1

18.2 Operating Procedure of The Servo Parameter Reading Function..................................................... 18- 2
19. ERROR CODE LISTS 19- 1 to 19-18
19.1 Reading Procedure for Error Codes.................................................................................................... 19- 1

19.2 Motion SFC Error Code List ................................................................................................................ 19- 2
19.3 Motion SFC Parameter Errors ............................................................................................................. 19-11
19.4 Multiple CPU Error Codes ................................................................................................................... 19-13
19.4.1 Self-diagnosis error code .............................................................................................................. 19-13
19.4.2 Release of self-diagnosis error ..................................................................................................... 19-18
APPENDICES APP- 1 to APP-32
APPENDIX 1 Processing Times...............................................................................................................APP- 1

APPENDIX 1.1 Processing time of operation control/Transition instruction .......................................APP- 1
APPENDIX 2 Sample Program ................................................................................................................APP- 9
APPENDIX 2.1 Program example to execute the Multiple CPU dedicated instruction continuously.APP- 9
APPENDIX 2.2 The program example to execute plural Multiple CPU instruction by the instructions of
one time........................................................................................................................APP-11
APPENDIX 2.3 Motion control example by Motion SFC program.......................................................APP-13
APPENDIX 2.4 Continuation execution example at the subroutine re-start by the Motion SFC program
.....................................................................................................................................APP-24
APPENDIX 2.5 Continuation execution example after the stop by the Motion SFC program............APP-28
A - 17
About Manuals
The following manuals are related to this product.

Referring to this list, please request the necessary manuals.
Related Manuals
(1) Motion controller

Manual Number
Manual Name
(Model Code)
Q173CPU(N)/Q172CPU(N) Motion controller User's Manual
This manual explains specifications of the Motion CPU modules, Q172LX Servo external signal interface
module, Q172EX Serial absolute synchronous encoder interface module, Q173PX Manual pulse IB-0300040
generator interface module, Teaching units, Power supply modules, Servo amplifiers, SSCNET cables, (1XB780)
synchronous encoder cables and others.
(Optional)
Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual

(REAL MODE) IB-0300043
This manual explains the servo parameters, positioning instructions, device list, error list and others. (1XB782)
(Optional)
Q173CPU(N)/Q172CPU(N) Motion controller (SV22) Programming Manual

(VIRTUAL MODE)
This manual describes the dedicated instructions use to the synchronous control by virtual main shaft, IB-0300044
mechanical system program create mechanical module. (1XB783)
This manual explains the servo parameters, positioning instructions, device list, error list and others.
(Optional)
Q173CPU(N)/Q172CPU(N) Motion controller (SV43) Programming Manual

This manual describes the dedicated instructions to execute the positioning control by Motion program of
EIA language (G-code). IB-0300070
This manual explains the Multiple CPU system configuration, performance specifications, functions, (1CT784)
programming, debugging, servo parameters, positioning instructions, device list error list and others.
(Optional)
A - 18
(2) PLC
Manual Number
Manual Name
(Model Code)
QCPU User's Manual (Hardware Design, Maintenance and Inspection)
This manual explains the specifications of the QCPU modules, power supply modules, base units,
SH-080483ENG
extension cables, memory card battery, and the maintenance/inspection for the system, trouble shooting,
(13JR73)
error codes and others.
(Optional)
Qn(H)/QnPH/QnPRHCPUCPU User's Manual (Function Explanation, Program

Fundamentals)
SH-080808ENG
This manual explains the functions, programming methods and devices and others to create programs
(13JZ28)
with the QCPU.
(Optional)
QCPU User's Manual (Multiple CPU System)

This manual explains Multiple CPU system overview, system configuration, I/O modules, communication SH-080485ENG
between CPU modules and communication with the I/O modules or intelligent function modules. (13JR75)
(Optional)
QCPU Programming Manual (Common Instructions)

This manual explains how to use the sequence instructions, basic instructions, application instructions and SH-080809ENG
micro computer program. (13JW10)
(Optional)
QCPU (Q Mode)/QnACPU Programming Manual (PID Control Instructions)

SH-080040
This manual explains the dedicated instructions used to exercise PID control. (13JF59)
(Optional)
QCPU (Q Mode)/QnACPU Programming Manual (SFC)

This manual explains the system configuration, performance specifications, functions, programming, SH-080041
debugging, error codes and others of MELSAP3. (13JF60)
(Optional)
I/O Module Type Building Block User's Manual

This manual explains the specifications of the I/O modules, connector, connector/terminal block SH-080042
conversion modules and others. (13JL99)
(Optional)
A - 19
MEMO
A - 20
1 OVERVIEW
1. OVERVIEW
1.1 Overview 1
This programming manual describes the Motion SFC program and Multiple CPU
system of the operating system software packages "SW6RN-SV13Q ", "SW6RN-
SV22Q " for Motion CPU module(Q173CPU(N)/Q172CPU(N)).
In this manual, the following abbreviations are used.
Generic term/Abbreviation Description
Q173CPU(N)/Q172CPU(N) or Q173CPUN/Q172CPUN/Q173CPUN-T/Q172CPUN-T/Q173CPU/Q172CPU
Motion CPU (module) Motion CPU module
Q172LX Servo external signals interface module/
Q172LX/Q172EX/Q173PX (Note-1)
Q172EX(-S1/-S2/-S3) Serial absolute synchronous encoder interface module /
or Motion module
Q173PX(-S1) Manual pulse generator interface module
MR-H-BN Servo amplifier model MR-H BN
MR-J2 -B Servo amplifier model MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-03B5
General name for "Servo amplifier model MR-H BN/MR-J2S- B/MR-J2M-B/
AMP or Servo amplifier
MR-J2- B/MR-J2-03B5, Vector inverter FREQROL-V500 series"
QCPU, PLC CPU
Qn(H)CPU
or PLC CPU module
Multiple CPU system
Abbreviation for "Multiple PLC system of the Q series"
or Motion system
Abbreviation for "CPU No.n (n= 1 to 4) of the CPU module for the Multiple CPU
CPUn
system"
Programming software package General name for "MT Developer" and "GX Developer"
Operating system software General name for "SW RN-SV Q "
Operating system software for conveyor assembly use (Motion SFC) :
SV13
SW6RN-SV13Q
Operating system software for automatic machinery use (Motion SFC) :
SV22
SW6RN-SV22Q
MT Developer Abbreviation for Integrated start-up support software package "MT Developer"
Abbreviation for MELSEC PLC programming software package "GX Developer

GX Developer
(Version 6 or later)"
Manual pulse generator
Abbreviation for "Manual pulse generator (MR-HDP01)"
or MR-HDP01
Serial absolute synchronous encoder
Abbreviation for "Serial absolute synchronous encoder (MR-HENC/Q170ENC)"
or MR-HENC/Q170ENC
(Note-2)
SSCNET High speed serial communication between Motion controller and servo amplifier
General name for "System using the servomotor and servo amplifier for absolute
Absolute position system
position"
Cooling fan unit Cooling fan unit (Q170FAN)
Dividing unit Dividing unit (Q173DV)
Battery unit Battery unit (Q170BAT)
1-1
1 OVERVIEW
Generic term/Abbreviation Description

A 0BD-PCF A10BD-PCF/A30BD-PCF SSC I/F board
SSC I/F communication cable Abbreviation for "Cable for SSC I/F board/card"
Teaching Unit (Note-3)
A31TU-D3 /A31TU-DN Teaching unit
or A31TU-D3 /A31TU-DN
Abbreviation for "MELSECNET/H module/Ethernet module/CC-Link module/
Intelligent function module
Serial communication module"
Vector inverter (FR-V500) Vector inverter FREQROL-V500 series

(Note-1) : Q172EX can be used in SV22.
(Note-2) : SSCNET: Servo System Controller NETwork
(Note-3) : Teaching unit can be used in SV13.
REMARK
For information about the each module, design method for program and parameter,
refer to the following manuals relevant to each module.
Item Reference Manual
Motion CPU module/Motion unit Q173CPU(N)/Q172CPU(N) User’s Manual
PLC CPU, peripheral devices for PLC program design, I/O
Manual relevant to each module
modules and intelligent function module
Operation method for MT Developer Help of each software
• Design method for positioning control
program in the real mode Q173CPU(N)/Q172CPU(N) Motion controller
SV13/SV22
• Design method for positioning control (SV13/SV22) Programming Manual (REAL MODE)
parameter
SV22 • Design method for mechanical system Q173CPU(N)/Q172CPU(N) Motion controller (SV22)
(Virtual mode) program Programming Manual (VIRTUAL MODE)
1-2
1 OVERVIEW
1.2 Features
The Motion CPU and Multiple CPU system have the following features.
1.2.1 Features of Motion CPU
(1) Q series PLC Multiple CPU system

(a) The load of control processing for each CPU can be distributed by
controlling the complicated servo control with the Motion CPU, and the
machine control or information control with the PLC CPU, and flexible
system configuration can be realized.
(b) The Motion CPU and PLC CPU are selected flexibly, and the Multiple CPU
system up to 4 CPU modules can be realized.
The Motion CPU module for the number of axis to be used can be selected.
Q173CPU(N) : Up to 32 axes
Q172CPU(N) : Up to 8 axes
The PLC CPU module for the program capacity to be used can be selected.
(One or more PLC CPU is necessary with the Multiple CPU system.)
Q00CPU : 8k steps
Q01CPU : 14k steps
Q02CPU, Q02HCPU : 28k steps
Q06HCPU : 60k steps
Q12HCPU : 124k steps
Q25HCPU : 252k steps
(c) The device data of other CPU can be used as the device data of self CPU
because the Multiple CPU automatic refresh may do automatically data
giving and receiving between each CPU of the Multiple CPU system.
(d) The device data access of the Motion CPU and the Motion SFC program
start can be executed from PLC CPU by the Motion dedicated PLC
instruction.
(2) Programming in the Motion SFC programs

(a) Since a program intelligible for anyone can be created in flow chart form by
macking a sequence of machine operation correspond to each operation
step, maintenance nature improves.
(b) Since transition conditions are judged with Motion CPU side and positioning
starts, there is not dispersion in the response time influenced by PLC scan
time.
1-3
1 OVERVIEW
(c) High speed and high response processing is realizable with the step
processing method (only active steps) of Motion SFC.
(d) Not only positioning control but also numerical operations, device SET/RST,
etc. can be processed with Motion CPU side, making via PLC CPU is
unnecessary and a tact time can be shortened.
(e) By transition condition description peculiar to Motion SFC, the instructions to

servo amplifier is possible at completion of starting condition.
(f) By transition condition description peculiar to Motion SFC, after starting,

transition to next step is possible without waiting for positioning completion.
(g) Motion SFC program that responds and executes it at high speed for
interrupt input from external source can be set.
(h) Motion SFC program executed in the fixed cycle (0.88ms, 1.77ms, 3.55ms,
7.11ms, 14.2ms) by synchronizing to the Motion operation cycle can be set.
(3) High speed operation processing

(a) The minimum operation cycle of the Motion CPU is made 0.88[ms] (so far,
the ratio of 4 times), and it correspond with high frequency operation.
(b) High speed PLC control is possible by the Q series PLC CPU.
(For LD instruction)
Q02HCPU, Q06HCPU, Q12HCPU, Q25HCPU : 0.034[µs]
Q02CPU : 0.079[µs]
Q00CPU : 0.16[µs]
Q01CPU : 0.10[µs]
(4) Connection between the Motion controller and servo amplifier with
high speed serial communication by SSCNET
High speed serial communication by SSCNET connect between the Motion
controller and servo amplifier, and batch control the charge of servo parameter,
servo monitor and test operation, etc.
It is also realised reduce the number of wires.
(5) The operating system software package for your application needs
By installing the operating system software for applications in the internal flash
memory of the Motion CPU, the Motion controller suitable for the machine can be
realized.
And, it also can correspond with the function improvement of the software
package.
(a) Conveyor assembly use (SV13)
Offer liner interpolation, circular interpolation, helical interpolation, constant-
speed control, speed control, fixed-pitch feed and etc. by the dedicated
servo instruction. Ideal for use in conveyors and assembly machines.
1-4
1 OVERVIEW
(b) Automatic machinery use (SV22)

Provides synchronous control and offers electronic cam control by
mechanical support language. Ideal for use in automatic machinery.
(c) Machine tool peripheral use (SV43)

Offer liner interpolation, circular interpolation, helical interpolation, constant-
speed positioning and etc. by the EIA language (G-code). Ideal for use in
machine tool peripheral.
1-5
1 OVERVIEW
1.2.2 Basic specifications of Q173CPU(N)/Q172CPU(N)
(1) Module specifications

Item Q173CPUN Q173CPUN-T Q173CPU Q172CPUN Q172CPUN-T Q172CPU
Teaching unit —— Usable —— —— Usable ——

Internal current
1.25 1.56 (Note) 1.75 1.14 1.45 (Note) 1.62
consumption(5VDC) [A]
Mass [kg] 0.23 0.24 0.22 0.22 0.23 0.21
118(4.65)(H) 118(4.65)(H)
Exterior dimensions 98(3.86)(H) 27.4(1.08)(W) 98(3.86)(H) 27.4(1.08)(W)
27.4(1.08)(W) 27.4(1.08)(W)
[mm(inch)] 114.3(4.50)(D) 114.3(4.50)(D)
89.3(3.52)(D) 89.3(3.52)(D)
(Note) : Current consumption 0.26[A] of the teaching unit is included.
(2) SV13/SV22 Motion control specifications/performance

specifications
(a) Motion control specifications
Item Q173CPUN(-T) Q173CPU Q172CPUN(-T) Q172CPU
Number of control axes Up to 32 axes Up to 8 axes
0.88ms/ 1 to 8 axes
SV13 1.77ms/ 9 to 16 axes 0.88ms/1 to 8 axes
3.55ms/17 to 32 axes
Operation cycle
0.88ms/ 1 to 4 axes
(default)
1.77ms/ 5 to 12 axes 0.88ms/1 to 4 axes
SV22
3.55ms/13 to 24 axes 1.77ms/5 to 8 axes
7.11ms/25 to 32 axes
Linear interpolation (Up to 4 axes), Circular interpolation (2 axes),
Interpolation functions
Helical interpolation (3 axes)
PTP(Point to Point) control, Speed control, Speed-position control, Fixed-pitch feed,
Control modes Constant speed control, Position follow-up control, Speed switching control,
High-speed oscillation control, Synchronous control (SV22)
Acceleration/ Automatic trapezoidal acceleration/deceleration,
deceleration control S-curve acceleration/deceleration
Compensation Backlash compensation, Electronic gear
Programming language Motion SFC, Dedicated instruction, Mechanical support language (SV22)
Servo program capacity 14k steps
Number of positioning 3200 points
points (Positioning data can be designated indirectly)
Programming tool IBM PC/AT
Peripheral I/F USB/RS-232/SSCNET
Teaching operation
Provided (Q173CPUN-T/Q172CPUN-T, SV13 use)
function
Proximity dog type (2 types), Count type (3 types), Data set type (2 types), Dog cradle type,
Home position return
Stopper type (2 types), Limit switch combined type
function
(Home position return re-try function provided, home position shift function provided)
JOG operation function Provided
1-6
1 OVERVIEW
Motion control specifications (continued)

Item Q173CPUN(-T) Q173CPU Q172CPUN(-T) Q172CPU
Possible to connect 3 modules
operation function
Synchronous encoder
Possible to connect 12 modules Possible to connect 8 modules
operation function
M-code output function provided
M-code function
M-code completion wait function provided
Limit switch output Number of output points 32 points
function Watch data: Motion control data/Word device
Made compatible by setting battery to servo amplifier.
Absolute position system (Possible to select the absolute data method or incremental method for each axis)
(Note) : When the vector inverter is used, only the increment method.
(Note-1)
Number of SSCNET I/F 5CH 2CH
Q172LX : 4 modules usable Q172LX : 1 module usable
Motion related interface
Q172EX : 6 modules usable Q172EX : 4 modules usable
module (Note-2) (Note-2)
Q173PX : 4 modules usable Q173PX : 3 modules usable
(Note-1) : Use the Dividing unit(Q173DV) or dividing cable(Q173J2B CBL M/Q173HB CBL M).
(Note-2) : When using the incremental synchronous encoder (SV22 use), you can use avobe number of modules.
When connecting the manual pulse generator, you can use only 1 module.
1-7
1 OVERVIEW
(b) Motion SFC Performance Specifications

Item Q173CPU(N)/Q172CPU(N)
Code total
(Motion SFC chart+ Operation control 287k bytes
Motion SFC program capacity + Transition)
Text total
224k bytes
(Operation control + Transition)
Number of Motion SFC programs 256 (No.0 to 255)
Motion SFC chart size/program Up to 64k bytes (Included Motion SFC chart comments)
Number of Motion SFC steps/program Up to 4094 steps
Motion SFC program
Number of selective branches/branch 255
Number of parallel branches/branch 255
Parallel branch nesting Up to 4 levels
4096 with F(Once execution type) and FS(Scan execution type)
Number of operation control programs
combined. (F/FS0 to F/FS4095)
Number of transition programs 4096(G0 to G4095)
Operation control program Code size/program Up to approx. 64k bytes (32766 steps)
(F/FS) Number of blocks(line)/program Up to 8192 blocks (in the case of 4 steps(min)/blocks)
/ Number of characters/block (line) Up to 128 (comment included)
Transition program Number of operand/block Up to 64 (operand: constants, word device, bit devices)
(G) ( ) nesting/block Up to 32 levels
Operation control program Calculation expression/bit conditional expression
Descriptive
Calculation expression/bit conditional expression/
expression Transition program
comparison conditional expression
Number of multi executed programs Up to 256
Number of multi active steps Up to 256 steps/all programs
Normal task Executed in motion main cycle
Executed in fixed cycle
Event task Fixed cycle
(0.88ms, 1.77ms, 3.55ms, 7.11ms, 14.2ms)
Execute specification (Execution
Executed External Executed when input ON is set among interrupt module QI60
can be
task interrupt (16 points).
masked.)
PLC interrupt Executed with interrupt instruction (S(P).GINT) from PLC CPU.
Executed when input ON is set among interrupt module QI60
NMI task
(16 points).
Number of I/O points (X/Y) 8192 points
Number of real I/O points (PX/PY) 256 points
Internal relays (M)
Total (M + L) : 8192 points
Latch relays (L)
Link relays (B) 8192 points
Number of devices
Annunciators (F) 2048 points
(Device In the Motion CPU
Special relays (M) 256 points
only)
Data registers (D) 8192 points
(Included the positioning
Link registers (W) 8192 points
dedicated device)
Special registers (D) 256 points
Motion registers (#) 8192 points
Coasting timers (FT) 1 point (888µs)
1-8
1 OVERVIEW
1.2.3 Operation control/transition control specifications
(1) Table of the operation control/transition control specifications

Item Specifications Remark
Returns a numeric result.

Calculation expression Expressions for calculating indirectly specified data using constants D100+1,SIN(D100), etc.
and word devices.
Bit conditional Returns a true or false result. M0, !M0, M1*M0,
Expression
expression Expression for judging ON or OFF of bit device. (M1+M2)*(!M3+M4), etc.
Conditional
Comparison
expression Expressions for comparing indirectly specified data and calculation D100==100
conditional
expressions using constants and word devices. D10<D102+D10, etc.
expression
The input X/output Y are
Accessibility Usable tasks Description written with the actual input
Device Symbol
Read Write Normal Event NMI example PX/actual output PY.
Input module It does the layput of the I/O
non-loaded X X100 numbers of PX, PY by a set
Input range up of as system.
Input module (In the operation control
PX PX180
loaded range program/transition program,
Output module automatically represented
non-loaded Y Y100 as PX/PY according to the
Output range system setting information.)
Output module
PY PY1E0
loaded range
Internal relay M M20
Latch relay L L1000
Link relay B B3FF
Annunciator F F0
Special relay M M9000
Bit devices
: usable
: unusable
CAUTION
<Restrictions on write-enabled bit devices>
1) Write to device X is allowed only within the input module non-installed range.
2) Special relay has predetermined applications in the system.
Do not perform write to other than the user setting device.
(Note) : SET/RST is disabled in the following device ranges.
SET/RST disable range Remark
M2001 to M2032 Start accept device
(Note) : DOUT output disabled in the following device ranges.

DOUT output disable range Remark
Designation including
Dedicated device
M2000 to M2127
M9000 to M9255 Special relay
1-9
1 OVERVIEW
Table of the operation control/transition control specification(continued)

Item Specifications Remark
Accessibility Usable tasks Description

Devices Symbol
Read Write Normal Event NMI example
Data register D DOL
Link register W W1F : F
Special register D D9000
Motion register # #0F
Word devices
Coasting timer FT FT
: usable
: unusable
CAUTION
<Restrictions on write-enabled word devices>
1) Special register has predetermined applications in the system.
Do not perform write to other than the user-set device.
16-bit integer type (signed) -32768 to 32767
(None) K10, D100, etc.
16-bit integer type (unsigned) 0 to 65535
32-bit integer type (signed) -2147483648 to 2147483647
Data type L 2000000000, W100L, etc.
32-bit integer type (unsigned) 0 to 4294967295
64-bit floating-point type
F IEEE format 1.23, #10F, etc.
(double precision real number type)
Decimal
K The above data type symbol 'L' or '. (decimal point)' provided at the end
constant K-100, H0FFL, etc.
Constant indicates the data type. The constant without the data type is regarded
Hexadecimal as the applicable minimum type. 'K' may be omitted.
H
constant
Binary operation 6
Bit operation 6
Sign 1
Standard function 15
Type conversion 6
Number of
Bit device status 2 63 in total
instructions
Bit device control 5
Logical operation 4
Comparison operation 6
Motion dedicated function 2
Others 10
Read/write response Input response Direct read control at instruction execution.
of input PX, output PY Output response Direct write control at instruction execution.
1 - 10
1 OVERVIEW
(2) Table of the operation control/transition instruction

Usable step
Y/N
transition's Section of
Classification Symbol Function Format Basic steps
F/FS G conditional reference
expression
= Substitution =
(D) (S) 4 — 7.4.1
+ Addition (S1)+(S2) 4 — 7.4.2
- Subtraction (S1)-(S2) 4 — 7.4.3
Binary operation
* Multiplication (S1)*(S2) 4 — 7.4.4
/ Division (S1)/(S2) 4 — 7.4.5
% Remainder (S1)%(S2) 4 — 7.4.6
~ Bit inversion (complement) ~(S) 2 — 7.5.1
& Bit logical AND (S1)&(S2) 4 — 7.5.2
| Bit logical OR (S1)|(S2) 4 — 7.5.3
Bit operation
^ Bit exclusive OR (S1)^(S2) 4 — 7.5.4
>> Bit right shift (S1)>>(S2) 4 — 7.5.5
<< Bit left shift (S1)<<(S2) 4 — 7.5.6
Sign - Sign inversion (complement of 2) -(S) 2 — 7.5.7
SIN Sine SIN(S) 2 — 7.6.1
COS Cosine COS(S) 2 — 7.6.2
TAN Tangent TAN(S) 2 — 7.6.3
ASIN Arcsine ASIN(S) 2 — 7.6.4
ACOS Arccosine ACOS(S) 2 — 7.6.5
ATAN Arctangent ATAN(S) 2 — 7.6.6
SQRT Square root SQRT(S) 2 — 7.6.7
Standard function LN Natural logarithm LN(S) 2 — 7.6.8
EXP Exponential operation EXP(S) 2 — 7.6.9
ABS Absolute value ABS(S) 2 — 7.6.10
RND Round-off RND(S) 2 — 7.6.11
FIX Round-down FIX(S) 2 — 7.6.12
FUP Round-up FUP(S) 2 — 7.6.13
BIN BCD BIN conversion BIN(S) 2 — 7.6.14
BCD BIN BCD conversion BCD(S) 2 — 7.6.15
SHORT Convert into 16-bit integer type (signed) SHORT(S) 2 — 7.7.1
USHORT Convert into 16-bit integer type (unsigned) USHORT(S) 2 — 7.7.2
LONG Convert into 32-bit integer type (signed) LONG(S) 2 — 7.7.3
Type conversion ULONG Convert into 32-bit integer type (unsigned) ULONG(S) 2 — 7.7.4
Regard as signed data and convert into 64-
FLOAT FLOAT(S) 2 — 7.7.5
bit floating point type
Regard as unsigned data and convert into
UFLOAT UFLOAT(S) 2 — 7.7.6
64-bit floating point type
(None) ON (normally open contact) (S) 2 7.8.1
Bit device status
! OFF (normally closed contact) !(S) 2 7.8.2
SET(D) 3 —
SET Device set SET(D)= (conditional 7.9.1
4 —
expression)
RST(D) 3 —
RST Device reset RST(D)=(conditional 7.9.2
Bit device control 4 —
expression)
DOUT Device output DOUT(D),(S) 4 — 7.9.3
DIN Device input DIN(D),(S) 4 — 7.9.4
OUT(D)=(conditional
OUT Bit device output 4 — 7.9.5
expression)
1 - 11
1 OVERVIEW
Table of the operation control/transition instruction (continued)

Usable step
Y/N
transition's Section of
Classification Symbol Function Format Basic steps
F/FS G conditional reference
expression
(None) Logical acknowledgment (Conditional expression) 0 7.10.1

! Logical negation !(Conditional expression) 2 7.10.2
(Conditional expression) *
Logical operation * Logical AND 4 7.10.3
(conditional expression)
(Conditional expression) +
+ Logical OR 4 7.10.4
(Conditional expression) ==
== Equal to 4 7.11.1
(Conditional expression) !=
!= Not equal to 4 7.11.2
(Conditional expression) <
< Less than 4 7.11.3
Comparison (conditional expression)
operation (Conditional expression) <=
<= Less than or equal to 4 7.11.4
(Conditional expression) >
> More than 4 7.11.5
(Conditional expression) >=
>= More than or equal to 4 7.11.6
Motion dedicated CHGV Speed change request CHGV((S1),(S2)) 4 — 7.12.1
function CHGT Torque limit value change request CHGT((S1),(S2)) 4 — 7.12.2
EI Event task enable EI 1 — 7.13.1
DI Event task disable DI 1 — 7.13.2
NOP No operation NOP 1 — 7.13.3
BMOV Block transfer BMOV(D),(S),(n) 6 — 7.13.4
FMOV Same data block transfer FMOV(D),(S),(n) 6 — 7.13.5
Write device data to shared CPU memory
MULTW MULTW(D),(S),(n),(D1) 8 — 7.13.6
Others of the self CPU
Read device data from shared CPU
MULTR MULTR(D),(S1),(S2),(n) 7 — 7.13.7
memory of the other CPU
Write device data to intelligent function
TO TO(D1),(D2),(S),(n) 7 — 7.13.8
module/special function module.
Read device data from intelligent function
FROM FROM(D),(S1),(S2),(n) 7 — 7.13.9
module/special function module.
TIME Time to wait TIME(S) 7 — — 7.13.10
: Usable —: Unusable
(3) Rough calculation expression of singleprogram for operation

control/transition program
2 + (1 + Total number of basic steps in 1 block
+ Number of 32-bit constants/1 block 1
+ Number of 64-bit constants/1 block 3) Number of blocks (steps)
(1 step = 2 bytes)
1 - 12
1 OVERVIEW
1.2.4 Differences between Q173CPU(N)/Q172CPU(N) and A173UHCPU/A172SHCPUN
(1) Differences between Q173CPU(N)/Q172CPU(N) and

A173UHCPU/A172SHCPUN
Item Q173CPU(N) Q172CPU(N) A173UHCPU A172SHCPUN
Number of control axes Up to 32 axes Up to 8 axes Up to 32 axes Up to 8 axes

0.88ms/1 to 8 axes
3.55ms/17 to 32 axes (Default) 3.55ms/1 to 20 axes
SV13 3.55ms/1 to 8 axes
(Default) (It can be set up by 7.11ms/21 to 32 axes
(It can be set up by the parameters.)
the parameters.)
Operation cycle 0.88ms/1 to 4 axes
3.55ms/13 to 24 axes 1.77ms/5 to 8 axes 3.55ms/1 to 12 axes
SV22 7.11ms/25 to 32 axes (Default) 7.11ms/13 to 24 axes 3.55 ms/1 to 8 axes
(Default) (It can be set up by 14.2ms/25 to 32 axes
(It can be set up by the parameters.)
the parameters.)
Servo program capacity 14k steps 13k steps
Number of positioning points 3200 points/axis (Positioning data can be designated indirectly.)
Motion control
Programming tool IBM PC/AT, A31TU-D PC9800 series, IBM PC/AT, A30TU, A31TU
Peripheral devices I/F USB/RS-232/SSCNET RS-422/SSCNET
Proximity dog type(2 types), Count type(3 types),
Data set type(2 types), Dog cradle type,
Proximity dog type, count type,
Home position return function Stopper type(2 types), Limit switch conbined type
data set type 1
(Home position return retry function provided,
Home position shift function provided)
Manual pulse generator operation
Possible to connect 3 modules
function Possible to connect
Syncronous encoder operation Possible to connect Possible to connect Possible to connect 1 module
function 12 modules 8 modules 4 modules
Limit switch output function Output points : 32points, watch data : motion control data/word device
Number of SSCNET Interfaces
(Included SSCNET interface 1CH to 5CH (Note-1) 2CH 4CH 2CH
the parsonal computer)
Up to 64 slots
Number of motion slots 8 slots 2 slots
(Up to 7 extension bases of the Q series)
Q172LX : 4 modules Q172LX : 1 module
Number of Motion related modules Q172EX : 6 modules Q172EX : 4 modules A172SENC : 4 modules A172SENC : 1 module
Q173PX : 4 modules (Note-2) Q173PX : 3 modules (Note-2)
Normal task Executed in motion main cycle
Fixed Executed in fixed cycle Executed in fixed cycle
Execute specification
Event task cycle (0.88ms, 1.77ms, 3.55ms, 7.11ms, 14.2ms) (1.77ms, 3.55ms, 7.11ms, 14.2ms)
(Execution External Executed when input on is set among interrupt Executed when input on is set among
Motion SFC
Excuted can be interrupt module(QI60) 16 points. interrupt module(A1SI61) 16 points.

task masked.) PLC Executed with interrupt instruction (GINT) from Executed when 1 interrupt point is provided
interrupt PLC CPU. from PLC CPU.
Executed when input on is set among interrupt Executed when input on is set among
NMI task
module(QI60) 16 points. interrupt module(A1SI61) 16 points.
Number of I/O (X/Y) points 8192 points 2048 points
Number of real I/O (PX/PY) points Total 256 points
1 - 13
1 OVERVIEW
Differences Between Q173CPU(N)/Q172CPU(N) and

A173UHCPU/A172SHCPUN(continued)
Item Q173CPU(N) Q172CPU(N) A173UHCPU A172SHCPUN
Internal relays (M) Total M+L(S) : Total M+L(S) :

Total M+L : 8192 points
Latch relays (L) 8192 points 2048 points
Link relays (B) 8192 points 1024 points
Annunciators (F) 2048 points 256 points
Timer contacts (TT) — 2048 points 256 points
Timer coils (TC) — 2048 points 256 points
Number of Counter contacts (CT) — 1024 points 256 points

Motion SFC
Devices
Counter coils (CC) — 1024 points 256 points
(internal
motion Special relays (M) 256 points
CPU only) Data registers (D) 8192 points 1024 points
Link registers (W) 8192 points 1024 points
Currnet value timers (T) — 2048 points 256 points
Currnet value counters (C) — 1024 points 256 points
Special registers (D) 256 points
Motion registers (#) 8192 points
Coasting timer (FT) 1 point (888µs)
Device memory Independence Commonness

The data exchange method by automatic refresh The direct data exchange method which
Data exchange of PCPU and SCPU
between the multiple CPU's. made a device memory 2 port memory.
Number of pulses per
1 to 2147483647[PLS] 1 to 65535[PLS]
revolutions
Fixed Amount of pulses per In the case of the unit setup [PLS]. In the case of the unit setup [PLS].
parameters revolutions 1 to 2147483647[PLS] 1 to 65535[PLS]
1 time, 10 times,
Magnification —
100 times, 1000 times
Others
M2000 turn it on with switch (STOP RUN),

PLC ready flag (M2000) or M2000 turn it on when both of switch RUN and M2000 turn on by PLC program
setting register is set "1".
An optional bit device(PX, M) is specified in the Emergency stop of the CPU base unit.
Forced stop input parameter. (Emergency stop terminals of the (Forced stop terminals of the servo amplifiers
servo amplifiers can be used.) cannot be used.)
Internal rechargeable battery
(Set the external battery (A6BAT/MR-BAT) if
Back-up battery for internal memory A6BAT/MR-BAT
continuous power off time is longer for 1 month or
more.) (Note-3)
(Note-1) : Use the Dividing unit (Q173DV) or dividing cable (Q173J2B CBL M/Q173HB CBL M).
(Note-2) : When using the incremental synchronous encoder (SV22 use), you can use above number of modules. When connecting the Manual
pulse generator, you can use only 1 module.
(Note-3) : When adding the external battery (A6BAT/MR-BAT), Q173DV (Q173CPU(N) use.), or Q170BAT (Q172CPU(N) use.) is used.
1 - 14
1 OVERVIEW
1.2.5 Positioning dedicated devices/special relays/special registers
(1) Positioning dedicated devices

The following section describes the positioning dedicated devices.
A range of up to 32 axes is valid in Q173CPU(N), and a range of up to 8 axes is
valid in Q172CPU(N).
Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22)
Programming Manual (REAL MODE)", "Q173CPU(N)/Q172CPU(N) Motion
controller (SV22) Programming Manual (VIRTUAL MODE)" for details of the
positioning dedicated devices.
(a) Table of the internal relays
Overall configuration
SV13 SV22
Device No. Purpose Device No. Purpose
M0 User device M0 User device

to (2000 points) to (2000 points)
M2000 Common device M2000 Common device
M2320 Special relay allocated device (Status) M2320 Special relay allocated device (Status)
M2400 M2400 Axis status
Axis status (20 points 32 axes)
to (20 points 32 axes) to Real mode……Each axis
Virtual mode….Output module
M3040 M3040
Unusable Unusable
to to
M3072 Common device (Command signal) M3072 Common device (Command signal)
M3136 Special relay allocated device M3136 Special relay allocated device
(Command signal) (Command signal)
M3200 M3200 Axis command signal
Axis command signal (20 points 32 axes)
M3840 M3840 Unusable (Note-1)
to (160 points)
M4000 Virtual servomotor axis status (Note-1,2)
(20 points 32 axes)
User device to
to (Mechanical system setting axis only)
(960 points)
M4640 Synchronous encoder axis
to status (Note-2) (4 points 12 axes)
M4688
to Unusable (Note-1)
M4799 M4799
1 - 15
1 OVERVIEW
Overall configuration(Continued)
SV13 SV22
Device No. Purpose Device No. Purpose
M4800 M4800 Virtual servomotor axis command

signal (Note-1, 2)
to (20 points 32 axes)
(Mechanical system setting axis only)
M5440 Synchronous encoder axis
command signal (Note-2)
to
(4 points 12 axes)
M5488 Cam axis command signal (Note-1, 2)
(1 point 32 axes)
to User device to (Mechanical system setting axis only)
(3392 points)
M5520 Smoothing clutch complete signal
(Note-1, 2)
to
(2 points 32 axes)
M5584 Unusable (Note-1)
to (16 points)
M5600
User device
to
(2592 points)
M8191 M8191
(Note-1) : It can be used as an user device in the SV22 real mode only.
(Note-2) : Do not set the M4000 to M5599 as a latch range in the virtual mode.
1 - 16
1 OVERVIEW
MEMO
1 - 17
1 OVERVIEW
1) Table of the axis statuses (SV13/SV22)
Device No. Signal name Device No. Signal name

M2400 M2720
to Axis 1 status to Axis 17 status
M2419 M2739
M2420 M2740
M2439 M2759
M2440 M2760
M2459 M2779
M2460 M2780
M2479 M2799
M2480 M2800
M2499 M2819
M2500 M2820
M2519 M2839
M2520 M2840
M2539 M2859
M2540 M2860
M2559 M2879
M2560 M2880
M2579 M2899
M2580 M2900
M2599 M2919
M2600 M2920
M2619 M2939
M2620 M2940
M2639 M2959
M2640 M2960
M2659 M2979
M2660 M2980
M2679 M2999
M2680 M3000
M2699 M3019
M2700 M3020
M2719 M3039
1 - 18
1 OVERVIEW
Detailes of each axis
Device No. Signal name
M2400 + 20n Positioning start complete

M2401 + 20n Positioning complete
M2402 + 20n In-position
M2403 + 20n Command in-position
M2404 + 20n Speed controlling
M2405 + 20n Speed/position switching latch signal
M2406 + 20n Zero pass signal
M2407 + 20n Error detection signal
M2408 + 20n Servo error detection signal
M2409 + 20n Home position return request signal
M2410 + 20n Home position return completion signal
M2411 + 20n FLS signal
M2412 + 20n External RLS signal
M2413 + 20n signals STOP signal
M2414 + 20n DOG/CHANGE signal
M2415 + 20n Servo ready signal
M2416 + 20n Torque limiting signal
M2417 + 20n Unusable
Virtual mode continuation operation disable
M2418 + 20n
warning signal (SV22)
M2419 + 20n M-code outputting signal
(Note-1) : "n" in the above device No. shows the numerical value which
correspond to axis No.
Q173CPU(N) : Axis No.1 to No.32 (n=0 to 31)
(Note-2) : Device area of 9 axes or more is unusable in the Q172CPU(N).
1 - 19
1 OVERVIEW
2) Table of the axis command signals (SV13/SV22)

M3200 M3520
to Axis 1 command signal to Axis 17 command signal
M3219 M3539
M3220 M3540
M3239 M3559
M3240 M3560
M3259 M3579
M3260 M3580
M3279 M3599
M3280 M3600
M3299 M3619
M3300 M3620
M3319 M3639
M3320 M3640
M3339 M3659
M3340 M3660
M3359 M3679
M3360 M3680
M3379 M3699
M3380 M3700
M3399 M3719
M3400 M3720
M3419 M3739
M3420 M3740
M3439 M3759
M3440 M3760
M3459 M3779
M3460 M3780
M3479 M3799
M3480 M3800
M3499 M3819
M3500 M3820
M3519 M3839
1 - 20
1 OVERVIEW
Device No. SV13 SV22
M3200 + 20n Stop command Stop command

M3201 + 20n Rapid stop command Rapid stop command
Forward rotation JOG start
M3202 + 20n Forward rotation JOG start command
command
Reverse rotation JOG start
M3203 + 20n Reverse rotation JOG start comannd
command
M3204 + 20n Complete signal OFF command Complete signal OFF command
Speed/position switching enable Speed/position switching enable
M3205 + 20n
command comannd
M3206 + 20n Unusable Unusable
M3207 + 20n Error reset command Error reset command
M3208 + 20n Servo error reset command Servo error reset command
External stop input disable at start External stop input disable at start
M3209 + 20n
command command
M3210 + 20n
Unusable Unusable
M3211 + 20n
Feed current value update request Feed current value update request
M3212 + 20n
command command
Address clutch reference setting
M3213 + 20n
command
Unusable
Cam reference position setting
M3214 + 20n
command
M3215 + 20n Servo OFF command Servo OFF command
M3216 + 20n Gain changing command Gain changing command
M3217 + 20n
Unusable Unusable
M3218 + 20n
M3219 + 20n FIN signal FIN signal
(Note-1) : "n" in the above device No. shows the numerical value which correspond to axis No.
1 - 21
1 OVERVIEW
3) Table of the virtual servomotor axis statuses (SV22 only)

M4000 M4320
M4019 M4339
M4020 M4340
M4039 M4359
M4040 M4360
M4059 M4379
M4060 M4380
M4079 M4399
M4080 M4400
M4099 M4419
M4100 M4420
M4119 M4439
M4120 M4440
M4139 M4459
M4140 M4460
M4159 M4479
M4160 M4480
M4179 M4499
M4180 M4500
M4199 M4519
M4200 M4520
M4219 M4539
M4220 M4540
M4239 M4559
M4240 M4560
M4259 M4579
M4260 M4580
M4279 M4599
M4280 M4600
M4299 M4619
M4300 M4620
M4319 M4639
1 - 22
1 OVERVIEW
M4000 + 20n Positioning start complete

M4001 + 20n Positioning complete
M4003 + 20n Command in-position
M4004 + 20n Speed controlling
M4005 + 20n
Unusable
M4006 + 20n
M4007 + 20n Error detection
M4008 + 20n
M4009 + 20n
M4010 + 20n
M4011 + 20n
M4012 + 20n
M4014 + 20n
M4015 + 20n
M4016 + 20n
M4017 + 20n
M4018 + 20n
M4019 + 20n M-code outputting signal

(Note-2) : The unused axis areas in the mechanical system program can be used as an
user device.
1 - 23
1 OVERVIEW
4) Table of the virtual servomotor axis command signals

(SV22 only)

M4800 M5120
M4819 M5139
M4820 M5140
M4839 M5159
M4840 M5160
M4859 M5179
M4860 M5180
M4879 M5199
M4880 M5200
M4899 M5219
M4900 M5220
M4919 M5239
M4920 M5240
M4939 M5259
M4940 M5260
M4959 M5279
M4960 M5280
M4979 M5299
M4980 M5300
M4999 M5319
M5000 M5320
M5019 M5339
M5020 M5340
M5039 M5359
M5040 M5360
M5059 M5379
M5060 M5380
M5079 M5399
M5080 M5400
M5099 M5419
M5100 M5420
M5119 M5439
1 - 24
1 OVERVIEW
M4800 + 20n Stop command

M4801 + 20n Rapid stop command
M4802 + 20n Forward rotation JOG start command
M4803 + 20n Reverse rotation JOG start command
M4804 + 20n Complete signal OFF command
M4805 + 20n
Unusable
M4806 + 20n
M4807 + 20n Error reset command
M4809 + 20n External stop input disable at start command
M4810 + 20n
M4811 + 20n
M4812 + 20n
M4813 + 20n
M4815 + 20n
M4816 + 20n
M4817 + 20n
M4818 + 20n
M4819 + 20n FIN signal
user device.
1 - 25
1 OVERVIEW
5) Table of the synchronous encoder axis statuses

(SV22 only)

M4640 Error detection
M4641 External signal TREN
Axis 1
M4642 Virtual mode continuation operation disable warning
M4643 Unusable
Axis 2
M4647 Unusable
Axis 3
M4651 Unusable
Axis 4
M4655 Unusable
Axis 5
M4659 Unusable
Axis 6
M4663 Unusable
Axis 7
M4667 Unusable
Axis 8
M4671 Unusable
Axis 9
M4675 Unusable
Axis 10
M4679 Unusable
Axis 11
M4683 Unusable
Axis 12
M4687 Unusable
(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N).
1 - 26
1 OVERVIEW
6) Table of the syncronous encoder axis command signals

(SV22 only)

M5440 Error reset
M5441 Unusable
Axis 1
M5442 Unusable
M5443 Unusable
M5444 Error reset
M5445 Unusable
Axis 2
M5446 Unusable
M5447 Unusable
M5448 Error reset
M5449 Unusable
Axis 3
M5450 Unusable
M5451 Unusable
M5452 Error reset
M5453 Unusable
Axis 4
M5454 Unusable
M5455 Unusable
M5456 Error reset
M5457 Unusable
Axis 5
M5458 Unusable
M5459 Unusable
M5460 Error reset
M5461 Unusable
Axis 6
M5462 Unusable
M5463 Unusable
M5464 Error reset
M5465 Unusable
Axis 7
M5466 Unusable
M5467 Unusable
M5468 Error reset
M5469 Unusable
Axis 8
M5470 Unusable
M5471 Unusable
M5472 Error reset
M5473 Unusable
Axis 9
M5474 Unusable
M5475 Unusable
M5476 Error reset
M5477 Unusable
Axis 10
M5478 Unusable
M5479 Unusable
M5480 Error reset
M5481 Unusable
Axis 11
M5482 Unusable
M5483 Unusable
M5484 Error reset
M5485 Unusable
Axis 12
M5486 Unusable
M5487 Unusable
1 - 27
1 OVERVIEW
7) Table of the cam axis command signals (SV22 only)

M5488 Axis 1 cam/ballscrew switching
M5519 Axis 32 cam/ballscrew changing
(Note-3) : The unused aixs areas in the cam axis command signal can be used as an user
device.
1 - 28
1 OVERVIEW
8) Table of the smoothing clutch complete signals

(SV22 only)
Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark
M5520 Main shaft side
Output axis 1
M5521 Auxiliary input side
Output axis 2
Output axis 3
Output axis 4
Output axis 5
Output axis 6
Output axis 7
Output axis 8
Output axis 9
Output axis 10
Output axis 11
Output axis 12
Output axis 13
Output axis 14
Output axis 15
Output axis 16
M5552 Main shaft side Operation cycle Status signal
Output axis 17
Output axis 18
Output axis 19
Output axis 20
Output axis 21
Output axis 22
Output axis 23
Output axis 24
Output axis 25
Output axis 26
Output axis 27
Output axis 28
Output axis 29
Output axis 30
Output axis 31
Output axis 32
(Note-3) : The unused aixs areas in the mechanical system program can be used as an user device.
1 - 29
1 OVERVIEW
9) Table of the common devices (SV13/SV22)
SV13 SV22 Refresh Fetch Signal Remark

(Note-4)
Device No. Signal name Device No. Signal name cycle cycle direction
Command
Main signal
M2000 PLC ready flag M2000 PLC ready flag M3072
cycle (Note-1)
M2001 Axis1 M2001 Axis1

Status
Start accept flag Start accept flag Operation signal
to to to to cycle
(32 points) (32 points) (Note-2, 3)
M2032 Axis32 M2032 Axis32
M2033 Unusable M2033 Unusable — — —
Personal computer link Personal computer link Operation Status

M2034 M2034 cycle signal
communication error flag communication error flag
Motion SFC error history clear Motion SFC error history clear Main Command
M2035 (Note-5) M2035 (Note-5) M3080
request flag request flag cycle signal
M2036 M2036
Unusable Unusable — — —
M2037 M2037
At debug
Status
M2038 Motion SFC debugging flag M2038 Motion SFC debugging flag mode
signal
transition
Immedi- Status
M2039 Motion SFC error detection flag M2039 Motion SFC error detection flag ate signal
Command
Speed switching point specified Speed switcing point specified signal
M2040 M2040 At start M3073
flag flag (Note-1)
Operation Status
M2041 System setting error flag M2041 System setting error flag cycle signal
Operation
M2042 All axes servo ON command M2042 All axes servo ON command M3074
cycle Command
signal
At virtual (Note-1)
Real mode/virtual mode
M2043 M2043 mode M3075
switching request transition
Real mode/virtual mode
M2044 M2044
Unusable switching status
At virtual
Real mode/virtual mode mode
M2045 M2045 transition
Status
switching error detection flag signal
M2046 M2046 Out-of-sync warning
Operation
M2047 Motion slot fault detection flag M2047 Motion slot fault detection flag cycle
Command
JOG operation simultaneous start JOG operation simultaneous start Main signal
M2048 M2048 M3076
command command cycle (Note-1)
Operation Status
M2049 All axes servo ON accept flag M2049 All axes servo ON accept flag cycle signal
M2050 Unusable M2050 Unusable — — —
Manual pulse generator 1 enable Manual pulse generator 1 enable

M2051 M2051 M3077
flag flag
Command
Manual pulse generator 2 enable Manual pulse generator 2 enable Main signal
M2052 M2052 M3078
flag flag cycle (Note-1)
Manual pulse generator 3 enable Manual pulse generator 3 enable

M2053 M2053 M3079
flag flag
1 - 30
1 OVERVIEW
Table of the common devices (SV13/SV22) (continued)

SV13 SV22 Refresh Fetch Signal Remark
(Note-4)
Device No. Signal name Device No. Signal name cycle cycle direction
Operation Status
M2054 Operation cycle over flag M2054 Operation cycle over flag cycle signal
M2055 M2055
to Unusable to Unusable — — —
M2060 M2060
M2061 Axis 1 M2061 Axis 1

Status
Speed changing flag Speed changing flag Operation signal
to to to to cycle
(32 axes) (32 axes) (Note-2, 3)
M2092 Axis 32 M2092 Axis 32
M2093 M2093
to Unusable — — —
M2100
M2101 Axis 1 Synchronous encoder

Status
current value changing Operation signal
to Unusable to to cycle
flag (Note-2, 3)
M2112 Axis 12 (12 axes)
M2113
M2127 M2127

Automatic decelerating Automatic decelerating
to to flag to to flag
(32 axes) (32 axes)
M2159 Axis 32 M2159 Axis 32
Main shaft
M2160 M2160 side
Output
axis 1 Auxiliary input Operation Status
M2161 side cycle signal
Clutch (Note-2, 3)
to to to status
Main shaft (Note-6)
M2222 side
to Unusable Output
axis 32 Auxiliary input
M2223 side
M2224
M2239 M2239

Speed change "0" Speed change "0" Status
Operation signal
to to accepting flag to to accepting flag cycle (Note-2, 3)
(32 axes) (32 axes)
M2271 Axis 32 M2271 Axis 32
M2272 M2272
to Unusable to Unusable — — —
M2319 M2319
1 - 31
1 OVERVIEW
Explanation of the request register

No. Function Bit device Request register
1 PLC ready flag M2000 D704
2 Speed switching point specified flag M2040 D705
3 All axes servo ON command M2042 D706
4 Real mode/virtual mode switching request (SV22) M2043 D707
5 JOG operation simultaneous start command M2048 D708
6 Manual pulse generator 1 enable flag M2051 D755
(Note-1) : Handling of D704 to D708 and D755 to D757 register

Because cannot be turn ON/OFF for every bit from the PLC CPU, the above
bit devices are assigned to D register, and each bit device becomes on with
the lowest rank bit 0 1 of each register, and each bit device becomes off
with 1 0.
Use it when the above functions are requested from the PLC CPU using the
S(P).DDRD and S(P).DDWR instruction. Refer to "5 MOTION DEDICATED
PLC INSTRUCTION " for S(P).DDRD and S(P).DDWR instruction.
(Note-4) : It can also be ordered the device of a remark column.
(Note-5) : M3080 does not turn off automatically. Turn it off as an user side.
(Note-6) : It is unusable in the SV22 real mode.
CAUTION
The data executed later becomes effective when the same device is executed simultaneously
in the Motion SFC and PLC program.
1 - 32
1 OVERVIEW
10) Table of the special relay allocated devices (Status)

(SV13/SV22)
(Note)
Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark
M2320 Fuse blown detection M9000
M2321 AC/DC DOWN detection M9005
M2322 Battery low Error M9006
M2323 Battery low latch occurrence M9007
M2324 Self-diagnostic error M9008
M2325 Diagnostic error M9010
M2326 Always ON Main M9036
M2327 Always OFF operation M9037
M2328 Clock data error Error M9026
M2329 PCPU WDT error flag occurrence M9073
M2330 PCPU READY complete flag M9074

At request
M2331 Test mode ON flag M9075
Operation
M2332 External forced stop input flag M9076
cycle
Manual pulse generator axis setting
M2333 M9077
error flag
Error Status signal
M2334 TEST mode request error flag occurrence M9078
M2335 Servo program setting error flag M9079
M2336 CPU No.1 reset flag M9240
M2339 CPU No.4 reset flag At Status M9243
M2340 CPU No.1 error flag change M9244
M2341 CPU No.2 error flag M9245
M2344 Servo parameter reading flag At request M9105
M2345 CPU No.1 MULTR complete flag M9216
M2346 CPU No.2 MULTR complete flag At instruction M9217
M2347 CPU No.3 MULTR complete flag completion M9218
M2348 CPU No.4 MULTR complete flag M9219
M2349
to Unusable — — — —
M2399
(Note) : The same status as a remark column is output.
1 - 33
1 OVERVIEW
11) Table of the common devices (Command signal)

(SV13/SV22)
Remark
Device No. Signal name Refresh cycle Fetch cycle Signal direction (Note-1) , (Note-2)
M3072 PLC ready flag Main cycle M2000
M3073 Speed switching point specified flag At start M2040

Operation
M3074 All axes servo ON command cycle M2042
Real mode/virtual mode change request At virtual mode

M3075 M2043
(SV22) transition
JOG operation simultaneous start Command
M3076 signal M2048
command
M3077 Manual pulse generator 1 enable flag M2051
M3078 Manual pulse generator 2 enable flag Main cycle M2052
M3079 Manual pulse generator 3 enable flag M2053
Motion SFC error history clear request

M3080 M2035
flag (Note-3)
M3081
M3135
(Note-1) : The device of a remarks column turns ON by OFF to ON of the above device, and the device of a remarks column turns
OFF by ON to OFF of the above device. The state of a device is not in agreement when the device of a remarks column
is turned on directly. In addition, when the request from a data register and the request from the above device are
performed simultaneously, the request from the above device becomes effective.
(Note-3) : M3080 does not turn off automatically. Turn it off as an user side.
12) Table of the special relay allocated devices (Command

signal) (SV13/SV22)
Remark
Device No. Signal name Refresh cycle Fetch cycle Signal direction (Note-1), (Note-2)
M3136 Clock data set request M9025
M3137 Clock data read request Command M9028

Main cycle signal
M3138 Error reset M9060
M3139 Servo parameter read request flag M9104
M3140
M3199
(Note-1) : The device of a remarks column turns ON by OFF to ON of the above device, and the device of a remarks column turns
OFF by ON to OFF of the above device. The state of a device is not in agreement when the device of a remarks column
is turned on directly.
1 - 34
1 OVERVIEW
(b) Table of the data registers
Overall configuration
SV13 SV22
Device No. Application Device No. Application
D0 D0 Axis monitor device

Axis monitor device (20 points 32 axes)
D640 D640
Control change register Control change register
to (2 points 32 axes) to (2 points 32 axes)
D704 D704
Common device (Command signal) Common device (Command signal)
D758 D758
Common device (Monitor) Common device (Monitor)
to (42points) to (42points)
D800 D800 Virtual servomotor axis monitor

device (Note)
D1120
Syncronous encoder axis monitor
to device (Note) (10 points 12 axes)
D1240
Cam axis monitor device (Note)
D1560
User device
to
(7392 points)
User device
to
(6632 points)
D8191 D8191
(Note) : It can be used as an user device in the SV22 real mode only.
1 - 35
1 OVERVIEW
1) Table of the each axis monitor devices (SV13/SV22)

D0 D320
to Axis 1 monitor device to Axis 17 monitor device
D19 D339
D20 D340
D39 D359
D40 D360
D59 D379
D60 D380
D79 D399
D80 D400
D99 D419
D100 D420
D119 D439
D120 D440
D139 D459
D140 D460
D159 D479
D160 D480
D179 D499
D180 D500
D199 D519
D200 D520
D219 D539
D220 D540
D239 D559
D240 D560
D259 D579
D260 D580
D279 D599
D280 D600
D299 D619
D300 D620
D319 D639
1 - 36
1 OVERVIEW
Device No. SV13/SV22(Real mode) SV22(Virtual mode) Signal derection
D0 + 20n Feed current value/roller cycle

Feed current value
D1 + 20n speed
D2 + 20n
Real current value Real current value
D3 + 20n
D4 + 20n
Deviation counter value Deviation counter value
D5 + 20n
D6 + 20n Minor error code Minor error code
D7 + 20n Major error code Major error code
D8 + 20n Servo error code Servo error code
Monitor device
Home position return re-travel
D9 + 20n Hold
value
D10 + 20n Travel value after proximity dog
Hold
D11 + 20n ON
D12 + 20n Execute program No. —
D13 + 20n M-code —
D14 + 20n Torque limit value Torque limit value
Data set pointer for constant-
D15 + 20n —
speed control
D16 + 20n Command
Travel value change register —
D17 + 20n device
D18 + 20n
Real current value at stop input Hold Monitor device
D19 + 20n
(Note-1) : "n" in the above device No. shows the numerical value which correspond to axis No.
1 - 37
1 OVERVIEW
2) Table of the control change registers (SV13/SV22)
D640 Axis 1 JOG speed D672 Axis 17 JOG speed

D641 setting register D673 setting register
1 - 38
1 OVERVIEW
MEMO
1 - 39
1 OVERVIEW
3) Table of the virtual servomotor axis monitor devices

(SV22 only)

D800 D960
D809 D969
D810 D970
D819 D979
D820 D980
D829 D989
D830 D990
D839 D999
D840 D1000
D849 D1009
D850 D1010
D859 D1019
D860 D1020
D869 D1029
D870 D1030
D879 D1039
D880 D1040
D889 D1049
D890 D1050
D899 D1059
D900 D1060
D909 D1069
D910 D1070
D919 D1079
D920 D1080
D929 D1089
D930 D1090
D939 D1099
D940 D1100
D949 D1109
D950 D1110
D959 D1119
1 - 40
1 OVERVIEW

D800 + 10n
Feed current value
D801 + 10n
D802 + 10n Minor error code
D803 + 10n Major error code
D804 + 10n Execute program No.
D805 + 10n M-code
D806 + 10n Current value after virtual sevomotor axis main
D807 + 10n shaft's differential gear
D808 + 10n Error search output axis No.
D809 + 10n Data set pointer for constant-speed control
user device.
1 - 41
1 OVERVIEW
4) Table of the synchronous encoder axis monitor devices

(SV22 only)

D1120
to Axis 1 monitor device
D1129
D1130
D1139
D1140
D1149
D1150
D1159
D1160
D1169
D1170
D1179
D1180
D1189
D1190
D1199
D1200
D1209
D1210
D1219
D1220
D1229
D1230
D1239
1 - 42
1 OVERVIEW

D1120 + 10n
Current value
D1121 + 10n
D1122 + 10n Minor error code
D1123 + 10n Major error code
D1124 + 10n
Unusable
D1125 + 10n
D1126 + 10n Current value after synchronous encoder axis
D1127 + 10n main shaft's differential gear
D1128 + 10n Error search output axis No.
D1129 + 10n Unusable
1 - 43
1 OVERVIEW
5) Table of the cam axis monitor devices (SV22 only)

D1240 D1400
D1249 D1409
D1250 D1410
D1259 D1419
D1260 D1420
D1269 D1429
D1270 D1430
D1279 D1439
D1280 D1440
D1289 D1449
D1290 D1450
D1299 D1459
D1300 D1460
D1309 D1469
D1310 D1470
D1319 D1479
D1320 D1480
D1329 D1489
D1330 D1490
D1339 D1499
D1340 D1500
D1349 D1509
D1350 D1510
D1359 D1519
D1360 D1520
D1369 D1529
D1370 D1530
D1379 D1539
D1380 D1540
D1389 D1549
D1390 D1550
D1399 D1559
1 - 44
1 OVERVIEW
D1240 + 10n Unusable

D1241 + 10n Execute cam No.
D1242 + 10n
Execute stroke amount
D1243 + 10n
D1244 + 10n
Current value within 1 cam shaft revolution
D1245 + 10n
D1246 + 10n
D1247 + 10n
Unusable
D1248 + 10n
D1249 + 10n
(Note-2) : The unused aixs areas in the mechanical system program can be used as an
user device.
1 - 45
1 OVERVIEW
6) Table of the common devices (SV13/SV22)
Signal Signal
derecrtion derecrtion
D704 PLC ready flag request D740 Axis 21
Speed switching point specified flag
D705 D741 Axis 22
request
D706 All axes servo ON command request Command D742 Axis 23
Real mode/virtual mode switching device
D707 D743 Axis 24
request (SV22)
JOG operation simultaneous start
D708 D744 Axis 25
command request Manual pulse generators 1
D709 Unusable — D745 Axis 26 pulse input magnification
(Note-1, 2)
D710 D746 Axis 27 setting register
JOG operation simultaneous start
to D747 Axis 28
axis setting register
D713 D748 Axis 29
Command
D749 Axis 30
D714 Manual pulse generator axis 1 No. device
D750 Axis 32
D715 setting register
D751 Axis 32
Manual pulse generator 1 smoothing
D716 Manual pulse generator axis 2 No. D752
magnification setting register
D717 setting register
Manual pulse generator 2 smoothing
D753
D718 Manual pulse generator axis 3 No.
D719 setting register Manual pulse generator 3 smoothing
D754
D720 Axis 1 D755 Manual pulse generator 1 enable flag request
Command
D723 Axis 4 D758 Unusable —
device
D724 Axis 5 PCPU ready complete flag status Monitor
D759
D725 Axis 6 (0 : OFF/1 : ON) device
D726 Axis 7 D760
D727 Axis 8 to Unusable —
D728 Axis 9 Manual pulse generators 1 D789
D729 Axis 10 pulse input magnification D790
Real mode axis information register (SV22)
D730 Axis 11 setting register (Note-1, 2) D791
Monitor
D731 Axis 12 D792
device
D732 Axis 13 to Servo amplifier type
D733 Axis 14 D799
D734 Axis 15
D735 Axis 16
D736 Axis 17
D737 Axis 18
D738 Axis 19
D739 Axis 20
1 - 46
1 OVERVIEW
(2) Special relays

Special relays are internal relays whose applications are fixed in the Motion
CPU. For this reason, they cannot be used in the same way as the normal
internal relays by the Motion SFC programs.
However, they can be turned ON/OFF as needed in order to control the Motion
CPU.
The headings in the table that follows have the following meanings.
Item Explanation
No. • Indicates the device No. of the special relay.
Name • Indicates the name of the special relay.
Meaning • Indicates the nature of the special relay.
Details • Indicates detailed information about the nature of the special relay.
• Indicates whether the relay is set by the system or user, and, if it is set by system, when
setting is performed.
<Set by>
S : Set by system (Motion CPU)
U : Set by user (Motion SFC program or test operation using a peripheral device)
S/U : Set by both system (Motion CPU) and user
Set by <When set> Indicated only if setting is done by system (Motion CPU) .
(When set) Main process : Set during each main processing (free time processing of the CPU)
Initial process : Set only during initial processing (when power supply is turned ON, or
when executed the reset)
Status change : Set only when there is a change in status
Error : Set when error is occurred.
Request : Set only when there is a user request (Special reray, etc.)
Operation cycle : Set during each operation cycle of the Motion CPU.
1 - 47
1 OVERVIEW
Special relay list

Set by
No. Name Meaning Details Remark
(When set)
OFF : Normal • Turn on when there is one or more output modules control
M9000 Fuse blown detection flag ON : Fuse blown module of self CPU which fuse has been blown.
detected Remains on if normal status is restored.
• Turn on if a momentary power interruption of less than
OFF : AC/DC DOWN 20ms occurred during use of the AC power supply
AC/DC DOWN detection not detected module, and reset by turning power off to on.
M9005
flag ON : AC/DC DOWN • Turn on if a momentary power interruption of less than
detected 10ms occurred during use of the DC power supply
module, and reset by turning power off to on.
• Turned on when the voltage of the external battery
reduces to less than specified value. Turn off when the
OFF : Normal voltage of the external battery becomes normal.
M9006 Battery low flag
ON : Battery low • Synchronizes with "BAT. LED" S(Occur an error)
• Check the voltage of the external battery, only when it is
set with "external battery use" by system setting.
• Turn on when the voltage of the external battery reduces
to less than specified value. Remains on if normal status
OFF : Normal is restored.
M9007 Battery low latch flag
ON : Battery low • Synchronizes with "BAT. LED"
• Check the voltage of the external battery, only when it is
set with "external battery use" by system setting.
OFF : No error • Turn on when error is found as a result of self-diagnosis.
M9008 Self-diagnostic error flag
ON : Error Remains on if normal status is restored.
OFF : No error • Turn on when error is found as a result of diagnosis. New
M9010 Diagnostic error flag (Note-1)
ON : Error Remains on if normal status is restored.
OFF : Ignored
• Write clock data stored in D9025 to D9028 to the clock
M9025 Clock data set request ON : Set request present U
element when M9025 has changed from off to on.
used
OFF : No error
M9026 Clock data error • Turn on by clock data (D9025 to D9028) error. S(Request)
ON : Error
OFF : Ignored • Read clock data from D9025 to D9028 in BCD when
M9028 Clock data read request U
ON : Read request M9028 is on.
ON • Turn on without regard to position of RUN/STOP switch
M9036 Always ON
OFF on.
S(Main processing)
ON • Turn off without regard to position of RUN/STOP switch
M9037 Always OFF
OFF on.
OFF ON : Diagnostic New
M9060 Diagnostic error reset • A reset of the diagnostic error is executed. U (Note-1)
error reset
• Turn on when a "watchdog timer error" is detected by the
Motion CPU self-diagnosis function.
When the Motion CPU detects a WDT error, it executes
ON : Abnormal
M9073 PCPU WDT error flag an immediate stop without deceleration of the operating S(Occur an error)
OFF : Normal
axes.
• The error cause is stored in the "Motion CPU WDT error
cause (D9184)".
• When the PLC ready flag (M2000) turn off to on, the
ON : PCPU READY
fixed parameters, servo parameters and limit switch
PCPU READY complete completion
M9074 output data, etc., are checked, and if no error is detected S(Request)
flag OFF : PCPU READY
this flag turns on.
uncompletion
• Turn off when the PLC ready (M2000) signal turns off.
• This flag status indicates whether a TEST mode
ON : TEST mode is in established from a peripheral device is currently in
effect. effect.
M9075 Test mode ON flag S(Request)
OFF : TEST mode is not in • If the TEST mode is not established in response to a
effect. TEST mode request from a peripheral device, the
"TEST mode request error flag (M9078)" will turn on.
External forced stop ON : Forced stop OFF
M9076 • This flag status indicate whether the forced stop. S(Operation cycle)
input flag OFF : Forced stop ON
(Note-1) : It adds newly at the Motion controller Q series.
1 - 48
1 OVERVIEW
Special relay list (continued)

Set by
(When set)
• This flag indicates whether the setting designated at the
ON : At least one D714 to
manual pulse generator axis setting register (D714 to D719)
D719 setting is
Manual pulse generator is normal or abnormal.
M9077 abnormal. S(Occur an error)
axis setting error flag • When this relay turn on, the error content is stored at the
OFF : All D714 to D719
manual pulse generator axis setting error register (D9185 to
settings are normal.
D9187).
• Turn on if the TEST mode is not established in response to a
TEST mode request ON : Abnormal TEST mode request from a peripheral device.
M9078 S(Occur an error)
error flag OFF : Normal • When this relay turns on, the error content is stored at the
TEST mode request error register (D9182 to D9183).
• This flag status indicates whether the positioning data of the
servo program(K) specified with the Motion SFC program is
Servo program setting ON : Abnormal normal or abnormal, and if error is detected this flag turns
M9079 S(Occur an error)
error flag OFF : Normal on.
• The content of a servo program setting error is stored at
D9189 and D9190.
• The servo parameter of servo parameter read request axis
Servo parameter read OFF to ON :
M9104 set as D9104 is reflected in the Motion CPU from the servo U
request flag Servo parameter read
amplifier at the time of OFF to ON.
ON : Servo parameter
• This flag turn on while having read the servo amplifier
Servo parameter reading reading.
M9105 to the Motion CPU. It turn off automatically after reading S(Reading)
flag OFF : Except servo
completion.
parameter reading.
CPU No.1 MULTR OFF to ON : • Turn on when the data read from CPU No.1 is performed
M9216
complete flag CPU No.1 read completion normally by MULTR instruction.
M9217
S(Read completion)
M9218
M9219
• Turn off at reset release of the CPU No.1.
OFF : CPU No.1 reset New
• Turn on during reset of the CPU No.1. (It also contains when a (Note-1)
M9240 CPU No.1 resetting flag release
CPU is removed from the base unit.)
ON : CPU No.1 resetting
• The other CPU is also resetting.
OFF : CPU No.2 reset • Turn on during reset of the CPU No.2. (It also contains when a
M9241 CPU No.2 resetting flag release CPU is removed from the base unit.)
ON : CPU No.2 resetting • The error of the "MULTI CPU DOWN" (error code : 7000)
occurs in the other CPU.
• Turn off at reset release of the CPU No.3. S(Change status)
(Note-2) : The CPU No.1 is reset after the factor of the stop error is removed to cancel a stop error. Resetting is cancelled.
1 - 49
1 OVERVIEW
Special relay list (continued)

Set by
(When set)
OFF : CPU No.1 normal • Turn off when the CPU No.1 is normal. (It contains at
M9244 CPU No.1 error flag ON : On CPU No.1 stop continuation error.)
error • Turn on during stop error of the CPU No.1. (Note-2)
error • Turn on during stop error of the CPU No.2. (Note-2) New
S(Change status) (Note-1)
(Note-2) : The CPU No.1 is reset after the factor of the stop error is removed to cancel a stop error. Resetting is cancelled.
1 - 50
1 OVERVIEW
(3) Special registers

Special registers are internal registers whose applications are fixed in the
Motion CPU. For this reason, it is not possible to use these registers in Motion
SFC programs in the same way that normal registers are used.
However, data can be written as needed in order to control the Motion CPU.
Data stored in the special registers are stored as BIN values if no special
designation has been made to the contrary.
The headings in the table that follows have the following meanings.
Item Explanation
Number • Indicates the No. of the special register.
Name • Indicates the name of the special register.
Meaning • Indicates the nature of the special register.
Details • Indicates detailed information about the nature of the special register.
• Indicates whether the register is set by the system or user, and, if it is set by system,
when setting is performed.
<Set by>
S : Set by system (Motion CPU)
U : Set by user (Motion SFC program or test operation using a peripheral device)
S/U : Set by both system (Motion CPU) and user
Set by <When set> Indicated only if setting is done by system (Motion CPU) .
(When set) Main process : Set during each main processing (free time processing of the CPU)
Initial process : Set only during initial processing (when power supply is turned ON, or
when executed the reset)
Status change : Set only when there is a change in status
Error : Set when error is occurred.
Request : Set only when there is a user request (Special reray , etc.)
Operation cycle : Set during each operation cycle of the Motion CPU.
1 - 51
1 OVERVIEW
Special register list

Set by
(When set)
Module No. with • When fuse blown modules are detected, the lowest I/O module No. is stored
D9000 Fuse blown No.
blown fuse in D9000.
• 1 is added to the stored value each time the input voltage becomes
AC/DC DOWN Number of times 85[%](AC power supply/65[%] DC power supply) or less of the rating while
D9005
counter No. for AC/DC DOWN the CPU module is performing an operation, and the value is stored in BIN
code.
• When error is found as a result of self-diagnosis, error No. is stored in BIN
Dignostic error
D9008 Diagnostic error code.
number
• Refer to "19.4 Multiple CPU Error Codes" for details of the error code.
• The age (A.D, the rightmost two digits) when data on D9008 are updated,
Diagnostic error and the month stored with a BCD code two digits.
D9010 occurrence B15 to B8 B7 to B0 Example : October 1995
(Year, Month) Year(0 to 99) Month(1 to 12) H9510
• The day when data on D9008 are updated, and the hour stored with a BCD
Diagnostic error code two digits.
Diagnostic error
D9011 occurrence time B15 to B8 B7 to B0 Example : 25st, 10 a.m
occurrence time
(Day, Hour) Day(1 to 31) Hour(0 to 23) H2510
S(Occur an error)
• The minute when data on D9008 are updated, and the second stored with a
Diagnostic error BCD code two digits.
D9012 occurrence time B15 to B8 B7 to B0 Example : 35 min., 48 sec.
(Minute, Second) Minute(0 to 59) Second(0 to 59) H3548
New
• The classification code to judge the error information stored in the eror (Note)
information (D9014) is stored.

Error information Error information • The following code is stored.
D9013
classfication classfication code 0 : None
1 : Module No./CPU No./Base No.
2 : Parameter No.
• Error information to comply with the diagnostic error (D9008) is stored.
There are following two types informations to be stored.
1) Module No./CPU No./Base No.
• Module No. or CPU No. is stored according to the error which occurred
D9014 Error information Error information
in the case of the Multiple CPU system.
(Refer to each error code which is stored.)
CPU No.1 : 1, CPU No.2 : 2, CPU No.3 : 3, CPU No.4 : 4
2) Parameter No.
• The operation states of CPU as shown below are stored in D9015.
B15 B12 B11 B8 B7 B4 B3 B0
2) 1)
Operating state of Operating state of
D9015 1) Operating state of CPU 0 : RUN
CPU CPU
2 : STOP
S(Main processing)
2) STOP cause 0 : RUN/STOP switch
Note : Priority is earliest first 4 : Error
Scan time • Main cycle is stored in the unit 1ms.

D9017 Scan time
(1ms units) • Setting range (0 to 65535[ms]) New
(Note)
Maximum scan Maximum scan • The maximum value of the main cycle is stored in the unit 1ms.
D9019
time time (1ms units) • Setting range (0 to 65535[ms])
• Stores the year (2 lower digits) and month in BCD.
B15 to B12 B11 to B8 B7 to B4 B3 to B0 Example : July,1993
Clock data
D9025 Clock data H9307 S/U(Request)
(Year, month)
Year Month
(Note) : It adds newly at the Motion controller Q series.
1 - 52
1 OVERVIEW
Special register list (continued)

Set by
(When set)
• Stores the day and hour in BCD.
B15 to B12 B11 to B8 B7 to B4 B3 to B0 Example : 31st, 10 a.m.
Clock data
D9026 Clock data H3110
(Day, hour)
Day Hour
• Stores the minute and second in BCD.
B15 to B12 B11 to B8 B7 to B4 B3 to B0 Example : 35 min., 48 sec.

Clock data
D9027 Clock data H3548
(Minute, second)
Minute Second
• Stores the day of the week in BCD. S/U(Request)
B15 to B12 B11 to B8 B7 to B4 B3 to B0
Example :
Friday
H0005
Day of week
Clock data
D9028 Clock data 0 Sunday
(Day of week) "0" must be set here. Monday
1
2 Tuesday
3 Wednesday
4 Thursday
5 Friday
6 Saturday
Diagnostic error Error No. of

D9060 • Error No. of canceling error is stored. U
reset error No. releasing an error
D9061 Multiple CPU No. Multiple CPU No. • CPU No. of the self CPU is stored. S(Initial processing) New
(Note)
Servo parameter • Axis No. of servo amplifier which begins to read servo parameter is setting.
Servo parameter
D9104 read request axis Q173CPU(N) : 1 to 32 (Axis1 to 32) U
read axis No.
No. Q172CPU(N) : 1 to 8 (Axis1 to 8)
It is operating in
requirement error • Each axis is stopping : 0/Operating : 1, information is stored as a bit data.
D9182 Test mode
occurrence of the D9182 : b0 to b15(Axis 1 to Axis 16)
D9183 request error
test mode, axis D9183 : b0 to b15(Axis 17 to Axis 32)
information
The following error codes are stored in D9184.
1 : S/W fault 1
2 : Operation cycle over
3 : Q bus WDT error
4 : WDT error
30 : Information processor H/W error
Motion CPU WDT Error meaning of
D9184 201 to 215 : Q bus H/W fault
error cause WDT error occurs
250 to 253 : Servo amplifier interface H/W fault
300 : S/W fault3
301 : 15 CPSTART instructions of 8 or more points were started S(Occur an error)
simultaneously.
302 : During ROM operation, system setting data, program and
parameter written to internal FLASH ROM are fault.
• Contents of the manual pulse generator axis setting error is stored when the
manual pulse generator axis setting error flag(M9077) turn on.
(Normal : 0/Setting error : 1)
D9185 : The manual pulse generator axis setting error is stored in b0 to b2
Manual pulse
D9185 Manual pulse (P1 to P3).
generator axis
D9186 generator axis The smoothing magnification setting is stored in b3 to b5 (P1 to
setting error
D9187 setting error P3).
information
D9186 : One pulse input magnification setting error is stored in b0 to b15
(axis 1 to axis 16).
D9187 : One pulse input magnification setting error is stored in b0 to b15
(axis 17 to axis 32).
1 - 53
1 OVERVIEW
Special register list (continued)

Set by
(When set)
Motion operation Motion operation New
D9188 • The time when the motion operation cycle is stored in the [µs] unit. S(Operation cycle) (Note)
cycle cycle
Error program Error program No. of When the servo program setting error flag (M9079) turns on, the erroneous
D9189
No. servo program servo program No. will be stored.
S(Occur an error)
Error item Error code of servo When the servo program setting error flag (M9079) turns on, the error
D9190
information program code corresponding to the erroneous setting item will be stored.
• The loading status(loading : 1/non-loading : 0) of the servo amplifier
checked in initial process, and stored as the bit data.
Servo amplifier D9191 : b0 to b15(axis 1 to axis 16)
D9191 Servo amplifier
loading D9192 : b0 to b15(axis 17 to axis 32) S(Initial processing)
D9192 loading information
information • The axis which turned from non-loading to loading status after power-on is
handled as loaded. (However, the axis which turned from loading to non-
loading status remains as loaded.)
D9193 Real mode/virtual Real mode/virtual • When a mode switching error occurs in real-to-virtual or virtual-to-real
D9194 mode switching mode Switching mode switching, or a mode continuation error occurs in the virtual mode,
D9195 error information error code its error information is stored.
• The following error code is stored.

00 : No error
01 : Receiving timing error S(Occur an error)
PC link PC link 02 : CRC error
D9196 communication communication error 03 : Communication response code error
error codes codes 04 : Received frame error
05 : Communication task start error
(Each error code is reset to "00" when normal communication is
restarted.)
Operation cycle Operation cycle of
D9197 of the Motion the Motion CPU • The time when the setting operation cycle is stroed in the [µs] unit. S(Initial processing)
CPU setting setting
• The CPU switch status is stored in the following format.

B15 B12B11 B8 B7 B4 B3 B0
3) No used. 2) 1)
1) CPU switch status 0 : RUN New

1 : STOP (Note)
2 : L.CLR
D9200 State of switch State of CPU switch S(Main processing)
2) Memory card switch Always OFF
3) Dip switch B8 through B12 correspond to SW1
through SW5 of system setting switch 1.
0 : OFF/1 : ON
B13 through B15 is not used.
• Information concerning which of the following states the LEDs on the CPU
are in is stored in the following bit patterns.
• 0 is off, 1 is on, and 2 is flicker
B15 B12 B11 B8 B7 B4 B3 B0
8) 7) 6) 5) 4) 3) 2) 1)
New
D9201 State of LED State of CPU-LED 1) : RUN 5) : BOOT S(Change status) (Note)
2) : ERROR 6) : No used
3) : M.RUN 7) : No used
4) : BAT.ALARM 8) : MODE
Bit patterns for MODE
0 : OFF 1 : Green
2 : Orange
.
1 - 54
1 OVERVIEW
1.3 Hardware Configuration
This section describes the Q173CPU(N)/Q172CPU(N) system configuration,

precautions on use of system and configured equipments.
1.3.1 Motion system configuration
This section describes the equipment configuration, configuration with peripheral

devices and system configuration in the Q173CPU(N)/Q172CPU(N) system.
1 - 55
1 OVERVIEW
(1) Equipment configuration in Q173CPU(N) system

(a) When using the Dividing unit/external battery
Extension of the Q series module
Power supply module/

Motion module
QCPU/ I/O module/ Intelligent
(Q172LX, Q172EX, Q173PX)
function module of the Q series
Motion module CPU base unit Extension cable Q6 B extension base unit
(Q172LX, Q172EX, Q173PX) (Q33B, Q35B, Q38B, Q312B) (QC B) (Q63B, Q65B, Q68B, Q612B)
(Note-5) (Note-2)
Short-circuit connector for Power supply module/

Motion CPU module
the teaching unit I/O module/Intelligent function
(Q173CPU(N))
(Q170TUTM) module of the Q series
(Note-3) (Note-5) (Note-6)
SVO ON
SSCNET cable Cable for the teaching unit Teaching unit

(Q173DVCBL M) (Q170TUD CBL M(-A)) (A31TU-D3 , A31TU-DN )
(Note-1)
(Note-4)
SSCNET CN1 SSCNET CN3

MITSUBISHI
LITHIUM B ATTE RY
SSCNET CN2 SSCNET CN4

MITSUBISHI Q173CPU
LITHIUM BATTERY
Battery Short-circuit connector for

Dividing unit
(A6BAT/MR-BAT) the teaching unit
(Q173DV)
(A31TUD3TM)
SSCNET cable SSCNET cable

for MR-H-BN for MR-J2 -B
(MR-J2HBUS M-A) (MR-J2HBUS M)
It is possible to select the best according to the system.
(Note-1) : When using the external battery, be sure to set the
MITSUBISHI Battery(A6BAT/MR-BAT) to the Dividing unit(Q173DV).
Battery(A6BAT/MR-BAT) is optional.
(Note-2) : It is possible to use only Q173CPUN-T.
It is packed together with Q173CPUN-T.
(Note-3) : It varies by the connecting teaching unit.
Servo amplifier Servo amplifier
(Note-4) : It is packed together with Q170TUD CBL M.
(MR-H-BN) (MR-J2 -B)
(Note-5) : When using the A31TU-D3 /A31TU-DN , be sure to use
the Q173CPUN-T.
(Note-6) : A31TU-D3 /A31TU-DN corresponds to only Japanese.
It does not correspond to display for English.
1 - 56
1 OVERVIEW
(b) When using the Dividing cable

Motion module
(Q172LX, Q172EX, Q173PX)
(Note-4) (Note-1)

Motion CPU module Short-circuit connector for
I/O module/Intelligent function
(Q173CPU(N)) the teaching unit
module of the Q series
(Q170TUTM)
SVO ON

for MR-J2 -B Cable for the teaching unit Teaching unit
for MR-H-BN
(Q170TUD CBL M(-A)) (A31TU-D3 , A31TU-DN )
(Q173HB CBL M) (Q173J2B CBL M)
(Note-3)
MITSUBISHI
Servo amplifier Servo amplifier Short-circuit connector for the

(MR-H-BN) (MR-J2 -B) teaching unit
(A31TUD3TM)

(Note-1) : It is possible to use only Q173CPUN-T. It is packed
together with Q173CPUN-T.
the Q173CPUN-T.
1 - 57
1 OVERVIEW
(2) Equipment configuration in Q172CPU(N) system

(a) When using the external battery

Motion module
(Q172LX, Q172EX, Q173PX)
(Note-5) (Note-2)
Motion CPU module Short-circuit connector for Power supply module/

(Q172CPU(N)) the teaching unit I/O module/Intelligent function
(Note-1)
BAT
MITSUBISHI SVO ON
LITHIUM BATTERY
CPU
Q17BAT
PASSED
DATE

Battery unit Cable for the teaching unit Teaching unit
(Q170BAT) (Q170TUD CBL M(-A)) (A31TU-D3 , A31TU-DN )
(Q172HBCBL -M) (Q172J2BCBL M-B)
(Note-4)
MITSUBISHI
MITSUBISHI
LITHIUM BATTERY
Battery Servo amplifier Servo amplifier Short-circuit connector for

(A6BAT/MR-BAT) (MR-H-BN) (MR-J2 -B) the teaching unit
(A31TUD3TM)
(Note-1) : When using the external battery, be sure to use the

SSCNET cable(Q172J2BCBL M-B/Q172HBCBL M-B)
and to set the battery (A6BAT/MR-BAT). Also install
the battery(A6BAT/MR-BAT)in the Battery unit(Q170BAT).
Battery(A6BAT/MR-BAT) is optional.
(Note-2) : It is possible to use only Q172CPUN-T.
It is packed together with Q172CPUN-T.
the Q172CPUN-T.
1 - 58
1 OVERVIEW
(b) When not using the external battery

Motion module
(Q172LX, Q172EX, Q173PX)
(Note-4) (Note-1)
Short-circuit connector for Power supply module/

Motion CPU module
the teaching unit I/O module/Intelligent function
(Q172CPU(N))
SVO ON
SSCNET cable SSCNET cable Cable for the teaching unit Teaching unit
(Q170TUD CBL M(-A)) (A31TU-D3 , A31TU-DN )
(Q172HBCBL M) (Q172J2BCBL M)
(Note-3)
MITSUBISHI
Servo amplifier Servo amplifier Short-circuit connector for

(MR-H-BN) (MR-J2 -B) the teaching unit
(A31TUD3TM)
(Note-1) : It is possible to use only Q172CPUN-T. It is packed

together with Q172CPUN-T.
the Q172CPUN-T.
1 - 59
1 OVERVIEW
(3) Peripheral device configuration for the Q173CPU(N)/Q172CPU(N)
The following (a)(b)(c) can be used.

(a) RS-232 configuration (b) USB configuration (c) SSCNET configuration
Motion CPU module Motion CPU module Motion CPU module

(Q173CPU(N), Q172CPU(N)) (Q173CPU(N), Q172CPU(N)) (Q173CPU(N), Q172CPU(N))
RS-232 cable SSC I/F communication cable

(QC30R2) USB cable (Q170CDCBL M,
Q170BDCBL M)
MITSUBISHI
SSCNET
CARD
A30CD-PCF
Personal computer Personal computer SSC I/F Card/Board

(Windows 98/2000/XP only) (A30CD-PCF/A 0BD-PCF)
R
Personal computer
(Note) : For information about GPP functions of PLC CPU, refer to the operating
manual of PLC. Also, refer to the help of each software for information about
operation of each programming software package.
1 - 60
1 OVERVIEW
1.3.2 Q173CPU(N) System overall configuration
Motion CPU control module
interface module
interface module
interface module
Servo external
Manual pulse
Synchronous
generator
encoder
signals
CPU base
unit PLC CPU/
(Q3 B) Motion CPU
Q61P-A Qn(H) Q173 Q172LX Q172EX Q172PX QI60 QX Q6 AD

CPU CPU(N)
QY Q6 DA I/O module of the Q Series or
Special function module
100/200VAC
Analogue input/output
Personal Computer Input/output (Up to 256 points)

IBM PC/AT Dividing unit
(Q173DV) Interrupt signals (16 points)
USB/RS-232
MITSUBISHI
LITHIUM BATTERY
Manual pulse generator 3/module

P
(MR-HDP01) (Up to 1 module)
Serial absolute synchronous encoder cable
(MR-JHSCBL M-H/Q170ENCCBL M)
Teaching unit (Note-1)
A31TU-D3 /A31TU-DN Serial absolute synchronous encoder 2/module
E
(MR-HENC/Q170ENC) (Up to 6 modules)
Cable for the teaching
unit
(Q170TUD CBL M(-A)) External input signals Number of Inputs
FLS : Upper stroke limit
SSC I/F RLS : Lower stroke limit 8 axes/module
Communication STOP : Stop signal
cable (Up to 4 modules)
(Q170CDCBL M/ DOG/CHANGE : Proximity dog/
Q170BDCBL M) Speed-position switching
SSC I/F Card/Board SSCNET cable SSCNET SYSTEM4

(A30CD-PCF/A 0BD-PCF)
SSCNET SYSTEM3
SSCNET SYSTEM2
Terminal Terminal Terminal Terminal
connector connector connector connector
Panel Personal Computer d1 d8 d1 d8 d1 d8 d1 d8

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

(Q6 B) M M M M M M M M
E E E E E E E E
Power supply
Extension
cable
module
MR-H BN/MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-03B5 model

Servo amplifier, Vector inverter(FR-V500), Up to 32 axes
UP to 7 extensions
(Note-1) : Be sure to use the Q173CPUN-T.

A31TU-D3 /A31TU-DN corresponds to only Japanese.
1 - 61
1 OVERVIEW
CAUTION
operation of the Motion controller or servo amplifier differ from the safety directive operation in
the system.
servomotor) used in a system must be compatible with the Motion controller, servo amplifier
and servomotor.
servomotor and regenerative resistor model and the system application. The protective
functions may not function if the settings are incorrect.
When a teaching unit is used, the cable for the teaching unit is necessary between the Motion
CPU (Q173CPUN-T/Q172CPUN-T) and teaching unit. And, connect the short-circuit connector
for teaching unit, after removing the teaching unit or when not using it.
1 - 62
1 OVERVIEW
1.3.3 Q172CPU(N) System overall configuration
interface module
interface module
interface module
Servo external
Manual pulse
Synchronous
generator
encoder
signals
CPU base
unit PLC CPU/
(Q3 B) Motion CPU
Q61P-A Qn(H) Q172 Q172LX Q172EX Q172PX QI60 QX Q6 AD

CPU CPU(N)
QY Q6 DA I/O module of the Q Series or
Special function module
100/200VAC
Analogue input/output
Battery unit
(Q170BAT)
MITSUBISHI
Input/output (Up to 256 points)
LITHIUM BATTERY
Interrupt signals (16 points)

Personal Computer
IBM PC/AT Manual pulse generator 3/module
P
(MR-HDP01) (Up to 1 module)
USB/RS-232 Serial absolute synchronous encoder cable
(MR-JHSCBL M-H/Q170ENCCBL M)
Serial absolute synchronous encoder 2/module

E
(MR-HENC/Q170ENC) (Up to 4 modules)
Teaching unit (Note-1)

A31TU-D3 /A31TU-DN External input signals Number of Inputs
FLS : Upper stroke limit
Cable for the teaching RLS : Lower stroke limit
unit 8 axes/module
(Q170TUD CBL M(-A)) STOP : Stop signal (Up to 1 module)
DOG/CHANGE : Proximity dog/
Speed-position switching
SSC I/F
Communication
cable Terminal
(Q170CDCBL M/ SSCNET cable
Q170BDCBL M) connector
d1 d2 d3 d8
SSC I/F Card/Board SSCNET SYSTEM1
(A30CD-PCF/A 0BD-PCF)
M M M M
Panel Personal Computer E E E E
(WinNT/Win98/Win2000/WinXP)
Computer link SSC
MR-H BN/MR-J2S- B/MR-J2M-B/MR-J2- B/
MR-J2-03B5 model Servo amplifier,
Extension base unit Vector inverter(FR-V500), Up to 8 axes
(Q6 B)
Power supply
Extension
cable
module
(Note-1) : Be sure to use the Q172CPUN-T.

UP to 7 extensions A31TU-D3 /A31TU-DN corresponds to only Japanese.
1 - 63
1 OVERVIEW
CAUTION
operation of the Motion controller or servo amplifier differ from the safety directive operation in
the system.
servomotor) used in a system must be compatible with the Motion controller, servo amplifier
and servomotor.
servomotor and regenerative resistor model and the system application. The protective
functions may not function if the settings are incorrect.
When a teaching unit is used, the cable for the teaching unit is necessary between the Motion
CPU (Q173CPUN-T/Q172CPUN-T) and teaching unit. And, connect the short-circuit connector
for teaching unit, after removing the teaching unit or when not using it.
1 - 64
1 OVERVIEW
1.3.4 Software packages
(1) Software packages

(a) Operating system software packages
Software package
Application
Q173CPU(N) Q172CPU(N)
For conveyor assembly SV13
SW6RN-SV13QB SW6RN-SV13QD
(Motion SFC)
For automatic machinery SV22
SW6RN-SV22QA SW6RN-SV22QC
(Motion SFC)
(b) Integrated start-up support software package

Part name Model name Details
Conveyor assembly software : SW6RN-GSV13P

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

Operating environment is as follows.
IBM PC/AT with which WindowsNT /Windows 98/Windows 2000/Windows XP
R R R R
English version operates normally.
WindowsNT 4.0
R
Item (Service Pack 2 or later) (Note) Windows 2000 Windows XP

R R
or Windows 98
R
CPU Pentium133MHz or more Pentium II 233MHz or more Pentium II 450MHz or more

Memory capacity Recommended 32MB or more Recommended 64MB or more Recommended 192MB or more
Hard disk free space Hard disk free space is as following list.
Disk drive 3.5inch (1.44MB) floppy disk drive, CD-ROM disk drive
Display 800×600 pixels, 256 colors or more
(Note) : Impossible to use USB connection.
1 - 65
1 OVERVIEW
It is necessary the following capacity depending on the installed software.

Size
Model name
SW6RNC-GSVE SW6RNC-GSVHELPE
SW6RN-GSV13P 65MB 40MB
SW3RN-CAMP 5MB 3MB
SW6RN-DOSCP 35MB 10MB
Standard 60MB
SW6RN-SNETP 3MB
Custom (When all selection) 60.5MB
SW3RN-DOCPRNP 45MB 5MB
SW20RN-DOCPRNP 45MB 5MB
R R
(Note-1) : WindowsNT , Windows are either registered trademarks or trademarks of Microsoft Corporation
in the United States and/or other countries.
R
(Note-2) : Pentium are trademarks or registered trademarks of Intel Corporation or its subsidiaries in the
United States and other countries.
POINT
(1) When the operation of Windows is not unclear in the operation of this software,
refer to the manual of Windows or guide-book from the other supplier.
(2) The screen might not be correctly displayed depending on the system font size
of WindowsNT 4.0/Windows 98/Windows 2000/Windows XP.
R R R R
Be sure to use the small size fonts.
(3) Operating system(OS) type/version

(a) Confirmation method in the operating system(OS)
SOFTWARE 3.5inch
PACKAGE
1)
2) 3)
T 4) 5) 1) OS software TYPE
MITSUBISHI ELECTRIC CORPORATION ALL 2) Software version
RIGHTS RESERVED
3) OS software version
4) Serial number
5) Number of FD
Example) When using the Q173CPU(N), SV13 and version A.
1) SW6RN-SV13QB
2) BCD-B14W276
3) A
(b) Confirmation method in the SW6RN-GSV P
The operating system(OS) type/version of the connected CPU is displayed
on the installation screen of the SW6RN-GSV P.
(Motion SFC-compatible OS) S V 1 3 Q B V E R 3 0 0 A U
A or B : Q173CPU(N) OS version
C or D : Q172CPU(N)
Indicates Motion SFC compatibility.
Indicates teaching unit usable.
1 - 66
1 OVERVIEW
(4) Restrictions of the function and PLC CPU by the Motion CPU and
software version
The function and PLC CPU which can be used has restrictions by version of the
Motion CPU module, operating system software and programming software.
The combination of each version and a function is shown below.
(Note-2)
Operating system CPU module version
Programming Section of
Function software version Q173 Q173 Q172 Q172
software version reference
(Note-1) CPU CPUN CPU CPUN
ROM operation H C M N Chapter 14
ROM operation (For additional parameter
N C T M U M
(Home position return parameter, etc.))
Online change J F Section 12.3
Auto refresh function improvement of the CPU
H C M N Section 3.1 (3)
shared memory
Communications via network H C M N Chapter 16
Main operation cycle monitor D Chapter 17
Read the servo parameter from the servo
D Chapter 18
amplifier.
MULTR D Section 7.13.7
MULTW D J K Section 7.13.6
Motion SFC OUT D Section 7.9.5

instruction TO H C Section 7.13.8
FROM H C Section 7.13.9
FMOV R K Section 7.13.5
Motion dedicated instruction
H M N Section 5.3 to 5.6
(SVST instruction and etc.)
Vector inverter connectable K F
Basic model QCPU (Function version "B")
M
(Q00CPU, Q01CPU)
Home position return functions added L F
Security function R K Chapter 15
MR-J2S-B Servo parameter "No.41 and later"
R K
setting in the Motion controller
Operation setting for incompletion of home Section 6.22.1
R K
position return (Note-3)
Bit device setting by Motion SFC instruction Section
S K
(BMOV, FMOV, MULTW, MULTR, TO, FROM) 7.13.4 to 7.13.9
Mixed function of virtual mode with real mode Section 10.1
R K
(SV22) (Note-4)
Section 10.2
Cam/ball screw switching function (SV22) R K
(Note-4)
Clutch for slippage system (linear acceleration/
Section 7.2
deceleration system) for mechanical system R K
(Note-4)
program (SV22)
Q170ENC (SV22) R K
: There is no restriction by the version.

(Note-1) : SV13/SV22 is the completely same version.
(Note-2) : Q173CPUN-T/Q172CPUN-T corresponds from the version A.
(Note-3) : Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE).
(Note-4) : Q173CPU(N)/Q172CPU(N) Motion controller (SV22) Programming Manual (VIRTUAL MODE).
1 - 67
1 OVERVIEW
(5) Relevant software packages

(a) PLC software package
Model name Software package
GX Developer SW D5C-GPPW-E
(Note) : =used "6" or later.
1 - 68
1 OVERVIEW
1.3.5 Restrictions on motion systems
(1) It is not allowed to use the Motion CPU as the control CPU of a module installed
on the QA1S6 B extension base unit. PLC CPU must be used as the control
CPU.
(2) The connector for installation of memory card on the Motion CPU module is for
future function expansion.
(3) Motion CPU module cannot be used as standalone module. It must always be
used in combination with the PLC CPU module (version that supports Multiple
CPU systems). Moreover, it must be installed on the right side of PLC CPU
module. PLC CPU module cannot be installed in a position to the right of Motion
CPU module.
(4) Personal computer CPU unit must be installed on the right side of Motion CPU
module. Motion CPU module cannot be installed in a position to the right of
personal computer CPU unit.
(5) Make sure to use the PLC CPU module in the "Q mode".
(6) Motion CPU module cannot be set as the control CPU of intelligent function
module or Graphic Operation Terminal (GOT).
(7) SSCNET cable which connects the Motion CPU and servo amplifier, and the
teaching unit connecting cable which connects the Motion CPU and A31TU-D3 /
(Note-1)
A31TU-DN are pulled from the bottom part of unit. Make sure to secure
sufficient space for pulling out the cable when designing the control panel.
(8) Motion CPU module is one module element of Q series Multiple CPU system. It
must be set the parameters of Q series Multiple CPU system for each PLC CPU.
Motion CPU module must also be set to support the Multiple CPU system in the
system settings.
(9) Make sure to use the Motion CPU as the control CPU of motion modules
(Note-2)
dedicated for Motion CPU (e.g., Q172LX, Q172EX , Q173PX). They will not
operate correctly if PLC CPU is set and installed as the control CPU by mistake.
Motion CPU is treated as a 32-point intelligent module by PLC CPU of other CPU.
It cannot be accessed from other CPU.
(10) When a Multiple CPU system is configured, make sure to configure the modules
so that the total current consumption of individual modules on the CPU base
does not exceed the 5 VDC output capacity of power supply module.
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1 OVERVIEW
(11) Motion modules (Q172LX, Q172EX, Q173PX) is to do selection whether to be

necessary referring to the "3. DESIGN" of the "Q173CPU(N)/Q172CPU(N)
User's Manual" for the system design.
(Note-2)
(12) Installation position of the Q172EX-S2/S3 is only CPU base unit.
(Note-1) : Teaching unit can be used in SV13. It cannot be used in SV22.

(Note-2) : Q172EX can be used in SV22. It cannot be used in SV13.
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1 OVERVIEW
1.4 Multiple CPU System
1.4.1 Overview
(1) Multiple CPU System

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

(a) By distributing such tasks as servo control, machine control and information
control among multiple processors, the flexible system configuration can be
realized.
(b) You can increase the number of control axes by using a multiple Motion
CPUs. It is possible to control up to 96 axes by using three Q173CPU(N)s.
(c) You can reduce the PLC scan time of the overall system by using a multiple
PLC CPUs and distributing the PLC control load among them.
(3) Communication among the CPUs in the Multiple CPU system

(a) Transmission of data among the CPUs in the Multiple CPU system is
performed automatically using the multiple CPU automatic refresh function.
This makes it possible to use the device data of the other CPUs as the
device data of the self CPU.
(b) You can access the device data and start the Motion SFC program from the
PLC CPU to the Motion CPU by Motion dedicated PLC instruction.
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1 OVERVIEW
1.4.2 Installation of PLC CPU and Motion CPU
Up to a total four PLC CPUs and Motion CPUs can be installed in the CPU base unit,
in the four slots starting from the CPU slot (the slot located to the immediate right of the
power supply module) to slot 2 in series.
There must be no non-installation slot left, between a PLC CPU and a Motion CPU, or
between Motion CPUs.
When two or more Motion CPUs are installed, they are installed together in the slots
provided to the right of one or more PLC CPUs. (PLC CPU cannot be installed to the
right of a Motion CPU.)
(1) When the high performance model PLC CPU is used.

Number of
CPUs Installation positions of PLC CPUs/Motion CPUs
CPU 0 1 2
Power supply
Motion CPU
PLC CPU
I/O, etc.
2 I/O, etc.
CPU 0 1 2 CPU 0 1 2
Power supply
Power supply
Motion CPU
Motion CPU
Motion CPU
PLC CPU
PLC CPU
PLC CPU
I/O, etc.
I/O, etc.
CPU 0 1 2 CPU 0 1 2
Power supply
Power supply
Motion CPU
Motion CPU
Motion CPU
PLC CPU
PLC CPU
PLC CPU
PLC CPU
PLC CPU
4
CPU 0 1 2
Power supply
Motion CPU
Motion CPU
Motion CPU
PLC CPU
(2) When the basic model PLC CPU is used.

Multiple CPU system up to 3 modules (PLC CPU 1, Motion CPU 1,
Personal computer CPU 1).
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1 OVERVIEW
1.4.3 Precautions for using Q series I/O modules and intelligent function modules
(1) Modules controllable by the Motion CPU

I/O modules (QX , QX -S1, QY , QH , QX Y , Q6 AD , Q6 AD- ,
Q6 DA , Q6 DA- ), interrupt module (QI60) and motion modules (Q172LX,
Q172EX, Q173PX) can be controlled by the Motion CPU.
(2) Compatibility with the Multiple CPU system

(a) All I/O modules (QX , QX -S1, QY , QH , QX Y , Q6 AD ,
Q6 AD- , Q6 DA , Q6 DA- ) support the Multiple CPU system.
(b) The interrupt module (QI60), which is currently not subject to function
upgrade, supports the Multiple CPU system.
(c) The intelligent function modules support the Multiple CPU system only when
their function version is B or later. These modules cannot be controlled by
the Motion CPU, so be sure to use the PLC CPU as a control CPU.
(d) All motion modules (Q172LX, Q172EX, Q173PX) support the Multiple CPU
system. These modules cannot be controlled by the PLC CPU, so be sure to
use the Motion CPU as a control CPU.
(3) Access range from a non-control CPU

(a) The Motion CPU can access only the modules controlled by the self CPU. It
cannot access the modules controlled by other CPUs.
(b) Access range from a non-control CPU for the modules controlled by the
Motion CPU are shown below.
I/O setting from outside the group
Access target (setting from the PLC CPU)
Not received Received
Input (X)
Output (Y)
Read
Buffer memory
Write
REMARK
• The function version of an intelligent function module can be checked on the rated
plate of the intelligent function module or in the GX Developer's system monitor
product information list.
• Refer to the "Q173CPU(N)/Q172CPU(N) User's Manual" for the model name
which can be controlled by the Motion CPU.
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1 OVERVIEW
1.4.4 Modules subject to installation restrictions
(1) Modules subject to installation restrictions in the Motion CPU are sown below.
Use within the restrictions listed below.
Maximum installable modules per CPU
Description Model name
Servo external signals
Q172LX 4 modules 1 module
interface module
Serial absolute synchronous Q172EX
6 modules 4 modules
interface module (Note-1)
4 modules (Note-1) 3 modules (Note-1)

(When using the incremental (When using the incremental
Manual pulse generator Q173PX serial encoder.) serial encoder.)
interface module (Note-2) 1 module 1 module
(When using only the Manual (When using only the Manual
pulse generator.) pulse generator.)
Input module QX
QX -S1
Output module QY
QH
Input/output composite module
QX Y Total 256 points
Q6 AD
Analogue input module (Note-3)
Q6 AD-
Q6 DA
Analogue output module (Note-3)
Q6 DA-
Interrupt module QI60 1 module
(Note-1) : SV22 only.
(Note-2) : When the Manual pulse generator and the serial encoder are used at the same time with the SV22, the
Q173PX installed in the slot of the smallest number is used for manual pulse generator input.
(Note-3) : A maximum of 4 modules, analogue input modules and analogue output modules, can be used.
(2) Modules controlled by a Motion CPU cannot be installed in the extension base
unit QA1S6 B. Install them in the CPU base unit Q3 B or extension base unit
Q6 B.
(3) A total of eight base units including one CPU base unit and seven extension base
units can be used. However, the usable slots (number of modules) are limited to
64 per system including vacant slots. If a module is installed in slot 65 or
subsequent slot, an error (SP. UNIT LAY ERROR) will occur. Make sure all
modules are installed in slots 1 to 64. (Even when the total number of slots
provided by the CPU base unit and extension base units exceeds 65 (such as
when six 12-slot base units are used), an error does not occur as long as the
modules are installed within slots 1 to 64.)
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1 OVERVIEW
1.4.5 Processing time of the Multiple CPU system
(1) Processing of the Multiple CPU system

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

In the Multiple CPU system, the wait time of self CPU becomes the longest in the
following conditions:
• When is using a total of four PLC CPUs/Motion CPUs are used in the Multiple
CPU system.
• When the extension base units are used.
• When the intelligent function modules handling large volumes of data are
installed in the extension base unit(s).
• When a total of four CPUs are used and the four CPUs have simultaneously
accessed a module installed in an extension base unit.
• When there are many automatic refresh points between a PLC CPU and a
Motion CPU.
(3) When shortening the processing time of the Multiple CPU system
The processing time of the Multiple CPU system can be shortened in the
following methods:
• Install all modules with many access points such as MELSECNET/10(H) and
CC-Link refreshes together in the CPU base unit.
• Control all modules with many access points such as MELSECNET/10(H) and
CC-Link refreshes using only one PLC CPU so that they are not accessed by
two or more CPUs simultaneously.
• Reduce the number of refresh points of MELSECNET/10(H), CC-Link, etc.
• Reduce the number of automatic refresh points of the PLC CPUs/Motion
CPUs.
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1 OVERVIEW
1.4.6 How to reset the Multiple CPU system
With the Multiple CPU system, resetting the PLC CPU of CPU No. 1 resets the entire
system.
When the PLC CPU of CPU No. 1 is reset, the CPUs, I/O modules and intelligent
function modules of all CPUs will be reset.
To recover any of the CPUs in the Multiple CPU system that generated a CPU stop
error, reset the PLC CPU of CPU No. 1 or restart the power (i.e., turning the power
ON, OFF and then ON).
(If the PLC CPUs or Motion CPUs of CPU Nos. 2 through 4 generated a CPU stop
error, they can not be recovered by resetting the corresponding CPU.)
0 1 2 3 4 5 6 7
Power supply
Qn(H) Q173 Q173 Q173

CPU CPU CPU CPU
(N) (N) (N)
No. 1
No. 2
No. 3
No. 4
CPU
CPU
CPU
CPU
These CPUs must not be reset.

If one of them is reset, all CPU
in the Multiple CPU system generate
a MULTI CPU DOWN error.
CPU No. 1 can reset the entire Multiple CPU system.
POINT
(1) In a Multiple CPU system, the PLC CPUs/Motion CPUs of CPU No. 2, 3 or 4
cannot be reset individually.
When a PLC CPU or Motion CPU of CPU No. 2, 3 or 4 is reset while the
Multiple CPU system is operating, the other CPUs generate a MULTI CPU
DOWN error (error code: 7000) and the entire system stops.
Note that depending on the timing at which the PLC CPU or Motion CPU of
CPU No. 2, 3 or 4 is reset, the PLC CPU of a the other CPU may stop due to
an error other than MULTI CPU DOWN.
(2) Resetting CPU No. 2, 3 or 4 generates a MULTI CPU DOWN error regardless
of the operation mode set in the Multiple CPU Settings tab. (Stop/continue all
CPUs upon error in CPU No. 2, 3 or 4.) (Refer to section 1.4.7 for the setting
of operation mode in Multiple CPU Settings.)
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1 OVERVIEW
1.4.7 Processing at a CPU DOWN error occurrence by a PLC CPU or Q173CPU(N)/

Q172CPU(N)
In the Multiple CPU system, the system operates differently when CPU No. 1
generated a CPU DOWN error as compared with when CPU No. 2, 3 or 4 did.
(1) When CPU No. 1 generated a CPU DOWN error

(a) When the PLC CPU of CPU No. 1 generated a CPU DOWN error, all PLC
CPU/Q173CPU(N)/Q172CPU(N) of CPU Nos. 2, 3 and 4 generate a MULTI
CPU DOWN error (error code: 7000) and the Multiple CPU system stops.
(Note-1)
(b) Recover the system using the procedure below:

1) Check the cause of the error that occurred in CPU No. 1 using the PC
diagnostic function of GX Developer.
2) Remove the cause of the error.
3) Reset the PLC CPU of CPU No. 1 or restart the power.
Resetting the PLC CPU of CPU No. 1 or restarting the power resets all
CPUs in the Multiple CPU system and the system is recovered.
(2) When CPU No. 2, 3 or 4 generated a CPU DOWN error

If the PLC CPU, Q173CPU(N) or Q172CPU(N) of CPU No. 2, 3 or 4 generated a
CPU DOWN error, the entire system may or may not stop depending on the
setting of "Operation Mode" in the Multiple CPU Settings tab.
By default value, all CPUs will stop when any of the CPUs generates a CPU stop
error. If you do not wish to stop all CPUs following an error generated in the PLC
CPU, Q173CPU(N) or Q172CPU(N) of a specific CPU or CPUs, click and
uncheck the CPU or CPUs that will not stop all CPUs upon generating an error.
(See arrow A.)
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1 OVERVIEW
(a) When a CPU DOWN error occurs in the CPU of the CPU in a checked "Stop
all CPUs upon error in CPU No. n" item, all PLC CPU/Q173CPU(N)/
Q172CPU(N) of the other CPUs will generate a MULTI CPU DOWN error
(error code: 7000) and the Multiple CPU system will stop. (Note-1)
(b) When a CPU DOWN error occurs in the CPU of the PLC in an unchecked
"Stop all CPUs upon error in CPU No. n" item, all CPUs of the other CPUs
will generate a MULTI CPU ERROR (error code: 7020) and continue their
operation.
POINT
(Note-1) : When a CPU DOWN error occurs, the CPU detecting the error will generate a
MULTI CPU DOWN error.
Therefore, the system may enter a MULTI CPU DOWN mode after detecting the
CPU DOWN error in the CPU generating a MULTI CPU DOWN error, instead of
the error in the CPU that generated the CPU DOWN error in the first place. In
this case, the common error-data area may store a CPU number different from
one corresponding to the CPU that generated the CPU DOWN error first.
When recovering the system, remove the cause of the error present in the CPU
not stopped by a MULTI CPU DOWN error.
In the screen below, the cause of the error present in CPU No. 2, which does
not have a MULTI CPU DOWN error, should be removed.
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1 OVERVIEW
(c) Use the following procedure to recover the system:

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

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

CPU base 2/3/5/8/10/12 slots CPU base : 2 slots Set the number of slots in the CPU base
Base setting
Extension base None/2/3/5/8/10/12 slots None or extension base.
Number of Multiple Set the total number of Multiple CPUs
2/3/4 modules 2 modules
CPUs including PLC CPU(s).
Up to 2k words of devices
Automatic refresh Set the automatic refresh between CPUs
(D/W/#/M/Y/B) can be set per None
setting using Multiple CPU shared memory.
CPU for settings 1 to 4.
Multiple CPU
Stop/do not stop all CPUs
Common setting
upon an error in CPU Nos.
system Stop all CPUs upon Set whether or not to stop the entire
Error operation mode 1/2/3/4.
parameters error in CPU Nos. system when a CPU stop error occurs in
at the stop of CPU (The setting range varies
1/2/3/4 each CPU.
depending on the number of
Multiple CPUs installed.)
Install the modules controlled by the self
Within the CPU base and
Module arrangement None CPU in the CPU base and/or extension
Motion slot extension base slots
base(s).
setting
Varies depending on the Varies depending on Set detailed items for each module
Individual module
module. the module. controlled by the self CPU.
0.8 ms/1.7 ms/3.5 ms/7.1
Operation cycle setting Auto Set the operation cycle of motion control.
ms/14.2ms/Auto
M2000 is turned on with switch
(STOP to RUN). M2000 M2000 is turned on
Operation at STOP to Set the condition in which the PLC ready
becomes a switch set (STOP with switch (STOP to
RUN flag (M2000) turns on.
Basic system to RUN) + register by single- RUN).
setting unit with turning on.
None/X (PX) (0 to 1FFF)/
Forced stop (Note) None Set the bit device used for forced stop.
M (0 to 8191)
M (0 to 8191)/B (0 to 1FFF)/F
Latch range (0 to 2047)/D (0 to 8191)/W (0 None Set the latch range of device memory.
to 1FFF)
Set self CPU/another
None
CPU/CPU (empty) for slots
(When two CPUs are
0/1/2. (The setting range Set the installation position of the self
Self CPU installation position setting installed, slot 0 is
varies depending on the CPU in the CPU base.
Individual fixed as the self
number of Multiple CPUs
parameters CPU.)
installed.)
Q173CPU(N):
Set the model name, axis No. and other
Up to 2 systems, 32 axes
Servo amplifier/motor setting None details for the servo amplifiers and
Q172CPU(N):
servomotors.
Up to 1 system, 8 axes
Set the high-speed read data.
Refer to "Q173CPU(N)/Q172CPU(N)
One Q172EX/Q173PX module
High-speed read setting None Motion controller (SV13/SV22)
and one input module.
Programming Manual (Real Mode)" for
the high-speed read function.
Set whether or not to use an external
battery. If the power supply is down for
External battery unused/ External battery one month or longer, data must be
Battery setting
External battery used unused. backed up with an external battery.
Refer to "Q173CPU(N)/Q172CPU(N)
User’s Manual" for external battery.
(Note) : The forced stop can also be executed by the forced stop terminal of the servo amplifier besides the forced stop input setting.
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1 OVERVIEW
1.5.2 Common system parameters
(1) Parameters for operating the Multiple CPU system

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

parameters parameters parameters parameters
Common system Common system Common system Common system

parameters parameters parameters parameters
Individual Individual Individual Individual

parameter parameter parameter parameter
Parameter write
Power supply
Qn(H) Qn(H) Q173 Q172

CPU CPU CPU CPU
(N) (N)
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1 OVERVIEW
(2) Parameters common throughout the Multiple CPU system

In the Motion CPU, during initialization the parameters in the table below are
verified against the parameters in the PLC CPU of CPU No. 1. Unmatched
parameters generate a PARAMETER ERROR (error code: 3012), so the
parameters show below must be set identically between Motion CPUs and the
PLC CPU of CPU No. 1. (If the system settings are changed in a Motion CPU, it
is necessary to reset. Therefore, the parameters are checked only during
initialization.)
PLC CPUs can use the parameters of the other CPUs via "Multiple CPU
parameter utilization" in GX Developer. Since Motion CPUs don't have this
function, however, the common parameters must be set for each Motion CPU.
Type of parameter
Verification item Remark
Name in Motion CPU Name in PLC CPU
Number of Multiple CPUs Number of CPU modules
Operation mode when a CPU
Operation mode
Multiple CPU settings stop error occurred
Number of automatic refresh
Automatic refresh setting
points
• Only the module numbers
set in System Settings on
Motion slot settings Control CPU Control CPU No.
the Motion CPU side are
I/O assignment verified.
Total number of bases • Not verified if base settings
Basic
Base settings Base No. are omitted on the PLC CPU
settings Base
Number of base slots side.
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1 OVERVIEW
(a) Multiple CPU settings

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

the stop of CPU
Number of automatic
refresh points
• Multiple PLC Setting (PLC CPU setting) in GX Developer
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1 OVERVIEW
(b) Motion slot settings

Set the modules controlled by the self CPU by the Motion Slot Settings
(Motion CPU setting) in SW6RN-GSV P. In GX Developer, set the slot for
Motion CPU control as the CPU number of the Motion CPU in I/O
Assignment Settings (PLC CPU setting).
• Motion Slot Setting (Motion CPU setting) in SW6RN-GSV P
Control CPU No.
• I/O Assignment Setting (PLC CPU setting) in GX Developer
(Note): Motion slot setting items are different depending on the operating system software.
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1 OVERVIEW
(c) Base settings

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

and number of slots in
each base
• I/O Assignment Settings (PLC CPU setting) in GX Developer
(Note) : Only the Motion CPU

may be set without
setting the PLC CPU.
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1 OVERVIEW
POINT
GOT is recognized as an intelligent function modules "16 points 10 slots" on the
base (number of extension bases and slot No. are set in the GOT parameter.) for
bus connection with GOT.
Set the one extension base (16 points 10 slots) for connection with GOT, then
set "10 slots" as number of extension bases for connection with GOT in the system
setting (base setting).
<Example>
When the "2nd stage" of extension base is set as connection with GOT.
(Set "10" slot as "2nd stage" of extension base in the base setting.)
If the bus connection with GOT is executed without above settings in the
base setting of system setting, "SP.UNIT LAY ERROR" (error code: 2124)
will occur.
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1 OVERVIEW
1.5.3 Individual parameters
(1) Basic system settings

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

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

1 to 8 axes 0.8 ms
SV13 9 to 16 axes 1.7 ms
17 to 32 axes 3.5 ms
1 to 4 axes 0.8 ms
5 to 12 axes 1.7 ms
SV22
3) If the duration of motion operation has exceeded the operation cycle, the
operation cycle over flag (M2054) turns ON. Even when "Automatic
setting" is selected, the duration of motion operation may exceed the
operation cycle depending on the control conditions. The actual duration
of motion operation (unit:μs) is stored in the D9188, and the current
setting of operation cycle (unit:μs) is stored in the D9197. Monitor these
special registers and adjust the set value of operation cycle so that the
actual duration of motion operation will not exceed the set operation
cycle. (A WDT or other error may occur in the Motion CPU.)
4) The MR-H BN does not support an operation cycle of 0.8 [ms]. If the
MR-H BN is set in the System Settings, 1.7 [ms] is used as the actual
operation cycle even when 0.8 [ms] is set.
5) The MR-J2S- B supports an operation cycle of 0.8 [ms] and 1.7 [ms] in
version B0 or later. When using the MR-J2S- B of Version A4 or
earlier, set the operation cycle as 3.5 [ms] or more.
6) The vector inverter does not support an operation cycle of 0.8 [ms] and
1.7 [ms]. If the FR-V500 is set in the System Setting, 3.5[ms] is used as
the actual operation cycle even when 0.8 [ms] or 1.7 [ms] is set.
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1 OVERVIEW
(b) Operation setting upon STOP RUN

Set the condition in which the "PLC ready" flag (M2000) turns ON. Select
one of the following:
1) M2000 ON upon switching (STOP RUN) (default)

Condition in which the M2000 turns from OFF to ON
• Change the RUN/STOP switch from the STOP side to the RUN side.
• With the RUN/STOP switch set to the RUN side, turn ON the power
or cancel the reset.
Condition in which the M2000 turns from ON to OFF
• Change the RUN/STOP switch from the RUN side to the STOP side.
2) M2000 ON upon switching (STOP RUN) + 1 set in setting register

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

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

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

Set the following latching ranges for M, B, F, D and W, respectively.
• Range in which the latch can be cleared with the latch clear key (Latch (1))
• Range in which the latch cannot be cleared with the latch clear key (Latch
(2))
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1 OVERVIEW
(2) Individual module settings
The setting items for each module are shown below.
Setting items for each module

Number of usable modules
Module name Item Setting range Initial value
Set the number of axes for
External signal setting 1 to 8 axes used
which the 8 axes input is used.
Servo external DOG/CHANGE input turning
DOG/CHANGE turning
Q172LX signals input OFF to ON or turning ON to Turning OFF to ON 4 1
OFF to ON/ON to OFF
module OFF
0.4/0.6/1 ms
Input response time 0.4 ms
(DOG/CHANGE response time)
Serial encoder use setting Used/Unused Unused
• Q172EX(-S1) use
MR-HENC
Serial encoder selecting Q170ENC/MR-HENC
Serial encoder • Q172EX-S2/S3 use 6 4
Q172EX
input module Q170ENC (SV22) (SV22)
0.4/0.6/1 ms
(TREN response time)
High-speed read setting Used/Unused Unused
setting Used only Used
(SV13)
Manual pulse Serial encoder/Manual
P 1 (SV13) 1 (SV13)
Q173PX generator pulse generator setting Used/Unused
Used 4 (SV22) 3 (SV22)
input module (SV22)
0.4/0.6/1 ms
(TREN response time)
Interrupt
QI60 Input response time 0.1/0.2/0.4/0.6/1 ms 0.2 ms 1 1
module
1 - 89
1 OVERVIEW
Setting items for each module (Continued)

Number of usable modules
Module name Item Setting range Initial value
First I/O No. 00 to FF0 (in units of 16 points) 0
Number of I/O points 0/16/32/64/128/256 16
QX /
Input module Input response time setting
QX -S1
(setting for high-speed 1/5/10/20/70 ms 10 ms
input module in (0.1/0.2/0.4/0.6/1 ms) (0.2 ms)
parentheses)
QY Output module
Input/Output
QH /QX Y composite
Input response time setting 1/5/10/20/70 ms 10 ms
module
4 to 20mA/0 to 20mA/1 to 5V/0
Input range setting to 5V/-10 to 10V/0 to 10V/User 4 to 20mA
range Total 256 Total 256
Q6 AD / Analogue input Temperature drift points or less points or less
(Note-1) Used/None Used
Q6 AD- module compensation
Resolution mode Normal/High Normal
Normal
Normal (A/D
Operation mode (A/D
conversion)/Offset gain setting
conversion)
4 to 20mA/0 to 20mA/1 to 5V/0
Output range setting 4 to 20mA
to 5V/-10 to 10V/User range
HOLD/CLEAR function
CLEAR only CLEAR
setting
Analogue
Q6 DA / Normal
output module Normal (Asynchronous)/
Q6 DA- (Note-1) Output mode (Asynchro-
Synchronous output
nous)
Resolution mode Normal/High Normal
Normal
Normal (D/A conversion)/
Operation mode (D/A
Offset gain setting
conversion)
(Note-1) : A maximum of 4 modules, analogue input modules and analogue output modules, can be used.
1 - 90
1 OVERVIEW
(3) System setting errors
Motion CPUs generate a system configuration error under the following

conditions:
Error code Operation at
Error name Error cause Check timing
(Note-1) error occurrence
• The slot set in system settings is vacant or a different
LAY ERROR (SL )
module is installed.
AXIS No. MULTIDEF • Duplicate axis No. is set in system settings.
Cannot be
AMP No. SETTING • Not a single axis is set in system settings.
started.
• System setting data is not written.
10000 (Note-2) (Motion CPU
SYS.SET DATA ERR • System setting data is written without relative check.
system setting
Or it is written at the state of error occurrence.
error)
AXIS No. ERROR • System setting data is not written.
• The number of actual I/O points set in system settings
I/O POINTS OVER
exceeds 256.
SP. UNIT LAY • A CPU module is installed in a slot except for a CPU slot or
2121
ERROR slot 0 to 2.
• A module is installed in slot 65 or subsequent slot.
SP. UNIT LAY
2124 (Note-3) • A module is installed in a base for which "None" is set in
ERROR
base settings.
• There are non-installation slots between the CPU modules.
SP. UNIT LAY
2126 • The modules except for the PLC CPU are installed between When the power
ERROR
the PLC CPU modules. is turned ON/
• The number of CPU modules set in the parameter differ the key is reset
PARAMETER ERROR 3010
from the real installation in a Multiple CPU system.
• The reference CPU No. set in the parameter differ from the Cannot be
setting in a Multiple CPU system. started.
Multiple CPU automatic refresh setting is any of the followings (Multiple CPU
in a Multiple CPU system. system CPU
• When a bit device is set as a refreshed, a number except DOWN error)
for a multiple of 16 is set as the refresh first device.
• A non-specifiable device is specified.
• The number of transmitting points is an odd number.
• A fault CPU is installed in a Multiple CPU system.
• CPUs of unmatched versions are installed in a Multiple
CPU system.
MULTI EXE. ERROR 7010 (An error is detected at the PLC CPU of function version B.)
• Any CPU No. among CPU No.2 to 4 was reset, after power
on a Multiple CPU system.
(This error occurs by the reset CPU No.)
(Note-1) : The error code stored in the diagnosis error area of the self operation information area in the Multiple CPU shared memory.
(Note-2) : When an error code 10000 is displayed, the M2041 ("System setting error" flag) turns ON and an applicable error name shown
above is displayed on the error list monitor of the programming software package.
(Note-3) : Base settings must be performed in System Settings of the Motion CPU even for those bases in which the modules controlled by
the self CPU are not installed.
1 - 91
1 OVERVIEW
1.6 Assignment of I/O No.
I/O No.s used in the Multiple CPU system include those used by the Motion CPU to
communicate with I/O modules/intelligent function modules and those used in the
communication between the PLC CPU and the Motion CPU. The following explains
each I/O No. and assignment of I/O No..
1.6.1 I/O No. for I/O modules and intelligent function modules
In the Multiple CPU system, the "0H" position(slot) of I/O No. which seen from the PLC
CPU is different from the position in the case of a standalone CPU. However, I/O No. of
the control module may be assigned independently for each CPU in the Motion CPU.
(1) "0H" position of I/O No.

(a) In the Multiple CPU system, the slots corresponding to the number of units
set by a multiple CPU parameter are occupied by the PLC CPU/Motion
CPU.
(b) I/O modules and intelligent function modules are installed in slots available
to the right of those occupied by the PLC CPU/Motion CPU.
(c) I/O No. of the control module may be assigned independently for each CPU
in the Motion CPU. I/O No. of the PLC CPU control modules are assigned
sequentially toward the right, starting from "0H" being the I/O module or
intelligent function module installed to the immediate right of the slots
occupied by the PLC CPU/Motion CPU.
(d) Notation of I/O No.
• Receiving of ON/OFF data by the Motion CPU is deemed input (PX), while
outputting of ON/OFF data from the Motion CPU is deemed output (PY).
• I/O No. is expressed in hexadecimal.
(2) Assignment of I/O No. to the Motion CPU control module

Mitsubishi recommends that I/O No. assignment be set as common consecutive
No. throughout all CPUs.
However, the I/O No. of the Motion CPUs control input modules, output modules
and input/output composite modules may also be set independently of the I/O
No. of the PLC CPU control modules.
(The I/O No. of the Motion CPU control modules are indicated with a PX/PY.)
The I/O No. of the Motion CPU control modules are invalid during I/O Assignment
Settings of the PLC CPU.
I/O assignment
0 1 2 3 4 5
Q02H Q173 QX41 QY41 QX41 QY41
Power supply
CPU CPU
(N) PX0 to PX1F PY20 to PY3F X40 to X5F Y60 to Y7F
O
module
U
T
(X0 to X1F) (Y20 to Y3F)
CPU CPU Modules Modules Modules Modules

No. 1 No. 2 controlled controlled controlled controlled
by CPU by CPU by CPU by CPU
No. 2 No. 2 No. 1 No. 1
1 - 92
1 OVERVIEW
(3) Setting of the Motion CPU control modules by the PLC CPU
(a) Type/number of points
Follow the table below when Motion CPU control modules are set in I/O
Assignment Settings of the PLC CPU. (The PLC CPU handles the Q172LX,
Q172EX and Q173PX as intelligent function modules having 32 occupied
points.) Type and number of points may be left unset.
Module name Type Number of points Remarks

Input module Input • For the control CPU,
Output module Output Selected according set the CPU that
Input/Output composite to the module. corresponds to the
Composite I/O
module Motion CPU (required).
Analogue input module Analogue input • Type and number of
Analogue output module Analogue output 16 points points may be left
Interrupt module (QI60) Interrupt unset.
Q172LX 32 points
Q172EX Intelligent 32 points
Q173PX 32 points
POINT
(1) Set the I/O device of the Motion CPU within the range from PX/PY000 to
PX/PYFFF. Set the number of real I/O points within 256 points. (I/O No. may
not be consecutive.)
(2) As for the Motion CPU, the Q172LX, Q172EX, Q173PX and QI60 are not
included in the number of real I/O points.
(b) If the installed Motion CPU control module is different from the I/O
assignment type of PLC CPU, the operation is abnormal.
Name of installed
I/O assignment type of PLC CPU Operation
High-speed input/Output/Composite I/O Operation is abnormal. (An error does not occur.)
Input module
Interrupt/Intelligent Error 2100 (SP.UNIT LAY ERR.)
Input/High-speed input/Composite I/O Operation is abnormal. (An error does not occur.)
Output module
Interrupt/Intelligent Error 2100 (SP.UNIT LAY ERR.)
Input/Output composite Input/High-speed input/Output Operation is abnormal. (An error does not occur.)
module Interrupt/Intelligent Error 2100 (SP.UNIT LAY ERR.)
Analogue input module, Input/High-speed input/Output/
Error 2100 (SP.UNIT LAY ERR.)
Analogue output module, Composite I/O
Q172LX, Q172EX, Q173PX Interrupt Operation is abnormal. (An error does not occur.)
Input/High-speed input/Output/
Error 2100 (SP.UNIT LAY ERR.)
Interrupt module (QI60) Composite I/O
Intelligent Operation is abnormal. (An error does not occur.)
All module Not used Operation is abnormal. (An error does not occur.)
1 - 93
1 OVERVIEW
(c) Example of setting

I/O assignment
0 1 2 3 4 5
Q02H Q173 Q172LX QY41 QX41 QY41
Power supply
CPU CPU
(N) PY0 to PY1F X40 to X5F Y60 to Y7F
O
module
U
T
(X0 to X1F) (Y20 to Y3F)
CPU CPU Modules Modules Modules Modules

No. 1 No. 2 controlled controlled controlled controlled
by CPU by CPU by CPU by CPU
No. 2 No. 2 No. 1 No. 1
Intelligent Output Input Output
32 points 32 points 32 points 32 points
I/O Assignment Settings (PLC CPU setting) in GX Developer
Setting of type/
number of points
Setting of control
CPU etc.
1 - 94
1 OVERVIEW
1.6.2 I/O No. of PLC CPU and Q173CPU(N)/Q172CPU(N)
In the Multiple CPU system, I/O No. is assigned to the PLC CPU/Motion CPU to
enable communication between the PLC CPU and Motion CPU using the following
instructions:
• The Multiple CPU dedicated instructions
• The Motion CPU dedicated instructions
• The Multiple CPU communication dedicated instructions
The I/O No. of the PLC CPU/Motion CPU are fixed based on the installed slots and
cannot be changed.
The table below lists the I/O No. of the PLC CPU/Motion CPU installed in the CPU
base unit of the Multiple CPU system.
CPU installation position QCPU slot Slot 0 Slot 1 Slot 2

Head I/O number 3E00H 3E10H 3E20H 3E30H
The I/O No. of the PLC CPU/Motion CPU are used in the following cases:
• When writing data to the shared CPU memory of the self CPU using the S. TO
instruction.
• When reading data from the shared CPU memory of the other CPU using the FROM
instruction.
• When reading data from the shared CPU memory of the other CPU using an
intelligent function module device (U \G )
• When reading device data directly from the Motion CPU from the PLC CPU using
the "S(P). DDRD" instruction.
• When writing device data directly to the Motion CPU from the PLC CPU using the
"S(P).DDWR" instruction.
REMARK
• Refer to Chapter "3. COMMUNICATION BETWEEN THE PLC CPU AND THE
MOTION CPU IN THE MULTIPLE CPU SYSTEM" for communication between
the PLC CPU and the Motion CPU.
1 - 95
1 OVERVIEW
1.6.3 Setting I/O No.
The procedure for the I/O No. setting for the Motion CPU in System Settings of
SW6RN-GSV P is shown below. In the Motion CPU, by setting a module used in
each CPU base or extension base slot in System Settings, the control CPU of the
applicable slot is assigned as the self CPU. Input modules, output modules and
composite I/O modules require an I/O No. to be set.
Refer to the help of SW6RN-GSV P for the detailed operating procedure on the
System Settings screen.
<System Settings>
1) Double-click the slot position, display

the Motion Slot Settings dialog box.
<Motion Slot Settings>
2) Select the I/O module.
3) Click [Detail Setting].
<I/O Module Settings> 4) Select applicable module type

and number of points for
the I/O module to be used.
5) Set the first I/O No.

(PX No., PY No.).
6) Click [OK].
(Note): Display of system setting and motion slot setting are different depending on the operating system
software.
POINT
I/O No.s cannot be assigned automatically, unlike a PLC CPU for which I/O No. are
assigned automatically if such setting is omitted in the Motion CPU. In the Motion
CPU, be sure to set the first I/O No. in System Settings for each module used.
1 - 96
2 STARTING UP THE MULTIPLE CPU SYSTEM
2. STARTING UP THE MULTIPLE CPU SYSTEM
This section describes a standard procedure to start up the Multiple CPU system.
2.1 Startup Flow of the Multiple CPU System
Multiple CPU system 2

Multiple CPU system design
Clarify control/function executed by each
CPU.
Device application and assignment • Refer to Section 3.1 for automatic refresh
function of device data.
Secure the refresh points continuously
for automatic refresh of device data.
Module select • Refer to the "Q173CPU(N)/Q172CPU(N) User's

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

Start the GX Developer (Ver.6 or later). Developer start.
Parameters, etc. create • Create the parameters for CPU No. 1 to 4 and
Create the parameter setting such as PLC programs.
Multiple CPU setting and control CPU • Refer to the "QCPU User's Manual" (Function
setting, and the PLC programs. Explanation/Program Fundamentals)" for PLC
settings.
PLC CPU
Connect between the personal

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

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

Turn ON the power of Multiple CPU
system in the following state of PLC
PLC CPU CPU.
RUN/STOP switch : STOP
RESET/L.CLR switch : OFF
1)
2-1
2 STARTING UP THE MULTIPLE CPU SYSTEM
1)
Write to the PLC CPU

Write the parameters and PLC programs
PLC CPU to the PLC CPU (CPU No.1).
Set the connect destinations of PLC CPU
(CPU No. 2 to 4), and write them.
SW6RN-GSV P start • Refer to the help for operation of

Start the SW6RN-GSV P. SW6RN-GSV P.
System settings and program create • Refer to Section 1.5 for system settings.
Create the system settings, servo data • Refer to the Programming Manual of each
Motion CPU
and Motion SFC program. operating system software for details of program.
Write to the Motion CPU

Write the system settings, servo data and
Motion SFC program.
PLC CPU (CPU No.1) reset

PLC CPU Set the RESET/L.CLR switch to RESET
position.
Set RUN/STOP switch for all CPUs to

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

PLC CPU Change back the RESET/L.CLR switch
to OFF position and release the reset.
Check of state for all CPUs

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

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

Execute the individual debug of PLC
CPU/Motion CPU (CPU No. 1 to 4) and
debug as the Multiple CPU system.
Actual operation
Actual
Check in the operation
automatic operation.
(Note) : Installation of the operating system software is required to the Motion CPU module before start of
the Multiple CPU system.
Refer to Chapter 5 of the "Q173CPU(N)/Q172CPU(N) User's Manual" for installation of the Motion
CPU operating system software.
2-2
3 COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN
THE MULTIPLE CPU SYSTEM
3. COMMUNICATION BETWEEN THE PLC CPU AND THE MOTION CPU IN

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

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

Self CPU operation data area Self CPU operation data area
System area System area
Automatic refresh area 3) Reading via main cycle Automatic refresh area
processing of CPU No.2
User-defined area User-defined area
1) Written via END processing 2) Written via main cycle processing

of CPU No.1 of CPU No.2
Device memory Device memory

B0 to B1F (CPU No.1) 4) Reading via END B0 to B1F (CPU No.1)
processing of CPU No.1
B20 to B3F (CPU No.2) B20 to B3F (CPU No.2)
Processing details of CPU No.1 (PLC CPU) at the END processing.

1) : Data of transmitting devices B0 to B1F for CPU No.1 is transferred to the
automatic refresh area of shared memory in the self CPU.
4) : Data in the automatic refresh area of shared memory in CPU No.2 is
transferred to B20 to B3F in the self CPU.
3-1
Processing details of CPU No.2 (Motion CPU) at main cycle processing.

2) : Data of transmitting devices B20 to B3F for CPU No.2 is transferred to
the automatic refresh area of shared memory in the self CPU.
3) : Data in the automatic refresh area of shared memory in CPU No.1 is
transferred to B0 to B1F in the self CPU.
By the above operations, the data written to B0 to B1F in CPU No.1 can be
read as B0 to B1F of CPU No.2, while the data written to B20 to B3F in CPU
No.2 can be read as B20 to B3F of CPU No.1. B0 to B1F of CPU No.1 can
be read or written freely using CPU No.1, but B20 to B3F correspond to the
refresh area for the data of CPU No.2 and can only be read, not written, by
CPU No. 1. Similarly, B20 to B3F of CPU No.2 can be read or written freely
using CPU No.2, but B0 to B1F correspond to the refresh area for the data
of CPU No.1 and thus can only be read, not written, by CPU No.2.
(b) Executing the automatic refresh function

The automatic refresh function can be executed regardless of whether the
applicable PLC CPU and Motion CPU are in the RUN or STOP state.
When a CPU DOWN error will occur in the PLC CPU or Motion CPU, the
automatic refresh function is not executed.
When one CPU generated a CPU DOWN error, the other CPU free from
CPU DOWN error retains the data saved immediately before the CPU
DOWN error occurred. For example, if CPU No.2 generated a CPU DOWN
error while B20 was ON in the operation block diagram in (a), B0 of CPU
No.1 remains ON. If necessary, interlocking is performed using other-CPU
DOWN detection signals M9244 to M9247.
(c) To execute the automatic refresh function, for the Motion CPU the number of
transmitting points for the CPU and the devices whose data is stored
(devices to which the automatic refresh function is executed) must be set in
Multiple CPU Settings of System Settings. For the PLC CPU, the applicable
parameters must be set identically in Multiple CPU Settings of PC
parameters.
Item Description
Y, M, B (Set the first device No. as a multiple of 16 in
Bit
Type of refresh device modules of 32 bits.)
Word D, W, # (Set in modules of 2 words.)
Number of refresh device range settings 4 ranges (Bit and word may be mixed.)
Number of refresh words per CPU A maximum of 8k words
Number of transmitting words per CPU A maximum of 2k words (Set in units of 2 words.)
CAUTION
If necessary, perform interlocking during the execution of the automatic refresh function using
other CPU DOWN detection signals M9244 to M9247.
3-2
(2) Automatic refresh settings 1 (Automatic setting)

(a) When executing the automatic refresh function of shared CPU memory, set
the number of each CPU's transmitting points and devices in which data is to
be stored using Multiple CPU Settings of System Settings.
Refer to the "QCPU User's Manual (Function Explanation/Program
Fundamentals)" about the setting of the PLC CPU.
• Select the setting No..
• Set the first device No. from which the

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

per CPU
• 8k points (8k words)
for all CPUs
• Setting two points in shared
• Set in units of
CPU memory and specifying
2 points (2 words).
the bit device for the CPU-
side device creates 32 bit-
device points.
• Data in CPU No.3 and 4 is not refreshed since the number of points is set to 0.
3-3
4) The shared CPU memory to be occupied during execution of the

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

CPU No.1
• Last address of
CPU-side device
• Last address of the shared CPU

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

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

number of transmitting points set for CPU No.1 to 4 in one setting range
are used in succession starting from the device No. to be set.
Set a device number that ensures enough devices for the set
transmitting points.
When bit device is specified for the CPU-side device, the number of
transmitting points is multiplied by 16.
3-4
2) Set the CPU-side device as follows.

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

different devices.
Setting 2: Link register
• The same device may be used for

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

automatically in SW6RN-GSV P.
3-5
• The devices in settings 1 to 4 can be set individually for each CPU.

For example, you may set link relay for CPU No.1 and internal relay
for CPU No.2.
Refresh settings of CPU No.1
• When the CPU-side device

for CPU No.1 is different
from that for CPU No.2.
• Set the same number of points for all CPUs.

Refresh settings of CPU No.2
• When the CPU-side device

for CPU No.1 is the
same as that for CPU
No.2.
3-6
3) The block diagram below illustrates the automatic refresh operation over
four ranges of setting 1: link relay (B), setting 2: link register (W), setting
3: data register (D), and setting 4: internal relay (M).
CPU No.1
Shared CPU memory Device Shared CPU memory
of other CPU Setting 1
B0 CPU No.1 Write during END processing CPU No.1
to transmitting data transmitting data
Read via END processing (No.1) (No.1)
CPU No.2
of CPU No.1 CPU No.2 CPU No.1
CPU No.2 receiving data (No.1)
transmitting data (No.1) transmitting data
n g
CPU No.3 ssi (No.2)
CPU No.2 ce
transmitting data (No.2)
receiving data (No.1) pro CPU No.1
Maximum ND
2k words
CPU No.4 gE transmitting data Maximum
CPU No.2 rin 2k words
receiving data (No.1)
e du (No.3)
transmitting data (No.3) i t
Setting 2 Wr
CPU No.2 W0 CPU No.1
g
CPU No.1
sin
es
oc
(No.2)
pr
CPU No.3
D
EN
CPU No.2
CPU No.3 User-defined area
g
rin
du
CPU No.3
e
CPU No.3
g
rit
sin
W
Maximum transmitting data (No.2)
s
CPU No.4
ce
2k words CPU No.3
pro
transmitting data (No.3) Maximum
D
Setting 3
8k words
EN
CPU No.3 D0 CPU No.1
g
rin
transmitting data
du
(No.3)
ite
CPU No.4
Wr
CPU No.2
CPU No.3
Maximum transmitting data (No.2)
CPU No.4
2k words CPU No.4 receiving data (No.3)
Setting 4
CPU No.4 M0
M0 CPU No.1
(No.4)
CPU No.2
CPU No.3
CPU No.4
3-7
(3) Automatic refresh settings 2 (Manual setting)

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

Fundamentals)" about the setting for the PLC CPU.
• The first device can be arbitrarily set up for

every CPU. "DUMMY(*)" can be set to the
first device except the self CPU.
• The motion device (#) can be set as a first

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

1) The refresh setting of four ranges can be set by setting selection.
For example, ON/OFF data may be refreshed using bit-device setting,
while other data may be refreshed word device setting.
2) The number of points in the shared CPU memory is set in units of 2

points (2 words) is set in the send range for each CPU. (2 points if word
device is specified for the CPU-side device, or 32 points if bit device is
specified.)
Data of the CPU for which "0" is set as the number of points
representing the transmitting range of the CPU may not be refreshed.
3) The maximum number of transmitting points combining all four ranges is

2k words per CPU (PLC CPU or Motion CPU) or 8k points (8k words) for
all CPUs.
3-8
4) If "*" is set as the first device setting column A of each automatic refresh
setting, the first device for every CPU can be arbitrarily set up by the
user in the column of B.
5) "DUMMY" setting can be set to the first device column B of the

automatic refresh setting. ("DUMMY" setting cannot be set to the self
CPU.) "DUMMY" setting should set "*" as the first devise column B. The
self CPU does not execute the automatic refresh to the other CPU which
carried out "DUMMY (*)" setting.
• A white portion can be set.
6) Set the same number of transmitting points for all CPUs in the Multiple
CPU system.
If any of the CPUs has a different number of transmitting points, a
PARAMETER ERROR will be occurred.
3-9
(c) CPU-side device

The following devices can be used for automatic refresh. (Other devices
cannot be set in SW6RN-GSV P.)
Settable device Restriction
Data resister (D)
Link resister (W) None
Motion resister (#)
Link relay (B)
• Specify 0 or a multiple of 16 as the first No..
Internal relay (M)
• One transmitting point occupies 16 points.
Output (Y)
• Self CPU (CPU No.2)

Refresh setting 1
• If the device No. does not

overlap, it is right.
• The device of CPU No.4

at setting 1 is not refreshed
by the CPU No.2.
• Self CPU (CPU No.2)

Refresh setting 2
• If the device No. does not

overlap, it is right.
• The device of CPU No.4

at setting 2 is not refreshed
by the CPU No.2.
3 - 10
[Dummy setting]
Usually, the automatic refresh setting is executed between PLC CPU and Motion
CPU for the instructions to each Motion CPU and the monitor of a state by the
PLC CPU at the time of operation. However, the automatic refresh is not
necessary between each Motion CPU. In this case, because it is made not to
execute the automatic refresh setting between the Motion CPU using a dummy
setting, it is not necessary to use the user device for the automatic refresh vainly,
and a main cycle can also be shortened.
Example of the automatic refresh setting using the "Dummy setting" is as follows.
Motion CPU No.2

Read data of
CPU No.3
PLC CPU No.1 Motion CPU No.3

• This part is not
refreshed so that
a dummy setting.
Read data of
Motion CPU No.4 CPU No.3
• PLC CPU (CPU No.1) • Motion CPU (CPU No.3)

Automatic refresh setting 1 Automatic refresh setting 1
• The device of CPU No.2 and No.4 are not refreshed by the CPU No.3.
• Motion CPU (CPU No.2) • Motion CPU (CPU No.4)

Automatic refresh setting 1 Automatic refresh setting 1
• The device of CPU No.4 is not refreshed by the CPU No.2. • The device of CPU No.2 is not refreshed by the CPU No.4.
Although the example of a setting is the case of the automatic refresh setting 1,
the automatic refresh setting 2 - 4 can be also set similarly.
3 - 11
(4) The layout example of automatic refresh setting

The layout example of automatic refresh when Read/Write does a Motion
dedicated device in the Motion CPU with PLC CPU is shown below.
(a) SV13
• Overall configuration
Table of the internal relays Table of the Data registers
M0 D0
User device Axis monitor device
to (2000 points) to (20 points 32 axes)
M2000 D640
Common device Control change register
M2320 Special relay allocated device D704 Common device

(Status) (Common signal)
M2400 D758 Common device

Axis status
to (Monitor)
(20 points 32 axes) to (42 points)
M3040 D800
Unusable
to
M3072 Common device

(Command signal)
to
(64 points)
M3136 Special relay allocated device
(Command signal)
to
(64 points)
M3200
Axis command signal
to (20 points 32 axes) to
User device
M3840
(7392 points)
to
User device
(4352 points)
M8191 D8191
3 - 12
1) PLC CPU (1 module) + Motion CPU (1 module)

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

M0 Command device for M0
the Motion CPU (768 points)
M768 M2000 Monitor device
Monitor device for
the Motion CPU (1056 points) (1056 points)
M3055
M1824
M3072
Command device
(768 points)
M3839
M8191 M3840
M8191
Data registers Data registers
D0 Command device for D0 Monitor device
D118 Monitor device for D640 Command device
D758 D758
D8191 D8191
• Automatic refresh setting 1

PLC CPU (CPU No.1) Motion CPU (CPU No.2)
Send range for each CPU CPU side device Send range for each CPU CPU side device
CPU CPU share memory G Dev. starting M0 CPU CPU share memory G Dev. starting *
Point Start End Start End Point Start End Start End
No.1 48 M0 M767 No.1 48 M3072 M3839

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

CPU CPU share memory G Dev. starting D0 CPU CPU share memory G Dev. starting *
No.1 118 D0 D117 No.1 118 D640 D757

No.2 640 D118 D757 No.2 640 D0 D639
No.3 No.3
No.4 No.4
POINT
Although it has set up so that 32 axes may be assigned in the above assignment
example, reduce the number of assignment automatic refresh points a part for the
number of axes to be used.
3 - 13
2) PLC CPU (1 module) + Motion CPU (2 modules)

The outline operation and the automatic refresh setting are shown
below.

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

D0 Command device for M0
the Motion CPU No.2
(118 points)
D118 Monitor device for M2000
the Motion CPU No.2 Monitor device
(640 points) M3055 (1056 points)
D758 Command device for
(118 points)
Command device
(768 points)
D876 Monitor device for M3839
(640 points)
D1516 M8191
D8191
CPU No.2 (Motion CPU)
Data registers
D0 Monitor device
(640 points)
D640 Command device

(118 points)
D758
D8191
CPU No.3 (Motion CPU)
Data registers
D0 Monitor device
(640 points)
D640 Command device

(118 points)
D758
D8191
3 - 14

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

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

CPU CPU share memory G Dev. Starting D0 CPU CPU share memory G Dev. starting *
No.1 118 D0 D117 No.1 118 D640 D757

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

CPU CPU share memory G Dev. Starting M1824 CPU CPU share memory G Dev. starting *
No.1 48 M1824 M2591 No.1 48 * *

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

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

No.2 0 No.2 0
No.3 640 D876 D1515 No.3 640 * *
No.4 No.4
(Note) : A dummy setting is made so that an excessive device
may not be refreshed in the Motion CPU No.2.
3 - 15

Motion CPU (CPU No.3)
Send range for each CPU CPU side device
CPU CPU share memory G Dev. starting *

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


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


No.1 48 M3072 M3839

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


No.1 118 D640 D757

No.2 0
No.3 640 D0 D639
No.4
POINT
In the case of the combination "PLC CPU (1 module) + Motion CPU (3 modules)"
with SV13, make all the devices of all the CPUs refresh as mentioned above
because the setting that Read/Write is made of the PLC CPU cannot be executed.
3 - 16
(b) SV22
• Overall configuration
Table of the internal relays Table of the Data registers
M0 User device D0 Axis monitor device
M2000 Common device D640 Control change register
M2320 Special relay allocated device D704 Common device
to (Status) to (Command signal)
(64 points) (54 points)
M2400 Axis status D758 Common device
to (20 points 32 axes) to (Monitor)
M3040 (42 points)
Unusable
to D800 Virtual servomotor axis monitor
M3072 Common device to device
to (Command signal) (10 points 32 axes)
(64 points) (Mechanical system setting axis only)
M3136 Special relay allocated device D1120 Synchronous encoder axis monitor
to (Command signal) to device
(64 points) (10 points 12 axes)
M3200 Axis command signal D1240 Cam axis monitor device
to (20 points 32 axes) to (10 points 32 axes)
M3840 D1560
Unusable
to
M4000 Virtual servomotor axis status
M4640 Synchronous encoder axis status
M4688
Unusable
to
M4800 Virtual servomotor axis command to
to signal
(20 points 32 axes)
(Mechanical system setting axis only) User device
M5440 Synchronous encoder axis (6632 points)
to command signal
(4 points 12 axes)
M5488 Cam axis command signal
M5520 Soothing clutch complete signal
M5584
Unusable
to
M5600
User device)
to
(2592 points)
M8191 D8191
3 - 17
1) PLC CPU (1 module) + Motion CPU (1 module)

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

M0 Real command device for M0
M768 Real monitor device for M2000
Real monitor device
M3055
M1824 Virtual command device for
M3072
the Motion CPU (704 points) Real command device
(768 points)
M2528 M3839
Virtual monitor device for
M4000
M3232 Virtual monitor device
M4703 (704 points)
M8191 M4800
Virtual command device
(704 points)
Data registers M5504
D0 Real command device for
the Motion CPU (118 points) M8191
D118 Real monitor device for
the Motion CPU (640 points) Data registers
D758 D0 Real monitor device
Virtual monitor device for
(640 points)
D1418 D640
Real command device
D757 (118 points)
D8191
D800 Virtual monitor device
(660 points)
D1460
D8191
3 - 18

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

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

CPU CPU share memory G Dev. Starting D0 CPU CPU share memory G Dev. starting *
No.1 118 D0 D117 No.1 118 D640 D757

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

CPU CPU share memory G Dev. Starting M1824 CPU CPU share memory G Dev. starting *
No.1 44 M1824 M2527 No.1 44 M4800 M5503

No.2 44 M2528 M3231 No.2 44 M4000 M4703
No.3 No.3
No.4 No.4

No.1 0 No.1 0
No.2 660 D758 D1417 No.2 660 D800 D1459
No.3 No.3
No.4 No.4
POINT
In the case of the combination "PLC CPU (1 module) + Motion CPU (2 modules)"
with SV22, make all the devices of all the CPUs refresh as mentioned above
because the setting that Read/Write is made of the PLC CPU cannot be executed.
3 - 19
3.2 Control Instruction from the PLC CPU to The Motion CPU (Motion dedicated
instructions)
Control can be instructed from the PLC CPU to the Motion CPU using the Motion
dedicated PLC instructions listed in the table below.
Refer to Chapter "5 MOTION DEDICATED PLC INSTRUCTIONS" for the details of
each instruction.
(Control may not be instructed from the Motion CPU to another Motion CPU.)
Instruction name Description

S(P).SFCS Start request of the Motion SFC program (Program No. may be specified.)
S(P).SVST Start request of the specified servo program
S(P).CHGA Current value change request of the specified axis
S(P).CHGV Speed change request of the specified axis
S(P).CHGT Torque control value change request of the specified axis
S(P).GINT Execute request of an event task to the other CPU (Motion CPU)
By using the S(P). SFCS instruction of the Motion dedicated instruction, the Motion
SFC of the Motion CPU from the PLC CPU can be started.
<Example>
PLC CPU Motion CPU
Start request Motion SFC
S(P). SFCS instruction
POINT
One PLC CPU can execute a total of up to 32 "Motion dedicated instructions" and
"dedicated instructions excluding the S(P). GINT" simultaneously.
When Motion dedicated instructions and dedicated instructions excluding the "S(P).
GINT" are executed simultaneously, the instructions will be processed in the order
received.
If the command which has not completed processing becomes 33 or more, an
OPERATION ERROR (error code: 4107) will be occurred.
3 - 20
3.3 Reading/Writing Device Data
Device data can be written or read to/from the Motion CPU by the PLC CPU using the
dedicated instructions listed in the table below.
Refer to Chapter 5 "MOTION DEDICATED PLC INSTRUCTIONS" for the details of
each instruction.
(Data cannot be written or read to/from the PLC CPU by another PLC CPU, to/from the
PLC CPU by the Motion CPU, or to/from a Motion CPU by another Motion CPU.)
Instruction name Description

Write a device data of the self CPU (PLC CPU) to a device of the other
S(P).DDWR
CPU (Motion CPU).
Read a device data of other CPU (Motion CPU) to a device of the self
S(P).DDRD
CPU (PLC CPU).
For example, by using the S(P). DDWR dedicated instruction, the device data of the
PLC CPU can be written to the device data of the Motion CPU.
<Example>
PLC CPU Motion CPU
S(P). DDWR instruction

Write device
memory.
Read device memory
Device memory Device memory
POINT
(1) One PLC CPU can execute a total of up to 32 "Motion dedicated instructions"
and "dedicated instructions excluding the S(P). GINT" simultaneously.
When Motion dedicated instructions and dedicated instructions excluding the
S(P). GINT are executed simultaneously, the instructions will be processed in
the order received.
If the command which has not completed processing becomes 33 or more, an
OPERATION ERROR (error code: 4107) will be occurred.
(2) Data refresh via the S(P). DDRD/S(P). DDWR is not synchronized with data
refresh via the automatic refresh function of shared CPU memory.
Do not issue S(P). DDRD/S(P). DDWR instructions to the devices whose data
in shared CPU memory is being refreshed.
3 - 21
3.4 Shared CPU Memory
Shared CPU memory is used to transfer data between the CPUs in the Multiple CPU
system and has a capacity of 4096 words from 0H to FFFH.
Shared CPU memory has four areas: "self CPU operation data area", "system area",
"automatic refresh area" and "user-defined area."
When the automatic refresh function of shared CPU memory is set, the area
corresponding to the number of automatic refresh points starting from 800H is used as
the automatic refresh area.
The user-defined area begins from the address immediately next to the last address of
the automatic refresh area.
If the number of automatic refresh points is 18 (12H points), the area from 800H to
811H becomes the automatic refresh area and the area after 812H becomes the user-
defined area.
The diagram below shows the structure of shared CPU memory and accessibility from
a PLC program.
Self CPU Other CPU

(Note-1) (Note-2)
Shared CPU memory Write Read Write Read
0H
Self CPU operation
to data area Not allowed Not allowed Not allowed Allowed
1FFH
200H
to System area Not allowed Not allowed Not allowed Allowed
7FFH
800H Not allowed Not allowed Not allowed Not allowed
Automatic refresh area
to
User-defined area Allowed Not allowed Not allowed Allowed
FFFH
REMARK
(Note-1) : Use the S. TO instruction to write to the user-defined area of the self CPU
in the PLC CPU.
Use the MULTW instruction to write to the user-defined area of the self
CPU in the PLC CPU. (Refer to Section 1.3.4(4) for the conditions which
can use the MULTW instruction.)
(Note-2) : Use the FROM instruction/intelligent function module device (U \G ) to
read the shared memory of the Motion CPU from the PLC CPU.
Use the MULTR instruction to read the shared memory of other CPU in
the Motion CPU. (Refer to Section 1.3.4(4) for the conditions which can
use the MULTR instruction.)
3 - 22
(1) Self CPU operation data area (0H to 1FFH)

(a) The following data of the self CPU are stored in the Multiple CPU system,
Table 3.1 Table of Contents Stored in the Self CPU Operation Data Area
Shared
Corresponding
memory Name Description Detailed explanation (Note)
special resister
address
This area is used to check whether data is stored or not in the
Data available/not "Data available/not self CPU operation data area (1H to 1FH) of the self CPU.
0H —
available available" flag • 0: Data is not stored in the self CPU operation data area.
• 1: Data is stored in the self CPU operation data area.
The error number of an error generated during diagnosis is
1H Diagnosis error Diagnosis error number D9008
stored as a BIN code.
The year and month when the error number was stored in
2H address 1H of shared CPU memory is stored in 2-digit BCD D9010
code.
The date and hour when the error number was stored in
Diagnosis-error Diagnosis-error
occurrence time occurrence time
code.
The minutes and seconds when the error number was stored in
code.
Category codes indicating the nature of the stored common
5H Error-data category code Error-data category code D9013
error data and individual error data are stored.
Common data corresponding to the error number of an error
6H Error data Error data D9014
generated during diagnosis is stored.
7H to 1CH Not used — Not used —
1DH Switch status CPU switch status The switch status of the CPU is stored. D9200
1EH LED status CPU-LED status The bit pattern of the CPU LED is stored D9201
1FH CPU operation status CPU operation status The operation status of the CPU is stored. D9015
(Note) : Refer to the applicable special register for details.
(b) The self CPU operation data area is refreshed every time the applicable
register has been changed.
However, the refresh timing may be delayed by up to the main cycle time.
(It updates using idle time during motion control. The maximum main cycle
time: several milliseconds to several hundred milliseconds).
(c) The data of the self CPU operation data area can be read from the PLC
CPU of the other CPU by the FROM instruction.
However, since there is a delay in data update, use the data that has been
read as an object for monitoring only.
(d) Self CPU operation data area used by Motion dedicated PLC instruction
(30H to 33H)
The complete status of the to self CPU high speed interrupt accept flag from
CPUn is stored in the following address.
Table 3.2 Self CPU Operation Data Area used by the Motion Dedicated PLC Instruction
Shared
memory Name Description
address
30H(48) To self CPU high speed interrupt accept flag from CPU1 This area is used to check whether to self CPU high speed interrupt accept flag
31H(49) To self CPU high speed interrupt accept flag from CPU2 from CPUn can be accepted or not.
32H(50) To self CPU high speed interrupt accept flag from CPU3 0: To self CPU high speed interrupt accept flag from CPUn accept usable.
33H(51) To self CPU high speed interrupt accept flag from CPU4 1: To self CPU high speed interrupt accept flag from CPUn accept disable.
3 - 23
(2) System area (204H to 20DH)

This area is used by the operating systems (OS) of the PLC CPU/Motion CPU.
OS uses this area when executing dedicated Multiple CPU communication
instructions.
• System area used by Motion dedicated PLC instruction (204H to 20DH)
The complete status is stored in the following.
Table 3.3 Table of System Area used by the Motion Dedicated PLC Instruction
Shared
address
The start accept flag is stored by the 1 to 32 axis, each bit.
(As for a bit's actually being set Q173CPU(N) : J1 to J32/
204H(516) Start accept flag (Axis1 to 16) Q172CPU(N) : J1 to J8.)
OFF : Start accept flag usable
ON : Start accept flag disable
b15 b1 b0
204H(516) address J16 J2 J1

205H(517) Start accept flag (Axis17 to 32)
205H(517) address J32 J17
The speed changing flag is stored by the 1 to 32 axis, each bit.

206H(518) Speed changing flag (Axis1 to 16) Q172CPU(N) : J1 to J8.)
OFF : Start accept usable
ON : Start accept disable
b15 b1 b0

207H(519) Speed changing flag (Axis17 to 32)
The synchronous encoder current value change flag is stored

by the 1 to 16 axis, each bit.
(As for a bit's actually being set Q173CPU(N) : E1 to E12/
Q172CPU(N) : E1 to E8.)
Synchronous encoder current value
208H(520) (Note-1) OFF : Start accept usable
changing flag (Axis1 to 12)
b15 b1 b0
208H(520) address E16 E2 E1
The cam shaft within-one-revolution current value changing

flag is stored by the 1 to 32 axis, each bit.
Cam shaft within-one-revolution current
20CH(524) (Note-1)
(As for a bit's actually being set Q173CPU(N) : C1 to C32/
value changing flag (Axis1 to 16) Q172CPU(N) : C1 to C8.)
b15 b1 b0
Cam shaft within-one-revolution current
20DH(525) 20CH(524) address C16 C2 C1
(Note-1)
value changing flag (Axis17 to 32)
20DH(525) address C32 C17
(Note-1) : Usable in SV22.
3 - 24
(3) Automatic refresh area

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

This area is used for the communication among each CPU in the Multiple CPU
system using FROM/S. TO instructions and the intelligent function module
devices of the PLC CPU. (Among each CPU communicates using MULTR
instruction or MULTW instruction of the operating control program in the Motion
CPU.)
Refer to the Section 7.13.6 to 7.13.7, for MULTR instruction or MULTW
instruction.
After point set in the automatic refresh area is used.
(If the automatic refresh function is not executed, the area from 800H to FFFH
can be used as a user-defined area.)
3 - 25
MEMO
3 - 26
4 STRUCTURE OF THE MOTION CPU PROGRAM
4. STRUCTURE OF THE MOTION CPU PROGRAM
Motion CPU programs is created in the Motion SFC of flowchart format. The motion
control of servomotors is performed using the real-mode servo programs specified by
motion-control steps in a Motion SFC program in SV13/SV22 real mode. Virtual
servomotors in a mechanical system program are controlled using the virtual mode
servo programs specified by motion-control steps so as to enable synchronous control
in SV22 virtual mode. Refer to the documents below for the details of Motion SFC
programs, motion control in real mode, and motion control in virtual mode.
Item Reference manual

Motion SFC program Section 6 in this manual
Motion control in SV13/SV22 real mode Q173CPU(N)/Q172CPU(N) Motion controller
(Servo program) (SV13/SV22) Programming Manual (REAL MODE)
Motion control in SV22 virtual mode Q173CPU(N)/Q172CPU(N) Motion controller (SV22) 4
(Mechanical system program) Programming Manual (VIRTUAL MODE)
4-1
4.1 Motion Control in SV13/SV22 Real Mode
(1) System with servomotor is controlled directly using the servo program in
(SV13/SV22) real mode.
(2) Setting of the positioning parameter and creation of the servo program/ Motion
SFC program are required.
(3) The procedure of positioning control is shown below:
1) Motion SFC program is requested to start using the S(P).SFCS
instruction of the PLC program.
(Motion SFC program can also be started automatically by parameter
setting.)
2) Execute the positioning control using the specified the Motion SFC
program. (Output to the servo amplifier)
3) The servomotor is controlled.
Program structure in SV13/SV22 real mode
<PLC CPU> <Motion CPU>
PLC program Motion SFC program

1)
Transfer
SP.SFCS •••• K0 •••• ••••
[G100]
M2049//servo ON received? 2)
Start request Specification of starting Servo amplifier
instruction of program No. Servo program
the Motion [K10: real]
SFC program 1 INC-2
Axis 1, 10000 PLS
Axis 2, 20000 PLS 3) Servomotor
: The Motion SFC program can also be started automatically
Combined speed 30000 PLS/s
by parameter setting.
END
Positioning control parameters
System settings
Fixed parameters
Servo parameters
Parameter blocks
Home position return data
JOG operation data
Limit switch output data
4-2
4.2 Motion Control in SV22 Virtual Mode
(1) Software-based synchronous control is performed using the mechanical system

program constructed by virtual main shaft and mechanical module in (SV22)
virtual mode.
(2) Mechanical system programs is required in addition to the positioning parameter,
servo program/Motion SFC program used in real mode.
(3) The procedure of positioning control in virtual model is shown below:
1) Motion SFC program for virtual mode is requested to start using the
S(P).SFCS instruction of the PLC program.
(Motion SFC program can also be started automatically by parameter
setting.)
2) The virtual servomotor in the mechanical system program is started.
3) Output the operation result obtained through the transmission module to

the servo amplifier set as the output module.
4) The servomotor is controlled.
Program structure in SV22 virtual mode
<PLC CPU> <Motion CPU>
PLC program Mechanical system program

Motion SFC program
1) Drive module
Transfer (Virtual servomotor)
SP.SFCS •••• K0 •••• ••••
Transmission module
[G200]
Start request Specification of starting M2044//on virtual mode?
instruction of program No. 2)
the Motion Servo program
SFC program
[K100: virtual]
1 VF (Axis 1)
Axis 1,
(Note-1) : The Motion SFC program can also be started
Combined D 0 PLS/s
automatically by parameter setting.
END
Output module
Positioning control parameters
System settings
Fixed parameters
Servo parameters
Parameter blocks
Limit switch output data
• Home position return data is not used, since home position return cannot be performed in virtual mode. 3) 3)
(Home position return is executed in real mode.)
• JOG operation in virtual mode is controlled using the JOG operation data set by drive module parameters. Servo amplifier Servo amplifier
4) 4)
Servomotor Servomotor
4-3
MEMO
4-4
5 MOTION DEDICATED PLC INSTRUCTION
5. MOTION DEDICATED PLC INSTRUCTION
5.1 Motion Dedicated PLC Instruction
(1) The Motion dedicated PLC instruction which can be executed toward the Motion
CPU which installed a SV13/SV22 operating system software for the Motion SFC
is shown below.
Instruction Description
S(P).SFCS Start request of the Motion SFC program(Program No. may be specified.)
S(P).SVST Start request of the specified servo program
S(P).CHGA Current value change request of the specified axis
S(P).CHGV Speed change request of the specified axis
S(P).CHGT Torque control value change request of the specified axis
S(P).DDWR Write from the PLC CPU to the Motion CPU
S(P).DDRD Reads from the devices of the Motion CPU
S(P).GINT Execute request of an event task of Motion SFC program
(Note) : As for the details of each instruction, it explains after the next section.
5
5.1.1 Restriction item of the Motion dedicated PLC instruction
(1) To self CPU high speed interrupt accept flag from CPUn.
Common precautions of the Motion dedicated PLC instruction as shown below.
(a) To self CPU high speed interrupt accept flag from CPUn is shown in the
following table.
To self CPU high speed interrupt accept flag from CPUn is "No operation"
even if the instruction is executed when it is cannot be accepted.
When the Motion dedicated PLC instruction is accepted in the Motion CPU,
to self CPU high speed interrupt accept flag from CPUn of the self CPU
(Motion CPU) shared CPU memory cannot be accepted and
processing toward the instruction for requirement.
When processing is completed and it becomes the condition that it has an
instruction accepted, to self CPU high speed interrupt accept flag from
CPUn can be accepted.
5-1
Shared CPU
memory address Example of the reading
Description
( ) is decimal (When target is the CPU No.2)
address
The lowest rank bit (30H(48)) toward executing instruction
30H(48) U3E1/G48.0
from CPU No.1.
31H(49) U3E1/G49.0
from CPU No.2.
32H(50) U3E1/G50.0
from CPU No.3.
33H(51) U3E1/G51.0
from CPU No.4.
(b) "To self CPU high speed interrupt accept flag from CPUn" turn ON/OFF at
the executing instruction, when the Multiple CPU dedicated instructions are
executed to the same CPU from one PLC CPU.
Therefore, when each instruction is executed only once at approval the
executing condition, it is necessary to take an interlock by internal relay
(M10) and so on besides "To self CPU high speed interrupt accept flag from
CPUn".
(2) Execution of the Motion dedicated PLC instruction

(a) Motion dedicated PLC instruction can be executed with fixed cycle execute
type PLC and interrupt PLC. However, as for a complete device, the
program turned on according to fixed cycle executed type PLC and program
type (scan or low speed) executed interrupt PLC is different.
(b) One Motion CPU can be accepted max.32 instructions simultaneously from
multiple other CPUs. (Except S(P).GINT instruction.) If 33 instructions or
more are executed Motion CPU returns the complete status[4C08] error.
As Motion CPU can be accepted up to 32 instructions, number of
acceptable instructions changes according to number of CPUs included
Motion CPU. Calculation expression is shown below.
(Number of maximum acceptable instructions per one Motion CPU) =

32 – ( (Number of all CPUs) – 2 ) [Number of instructions]
(c) Local devices and file registers as program are written to device by END
processing. Do not use the devices below.
Each instruction complete device
D1 of S(P).DDRD instruction (The first device of the self CPU which
stored the reading data.)
5-2
(d) Use a flag in the shared CPU memory which correspond with each
instruction not to execute multiple instructions to the same shaft of the
Motion CPU of same CPU No. for the inter-lock condition.
(Program example 1)
(e) S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGVS(P).CHGT/S(P).DDWR/
S(P).DDRD instructions cannot be executed simultaneously. Therefore, it is
necessary to take an interlock by to self CPU high speed interrupt accept
flag from CPUn.
One PLC CPU can be executed max.32 Motion dedicated PLC instructions
simultaneously using to self CPU high speed interrupt accept flag from
CPUn. (Except S(P).GINT instruction.)
If 33 instructions or more are executed, the PLC CPU returns the
OPERATION ERROR [4107].
(f) When multiple Motion dedicated PLC instructions are directly executed
because one contact-point turns on, an instruction may not be executed.
In this case, create a program with reference to program example.
(Program example 2)
(g) When the Motion dedicated function of the operation control step (Fn/FSn)
and Motion control program (Kn) in Motion CPU. Since there is no flag which
can be distinguished on instruction execution in the PLC CPU, it is
necessary to taken an interlock by user program.
(Program example 3)
<Program example 1>

Program which executes multiple instructions to the same shaft of the Motion CPU of
same CPU No..
To self CPU high Start accept Start accept
speed interrupt flag of the Axis 1 flag of the Axis 2
accept flag from (CPU No.2) (CPU No.2)
CPU1 U3E1\G516.0 U3E1\G516.1
M0 U3E1\G48.0
K0
RST M0
K0 SP.SVST H3E1 "J1J2" K100 M10 D0

To self CPU high Start accept
speed interrupt flag of the Axis 1
accept flag from (CPU No.2)
CPU No.1 U3E1\G516.0
M2 U3E1\G48.0
SP.CHGA H3E1 "J1" K0 M3 D2
To self CPU high
speed interrupt
accept flag from RST M2
CPU No.1
M6 U3E1\G48.0
SP.CHGT H3E1 "J2" K250 M7 D6
RST M6
5-3
<Program example 2>
Program which executes directly multiple Motion dedicated PLC instructions because
one contact-point turns on.
M1001
SET M21
SET M23
SET M25
SET M27
RST M1001
To self CPU high
speed interrupt Start accept
accept flag from flag of the Axis 1
CPU1 (CPU No.2)
M21 U3E1\G48.0 U3E1\G516.0
SP.SVST H3E1 "J1" K104 M30 D20
To self CPU high RST M21

CPU1 (CPU No.2)
M23 U3E1\G48.0 U3E1\G516.1
RST M23
To self CPU high
Start accept
speed interrupt
flag of the Axis 4
accept flag from
(CPU No.2)
CPU1
U3E1\G516.3
M25 U3E1\G48.0
RST M25
To self CPU high
CPU1 (CPU No.2)
M27 U3E1\G48.0 U3E1\G516.4
RST M27
5-4
<Program example 3>

Program which executes the Motion dedicated function of the operation control step
(Fn/FSn) and the motion control program (Kn).
PLC CPU side

To self CPU high
speed interrupt
accept flag from
CPU1
M30 U3E1\G48.0 M31
MOV K1 D301
(Note)
SP.DDRD H3E1 D300 K4M0 K4M400 M31
SET M32
M32 M31
RST M30
SET M34
To self CPU high

speed interrupt RST M32
accept flag from Start accept
CPU1 flag of the Axis 2
U3E1\G48.0 (CPU No.2)
U3E1\G516.1
M34 M401
Interlock condition on axis starting.

RST M34
(Note) : 4 points worth of the data from "M0" of the CPU No.2 are stored after M400
by S(P).DDRD instruction.
Motion CPU side
Start program
[F200]
SET M1//Axis 1 positioning start
[K104: Real]
1 INC-1
Axis 1, 10000000 PLS
Speed 1000000 PLS/s
[F201]
RST M1 //Axis 1 positioning end
Completion
POINT
Access from the PLC CPU is processed before the communication processing of
the Motion CPU. Therefore, if the Motion dedicated PLC instruction is frequently
performed from the PLC CPU, the scan time of the PLC CPU is not only prolonged,
but delay will arise in the communication processing of the Motion CPU.
Perform execution of the Motion dedicated PLC instruction from the PLC CPU by
S(P).DDWR/S(P).DDRD/S(P).CHGV instruction etc. only at the time of necessity.
5-5
(3) Complete status

The error code is stored in the complete status at abnormal completion of the
Multiple CPU dedicated instruction. The error code which is stored is shown
below. (The error code marked " * " is dedicated with the Motion CPU.)
Complete status Corrective
Error factor
(Error code)(H) action
0 Normal completion
The specified device cannot be used in the Motion CPU. Or, it is outside the
4C00 *
device range.
The instruction for the Multiple CPU system which did not be correspond with
4C01 *
operating system software of the Motion CPU was executed.
4C02 * The Motion SFC program No. to start is outside the range 0 to 255.
4C03 * The servo program No. to execute is outside the range 0 to 4095.
4C04 * Axis No. set by SVST instruction is injustice.
4C05 * Axis No. set by CHGA instruction is injustice.
4C06 * Axis No. set by CHGV instruction is injustice.
4C07 * Axis No. set by CHGT instruction is injustice.
• When using the S(P).SFCS/S(P).SVST/S(P).CHGA instruction.
There are 33 or more instruction requests to the Motion CPU from the PLC
CPU in S(P).SFCS/S(P). SVST/S(P).CHGA/S(P).GINT sum table Confirm a
simultaneously, and the Motion CPU cannot process them. program, and
4C08 *
• When using the S(P).DDRD/S(P).DDWR instruction. correct it to a
There are 33 or more instruction requests to the Motion CPU from the PLC correct PLC
CPU in S(P).DDRD/S(P).DDWR sum table simultaneously, and the Motion program.
CPU cannot process them.
4C09 * CPU No. of the instruction cause is injustice.
Data error
4C0A *
(The instruction which cannot be decoded in the Motion CPU was specified.)
4C80
4C81
H/W error of the target CPU
4C83
4C84
Number over of execute instructions of the target CPU.
There are 33 or more instruction requests to the Motion CPU from the PLC
4C90 CPU in S(P).SFCS, S(P).SVST, S(P).CHGA, S(P).SHGV, S(P).CHGT,
S(P).DDRD and S(P).DDWD sum table simultaneously, and the Motion CPU
cannot process them.
5-6
(4) Self CPU operation data area used by Motion dedicated instruction (30H to 33H)
The complete status of the to self CPU high speed interrupt accept flag from
CPUn is stored in the following address.
Shared
CPU
Name Description
memory
address
To self CPU high speed interrupt
30H(48)
accept flag from CPU1
To self CPU high speed interrupt This area is used to check whether to self CPU high speed interrupt accept
31H(49)
accept flag from CPU2 flag from CPUn can be accepted or not.
To self CPU high speed interrupt 0: To self CPU high speed interrupt accept flag from CPUn accept usable.
32H(50)
accept flag from CPU3 1: To self CPU high speed interrupt accept flag from CPUn accept disable.
33H(51)
accept flag from CPU4
5-7
(5) System area used by Motion dedicated instruction (204H to 20DH)

The complete status of the each flag is stored in the following address.
Shared CPU
address
204H(516) Start accept flag (Axis1 to 16)
Q172CPU(N) : J1 to J8.)
b15 b1 b0
205H(517) Start accept flag (Axis17 to 32) 204H(516) address J16 J2 J1
The speed changing flag is stored by the 1 to 32 axis, each bit.

206H(518) Speed changing flag (Axis1 to 16)
Q172CPU(N) : J1 to J8.)
b15 b1 b0
207H(519) Speed changing flag (Axis17 to 32) 206H(518) address J16 J2 J1
The synchronous encoder current value change flag is stored by

the 1 to 16 axis, each bit.
Synchronous encoder current value Q172CPU(N) : E1 to E8.)
208H(520) (Note-1) OFF : Start accept usable
changing flag (Axis1 to 12)
b15 b1 b0
The cam axis within-one-revolution current value changing flag is

stored by the 1 to 32 axis, each bit.
Cam axis within-one-revolution current
20CH(524) (Note-1) (As for a bit's actually being set Q173CPU(N) : C1 to C32/
value changing flag (Axis1 to 16)
Q172CPU(N) : C1 to C8.)
Cam axis within-one-revolution current b15 b1 b0
20DH(525) value changing flag (Axis17 to 32) 20CH(524) address C16 C2 C1
(Note-1)
(Note-1) :It can be used in SV22.
5-8
5.2 Motion SFC Start Request from The PLC CPU to The Motion CPU:
S(P).SFCS (PLC instruction: S(P).SFCS )
• Motion SFC start request instruction from the PLC CPU to the Motion CPU
(S(P).SFCS)
Usable devices
Setting data
Internal devices MELSECNET/10 Special

Bit Indirectly Index
(Note)
(System, User) File direct J \ function Constant

digit specified register Other
register module K, H
Bit Word specified device Bit Word Z
U \G
(n1)
(n2)
(D1)
(D2)
: Usable : Usable partly
(Note) : Setting data (n1) to (D2) : Index qualification possible
[Instruction] [Condition] Start request

SP.SFCS (n1) (n2) (D1) (D2)
SP.SFCS
Start request
S.SFCS S.SFCS (n1) (n2) (D1) (D2)
[Setting data]
Setting data Description Data type
(First I/O No. of the target CPU)/16
(Note-1) 16-bit
(n1) Value to specify actually is the following.
binary
CPU No.2 : 3E1H, CPU No.3 : 3E2H, CPU No.4 : 3E3H
16-bit
(n2) Motion SFC program No. to start.
binary
Complete devices
(D1+0) : Device which make turn on for one scan at start accept completion of
instruction.
(D1) Bit
(D1+1) : Device which make turn on for one scan at start accept abnormal
completion of instruction.
("D1+0" also turns on at the abnormal completion.)
16-bit
(D2) Device to store the complete status.
binary
(Note-1) : Motion CPU cannot used CPU No.1 in the Multiple CPU configuration.
(1) This instruction is dedicated instruction toward the Motion CPU in the Multiple
CPU system. Errors occurs when it was executed toward the CPU except the
Motion CPU.
5-9
(2) Request to start the Motion SFC program of the program No. specified with (n2).
The Motion SFC program can start any task setting of the normal task, event task
and NMI task.
(3) This instruction is always effective regardless of the state of real mode/virtual
mode/mode switching when the operating system software of Motion CPU is
SV22.
(4) S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGV/S(P).CHGT/S(P).DDRD/
S(P).DDWR cannot be executed simultaneously toward the CPU executing
S(P).SFCS instruction.
When the Motion dedicated PLC instruction is started continuously, it is necessary
to execute the next instruction after the complete device of executing instruction
turns on.
[Operation of the self CPU at execution of S(P).SFCS instruction]
PLC program END END END END t
S(P).SFCS execution
ON
S(P).SFCS instruction OFF

ON
accept flag from CPUn OFF
Motion SFC program Motion SFC execution
ON
Instruction start OFF
accept complete device
(D1+0)
ON : Abnormal completion only
State display device (D1+1)
at the instruction start OFF
accept completion
Instruction accept 1 scan
completion at the
Motion CPU side
5 - 10
[Errors]
The abnormal completion in the case shown below, and the error code is stored in the
device specified with the complete status storing device (D2).
Complete status (Note) Corrective
Error factor
(Error code)(H) action
The specified device cannot be used in the Motion CPU. Or,
4C00
it is outside the device range.
The instruction for the Multiple CPU system which did not be
4C01 correspond with operating system software of the Motion
Confirm a
CPU was executed.
program, and
The Motion SFC program No. to start is outside the range 0
4C02 correct it to a
to 255.
correct PLC
There are 33 or more instruction requests to the Motion CPU
program.
from the PLC CPU in S(P).SFCS/S(P).SVST/S(P).CHGA/
4C08
S(P).GINT sum table simultaneously, and the Motion CPU
cannot process them.
4C09 CPU No. of the instruction cause is injustice.
(Note) : 0000H (Normal)
The error flag (SM0) is turned on an operation error in the case shown below, and an
error code is stored in SD0.
(Note) Corrective
Error code Error factor
action
The CPU No. to be set by "(First I/O No. of the target
2110
CPU)/16" is specified.
The self CPU by "(First I/O No. of the target CPU)/16" is
2114
specified. Confirm a
The CPU except the Motion CPU by "(First I/O No. of the program, and
2117
target CPU)/16" is specified. correct it to a
4002 Specified instruction is wrong. correct PLC
The instruction is composed of devices except usable program.
4004
devices.
Since 0 to 3DFH, 3E4H is specified by "(First I/O No. of the
4100
target CPU)/16" is specified.
[Program example]
This program starts the Motion SFC program No.10 of the Motion CPU No.4.
X0
SP.SFCS H3E3 K10 M0 D0
M0 M1
Normal complete program
M1
Abnormal complete program
5 - 11
5.3 Servo Program Start Request from The PLC CPU to The Motion CPU:
S(P).SVST (PLC instruction: S(P).SVST )
Refer to Section "1.3.4" for the applicable version of the Motion CPU and the software.
• Servo program start request instruction from the PLC CPU to the Motion CPU
(S(P).SVST)
Usable devices
Setting data

(Note)

U \G
(n1)
(S1)
(S2)
(D1)
(D2)
(Note) : Setting data except (S1) : Index qualification possible

SP.SVST (n1) (S1) (S2) (D1) (D2)
SP.SVST
Start request
S.SVST S.SVST (n1) (S1) (S2) (D1) (D2)
[Setting data]
(Note-1) 16-bit
binary
(Note-2)
Axis No.("Jn") to start. Character
(S1)
Q173CPU(N) : J1 to J32/Q172CPU(N) : J1 to J8 sequence
16-bit
(S2) Servo program No. to start.
binary
Complete devices
instruction.
(D1) Bit
16-bit
binary
(Note-2) : "n" shows the numerical value correspond to axis No..
Q173CPU(N) : Axis No.1 to No.32 (n=1 to 32) / Q172CPU(N) : Axis No.1 to No.8 (n=1 to 8)
5 - 12
[Controls]
Motion CPU.
(2) Request to start the servo program specified with (S2).
SV22.
S(P).SFCS instruction.
When the Motion dedicated PLC instruction is started continuously, It is necessary
to take an inter-lock by the to self CPU high speed interrupt accept flag from
CPUn.
(5) When the servo program is executed also at the motion control step (Kn) in the
Motion CPU, it is necessary to take an inter-lock by user program, because there
is no flag which can distinguish the axis starting in the PLC CPU.
Start accept flag (M2001 to M2032) of the motion devices or positioning start
completion flag (M2400+20n) is used as the inter-lock condition.
(6) It is necessary to take an inter-lock by the start accept flag of the shared CPU
memory so that multiple instructions may not be executed toward the same axis of
the same Motion CPU No..
[Operation]
S(P).SVST execution
ON
S(P).SVST instruction OFF

ON
ON
Start accept flag (axis) OFF
Servo program Servo program execution
ON
(D1+0)
accept completion
completion at the
Motion CPU side
(1) The start accept status of each axis can be confirmed with the start accept flag in
the shared CPU memory of target CPU.
5 - 13
(2) S(P).SVST instruction accepting and normal/abnormal completion can be

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

It is turned on/off according to the status of the instruction completion.
Normal completion : OFF
Abnormal completion : It is turned on by the END processing of scan
which the instruction completed, and turned off by
the next END processing.
[Setting range]
(1) Setting of the starting axis
The starting axis set as (S1) sets J + Axis No. in a character sequence " ".
(S1) usable range

Q173CPU(N) 1 to 32
Q172CPU(N) 1 to 8
Up to 8 axes can be set. If multiple axes are set, it sets without dividing in a
space etc,.
The axis No. set in the system setting (Refer to Section 1.5) is used as the axis
No. to start.
And, the axis No. to start does not need to be a order.
Example) When multiple axes (Axis1, Axis2, Axis10, Axis11) are set.
"J1J2J10J11"
(2) Setting of the servo program No.
(S2) usable range

0 to 4095
5 - 14
[Start accept flag (System area)]

The complete status of the start accept flag is stored in the address of the start accept
flag in the shared CPU memory.
Shared CPU memory

address Description
( ) is decimal address
Q172CPU(N) : J1 to J8.)
204H(516)
205H(517) b15 b1 b0
[Errors]
Complete status (Note)

Error factor Corrective action
(Error code)(H)
The specified device cannot be used in the Motion
4C00
CPU. Or, it is outside the device range.
The instruction for the Multiple CPU system which did
4C01 not be correspond with operating system software of
the Motion CPU was executed.
The servo program No. to execute is outside the range Confirm a program,
4C03
0 to 4095. and correct it to a
4C04 Axis No. set by SVST instruction is injustice. correct PLC
There are 33 or more instruction requests to the program.
Motion CPU from the PLC CPU in S(P).SFCS/
4C08 S(P).SVST/S(P).CHGA/S(P).GINT sum table
simultaneously, and the Motion CPU cannot process
them.
5 - 15
(Note)
Error code Error factor Corrective action

2110
The self CPU is by "(First I/O No. of the target

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

4100
of the target CPU)/16" is specified.
[Program example]
Program which requests to start the servo program No.10 toward axis No.1 and No.2 of
the Motion CPU No.4. from the PLC CPU No.1.
To self CPU Start accept flag Start accept flag

high speed of the axis No.1 of the axis No.2
interrupt accept (CPU No.4) (CPU No.4)
flag from CPU U3E3 U3E3
U3E3 \G516.0 \G516.1
\G48.0
M100
SP.SVST H3E3 "J1J2" K10 M0 D0
RST M100
M0 M1
M1
5 - 16
5.4 Current Value Change Instruction from The PLC CPU to The Motion CPU:
S(P).CHGA (PLC instruction: S(P).CHGA )
• Current value change instruction from the PLC CPU to the Motion CPU (S(P).CHGA)
Usable devices
Setting data

(Note)

Bit Word specified device Bit Word U \G Z
(n1)
(S1)
(S2)
(D1)
(D2)

SP.CHGA (n1) (S1) (S2) (D1) (D2)
SP.CHGA
Start request
S.CHGA S.CHGA (n1) (S1) (S2) (D1) (D2)
[Setting data]
(Note-1) 16-bit
binary
(Note-2)
Axis No. ("Jn") to execute the current value change.
Q173CPU(N) : J1 to J32/Q172CPU(N) : J1 to J8
Synchronous encoder axis No. ("En") to execute the current value change. Character
(S1)
Q173CPU(N) : E1 to E12/Q172CPU(N) : E1 to E8 sequence
Cam axis No. ("Cn") to execute the within-one-revolution current value change.
Q173CPU(N) : C1 to C32/Q172CPU(N) : C1 to C8
32-bit
(S2) Setting of the current value to change.
binary
Complete devices
instruction.
(D1) Bit
16-bit
binary
(Note-2) : "n" shows the numerical value which correspond to axis No..
5 - 17
When an axis No."Jn" was specified with (S1)
[Controls]
Motion CPU.
(2) The current value change of axis (stopped axis) No. specified with (S1) is changed
into the current value specified (S2).
SV22.
S(P).CHGA instruction.
CPUn.
Start accept flag (M2001 to M2032) of the motion devices is used as the inter-lock
condition in the Motion CPU.
(6) It is necessary to take an inter-lock by the start accept flag of the shared CPU
(7) The current change value is also possible when the servo program which execute
the CHGA instruction toward an axis is executed in the S(P).SVST instruction.
5 - 18
[Operation]
S(P).CHGA execution
ON
S(P).CHGA instruction OFF

ON
ON
Start accept flag (axis) OFF
Current value change Current value change
ON
(D1+0)
accept completion
completion at the
Motion CPU side
(1) The start accept status of each axis can be confirmed with the start accept flag in
the shared CPU memory of target CPU.
(2) S(P).CHGA instruction accepting and normal/abnormal completion can be

completion.
(a) Complete device

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

Q173CPU(N) 1 to 32
Q172CPU(N) 1 to 8
The number of axes which can set are only 1 axis.

No. to start.
5 - 19
(2) Setting of the current value to change.
(S2) usable range

-2147483648 to 2147483647
[Start accept flag (System area)]

Shared CPU memory

address Description
Q172CPU(N) : J1 to J8.)
204H(516)
205H(517) b15 b1 b0
[Errors]

(Error code)(H)
4C00
the Motion CPU was executed. Confirm a program,
4C05 Axis No. set by CHGA instruction is injustice. and correct it to a
There are 33 or more instruction requests to the correct PLC
Motion CPU from the PLC CPU in S(P).SFCS/ program.
them.
5 - 20
(Note)

2110
The self CPU by "(First I/O No. of the target CPU)/16"

2114
is specified.
Confirm a program,
2117
program.
The instruction is composed of devices except usable
4004
devices.
Since 0 to 3DFH, 3E4H by "(First I/O No. of the target

4100
[Program example]
Program which changes the current value of the axis No.1 of the Motion CPU
(CPU No.4) from PLC CPU (CPU No.1) to 10.
To self CPU Start accept flag

high speed of the axis No.1
interrupt accept (CPU No.4)
flag from CPU U3E3
U3E3 \G516.0
\G48.0
M100
SP.CHGA H3E3 "J1" K10 M0 D0
RST M100
M0 M1
M1
5 - 21
When an axis No."En" was specified with (S1)
[Controls]
(1) This instruction is dedicated instruction toward the Motion CPU at the Multiple
Motion CPU.
(2) The synchronous encoder axis current value specified with (S1) is changed into
the current value specified (S2) at the virtual mode.
SV22.
CPUn.
Synchronous encoder current value changing flag (M2101 to M2112) of the
motion devices is used as the inter-lock condition in the Motion CPU.
(6) It is necessary to take an inter-lock by the current value changing flag of the
shared CPU memory so that multiple instructions may not be executed toward the
same synchronous encoder axis of the same Motion CPU No..
the CHGA instruction toward the synchronous encoder axis is executed in the
S(P).SVST instruction.
5 - 22
[Operation]
S(P).CHGA execution
ON

ON
ON
Start accept flag OFF

(encoder axis)
ON
(D1+0)
accept completion
completion at the
Motion CPU side
(1) The current value status of the synchronous encoder axis can be confirmed with
the current value changing in the shared CPU memory of target CPU.

completion.
(a) Complete device

[Setting range]
(1) Setting of the synchronous encoder axis to execute the current value change.
The synchronous encoder axis to execute the current value change set as (S1)
sets E + synchronous encoder axis No. in a character sequence " ".
(S1) usable range

Q173CPU(N) 1 to 12
Q172CPU(N) 1 to 8

No. to start.
5 - 23
(S2) usable range

-2147483648 to 2147483647
[Synchronous encoder current value changing flag (System area)]

The complete status of the synchronous encoder current value changing flag is stored
in the address of the synchronous encoder current value changing flag in the shared
CPU memory.
Shared CPU memory

address Description
The synchronous encoder current value changing flag is stored by the 1 to
16 axis, each bit.
Q172CPU(N) : E1 to E8.)
208H(520) OFF : Start accept usable
b15 b1 b0
[Errors]

(Error code)(H)
4C00
them.
5 - 24
(Note)

2110

2114
is specified.
Confirm a program,
2117
program.
4004
devices.

4100
[Program example]
To self CPU Current value changing

high speed flag of the axis No.1
flag from CPU U3E3
U3E3 \G516.0
\G48.0
M100
SP.CHGA H3E3 "E1" K10 M0 D0
RST M100
M0 M1
M1
5 - 25
When an axis No."Cn" was specified with (S1)
[Controls]
Motion CPU.
(2) The cam axis within-one-revolution current value specified with (S1) is changed
into the current value specified (S2) at the virtual mode.
SV22.
CPUn.
(6) It is necessary to take an inter-lock by the cam axis within-one-revolution current

value changing flag of the shared CPU memory so that multiple instructions may
not be executed toward the same cam axis of the same Motion CPU No..
the CHGA instruction toward the cam axis is executed in the S(P).SVST
instruction.
[Operation]
S(P).CHGA execution
ON

ON
ON
Start accept flag OFF

(Cam axis)
ON
(D1+0)
accept completion
completion at the
Motion CPU side
5 - 26
(1) The current value status of the cam axis within-one-revolution current value
change can be confirmed with the cam axis within-one-revolution current value
changing flag in the shared CPU memory of target CPU.

completion.
(a) Complete device

[Setting range]
(1) Setting the cam axis which execute the within-one-revolution current value
change.
The cam axis to execute the within-one-revolution current value change set as
(S1) sets C + cam axis No. in a character sequence " ".
(S1) usable range

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

No. to start.
5 - 27
(S2) usable range

-2147483648 to 2147483647
[Cam axis within-one-revolution current value changing flag (System area)]

The complete status of the cam axis within-one-revolution current value changing flag
is stored in the address of the cam axis within-one-revolution current value changing
Shared CPU
memory address
Description
( ) is decimal
address
The cam axis within-one-revolution current value changing flag is stored by the
1 to 32 axis, each bit.
(As for a bit's actually being set Q173CPU(N) : C1 to C32/
Q172CPU(N) : C1 to C8.)
20CH(524) OFF : Start accept usable
20DH(525) ON : Start accept disable
b15 b1 b0
20CH(524) address C16 C2 C1
[Errors]

(Error code)(H)
4C00
them.
5 - 28
(Note)

2110

2114
is specified.
Confirm a program,
2117
program.
4004
devices.

4100
[Program example]
To self CPU Cam axis within-one-revolution

high speed current value changing flag of the axis
interrupt accept No.1 (CPU No.4)
flag from CPU U3E3
U3E3 \G524.0
\G48.0
M100
SP.CHGA H3E3 "C1" K10 M0 D0
RST M100
M0 M1
M1
5 - 29
5.5 Speed Change Instruction from The PLC CPU to The Motion CPU:
S(P).CHGV (PLC instruction: S(P).CHGV )
• Speed change instruction (S(P).CHGV)
Usable devices
Setting data

(Note)

U \G
(n1)
(S1)
(S2)
(D1)
(D2)
(Note) :Setting data except (S1) : Index qualification possible

SP.CHGV (n1) (S1) (S2) (D1) (D2)
SP.CHGV
Start request
S.CHGV S.CHGV (n1) (S1) (S2) (D1) (D2)
[Setting data]
(Note-1) 16-bit
binary
(Note-2)
Axis No. ("Jn") to execute the speed change. Character
(S1)
16-bit
(S2) Setting of the current value to change.
binary
Complete devices
instruction.
(D1) Bit
16-bit
binary
5 - 30
[Controls]
Motion CPU.
(2) The speed change is executed of the axis specified with (S1) during positioning or
JOG operating.
S(P).CHGV instruction.
CPUn.
(4) When the speed change is executed also at the operation control step (Fn/FSn) in
the Motion CPU, it is necessary to take an inter-lock by user program, because
there is no flag which can distinguish the speed changing in the PLC CPU.
Speed changing flag (M2061 to M2092) of the motion devices is used as the inter-
lock condition in the Motion CPU.
(5) It is necessary to take an inter-lock by the speed changing flag of the shared CPU
[Operation]
S(P).CHGV execution
ON
S(P).CHGV instruction OFF

ON
ON
Speed changing flag OFF
Speed change Speed change processing
ON
(D1+0)
accept completion
completion at the
Motion CPU side
5 - 31
[Setting range]
(1) Setting of axis to execute the speed change.
The axis to execute the speed change set as (S1) sets J + axis No. in a character
sequence " ".
(S1) usable range

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

No. to start.
(2) Setting of the speed to change.
(S2) usable range

-2147483648 to 2147483647
[Speed changing flag (System area)]

Shared CPU memory

address Description
Q172CPU(N) : J1 to J8.)
206H(518) ON : Start accept disable
207H(519) b15 b1 b0
5 - 32
[Errors]

(Error code)(H)
4C00
The instruction for the Multiple CPU system which did Confirm a program,
4C01 not be correspond with operating system software of and correct it to a
the Motion CPU was executed. correct PLC

program.
4C06 Axis No. set by CHGV instruction is injustice.
(Note)

2110

2114
is specified.
Confirm a program,
2117
program.
4004
devices.

4100
[Program example]
Program which changes the positioning speed of the axis No.1 of the Motion CPU
To self CPU Speed changing flag

high speed of the axis No.1
flag from CPU U3E3
U3E3 \G518.0
\G48.0
M100
SP.CHGV H3E3 "J1" K1000 M0 D0
RST M100
M0 M1
M1
5 - 33
5.6 Torque Limit Value Change Request Instruction from The PLC CPU to The Motion CPU:
S(P).CHGT (PLC instruction: S(P).CHGT )
• Torque limit value change request instruction from the PLC CPU to the Motion CPU
(S(P).CHGT)
Usable devices
Setting data

(Note)

U \G
(n1)
(S1)
(S2)
(D1)
(D2)

SP.CHGT (n1) (S1) (S2) (D1) (D2)
SP.CHGT
Start request
S.CHGT S.CHGT (n1) (S1) (S2) (D1) (D2)
[Setting data]
(Note-1) 16-bit
binary
(Note-2)
Axis No. ("Jn") to execute the torque limit value change. Character
(S1)
16-bit
(S2) Setting of the torque limit value change to change.
binary
Complete devices
instruction.
(D1) Bit
16-bit
binary
5 - 34
[Controls]
Motion CPU.
(2) The torque limit value of the axis specified with (S1) is changed to the value of
(S2) regardless of the state of during operating or stopping at the real mode.
S(P).CHGT instruction.
CPUn.
[Operation]
S(P).CHGT execution
ON
S(P).CHGT instruction OFF

ON
Torque limit value change Torque limit value change processing
ON
Instruction start accept OFF
complete device (D1+0)

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

No. to start.
(2) Setting of the torque limit value to change.

(S2) usable range
1 to 500
5 - 35
[Errors]

(Error code)(H)
4C00
The instruction for the Multiple CPU system which did Confirm a program,
4C01 not be correspond with operating system software of and correct it to a
the Motion CPU was executed. correct PLC
4C07 Axis No. set by CHGT instruction is injustice. program.

(Note)

2110

2114
is specified.
Confirm a program,
2117
program.
4004
devices.

4100
5 - 36
[Program example]
Program which changes the torque limit value of the axis No.1 of the Motion CPU
(CPU No.4) from PLC CPU (CPU No.1) to 10[%].
To self CPU
high speed
interrupt accept
flag from CPU
U3E3
\G48.0
M100
SP.CHGT H3E3 "J1" K10 M0 D0
RST M100
M0 M1
M1
5 - 37
5.7 Write from The PLC CPU to The Motion CPU: S(P).DDWR (PLC instruction:
S(P).DDWR )
• Write instruction from the PLC CPU to the Motion CPU (S(P).DDWR)
Usable devices
Setting data

(Note)

U \G
(n1)
(S1)
(S2)
(D1)
(D2)

SP.DDWR (n1) (S1) (S2) (D1) (D2)
SP.DDWR
Start request
S.DDWR S.DDWR (n1) (S1) (S2) (D1) (D2)
[Setting data]
(Note-1) 16-bit
binary
CPU No.1 : 3E0H, CPU No.2 : 3E1H, CPU No.3 : 3E2H, CPU No.4 : 3E3H
(S1) First device of the self CPU in which control data is stored.
16-bit
(S2) First device of the self CPU in which writing data is stored.
binary
(D1) First device of the target Motion CPU which stores the writing data.
(D2) Bit device which make turn on for one scan at completion of instruction. Bit
[Control data]
Setting
Device Item Setting data Set by
range
The condition result at the completion of the
instruction is stored.
S1+0 Complete status — System
0 : No error (Normal completion)
Except 0 : Error code
Number of writing
S1+1 Set the number of writing data 1 to 16 User
data
5 - 38
[Controls]
Motion CPU.
A part for the number of writing data of the control data specified with (S1) of data
since the device specified with (S2) of the self CPU are stored to since the word
device specified with (D1) of the target CPU (n1) in the Multiple CPU system.
(2) Figure specification of the bit device is possible for (S2) and (D1). However, figure
specification is 4 figures and a start bit device number is only the multiple of 16. It
becomes INSTRCT CODE ERROR [4004] when other values are specified.
(3) If the target CPU is not instruction acceptable condition, even if the S(P).DDWR
instruction is executed, it may not be processed. In this case, it is necessary to
execute the S(P).DDWR instruction again.
(S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGV/S(P).CHGT/S(P).DDRD/
S(P).DDWR instruction.). It can be confirmed by data in the shared CPU memory
of the target CPU (Motion CPU) whether the instruction is acceptable or not.
When the Motion dedicated PLC instruction is started continuously, it is must be
design to execute next instruction after executing instruction complete device on.
(4) The target CPU device range check is not executed with self CPU at the
S(P).DDWR instruction execution, but it checks by the target CPU side, and it
becomes abnormal completion at the device range over.
(5) S(P).DDWR instruction accepting and normal/abnormal completion can be

completion.
(a) Complete device

(6) SM390 turns on when the target CPU specified with (n1) complete to accept.
SM390 turns off when the target CPU specified with (n1) cannot be write correctly
by the reset status or error factor (5000 to 5999).
5 - 39
[Operation of the self CPU at execution of S(P).DDWR instruction]
First S(P).DDWR Second S(P).DDWR

instruction accept instruction accept
END END END END END
t
To self CPU high speed interrupt ON ON

accept flag from CPUn
(Instruction accept destination OFF
buffer memory) ON
S(P).DDWR instruction OFF
(First)
ON
First S(P).DDWR instruction
complete device OFF
ON : Abnormal completion
State display device at the first
S(P).DDWR instruction OFF
completion OFF : Normal completion
ON
S(P).DDWR instruction
(Second) OFF
ON
Second S(P).DDWR instruction
complete device OFF
State display device at the second OFF
S(P).DDWR instruction
First S(P).DDWR Second S(P).DDWR

instruction completion instruction completion
(with response) (with response)
[Errors]
control data (S1+ 0 : Complete status).
(Note)
Complete status
(Error code)(H)
The specified device cannot be used with the Motion
4C00
CPU. Or, it is outside the device range. Confirm a
There are 33 or more instruction requests to the Motion program, and
CPU from the PLC CPU in S(P).DDRD/S(P).DDWR correct it to a
4C08
sum table simultaneously, and the Motion CPU cannot correct PLC
process them. program.
5 - 40
Error code (Note) Error factor Corrective action

2110

2114
is specified.
The CPU except the Motion CPU by "(First I/O No. of

2117
the target CPU)/16" is specified.
Confirm a program,
4002 Specified instruction is wrong.
and correct it to a
The instruction is composed of devices except usable correct PLC
4004 program.
devices.

4100
Number of the writing data is except 1 to 16.

4101
Number of writing data exceeds range of the storage
device of the written data.
[Program example]
<Example 1> <Example 2>
Program which stores 10 points worth of the data from D0 of the self Program which stores 10 points worth of the data from D0 of the
CPU (CPU No.1) since D100 of CPU No.2., when X0 is turned on. self CPU (CPU No.1) since D100 of CPU No.2. during turn on X0.
SM400 SM400
MOV K10 D51 MOV K10 D51
X0 X0 M10
SP.DDWR H3E1 D50 D0 D100 M10 SP.DDWR H3E1 D50 D0 D100 M10
M10 M11
Normal complete processing SET M0
M11 M0 M10
Abnormal complete processing RST M0
M10 M11
Normal complete processing
M11
Abnormal complete processing
5 - 41
5.8 Read from The Devices of The Motion CPU: S(P).DDRD (PLC instruction: S(P).DDRD )
• Read instruction from the devices of the Motion CPU : S(P).DDRD

Usable devices
Setting data

(Note)

U \G
(n1)
(S1)
(S2)
(D1)
(D2)

SP.DDRD (n1) (S1) (S2) (D1) (D2)
SP.DDRD
Start request
S.DDRD S.DDRD (n1) (S1) (S2) (D1) (D2)
[Setting data]
(Note-1)
CPU No.1 : 3E0H, CPU No.2 : 3E1H, CPU No.3 : 3E2H, CPU No.4 : 3E3H 16-bit
(S1) First device of the self CPU in which control data is stored. binary
(S2) First device of the target CPU in which reading data is stored.
(D1) First device of the self CPU which stores the reading data.
(D2) Bit device which make turn on for one scan at completion of instruction. Bit
[Control data]
Setting
Device Item Setting data Set by
range
The condition result at the completion of the
instruction is stored.
S1+0 Complete status — System
0 : No error (Normal completion)
Except 0 : Error code
Number of reading
S1+1 Set the number of reading data. 1 to 16 User
data
5 - 42
[Controls]
Motion CPU.
A part for the number of reading data of the control data specified with (S1) of
data since the device specified with (S2) in the target CPU (n1) is stored to since
the word device specified with (D1) of the self CPU in the Multiple CPU system.
(2) Figure specification of the bit device is possible for (S2) and (D1). However, figure
specification is 4 figures and a start bit device number is only the multiple of 16. It
becomes INSTRCT CODE ERROR [4004] when other values are specified.
(3) If the target CPU is not instruction acceptable condition, even if the S(P).DDWR
instruction is executed, it may not be processed. In this case, it is necessary to
execute the S(P).DDWR instruction again.
(S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGV/S(P).CHGT/S(P).DDRD/
S(P).DDWR instruction.). It can be confirmed by data in the shared CPU memory
of the target CPU (Motion CPU) whether the instruction is acceptable or not.
When the Motion dedicated PLC instruction is started continuously, it is must be
design to execute next instruction after executing instruction complete device on.
(4) The target CPU device range check is not executed with self CPU at the
S(P).DDRD instruction execution, but it checks by the target CPU side, and it
becomes abnormal completion at the device range over.
(5) S(P).DDRD instruction accepting and normal/abnormal completion can be

completion.
(a) Complete device

(6) SM390 turns on when the target CPU specified with (n1) complete to accept.
SM390 turns off when the target CPU specified with (n1) cannot be write correctly
by the reset status or error factor (5000 to 5999).
5 - 43
[Operation of the self CPU at execution of S(P).DDRD instruction]
First S(P).DDRD Second S(P).DDRD

instruction accept instruction accept
END END END END END
t
To self CPU high speed interrupt ON ON

accept flag from CPUn
(Instruction accept destination OFF
buffer memory) ON
S(P).DDRD instruction
OFF
(First)
ON
First S(P).DDRD instruction
complete device OFF
State display device at the first
S(P).DDRD instruction OFF
ON
(Second) OFF
ON
Second S(P).DDRD instruction
complete device OFF
State display device at the second OFF
First S(P).DDRD Second S(P).DDRD

instruction completion instruction completion
(with response) (with response)
[Errors]
control data (S1+ 0 : Complete status).
(Note)
Complete status
(Error code)(H)
4C00
CPU. Or, it is outside the device range. Confirm a
There are 33 or more instruction requests to the Motion program, and
CPU from the PLC CPU in S(P).DDRD/S(P).DDWR correct it to a
4C08
sum table simultaneously, and the Motion CPU cannot correct PLC
process them. program.
5 - 44
Error code (Note) Error factor Corrective action

2110

2114
is specified.

2117
Confirm a program,
4002 Specified instruction is wrong.
and correct it to a
The instruction is composed of devices except usable correct PLC
4004 program.
devices.

4100
Number of the writing data is except 1 to 16.

4101
Number of writing data exceeds range of the storage
device of the written data.
[Program example]
<Example 1> <Example 2>
Program which stores 10 points worth of the data from D0 of the CPU Program stores 10 points worth of the data from D0 of the CPU No.2
since D100 of self CPU (CPU No.1), when X0 is turned on. since D100 of self CPU (CPU No.1) during turn on X0..
SM400 SM400
MOV K10 D51 MOV K10 D51
X0 X0 M10
SP.DDRD H3E1 D50 D0 D100 M0 SP.DDRD H3E1 D50 D0 D100 M10
M0 M1
Normal complete processing SET M0
M1 M0 M10
Abnormal complete processing RST M0
M10 M11
Normal complete processing
M11
Abnormal complete processing
5 - 45
5.9 Interrupt Instruction to The Other CPU: S(P).GINT (PLC instruction: S(P).GINT )
• Interrupt instruction to the other CPU (S(P).GINT)

Usable devices
Setting data

(Note)

Digit specified register Other
U \G
(n1)
(n2)
[Instruction] [Condition] Start command

SP.GINT (n1) (n2)
SP.GINT
Start command
S.GINT S.GINT (n1) (n2)
[Setting data]
(Note-1) 16-bit
binary
CPU No.1 : 3E0H, CPU No.2 : 3E1H, CPU No.3 : 3E2H, CPU No.4 : 3E3H
16-bit
(n2) Interrupt instruction No. (0 to 15)
binary
[Controls]
This instruction generates the interrupt to the Motion CPU by PLC program when the
execution instruction of S(P).GINT is started (OFF ON).
The Motion CPU executes the active program (operation program status) processing
of the Motion SFC program set by "PLC interruption of the event task" at the interrupt
generation from the PLC CPU.
SV22.
(2) Motion CPU side is during DI (interrupt disable), event processing can make wait
even as for the EI (interrupt enable) instruction execution.
(3) SM390 turn on when the transmission of the instruction toward the target CPU
was completed. SM391 (S(P).GINT instruction execution completion flag) turned
on simultaneously.
5 - 46
(4) SM390 turn off when the transmission of the instruction toward the target CPU
was not completed. SM391 (S(P).GINT instruction execution completion flag)
turned off when the instruction toward the target CPU cannot be transmitted.
(5) Number of instruction execution does not have restriction, if to self CPU high
speed interrupt accept flag from CPUn in the target shared CPU memory of
S(P).GINT instruction.
[Operation]
S(P).GINT instruction execution
ON
S(P).GINT instruction OFF

ON
Interrupt PLC to Event task executed processing to

the other CPU the other Motion CPU
S(P).GINT instruction execution
M391 (Instruction executed OFF

complete flag) S(P).GINT instruction non-execution
[Errors]
(Note)
Complete status
(Error code)(H)
2110
2114
is specified.
Confirm a
2117 program, and
Since 0 to 3DFH, 3E4H is specified by "(First I/O No. of correct it to a
4100
There are 33 or more instruction requests to the Motion program.
CPU from the PLC CPU in S(P).SFCS/S(P).SVST/
4C08
S(P).CHGA/S(P).GINT sum table simultaneously, and
the Motion CPU cannot process them.
[Program example]
Program which generates the interrupt toward the Motion CPU No.4.
X0
SP.GINT H3E3 K10
SM391
SM391
The program which generates
interruption again.
5 - 47
MEMO
5 - 48
6 MOTION SFC PROGRAMS
6. MOTION SFC PROGRAMS
Refer to Chapter "19 ERROR CODE LISTS" for details of Motion SFC program error.
6.1 Motion SFC Program Configuration
The Motion SFC Program is constituted by the combination of start, steps, transitions,
end and others are shows below.
Operation Program
start name START : Entry of program.
Positioning Step (operation control step) : The specified operation SET Y0=X0+X10
F0
ready control program is executed at active status. D100=W0+W100
Positioning Transition (shift) : Condition to transit to the next step.

G0 Y0 M100
ready check
Positioning ABS-1
K0 Step (motion control step) : The specified servo
execution Axis1, D100
program is executed at active status.
Speed 10000
Positioning
complete G1 Transition (WAIT) : Condition to transit to the next step. !X0
check
Operation END END : Program end.

end
The above Motion SFC program to be started performs the following operations.
(1) The step (F0) is activated and the operation specified with the step (F0) is
executed (positioning ready). A step in such an active state is called an active 6
step.
(2) Whether the condition specified with the transition (G0) has enabled or not
(whether the positioning program can be started or not) is checked. The active
step (F0) is deactivated at the completion of condition and the next step (K0) is
activated (servo program (K0) is started).
(3) The operating completion of the step (K0) (positioning completion of the servo
program K0) is checked, and control transits to the next step at operating
completion (completion of condition).
(4) With the transition of the active step as described in above (1) to (3), control is
executed and ends at END.
Refer to Section "11.2.2 Task operation" for details of the execution timing of the
Motion SFC program such as above.
POINT
The number of steps which can be active steps simultaneously is up to 256, with
those of all Motion SFC programs combined. Excess of 256 will result in the Motion
SFC Program error 16120.
Each symbol of the Motion SFC program is as follows.
F/FS : Operation control, K : Positioning control, G : Judgment
6-1
6.2 Motion SFC Chart Symbol List
Parts as Motion SFC program components are shown below. The operation sequence
or transition control is expressed with connecting these parts by directed lines in the
Motion SFC program.
Symbol
Classification Name List Representation Function
(Code size (byte))
Program name • Indicates an entry of program as a program name.

START Program name • Specify this program name at a subroutine call.
(0) • Only one program name for one program.
Program
start/end • Indicates an end (exit) of program.
• When a subroutine call was carried out, returns to the
END END END call source program.
• Multiple program names or no symbols for one
(8)
program.
Motion control Kn
CALL Kn • Starts a servo program Kn (K0 to K4095).
step
(8)
Once execution
Fn • Execute once the operation control program Fn (F0 to
type operation CALL Fn
F4095).
control step (8)
Scan execution
FSn • Repeats an operation control program FSn (FS0 to
type operation CALL FSn
FS4095) until the next transition condition enables.
control step (8)
• When the next of GSUB is WAIT, performs "subroutine

call" and transits control to the specified program.
Control returns to the call source program at END
execution.
Subroutine Program name
GSUB program name • When the next of GSUB is except WAIT, performs
Step call/start step
(8) "subroutine start", and starts the specified program and
transits to the next (lower part). The start source and
destination programs are executed simultaneously, and
the call destination program ends at END execution.
• Stops and ends the specified program running. After an

end, it is started from the initial (start step) by restarting
the program.
• When the specified program is during "subroutine call",
CLR the subroutine program is also stopped to execute.
Program name
Clear step CLR program name • When the specified program is after "subroutine start",
(8) the subroutine program is not stopped to execute.
• When clearing to the subroutine by which the
"subroutine call" was executed, the specified
subroutine is stopped to execute, returns to the call
source program, and transits to the next.
6-2
Symbol
Classification Name List representation Function
(Code size (byte))
• When just before is the motion control step, transits to
the next step by formation of transition condition Gn
(G0 to G4095) without waiting for the motion operating
completion.
Shift • When just before is the operation control step, transits
Gn
(Pre-read SFT Gn to the next step by the completion of transition
transition) (8) condition after operating execution.
• When just before is "subroutine call" / "starting step",
transits to the next step by formation of transition
condition without waiting for the operating completion
of subroutine.
• When just before is the motion control step, waits for
the motion operating completion and then transits to
the next step by the completion of transition condition
Gn (G0 to G4095).
• When just before is the operation control step, transits
Gn
WAIT WAIT Gn to the next step by formation of transition condition after
(8) operating execution. (Same operation as Shift.)
• When just before is "subroutine call" or "starting step",
waits for the operating completion of subroutine and
then transits to the next step by the completion of
transition condition.
• Prepares for starting of the next motion control step,
ON bit device
Transition and issues an instruction immediately when the
WAITON Kn WAITON bit device specified bit device turns ON.
• Always pair this transition with the motion control step
(14) one-for-one.
• Prepares for starting of the next motion control step,
OFF bit device
and issues an instruction immediately when the
WAITOFF Kn WAITOFF bit device specified bit device turns OFF.
• Always pair this transition with the motion control step
(14) one-for-one.
• When just before is the motion control step, transits to
(G0 to G4095) without waiting for the motion operating
IFBm
completion. If not formation of transition condition,
IFT1
transits to the right-connected step.
(Not SFT Gn
completion • When just before is the operation control step, transits
of condition) :
to the next step by the completion of transition
Gn JMP IFEm
Shift Y/N N condition after operating execution. If not the
(Completion Y IFT2
of condition) completion of transition condition, transits to the right-
SFT Gn+?
connected step.
:
• When just before is "subroutine call" or "starting step",
JMP IFEm
transits to the next step by the completion of transition
IFEm
condition without waiting for the operating of subroutine
completion. If not formation of transition condition,
transits to the right-connected step.
6-3
Symbol
Classification Name List representation Function
(Code size (byte))
• When just before is the motion control step, waits for
the motion operating completion and then transits to
IFBm (G0 to G4095). If not completion of transition condition,
IFT1 transits to the right-connected step.
WAIT Gn • When just before is the operation control step, transits
(Not
completion : to the next step by the completion of transition
of condition)
JMP IFEm condition after operating execution. If not the
Transition WAIT Y/N Gn
N IFT2 completion of transition condition, transits to the right-
(Completion Y
of condition) WAIT Gn+? connected step.
: (Same operation as Shift.)
JMP IFEm • When just before is "subroutine call" or "starting step",
IFEm waits for the operating completion of subroutine, and
then transits to the next step by the completion of
transition condition. If not formation of transition
condition, transits to the right-connected step.
Pn • Jumps to the specified pointer Pn (P0 to P16383) of the

Jump Jump JMP Pn
self program.
(14)
• Indicates a jump destination pointer (label).

• This pointer can be set at a step, transition, branch
Pn
Pointer Pointer Pn point or coupling point.
(8) • P0 to P16383 can be set in one program. The same
No. may also be used in other programs.
6-4
6.3 Branch and Coupling Chart List
Branch and coupling patterns which specify step and transition sequences in the
Motion SFC charts are shown below.
Name List
Motion SFC chart symbol Function
(Code size (byte)) representation
• Steps and transitions connected in series are
List processed in order from top to bottom.
representation • Steps and transitions need not be lined up
Series transition corresponding to alternately.
(Corresponding the Motion SFC • When a transition is omitted, unconditional shift
symbol size) chart symbols processing is performed.
shown in Section
6.2.
• The route which transition condition enables first is

executed after executing the step or transition
CALL Kn
Selective branch preceding a branch.
IFBm IFBm
((Number of • Selective branch destinations should always be
branches + 2) IFT1 IFT2 IFT1 started by transitions, all of which must be Shift or
SFT Gn
10) WAIT. (Using Shift and WAIT together will cause a
CALL Fn
parallel branch.)
:
JMP IFEm
• After the route branched by a selective branch has
IFT2
been processed, execution shifts to a coupling
SFT Gn’
point.
CALL Fn’
• A coupling may be preceded and followed by either
Selective coupling :
a step or a transition.
(8) (JMP IFEm)
IFEm IFEm
CALL Fn’’
• Multiple routes (steps) connected in parallel are

Parallel branch CALL Kn executed simultaneously.
(Number of PABm • Each parallel branch destination may be started by
Basic PABm
branches 22 + PAT1 either a step or transition.
type
number of PAT1 PAT2 CALL Fn
coupling SFT Gn’
points 2 + 12) :
JMP PAEm
PAT2 • Execution waits at the coupling point for executions
CALL Fn’ of the routes branched by a parallel branch to be
SFT Gn’’ completed, and shifts to the next when executions
: of all routes are completed.
Parallel coupling
(JMP PAEm) • A coupling may be preceded and followed by either
(8)
PAEm PAEm a step or a transition.
CALL Fn’’ • When this coupling is preceded by an FS step,
: scans are executed during waiting. After waiting is
complete, scans are not executed.
<Normal jump> <Coupling jump> 1) Normal jump
• After the step or transition preceding this jump
transition is executed, execution shifts to the
CALL Fn pointer Pn specified within its own program.
JMP Pn • The jump destination may either be a step or
transition.
• When a jump takes place from an FS step to a
Jump transition
transition, scans are executed during waiting for
(Corresponding
the completion of transition condition of the
symbol size)
jump destination.
2) Coupling jump
CALL Fn’ • When a jump to the other route within a parallel
Pn branch takes place after the parallel branch, a
CALL Kn "coupling jump" takes place and execution waits
at the jump destination.
6-5
Combining the basic type branches/couplings provides the following application types,
which are defined as in the basic types.
List
Name Motion SFC chart symbol Function
representation
CALL Kn • After a selective branch, a parallel branch can be
IFBm performed.
IFT1
SFT Gn
IFBm
Selective branch PABm
IFT1 IFT2
| PAT1
PABm
Parallel branch CALL Fn
PAT1 PAT2
:
JMP PAEm
PAT2
CALL Fn’
:
• The selective coupling point can be the same as
(JMP PAEm)
the coupling point of a parallel coupling for
PAEm
selective branch parallel branch. Note that in the
JMP IFEm
Motion SFC chart, this type is displayed in order of
Parallel coupling a parallel coupling a selective coupling, as
IFT2
| PAEm shown on the left.
SFT Gn’
Selective coupling IFEm • In this case, a pointer (Pn) cannot be set between
CALL Fn’’
the parallel coupling point (PAEm) and the
:
selective coupling point (IFEm).
(JMP IFEm)
IFEm
SFT Gn’’
Appli- SFT Gn • After a parallel branch, a selective branch can be
cation PABm PABm performed.
type Parallel branch PAT1 PAT2
PAT1
IFBm
| CALL Fn
FIT1 FIT2
Selective branch
IFBm
IFT1
SFT Gn’ • The parallel coupling point can be the same as the
CALL Fn’ coupling point of a selective coupling for parallel
: branch selective branch.
JMP IFEm
Note that in the Motion SFC chart, this type is
IFT2
displayed in order of a selective coupling a
SFT Gn’’
parallel coupling, as shown on the left.
CALL Fn’’
• In this case, a pointer (Pn) cannot be set between
:
the selective coupling point (IFEm) and the parallel
(JMP IFEm)
Selective coupling coupling point (PAEm).
IFEm
IFEm
| JMP PAEm
Parallel coupling PAEm
PAT2
CALL Fn’’’
:
CALL Kn
(JMP PAEm)
PAEm
SFT Gn’’’
6-6
List
Name SFC chart symbol Function
representation
CALL Kn • After a selective branch, a selective branch can be
IFBm performed.
IFT1
SFT Gn
IFBm+1
IFBm
Selective branch IFT1
IFT1 IFT2
| SFT Gn’
IFBm+1
Selective branch :
IFT1 IFT2
JMP IFEm+1
IFT2
SFT Gn’’
:
(JMP IFEm+1)
IFEm+1
• The two selective coupling points for selective
JMP IFEm
branch selective branch can be the same.
Note that in the Motion SFC chart, this type is
IFT2
displayed in order of a selective coupling a
SFT Gn’’’
Selective coupling selective coupling, as shown on the left.
CALL Fn’ • In this case, a pointer (Pn) cannot be set between
IFEm+1
| :
IFEm the selective coupling point (IFEm+1) and the
Selective coupling (JMP IFEm) selective coupling point (IFEm).
IFEm
SFT Gn’’’’
Appli-
:
cation
type CALL Kn • After a parallel branch, a parallel branch can be
PABm performed.
PAT1 • A parallel branch can be nested up to four levels.
SFT Gn
PABm
Parallel branch PAT1 PAT2 PABm+1
| PABm+1
PAT1
PAT1 PAT2
Parallel branch CALL Fn’
:
JMP PAEm+1
PAT2
CALL Fn’’
: • The two parallel coupling points for parallel branch
(JMP PAEm+1) parallel branch can be the same. Note that in the
PAEm+1 Motion SFC chart, this type is displayed in order of
JMP PAEm a parallel coupling a parallel coupling, as shown
on the left.
PAT2 • In this case, a pointer (Pn) cannot be set between
Parallel coupling
PAEm+1
CALL Fn’’’ the parallel coupling point (PAEm+1) and the
|
PAEm
: parallel coupling point (PAEm).
Parallel coupling
CALL Kn
JMP PAEm
PAEm
SFT Gn’’’
:
6-7
List
Name SFC chart symbol Function
representation
: • The selective coupling point and parallel branch
(JMP IFEm) point can be the same.
IFEm Note that in the Motion SFC chart, this type is
PABm displayed in order of a selective coupling a
PAT1 parallel branch, as shown on the left.
CALL Fn • In this case, a pointer (Pn) cannot be set between
Selective coupling IFEm
: the selective coupling point (IFEm) and the parallel
|
JMP PAEm branch point (PABm).
Parallel branch PABm
PAT2
PAT1 PAT2
CALL Fn’
:
(JMP PAEm)
PAEm
:
: • The parallel coupling point and selective branch
JMP PAEm point can be the same.
PAEm Note that in the Motion SFC chart, this type is
IFBm displayed in order of a parallel coupling a
IFT1 selective branch, as shown on the left.
SFT Gn • Execution waits at the parallel coupling point and
Parallel coupling PAEm
: shifts to the selective branch.
|
IFBm JMP IFEm • In this case, a pointer (Pn) cannot be set between
Selective branch
IFT2 the parallel coupling point (PAEm) and the
IFT1 IFT2
SFT Gn’ selective branch point (IFBm).
:
(JMP IFEm)
Appli- IFEm
cation :
type : • The selective coupling point and selective branch
(JMP IFEm) point can be the same.
IFEm Note that in the Motion SFC chart, this type is
IFBm+1 displayed in order of a selective coupling a
IFT1 selective branch, as shown on the left.
Selective coupling SFT Gn • In this case, a pointer (Pn) cannot be set between
| IFEm : the selective coupling point (IFEm) and the
Selective branch JMP IFEm+1 selective branch point (IFBm+1).
IFBm+1
IFT2
IFT1 IFT2 SFT Gn’
:
(JMP IFEm+1)
IFEm+1
: • The parallel coupling point and parallel branch
(JMP PAEm) point can be the same.
PAEm Note that in the Motion SFC chart, this type is
PABm+1 displayed in order of a parallel coupling a parallel
PAT1 branch, as shown on the left.
CALL Fn • Execution waits at the parallel coupling point and
Parallel coupling
: shifts to the parallel branch.
| PAEm
JMP PAEm+1 • In this case, a pointer (Pn) cannot be set between
Parallel branch
PABm+1 PAT2 the parallel coupling point (PAEm) and the parallel
PAT1 PAT2 CALL Fn’ branch point (PABm+1).
:
(JMP PAEm+1)
PAEm+1
:
6-8
6.4 Motion SFC Program Name
Set the "Motion SFC program name" to the Motion SFC program No.0 to No.255
individually. (Make this setting in the "Motion SFC program management window" on
the Motion SFC program edit screen.)
Set the Motion SFC program name within 16 characters. Specify this Motion SFC
program name for a "subroutine call/start step (GSUB)" and "clear step (CLR)".
Motion SFC programs correspond to No.0 to No.255 and saved in a one program-for-
one file format. The preset "Motion SFC program name" is used as the file name of the
Motion SFC Program file for user file management. (Refer to Chapter "12 USER
FILES" for details.)
POINT
(1) It is can be set the Motion SFC program to any of No.0 to No.255. There are
no specific programs which have special roles.
(2) "$" cannot be used in the first character of the Motion SFC program name.
(3) " / : ; , . * ? " < > |" cannot be used in Motion SFC program name.
6-9
6.5 Steps
6.5.1 Motion control step
Name Symbol Function

Starts the servo program Kn.
Motion control step Kn
Specified range: K0 to K4095
[Operations]
(1) Turns on the start accept flag of the axis specified with the specified servo program
Kn (n = 0 to 4095) runnnig.
(2) Starts the specified servo program Kn (n = 0 to 4095).
Execution timing
Completion of transition condition
Start accept flag (M200n) v
[Errors]
(1) When the specified servo program Kn does not exist, the Motion SFC program
error [16200] will occur and stops to execute the Motion SFC program at the error
detection.
[Instructions]
(1) When the current value change is executed in the Motion SFC program running,
specify the CHGA instruction in the servo program and call it at the motion control
step.
(2) If the servo program has stopped due to a major/minor error which occurred at or
during a start of the servo program specified with the motion control step, the
Motion SFC program continues executing. When the Motion SFC program is
stopped at error detection, provide an error detection condition at the transition
(transition condition).
6 - 10
6.5.2 Operation control step
Operation Executes the operation control program Fn/FSn.

Fn/FSn
control step Specified range: F0 to F4095/FS0 to FS4095
[Operations]
(1) Once execution type operation control step Fn
In the case of Fn, executes the specified operation control program Fn (n = 0 to
4095) once.
(2) Scan execution type operation control step FSn

In the case of FSn, repeats the specified operation control program FSn (n =0 to
4095) until the next transition condition enables.
[Errors]
(1) When the specified operation control program Fn/FSn does not exist, the Motion
SFC program error [16201] will occur and stops to execute the Motion SFC
program at the error detection.
[Instructions]
(1) Refer to Chapter "7 OPERATION CONTROL PROGRAMS" for operation
expressions that may be described in operation control programs.
(2) If an operation or similar error occurs the operation control program running, the
Motion SFC program continues executing.
6 - 11
6.5.3 Subroutine call/start step
Subroutine Calls/starts the Motion SFC program of the specified

Program name
call/start step program name.
[Operations]
(1) Calls/starts the Motion SFC program of the specified program name.
(2) Control varies with the type of the transition coupled next to the subroutine
call/start step.
(a) WAIT (Subroutine Call)

When the subroutine call step is executed, control transits to the specified
program as shown below, and when END of the called program is executed,
control returns to the call source program.
(b) Except WAIT (Subroutine Start)

When the subroutine start step is executed, control starts the specified
program and then shifts to the next as shown below. Since, the start source
and destination Motion SFC programs are executed in parallel. The started
program ends at END execution.
MAIN SUB MAIN SUB
1) 1)
3) 3)
SUB 2) SUB 2)
WAIT 5) END Shift END

4) 2)
END END
WAIT Except WAIT
(Subroutine call) (Subroutine start)
[Errors]
(1) When the specified Motion SFC program does not exist at a subroutine call/start,
the Motion SFC program error [16005] will occur and stops to execute the Motion
SFC program at the error detection.
(2) When the called/started Motion SFC program is already starting at a subroutine
call/start, the Motion SFC program error [16006] will occur and stops to execute
the Motion SFC program at the error detection.
(3) When the self program is started at a subroutine call/start, the Motion SFC
program error [16110] will occur and stops to execute the Motion SFC program at
the error detection.
(4) When the subroutine to be called/started at a subroutine call/start in the Motion

SFC program 2 running which was called/started from the Motion SFC program 1
is the Motion SFC program 1 (call source/start program), the Motion SFC program
error [16111] will occur and the call/start source Motion SFC program 2 running is
stopped at the point of error detection.
6 - 12
[Instructions]
(1) There are no restrictions on the depth of subroutine call/start nesting.
(2) For a subroutine start, the start source Motion SFC program continues processing
if the start destination Motion SFC program stops due to an error.
(3) For a subroutine call, the call source Motion SFC program stops running as soon
as the call destination Motion SFC program stops due to an error.
6 - 13
6.5.4 Clear step

Stops the Motion SFC program of the specified
CLR
Clear step Program name program name.
[Operations]
(1) Stops the specified Motion SFC program running.
(2) The clear-specified Motion SFC program will not start automatically after stopped
if it has been set to start automatically.
(3) The specified program may be its self program.
(4) If the specified program is being subroutine called, the subroutine program called
is also stopped. (Shown below)
MAIN SUB If the program has been "subroutine called" as shown on the left
When the call source program (MAIN) is cleared.
Even if the subroutine (SUB) is running, both the call source
SUB program (MAIN) and subroutine (SUB) stop running.
When the subroutine (SUB) is running, the subroutine (SUB)
WAIT END stops running and execution to the call source program (MAIN).
END
(5) When the specified program has been subroutine started, the subroutine program
started continues processing. (Shown below)
MAIN SUB If the program has been "subroutine started" as shown on the left
When the started program (MAIN) is cleared.
Even if the subroutine (SUB) is running, the started program
SUB (MAIN) stops running but the started subroutine (SUB)
continues processing.
Shift END When the subroutine (SUB) is cleared
If the subroutine (SUB) is running, only the subroutine (SUB)
stops running.
END
(6) When the servo program started from the specified program is starting, the servo
program continues processing.
[Errors]
(1) When the Motion SFC program specified with the clear step does not exist, the
Motion SFC program error [16203] will occur.
[Instructions]
(1) When the Motion SFC program specified with the clear step is not starting, an
error does not occur specifically and this step is ignored.
(2) If the Motion SFC program running is stopped by the clear step, the output is held.
6 - 14
6.6 Transitions
You can describe conditional and operation expressions at transitions. The operation
expression described here is repeated until the transition condition enables, as at the
scan execution type operation step.
Refer to Chapter "8 TRANSITION PROGRAMS" for the conditional/operation
expressions that can be described in transition conditions.
(1) Combinations with motion control steps
(a) Motion control step + Shift
[Operations]
Kn
• Transits to the next step by formation of transition condition
Gn Gn without waiting for the operating completion of the
servo program Kn started at the motion control step.
(b) Motion control step + WAIT
[Operations]
• Waits for the operating completion of the servo program Kn
started at the motion control step, and then transits to the
Kn
next step by formation of transition condition Gn.
Gn • The operation completion condition of the servo program
Kn is not needed in the transition condition Gn.
• An error stop of the started servo program Kn at/during a
start is also regarded as an operation completion.
(c) WAITON/WAITOFF + Motion control step
[Operations]
• Prepares for the start of the motion control
step next to WAITON/WAITOFF, and makes
a start immediately when the specified bit
device turns ON/OFF. When the motion
control step is executed without being used
ON M0 OFF M0 with WAITON/WAITOFF, preparations for a
start are made after the transition condition
Kn Kn preceding the motion control step enables.
This will cause a variation of delay/starting
time between when the transition condition is
completed and when a start is made, but a
combination with WAITON/WAITOFF can
eliminate the variation of the above
delay/starting time.
• Specifiable bit devices
Device Range
X X0 to X1FFF
Y Y0 to Y1FFF
M M0 to M8191
Special M M9000 to M9255
L L0 to L8191
B B0 to B1FFF
F F0 to F2047
6 - 15
[Instructions]
• Always pair a transition with a motion control step one-for-one. If the step following
WAITON/WAITOFF is not a motion control step, the Motion SFC program error
[16102] will occur and the Motion SFC program running will stop at the error
detection.
• An error will not occur if the jump destination immediately after WAITON/WAITOFF
is a motion control step. (Left below)
• A pointer may exist immediately after WAITON/WAITOFF. (Right below)
ON M0
Gn
Pn
Pn
Kn
Pn
Kn
• If the servo program specified with a motion control step could not be started due to
a major/minor error, the Motion SFC program continues running and execution shifts
to the next, independently of the WAITON/WAITOFF bit device status. To stop the
Motion SFC program at error detection, provide an error detection condition at the
next transition (transition condition).
• The following instructions can be used in the motion control step used combining the
WAITON/WAITOFF.
(Linear interpolation control, circular interpolation control, helical interpolation, speed
switching control, position follow-up control, constant-speed control and high speed
oscillation.)
(2) Combination with operation control step
[Operations]
• At an operation control step, both Shift and
Fn Fn
WAIT perform the same operation, and after
Gn Gn
executing of the operation control program
Fn, transits to the next step by formation of
transition condition Gn.
(3) Combination with subroutine call/start step

Refer to Section "6.5.3 Subroutine call/start step".
6 - 16
6.7 Jump, Pointer
Pn Pn
Jump Pointer
[Operations]
• Setting a jump will cause a jump to the specified pointer Pn of the self program.
• You can set pointers at steps, transitions, branch points and coupling points.
• You can set pointers Pn at P0 to P16383 in one program.
[Instructions]
• You cannot make a jump setting which will exit from within parallel branch-parallel
coupling. Connect directly. (Bad example 1 given below)
• You cannot make a jump setting from outside parallel branch-parallel coupling to
within parallel branch-parallel coupling. (Bad example 2 given below)
• You cannot make a setting where a label and a jump will continue.
(Bad example 3 given below)
Bat example 1 Bat example 2 Bat example 3
Pn
Pn Pn Pn
Pn
Pn
6.8 END
END
[Operations]
• Ends a program. (In this case of an event task or NMI task, operation changes with
end operation setting of the program parameter. Refer to Section "11.5 Program
Parameters" for details.)
• Making a subroutine call will return to the call source Motion SFC program.
[Instructions]
• END may be set a multiple number of times in one program.
• END cannot be set between a parallel branch and a parallel coupling.
• The output is held after the Motion SFC program is ended by END.
6 - 17
6.9 Branches, Couplings
6.9.1 Series transition
Transits execution to the subsequent step or transition connected in series.
(1) To start a servo program or subroutine and shift execution to the

next without waiting for operation completion
Set Shift at a transition.
In this case, the transition (shift) may be omitted. When you omitted the
transition, an unconditional shift transition is performed.
K1 Starts the servo program K1.
G1
Transits to next by the completion of condition set at transition G1
without waiting for operating completion of the servo program K1.
K2 Starts the servo program K2.
POINT
For a subroutine start, self program and a subroutine program are processed in
parallel.
(2) To start a servo program or subroutine and proceed to the next

step on operation completion
Set WAIT at a transition.
K1 Starts the servo program

Transits to next when the start axis stops in the servo program K1 (start
G1
accept flag turns OFF) and condition is completed set at transition G1.
K2
Starts servo program K2.
POINT
(1) The above start accept flag of the axis started in the next servo program K2 is
not included in interlocks.
To use it as an interlock, the user should set it in the transition condition G1.
(2) WAIT must be set to proceed to the next step on operation completion.
However, when there are specifically no conditions to be set as interlocks, set
"NOP (No Operation)" in the transition program (Gn).
6 - 18
6.9.2 Selective branch, selective coupling
(1) Selective branch

Executes only the route which condition was judged to have enabled first among
the conditions of multiple transitions connected in parallel. Transitions must be all
Shifts or WAITs.
(Example) WAIT
After start axis in the servo
K1 Starts the servo program K1. program K1 has stopped (start
accept flag turns OFF), the
conditions of transitions G1 to
G1
G1 G2 G3 G255
G255
G255 are judged, and
execution transits to route
K2 K3 K4 K255
which condition is completed.
Max. number of selective branches = 255
POINT
(1) Transition condition judgment is not always executed from left to right.
(2) Using Shift and WAIT together will cause a parallel branch.
(2) Selective coupling

Recoupling of routes into a single route after their processing completions
following a selective branch will be a selective coupling. However, you can also
make a setting where no coupling will be made as shown below.
P0
IFB1
G255 G255
G255
P0 Jump transition (normal jump)
END Program END

IFE2
6 - 19
6.9.3 Parallel branch, parallel coupling
(1) Parallel branch

Multiple routes connected in parallel are executed simultaneously. Each parallel
branch destination may be started by either a step or a transition.
After operation completion of

G1
G0
preceding step, steps K2 to
F10 connected in parallel are
executed when the completion
K2 K3 F1 F10
of condition set at transition
G0. Thereafter, routes are
G1
G1 G2 G3 G255
G255
executed simultaneously up to
parallel coupling point.
Max. number of parallel branches = 255
POINT
"Shift" or "WAIT" can be set to a transition preceding a parallel branch.
"WAITON" and "WAITOFF" cannot be set.
(2) Parallel coupling

A parallel branch must be coupled by a parallel coupling. A jump setting to
another branch route can be made within parallel branch-parallel coupling.
In this case, a jump destination is a midway parallel coupling point (coupling
jump).
You cannot set a jump to exit from within parallel branch-parallel coupling.
G1
PAB1 Parallel branch point
K2 K4 F10
Coupling jump
ON M100 G11
K3 F11
After the servo program K3 has

G3 G12 completed stopping, execution waits
until the completion of condition set
at transition G3 and servo program
F12 K4 completes starting.
On completion of waiting, execution
transits to the next (lower part).
K100
PAE1 Parallel coupling point
K5
6 - 20
POINT
The number of parallel branches need not match that of couplings at a parallel
coupling point.
(In the example of the diagram in Section 6.9.3 (2), the number of parallel branches
is 3 and that of couplings is 2.)
When a WAIT transition is set right after a parallel coupling, the stop completions of the
axes are not included in the waiting conditions if the parallel coupling is preceded by
motion control steps. To perform a parallel coupling on stop completions, set WAIT
transitions before a parallel coupling.
( )
K2 K3 K4 K5
Parallel coupling
G1 If this is WAIT, stop completions of axes started at K2 to K5

are not included in transition conditions.
( )
K2 K3 K4 K5
When you want to perform a coupling
on stop completions of axes started in
G2 G3 G4 G5 K2 to K5, set WAIT transition in each
route to make parallel coupling.
Parallel coupling
G1
6 - 21
6.10 Y/N Transitions
When routes are branch at a transition condition enables and disable, "Shift Y/N
transition" or "WAIT Y/N transition" will be useful.

(Not • When a transition condition set at Gn
completion
of condition) enables, execution shifts to the lower
Shift Y/N
Gn step. When that condition disables,
transition N
(Completion Y execution shifts to the right-connected
of condition)
step.
(Not • Differences between "Shift Y/N" and
completion
WAIT Y/N of condition) "WAIT Y/N" are the same as those
transition Gn
N between "Shift" and "WAIT".
(Completion Y
of condition)
A Y/N transition is designed to describe the following two-route selective branch

program easily.
<Y/N transition is not used.> • G0 and G1 programs should be different only in

acknowledgement/negation of the conditional expressions.
IFB1 (Example 1) (Example 2)
G0 G1 [G 0]
M0
[G 1]
!M0
[G 0]
D0!=K100
[G 1]
D0=K100
<Y/N transition is used.> • Set the G0 program shown in above (Example 1) or (Example
2) as a G0 program.
IFB1 • The Motion SFC program list codes after conversion are the
G0 same as in the conventional description (different only in the
Motion SFC chart representation). Therefore, "automatic
search for free G number automatic generation of program
which conditional expression part is logically negated" is
performed during program editing to occupy two G programs.
Using "Program editor" to delete a Y/N transition does not
delete the automatically generated G program (G1 below).
Use "Program use list" to delete that program.
IFB1
G0 G1
6 - 22
(1) Automatic free G number search feature

(a) When not set to automatic numbering
Searches for a free number forward, starting with the "set G number + 1" at
the "Shift Y/N" or "WAIT Y/N" symbol.
When no free numbers are found after a search up to 4095, a search is
made from 0 to the "set G number - 1".
(b) When set to automatic numbering

Searches for a free number forward (or backward) in the automatic
numbering range, starting with the "automatically numbered G number + 1
(or -1)" at the "Shift Y/N" or "WAIT Y/N" symbol. (The searching method is
as in the automatic numbering setting.)
(2) Automatic logical NOT program generation feature

Automatically generates a program which logically negates the conditional
expression block (last block) of the transition program set at "Shift Y/N" or "WAIT
Y/N".
The basic is shown below.
<Setting program (conditional expression block)>

Conditional expression//(bit conditional expression or comparison conditional expression)
<Logically negated, automatically generated program (conditional expression block)>

!Conditional expression//(bit conditional expression or comparison conditional expression)
Examples are shown below.

<Setting program (conditional expression block)>
(Example 1)
M0 //Bit device ON
(Example 2)
D0!=K100 //Data register D0 is not K100
<Logically negated, automatically generated program (conditional expression block)>

(Example 1)
!(M0) //Bit device OFF
(Example 2)
!(D0!=K100) //Data register D0 is K100
POINT
Refer to Section "1.2.3 (2) Table of the operation control/transition instruction" for
the instructions usable in the conditional expressions of "Shift Y/N" or "WAIT Y/N"
transition programs.
6 - 23
(3) Instructions for the Motion SFC charts

Any Motion SFC chart that will be meaningless to or conflict with the definition of
Y/N transitions will result in an error at the time of editing (or Motion SFC chart
conversion). Their patterns and instructions will be given below.
(a) When "Shift Y/N" or "WAIT Y/N" is connected as a selective branch or
parallel branch: Error
• "Shift Y/N" used as selective branch • "WAIT Y/N" used as selective branch
• "Shift Y/N" and "WAIT Y/N" used as • "Shift (or WAIT) Y/N" used with other
parallel branch step/transition as parallel branch or
selective branch
(b) When a coupling precedes "Shift Y/N" or "WAIT Y/N: Provide "coupling-
branch continuation" in between.
• Direct coupling with "Shift Y/N" or "WAIT • Provide "coupling-branch continuation" in

Y/N" is not allowed. between.
6 - 24
(c) The following patterns may be set.
• End (END) from "Shift Y/N" or "WAIT Y/N" • Jump from "Shift Y/N" or "WAIT Y/N"
P1 P2
END
• Continuation from "Shift Y/N" or "WAIT Y/N" to "Shift Y/N" or "WAIT Y/N"
(selective branch-selective branch)
END
• When there are two or more connection lines from Y/N side of "Shift Y/N" or "WAIT
Y/N", selective branch continues to selective branch or parallel branch.
6 - 25
6.11 Motion SFC Comments
A comment can be set to each symbol of the step/transition in the motion SFC chart.
Comments are shown in the Motion SFC chart by changing the display mode to
"Comment display" on the Motion SFC program edit screen.
Since the Motion SFC comments are stored into the CPU code area, performing read
from PC displays the Motion SFC chart with comments.
Classification Name Symbol Comment Setting

Program name
START
Program start/end Comment setting cannot be made.
END
END
Motion control step Kn
Once execution type

Fn
operation control step
Scan execution type

Step FSn
operation control step
Subroutine call/start
Program name
step
CLR
Clear step Program name
Shift Up to 80 characters
Gn
(preread transition) Displayed in 20 characters 4 lines
WAIT Gn
WAITON ON bit device
Transition
WAITOFF OFF bit device
Shift Y/N Gn
WAIT Y/N Gn
Jump Jump Pn
Up to 64 characters
Displayed in 16 characters 4 lines
Pointer Pointer Pn
6 - 26
POINT
(1) Motion SFC comments are stored into the CPU code area. The CPU code
area stores the Motion SFC chart codes, operation control (F/FS) program
codes, transition (G) program codes and Motion SFC comments.
Be careful not to set too many comments to avoid code area overflow. (Refer
to Section "1.2.2 (2) (b) Motion SFC Performance Specifications" for the code
area sizes.)
(2) You cannot use "," in comment statements.
6 - 27
MEMO
6 - 28
7 OPERATION CONTROL PROGRAMS
7. OPERATION CONTROL PROGRAMS
Refer to Section "19.2 Motion SFC Error Code List" for error codes of the operation
error.
(Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming
Manual (REAL MODE)" and "Q173CPU(N)/Q172CPU(N) Motion controller (SV22)
Programming Manual (VIRTUAL MODE)" for minor errors of the operation error.)
7.1 Operation Control Programs
(1) Operation control programs

(a) Substitution operation expressions, motion-dedicated functions and bit
device control commands can be set in operation control program.
(b) Multiple blocks in one operation control program can be set.
(c) There are no restrictions on the number of blocks that may be set in one
operation control program. However, one program is within 64k bytes.
(d) The maximum number of characters in one block is 128.
(e) Transition conditions cannot be set. Transition conditions can be set only in
transition programs.
(f) The bit conditional expression that logical data value (true or false) is
returned in an operation control program, a comparison conditional
expression can be set up only as a source (S) of device set (SET=) or device
reset (RST=).
7
An operation control program example is shown below. 1 block
#0=D0+(D1+D2) #5//Substitution expression (four arithmetic operations)
W0:F=SIN(#10F)//Substitution expression (standard function)
CHGV(K2,K10)//Motion-dedicated function
1 program
SET M100=M0+X0//Bit device control (SET=)
RST M10=!X0//Bit device control (RST=)
DIN D0,X0//Bit device control (DIN)
Comment
7-1
(2) Priorities of operators and functions

Operators and functions have the following priorities.
Using parentheses allows an operation sequence to be specified freely.
Priority Item (Operator, Function)
High Calculation within parentheses ((...))
Standard function (SIN, COS, etc.),
Type conversion (USHORT, LONG, etc.)
Bit inversion (~), logical negation (!), sign inversion ( )
Multiplication ( ), division (/), remainder (%)
Addition (+), subtraction ( )
Bit left shift (<<), bit right shift (>>)
Comparison operators: Less than (<), less than or equal to (<=),
more than (>), more than or equal to (>=)
Comparison operators: Equal to (==), not equal to (!=)
Bit logical AND (&)
Bit exclusive OR (^)
Bit logical OR (|)
Logical AND ( )
Logical OR (+)
Low Substitution (=)
7-2
(3) Structure of instruction

Many of the instructions usable in operation control programs can be divided into
instruction and data parts.
The instruction and data parts are used for the following purposes.
• Instruction part.......... Indicates the function of that instruction.
• Data part................... Indicates the data used in the instruction.
"Substitution: =" structure example

D0 = #0
Data part: Source (S)

Instruction part
Data part: Destination (D)
(a) Source (S)

1) The source is the data used in an operation.
2) It varies with the device specified in each instruction is shown below.
• Bit or word device
Specify the device which stores the data used in operation.
The data must have been stored in the specified device until the
operation is executed.
Changing the data stored in the specified device during program
execution allows changing the data used in that instruction.
• Constant
Specify the numerical value used in an operation.
As the constant is set during program creation, it cannot be changed
during program running.
(b) Destination (D)

1) As the destination data, after-operation data is stored.
2) Destination data is always set the device for storing the data.
7-3
(4) How to specify data

There are the following six different data usable in each instruction.
Data usable in each instruction Numerical data Integer data 16-bit integer type data
32-bit integer type data
64-bit floating-point type data
Bit data
Batch bit data
Logical data
(a) 16-bit integer type data

The 16-bit integer type data is 16-bit integer value data.
Word devices are used in increments of 1 point.
Data ranges are shown below.
Decimal representation Hexadecimal representation
Data range K-32768 to K32767 H0000 to HFFFF
(b) 32-bit integer type data

The 32-bit integer type data is 32-bit integer value data.
Word devices are used in increments of 2 points: (specified device No.),
(specified device No.+1). Data ranges are shown below.
Data range K-2147483648L to K2147483647L H00000000L to HFFFFFFFFL
(c) 64-bit floating-point type data

The 64-bit floating-point type data is IEEE-formatted, 64-bit floating-point
value data.
Word devices are used in increments of 4 points: (specified device No.),
(specified device No.+1), (specified device No.+2), (specified device
No.+3).
1) The internal bit locations are shown below.
(+3) (+2) (+1) (Specified device number+0)
b63 b62 b52b51 b0
b51 to b0 (52 bits)

Decimal field
b62 to b52 (11 bits )

Bias exponent field
b63 (1 bit)
Sign bit field
2) The represented value is shown below. (The bias value is H3FF.)

[Sign bit field] ([Bias exponent field]-[bias value])
(-1) (1.0+[decimal field]) 2
7-4
3) Data ranges are shown below.

H0000000000000000,
K-1.79E+308 to K-2.23E-308,
H0010000000000000 to H7FE1CCF385EBC89F,
Data range K0.0,
H8000000000000000,
K2.23E-308 to K1.79E+308
H8010000000000000 to HFFE1CCF385EBC89F
4) A round-off error may be produced in a 64-bit floating-point type data

operation. Especially when using 64-bit floating-point type data in a
comparison operation, note that a round-off error may cause an intended
operation.
Example) In the following transition program, the result of the comparison
operation may not become true depending on the value of
#200F due to a round-off error.
#100F=SQRT(#200F)
#300F=#100F #100F
#200F==#300F
(d) Bit data

The bit data is the data where a contact/coil or similar device is handled in
increments of 1 bit. It is used in device set (SET=) and device reset (RST=).
Example 1
SET M0
Bit data
(e) Batch bit data

The batch bit data is the data where bit data is handled in increments of
16/32 points. It is used in device input (DIN) and device output (DOUT).
As indicated below, whether the bit data is handled in increments of 16 or
32 points is governed by the data type of the word device used as an input
destination/output source.
Increments of 16 points Increments of 32 points
DIN #0, M0 DIN #0L, M0
Program example
DOUT M0, D0 DOUT M0, DOL
(Specified device No.) to (Specified device No.) to
(specified device No.+15) (specified device No.+31)
Used devices
M0 to M15 in the above program M0 to M31 in the above program
example example
7-5
(f) Logical data

The logical data is a value returned by a bit or comparison conditional
expression and indicates whether the result is true or false.
Normally, it is used in the conditional expression of a transition program. In
an operation control program, the logical data is used in a bit conditional
expression set to device set (SET=) or device reset (RST=).
Example 1
SET M0 = X10
Logical data
Bit data
Example 2
RST M5 = !X10 M100
Logical data
Bit data
Example 3 (transition program)

D0 == K100
Logical data
7-6
7.2 Device Descriptions
Word and bit device descriptions are shown below.
(1) Word device descriptions

Device descriptions
32-bit 64-bit
16-bit Device No. (n) specifying ranges
integer type floating-point type
integer type
("n" is even No.) ("n" is even No.)
Data register Dn DnL DnF 0 to 8191
Link register Wn WnL Wn:F 0 to 1FFF
Special register Dn DnL DnF 9000 to 9255
0 to 8191
Motion device #n #nL #nF (Motion SFC dedicated devices :
8000 to 8191)
Coasting timer — FT — —
(a) For differentiation, the 32-bit floating-point type is ended by L and the 64-bit
floating-point type by F (F for the link register).
(b) For the 32-bit integer type and 64-bit floating-point type, specify the device
number with an even number. (It cannot be set as an odd number).
(c) The coasting timer FT is incremented per 888µs. (The coasting timer is a 32-
bit integer type.)
(2) Bit device descriptions

Device description Device No. (n) specifyied ranges
Input relay Xn/PXn 0 to 1FFF
Output relay Yn/PYn 0 to 1FFF
Internal relay Mn 0 to 8191
Latch relay Ln 0 to 8191
Link relay Bn 0 to 1FFF
Annunciator Fn 0 to 2047
Special relay Mn 9000 to 9255
(a) When using the device in DIN or DOUT as batch bit data, specify n as a
multiple of 16.
7-7
(3) Indirect specification of device No.

In the above word/bit device descriptions, device No. (n) can be specified
indirectly.
(a) Indirect specification of device No. (n) using word device
• The word device which the device No. was specified indirectly cannot be
used.
• You can use the 16-bit and 32-bit integer type word devices for indirect
specification.
The 64-bit floating-point type cannot be used.
(Description examples)
Good example Bad example
#(D10) #(D(D5))
D(#10L)F D(#4F)
(b) Indirect specification of device No. (n) using word device using operation
expression
• Device No. can be specified indirectly by calculation expressions which
use the following data and operators.
16-bit integer type word device
32-bit integer type word device
Usable data
16-bit integer type constant
32-bit integer type constant
Addition: +
Subtraction:
Multiplication:
Usable operators
Division: /
Remainder: %
Sign inversion:
• The word device which the device No. is specified indirectly cannot be
used.
• Only one operator may be used.
(Description examples)
Good example Bad example
#(D10-K5) #(D(D5)F+K20)
D(#10L%H6L)F D(#4L<<K2)
(Note) : When you want to use the result of calculation other than the above
to specify the device No. indirectly, describe it in two blocks as
shown below.
D0=SHORT(ASIN(#0F))
W0=#(D0)
7-8
7.3 Constant Descriptions
The constant descriptions of the 16-bit integer type, 32-bit integer type and 64-bit
floating-point type are shown below.
16-Bit integer type 32-Bit integer type 64-Bit floating-point type
K-1.79E+308 to K-2.23E-308,
Decimal
K-32768 to K32767 K-2147483648L to K2147483647L K0.0,
representation
K2.23E-308 to K1.79E+308
Hexadecimal
H0000 to HFFFF H00000000L to HFFFFFFFFL —
representation
(1) The 32-bit integer type is ended by L and the 64-bit floating-point type is provided
with a decimal point and exponent part (E) to denote their data types explicitly.
(2) The constant without the data type is regarded as the applicable minimum type.
(3) The constant in decimal representation is headed by K and the one in

hexadecimal representation by H.
K can be omitted.
(4) The 64-bit floating-point type cannot be represented in hexadecimal.
7-9
F/FS G
7.4 Binary Operations
7.4.1 Substitution : =
Format (D)=(S) Number of basic steps 4
[Usable data]
Usable Data
Word device Constant
Setting 64-bit 64-bit Bit Comparison
16-bit 32-bit 16-bit 32-bit Calculation
data Bit device floating Coasting floating conditional conditional
integer integer integer integer type expression
point timer point expression expression
type type (L) type (K/H) (K/H, L)
type (F) type (K)
(S) — — —
(D) — — — — — — — —
: Usable
[Setting data]
Setting data Description Data type of result
Word device/constant/calculation expression to be
(S)
substituted Data type of (D)
(D) Word device which will store the operation result
[Functions]
(1) The data value specified with (S) is substituted to the specified word device at (D).
(2) When (S) and (D) differ in data type, the data at (S) is converted into the data type
of (D) and the resultant data is substituted.
(When (D) is a 16- or 32-bit integer type and (S) is a 64-bit floating-point type, the
fraction part of (S) is discarded.)
[Errors]
(1) An operation error will occur if:
• The data at (S) is outside the data type range of (D); or
• (D) or (S) is an indirectly specified device and its device No. is outside the
range.
[Program examples]
(1) Program which substitutes the D0 value to #0
#0 = D0
#0 123 D0 123
7 - 10
(2) Program which substitutes K123456.789 to D0L

D0L = K123456.789
D1 D0
123456 123456.789
The 64-bit floating-point type is converted into the 32-bit integer type and the
result is substituted.
(3) Program which substitutes the result of adding K123 and #0 to W0

W0 = K123 + #0
123
W0 579 +
#0 456
7 - 11
F/FS G
7.4.2 Addition : +
Format (S1)+(S2) Number of basic steps 4
[Usable data]
Usable Data
type (F) type (K)
(S1) — — —
(S2) — — —
: Usable
[Setting data]
(S1) Augend data Data type of (S1) or (S2)
(S2) Addend data which is greater
[Functions]
(1) The data specified with (S2) is added to the data specified with (S1).
(2) When (S1) and (S2) differ in data type, the data of the smaller data type is
converted into that of the greater type before operation is performed.
[Errors]
• (S1) or (S2) is an indirectly specified device and its device No. is outside the
range.
[Program examples]
(1) Program which substitutes the result of adding K123 and #0 to W0
W0 = K123 + #0
(2) Program which substitutes the result of adding #0F and #10 to D0L
D0L = #0F + #10
#3 #2 #1 #0
12345.789
D1 D0
D0L 12468
12468.789 +
#10 123
The 64-bit floating-point type data are used for addition, and the result is
converted into the 32-bit integer type and then substituted.
7 - 12
F/FS G
7.4.3 Subtraction :
Format (S1) (S2) Number of basic steps 4
[Usable data]
Usable Data
type (F) type (K)
(S1) — — —
(S2) — — —
: Usable
[Setting data]
(S1) Minuend data Data type of (S1) or (S2)
(S2) Subtracted data which is greater
[Functions]
(1) The data specified with (S2) is subtracted from the data specified with (S1).
[Errors]
range.
[Program examples]
(1) Program which substitutes the result of subtracting #0 from K123 to W0
W0 = K123 #0
123
W0 -333
#0 456
7 - 13
(2) Program which substitutes the result of subtracting #10 from #0F to D0L
D0L = #0F #10
#3 #2 #1 #0
12345.789
D1 D0
12222.789
D0L 12222
#10 123
64-bit floating-point type data are used for subtraction, and the result is converted
into the 32-bit integer type and then substituted. The
7 - 14
F/FS G
7.4.4 Multiplication :
[Usable data]
Usable Data
type (F) type (K)
(S1) — — —
(S2) — — —
: Usable
[Setting data]
(S1) Multiplicand data Data type of (S1) or (S2)
(S2) Multiplier data which is greater
[Functions]
(1) The data specified with (S1) is multiplied by the data specified with (S2).
[Errors]
range.
[Program examples]
(1) Program which substitutes the result of multiplying K123 by #0 to W0
W0 = K123 #0
123
W0 56088 *
#0 456
(2) Program which substitutes the result of multiplying #0F by #10 to D0L
D0L = #0F #10
#3 #2 #1 #0
12345.789
D1 D0
D0L 1518532
1518532.047 *
#10 123
The 64-bit floating-point type data are used for multiplication, and the result is
7 - 15
F/FS G
7.4.5 Division : /
Format (S1)/(S2) Number of basic steps 4
[Usable data]
Usable Data
type (F) type (K)
(S1) — — —
(S2) — — —
: Usable
[Setting data]
(S1) Dividend data Data type of (S1) or (S2)
(S2) Divisor data which is greater
[Functions]
(1) The data specified with (S1) is divided by the data specified with (S2) to find a
quotient.
[Errors]
• (S2) is 0; or
range.
[Program examples]
(1) Program which divides K456 by #0 and substitutes a quotient to W0
W0 = K456 / #0
456
W0 3 /
#0 123
(2) Program which divides #0F by #10 and substitutes a quotient to D0L
D0L = #0F / #10
#3 #2 #1 #0
12345.789
D1 D0
100
100.3722683 /
#10 123
The 64-bit floating-point type data are used for division, and the quotient is
7 - 16
F/FS G
7.4.6 Remainder : %
Format (S1)%(S2) Number of basic steps 4
[Usable data]
Usable Data
type (F) type (K)
(S1) — — — — —
(S2) — — — — —
: Usable
[Setting data]
(S1) Dividend data Data type (integer type) of

(S1) or (S2) which is greater
(S2) Divisor data (Integer type)
[Functions]
(1) The data specified with (S1) is divided by the data specified with (S2) to find a
remainder.
[Errors]
• (S2) is 0; or
range.
[Program examples]
(1) Program which divides K456 by #0 and substitutes a remainder to W0
W0 = K456 % #0
456
W0 87 %
#0 123
7 - 17
F/FS G
7.5 Bit Operations
7.5.1 Bit inversion (Complement) : ˜
Format ˜ (S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — — — —
: Usable
[Setting data]
Data type of (S)
(S) Data whose bits will be inverted
(Integer type)
[Functions]
(1) The bit inverted value of the data specified with (S) is found.
[Errors]
• (S) is an indirectly specified device and its device No. is outside the range.
[Program examples]
(1) Program which finds the bit inverted value of #0 and substitutes the value to D0
D0 = ˜ #0
b15 b0 b15 b0
D0 1101101011001011 #0 0010010100110100
7 - 18
F/FS G
7.5.2 Bit logical AND : &
Format (S1)&(S2) Number of basic steps 4
[Usable data]
Usable Data
type (F) type (K)
(S1) — — — — —
(S2) — — — — —
: Usable
[Setting data]
(S1) Data type of (S1) or (S2)

Data which will be ANDed bit-by-bit which is greater
(S2) (Integer type)
[Functions]
(1) The bit-by-bit logical product of the data specified with (S1) and the data specified
with (S2) is found.
converted into that of the greater type before operation is performed. At this time,
note that signed data is converted.
[Errors]
range.
[Program examples]
(1) Program which ANDs #0 and #1 and substitutes the result to D0
D0 = #0 & #1
b15 b0
#0 0010010100110100
b15 b0
D0 0010000100100100 &
b15 b0
#1 0010100100100100
7 - 19
F/FS G
7.5.3 Bit logical OR : |
Format (S1) l (S2) Number of basic steps 4
[Usable data]
Usable Data
type (F) type (K)
(S1) — — — — —
(S2) — — — — —
: Usable
[Setting data]

Data which will be ORed bit-by-bit which is greater
(S2) (Integer type)
[Functions]
(1) The bit-by-bit logical add of the data specified with (S1) and the data specified with
(S2) is found.
[Errors]
range.
[Program examples]
(1) Program which ORs #0 and #1 and substitutes the result to D0
D0 = #0 l #1
b15 b0
#0 0010010100110100
b15 b0
D0 0010110100110100 |
b15 b0
#1 0010100100100100
7 - 20
F/FS G
7.5.4 Bit exclusive logical OR : ^
Format (S1)^(S2) Number of basic steps 4
[Usable data]
Usable Data
type (F) type (K)
(S1) — — — — —
(S2) — — — — —
: Usable
[Setting data]

Data which will be EXCLUSIVE ORed bit-by-bit which is greater
(S2) (Integer type)
[Functions]
(1) The bit-by-bit exclusive logical add of the data specified with (S1) and the data
specified with (S2) is found.
[Errors]
range.
[Program examples]
(1) Program which EXCLUSIVE ORs #0 and #1 and substitutes the result to D0
D0 = #0 ^ #1
b15 b0
#0 0010010100110100
b15 b0
D0 0000110000010000 ^
b15 b0
#1 0010100100100100
7 - 21
F/FS G
7.5.5 Bit right shift : >>
Format (S1) >> (S2) Number of basic steps 4
[Usable data]
Usable Data
type (F) type (K)
(S1) — — — — —
(S2) — — — — —
: Usable
[Setting data]
(S1) Data to be right-shifted Data type of (S1)
(S2) Number of right shifts (Integer type)
[Functions]
(1) The data specified with (S1) is shifted to the right by the number of times specified
with (S2).
(2) If the most significant bit of (S1) is 1, 1 enters the most significant bit of the right
shift result.
If the most significant bit of (S1) is 0, 0 enters the most significant bit of the right
shift result.
(3) When (S1) is a 16-bit integer type and (S2) is a negative number or not less than
16, the result is 0.
[Errors]
range.
[Program examples]
(1) Program which shifts #0 two bit positions to the right and substitutes the result to
D0
D0 = #0 >> K2
b15 b0 b15 b0
D0 0000100101001101 #0 0010010100110100
7 - 22
F/FS G
7.5.6 Bit left shift : <<
Format (S1) << (S2) Number of basic steps 4
[Usable data]
Usable Data
type (F) type (K)
(S1) — — — — —
(S2) — — — — —
: Usable
[Setting data]
(S1) Data to be left-shifted Data type of (S1)
(S2) Number of left shifts (Integer type)
[Functions]
(1) The data specified with (S1) is shifted to the left by the number of times specified
with (S2).
(2) 0 enters the least significant bit of the left shift result.
[Errors]
range.
[Program examples]
(1) Program which shifts #0 one bit position to the left and substitutes the result to D0
D0 = #0 << K1
b15 b0 b15 b0
D0 0100101001101000 #0 0010010100110100
7 - 23
F/FS G
7.5.7 Sign inversion (Complement of 2) :
Format (S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — —
: Usable
[Setting data]
(S) Data whose sign will be inverted Data type of (S)
[Functions]
(1) The sign-inverted value of the data specified with (S) is found.
[Errors]
[Program examples]
(1) Program which substitutes the sign-inverted value of #0 to D0
D0 = #0
D0 -123 #0 123
7 - 24
F/FS G
7.6 Standard Functions
7.6.1 Sine : SIN
Format SIN(S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — —
: Usable
[Setting data]
Angle data on which SIN (sine) operation will be
(S) Floating-point type
performed
[Functions]
(1) SIN (sine) operation is performed on the data specified with (S).
(2) The data specified with (S) is in an angle (degree) unit.
(3) If (S) is an integer type, it is converted into a floating-point type before operation is
performed.
[Errors]
[Program examples]
(1) Program which performs the SIN operation of D0 and substitutes the result to #0F
#0F = SIN(D0)
#3 #2 #1 #0
0.70710678118655 D0 45
7 - 25
F/FS G
7.6.2 Cosine : COS
Format COS(S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — —
: Usable
[Setting data]
Angle data on which COS (cosine) operation will
be performed
[Functions]
(1) COS (cosine) operation is performed on the data specified with (S).
performed.
[Errors]
[Program examples]
(1) Program which performs the COS operation of D0 and substitutes the result to
#0F
#0F = COS(D0)
#3 #2 #1 #0
0.5 D0 60
7 - 26
F/FS G
7.6.3 Tangent : TAN
Format TAN(S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — —
: Usable
[Setting data]
Angle data on which TAN (tangent) operation will
be performed
[Functions]
(1) TAN (tangent) operation is performed on the data specified with (S).
performed.
[Errors]
• (S) is an indirectly specified device and its device No. is outside the range; or
• (S) is 90+(180 n). ("n" is an integer)
[Program examples]
(1) Program which performs the TAN operation of D0 and substitutes the result to
#0F
#0F = TAN(D0)
#3 #2 #1 #0
0.57735026918963 D0 30
7 - 27
F/FS G
7.6.4 Arcsine : ASIN
Format ASIN(S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — —
: Usable
[Setting data]
-1
SIN value data on which SIN (arcsine) operation
will be performed
[Functions]
(1) SIN -1 (arcsine) operation is performed on the SIN value data specified with (S) to
find an angle.
(2) The SIN value specified with (S) must be within the range -1.0 to 1.0.
(3) The operation result is in an angle (degree) unit.
performed.
[Errors]
• (S) is outside the range -1.0 to 1.0; or
• (S) is an indirectly specified device and its device number is outside the range.
[Program examples]
(1) Program which performs the SIN -1 (arcsine) operation of D0 and substitutes the
result to #0F
#0F = ASIN(D0)
#3 #2 #1 #0
90.0 D0 1
7 - 28
F/FS G
7.6.5 Arccosine : ACOS
Format ACOS(S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — —
: Usable
[Setting data]
-1
COS value data on which COS (arccosine)
operation will be performed
[Functions]
(1) COS -1 (arccosine) operation is performed on the COS value data specified with
(S) to find an angle.
(2) The COS value specified with (S) must be within the range -1.0 to 1.0.
performed.
[Errors]
• (S) is outside the range -1.0 to 1.0; or
[Program examples]
(1) Program which performs the COS -1 (arccosine) operation of D0F and substitutes
the result to #0F
#0F = ACOS(D0F)
#3 #2 #1 #0 D3 D2 D1 D0
60.0 0.5
7 - 29
F/FS G
7.6.6 Arctangent : ATAN
Format ATAN(S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — —
: Usable
[Setting data]
-1
TAN value data on which TAN (arctangent)
operation will be performed
[Functions]
(1) TAN -1 (arctangent) operation is performed on the TAN value data specified with
(S) to find an angle.
performed.
[Errors]
[Program examples]
(1) Program which performs the TAN -1 (arctangent) operation of D0F and substitutes
the result to #0F
#0F = ATAN(D0F)
#3 #2 #1 #0 D3 D2 D1 D0
45.0 1.0
7 - 30
F/FS G
7.6.7 Square root : SQRT
Format SQRT(S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — —
: Usable
[Setting data]
Data on which square root operation will be
performed
[Functions]
(1) The square root of the data specified with (S) is found.
(2) Only a positive number may be specified with (S). (Operation cannot be
performed with a negative number.)
performed.
[Errors]
• (S) is a negative number; or
[Program examples]
(1) Program which finds the square root of D0F and substitutes the result to #0F
#0F = SQRT(D0F)
#3 #2 #1 #0 D3 D2 D1 D0
3.0 9.0
7 - 31
F/FS G
7.6.8 Natural logarithm : LN
Format LN(S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — —
: Usable
[Setting data]
Data on which natural logarithm operation will be
performed
[Functions]
(1) The base e natural logarithm of the data specified with (S) is found.
(2) Only a positive number may be specified with (S). (Operation cannot be
performed with a negative number.)
performed.
[Errors]
• (S) is 0 or a negative number; or
[Program examples]
(1) Program which finds the natural logarithm of D0F and substitutes the result to #0F
#0F = LN(D0F)
#3 #2 #1 #0 D3 D2 D1 D0
2.3025850929940 10.0
7 - 32
F/FS G
7.6.9 Exponential operation : EXP
Format EXP(S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — —
: Usable
[Setting data]
Data on which exponential operation will be
performed
[Functions]
(1) Exponential operation is performed on the base e data specified with (S).
performed.
[Errors]
[Program examples]
(1) Program which performs exponential operation of D0F and substitutes the result
to #0F
#0F = EXP(D0F)
#3 #2 #1 #0 D3 D2 D1 D0
442413.39200892 13.0
7 - 33
F/FS G
7.6.10 Absolute value : ABS
Format ABS(S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — —
: Usable
[Setting data]
Data on which absolute value conversion will be
(S) Data type of (S)
performed
[Functions]
(1) The absolute value of the data specified with (S) is found.
[Errors]
[Program examples]
(1) Program which finds the absolute value of D0F and substitutes the result to #0F
#0F = ABS(D0F)
#3 #2 #1 #0 D3 D2 D1 D0
33.0 -33.0
7 - 34
F/FS G
7.6.11 Round-off : RND
Format RND(S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — —
: Usable
[Setting data]
(S) Data whose fractional portion will be rounded off Data type of (S)
[Functions]
(1) The rounded-off fractional portion value of the data specified with (S) is found.
(2) If (S) is a negative number, the absolute value of (S) is found and its fractional
portion is rounded off and signed.
(3) If (S) is an integer type, its value is returned unchanged, with no conversion
processing performed.
[Errors]
[Program examples]
(1) Program which finds the rounded-off fractional portion value of D0F and
substitutes the result to #0F
#0F = RND(D0F)
#3 #2 #1 #0 D3 D2 D1 D0
34.0 33.54
(2) Program which finds the rounded-off fractional portion value of D4F and
substitutes the result to #0F (when D4F is a negative number)
#0F = RND(D4F)
#3 #2 #1 #0 D7 D6 D5 D4
-33.0 -33.44
7 - 35
F/FS G
7.6.12 Round-down : FIX
Format FIX(S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — —
: Usable
[Setting data]
(S) Data whose fractional portion will be rounded down Data type of (S)
[Functions]
(1) The largest integer not greater than the data specified with (S) is found.
(2) If the (S) value is positive, the absolute value will be smaller, and if it is negative,
the absolute value will be greater.
[Errors]
[Program examples]
(1) Program which finds the rounded-down fractional portion value of D0F and
#0F = FIX(D0F)
#3 #2 #1 #0 D3 D2 D1 D0
33.0 33.54
(2) Program which finds the rounded-down fractional portion value of D4F and
#0F = FIX(D4F)
#3 #2 #1 #0 D7 D6 D5 D4
-34.0 -33.54
7 - 36
F/FS G
7.6.13 Round-up : FUP
Format FUP(S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — —
: Usable
[Setting data]
(S) Data whose fractional portion will be rounded up Data type of (S)
[Functions]
(1) The smallest integer not less than the data specified with (S) is found.
(2) If the (S) value is positive, the absolute value will be greater, and if it is negative,
the absolute value will be smaller.
[Errors]
[Program examples]
(1) Program which finds the rounded-up fractional portion value of D0F and
#0F = FUP(D0F)
#3 #2 #1 #0 D3 D2 D1 D0
34.0 33.54
(2) Program which finds the rounded-up fractional portion value of D4F and
#0F = FUP(D4F)
#3 #2 #1 #0 D7 D6 D5 D4
-33.0 -33.54
7 - 37
F/FS G
7.6.14 BCD BIN conversion : BIN
Format BIN(S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — — — —
: Usable
[Setting data]
Data type of (S)
(S) BCD data which will be converted into BIN data
(Integer type)
[Functions]
(1) The BCD data specified with (S) is converted into BIN data.
(2) If (S) is a 16-bit integer type, the data range is 0 to 9999.
[Errors]
• A value other than 0 to 9 is in any digit of (S); or
[Program examples]
(1) Program which converts the BCD data of D0 into BIN data and substitutes the
result to #0
#0 = BIN(D0)
BIN 9999 BCD 9999
b15 b0 b15 b0
#0 0010011100001111 D0 1001100110011001
Thousands Hundreds Tens Units
7 - 38
F/FS G
7.6.15 BIN BCD conversion : BCD
Format BCD(S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — — — —
: Usable
[Setting data]
Data type of (S)
(S) BIN data which will be converted into BCD data
(Integer type)
[Functions]
(1) The BIN data specified with (S) is converted into BCD data.
[Errors]
• The data is other than 0 to 9999 when (S) is a 16-bit integer type;
• The data is other than 0 to 99999999 when (S) is a 32-bit integer type; or
[Program examples]
(1) Program which converts the BIN data of D0 into BCD data and substitutes the
result to #0
#0 = BCD(D0)
BCD 9999 BIN 9999
b15 b0 b15 b0
#0 1001100110011001 D0 0010011100001111
Thousands Hundreds Tens Units
7 - 39
F/FS G
7.7 Type Conversions
7.7.1 Signed 16-bit integer value conversion : SHORT
Format SHORT(S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — —
: Usable
[Setting data]
Data which will be converted into signed 16-bit
(S) 16-bit integer type
integer value
[Functions]
(1) The data specified with (S) is converted into a signed 16-bit integer value.
(2) The data range of (S) is -32768 to 32767.
(3) When (S) is a 64-bit floating-point type, its fractional portion is rounded down
before conversion is made.
(4) If (S) is a 16-bit integer type, its value is returned unchanged, with no conversion
[Errors]
• The (S) data is outside the range -32768 to 32767; or
[Program examples]
(1) Program which converts the data of D0L into a signed 16-bit integer value and
substitutes the result to #0
#0 = SHORT(D0L)
D1 D0
#0 K-30000 K-30000L
(H8AD0) (HFFFF8AD0)
7 - 40
F/FS G
7.7.2 Unsigned 16-bit integer value conversion : USHORT
Format USHORT(S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — —
: Usable
[Setting data]
Data which will be converted into unsigned 16-bit
integer value
[Functions]
(1) The data specified with (S) is converted into an unsigned 16-bit integer value.
(2) The data range of (S) is 0 to 65535.
[Errors]
• The (S) data is outside the range 0 to 65535; or
[Program examples]
(1) Program which converts the data of D0L into an unsigned 16-bit integer value and
substitutes the result to #0
#0 = USHORT(D0L)
D1 D0
#0 K-5536 K60000L
(HEA60) (H0000EA60)
Unsigned value is K60000
7 - 41
F/FS G
7.7.3 Signed 32-bit integer value conversion : LONG
Format LONG(S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — —
: Usable
[Setting data]
integer value
[Functions]
(1) The data specified with (S) is converted into a signed 32-bit integer value.
(2) The data range of (S) is -2147483648 to 2147483647.
[Errors]
• The (S) data is outside the range -2147483648 to 2147483647; or
[Program examples]
(1) Program which converts the data of D0 into a signed 32-bit integer value and
substitutes the result to #0L
#0L = LONG(D0)
#1 #0
K-1L D0 K-1
(HFFFFFFFF) (HFFFF)
7 - 42
F/FS G
7.7.4 Unsigned 32-bit integer value conversion : ULONG
Format ULONG(S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — —
: Usable
[Setting data]
integer value
[Functions]
(1) The data specified with (S) is converted into an unsigned 32-bit integer value.
(2) The data range of (S) is 0 to 4294967295.
[Errors]
• The (S) data is outside the range 0 to 4294967295; or
[Program examples]
(1) Program which converts the data of D0 into an unsigned 32-bit integer value and
substitutes the result to #0L
#0L = ULONG(D0)
#1 #0
K65535L D0 K-1
(H0000FFFF) (HFFFF)
7 - 43
F/FS G
7.7.5 Signed 64-bit floating-point value conversion : FLOAT
Format FLOAT(S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — —
: Usable
[Setting data]
(S) 64-bit floating-point type
floating-point value
[Functions]
(1) The data specified with (S) is converted into a signed 64-bit floating-point value.
(2) If (S) is a 64-bit floating-point type, its value is returned unchanged, with no
conversion processing performed.
[Errors]
[Program examples]
(1) Program which converts the data of D0L into a signed 64-bit floating-point value
and substitutes the result to #0F
#0F = FLOAT(D0L)
#3 #2 #1 #0 D1 D0
K-1.0 K-1L
(HFFFFFFFF)
7 - 44
F/FS G
7.7.6 Unsigned 64-bit floating-point value conversion : UFLOAT
Format UFLOAT(S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — —
: Usable
[Setting data]
(S) 64-bit floating-point type
floating-point value
[Functions]
(1) The data specified with (S) is converted into an unsigned 64-bit floating-point
value.
(2) If (S) is a 64-bit floating-point type, its value is returned unchanged, with no
conversion processing performed.
[Errors]
[Program examples]
(1) Program which converts the data of D0L into an unsigned 64-bit floating-point
value and substitutes the result to #0F
#0F = UFLOAT(D0L)
#3 #2 #1 #0 D1 D0
K4294967295.0 K-1L
(HFFFFFFFF)
7 - 45
F/FS G
7.8 Bit Device Statuses
7.8.1 ON (Normally open contact) : (None)
Format (S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — — — — — — — — —
: Usable
[Setting data]
(S) Bit device used in bit conditional expression Logical type (true/false)
[Functions]
(1) True is returned when the bit device specified with (S) in a bit conditional
expression is ON (1), or false is returned when that bit device is OFF (0).
[Errors]
[Program examples]
(1) Program which sets M100 when either of M0 and X0 is ON (1)
SET M100 = M0 + X0
M0 0 (False)
(True)
M100 1 +
X0 1 (True)
7 - 46
F/FS G
7.8.2 OFF (Normally closed contact) : !
Format !(S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — — — — — — — — —
: Usable
[Setting data]
(S) Bit device used in bit conditional expression Logical type (true/false)
[Functions]
(1) True is returned when the bit device specified with (S) in a bit conditional
expression is OFF (0), or false is returned when that bit device is ON (1).
[Errors]
[Program examples]
(1) Program which resets M100 when M0 is OFF (0)
RST M100 = !M0
M100 0 !M0 0 (True)
7 - 47
F/FS G
7.9 Bit Device Controls
7.9.1 Device set : SET
Format =SET(D) (S) Number of basic steps 4
[Usable data]
Usable Data
type (F) type (K)
(D) — — — — — — — — — —
(S) — — — — — — — —
: Usable
(Note-1) : PX is write-disabled and cannot be used at (D).
(Note-2) : M2001 to M2032 cannot be used at (D).
[Setting data]
(D) Bit data for device set
Bit logical type
Condition data which determines whether device
(S) (true/false)
set will be performed or not
[Functions]
(1) If the data specified with (S) is true, the bit data specified with (D) is set.
(2) (S) can be omitted.

At this time, the format is "SET(D)" and device set is made unconditionally.
(3) When this instruction is set as a transition condition in the last block of a transient
program, whether the data specified with (S) is true or false is returned as logical
type data. In this case, (S) cannot be omitted.
[Errors]
range.
7 - 48
[Program examples]
(1) Program which sets M100 when either of M0 and X0 is 1
SET M100 = M0 + X0
M0 0
M100 1 + (True)
X0 1
(2) Program which sets M100 when #0 is equal to D0

SET M100 = #0 = = D0
#0 100
M100 1 == (True)
D0 100
(3) Program which sets Y0 unconditionally

SET Y0
Y0 1
7 - 49
F/FS G
7.9.2 Device reset : RST
Format RST(D)=(S) Number of basic steps 4
[Usable data]
Usable Data
type (F) type (K)
(D) — — — — — — — — — —
(S) — — — — — — — —
: Usable
(Note-1) : PX is write-disabled and cannot be used at (D).
(Note-2) : M2001 to M2032 cannot be used at (D).
[Setting data]
(D) Bit data for device reset
Bit logical type
Condition data which determines whether device
(S) (true/false)
reset will be performed or not
[Functions]
(1) If the data specified with (S) is true, the bit data specified with (D) is reset.
(2) (S) can be omitted.

At this time, the format is "RST(D)" and device reset is made unconditionally.
type data. In this case, (S) cannot be omitted.
[Errors]
range.
7 - 50
[Program examples]
(1) Program which resets M100 when either of M0 and X0 is 1
RST M100 = M0 + X0
M0 0
M100 0 + (True)
X0 1
(2) Program which resets M100 when #0 is equal to D0

RST M100 = #0 != D0
#0 100
M100 0 != (True)
D0 200
(3) Program which resets Y0 unconditionally

RST Y0
Y0 0
7 - 51
F/FS G
7.9.3 Device output : DOUT
Format DOUT(D), (S) Number of basic steps 4
[Usable data]
Usable Data
type (F) type (K)
(D) — — — — — — — — — —
(S) — — — — —
: Usable
(Note-1) : PX and special M cannot be used at (D).
(Note-2) : Range including M2000 to M2127 cannot be used at (D).
[Setting data]
(D) Output destination bit data
Batch bit
(S) Output source data
[Functions]
(1) The data specified with (S) is output to the bit data specified with (D).
(2) Specify a multiple of 16 as the device No. of the bit data specified with (D).
(3) If the type of (S) is a 16-bit integer type, 16 points of the (S) data, starting at the
least significant bit, are output in order to the bit devices headed by the one
specified with (D).
(4) If the type of (S) is a 32-bit integer type, 32 points of the (S) data, starting at the
least significant bit, are output in order to the bit devices headed by the one
specified with (D).
[Errors]
range.
• (D) is an indirectly specified device and its device No. is not a multiple of 16.
[Program examples]
(1) Program which outputs the data of D0 to Y0-YF
DOUT Y0, D0
YF Y0 b15 b0
0010011100001111 D0 0010011100001111
7 - 52
F/FS G
7.9.4 Device input : DIN
Format DIN(D), (S) Number of basic steps 4
[Usable data]
Usable Data
type (F) type (K)
(D) — — — — — — — — —
(S) — — — — — — — — — —
: Usable
[Setting data]
(D) Input destination data Data type of (D)
(S) Input source bit data (Integer type)
[Functions]
(1) The bit data specified with (S) is input to the data specified with (D).
(2) Specify a multiple of 16 as the device No. of the bit data specified with (S).
(3) If the type of (D) is a 16-bit integer type, 16 points of the (D) data, starting at the
least significant bit, are input in order to the bit devices headed by the one
specified with (S).
(4) If the type of (D) is a 32-bit integer type, 32 points of the (D) data, starting at the
least significant bit, are input in order to the bit devices headed by the one
specified with (S).
[Errors]
range.
• (S) is an indirectly specified device and its device No. is not a multiple of 16.
[Program examples]
(1) Program which inputs the data of X0-XF to D0
DIN D0, X0
b15 b0 XF X0
D0 0010011100001111 0010011100001111
7 - 53
F/FS G
7.9.5 Bit device output : OUT
Refer to the Section "1.3.4" for the correspondence version of the Motion CPU and the
software.
Format OUT(D)=(S) Number of basic steps 4
[Usable data]
Usable Data
type (F) type (K)
(D) — — — — — — — — — —
(S) — — — — — — — —
: Usable
[Setting data]
(D) Bit device for device output Bit logical type
(S) Condition data which determines device output (true/false)
[Functions]
(1) If the data specified with (S) is true, the bit data specified with (D) is set, and if the
data specified with (S) is false, the bit data specified with (D) is reset.
type data.
(3) In this case, (S) cannot be omitted.
[Errors]
range.
[Program examples]
(1) Program which sets M100 when M0 is ON (1) and program which resets M100
when M0 is OFF (0)
OUT M100 = M0
(2) Program which sets M100 when M0 and M1 are both on and resets M100 except
it
OUT M100 = M0 * M1
7 - 54
(3) Program which sets M100 when D0 is equal to D2000 and resets M100 when D is
not equal to D2000
OUT M100 = (D0 == D2000)
7 - 55
F/FS G
7.10 Logical Operations
7.10.1 Logical acknowledgement : (None)
Format (S) Number of basic steps —
[Usable data]
Usable Data
type (F) type (K)
(S) — — — — — — — —
: Usable
[Setting data]
(S) Data which will be logically acknowledged Logical type (true/false)
[Functions]
(1) Whether the logical type data specified with (S) is true or false is returned
unchanged. (Logical acknowledgement)
[Errors]
[Program examples]
(1) Program which sets M100 when either of M0 and X0 is ON (1)
SET M100 = M0 + X0
M0 0 (False)
(True)
M100 1 +
X0 1 (True)
7 - 56
F/FS G
7.10.2 Logical negation : !
Format ! (S) Number of basic steps 2
[Usable data]
Usable Data
type (F) type (K)
(S) — — — — — — — —
: Usable
[Setting data]
(S) Data which will be logically negated Logical type (true/false)
[Functions]
(1) The data specified with (S) is logically negated.
[Errors]
[Program examples]
(1) Program which sets M100 when "either of M0 and X0 is not ON (1)" (when M0
and X0 are both OFF (0))
SET M100 = ! (M0 + X0)
M0 0 (False)
(True) ! (False)
M100 1 +
X0 0 (False)
7 - 57
F/FS G
7.10.3 Logical AND :
[Usable data]
Usable Data
type (F) type (K)
(S1) — — — — — — — —
(S2) — — — — — — — —
: Usable
[Setting data]
(S1)
Data which will be ANDed Logical type (true/false)
(S2)
[Functions]
(1) The data specified with (S1) and the data specified with (S2) are ANDed.
[Errors]
[Program examples]
(1) Program which sets M100 when M0 and X0 are both 1
SET M100 = M0 X0
M0 1
M100 1 (True)
X0 1
7 - 58
F/FS G
7.10.4 Logical OR : +
Format (S1)+(S2) Number of basic steps 4
[Usable data]
Usable Data
type (F) type (K)
(S1) — — — — — — — —
(S2) — — — — — — — —
: Usable
[Setting data]
(S1)
Data which will be ORed Logical type (true/false)
(S2)
[Functions]
(1) The data specified with (S1) and the data specified with (S2) are ORed.
[Errors]
range.
[Program examples]
(1) Program which sets M100 when either of M0 and X0 is 1
SET M100 = M0 + X0
M0 0
M100 1 + (True)
X0 1
7 - 59
F/FS G
7.11 Comparison Operations
7.11.1 Equal to : ==
Format (S1)==(S2) Number of basic steps 4
[Usable data]
Usable Data
type (F) type (K)
(S1) — — —
(S2) — — —
: Usable
[Setting data]
(S1)
Data which will be compared Logical type (true/false)
(S2)
[Functions]
(1) The data specified with (S1) and the data specified with (S2) are compared, and
the result is true if they are equal.
converted into that of the greater type before comparison is performed.
[Errors]
range.
[Program examples]
(1) Program which compares whether #0 and D0 are equal or not
#0 = = D0
#0 100
(True) ==
D0 100
7 - 60
F/FS G
7.11.2 Not equal to : !=
Format (S1)!=(S2) Number of basic steps 4
[Usable data]
Usable Data
type (F) type (K)
(S1) — — —
(S2) — — —
: Usable
[Setting data]
(S1)
(S2)
[Functions]
(1) The data specified with (S1) and the data specified with (S2) are compared, and
the result is true if they are not equal.
[Errors]
range.
[Program examples]
(1) Program which compares whether #0 and D0 are unequal or not
#0 != D0
#0 100
(True) !=
D0 20
7 - 61
F/FS G
7.11.3 Less than : <
Format (S1)<(S2) Number of basic steps 4
[Usable data]
Usable Data
type (F) type (K)
(S1) — — —
(S2) — — —
: Usable
[Setting data]
(S1)
(S2)
[Functions]
(1) The result is true if the data specified with (S1) is less than the data specified with
(S2).
[Errors]
range.
[Program examples]
(1) Program which compares whether #0 is less than D0 or not
#0 < D0
#0 10
(True) <
D0 20
7 - 62
F/FS G
7.11.4 Less than or equal to: <=
Format (S1)<=(S2) Number of basic steps 4
[Usable data]
Usable Data
type (F) type (K)
(S1) — — —
(S2) — — —
: Usable
[Setting data]
(S1)
(S2)
[Functions]
(1) The result is true if the data specified with (S1) is less than or equal to the data
specified with (S2).
[Errors]
range.
[Program examples]
(1) Program which compares whether #0 is less than or equal to D0 or not
#0 <= D0
#0 10
(True) <=
D0 20
7 - 63
F/FS G
7.11.5 More than : >
Format (S1)>(S2) Number of basic steps 4
[Usable data]
Usable Data
type (F) type (K)
(S1) — — —
(S2) — — —
: Usable
[Setting data]
(S1)
(S2)
[Functions]
(1) The result is true if the data specified with (S1) is greater than the data specified
with (S2).
[Errors]
range.
[Program examples]
(1) Program which compares whether #0 is greater than D0 or not
#0 > D0
#0 400
(True) >
D0 20
7 - 64
F/FS G
7.11.6 More than or equal to: >=
Format (S1)>=(S2) Number of basic steps 4
[Usable data]
Usable Data
type (F) type (K)
(S1) — — —
(S2) — — —
: Usable
[Setting data]
(S1)
(S2)
[Functions]
(1) The result is true if the data specified with (S1) is greater than or equal to the data
specified with (S2).
[Errors]
range.
[Program examples]
(1) Program which compares whether #0 is greater than or equal to D0 or not
#0 >= D0
#0 400
(True) >=
D0 20
7 - 65
F/FS G
7.12 Motion-Dedicated Functions (CHGV, CHGT)
7.12.1 Speed change request : CHGV
Format CHGV((S1), (S2)) Number of basic steps 4
[Usable data]
Usable Data
type (F) type (K)
(S1) — — — — — — — — — —
(S2) — — — — — —
: Usable
[Setting data]
Axis No. to which speed change request will be
(S1)
given —
(S2) Specified speed
[Functions]
(1) A speed change is made in the following procedure.
(a) The speed changing flag (M2061 to M2092) correspond to the axis specified
with (S1) is turned ON.
(b) The speed of the axis specified with (S1) is changed to the speed specified
with (S2).
(c) The speed changing flag is turned OFF.
(2) The axis No. that may be set at (S1) is within the following range.
1 to 8 1 to 32
For interpolation control, set any one of the interpolation axes. When linear
interpolation control is exercised, a speed change varies as described below with
the positioning speed designation method set in the servo program.
Positioning speed designation
Operation
method
Speed change is made so that the combined speed
Combined speed designation
becomes the speed specified with (S2).
Speed change is made so that the longest axis
Longest axis designation
speed becomes the speed specified with (S2).
Speed change is made so that the reference axis
Reference axis speed designation
speed becomes the speed specified with (S2).
7 - 66
(3) Operation varies with the sign of the specified speed set at (S2).
Sign of specified speed Operation
Positive Speed change
0 Temporary stop
Negative Return
(4) The specified speed that may be set at (S2) is within the following range.
(a) Real mode
mm inch degree PLS
Setting range Unit Setting range Unit Setting range Unit Setting range Unit
Speed change 0 to 10-2 0 to 10-3 0 to 10-3 0 to
PLS/s
request 600000000 mm/min 600000000 inch/min 2147483647 degree/min 10000000
-1 to 10-2 -1 to 10-3 -1 to 10-3 -1 to
Return request PLS/s
-600000000 mm/min -600000000 inch/min -2147483647 degree/min -10000000
(b) Virtual mode

PLS
Setting range Unit

Speed change 0 to
PLS/s
request 10000000
-1 to
Return request PLS/s
-10000000
(5) The speed changed by CHGV instruction is effective only on the servo program
during starting.
7 - 67
(6) By specifying a negative speed and making a speed change request during the
start, allows the axis to start deceleration at that point and return in the opposite
direction upon completion of deceleration.
The following operations by the servo instruction are shown below.
Control mode Servo instruction Operation
ABS 1 INC 1
ABS 2 INC 2 On completion of deceleration, the axis

Linear control reverses its moving direction, returns to the
ABS 3 INC 3 positioning starting point at the absolute
value of the specified speed, and stops
ABS 4 INC 4 (waits) there.
Circular interpolation For circular interpolation, the axis returns in
ABS circular INC circular
control the circular path.
Fixed-pitch feed FEED 1 FEED 2 FEED 3
On completion of deceleration, the axis

CPSTART1 CPSTART2
reverses its moving direction, returns to the
Constant-speed control
CPSTART3 CPSTART4 preceding point at the absolute value of the
specified speed, and stops (waits) there.
Speed control (I) VF VR On completion of deceleration, the axis
reverses its moving direction at the absolute
value of the specified speed.
Speed control (II) VVF VVR The axis does not stop until a stop instruction
is input.
Speed/position control VPF VPR VPSTART The axis cannot return.
The speed change request is regarded as a
Position follow-up control PFSTART
normal speed change request.
Speed switching control VSTART Minor error [305] (Note) will occur and the axis
will be controlled at the speed limit value.
JOG operation
A speed change cannot be made. Minor
High-speed oscillation OSC
error [310] (Note) will occur.
A speed change cannot be made. Minor
Home position return ZERO
error [301] (Note) will occur.
(Note) : Minor error [301] : A speed change was made during home position return.
Minor error [305] : The setting speed is outside the range of 0 to speed limit value.
Minor error [310] : A speed change was made during high-speed oscillation.
[Controls]
(a) If a speed change is made to a negative speed, control is executed with the
control mode during the start as indicated in the above table.
(b) The returning command speed is the absolute value of a new speed.
(c) When the axis is waiting at the return position

1) Signal states (n : Axis No., m : Axis No. –1)
• Start accept (M2000+n) ON
(unchanged from before
execution of CHGV instruction)
• Positioning start completion (M2400+20m) ON
(unchanged from before
execution of CHGV instruction)
• Positioning completion (M2401+20m) OFF
• In-position (M2402+20m) ON
• Command in-position (M2403+20m) OFF
• Speed change "0" accepting flag (M2240+m) ON
2) Make a speed change to a positive speed for a restart.
3) Turn on the stop command to end the positioning.
4) A negative speed change made again will be ignored.
7 - 68
(d) While the axis is reversion in the speed control mode

1) Make a speed change to a positive speed to change the travel direction
again.
2) Turn ON the stop command to make a stop.
3) A speed change is made in the opposite direction if a negative speed
change is made again.
[Errors]
(1) An operation error will occur and a speed change will not be made if:
• The specified axis No. of (S1) is outside the range.
• (S2) is an indirectly specified device and its device No. is outside the range.
(2) A minor error will occur and a speed change will not be made if:
• The axis specified with (S1) is home position return (Minor error: 301).
• The axis specified with (S1) is decelerating (Minor error: 303).
(3) A minor error will occur and the axis to be controlled at the speed limit value if:
• The absolute value of the speed specified with (S2) is greater than the speed
limit value. (Minor error: 305)
POINT
If the absolute value of a negative new speed is higher than the speed specified
with the servo program during constant-speed control, return control is exercised at
the speed specified in the program (speed clamp control for a speed change during
constant-speed control).
At this time, an error will not occur.
7 - 69
[Program examples]
(1) Program which changes the positioning speed of axis 2
CHGV(K2,K10)
(2) Return program which changes the positioning speed of axis 1 to a negative value
CHGV(K1,K 1000)
The following operation will be performed when a return request is made in

constant-speed control.
[ Servo program ]
Locus
CPSTART2
Axis 1 Axis 2
Axis 2
Speed 1000
P2 P3
P1 ABS-2
Axis 1, 10000
Axis 2, 0
P2 ABS-2
Axis 1, 10000 Negative speed change
Axis 2, 10000
ABS-2
P3
Axis 1, 20000 Starting point P1 Axis 1
Axis 2, 10000
CPEND
Stat request SVST
Start accept M2001+n
Speed change request

CHGV
-1000 1000
New speed
Combined speed
Waiting at P1
Return operation to point
Command in-position
(OFF)
Speed change "0"
accepting flag
If a speed change to a negative speed is made during execution of positioning to

P2 as shown above, the axis returns to P1 along the program specified locus and
waits at P1.
7 - 70
POINT
(1) A speed change may be invalid if it is made from when a servo program start
request is made until the "positioning start completion signal" status changes to
ON. When making a speed change at almost the same timing as a start,
always create a program which will execute the speed change after the
"positioning start completion signal" has turned ON.
(2) A return request, which is made while the axis is at a stop waiting for FIN using
the M code FIN signal waiting function during constant-speed control, will be
ignored.
(3) In the above example, if a return request is given right before P2 and the axis
passes through P2 during deceleration, the axis will return to P2.
(4) There will be a delay of time equivalent to an operation cycle at the maximum
in the response time from when the CHGV instruction is executed until the
speed begins to change actually.
Axis 2
P2 P3
Return request was

given here.
Starting point P1 Axis 1
7 - 71
F/FS G
7.12.2 Torque limit value change request : CHGT
Format CHGT((S1), (S2)) Number of basic steps 4
[Usable data]
Usable Data
type (F) type (K)
(S1) — — — — — — — — — —
(S2) — — — — — —
: Usable
[Setting data]
Axis No. to which torque limit value change request
(S1)
will be given —
(S2) Specified torque limit value
[Functions]
(1) The torque limit value of the axis specified with (S1) is changed to the torque limit
value axis specified with (S2).
(2) In the real mode, any axis that has completed a servo startup can be changed in
torque limit value any time, independently of the status, starting, stopping, servo
ON or servo OFF.
(3) The axis No. that may be set at (S1) is within the following range.
1 to 8 1 to 32
(4) The torque limit value that may be set at (S2) is within the range 1 to 500[%].
(5) The torque limit value specified here and the one specified in the servo program
have the following relationships.
At start
At a normal start, the torque limit value is given to the servo of the start axis
according to "P. torque" set in the servo program or the "torque limit value" of the
specified parameter block.
For an interpolation start, the torque limit value is given to the number of axes to
be interpolated.
Executing the CHGT instruction gives the preset torque limit value to only the
specified axis.
Thereafter, the torque limit value given to the servo at a servo program start or
JOG start is made valid only when it is lower than the torque limit value specified
in CHGT.
This torque limit value clamp processing is performed per axis.
7 - 72
During start
(a) If the following torque limit value has been set, it will not be changed to higher
than the torque limit value specified in the CHGT instruction.
• Torque limit value at a midway point in constant-speed control or speed
switching control
• Torque limit value at the point of switching to position control in speed/
position changing control
• Torque limit value in speed control
(b) The CHGT instruction accepts a torque limit value which is higher than the
torque limit value set in the servo program or parameter block.
(6) The torque limit value changed by CHGT instruction is effective only during power
supply is on.
[Errors]
(1) An operation error will occur and a torque limit value change will not be made if:
• The specified axis No. at (S1) is outside the range; or
• (S2) is an indirectly specified device and its device No. is outside the range.
(2) A minor error will occur and a torque limit value change will not be made if:
• The torque limit value specified with (S2) is outside the range 1 to 500[%]
(Minor error: 311); or
• The CHGT instruction is executed for any axis that has not yet been started
(Minor error: 312).
[Program examples]
(1) Program which changes the torque limit value of axis 2
CHGT(K2,K10)
POINT
(1) CHGT instruction is invalid (ignored) during the virtual mode. When changing
the torque limit value during operation in the virtual mode, set the "torque limit
value setting device" in the output module parameter of the mechanical system
program.
(2) There will be a delay of time equivalent to an operation cycle at the maximum
in the response time from when the CHGT instruction is executed until the
torque limit value is changed actually.
7 - 73
F/FS G
7.13 Other Instructions
7.13.1 Event task enable : EI
Format EI Number of basic steps 1
[Usable data]
Usable Data
type (F) type (K)
— — — — — — — — — — — —
: Usable
[Setting data]
There are no setting data.
[Functions]
(1) The execution of an event task is enabled.
(2) This instruction is usable with a normal task only.
[Errors]
• This instruction is used with other than a normal task.
[Program examples]
(1) Enables the execution of an event task.
EI
7 - 74
F/FS G
7.13.2 Event task disable : DI
Format DI Number of basic steps 1
[Usable data]
Usable Data
type (F) type (K)
— — — — — — — — — — — —
: Usable
[Setting data]
[Functions]
(1) The execution of an event task is disabled.
(2) If an external interrupt or PLC interrupt occurs after execution of the DI instruction,
the corresponding event task is executed once at the execution of the EI
instruction. (If two or more external interrupts or PLC interrupts occur during DI,
the corresponding event task is executed only once at the execution of the EI
instruction.)
(3) During DI, a fixed-cycle event task is not executed.
(4) The execution of an NMI task cannot be disabled.
(5) The DI status is established at power-on or when a reset is made with the
RESET/L.CLR switch.
[Errors]
• This instruction is used with other than a normal task.
[Program examples]
(1) Program which disables the execution of an event task.
DI
7 - 75
F/FS G
7.13.3 No operation : NOP
Format NOP Number of basic steps 1
[Usable data]
Usable Data
type (F) type (K)
— — — — — — — — — — — —
: Usable
[Setting data]
[Functions]
(1) This is a no-operation instruction and does not affect the preceding operations.
[Errors]
(1) There are no operation errors for no operation: NOP.
7 - 76
F/FS G
7.13.4 Block transfer : BMOV
software.
Format BMOV(D), (S), (n) Number of basic steps 6
[Usable data]
Usable Data
type (F) type (K)
(D) — — — — — — — —
(S) — — — — — — — —
(n) — — — — — — — — —
: Usable
[Setting data]
(D) Transfer destination device starting No.
(S) Transfer source device starting No. —
(n) Number of words to be transferred
[Functions]
(1) The contents for n words from device specified with (S) are batch-transferred to
the n words from device specified with (D).
(2) Data can be transferred if the word devices of the transfer source and destination
overlap.
Data are transferred from devices, starting with the one at (S), for transfer of data
from devices of larger numbers to those of smaller numbers, or starting with the
one at (S)+(n-1) for transfer of data from devices of smaller numbers to those of
larger numbers.
(3) Specifying Nn (cam No.) at (D) or (S) enables batch-transfer of cam data.
In the Motion controller, the cam data of same cam No. must already have been
registered.
The number of transferred words specified with (n) should match the resolution of
the specified cam No..
At cam data write

The cam data storage area is rewritten.
• Transfer of data to the cam data area is also executed during cam operation.
Be careful not to perform write while operation is being performed with the
same cam No..
7 - 77
At cam data read

The cam data storage area is rewritten.
• The cam data in the currently set status are read.
(4) The word devices that may be set at (D), (S) and (n) are shown below.
(Note-2) (Note-2), (Note-3) Cam No.
Word devices Bit devices
Setting data specification
(Note-1)
Dn Wn #n Mn Bn Fn Xn Yn Nn
(D) (Note-5) (Note-4) (Note-4)
(S) (Note-4) (Note-4)
(n) — — — — — —
(Note-1) : "Nn" indicates the cam No..
(Note-2) : The device No. cannot be specified indirectly.
(Note-3) : Specify a multiple of 16 as the device number of bit data.
(Note-4) : PX/PY cannot be set.
(Note-5) : Special relays (M9000 to M9255) and dedicated devices (M2000 to M2399) cannot be set.
(Note: DOUT cannot output the PX, special relays (M2000 to M9255) and dedicted devices
(M2000 to M2127).)
(5) The cam No. that may be set as "Nn" is within the following range.
1 to 64
101 to 164
201 to 264
301 to 364
[Errors]
• The cam data of cam No. specified with (D) or (S) are not yet registered to the
Motion controller;
• The resolution of cam No. specified with (D) or (S) differs from the number of
transferred words specified with (n);
• (S) to (S)+(n-1) is outside the device range;
• (D) to (D)+(n-1) is outside the device range;
when (n) specified is a
• (n) is 0 or a negative number;
word device
• PX/PY is set in (S) to (S)+(n-1); or
• PX/PY is set in (D) to (D)+(n-1).
(2) When conversion is made in program editing of the SW6RN-GSV P, an error will
occur if:
• (S) to (S)+(n-1) is outside the device range;
when (n) specified is a
constant
• PX/PY is set in (S) to (S) + (n-1).
• PX/PY is set in (D) to (D) + (n-1).
• (S) is a bit device and the device number is not a multiple of 16; or
• (D) is a bit device and the device number is not a multiple of 16.
7 - 78
[Program examples]
(1) Program which batch-transfers a contents for 5 words from D0 to all data for 5
words from #10
BMOV #10, D0, K5
#10 12 D0 12
#
#11 34 Batch transfer D1 34
#12 56 D2 56
#13 78 D3 78
#14 90 D4 90
(2) Program which batch-transfers a contents for 2048 words from #0 to the data area
of cam No.2 (resolution 2048)
BMOV N2, #0, K2048
Cam data of cam No.2

0th stroke ratio H0000 #0 H0000
First stroke ratio H0005 Batch transfer #1 H0005
Second stroke ratio H000A #2 H000A
: : : :
2047th stroke ratio H0000 #2047 H0000
POINT
Cam stroke ratio is set within 0 to 7FFFH.
(3) Program which batch-transfers a contents for 4 words from X0 to all data for 4
words from #20
BMOV #20, X0, K4
b15 b0 XF X0
#20 0 0 1 0 0 1 1 1 0 0 0 0 1 1 1 1 0 0 1 0 0 1 1 1 0 0 0 0 1 1 1 1
b15 b0 X1F X10
#21 1 0 0 0 0 0 1 1 0 0 0 0 0 1 1 1 Batch transfer 1 0 0 0 0 0 1 1 0 0 0 0 0 1 1 1
b15 b0 X2F X20
#22 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1
b15 b0 X3F X30

#23 1 1 0 0 0 1 1 1 0 0 0 0 0 0 0 0 1 1 0 0 0 1 1 1 0 0 0 0 0 0 0 0
7 - 79
F/FS G
7.13.5 Same data block transfer : FMOV
software.
Format FMOV(D), (S), (n) Number of basic steps 6
[Usable data]
Usable Data
type (F) type (K)
(D) — — — — — — — —
(S) — — — — — — — —
(n) — — — — — — — — —
: Usable
[Setting data]
(D) Transfer destination device starting No.
Device No. which transfer data or data to be
(S) —
transferred are stored.
(n) Number of words to be transferred
[Functions]
(1) The data specified with (S) or contents of word device are transferred a part for
(n)words of data to the word device specified with (D).
(2) The word devices that may be set at (D), (S) and (n) are shown below.
(Note-1) (Note-1), (Note-2)
Setting data
Dn Wn #n Mn Bn Fn Xn Yn
(n) — — — — —
7 - 80
[Errors]
When (n) specified is a
• (n) is 0 or a negative number; or
word device
(2) When conversion is made in program editing of the SW6RN-GSV P, an error will
occur if:
• (S) is outside the device range;
When (n) specified is a
constant
• PX/PY is set in (S);
• PX/PY is set in (D) to (D)+(n-1);
• (S) is a bit device and the device number is not a multiple of 16; or
• (D) is a bit device and the device number is not a multiple of 16.
[Program examples]
(1) Program which sets 3456H to all data for 100 words from #10
FMOV #10, H3456, K100
#10 H3456
#
#11 H3456 Transfer
#12 H3456 H3456
: :
#109 H3456
(2) Program which sets a content of D4000 to all data for 50 words from W0
FMOV W0, D4000, K50
W0 1234
W1 1234 Transfer
W2 1234 D4000 1234
: : #
W31 1234
(3) Program which sets 8000H to all data for 4 words from M0
FMOV M0, H8000, K4
M15 M0
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
M31 M16
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 b15 b0
Transfer
M47 M32 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
M63 M48
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
7 - 81
F/FS G
7.13.6 Write device data to shared CPU memory of the self CPU: MULTW
software.
Format MULTW(D), (S), (n), (D1) Number of basic steps 8
[Usable data]
Usable Data
type (F) type (K)
(D) — — — — — — — — —
(S) — — — — — — — — —
(n) — — — — — — — — —
(D1) — — — — — — — — — —
: Usable
[Setting data]
The shared CPU memory address of self CPU of
(D)
the writing destination device. (800H to FFFH)
(S) First device No. which writing data are stored.
—
(n) Number of words to be written (1 to 256)
Self CPU device is made to turn on by the writing
(D1)
completion.
[Functions]
(1) A part for (n)words of data since the device specified with (S) of the self CPU
module are written to since the shared CPU memory address specified with (D) of
the self CPU module. After writing completion of the device data, the complete bit
device specified with (D1) turns on.
Shared CPU
memory address
Shared CPU 0H Self CPU operation This area
memory of the data area cannot be
self CPU Write the data Device memory 200H used at
System area
(D) H0000 of a part for (S) H0000 users area.
H0005 (n)words H0005 800H Automatic refresh This area
H000A H000A area (Note) can be
User-defined area used at
H0000 H0000 0FFFH users area.
(Note) : When automatic refresh is not set, it can be used as a user defined area.
And, when automatic refresh is set up, since the automatic refresh transmitting
range becomes a user defined area.
(2) Do resetting of the complete bit device by the user program.
7 - 82
(3) Another MULTW instruction cannot be processed until MULTW instruction is

executed and a complete bit device is turned on. When MULTW instruction was
executed again before MULTW instruction is executed and complete bit device is
turned on, the MULTW instruction executed later becomes an error.
(4) The word devices that may be set at (D), (S) (n) and (D1) are shown below.
Setting data
(D) — — — — —
(n) — — — — —
(D1) — — — (Note-4) (Note-4)

(Note-4) : PY can be set. PX cannot be set.
(5) Adjust an executive task, the number of transfer word referring to the operation
processing time so that this instruction may not obstruct the execution of the
motion operation because processing time becomes long in argument to the
number of words (n) to be written.
[Errors]
• Number of words (n) to be written is outside the range of 1 to 256.
• The shared CPU memory address (D) of self CPU of the writing destination
device is outside the range (800H to FFFH) of the shared CPU memory
address.
• The shared CPU memory address (D) of self CPU of the writing destination
device + number of words (n) to be written is outside the range (800H to FFFH)
of the shared CPU memory address.
• First device No. (S) which writing data are stored + number of words (n) to be
written is outside the device range.
• MULTW instruction was executed again before MULTW instruction is executed
and complete bit device is turned on.
• (D1) is a write-disabled device.
• (S) is a bit device and device number is not a multiple of 16.
• PX/PY is set in (S) to (S)+(n-1).
7 - 83
[Program examples]
(1) 2 words from D0 is written in the shared CPU memory to since A00H, and transits
to next step after confirmation of writing completion.
F0
RST M0
MULTW HA00, D0, K2, M0
G0
M0
Shared CPU memory 2 words Device memory

transfer
A00H 100 D0 100
A01H 200 D1 200
:
7 - 84
F/FS G
7.13.7 Read device data from shared CPU memory of the other CPU: MULTR
software.
Format MULTR(D), (S1), (S2), (n) Number of basic steps 7
[Usable data]
Usable Data
type (F) type (K)
(D) — — — — — — — — —
(S1) — — — — — — — — —
(S2) — — — — — — — — —
(n) — — — — — — — — —
: Usable
[Setting data]
(D) First device No. which stores the reading data.
First I/O No. of the PLC CPU/Motion CPU which it
will be read.
(S1)
(CPU No.1 : 3E0H, CPU No.2 : 3E1H, CPU No.3 :
—
3E2H, CPU No.4 : 3E3H)
The shared CPU memory first address of the data
(S2)
which it will be read. (000H to FFFH)
(n) Number of words to be read (1 to 256)
[Functions]
(1) A part for (n)words of data of the other CPU specified with (S1) are read from the
address specified with (S2) of the shared CPU memory, and are stored since the
device specified with (S2).
Shared CPU
(S1) Shared CPU memory address
memory of the 0H Self CPU operation
specified CPU data area
Device memory No. with (S1) 200H
System area This area can
(D) H0000 Read the data of (S2) H0000 be used at
H0005 a part for (n)words H0005 800H Automatic refresh users area.
H000A H000A area (Note)
User-defined area
H0000 H0000 0FFFH
(Note) : When automatic refresh is not set, it can be used as a user defined area.
And, when automatic refresh is set up, since the automatic refresh transmitting
range becomes a user defined area.
7 - 85
(2) The word devices that may be set at (D), (S), (n) and (D1) are shown below.
Setting data
(S) — — — — —
(n) — — — — —
(D1) — — — — —
(3) When data are read normally from the target CPU specified with (S1), the reading
complete flag M9216 to M9219 (CPU No.1 : M9216, CPU No.2 : M9217, CPU
No.3 : M9218, CPU No.4 : M9219) corresponding to the target CPU turns on. If
data cannot be read normally, the reading complete flag of the target CPU does
not turn on.
(5) When multiple MULTR instructions are executed to the same CPU
simultaneously, the reading complete flag M9216 to M9219 turns on/as a result of
MULTR that it is executed at the end.
(6) Reset the reading complete flag (M9126 to M9219) using the user program.
[Errors]
• Number of words (n) to be read is outside the range of 1 to 256.
• The shared CPU memory first address (S2) of the data which it will be read is
outside the range (000H to FFFH) of the shared CPU memory address.
• The shared CPU memory first address (S2) of the data which it will be read +
number of words (n) to be read is outside the range (000H to FFFH) of the
shared CPU memory address.
• First device No. (D) which stores the reading data + number of words (n) to be
read is outside the device range.
• Except 3E0H/3E1H/3E2H/3E3H is set at (S1).
• The self CPU is specified with (S1).
• The CPU which reads is resetting.
• The errors are detected in the CPU which read.
• (D) is a bit device and device number is not a multiple of 16.
7 - 86
[Program examples]
(1) It checks that a CPU No.1 is not resetting, 2 words is read to since #0 from the
shared CPU memory C00H of CPU No.1, and transits to next step after reading
completion.
G0
!M9240
F0
RST M9216
MULTR #0, H3E0, HC00, K2
G0
M9216
Device memory 2 words Shared CPU memory

transfer
#0 100 C00H 100
#1 200 C01H 200
:
7 - 87
F/FS G
7.13.8 Write device data to intelligent function module/special function module : TO
software.
Format TO(D1), (D2), (S), (n) Number of basic steps 7
[Usable data]
Usable Data
type (F) type (K)
(D1) — — — — — — — — —
(D2) — — — — — — — — —
(S) — — — — — — — — —
(n) — — — — — — — — —
: Usable
[Setting data]
First I/O No. of the intelligent function module /
(D1)
special function module(000H to FF0H)
First address of the buffer memory which writes
(D2) —
data.
(S) First device No. which writing data are stored.
(n) Number of words to be written (1 to 256)
[Functions]
(1) A part for (n)words of data from device specified with (S) are written to since
address specified with (D2) of the buffer memory in the intelligent function
module/special function module controlled by the self CPU specified with (D1).
(D1) Intelligent function
module/special
function module
buffer memory Write the data Device memory
(D2) H0000 of a part for (S) H0000
H0005 (n)words H0005
H000A H000A
H0000 H0000
(2) First I/O No. of the module set by system setting is specified by (D1).
Q02H Q173 QX40 Q64AD Q64DA
Power supply
CPU CPU(N)
First First First
module
I/O No. I/O No. I/O No.

No. : 00H No. : 10H No. : 20H
(D1) sets 20H by the system setting when a TO instruction is executed in the D/A
conversion module (Q64DA).
7 - 88
(3) The word devices that may be set at (D1), (D2), (S) and (n) are shown below.
Setting data
(D1) — — — — —
(D2) — — — — —
(n) — — — — —
(5) The following analogue modules can be used as the control module of Motion
CPU.
• Q62DA • Q64AD
• Q64DA • Q68ADV
• Q68DAV • Q68ADI
• Q68DAI
[Errors]
• Number of words (n) to be written is outside the range of 1 to 256.
• Motion CPU cannot communicate with intelligent function module/special
function module at the instruction execution.
• Abnormalities of the intelligent function module/special function module were
detected at the instruction execution.
• I/O No.s specified with (D1) differ from the intelligent function module/special
function module controlled by the self CPU.
• The address specified with (D2) is outside the buffer memory range.
• First device No. (S) which writing data are stored + number of words (n) to be
written is outside the device range.
• (S) is a bit device and device number is not a multiple of 16.
7 - 89
[Program examples]
(1) 2 words from #0 is written to since buffer memory address of the Intelligent
function module/special function module (First I/O No. : 010H).
TO H010, H0, #0, K2
Intelligent function module/

special function module
(First I/O No. : 010H)
Buffer memory Device memory

2 words transfer
0H 100 #0 100
1H 200 #1 200
7 - 90
F/FS G
7.13.9 Read device data from intelligent function module/special function module : FROM
software.
Format FROM(D), (S1), (S2), (n) Number of basic steps 7
[Usable data]
Usable Data
type (F) type (K)
(D) — — — — — — — — —
(S1) — — — — — — — — —
(S2) — — — — — — — — —
(n) — — — — — — — — —
: Usable
[Setting data]
(D) First device No. which stores the reading data.
First I/O No. of the intelligent function module /
(S1)
special function module (000H to FF0H)
—
First address of the buffer memory which it will be
(S2)
read.
(n) Number of words to be read (1 to 256)
[Functions]
(1) A part for (n)words of data are read from the address specified with (S2) of the
buffer memory in the intelligent function module/special function module controlled
by the self CPU specified with (S1), and are stored since the device specified with
(S2).
(S1) Intelligent function
module/special
function module
Device memory buffer memory
(D) Read the data (S2)
H0000 of a part for H0000
H0005 (n)word H0005
H000A H000A
H0000 H0000
(2) First I/O No. of the module set by system setting is specified by (D1).
Q02H Q173 QX40 Q64AD Q64DA
Power supply
CPU CPU(N)
First First First
module
device No. device No. device No.

No. : 00H No. : 10H No. : 20H
(D1) sets 20H by the system setting when a TO instruction is executed in the D/A
conversion module (Q64DA).
7 - 91
(3) The word devices that may be set at (D), (S1), (S2) and (n) are shown below.
Setting data
(S1) — — — — —
(S2) — — — — —
(n) — — — — —
Number of words (n) to be read.
(5) The following analogue modules can be used as the control module of Motion
CPU.
• Q62DA • Q64AD
• Q64DA • Q68ADV
• Q68DAV • Q68ADI
• Q68DAI
[Errors]
• Number of words (n) to be read is outside the range of 1 to 256.
• Motion CPU cannot communicate with intelligent function module/special
function module at the instruction execution.
• Abnormalities of the intelligent function module/special function module were
detected at the instruction execution.
• I/O No.s specified with (S1) differ from the intelligent function module/special
• The address specified with (S2) is outside the buffer memory range.
• First device No. (D) which stores the reading data + number of words (n) to be
read is outside the device range.
• (D) is a bit device and device number is not a multiple of 16.
• PX/PY is set in (D) to (D) + (n-1).
7 - 92
[Program examples]
(1) 1 word is read from the buffer memory address 10H of the intelligent function
module/special function module (First I/O No. : 020H), and is stored in W0.
FROM W0, H020, H10, K1
Intelligent function
module/special
function module
(First I/O No. : 020H)
Device memory Buffer memory

1 word transfer
W0 100 10H 100
11H 200
300
7 - 93
F/FS G
—
7.13.10 Time to wait : TIME
Format TIME(S) Number of basic steps 7
[Usable data]
Usable Data
type (F) type (K)
(S) — — — — — — —
: Usable
[Setting data]
(S) Waiting time (0 to 2147483647)ms Logical type (true/false)
[Functions]
(1) A wait state continues for the time specified with (S). The result is false when the
elapsed time is less than the preset time, or the result is true and execution
transits when the preset time has elapsed.
(2) When a 16-bit integer type word device is used to specify any of 32768 to
65535ms at (S), convert it into an unsigned 16-bit integer value with USHORT.
(Refer to the program example.)
[Errors]
• (S) is an indirectly specified device and its device No. is outside the range. ; or
• The data (device data at indirect specification) specified with (S) is outside the
range of 0 to 2147483647.
[Program examples]
(1) Program which sets a wait of 60 seconds (when constant is specified)
TIME K60000
(2) Program for a case where there may be a wait of 32768 to 65535ms for 16-bit
integer type indirect designation (#0)
TIME USHORT(#0)
(3) Program which SETS (RSTs) a bit device when the specified time has elapsed
SET M100 = TIME K60000
7 - 94
POINT
(1) When the waiting time setting is indirectly specified with a word device, the
value imported first is used as the device value for exercising control. The set
time cannot be changed if the device value is changed during a wait state.
(2) The TIME instruction is equivalent to a conditional expression, and therefore
may be set on only the last line of a transition (G) program.
(3) When the transition program (Gn) of the same number having the TIME
instruction setting is used in multiple Motion SFC programs, avoid running them
at the same time. (If they are run simultaneously, the waiting time in the
program run first will be illegal.)
(4) Another transition program (Gn) can executed a time of instruction by multiple
Motion SFC program simultaneously. (Multi active step less than 256.)
(5) While time by TIME instruction waits, the wait time can not be stopped.
(6) When using the TIME instruction, a verification error may occur, even when the
Motion SFC program of SW6RN-GSV P is equal to the Motion CPU, if a
verification of Motion SFC program is executed.
7 - 95
F/FS G
7.14 Comment Statement : //
Format // Number of basic steps —
[Usable data]
Usable Data
type (F) type (K)
— — — — — — — — — — — —
: Usable
[Setting data]
[Functions]
(1) A character string from after // to a block end is a comment.
[Errors]
(1) There are no operation errors for comment: //.
[Program examples]
(1) Example which has commented a substitution program.
D0=D1//Substitutes the D0 value (16-bit integer data) to D1.
7 - 96
8 TRANSITION PROGRAMS
8. TRANSITION PROGRAMS
8.1 Transition Programs
(1) Transition programs

(a) Substitution operation expressions, motion-dedicated functions, bit device
control commands and transition conditions can be set in transition
programs.
(b) Multiple blocks can be set in one transition program.
(c) There are no restrictions on the number of blocks that may be set in a single
transition program.
Note that one program is within 64k bytes.
(d) The maximum number of characters in one block is 128.
(e) Transition condition must be set in the last block of a transition program.
Transition program is repeated until the transition condition enables, and
when the transition condition has enabled, it shifts to the next step.
Transition condition can be set only in the last block.
(f) As a special transition program, a program which only no operation (NOP) is

set in one block can be created.
This program is used when you want to proceed to the next step on
completion of a servo program run and there are no special conditions to be
set as interlocks. Refer to Section "6.9 Branches, Couplings" for details.
A transition program example is shown below.

1 block
#0=D0+(D1+D2)*#5//Substitution expression
//(four arithmetic operations)
W0:F=SIN(#10F)//Substitution expression (standard function) 8
CHGV(K2,K10)//Motion-dedicated function
1 program
SET M100=M0+X0//Bit device control (SET=)
RST M10=D100>K10//Bit device control (RST=)
DIN D0,X0//Bit device control (DIN)
D0>K100//Standby until transition condition enables
Transition condition
Comment
8-1
8 TRANSITION PROGRAMS
What can be set as a transition condition in the last block are bit conditional
expressions, comparison conditional expressions and device set
(SET=)/device reset (RST=) which return logical data values (true/false). In
the case of device set (SET=)/device reset (RST=), whether the bit or
comparison conditional expression specified at (S) is true or false is a
transition condition, and when the transition condition enables, device
set/reset is executed and execution shifts to the next step.
Transition condition description examples are given below.

Classification Description example
M0
Bit conditional expression
!M0+X10 M100
Comparison conditional expression (D0>K100)+(D100L!=K20L)
Device set (SET=) SET Y0=M100
Device reset (RST=) RST M10=D0==K100
POINT
(1) A transition program differs from an operation control program in that a
transition condition is set in the last block.
Other settings are the same as those of the operation control program.
(2) When setting device set (SET=)/device reset (RST=) in the last block as a
transition condition, the bit or comparison conditional expression specified with
(S) is not omissible.
(3) Only the bit or comparison conditional expression cannot be set in other than
the last block. Device set (SET=)/device reset (RST=) can be set in other than
the last block.
8-2
9 MOTION CONTROL PROGRAMS
9. MOTION CONTROL PROGRAMS
9.1 Servo Instruction List
Table 9.1 lists servo instructions used in servo programs.

Refer to Section 9.2 to 9.4 for details of the current value change control (CHGA,
CHGA-E, CHGA-C).
Refer to the "Q173CPU(N)/Q172CPU(N) Motion Controller (SV13/SV22) Programming
Manual (REAL MODE)" for other servo instructions.
(1) Guide to servo instruction list
Table 9.1 Guide to Servo Instruction List
3) 4) 5) 6) 7) 8)
Positioning data
OSC 1 Other
Common Circular Parameter block
Reference axis No.
Command speed (constant speed)
WAIT-ON/OFF
FIN acceleration/deceleration
M-code
Command speed
Amplitude
Torque limit value
Acceleration time
Torque limit value

Parameter block No.
Auxiliary point
Radius
Central point
Control unit
Program No.
Pitch
Frequency
Dwell time
Starting angle
Speed limit value
Deceleration time
Repeat condition
Cancel
Skip
at stop input
S-curve ratio
Rapid stop deceleration time
interpolation
Address/travel
Axis
Allowable error range for circular

Positioning control
Deceleration processing
Number of steps
Instruction Processing
symbol
Virtual enable
Number of step 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 2 2 2 1 2
2 2 2 2
Number of indirect words 1 2 2 1 1 1 2 2 2 1 2 2 2 1 1 2 1 1 1 1 1 2 1 1/ 2 1(B) 1(B) 1 1(B)
1(B)
ABS-1 Absolute 1-axis positioning

1 axis
INC-1 Incremental 1-axis positioning 4 to 17
Absolute 2-axes linear

ABS-2
axes
1) 2)
Number Description
Instruction symbol Gives the servo instructions usable in servo programs.
1)
Processing Gives the processing outlines of the servo instructions.
(a) Indicates positioning data which can be set in servo instructions.
1) : Item which must be set (Data which cannot execute the servo instruction unless it sets.)
2) : Item which is set when required (Data which will be controlled by the default value unless it sets.)
(b) Allows direct or indirect designation (except axis No.)
1) Direct designation : Set with numerical value.
2) Indirect designation : Set with word device (D, W, #).
2) • Servo program execution is controlled using the preset word device contents.
• Each setting item may either be 1 or 2 word data.
9
• For 2 word data, set the first device No..
(c) Number of steps
As there are more setting items, there are more number of instruction steps. (The number of steps is displayed when a
servo program is created.)
(The instruction + item comprise the minimum steps, and one item increases the number of steps by 1.)
3) Items common to the servo instructions
4) Items set in circular interpolation starting servo programs
5) Items set for high-speed oscillation
Set when changing the parameter block (default value when not set) data set in the servo program to control.
6)
(The parameter block data are not changed.)
7) Setting items other than the common, circular and parameter block items (Items to be set vary with the servo instruction.)
8) Indicates the number of steps of each servo instruction.
9-1
(2) Servo instruction list

Table 9.2 indicates the servo instructions available for servo programs and the
positioning data set in servo instructions.
Table 9.2 Servo Instruction List

Positioning data
Common Circular
M -code
Pitch
Parameter block No.
Command speed
Torque limit value

Address/travel value
Dwell time
Axis
Radius
Central point
Auxiliary point
Instruction
Positioning control
Processing
symbol
Virtual enable —
Number of steps 1 1 1 1 1 1 1 1 1 1 1
Number of indirect words 1 — 2 2 1 1 1 2 2 2 1
ABS-1 Absolute 1-axis positioning

1 axis
INC-1 Incremental 1-axis positioning

Linear interpolation control
ABS-2 Absolute 2-axes linear interpolation

2 axes
INC-2 Incremental 2-sxes linear interpolation

3 axes
INC-3 Incremental 3-axes linear interpolation

4 axes
INC-4 Incremental 4-axes linear interpolation
Absolute auxiliary point-specified circular

ABS
specified
Auxiliary
interpolation
point-
Incremental auxiliary point-specified circular

INC
interpolation
Absolute radius-specified circular
ABS
interpolation less than CW 180°
Circular interpolation control

ABS
interpolation CW 180° or more
ABS
interpolation less than CCW 180°
Radius-specified

ABS
interpolation CCW 180° or more
Incremental radius-specified circular
INC
INC
INC
INC
9-2
2
1
—
Starting angle
2
1
—
Amplitude
OSC
2
1
—
Frequency
1
1
*1
Reference axis No.
1
1
—
Control unit
2
2
Speed limit value
1
1
Acceleration time
1
1
Deceleration time
1
1
1
1
—
Torque limit value
Parameter block
1
1
—
at stop input
2
1
interpolation
Positioning data
1
1
S-curve ratio
9-3
1
1/
*2
Repeat condition
1(B)
1
—
Program No.
2 Command speed
2
(constant speed)
2
*2
Cancel
1(B)
2
*2
Skip
1(B)
Others
1
1
2
*2
WAIT-ON/OFF
: Must be set.
1(B)
*2 : (B) indicates a bit device.

: Set if required.
*1 : Only reference axis speed specification.
6 to 21
7 to 22
8 to 22
7 to 21
5 to 20
4 to 17
Number of steps
Table 9.2 Servo Instruction List (continued)

Positioning data
Common Circular
Parameter block No.
Command speed
M-code
Pitch
Dwell time
Torque limit value

Axis
Radius
Central point
Auxiliary point
Instruction
Processing
symbol
Positioning control
Virtual enable —
Number of steps 1 1 1 1 1 1 1 1 1 1 1
Absolute central point-specified circular

ABS
Central point-specified
Circular interpolation
interpolation CW
Absolute central point-specified circular
ABS
interpolation CCW
control
Incremental central point-specified circular

INC
interpolation CW
Incremental central point-specified circular
INC
interpolation CCW
Absolute auxiliary point- specified helical
ABH
specified
Auxiliary
interpolation
point-
Incremental auxiliary point- specified helical

INH
interpolation
Absolute radius-specified helical
ABH
ABH
ABH
Radius-specified
Helical interpolation control

ABH
Incremental radius-specified helical
INH
INH
INH
INH
Absolute central point-specified helical
ABH
Central point-specified
interpolation CW
Absolute central point-specified helical
ABH
interpolation CCW
Incremental central point-specified helical
INH
interpolation CW
Incremental central point-specified helical
INH
interpolation CCW
9-4
2
1
—
Starting angle
2
1
—
Amplitude
OSC
2
1
—
Frequency
1
1
*1
Reference axis No.
1
1
—
Control unit
2
2
Speed limit value
1
1
Acceleration time
1
1
Deceleration time
1
1
1
1
—
Torque limit value
Parameter block
1
1
—
at stop input
2
1 interpolation
Positioning data
1
1
S-curve ratio
9-5
1
1/
*2
Repeat condition
1(B)
1
Program No.
Command speed
2
2
(constant speed)
2
*2
Cancel
1(B)
2
*2
Skip
1(B)
Others
1
1
2
*2
WAIT-ON/OFF
: Must be set.
1(B)

: Set if required.
9 to 26
7 to 22
10 to 27
10 to 27
Number of steps

Positioning data
Common Circular
Parameter block No.
Command speed
M-code
Pitch
Dwell time
Torque limit value

Axis
Radius
Central point
Auxiliary point
Instruction
Processing
symbol
Positioning control
Virtual enable —
Number of steps 1 1 1 1 1 1 1 1 1 1 1

axes 2 axes 1 axis
FEED-1 1-axis fixed-pitch feed start

Fixed-pitch feed
2-axes linear interpolation

FEED-2 fixed-pitch feed start
3-axes linear interpolation

FEED-3 fixed-pitch feed start
3
Reverse Forward Reverse Forward Reverse Forward
rotation rotation rotation rotation rotation rotation
Speed control (I) forward

VF rotation start
control (I)
Speed
Speed control (I) reverse

VR rotation start
Speed control (II) forward

VVF
control (II)
rotation start
Speed
Speed control (II) reverse

VVR rotation start
Speed-position control
VPF
Speed-position
forward rotation start

control
Speed-position control
VPR reverse rotation start
Restart
VPSTART Speed-position control restart
VSTART Speed-switching control start
VEND Speed-switching control end
ABS-1
Speed-switching control end
Speed-switching control
ABS-2 point address
ABS-3
INC-1
Travel value up to speed-switching
INC-2 control end point
INC-3
Speed-switching point
VABS absolute specification
Speed-switching point
VINC incremental specification
9-6
Positioning data
OSC *1 Parameter block Others
WAIT-ON/OFF
(constant speed)
Skip
Program No.
Cancel
Starting angle
Control unit
Acceleration time
Amplitude
Frequency
Speed limit value
Torque limit value
S-curve ratio
Repeat condition
Command speed
Reference axis No.
at stop input
interpolation
Deceleration time

Number of
steps
— — — — — —
1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 2 2 2 1 2
*2
*2 *2 *2
2 2 2 1 1 2 1 1 1 1 1 2 1 1/ — 2 1
1(B) 1(B) 1(B)
1(B)
4 to 17
5 to 19
7 to 21
3 to 15
3 to 16
4 to 18
2 to 4
1 to 13
4 to 9
5 to 10
7 to 12
4 to 9
5 to 10
7 to 12
4 to 6
: Must be set. : Set if required.

9-7

Positioning data
Common Circular
Command speed
M-code
Dwell time
Parameter block No.
Torque limit value
Pitch
Central point
Axis
Radius
Auxiliary point
Instruction
Positioning control
Processing
symbol
Virtual enable —
Number of steps 1 1 1 1 1 1 1 1 1 1 1

follow-up
Position
control
PFSTART Position follow-up control start
CPSTART1 1-axis constant-speed control start
CPSTART2 2-axes constant-speed control start
ABS-1
ABS-2
ABS-3
ABS-4
ABS
Constant-speed control passing point

ABS
absolute specification
ABS
ABS
ABS
ABS
ABS
ABH
ABH
ABH
ABH
helical absolute specification
ABH
ABH
ABH
9-8
2
1
—
Starting angle
2
1
—
Amplitude
OSC
2
1
—
Frequency
1
1
*1
Reference axis No.
1
1
—
Control unit
2
2
Speed limit value
1
1
Acceleration time
1
1
Deceleration time
1
1
1
1
—
Torque limit value
Parameter block
1
1
—
at stop input
2
1 interpolation
Positioning data
1
1
S-curve ratio
9-9
1
*2
1/
Repeat condition
1(B)
1
Program No.
Command speed
2
2
(constant speed)
2
*2
Cancel
2
*2
Skip
1(B) 1(B)
Others
1
1
2
*2
: Must be set.
WAIT-ON/OFF
1(B)

: Set if required.
4 to17
9 to 14
8 to 13
9 to 14
5 to 14
4 to 13
5 to 14
5 to 13
4 to 12
3 to 11
2 to 10
3 to 17
3 to 15
4 to 16
Number of steps

Positioning data
Common Circular
Command speed
M-code
Dwell time
Parameter block No.
Torque limit value
Pitch
Central point
Axis
Radius
Auxiliary point
Instruction
Positioning control
Processing
symbol
Virtual enable —
Number of steps 1 1 1 1 1 1 1 1 1 1 1
INC-1
INC-2
INC-3
INC-4
INC
INC
incremental specification
INC
INC
INC
INC
INC
INH
INH
INH
INH
helical incremental specification
INH
INH
INH
CPEND Constant-speed control end
9 - 10
2
1
—
Starting angle
2
1
—
Amplitude
OSC
2
1
—
Frequency
1
1
*1
Reference axis No.
1
1
—
Control unit
2
2
Speed limit value
1
1
Acceleration time
1
1
Deceleration time
1
1
1
1
—
Torque limit value
Parameter block
1
1
—
at stop input
2
1
interpolation
Positioning data
1
1
S-curve ratio
9 - 11
1
*2
1/
Repeat condition
1(B)
1
Program No.
Command speed
2
2
(constant speed)
2
*2
Cancel
2
*2
Skip
1(B) 1(B)
Others
1
1
2
*2
: Must be set.
WAIT-ON/OFF
1(B)

: Set if required.
1 to 2
9 to 14
8 to 13
9 to 14
5 to 14
4 to 13
5 to 14
5 to 13
4 to 12
3 to 11
2 to 10
Number of steps

Positioning data
Common Circular
Command speed
M-code
Dwell time
Parameter block No.
Torque limit value
Pitch
Central point
Axis
Radius
Auxiliary point
Instruction
Positioning control
Processing
symbol
Virtual enable —
Number of steps 1 1 1 1 1 1 1 1 1 1 1
FOR-TIMES
control, constant-
(used in speed
speed control)
same control
Repetition of
switching
FOR-ON Repeat range start setting
FOR-OFF
NEXT Repeat range end setting

Simultaneous
start
START Simultaneous start

position
Home
return
ZERO Home position return start

oscillation
speed
High
OSC High-speed oscillation
Servomotor/Virtual Servomotor Shaft

CHGA
Current Value Change
Current Value
change
Synchronous Encoder Shaft Current Value

CHGA-E
Change Control
Cam Shaft Within-One-Revolution Current

CHGA-C
Value Change Control
9 - 12
2
1
—
Starting angle
2
1
—
Amplitude
OSC
2
1
—
Frequency
1
1
*1
Reference axis No.
1
1
—
Control unit
2
2
Speed limit value
1
1
Acceleration time
1
1
Deceleration time
1
1
1
1
—
Torque limit value
Parameter block
1
1
—
at stop input
2
1 interpolation
Positioning data
1
1
S-curve ratio
9 - 13
1
*2
1/
Repeat condition
1(B)
1
Program No.
Command speed
2
2
(constant speed)
2
*2
Cancel
2
*2
Skip
1(B) 1(B)
Others
1
1
2
*2
: Must be set.
WAIT-ON/OFF
1(B)

: Set if required.
3
2
2
3

2 to 3
5 to 10
Number of steps
9.2 Servomotor/Virtual Servomotor Shaft Current Value Change
The current value of the specified axis is changed in the real mode.
The current value of the specified virtual servomotor shaft is changed in the virtual
mode.
Items set on peripheral device
Common Circular Parameter block Others
Command speed
M-code
Dwell time
Address/travel
Cancel
Parameter block No.
Torque limit value
Control unit
Acceleration time
Central point
Speed limit value
Torque limit value
S-curve ratio
Axis
Radius
Deceleration time
Auxiliary point
interpolation
at stop input
Servo Positioning Number of Speed
instruction method Control axes change
CHGA Absolute 1 Disable
: Item which must be set

: Item which is set when required
[Controls]
Control using CHGA instruction
(1) Executing the CHGA instruction changes the current value in the following
procedure.
(a) The start accept flag (M2001 to M2008/M2001 to M2032) corresponding to
the specified axis is turned on.
(b) The current value of the specified axis is changed to the specified address.
(c) Start accept flag is turned off at completion of the current value change.
(2) The current value of the specified axis is changed in the real mode.
(3) The current value of the specified virtual servo-motor shaft is changed in the
virtual mode.
(4) The used axis No. can be set within the following range.
Axis 1 to 8 Axis 1 to 32
(5) The address which made the current value change by CHGA instruction is valid
on the power supply turning on.
9 - 14
[Program example]
A program which made the current value change control in the real mode is described
as the following conditions.
(1) System configuration

The current value change control of axis 2 is executed.
Q02H Q173 Q172 QX10
CPU CPU EX
(N)
AMP AMP AMP AMP AMP AMP AMP AMP

Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 16
M M M M M M M M
(2) The current value change control conditions

(a) The current value change control conditions are shown below.
Item Setting
Servo program No. 10
Control axis No. 2
Current value change address 50
(3) Operation timing
CHGA instruction
START accept flag
Current value change

completion
(4) Servo program

< K10 >
CHGA Servomotor/virtual sevomotor shaft
Axis 2, 50 current value change control
Axis No. used.............................. 2
Current value change address ... 50
9 - 15
POINT
(1) Current value changing instructions
• When PLC ready flag (M2000) or PCPU ready flag (M9074) is OFF, a minor error
(Note)
[100] occurs and a current value change is not made.
• This change is made only during a stop. If a current value change is made while
(Note)
the specified axis is starting, a minor error [101] (start accept signal of the
corresponding axis is ON) occurs and the current value change is not made.
(Note)
• If the servo of the corresponding axis is not READY, a major error [1004]
occurs and the current value change is not made.
(Note)
• If the corresponding axis is in a servo error, a major error [1005] occurs and
the current value change is not made.
For SV22
• Set the current value change program of the virtual servomotor shaft within the
virtual mode program No. range set in "program mode assignment".
• Set the current value change program of the servomotor (output) shaft within the
real mode program No. range.
• If a virtual servomotor shaft current value change is executed in the real mode, a
(Note)
servo program setting error [903] occurs and the current value change is not
made.
• If a servomotor (output) shaft current value change is executed in the virtual
(Note)
mode, a servo program setting error [904] occurs and the current value
change is not made.
• If a current value change is made during mode changing, a servo program setting
(Note)
error [907] (real virtual changing) or [908] (virtual real changing) occurs
and the current value change is not made.
(Note) : Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22)
Programming Manual (REAL MODE)"/"Q173CPU(N)/Q172CPU(N) Motion
controller (SV22) Programming Manual (VIRTUAL MODE)" for minor error,
major error and servo program setting error.
9 - 16
9.3 Synchronous Encoder Shaft Current Value Change Control (SV22 only)
The current value of the specified synchronous encoder shaft is

changed in the virtual mode.
Items set on peripheral device
Common Circular Parameter block Others
Command speed
M-code
Dwell time
Address/travel
Cancel
Parameter block No.
Torque limit value
Control unit
Acceleration time
Central point
Speed limit value
Torque limit value
S-curve ratio
Axis
Radius
Deceleration time
Auxiliary point
interpolation
at stop input
Servo Positioning Number of Speed
instruction method Control axes change
CHGA-E Absolute 1 Disable

[Controls]
Control using CHGA-E instruction
(1) Executing the CHGA-E instruction changes the current value of the synchronous
encoder shaft in the following procedure.
(a) The synchronous encoder shaft current value changing flag (M2101 to
M2112) corresponding to the specified synchronous encoder shaft is turned
on.
(b) The current value of the specified synchronous encoder shaft is changed to
the specified address.
(c) The synchronous encoder shaft current value changing flag is turned off at
completion of the current value change.
(3) The address which made the current value change by CHGA-E instruction is valid
after also the power supply turned off.
9 - 17
[Program example]
A program which made the current value change control of the synchronous encoder
shaft is described as the following conditions.
(1) System configuration

The current value change control of the synchronous encoder shaft P1 is
executed.
Q02H Q173 Q172 QX10
CPU CPU EX
(N)
P1 axis
AMP AMP AMP AMP AMP AMP AMP AMP

Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8
M M M M M M M M
(2) The current value change control conditions

Item Setting
Synchronous encoder No. 1
Indirect designation
Current value change address
using D1500, D11501
(3) Operation timing
CHGA-E instruction
Synchronous encoder
shaft current value
changing flag Current value change
completion
(4) Servo program

< K10 >
CHGA-E Synchronous encoder shaft current value
Axis 1, D1500 change control
Synchronous encoder No. .......... 1
Current value change address ... Indirect designation using
D1500, D1501
9 - 18
POINT
(1) Synchronous encoder current value changing instructions
• The current value change of the synchronous encoder is executed if
operation is being performed in the virtual mode (during pulse input from
the synchronous encoder).
If the current value is changed, the feed current value of the
synchronous encoder continues from the new value.
• The current value change of the synchronous encoder does not affect the
current value of the output module.
• Set the current value change program of the synchronous encoder shaft
program within the virtual mode program No. range set in "program mode
assignment".
• When PLC ready flag (M2000) or PCPU ready flag (M9074) is OFF, a
(Note)
minor error [100] occurs and a current value change is not made.
• If a synchronous encoder current value change is executed in the real
(Note)
mode, a servo program setting error [903] or [905] occurs and the
current value change is not made. ([903] when the current value change
servo program is set to within the virtual mode program No. range, or 905
when it is set to within the real mode program No. range.)
• If a current value change is made during mode changing, a servo program
(Note)
setting error [907] (real virtual changing) or [908] (virtual real
changing) occurs and the current value change is not made.
9 - 19
9.4 Cam Shaft Within-One-Revolution Current Value Change Control (SV22 only)
The current value of the specified cam shaft within-one-revolution is changed in the
virtual mode.
Items set on peripheral device Speed
Common Circular Parameter block Others change
Command speed
M-code
Dwell time
Address/travel
Cancel
Control unit
Acceleration time
Parameter block No.
Torque limit value
Central point
Speed limit value
Torque limit value
S-curve ratio
Axis
Radius
Deceleration time
Auxiliary point
interpolation
at stop input
Servo Positioning Number of
instruction method Control axes
CHGA-C Absolute 1 Disable

[Controls]
Control using CHGA-C instruction
(1) Executing the CHGA-C instruction changes the within-one-revolution current

value of the specified cam shaft to the address.
(2) The cam shaft may be starting.
(4) The address which made the current value change by the CHGA-C instruction is
valid after also the power supply turned off.
9 - 20
[Program example]
A program which made the current value change control of the cam shaft within-one-
revolution current value change is described as the following conditions.
(1) Current value change control conditions

Item Setting
Output axis No. 2
Current value change address 0
(2) Servo program

< K10 >
CHGA-C Cam shaft within-one revolution
Axis 2, 0 current value change control
Output axis No. ......................... 2
Current value change address ... 0
POINT
(1) Cam shaft within-one revolution current value changing instructions
• If a new within-one revolution current value is outside the range 0 to (one-
(Note)
revolution pulse count - 1), a minor error [6120] occurs and current
value change is not.
• Set the current value change program the cam shaft within-one-revolution
within the virtual mode program No. range set in "program mode
assignment".
• When PLC ready flag (M2000) or PCPU ready flag (M9074) is OFF, a
(Note)
minor error [100] occurs and a current value change is not made.
• If the cam shaft within-one-revolution current value change is executed in
(Note)
the real mode, a servo program setting error [903] or [905] occurs and
the current value change is not made. ([903] when the current value
change servo program is set to within the virtual mode program No. range,
or 905 when it is set to within the real mode program No. range.)
• If a current value change is made during mode changing, a servo program
(Note)
setting error [907] (real virtual changing) or [908] (virtual real
changing) occurs and the current value change is not made.
9 - 21
9.5 Programming Instructions
9.5.1 Cancel • start
When a cancel start has been set in the setting items of the servo program which
was started at the motion control step of the Motion SFC program, the cancel of the
running servo program is valid but the servo program specified to start after a
cancel is ignored, without being started.
The following example shows the Motion SFC program which exercises control
equivalent to a cancel start.
Selective branch
K0
G0 G1
Providing transition G1 with cancel device condition specified
with servo program K0 will cancel to execute of servo program
K0 and allow servo program K1 to start.
K1
9.5.2 Indirect designation using motion devices
(1) The motion registers #0 to #8191 cannot be used to make indirect

specification in the mechanical system programs.
The motion register values are used in the servo or mechanical system programs,
substitutes them to data registers (D)/link registers (W).
(2) The coasting timer (FT) cannot used to make indirect specification in the servo
program and mechanical system program.
9 - 22
10 MOTION DEVICES
10. MOTION DEVICES
The motion registers (#0 to #8191) and coasting timer (FT) are available as Motion
CPU-dedicated devices.
They can be used in operation control (F/FS) programs or transition (G) programs.
10.1 Motion Registers (#0 to #8191)
Motion device Item Specifications

Number of points 8192 points (#0 to #8191)
Data size 16-bit/point
Only a user device is latched.
Motion register (#) Latch
(All points are cleared by latch clear operation.)
Usable tasks Normal, event and NMI
Access Read and write enabled in whole range
(1) Motion register list

• Common to all operating system
Device No. Application Signal direction
#0 User devices
• Cleared by latch clear.
to (8000 points)
#8000 Motion SFC • Cleared at power on or reset only.
(Note-1)
to dedicated devices • Cleared by the Motion SFC error history request flag
(64 points) on (keep at power on or reset).
(Note-2)
#8064 Servo monitor

to devices • Cleared at power on or reset only.
#8191 (128 points)
(Note-1) : SW6RN-SV13Q /SV22Q (Ver. 00M or before)
(Note-2) : SW6RN-SV13Q /SV22Q (Ver. 00N or later)
POINT
The motion registers (#) cannot be set as indirectly specified devices of mechanical
system programs.
10
10 - 1
10 MOTION DEVICES
(a) Motion SFC dedicated devices (#8000 to #8063)

The Motion SFC dedicated devices are shown below.
The device's refresh cycle is indicated when the signal direction is "status",
or its fetch cycle when the signal direction is "command".
Signal direction Refresh Fetch

Status Command cycle cycle
#8000 Seventh error information in past

to (Oldest error information)
#8008
Sixth error information in past
to
#8016
Fifth error information in past
to
#8024
Fourth error information in past Motion SFC
to
error history At error
#8032 — —
Third error information in past (8 errors) occurrence
to
(64 points)
#8040
Second error information in past
to
#8048
First error information in past
to
#8056
to Latest error information
#8063
10 - 2
10 MOTION DEVICES
1) Motion SFC error history devices

The error information which occurred after power-on of the CPU is
stored as a history of up to eight past errors. The latest error is stored in
#8056 to #8063. All errors, including the Motion SFC control errors and
the conventional minor, major, servo, servo program and mode
changing errors are stored in this history. At error occurrence, the
"Motion SFC error detection flag (M2039)" is also set.
The error information is shown below.
Description
No. Signal name
Motion SFC control errors Conventional errors
Error Motion SFC 0 to 255 : Motion SFC program No. in error
+0 -1
program No. -1 : Independent of Motion SFC program
3 : Minor/major error
4 : Minor/major error (virtual servomotor shaft) (SV22 only)
5 : Minor/major error (synchronous encoder shaft) (SV22
1 :F/FS only)
2 :G 6 : Servo error
+1 Error type -1 :K or other 7 : Servo program error
(not any of F/FS, G and SFC chart) 8 : Mode change error (SV22 only)
-2 :Motion SFC chart 9 : Manual pulse generator axis setting error
10 : Test mode request error
11 : WDT error
12 : Personal computer link communication error
0 to 4095 : F/FS, G, K program No. 0 to 4095 : Servo program No. when error type is "3", "4" or
+2 Error program No. 0 to 255 : GSUB program No. "7"
-1 : Independent of F/FS, G, K, GSUB -1 : Others
0 to 8191 : F/FS or G program's block No.
(line No.) when error type is "1"
Error block No./ or "2" 1 to 32 : Corresponding axis No. when error type is any of "3"
+3 Motion SFC list 0 to 8188 : Motion SFC list line No. when error to "6"
line No./axis No. type is "-2" -1 : Others
-1 : Independent of block when error
type is "-1" or error type is "1" or "2"
• Conventional error code (less than 16000) when error type
is any of "3" to "6"
• Error code stored in D9190 when error type is "7"
16000 and later
+4 Error code • Error code stored in D9193 when error type is "8"
(Refer to Chapter "19 ERROR CODE LISTS".)
• -1 when error type is "9" or "10"
Year/
+5
Error month
occur- Day/ The clock data (D9025, D9026, D9027) are set.
+6
rence hour (BCD code, year in its lower 2 digits)
time Minute/
+7
second
10 - 3
10 MOTION DEVICES
2) Motion SFC error detection flag (M2039)

(Refresh cycle : Scan time)
The Motion SFC error detection flag (M2039) turns on when any of the
errors detected by the Motion CPU occurs.
At error occurrence, data are set to the error devices in the following
procedure.
a) Set the error code to each axis or error devices.
b) Turns on the error detection signal of each axis or error.
c) Set the error information to the above "Motion SFC error history
devices (#8000 to #8063)".
d) Turns on the Motion SFC error detection flag (M2039) .
In the user program, reset the "Motion SFC error detection flag (M2039)"
after reading the error history at the "Motion SFC error detection flag
(M2039)".
After that, "Motion SFC error detection flag (M2039)" turns on again at
occurrence of a new error.
POINT
(1) Resetting the "Motion SFC error detection flag (M2039)" will not reset (clear to
zero) the "Motion SFC error history devices (#8000 to #8063)".
After power-on, they always controls the error history continuously.
(2) Set the clock data and clock data read request (M9028) in the user program.
10 - 4
10 MOTION DEVICES
(b) Servo monitor devices (#8064 to #8191)

Information about "servo amplifier type", "motor current" and "motor speed"
for each axis is stored the servo monitor devices.
The details of the storage data are shown below.
Axis
No.
1 #8064 to #8067
2 #8068 to #8071
Signal name (Note-1) Signal description Refresh cycle Signal direction
3 #8072 to #8075
4 #8076 to #8079 0 : Unused 4 : MR-J2S-B
5 #8080 to #8083 1 : MR-H-BN 5 : MR-J2-M When the servo amplifier
+0 Servo amplifier type
6 #8084 to #8087 2 : MR-J-B 6 : MR-J2-03B5 power-on
3 : MR-J2-B 65 : FR-V500 Monitor device
7 #8088 to #8091
8 #8092 to #8095 +1 Motor current -5000 to 5000 ( 0.1[%] )
9 #8096 to #8099 +2 3.55ms
Motor speed -50000 to 50000 ( 0.1[r/min] )
10 #8100 to #8103 +3
11 #8104 to #8107 (Note-1) : The value that the lowest servo monitor device No. was added ”+0, +1 ···” on each axis is shown.
12 #8108 to #8111
13 #8112 to #8115
14 #8116 to #8119
15 #8120 to #8123
16 #8124 to #8127
17 #8128 to #8131
18 #8132 to #8135
19 #8136 to #8139
20 #8140 to #8143
21 #8144 to #8147
22 #8148 to #8151
23 #8152 to #8155
24 #8156 to #8159
25 #8160 to #8163
26 #8164 to #8167
27 #8168 to #8171
28 #8172 to #8175
29 #8176 to #8179
30 #8180 to #8183
31 #8184 to #8187
32 #8188 to #8191
REMARK
The servo monitor devices (#8064 to #8191) is effective with SW6RN-SV13Q /
SV22Q (Ver.00D or later).
10 - 5
10 MOTION DEVICES
10.2 Coasting Timer (FT)
Motion device Item Specification

Number of points 1 point (FT)
Data size 32-bit/point (-2147483648 to 2147483647)
No latch. Cleared to zero at power-on or reset, a count
Latch
rise is continued from now on.
Coasting timer (FT)
Usable tasks Normal, event, NMI
Access Read only enabled
888µs timer
Timer specifications
(Current value (FT) is incremented by 1 per 888µs.)
10 - 6
11 MOTION SFC PARAMETER
11. MOTION SFC PARAMETER
Two different Motion SFC parameters are available: "task parameters" designed to 11
control the tasks (normal task, event task, NMI task) and "program parameters" to be
set per Motion SFC program.
Their details are shown below.
11.1 Task Definitions
When to execute the Motion SFC program processing can be set only once in the
program parameter per program.
Roughly classified, there are the following three different tasks.
Task type Contents

Normal task Executes in motion main cycle (free time).
1. Executes in fixed cycle (0.88ms, 1.77ms, 3.55ms, 7.11ms, 14.2ms).
2. Executes when the input set to the event task factor among external
Event task
interrupts (16 points of QI60) turns on.
3. Executes by an interrupt from the PLC CPU.
Executes when the input set to the NMI task factor among external
NMI task
interrupts (16 points of QI60) turns on.
11 - 1
11.2 Number of Consecutive Transitions and Task Operation
11.2.1 Number of consecutive transitions
With "execution of active step judgment of next transition condition transition

processing performed when condition enables (transition of active step)" defined as a
single basic operation of the Motion SFC program execution control in the execution
cycle of the corresponding task, this operation is performed for the number of active
steps to terminate processing once. And the same operation is processed continuously
in the next cycle.
In this case, the transition destination step is executed in the next cycle when the
transition condition enables.
Consecutive transition control indicates that transition destination steps are executed
one after another in the same one execution cycle when their transition conditions
have enabled (single basic operation is performed consecutively).
In this case, set the number of consecutive transitions.
Control exercised is common to the Motion SFC programs executed by normal tasks.
POINT
Set the number of consecutive transitions to the Motion SFC programs executed
by event and NMI tasks for every program.
11 - 2
11.2.2 Task operation
(1) Normal task operation

[Operations]
The Motion SFC program is executed in the main cycle (free time) of the Motion
CPU processing.
Program 1 Program 2
Program name Program name
F20 1) F30 A)
F1 F5
F2 F6
2) B)
F3 F7
END F8 C)
END
SFCS1 SFCS2
PLC program
Main cycle Main cycle
Normal task 1) A) 2) B)
Main cycle
Normal task is ended with END.
(No continuation operation)
C) When making it operate
continuously, it returns to
starting step in a jump.
[Points]
(a) The Motion SFC program which includes motion control steps should be set
to a normal task.
(b) During execution of an event or NMI task, the execution of the normal task
is suspended.
Note that since the normal task allows the event task disable instruction
(DI) to be described in an operation control step, the event task can be
disabled in the area enclosed by the event task disable instruction (DI) and
event task enable instruction (EI).
11 - 3
(2) Event task operation

[Operations]
An event task executes the Motion SFC program at occurrence of an event.
There are the following events.
(a) Fixed cycle

The Motion SFC program is executed periodically in any of 0.88ms,
1.77ms, 3.55ms, 7.11ms and 14.2ms cycles.
(b) External interrupt (16 points of I0 to I15)

Among 16 points of the QI60 (16-point interrupt module) loaded in the
motion slot, the Motion SFC program is run when the input set for an
event task turns on.
(c) PLC interrupt

The Motion SFC program is executed when the S(P).GINT instruction is
executed in the PLC program.
<Example 1>
Program 1
Program name
F20 1)
F1
F2 2)
F3
F4 3)
END
SFCS
PLC program
3.55ms
Event task
END operation: End 1) 2) 3)
END operation: Continue 1) 2) 3) 1) 2)
Do not execute a Execute the number of When END operation is set as

program before the consecutive transition for continuation, continuation
event task starting . every event occurrence. operation is executed.
(Note) : When making it When stopping, it is make to
always execute, execute CLR by other programs.
set as automatic
starting.
11 - 4
<Example 2>
Program name
F20 1)
F1
F2 2)
F3
3)
F4
END
SFCS
PLC program
DI
EI/DI status
by other programs. EI
Event processing
by external interrupt/ Starting of the
GINT event task is
accepted.
1) 2) 3)
Event occurrence during DI status
Event task is not executed is memorized and executed.
during DI status.
(Except for NMI task.)
Event processing
by the fixed cycle Starting of the
interrupt. event task is
accepted.
1) 2) 3)
Executes by the new event task.
[Points]
(a) Multiple events can be set to one Motion SFC program. However, multiple
fixed cycles cannot be set.
(b) Multiple Motion SFC programs can be executed by one event.
(c) Motion control steps cannot be executed during the event task.
(d) The event task cannot be executed when it is disabled by the normal task.
The event that occurred during event task disable is executed the moment
the event task is enabled.
[Errors]
When the motion control step is executed by the Motion SFC program set to the
event task, the Motion SFC program error [16113] occurs and stops the Motion
SFC program running.
11 - 5
(3) NMI task operation

[Operations]
The Motion SFC program is executed when the input set to the NMI task factor
among external interrupts (16 points of QI60) turns on.
Program name
F20 1)
F1
F2 2)
F3
F4 3)
END
SFCS
PLC program
External interrupts
NMI task
END operation: End 1) 2) 3)
END operation: Continue 1) 2) 3) 1) 2)
Do not execute a Execute the number of When END operation is set as

program before the consecutive transition for continuation, continuation
NMI task starting. every NMI task occurrence. operation is executed.
(Note) : When making it When stopping, it is make to
always execute, execute CLR by other programs.
set as automatic
start.
[Points]
(a) NMI task has the highest priority among the normal, event and NMI tasks.
(b) If the event task is disabled (DI) by the normal task, the interruption of the
NMI task is executed, without being masked.
[Errors]
The motion control step is executed during NMI task.
If the motion control step is executed during NMI task, the Motion SFC program
error [16113] occurs and stops the Motion SFC program.
11 - 6
11.3 Execution Status of The Multiple Task
Execution status of each Motion SFC program when the Motion SFC program is
executed multiple tasks is shown below.
3.55ms NMI interrupt NMI interrupt
NMI task-execute program
3.55ms event task-execute program
Normal task-execute program
When there are programs which are executed by the NMI task, 3.55ms fixed-cycle
even task with a program to run by the NMI task, and the normal task like a chart,
(1) The 3.55ms fixed-cycle event task is executed at intervals of 3.55ms;
(2) The NMI task is executed with the highest priority when an NMI interrupt is input;
and
(3) The normal task is executed at free time.

as shown above.
[Points]
One Motion SFC program can be executed partially by another task by setting the area
to be executed by another task as a subroutine and setting a subroutine running task
as another task.
<Example>
No. 0 Main Motion SFC program Normal task
No. 1 Subroutine Event task (3.55ms cycle)
CAUTION
A normal task may be hardly executed when a NMI task, an event task are executed in many.
11 - 7
11.4 Task Parameters
No. Item Setting item Initial value Remark

Number of Normal task
These parameters are imported
1 consecutive (Normal task 1 to 30 3
when PLC ready flag (M2000)
transitions common)
turns off to on and used for control
Set whether the event
thereafter.
task or NMI task is
When setting/changing the values
2 Interrupt setting used for external Event task
of these parameters, turns the
interrupt inputs
PLC ready flag (M2000) off.
(I0 to I15).
(1) Number of consecutive transitions

[Description]
With "execution of active step judgment of next transition condition
transition processing performed when condition enables (transition of active
step)" defined as a single basic operation of the Motion SFC program execution
control in the execution cycle of the corresponding task, this operation is
performed for the number of active steps to terminate processing once. And the
same operation is processed continuously in the next cycle.
In this case, the transition destination step is executed in the next cycle when the
transition condition enables.
Consecutive transition control indicates that transition destination steps are

executed one after another in the same one execution cycle when their transition
conditions have enabled (single basic operation is performed consecutively).
In this case, the number of consecutive transitions can be set.
Controls in common to the Motion SFC programs executed by normal tasks.
POINT
Set the number of consecutive transitions to the Motion SFC programs executed
by event and NMI tasks for every program.
[Errors]
These parameters are imported and checked when the PLC ready flag (M2000)
turns off to on.
When the value that was set is outside the setting range, the following Motion
SFC error is set and the initial value is used to control.
Error code Error cause
Error processing Corrective action
(Note) Name Contents
The normal task's
Normal task consecutive transition Turn PLC ready flag (M2000)
The initial value
consecutive count of the Motion SFC off, make correction to set the
17000 of 3 is used for
transition program executed by the value of within the range, and
control.
count error normal task is outside the write it to the CPU.
range 1 to 30.
(Note) : 0000H (normal)
11 - 8
(2) Interrupt setting

[Description]
Set whether 16 interrupt input points (I0 to I15) of the QI60 interrupt module
loaded in the motion slot are used as NMI or event task inputs.
Setting can be made freely per point.
All points default to event tasks.
[Errors]
None.
11 - 9
11.5 Program Parameters
Set the following parameters for every Motion SFC program.

No. Item Setting range Initial value Remark
1 Start setting Automatically started or not Not setting
It is only one of normal, event and NMI tasks Normal task
When you have set the event task, further set the
event which will be enabled.
Always set any one of the following 1 to 3.
1. Fixed cycle
It is one of 0.88ms, 1.77ms, 3.55ms, 7.11ms and
14.2ms or none.
2. External interrupt (make selection from those set
to event task)
Multiple interrupt can be set from among I0, I1, I2,
I3, I4, I5, I6, I7, I8, I9, I10, I11, I12, I13, I14 and
I15.
These parameters are imported
3. PLC interrupt
at starting of the PLC ready flag
2 Execute task Multiple interrupt can be set from among I0, I1, I2,
None (M2000) and used for control
there after.
I15.
When setting/changing the
1 to 3 can be set also by OR.
values of these parameters,
(A duplication setting is possible.)
turn PLC ready flag (M2000)
The same event can be shared among multiple
off.
Motion SFC programs.
When you have set the NMI task, further set the
interrupt input which will be enabled.
1. External interrupt (make selection from those set
to NMI task)
Multiple interrupt can be set from among I0, I1, I2,
I15.
Number of 1 to 10
3 consecutive Set the number of consecutive transitions toward the 1
transitions program set to the event or NMI task.
End/continue
END
4 Set the operation mode of the END step toward the End
operation
program set to the event or NMI task.
POINT
The settings of "END operation" are invalid for the subroutine called program.
"END operation" is controlled as "end".
11 - 10
(1) Start setting

[Description]
The following control is changed by "automatically started or not" setting.
• Program run by normal task

No. Item When "automatically started" When "not automatically started"
In the main cycle after the PLC ready flag (M2000) The program is started by the Motion SFC start instruction
turns off to on, the program is executed from the ( S(P).SFCS ) from the PLC or by a subroutine call/start
initial (first) step in accordance with the number of
(GSUB) made from the Motion SFC program.
consecutive transitions of the normal task.
• When started by the S(P).SFCS instruction
In the main cycle after execution of the S(P).SFCS

instruction, the program is executed from the initial (first) step
in accordance with the number of consecutive transitions of
1 Start control the normal task.
• When subroutine started
In the (next) main cycle after execution of GSUB, the program
is executed from the first step in accordance with the number
of consecutive transitions of the normal task.
• When subroutine called
The program is executed in the same cycle from the first step.
After that, the program is executed continuously by the number of consecutive transitions of the normal task in the
motion main cycle. (The settings of "executed task" and "number of consecutive transitions" of the subroutine called
program are invalid. It is controlled as the normal task.)
Ends the self program.
END control
2 Again, the program is started by the Motion SFC start instruction ( S(P).SFCS ) from the PLC or by a subroutine
END
call/start (GSUB) made from the Motion SFC program.
• Program run by event task

At occurrence of a valid event after starting of the The program is started by the Motion SFC start instruction
PLC ready flag (M2000), the program is executed ( S(P).SFCS ) from the PLC or by a subroutine call/start
from the initial (first) step in accordance with the
(GSUB) made from within the Motion SFC program.
number of consecutive transitions of the
corresponding program.
At occurrence of a valid event after execution of the
S(P).SFCS instruction, the program is run from the initial
(first) step in accordance with the number of consecutive
transitions of the corresponding program.
1 Start control • When subroutine started
At occurrence of a valid event after execution of GSUB, the
program is executed from the first step in accordance with
the number of consecutive transitions of the corresponding
program.
The program is executed immediately from the first step.
After that, the program is executed continuously by the number of consecutive transitions of the corresponding
program at occurrence of a valid event. (The subroutine called program is controlled in accordance with the
"executed task" and "number of consecutive transitions" of the call source program.)
END control
2 As specified for END operation.
END
11 - 11
• Program run by NMI task

At occurrence of a valid event after starting of the The program is started by the Motion SFC start instruction
PLC ready flag (M2000), the program is executed ( S(P).SFCS ) from the PLC or by a subroutine call/start
from the initial (first) step in accordance with the
(GSUB) made from within the Motion SFC program.
number of consecutive transitions of the
corresponding program.
At occurrence of a valid event after execution of the
S(P).SFCS instruction, the program is run from the initial
(first) step in accordance with the number of consecutive
1 Start control transitions of the corresponding program.
• When subroutine started
At occurrence of a valid event after execution of GSUB, the
program is executed from the first step in accordance with
the number of consecutive transitions of the corresponding
program.
The program is executed immediately from the first step.
After that, the program is executed continuously by the number of consecutive transitions of the corresponding
program at occurrence of a valid event.
END control
2 As specified for END operation.
END
[Errors]
None.
POINT
In the case of the program which is executed by the normal task, write the
program so that it is not ended by END but it returns to the starting step by a
jump when starting of the automatically from an initial again.
11 - 12
(2) Execute task

[Description]
Set the timing (task) to execute a program.
Specify whether the program will be run by only one of the "normal task (main
cycle), event task (fixed cycle, external interrupt, PLC interrupt) and NMI task
(external interrupt)".
When the event task is set, multiple events among the "fixed cycle, external
interrupt (for event task) and PLC interrupt".
However, multiple fixed cycles cannot be set toward one Motion SFC program.
Example) Interrupt setting: Inputs for event task I6, I7, I8, I9, I10, I11, I12, I13,
I14 and I15
Motion SFC program No. 10 – event : Fixed cycle (3.55ms)
Motion SFC program No. 20 – event :
Fixed cycle (1.77ms) + external interrupt (I6)
Motion SFC program No. 30 – event :
External interrupts (I7, I15) + PLC CPU
interrupt
When the NMI task is set, multiple interrupt inputs among the external
interrupts (for NMI task) can be set.
Example) Interrupt setting: Inputs for NMI task I0, I1, I2, I3, I4, I5
Motion SFC program No. 10 – NMI : I0
Motion SFC program No. 20 – NMI : I1 + I2
Motion SFC program No. 30 – NMI : I5
[Errors]
This program parameter is imported when the PLC ready flag (M2000) turns off
to on, and is checked at starting of the Motion SFC program (automatic start,
start from PLC or subroutine start).
When the value is illegal, either of the following Motion SFC errors is set and
the initial value is controlled.
Multiple events
among the normal,
Execute task
17010 event and NMI
setting is illegal Turn PLC ready flag (M2000) off,
tasks are set, or The initial value
make correction to set the value
one is not set. (normal task) is
of within the range, and write it to
Two or more fixed controlled.
Executed task the CPU.
cycles of the event
17011 setting is illegal
task have been
(event)
set.
11 - 13
POINT
Since the execute task can be set for every Motion SFC program No., multiple
programs need not be written for single control (machine operation) to divide
execution timing-based processing’s.
For example, it can be achieved easily by subroutine starting the areas to be run
in fixed cycle and to be run by external interrupt partially in the Motion SFC
program run by the normal task.
(3) Number of consecutive transitions

[Description]
Set the number of consecutive transitions to program executed by the event or
NMI task for every program.
Refer to Section "11.4 Task Parameters" for number of consecutive transitions.
[Errors]
This program parameter is imported when the PLC ready flag (M2000) turns off
to on, and is checked at starting of the Motion SFC program (automatic start,
start from PLC or subroutine start).
When the value is illegal, either of the following Motion SFC errors is set and
the initial value is controlled.
The number of
consecutive
Event task
transitions of the
consecutive
17001 Motion SFC program
transition count
started by the event
error
task is outside the Turn PLC ready flag (M2000) off,
range 1 to 10. The initial value make correction to set the value
The number of of 1 is controlled. of within the range, and write it to
consecutive the CPU.
NMI task
transitions of the
consecutive
17002 Motion SFC program
transition
started by the NMI
count error
task is outside the
range 1 to 10.
11 - 14
(4) END operation

[Description]
Set the operation at execution of the END step toward the program executed
by the event or NMI task.
This varies the specifications for the following items.
• Program run by NMI task
No. Item When "ended" When "continued"
Control at END
1 Ends the self program. Ends to execute the self program with this event/interrupt.
execution
Restarted at occurrence of the next event/interrupt, and run
Again, the program is started by the Motion SFC from the initial (first) step in accordance with the number of
Restart after start instruction ( S(P).SFCS ) from the PLC or consecutive transitions of the corresponding program.
2
END execution by a subroutine call/start (GSUB) made from the After that, at occurrence of an event/interrupt, the program is
Motion SFC program. executed in accordance with the number of consecutive
transitions of the corresponding program.
Restart after
Again, the program is started by the Motion SFC start instruction ( S(P).SFCS ) from the PLC or by a subroutine
3 end by clear step
CLR call/start (GSUB) made from the Motion SFC program.
POINT
The END operation of subroutine called program is controlled as an "end".
• The following operation example assumes that the END operation is

"continued."
Program parameters
• Automatically started
• Execute task = event 3.55ms
• Number of consecutive transitions = 2
• End operation "continued"
Program name
F20 1) After starting M2000, program is 4) Program is executed in 3.55ms

executed at 3.55ms intervals cycle (fourth time).
(first time) after event task
F1 enable.
F2 2) Program is executed in 5) Program is executed in

3.55ms cycle (second time). 3.55ms cycle (fifth time).
F3
F4 3) Program is executed in 6) Program is executed in

3.55ms cycle (third time). 3.55ms cycle (sixth time).
END
11 - 15
11.6 How to Start The Motion SFC Program
The Motion SFC program is executed during PLC ready flag (M2000) is on.
The Motion SFC program may be started by any of the following three methods.
(1) Automatic start

(2) Start from the Motion SFC program
(3) Start from the PLC
Set the starting method in the program parameter for every Motion SFC program.
Refer to Section "11.5 Program Parameters" for parameter setting.
11.6.1 Automatic start
[Operations]
An automatic start is made by turning PLC ready flag (M2000) on.
11.6.2 Start from the Motion SFC program
[Operations]
A start is made by executing a subroutine call/start step in the SFC program.
Refer to Chapter "6 MOTION SFC PROGRAMS" for details of the subroutine call/start
step.
11.6.3 Start from PLC (PLC instruction S(P).SFCS )
The SFC program can started by executing the S(P).SFCS in the PLC program.
Refer to Chapter "5 MOTION DEDICATED PLC INSTRUCTION" for details.
11 - 16
11.7 How to End The Motion SFC Program
[Operations]
(1) The Motion SFC program is ended by executing END set in itself.
(2) The Motion SFC program is stopped by turning off the PLC ready flag (M2000).
(3) The program can be ended by the clear step.
Refer to Section "6.5.4 Clear step" for details of the clear step.
[Point]
(1) Multiple ENDs can be set in one Motion SFC program.
11.8 How to Change from One Motion SFC Program to Another
Use a subroutine start to stop the Motion SFC program running and switch it to another
Motion SFC program.
Motion SFC program changing example using subroutine start

MAIN
SUB
END
11.9 How to Manage The Executing Program
There are no specific information that indicates which the Motion SFC program is
executing. Use a user program (Motion SFC program/PLC program) to control the
executing program.
11 - 17
11.10 Operation Performed at CPU Power-Off or Reset
When the CPU is powered off or reset operation is performed, Motion SFC programs
run are shown below.
(1) When the CPU is powered off or reset operation is performed, Motion SFC
programs stop to execute.
(2) At CPU power-off or key-reset, the contents of the motion registers #0 to #7999
are held. Initialize them in the Motion SFC programs as required.
(3) After CPU power-on or reset processing, Motion SFC programs run is shown
below.
• The SFC programs set to start automatically are run from the beginning by
turning PLC ready flag (M2000) on in the PLC program.
• The other Motion SFC programs are also executed from the first at starting.
11.11 Operation Performed when CPU is Switched from RUN/STOP
When a RUN/STOP switch is operated, PLC ready flag (M2000) turns on/off in
accordance with "Operation at STOP to RUN" of a setting of a basic systems.
Refer to Section "1.5.3 Individual parameters" for the details of "Operation at STOP to
RUN".
And, refer to the next section for PLC ready flag (M2000) off/on.
11 - 18
11.12 Operation Performed when PLC Ready flag (M2000) Turns OFF/ON
This section explains about the turns off/on of PLC ready flag (M2000).
The on/off condition of PLC ready flag (M2000) differences in "Operation at STOP to
RUN" of a setting of a basic systems.
Refer to Section "1.5.3 Individual parameters" for details.
[M2000 OFF ON]

If there is no fault when PLC ready flag (M2000) turns off to on, the PCPU ready flag
(M9074) turns on.
When this PCPU ready flag (M9074) turns on, Motion SFC programs can be executed.
An automatic start Motion SFC program starts execution from the first.
[M2000 ON OFF]
When PLC ready flag (M2000) turns off, Motion SFC programs stops to execute and
the PCPU ready flag (M9074) turns off.
Since actual outputs PY has whole point turn off.
POINT
When the PLC ready flag (M2000) turns off, Motion SFC programs stop but
actual outputs PY in the Motion SFC programs do not turn off.
11 - 19
11.13 Operation at The Error Occurrence
Outputs are held if Motion SFC programs stop due to error occurrence.
To turn off outputs at error occurrence, executes the following Motion SFC program.
ERROR
Processing for the Motion
P0 SFC program B
Processing for
the Motion SFC Whether error occurred in correspondence Motion
program A0 SFC program or not is judged by error detection flag
G0 G1 M2039 and #8056
(latest error Motion SFC program No.)
F0 F1 Outputs which must be turned OFF are turned OFF.
Motion SFC error detection flag M2039 is turned OFF.
P0
11 - 20
12 USER FILES
12. USER FILES
A user file list and directory structure are shown below

12.1 Projects
User files are managed on a "project" basis.

When you set a "project name", a "project name" folder is created as indicated on the 12
next page, and under that, sub folders (Sfc, Glist, Gcode, Flist, Fcode) classified by file
types are created.
Also, under the Sfc sub folders, initial files of the "project file (project name.prj)" and an
editing folder (temp) are created.
POINT
• Set the "project name" on the project management screen.
• The "project name" is restricted to 230 characters in length.
• The "project path name" + "project name" are restricted to 230 characters in
length.
((Example) "C:\Usr\.........\project name\")
12 - 1
12 USER FILES
12.2 User File List
A user file list is shown below.

( ): Indicates the file(data) stored in CPU memory.
Project name folder Folder of user-set "project name"
Sub folders (fixed)
Sfc
(1) Project file Project name.prj ( 1pc.)
Information file of correspondence between Motion SFC program No. (0 to 255) and SFC program names (SFC files)
(2) Motion SFC chart file SFC program name.sfc ( 256 pcs.)
Motion SFC chart edit information and comment information file of one Motion SFC program
(3) Motion SFC list file SFC program name.txt ( 256 pcs.)
Text file after conversion of Motion SFC chart of one Motion SFC program into list
(4) Motion SFC code file SFC program name.cod ( 256 pcs.)
File after conversion of list file of one Motion SFC program into internal codes (including comment information)
Glist
(5) G list file g0000.bin to g4095.bin
LIst file of transition programs (G0 to G4095)
Gcode
(6) G code file g0000.cod to g4095.cod
File after conversion of transition program(G0 to G4095) list file gn.bin(0 n 4095) into internal codes
Flist
(7) F/FS list file f0000.bin to f4095.bin
List file of operation control programs (F/FS0 to F/FS4095) list file
Fcode
(8) F/FS code file f0000.cod to f4095.cod
File after conversion of operation control program(F/FS0 to F/FS4095) list file fn.bin(0 n 4095) into internal codes
( )
(9a) Motion SFC program conversion file(control code) sfcprog.cod
File where SFC code, G-code and F/FS code files are combined and converted into CPU's Motion SFC program
code memory storage format
( )
(9b) Motion SFC program conversion file(text) sfcprog.bin
File where G list and F/FS list files are combined and converted into CPU's Motion SFC program text memory storage format
(Note-2) : The above two files are always updated simultaneously.
( )
(10) Motion SFC parameter file sfcprm.bin Motion SFC control parameter setting information files
( )
(11) K code file svprog.bin Internal code files of servo program (K0 to K4095) (file size is fixed length)
(12) Automatic numbering autono.inf Automatic numbering setting information files

setting information file
(13) PC type file gsvp.cnf CPU type information files

( )
(14) System setting data file svsystem.bin System setting data information files
High speed read setting file svlatch.bin High speed read setting information files
( )
(15) Servo data file svdata.bin Servo parameter information files 1
svdata2.bin Servo parameter information files 2
svls.bin Limit switch setting data information files
(16) Mechanical system svedtda1.bin Mechanical system program edit information files (page 1 to 8)
program editing file svedtda2.bin (Note-1) Mechanical system program edit information files (page 9 to 16)
(Note-1) : 32-axes only svedtda3.bin (Note-1) Mechanical system program edit information files (page 17 to 24)
svedtda4.bin (Note-1) Mechanical system program edit information files (page 25 to 32)
( ) svmchprm.bin File after conversion of mechanical system program edit
(17) Mechanical system SV22
program conversion file information file svedtdan.bin into internal codes only
( ) Cam data files of cam No.1 to 64
(18) Cam data conversion svcamprm.bin
file svcampr2.bin (Note-1) Cam data files of cam No.101 to 164
(Note-1) : 32-axes only svcampr3.bin (Note-1) Cam data files of cam No.201 to 264
svcampr4.bin (Note-1) Cam data files of cam No.301 to 364
(19) Backup data file svbackup.bin Information file 1 for backup and load
svbackup2.bin Information file 2 for backup and load
svbackup6.bin Information file 6 for backup and load
(20) Motion register file modevice.bin Motion register (#0 to #8191) reading file
Only user device range(#0 to #7999) is written.
Device memory file devmem.bin Devices (X,Y, M/L, B, F, D, W, Special relay, Special register) except # reading file
(21) Device setting screen devset.inf Device setting information file of device setting screen
information file
(22) PLC of the Q series param.wpa Data files of Multiple CPU setting, I/O assignment etc.
common parameter file
(23) Com m unication com m uni.inf Communication setting information files

setting inform ation file
temp Program editing temporary directory
12 - 2
12 USER FILES
12.3 Online Change in The Motion SFC Program
The online change is used to write to the Motion SFC program to the internal SRAM
during the positioning control (M.RUN LED: ON).
Program correction and a check of operation can be executed repeatedly at the
Multiple CPU system start.
Data in which online change is possible are shown below.

Applicable data Online change Remarks
System setting data System setting
Servo setting data
Motion SFC program Motion SFC parameter
Online change is possible for the
Motion SFC chart
only program during stop.
Operation control step (F/FS)
Transition (G)
Online change of mode
Servo program (K)
assignment setting is not possible.
Mechanical system program (SV22 only)
Cam data (SV22 only)
: Possible : Not possible
POINT
(1) Program writing is executed during the positioning control in the online change.
Be safely careful enough for work.
(2) Programs writing to the internal SRAM of Motion CPU at the mode operated by
ROM in the online change. If the online change is executed at the mode
operated by ROM, it returns to the contents of program written in the internal
FLASH ROM by the next power ON or resetting.
(3) If the online change is executed simultaneously to one Motion CPU from the
multiple personal computers, a program writing may not be executed. Please do
not perform.
(4) If the online changes are executed by other personal computer during the
following operation by SW6RN-GSV P, injustice of a monitor value and
operation failure may occur. Please do not perform.
• Monitor mode of the Motion SFC program • Test mode
• Debug mode of the Motion SFC program
(5) If the online change of Motion SFC chart added newly is executed, since the
online change of Motion SFC parameter cannot be executed, it operates as the
normal task (default value).
(6) When using the SV22, if the online change is executed by changing the
"program/servo program editor screen – [Mode assignment setting]", the
contents of change are not reflected.
(7) If the cables between the peripheral devices and Motion CPU fall out, or the
power supply of the Motion CPU turns OFF or resets, the program is corrupted.
Write the program again with the communication screen of SW6RN-GSV P.
12 - 3
12 USER FILES
12.3.1 Operating method for The Online Change
Select the "Online change OFF/ON" of Motion SFC program with the "program editor
screen [Convert] menu – [Online change setting]" of SW6RN-GSV P.
There are following three methods for the online change of Motion SFC program.
• When the program editor screen [SFC diagram write] is used ---- Online change of
the Motion SFC program
• When the operation control/transition program editor screen [Convert] is used ----
Online change of the operation control/transition program editor screen
• When the servo program editor screen [Store] is used ---- Online change of the servo
program
(1) When the program editor screen [SFC diagram write] is used.
Online change of the Motion SFC program during edit is executed by selecting
the [SFC diagram write] key.
Online change is possible to the Motion SFC program during stop.
If the online change is made to the program during execution, an alarm message
indicates. (Execution/stop state of the Motion SFC program can be checked with
the program batch monitor.)
If the start request is made to the program during online change, the Motion SFC
start error (error code16007: online change) will occur and the program does not
start.
[SFC Diagram Write] Key
Conv(X)
SFC Diagram Write(C)
Batch Conversion(A)
Online Change Setting(R)
12 - 4
12 USER FILES
(2) When the operation control/transition program editor screen [Convert] is used.
Online change of the operation control/transition program during edit is executed
by selecting the [Convert] key.
Online change is possible to the operation control/transition program during
execution.
A program that the online change was made is executed from the next scan.
[Convert] Key
Operations for which made the online change to the operation control/transition
program during execution in the following conditions are shown below. Be careful
to execute the online change in the following conditions.
Program Condition Operation
• Online change of the FSn • After completion of online change,
FSn
operation control program is the FSn repeats the operation
Gn executed during FSn control program that the online
or
execution in the state of change was made until the
waiting for the completion of completion of condition for Gn.
FSn
condition for Gn.
Gn
• Online change of the Gn • After completion of online change,

program is executed in the the Gn does not transit to the next
Gn state of waiting for the step until the completion of
or completion of condition for Gn. condition for program that the
Gn (The conditional sentences of online change was made.
program to write are except
the TIME instruction.)
• Online change of the Gn • After completion of online change,
Gn program including the TIME Gn is ended regardless of the
or instruction is executed in the waiting time of TIME instruction
Gn state of waiting for the and the next step is executed.
completion of condition for Gn.
• Online change of the Gn • After execution of servo program,
Kn
program during the servo the program of changed Gn is
or
program execution for Kn. executed.
Gn
12 - 5
12 USER FILES
(3) When the servo program editor screen [Store] is used.

Online change of the servo program during edit is executed by selecting the
[Store] key.
Online change is possible to the servo program during execution.

A program that the online change was made is executed at the next servo
program start.
[Store] Key
Operations for which made the online change to the servo program in the
following conditions during execution are shown below. Be careful to execute the
online change in the following conditions.
Program Condition Operation
• Online change of the servo • After completion of condition for
ON bit device
program Kn at the WAITON or WAITON/WAITOFF, the servo
Kn after WAITOFF is executed in program before the online change
or the state of waiting for the is started.
completion of condition for • The servo program that the online
OFF bit device WAITON/WAITOFF. change was made is executed at
Kn
the next servo program start.
• Online change of the servo • After completion of condition for

Gn
program Kn after Gn is Gn, the servo program that online
Kn executed in the state of change was made is executed.
or waiting for the completion of
condition for Gn.
Gn
Kn
12 - 6
12 USER FILES
12.3.2 Transfer of program
The outline operations to transfer the program from SW6RN-GSV P to the program
memory of Motion CPU are described.
(1) Program writing by the [Communication] menu - [Transfer]

(a) After transfer, programs are stored in the program memory of Motion CPU
stuffing to the front for every kind.
Motion CPU Personal computer
Program memory Programming software
Program No.0 Program No.0
Program No.5 Program transfer Program No.5

Free area
(2) Program writing by the [Online change]

(a) After online change, a program to execute the online change is stored in the
free area after the program stored previously. (Refer to 1))
After that, the program written in previously is made invalid and the new
program is made valid. (Refer to 2))
Program No.5 2) Program No.5

1)
Program No.5
Free area
12 - 7
12 USER FILES
(b) If the online change is executed repeatedly, the free space in program
memory is lost and the online change may not be executed. In this case, an
error message is displayed by SW6RN-GSV P at the online change, and
"Online change OFF" is set.

"Online change
setting" cannot
be executed
because there
Program No.100 is no free space. Program No.100
Program No.5
Program No.5
Program No.2
(c) In the case of b), arrange to stuff to the front the invalid programs.
Operation procedures to stuff to the front are shown below.
1) Select the "program editor screen [Option] menu – [Sort]" of SW6RN-
GSV P. In this case, the invalid programs in the personal computer
arranges by SW6RN-GSV P.
2) Execute the program writing with the [Communication] menu – [Transfer]
in the stop state of Motion CPU.

2) Write the Motion
program by
Program No.5 [Transfer] Key. Program No.5

1) Select [Sort] Key
Free area
12 - 8
13 LIMIT SWITCH OUTPUT FUNCTION
13. LIMIT SWITCH OUTPUT FUNCTION
This function is used to output the ON/OFF signal corresponding to the data range of
the watch data set per output device.
Motion control data or optional word data can be used as watch data. (Refer to Section
"13.2 Limit Output Setting Data" for details.) A maximum output device for 32 points
can be set regardless of the number of axes.
13.1 Operations
(1) ON output to an output device is made while the watch data value is in the ON
13
output region set with (ON Value) and (OFF Value) in this function.
(a) (ON Value), (OFF Value) and watch data value are handled as signed data.
ON output region where an ON output is made to the output device is
governed by the magnitude relationship between (ON Value) and (OFF
Value) as indicated below.
Relationship between (ON Value) and
ON output region
(OFF Value)
(ON Value) < (OFF Value) (ON Value) <= (watch data value) < (OFF Value)
(ON Value) <= (watch data value)
(ON Value) > (OFF Value)
(Watch data value) < (OFF Value)
(ON Value) = (OFF Value) Output OFF in whole region
1) (ON Value) < (OFF Value)
ON
Output device OFF OFF
OFF Value
ON region setting
ON Value
Watch data value
(ON Value) (Watch data value) (OFF Value)
2) (ON Value) > (OFF Value)
ON ON
Output device OFF
ON Value
ON region setting
OFF Value
Watch data value
(Watch data value) (OFF Value) (ON Value) (Watch data value)
13 - 1
3) (ON Value) = (OFF Value)

Output device OFF in whole region
ON region setting ON Value OFF Value
Watch data value
(b) The limit switch outputs are controlled based on the each watch data during
the PCPU ready status (M9074: ON) by the PLC ready flag (M2000) from
OFF to ON.
When the PCPU ready flag (M9074) turns OFF by turning the PLC ready flag
(M2000) from ON to OFF, all points turn OFF. When (ON Value) and (OFF
Value) are specified with word devices, the word device contents are input to
the internal area when the PLC ready flag (M2000) turns from OFF to ON.
After that, the word device contents are input per motion operation cycle, and
limit switch outputs are controlled.
(c) Multiple outputs (Up to 32 points) can be also set to one watch data. In each
setting, the output device may be the same.
If multiple ON region settings have been made to the same output device, the
logical add of the output results in the regions is output.
ON ON
Output device OFF OFF
OFF Value
ON region setting No.2
ON Value
OFF Value
ON region setting No.1
ON Value
Watch data value
(2) Output enable/disable bit can be set and executed enable/disable of the limit
switch outputs point-by-point.
Limit switch output control is executed when the output enable/disable bit is ON,
and the output is OFF when it is OFF.
If there is no setting, the outputs are always enabled.
(3) Forced output bit can be set and turned the forcibly output of the limit switch
outputs point-by-point ON.
The output is ON when the forced output bit is ON. Priority is given to control of
this setting over off (disable) of the "output enable/disable bit".
If there is no setting, no forced outputs are not always made.
13 - 2
(4) When the multiple watch data, ON region, output enable/disable bit and forced
output bit are set to the same output device, the logical add of output results of the
settings is output.
M9074 ON
1) Without output enable/disable bit/forced output settings
Output device
OFF Value
ON region setting
ON Value
Watch data value
2) With output enable/disable bit/forced output settings
Output device
Output control based on Output ON
Output OFF ON Value and OFF Value (Forced output) Output OFF
Enable/disable bit Output control based on

Output OFF ON Value and OFF Value Output OFF
Forced output bit Output ON

(Forced output)
13 - 3
13.2 Limit Output Setting Data
Limit output data list are shown below.

Up to 32 points of output devices can be set.
(The following items of No.1 to No.5 are set together as one point.)
Fetch Refresh
No. Item Setting range Remarks
cycle cycle
Operation
1 Output device Bit device (X, Y, M, L, B) —
cycle
Motion control data/
word device (D, W, #, absolute address)
2 Watch data
(16-bit integer type/32-bit integer type/
64-bit floating-point type)
ON region ON Value Word device (D, W, #)/constant (K, H)
3
setting OFF Value Word device (D, W, #)/constant (K, H)
Operation ON : Enable
—
Output enable/disable Bit device (X, Y, M, L, B, F, special relay)/ cycle OFF : Disable
4
bit none (default) None : Always
enable
None : No forced
Bit device (X, Y, M, L, B, F, special relay)/ outputs are
5 Forced output bit
none (default) always made
(OFF status)
(1) Output device

(a) Set the bit device which outputs the ON/OFF signal toward the preset watch
data.
(b) As the output device, the following devices can be used.

Item Device No. setting range
(Note-1)
Input relay X0 to X1FFF
Output relay (Note-2) Y0 to Y1FFF
Internal relay (Note-3) M0 to M8191
Latch relay L0 to L8191
Link relay B0 to B1FFF
(Note-1) : PX is write-disabled and it cannot be used as the output device.

For X, only the free No. of the input card non-loading can be used.
(Note-2) : The real output device range (PY) is also included.
(Note-3) : M2001 to M2032 cannot be used to the output device.
Be careful because it affect a positioning operation, when the positioning
dedicated devices are set.
13 - 4
(2) Watch data

(a) This data is used to perform the limit switch output function. This data is
comparison data to output the ON/OFF signal. The output device is
ON/OFF-controlled according to the ON region setting.
(b) As the watch data, motion control data or optional word device data can be
used.
1) Motion control data
Axis No. setting range
Item Unit Data type
Feed current value
Position command 32-bit
Real current value
integer type
Deviation counter value PLS
16-bit
Motor current (Command output voltage : ACF) 0.1% (0.01V)
integer type 1 to 32 1 to 8
Motor speed 0.1r/min
Cam shaft within-one-revolution current value
Feed current value (Virtual) 32-bit
After-differential current value (Virtual) PLS integer type
After-differential encoder current value
1 to 12 1 to 8
Encoder current value
2) Word device data

Data register D0 to D8191
Link register W0 to W1FFF
Motion register #0 to #8191
3) When the optional device data is set, the following data type is set as the
data type to be compared.
Data type Device No. setting range
16-bit integer type
32-bit integer type Set the device No. as an even No..
64-bit floating-point type
13 - 5
(3) ON region setting

(a) The data range which makes the output device turn ON/OFF toward the
watch data.
(b) The following devices can be used as the ON Value and OFF Value of the
data range.
The data type of device/constant to be set is the same as the type of watch
data.
Data register D0 to D8191
Link register W0 to W1FFF
Motion register #0 to #8191
Constant Hn/Kn
(4) Output enable/disable bit

(a) Set the status of output enable/disable bit when the limit switch output is
forbidden during operation.
1) The following control is exercised.
Output enable/disable bit Control description
Without setting (always enable) Limit switch output is turned ON/OFF
based on the ON region setting (ON
ON (enable)
With setting Value, OFF Value).
OFF (disable) Limit switch output is turned OFF.
(b) Usable devices

(Note-1)
(Note-2)
Output relay Y0 to Y1FFF
Internal relay M0 to M8191
Annunciator F0 to F2047
Special relay M9000 to M9255
(Note-1) : The real input range(PX) is included.
(Note-2) : The real input range(PY) is included.
13 - 6
(5) Forced output bit

(a) Set the "forced output bit" when you want to forcibly provide the limit switch
outputs during operation.
1) The following control is exercised.

Forced output bit Control description
Without setting Limit switch outputs are turned
ON/OFF on the basis of the "output
OFF enable/disable bit" and ON region
With setting
setting (ON Value, OFF Value).
ON Limit switch outputs are turned ON.
(b) Usable devices

Output relay Y0 to Y1FFF
Internal relay M0 to M8191
Annunciator F0 to F2047
Special relay M9000 to M9255
13 - 7
MEMO
13 - 8
14 ROM OPERATION FUNCTION
14. ROM OPERATION FUNCTION
Refer to Section 1.3.4 for the correspondence version of the Motion CPU and the
software.
This function is used to store beforehand the user programs and parameters in the
internal FLASH ROM memory built-in the Motion CPU module, and operate it based on
the data of internal FLASH ROM memory.
14.1 About the ROM Operation Function
The outline procedure of ROM operation function is shown below.
(1) Turn on or reset the power supply of Multiple CPU system in the "Mode operated
by RAM".
(2) Execute a trial run and adjustment by creating the system setting, programs and 14
parameters using SW6RN-GSV P.
(3) Turn on or reset the power supply of Multiple CPU system in the "Installation
mode • mode written in ROM".
(4) Write the system setting, programs and parameters of SRAM built-in the Motion
CPU module to the internal FLASH ROM by performing the ROM writing request
using SW6RN-GSV P.
(5) Start a normal operation by starting the Motion CPU in the "Mode operated by
ROM" after reading the system setting, programs and parameters written in the
internal FLASH ROM to the internal SRAM.
POINT
(1) Switch the operation mode using a DIP switches of Motion CPU module.
(2) Confirm the operation mode with "Mode LED" and "BOOT LED" of Motion
CPU module.
Outline of processing is shown next page.
14 - 1
Installation mode mode written in ROM

Motion CPU module
Example) SV13 use
Internal SRAM memory
System setting data
Each parameter for servo control
Servo program
Motion SFC parameter
Motion SFC program
Personal computer
1) ROM writing request
Internal FLASH ROM memory
MT Developer
System setting data
Servo program

2) ROM
Motion SFC program writing
Registration code (Note-1)
Mode operated by ROM

Motion CPU module

System setting data
Servo program
1) Read at
starting
Motion SFC program

System setting data
Servo program
Motion SFC program

(Note-1): "Registration code" is used to judge whether
the programs and parameters written in the
Registration code (Note-1) internal FLASH ROM are normal or not.
14 - 2
14.2 Specifications of LED • Switch
(1) Name of parts
Side face Front face With Front cover open
Q17 CPU(N)
MODE 1) MODE
RUN 10)
ERR. 2) RUN
ERR.
M.RUN
BAT.
3) M.RUN
BAT.
BOOT 4) BOOT
5) ON SW
1
6) 2
3 9)
4
FRONT 5
SSCNET
STOP RUN
CN2
CN1
RESET L CLR
7)
PULL
8)
USB
RS-232
Put your finger here to open

the cover.
No. Name Application

• Lit(green) : Normal mode
1) MODE LED(Mode judging)
• Lit(orange) : Installation mode • mode written in ROM
• Lit : Motion CPU normal start
• Not lit : Motion CPU fault
2) RUN LED
LED turns off when the trouble occurred at Motion CPU start or WDT error
occurred.
• Lit : LED turns on at following errors occurrence.
1) WDT error
2) System setting error
3) Servo error
3) ERR. LED 4) Self diagnostic error which will not stop the operation (except battery error).
5) Operating system software is not installed.
• Flickers : Detection of self diagnostic error which will stop the operation.
• Not lit : Normal
• Lit : During motion control
• Flickers : Latch clear start
4) M.RUN LED
• Not lit : Not during motion control or detection of self diagnostic error which will stop the
operation.
5) BAT. LED • Lit : Battery error occurrence (External battery use)
• Lit : Mode operated by ROM
6) BOOT LED
• Not lit : Mode operated by RAM/Installation mode • mode written in ROM
14 - 3
(2) Applications of switches

No. Name Application
• Move to RUN/STOP.
7) RUN/STOP switch RUN : Motion SFC program is started.
STOP : Motion SFC program is stopped.
RESET : Set the switch to the "RESET" position once to reset the hardware.
Applies a reset after an operation error and initialized the operation.
L.CLR : Clear the latch area all data which set with the parameters.
(LATCH CLEAR also clears data outside the latch area at this time.)
RESET/L.CLR switch (Note-1) • Latch clear operating method
8)
(Momentary switch) 1) Set the "RUN/STOP" switch to "STOP".
2) Move the "RESET/L.CLR" switch to "L.CLR" several times until the "M.RUN
LED" flickers.
("M.RUN LED" flickers : Latch clear completed. )
3) Move the "RESET/L.CLR" switch to "L.CLR" once more. ("M.RUN LED" turn off.)
Dip switch 1 Must not be used. (Shipped from the factory in OFF position)
ROM operating setting (Shipped from the factory in OFF position)
Dip switches Dip switch 2 SW2 SW3
ON SW OFF OFF Mode operated by RAM
1 ON OFF Must not be set
Dip switch 3 OFF ON Must not be set
2
9) ON ON Mode operated by ROM
3 Dip switch 4 Must not be used. (Shipped from the factory in OFF position)
4 Dip switch 5 ON : Installation mode • mode written in ROM
5 (Installation • OFF : Normal mode (Mode operated by RAM / Mode operated by ROM)
ROM writing Turn ON dip switch 5 when installed the operating system software into the
switch) Motion CPU module from the peripheral device. After completing the installation,
move to switch and re-start.
10) Memory card EJECT button Used to eject the memory card from the Motion CPU.
(Note-1) : It is not possible to reset the Multiple CPU system by each of the PLC CPU/Motion CPU No.2 to 4.
If it is reset, other CPU occurred to stop of the overall Multiple CPU system where "MULTI CPU DOWN" (Error code: 7000).
The overall Multiple CPU system reset is resetting the CPU No.1 of PLC CPU.
14 - 4
14.3 ROM Operation Function Details
(1) Operation mode

"Operation mode" of CPU is set by the state of DIP switch 2, 3, 5 of Motion CPU
module at the power supply on or reset of Multiple CPU system.
DIP switch setting, operation mode and operation mode overview are shown
below.
(a) DIP switch setting and operation mode

Dip switch setting
Operation mode
SW2 SW3 SW5
OFF OFF ON Installation mode • mode written in ROM
OFF ON ON Must not be set (Note-1)
ON OFF ON Must not be set (Note-1)
ON ON ON Installation mode • mode written in ROM
OFF OFF OFF Mode operated by RAM
OFF ON OFF Must not be set (Note-2)
ON OFF OFF Must not be set (Note-2)
ON ON OFF Mode operated by ROM
(Note-1) : It operates in the "Installation mode • mode written in ROM" for wrong setting.
(Note-2) : It operates in the "Mode operated by RAM" for wrong setting.
(b) Operation mode overview

Operation mode Operation overview
• MODE LED turns on in orange.
• BOOT LED turns off.
• The operating system software can be installed.
• The user programs and parameters for ROM operation can be written to the FLASH ROM built-
Installation mode • in Motion CPU module.
mode written in ROM • ROM writing is executed at ROM operating after operation check in the RAM operating mode.
The user programs and parameters stored in the SRAM built-in Motion CPU module are batch
written to the FLASH ROM built-in Motion CPU module.
• It becomes STOP state regardless of the RUN/STOP switch in front of Motion CPU module.
• The digital oscilloscope function cannot be used.
• MODE LED turns on in green.
• BOOT LED turns off.
Mode operated by RAM
• Operation is executed based on the user programs and parameters stored in the SRAM built-in
Motion CPU module.
• MODE LED turns on in green.
• BOOT LED turns on.
• Operation starts after reading the user programs and parameters stored in the internal FLASH
ROM to the internal SRAM at power supply on or reset of Multiple CPU system.
Even if the user programs and parameters are changed by SW6RN-GSV P during ROM
Mode operated by ROM
operating mode, it returns to the contents of internal FLASH ROM at next power supply on or
system reset.
Also, even if the auto tuning data are reflected on the servo parameter of Motion CPU by
operating the servo amplifier with auto-tuning setting, it returns to the contents of internal
FLASH ROM at next power supply on or reset release.
14 - 5
POINT
Even if a DIP switch setting is changed on the way after the power supply on,
"Operation mode" is not changed. Be sure to turn on or reset the power supply of
Multiple CPU system to change a DIP switch setting.
(2) Applicable data into ROM

The data contents batch written to the internal FLASH ROM by ROM writing are
shown below. Backup data except the followings (current position of servomotor in
absolute position system, home position and latch device, etc.) cannot be written
to the internal FLASH ROM.
(a) Content of applicable data into ROM

SV13 SV22
System setting data System setting data
Each parameter for servo control Each parameter for servo control
Servo program Servo program
Motion SFC parameter Motion SFC parameter
Motion SFC program Motion SFC program
(Note-1)
— Mechanical system program
(Note-1)
— Cam data
(Note-1) : Mechanical system program and cam data are "applicable data into ROM",
when using the SV22.
14 - 6
(b) Operation at applicable data into ROM

When the ROM writing is requested to the Motion CPU module using "ROM
writing" menu of SW6RN-GSV P, the applicable data into ROM stored in
the internal SRAM are batch-written to the internal FLASH ROM after erase
of an user memory area of FLASH ROM built-in Motion CPU module.
(Note-2)
When the writing completes normally, the registration code is written
and ROM writing ends.
The process overview is shown below.
Motion CPU module

Example) SV13 use
System setting data
Servo program
Motion SFC program
Personal computer
1) ROM writing request
MT Developer
System setting data
Servo program
Motion SFC parameter 2) ROM

writing
Motion SFC program
Registration code (Note-1)
(Note-1) : "Registration codes" is used to judge whether the programs and parameters written in the
internal FLASH ROM are normal or not.
14 - 7
POINT
(1) When the RAM is selected with "Communication" - "Transfer" menu of
SW6RN-GSV P, the SRAM memory built-in Motion CPU module is targeted
at the "Installation mode • mode written in ROM" and "Mode operated by
ROM".
(2) The SRAM memory built-in Motion CPU module is targeted at the "Backup •
load" operation of SW6RN-GSV P. Set the "Mode operated by ROM" after
"ROM writing" for the ROM operation after "Backup • load" at the CPU module
replacement.
(3) The internal FLASH ROM serves as a life in 100000 times writing. If it passes
over a life, "writing error" will occur. After that, replace a module at the ROM
operation.
(4) The online change of Motion SFC program at the mode operated by ROM
executes the Motion SFC program performed the online change from the next
scanning. After that, it returns to the contents of Motion SFC program written
in the internal FLASH ROM at the power supply on or system reset.
14 - 8
(3) ROM operation procedure

The flowchart to start the ROM operation is shown below.
ROM operation start procedure
Set "Installation mode mode written in

ROM" as a DIP switch 5 of the Motion CPU
module.
Turn ON the power supply of Multiple CPU

system.
Install the operating system software to the

Motion CPU module using the SW6RN-
GSV P.
Installation mode
mode written in Set "normal mode" as a DIP switch 5,
ROM (Install the and set "Mode operated by RAM" as a DIP
operating system switch 2 and 3.
software.)
Turn ON again or reset the power supply

of Multiple CPU system.
Create or correct the system setting,

parameters and programs using SW6RN-
GSV P, and write to the Motion CPU
module.
Execute the trial run and adjustment.
Mode operated NO
by RAM Check the operation
YES
Set "Installation mode mode written in

ROM" as a DIP switch 5.

Execute the "ROM writing" of the program (Note)

and parameter using the SW6RN-GSV P.
Installation mode
mode written in
Set "normal mode" as a DIP switch 5, and
ROM set "Mode operated by ROM" as a DIP
(ROM writing.) switch 2 and 3.

Mode operated
by ROM
ROM operation start
(Note) : Do not execute the ROM writing for program and parameter while installing
the operating system software.
14 - 9
(4) Operation at the "Mode operated by ROM"

Operation at the "Mode operated by ROM" is shown below.
(Programs and parameters written in the
internal FLASH ROM are abnormal.)
Mode operated by ROM start or
(When the additional parameters (for ROM
operation function) are wrote in the internal
FLASH ROM and a version of operating system
software does not correspond to the ROM
Is the registration NO operation function.)
code of internal FLASH
ROM normal ?
YES
(Programs and parameters
written in the internal FLASH
ROM are normal.)
Read the system setting data, each Motion CPU WDT error [302] occurs, and
parameter for servo control, servo "ERROR LED" turns ON.
program, mechanical system program
(SV22 only) and cam data (SV22 only) in
the internal FLASH ROM to the internal
Wait the restart of Multiple
SRAM .
CPU system.
After that, it cannot be operated because of

stop status.
Normal operation start
Retry the operation for "ROM writing"
"Mode operated by ROM" after confirm the
After that, it is same operation at the contents for programs and parameters of
RAM operation. internal SRAM.
POINT
If the ROM operation of a data written in the internal FLASH ROM is executed in
the combination of the Motion CPU module for additional parameter (ROM
operation function) and programming software by the operating system software
not for additional parameter (ROM operation function), a Motion CPU WDT error
(error code: 302) will occur and the ROM operation cannot executed.
In this case, use the operating system software for additional parameter (ROM
operation function). (Refer to Section 1.3.4.)
14 - 10
14.4 Operating Procedure of "ROM writing"
The operating procedure of ROM writing using the SW6RN-GSV P is shown below.
System setting screen
Operating procedure
1) Display "ROM/RAM" communication dialog

screen after clicking on "Communication" -
"Transfer" of the system setting menu screen.
(Note) : Select "Transfer" at the ROM writing.
"When selecting the RAM." (Default screen at "Transfer" selecting.) 2) Click on "ROM" of "RAM/ROM" menu screen.
Write the programs and data in the RAM of Motion
CPU to the ROM.
(Note) : At "RAM" clicking on
Communication dialog is left screen (When
selecting the RAM).
RAM/ROM(M) Read, write and verify to the RAM of Motion
RAM(T) CPU.
ROM(R) Write the all data to Motion CPU after
clicking on "RAM" at the ROM writing.
"When selecting the ROM." (ROM writing window) 3) "RAM/ROM" communication dialog is left screen
(When selecting the ROM.).
4) Select "Write" of "When selecting the ROM" screen.

(Note) : ALL data are batch-written at the ROM
writing.
Not select these items.
Mechanical system program and cam data
cannot be written to the ROM when using the
SW6RN-GSV13P.
The above items are not displayed on the
window.
POINT
Be sure to write the all data beforehand to the RAM of
Motion CPU at the ROM writing.
14 - 11
MEMO
14 - 12
15 SECURITY FUNCTION
Refer to Section "1.3.4" for the correspondence version of the Motion CPU and the
software.
This function is used to protect the user data of Motion CPU by registering a password.
The following user data can be protected in this function.
"Write Protection" or "Read/Write Protection" can be set every user data.
User data Details

SFC program Motion SFC programs (Control code, text) are protected.
Servo program Servo programs and program allocation are protected.
Mechanical system program Mechanical system programs are protected. (SV22 use)
Cam data Cam data are protected. (SV22 use)
POINT
Security function can be used only by combining with operating system software
(for security function) and SW6RN-GSV P (for security function).
15.1 Password Registration/change 15
There are two following methods to register/change a password.

• [Communication] [Password] [Register/Change]
• Password [Register/Change] key of the communication setting screen displayed by
"[Communication] [Transfer]".
Items Details
Type • Type of user data
Registration • " " is displayed when a password is registered in the Motion CPU.
• Enter new password.
Password • Set a password by the alphanumeric character (ASCII) of 6 or less characters.
• Match case (Full-size character cannot be used.)
• A registration condition set in the Motion CPU is displayed.
Registration Write Protection: Not writing operation
condition Read/Write Protection: Not reading/writing operation
• New registration condition can be selected by a password input.
15 - 1
(1) Procedure for password registration/change

(a) A password and registration condition set in the Motion CPU are displayed.
(b) Enter new password in the password column, and select a registration
condition (Write Protection, Read/Write Protection). It leaves in a blank for
the user data that does not register/change a password.
(c) Push [Execute] key to register a password in the Motion CPU at the
password registration.
(d) Push [Execute] key to display a screen which checks old password at the
password change. Enter old password, and push [Execute] key. New
password will be registered in the Motion CPU by success of old password
check. When the new password is the same as old password (change for
only registration condition), [Password check] screen is not displayed.
POINT
(1) If an user has forgotten a registration password, clear a password (include
user data) of Motion CPU by [Clear All]. However, if [Clear All] is executed,
since all password data and user data will be cleared re-write user data in the
Motion CPU.
(2) ROM operation can be executed by user data registered a password. The
password setting is also included in the ROM writing/reading data.
(3) When a password is registered or changed, the password data in the project is
also registered or changed. Be sure to save a password.
(4) When an operation is stopped while a registration/change of password by

reset or power OFF of Motion CPU, the data may not be registered. In this
case, register or change a password again to restore the user data.
15 - 2
15.2 Password Clearance
There are two following methods to delete a password.

• [Communication] [Password] [Delete]
• Password [Delete] key of the communication setting screen displayed by
Items Details
Registration • " " is displayed when a password is registered in the Motion CPU.
Password • Enter old password.
(1) Procedure for password clearance

(a) The password data set in the Motion CPU are displayed.
(b) Enter old password in the password column, and push [Execute] key.
(c) A password set in the Motion CPU will be deleted by success of password
check. (A blank is displayed in the registration column.)
POINT
(1) When a password is deleted, the password data in the project is also deleted.
Be sure to save a password.
(2) When an operation is stopped while a clearance of password by reset or

power OFF of Motion CPU, the data may not be deleted. In this case, delete a
password again to restore the user data.
15 - 3
15.3 Password Check
When the user data program set in a password is corrected, the password check
screen is displayed automatically.
Items Details
Password • Enter old password.
(1) Procedure for password check

(a) Enter old password in the password column, and push [Execute] key.
(b) A password protection set in the Motion CPU will be released temporarily by
success of password check, and the user data program can be corrected.
(c) A password is memorized until SW6RN-GSV P ends. (Since a password is

released automatically at the user data correction, a password check screen
is not displayed.)
POINT
A password memorized by success of password check is valid even if the project
change is executed while SW6RN-GSV P is running. (A password check screen
is not displayed.)
15 - 4
15.4 Password Save
There are two following methods to save a password in the project data.
• Registration/change or clearance password
• A password read with user data by [Transfer] [Read].
A password saved in the project data can be registered with user data, when the user
data are written in the Motion CPU that does not set password by [Transfer] [Write].
The updated password data is saved in the project data by the following operations.
• Password [Save] key of communication setting screen displayed by
• Password [Save] key of password registration/change/clearance screen.
• When the password registration/change/clearance screen ends, if there is non-saved
password data, select "Yes" of save check screen.
(1) A password and registration conditions for each operation

Operation Password and registration conditions
When a password is set in the call source Motion CPU, the password contents
Read
are called and the password data in the project are written.
When a password data is set in the project, if a password is not set in the write
Write
designation Motion CPU, the password contents are also written.
Verification Password data in the project are not updated.
Password contents registered in the write designation Motion CPU are written in
ROM writing
ROM.
Online change Password contents of write designation Motion CPU are not updated.
It is saved in backup data including also the password contents registered in the
Backup
call source Motion CPU. The password data in the project is not updated.
Password contents in backup data are written in the write designation Motion
Load
CPU.
Password registration/ New password contents are written in the write designation Motion CPU.
change Password data in the project is also updated to new password contents.
A password is deleted from the write designation Motion CPU.
Password clearance
A password is deleted also from the password data in the project.
Project diversion
([Project management]) The password data in diverting source project is not diverted.
- [File diversion])
The password data in the project is not saved in the project before password
save.
POINT
Save a password after delete of password to delete the password data in the
project. Or, create new project and divert user data from the project with password
data to create the project without password data.
15 - 5
15.5 Clear All
This function is used to clear the all user data and password setting in Motion CPU.
Clear all can be executed in the following operation.
• Select "[Option] [Clear All]" of the communication screen displayed by
POINT
(1) Turn off the PLC ready flag (M2000) and test mode ON flag (M9075) to
execute "Clear All".
(2) Turn off the power supply of servo amplifier.
(3) All user data and password setting are cleared at the "Clear All". Backup of
user data and password setting data is recommended before clearance.
15 - 6
16 COMMUNICATIONS VIA NETWORK
16. COMMUNICATIONS VIA NETWORK
software.
The communication between the personal computer and the Motion CPU is possible
via Q series Network module (MELSECNET/10(H), Ethernet, CC-Link, RS-232 and
etc.) in the Motion CPU (Q173CPU(N)/Q172CPU(N)).
Refer to the following manuals for the specifications of each network modules of
MELSECNET/10(H), Ethernet, CC-Link and Serial communication, the handling
method.
(1) MELSECNET/10(H) module : QJ71LP21-25, QJ71LP21G, QJ71BR11,

QJ72LP25-25, QJ72LP25G, QJ72BR15
• QCPU User's Manual(Hardware Design, Maintenance and Inspection)
• Q Corresponding MELSECNET/H Network System Reference Manual(PLC to
PLC network)
• Q Corresponding MELSECNET/H Network System Reference Manual(Remote
I/O network)
(2) Ethernet interface module : QJ71E71, QJ71E71-B2, QJ71E71-100

• Q Corresponding Ethernet Interface Module User's Manual(Hardware)
• Q Corresponding Ethernet Interface Module User's Manual(Basic)
• Q Corresponding Ethernet Interface Module User's Manual(Application)
• Q Corresponding Ethernet Interface Module User's Manual(Web function) 16
• Q Corresponding MELSEC Communication Protocol Reference Manual
(3) CC-Link module : QJ61BT11

• QJ61BT11 Control & Communication Link System Master/Local Module User’s
Manual(Hardware)
• GX Configurator-CC Version 1 Operating Manual
• CC- Link System Master/Local Module User’s Manual
(4) Serial communication module : QJ71C24, QJ71C24-R2

• Serial Communication Module User's Manual(Hardware)
• Q Corresponding Serial Communication Module User's Manual(Basic)
• Q Corresponding Serial Communication Module User's Manual(Application)
• Q Corresponding MELSEC Communication Protocol Reference Manual
16 - 1
16.1 Specifications of The Communications via Network
(1) Communications via network of the Motion CPU is possible by SW6RN-GSV P.
(2) Access range of the communications via network of the Motion CPU is an access
range equivalent to Qn(H)CPU. (Refer to Section "16.2 Access Range of The
Communications via Network".)
(3) By setting the routing parameter to the control CPU of the network module and the
CPU which connected the peripheral devices in the network by
MELSECNET/10(H) and Ethernet, it is possible to relay to 8 network points and
communicate.
(4) Because the Motion CPU cannot become the control CPU of the network module,
there is not setting item of the network module and network parameter.
However, when connecting with the CPU on the other network from the peripheral
device which connected the Motion CPU, it needs to the setting of the routing
parameter.
(5) It can operate by remote control the monitor or program editing of the Motion CPU
via the intranet using the Ethernet module.
Personal Computer Personal Computer

IBM PC/AT IBM PC/AT
Ethernet Ethernet
Intranet
Qn(H) Q173/ Ethernet Qn(H) Q173/ Ethernet

Power supply
Power supply
CPU Q172 CPU Q172

CPU(N) CPU(N)
16 - 2
16.2 Access Range of The Communications via Network
16.2.1 Network configuration via the MELSECNET/10(H) or the Ethernet
(1) It can access the other CPU via the network from the programming software (GX
Developer, SW6RN-GSV P, etc.) of the personal computer connected with the
CPU or serial communication module in USB/RS-232.
(2) It can access the other CPU via the network from the programming software in the
personal computer by connecting the personal computer equipped with Ethernet
to MELSECNET/10(H) or Ethernet board to the Ethernet to MELSECNET/10(H) or
Ethernet.
(3) The access range of above (1) and (2) can be accessed to 8 network points by
setting the routing parameter to the control CPU of the network module and the
CPU which connected the personal computer.
16 - 3
<Example> Personal Personal Personal Personal

C24 : Serial communication module
computer computer computer computer
MNET : MELSECNET/10(H)
USB/ USB/ RS-232 MNET board or Ether : Ethernet
RS-232 RS-232 Ether
Network No.1
Qn(H) Q173 C24 MNET Qn(H) Q173 MNET Qn(H) Q173 MNET MNET
CPU CPU or CPU CPU or CPU CPU or or Network
(N) Ether (N) Ether (N) Ether Ether
No.2
Network No.3
Qn(H) Q173 MNET MNET Qn(H) Q173 MNET Qn(H) Q173 MNET MNET
CPU CPU or or CPU CPU or CPU CPU or or
(N) Ether Ether (N) Ether (N) Ether Ether
Network No.4
Network No.5
CPU CPU or or CPU CPU or CPU CPU or or Network
(N) Ether Ether (N) Ether (N) Ether Ether No.6
Network No.7
Network No.8
Network No.9
Qn(H) Q173 MNET MNET Qn(H) Q173 MNET Qn(H) Q173 MNET MNET Network
No.10
: Communication is possible
: Communication is possible (Setting of the routing parameter is necessary.)
: Communication is impossible
16 - 4
16.2.2 Network configuration via the CC-Link
(1) It can access the other CPU via the CC-link from the programming software (GX
Developer, SW6RN-GSV P, etc.) of the personal computer connected with the
CPU or serial communication module in USB/RS-232.
(2) It can access the other CPU via the CC-Link from the programming software in the
personal computer by connecting the personal computer equipped with CC-Link
board to the CC-Link.
(3) The access range of above (1) is only the CPU on the CC-Link which a system
connects it to, and it can select a CC-Link network to connect by specifying the I/O
No. of the CC-Link module.
(4) The access range of above (2) is only the CPU of the connected the CC-Link.
<Example 1> Personal Personal Personal Personal

C24 : Serial communication module
computer computer computer computer
USB/ USB/ RS-232 CC-Link board
RS-232 RS-232
Network No.1
Qn(H) Q173 C24 CC- Qn(H) Q173 CC- Qn(H) Q173 CC- CC-
CPU CPU Link CPU CPU Link CPU CPU Link Link Network
(N) (N) (N)
No.2
Network No.3
Qn(H) Q173 CC- Qn(H) Q173 CC- Qn(H) Q173 CC- CC-
CPU CPU Link CPU CPU Link CPU CPU Link Link
(N) (N) (N)
<Example 2> Personal Personal

computer computer
USB/ USB/
RS-232 RS-232
Network No.1
Qn(H) Q173 C24 CC- Qn(H) Q173 CC- Qn(H) Q173 CC- CC-
CPU CPU Link CPU CPU Link CPU CPU Link Link Network
(N) (N) (N)
No.2
Network No.3
Qn(H) Q173 CC- Qn(H) Q173 CC- Qn(H) Q173 CC- CC-
CPU CPU Link CPU CPU Link CPU CPU Link Link
(N) (N) (N)
16 - 5
16.2.3 Network configuration via the RS422/485
(1) It can access the other CPU via the RS-422/485 from the programming software
(GX Developer, SW6RN-GSV P, etc.) of the personal computer connected with
the CPU or serial communication module in USB/RS-232.
(2) The access range of above (1) is only the CPU on the RS-422/485 which a
system connects it to, and it can select RS-422/485 network to connect by
specifying the I/O No. of the C24 module.
<Example 1> Personal Personal Personal

computer computer computer C24 : Serial communication module
USB/ USB/ RS-232
RS-232 RS-232
RS-422/485 RS-422/485
Qn(H) Q173 C24 C24 Qn(H) Q173 C24 Qn(H) Q173 C24 C24
CPU CPU CPU CPU CPU CPU
(N) (N) (N)
RS-422/485
Qn(H) Q173 C24 Qn(H) Q173 C24 Qn(H) Q173 C24 C24
(N) (N) (N)
<Example 2> Personal Personal

computer computer
USB/ USB/
RS-232 RS-232
RS-422/485 RS-422/485
Qn(H) Q173 C24 C24 Qn(H) Q173 C24 Qn(H) Q173 C24 C24
(N) (N) (N)
RS-422/485
Qn(H) Q173 C24 Qn(H) Q173 C24 Qn(H) Q173 C24 C24
(N) (N) (N)
16 - 6
16.2.4 Network configuration which MELSECNET/10(H), Ethernet, CC-Link, RS-422/485

were mixed
(1) When the MELSECNET/10(H) or Ethernet is defined as "Network" and CC-Link or

RS-422/485 is defined as "Link", combination of whether to be able to access from
the programming software (GX Developer, SW6RN-GSV P, etc.) is shown
below.
Usable/
Network communications
unusable
Programming software CPU (C24) Network Link CPU
Programming software CPU (C24) Link Network CPU
Programming software Network Link CPU
Programming software Link Network CPU
Programming software CPU (C24) Network Link Network CPU
Programming software CPU (C24) Link Network Link CPU
Programming software Network Link Network CPU
Programming software Link Network Link CPU

: Usable : Unusable
(2) It can be accessed to 8 network points by setting the routing parameter in the
"Network".
(3) Because routing cannot access, it can access only the connected network. The
connected network can be selected by specifying the I/O No. of the module.
16 - 7
<Example 1> Personal Personal Personal Personal

computer computer computer computer C24 : Serial communication module
USB/ USB/ RS-232 MNET : MELSECNET/10(H)
MNET board or
RS-232 RS-232 Ether : Ethernet
Ether
Network No.1
Qn(H) Q173 C24 MNET Qn(H) Q173 MNET C24 Qn(H) Q173 MNET MNET
CPU CPU or CPU CPU or CPU CPU or or Network
(N) Ether (N) Ether (N) Ether Ether No.2
RS-422/485
Network No.3
Network No.4
Qn(H) Q173 C24 MNET Qn(H) Q173 MNET CC- CC- Qn(H) Q173 MNET MNET
CPU CPU or CPU CPU or Link Link CPU CPU or or
(N) Ether (N) Ether (N) Ether Ether
RS-422/485
RS-422/485 Network No.5
Qn(H) Q173 MNET Qn(H) Q173 CC- Qn(H) Q173 CC- MNET Qn(H) Q173 MNET
CPU CPU or CPU CPU Link CPU CPU Link or CPU CPU or
(N) Ether (N) (N) Ether (N) Ether
16 - 8
Personal Personal Personal C24 : Serial communication module

<Example 2> computer computer computer MNET : MELSECNET/10(H)
USB/ USB/ RS-232 Ether : Ethernet
RS-232 RS-232
RS-422/485
Qn(H) Q173 C24 CC- CC- Qn(H) Q173 CC- Qn(H) Q173 CC- MNET
CPU CPU Link Link CPU CPU Link CPU CPU Link or Network
(N) (N) (N) Ether No.1
RS-422/485
Network No.2
Qn(H) Q173 CC- MNET Qn(H) Q173 MNET MNET Qn(H) Q173 MNET
CPU CPU Link or CPU CPU or or CPU CPU or
(N) Ether (N) Ether Ether (N) Ether
Network No.3
RS-422/485
Qn(H) Q173 MNET C24 Qn(H) Q173 C24 Qn(H) Q173 C24
CPU CPU or CPU CPU CPU CPU
(N) Ether (N) (N)
<Example 3> Personal

computer
CC-Link board
RS-422/485
Qn(H) Q173 C24 CC- CC- Qn(H) Q173 CC- Qn(H) Q173 CC- MNET
CPU CPU Link Link CPU CPU Link CPU CPU Link or Network
(N) (N) (N) Ether No.1
RS-422/485
Network No.2
Qn(H) Q173 CC- Qn(H) Q173 MNET Qn(H) Q173 MNET MNET
CPU CPU Link CPU CPU or CPU CPU or or
(N) (N) Ether (N) Ether Ether
16 - 9
MEMO
16 - 10
17 MONITOR FUNCTION OF THE MAIN CYCLE
17. MONITOR FUNCTION OF THE MAIN CYCLE
software.
(1) Information for main cycle of the Motion CPU processing (process cycle executed
at free time except for motion control) is stored to the special register.
(2) Since the automatic refresh of shared CPU memory and normal task of Motion
SFC program are executed in the main cycle, make it reference for process time,
etc. to program.
(3) There are following methods to shorten a main cycle.

(a) Lengthen an operation cycle setting.
(b) Reduce the number of event task programs to execute in the Motion SFC
program.
(c) Reduce the number of normal task programs to execute simultaneously in
the Motion SFC program.
(d) Reduce the number of automatic refresh points of shared CPU memory.
(4) When a main cycle is lengthened (more than 1.6[s]), a WDT error may occur in
the Motion CPU.
(5) Details of main cycle monitor register is shown below.
No. Name Meaning Details
Current scan time • Current scan time is stored in the unit 1[ms].
D9017 Scan time
(1ms units) • Setting range (0 to 65535[ms])
17
Maximum scan time • Maximum main cycle is stored in the unit 1[ms].
D9019 Maximum scan time
(1ms units) • Setting range (0 to 65535[ms])
17 - 1
17 MONITOR FUNCTION OF THE MAIN CYCLE
MEMO
17 - 2
18 SERVO PARAMETER READING FUNCTION
18. SERVO PARAMETER READING FUNCTION
software.
(1) When the servo parameters are changed, the Motion CPU will be automatically
read the servo parameters and reflected them to the servo parameter storage
area in the Motion CPU. Therefore, an operation to read servo parameters is
unnecessary in the following cases.
(a) The parameters are changed by auto tuning.
POINT
If the power supply of Motion CPU is turned off/reset or the power supply of servo
amplifier is turned off immediately after change, it may not be reflected.
(2) After executing the servo parameter reading function, when it needs to reflect the
servo parameters changed to the SW6RN-GSV P, read the servo parameters
from the Motion CPU and save data.
18.1 About The Servo Parameter Read Request Devices
(1) Set the axis No. of servo amplifier to read a parameter in the servo parameter
read request axis No. (D9104) and turn the servo parameter read request flag
(M9104) ON for reading of the servo parameter from servo amplifier.
(2) While the servo parameter reading flag (M9105) is turned on, the servo parameter
read request flag does not become valid. Use this condition as an interlocks.
(3) Reading of servo parameter from servo amplifier becomes valid at the turning
OFF to ON of the servo parameter read request flag.
(4) The servo parameter read request flag is not turned off automatically. Execute the 18
device OFF processing by the user side.
(5) After executing the read function of the servo parameter from servo amplifier,
when the servo parameter read request is executed toward the other axis, turn the
servo parameter read request flag (M9104) OFF to ON, set the correspondence
axis in the servo parameter read request axis No. (D9104) and turns the servo
parameter read request flag (M9104) OFF to ON.
(6) After executing the read function of the servo parameter from servo amplifier,
when the servo parameter read request is executed toward the same axis again,
turn the servo parameter read request flag (M9104) ON to OFF, and turn the
servo parameter read request flag (M9104) OFF to ON again.
18 - 1
18 SERVO PARAMETER READING FUNCTION
(7) When the servo parameter read request flag (M9104) turns OFF to ON, if the
servo parameter read request axis is not used or the power is off, the reading of
the servo parameter from servo amplifier is not executed.
(8) When the servo parameter read request axis No. (D9104) is outside of the setting
range, it becomes "No operation" even if the servo parameter read request flag
(M9104) turns OFF to ON.
(9) The list of the servo parameter read request device is shown below.
No. Name Meaning Details

OFF to ON : Servo • The servo parameter of the servo parameter read request
Servo parameter read
M9104 parameter axis set as D9104 is reflected in the Motion CPU from the
request flag
read. servo amplifier at the time of off to on.
ON : Servo parameter
• Turned on while reading the servo parameter from the servo
Servo parameter reading.
M9105 amplifier to the Motion CPU. After reading is turned off
reading flag OFF : Except the servo
automatically.
parameter reading.
• Set the axis No. of servo amplifier to read the servo parameter.
Servo parameter Servo parameter read • Setting range
D9104
read request axis No. axis No. Q173CPU(N) : 1 to 32 (Axis1 to 32)
Q172CPU(N) : 1 to 8 (Axis1 to 8)
18.2 Operating Procedure of The Servo Parameter Reading Function
An operation procedure which the servo parameter read by the reading function
of the servo parameter is reflected on the SW6RN-GSV P is shown below.
Operating procedure
Make the gain adjustment and etc.,

using the set-up software or
parameter module, and change the
servo parameter.
Turn the servo parameter read

request flag (M9104) OFF to ON by
setting the servo amplifier axis No.
changed the servo parameter to the
servo parameter read request axis
No. (D9104), and reflect the changed
parameter to the servo parameter in
the Motion CPU.
Reflect and save the parameter of the

Motion CPU by the SW6RN-GSV P.
END
18 - 2
19 ERROR CODE LISTS
19. ERROR CODE LISTS
When an error occurs while the Motion CPU is running, the error information is stored
in the error history register (#8000 to #8063), special relay M and special register D.
19.1 Reading Procedure for Error Codes
When an error occurs while the Motion SFC program is operating, the error code and
error message can be read by the SW6RN-GSV P.
The procedure for reading error codes by the SW6RN-GSV P is shown below.
(1) Start the SW6RN-GSV P.

(2) Connect the Q173CPU(N)/Q172CPU(N) to the peripheral devices.
(3) Select [New project] create the project- [Read from Motion CPU] Menu by the
SW6RN-GSV P, and also read the project from the Motion CPU.
(4) Select the [Monitor] - [Error list] - [Motion SFC error history] and [Error list] Menu.
(5) Display the error code and error message.
Refer to the applicable the help of the SW6RN-GSV P for details of the SW6RN-
GSV P operating method.
The occurrence date of the Motion CPU error history uses a watch function with the
internal Motion CPU.
Make the set of the clock data and the clock data read request (M9028) by user
programs.
As for the self-diagnosis error code, confirmation can be done by the PC diagnosis of
GX Developer.
Refer to the GX Developer operation manual for the GX Developer operation
procedure.
19
19 - 1
19 ERROR CODE LISTS
19.2 Motion SFC Error Code List
Eight errors that occurred in the past during the Motion SFC control are stored in the
"error history devices (#8000 to #8063)" of the motion registers. (Check by SW6RN-
GSV P).
The "error codes" for the Motion SFC program are shown below.
Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming
Manual (REAL MODE)"/ "Q173CPU(N)/Q172CPU(N) Motion controller (SV22)
Programming Manual (VIRTUAL MODE )" for minor errors, major errors, servo errors
and servo program setting errors.
Table 19.1 Motion SFC dedicated devices (#8000 to #8063)

Signal direction Refresh Fetch
Status Command cycle cycle
#8000 Motion SFC error history

Seventh error information in past
to (8 errors)
(Oldest error information)
(64 points)
#8008 No. Signal name
to Sixth error information in past Error Motion SFC
+0
program No.
#8016 1 Error type
to Fifth error information in past
2 Error program No.
#8024 Error block No. /
to Fourth error information in past 3 Motion SFC list /
Line No. / Axis No. At error
#8032 — occur- —
4 Error code
to rence
Third error information in past Year/
5
Month
Error
#8040 Day/
6 occurrence
to Hour
Second error information in past time
Minute/
7
Second
#8048
First error information in past
to
#8056
to Latest error information
#8063
19 - 2
19 ERROR CODE LISTS
Table 19.2 Motion SFC program start errors (16000 to 16099)

Error factor
Error code Error Processing Corrective Action
Name Description
• At a start by S(P).SFCS instruction, PLC Provide ON of the PLC ready flag (M2000)
PLC ready OFF
16000 ready flag (M2000) or PCPU ready flag and PCPU ready flag (M9074) as start
(SFCS)
(M9074) is OFF. interlocks.
• At a start by S(P).SFCS instruction, the range
Motion SFC program Check the Motion SFC program No., and
16001 of 0 to 255 is specified in the Motion SFC
No. error (SFCS) correct a PLC program.
program No..
The specified Motion SFC
• At a Motion SFC program start by S(P).SFCS program does not start. Check the Motion SFC program No., and
None Motion SFC
16002 instruction, the specified Motion SFC program correct a PLC program, or create the non-
program (SFCS)
does not exist. created Motion SFC program.
• At a Motion SFC program start by S(P).SFCS Double start should be managed on the user
16003 Double start error instruction, the same Motion SFC program side. Provide the user's starting signal as a
starts. start interlock in the PLC program.
The active step of Motion
• S(P).GINT instruction was executed with PLC Provide ON of PLC ready flag (M2000) and
PLC ready OFF SFC program executed by
16004 ready flag (M2000) or PCPU ready flag PCPU ready flag (M9074) as S(P).GINT
(GINT) "PLC interrupt" is not
(M9074) is OFF. execution interlocks.
processed.
• At a Motion SFC program start by automatic Check the Motion SFC program No., and
None Motion SFC The specified Motion SFC
16005 start setting or GSUB, the specified Motion correct a program, or create the non-created
program program does not start.
SFC program does not exist. Motion SFC program.
When it started by GSUB,
• At a Motion SFC program start by automatic the start source Motion SFC Double start should be managed on the user
16006 Double start error start setting or GSUB, the same Motion SFC also stop to execute. side. Provide the user's starting signal as an
program is already starting. interlocks in the transition condition.
• The Motion SFC program which is rewriting
The specified Motion SFC
16007 Online change the Motion SFC chart by online change was Start after the completion of online change.
program does not start.
started.
Table 19.3 Motion SFC interpreter detection errors (16100 to 16199)

Error factor
Name Description
• The code exists but is grammatically
erroneous.
• Though not within branch-coupling, a
16100
label/jump code within selective branch-
coupling or a label/jump code within parallel
Motion SFC program branch-coupling exists.
error (grammatical • Selective branch destinations are all headed
16101
error) by other than SFT or WAIT transitions.
• WAITON/WAITOFF is not followed by a
16102 motion control step. (However, this is
Stop to execute the
permitted to a pointer (Pn) or jump (Pn).)
applicable Motion SFC The Motion SFC program code is corrupted.
• A parallel branch is followed by an END step
16103 program No.. Turn PLC ready flag (M2000) OFF and write
without a parallel coupling.
For the subroutine called the Motion SFC program again.
Motion SFC code • An impossible code is used. program, the call source Or, replace the external battery if it passed
16104
error The internal code is corrupted. program also stops to over a life.
• Internal code (list code) error in jump execute.
16105 Jump code error 1
destination information
• Internal code (label information) error in jump
• Internal code (label No.) error in jump
• Internal code (label address) error in jump
Jump destination • The specified pointer does not exist at the
16109
error jump destination.
19 - 3
19 ERROR CODE LISTS
Table 19.3 Motion SFC interpreter detection errors (16100 to 16199) (continued)
Error factor
Name Description
• The self program was called/started by
16110 GSUB setting error 1
GSUB. GSUB cannot call its own or main program.
• The main program was called/started by Correct the Motion SFC program.
16111 GSUB setting error 2
GSUB.
Stop to execute the The nesting of parallel branch is up to four
Parallel branch • Nesting of parallel branches within a parallel applicable Motion SFC levels.
16112 program No..
nesting excess branch route exceeded four levels. Subroutine the branch destination processing
For the subroutine called and correct the program.
program, the call source
Motion control steps cannot be executed in
• An attempt was made to execute a motion program also stops to
16113 Executed task error the Motion SFC programs executed by the
control step K with an event or NMI task. execute.
event and NMI tasks.
Simultaneously Number of simultaneously active steps is

• The number of simultaneously active steps
16120 active step count maximum 256. Re-examine the Motion SFC
exceeded 256 during execution.
excess program.
Table 19.4 Motion SFC program run errors (16200 to 16299)

Error factor
Name Description
No specified • The servo program (Kn) specified with the

16200 Create the specified servo program.
program (Kn) motion control step does not exist.
No specified • The operation control program (Fn/FSn)

Create the specified operation control
16201 program specified with the operation control step does
program.
(Fn/FSn) not exist.
No specified
• The program (Gn) specified with the transition
16202 program Create the specified transition program.
does not exist.
(Gn)
No specified Correct the specified Motion SFC program
• The Motion SFC program specified with the
16203 program name or create the specified Motion SFC
clear step does not exist.
(Motion SFC) Stop to execute the program.
No setting of applicable Motion SFC
• The program (Gn) specified with the transition program No..
operation Be sure to set a conditional expression in
16204 does not have a conditional expression For the subroutine called
expression/condition the last block of the transition program.
setting. program, the call source
al expression
program also stops to
Fn/FSn program • Internal code error in the operation control execute. The Motion SFC program code is corrupted.
16205
code error program (Fn/FSn) Turn PLC ready flag (M2000) OFF and write
the Motion SFC program again.
Gn program code • Internal code error in the transition program Or, replace the external battery if it passed
16206
error (Gn) over a life.
Specified the invalid • The invalid device (T, C) in the program is set Correct the program which does set the
16207
device up. effective device.
19 - 4
19 ERROR CODE LISTS
Table 19.5 Operation control/transition execution errors (16300 to 16599)

Error factor
Name Description
Event task enable • Event task enable was executed at except for Event task enable may be executed in the
16301
(EI) execution error the normal task. normal task only. Correct the program.
Event task disable • Event task disable was executed at except for Event task disable may be executed in the
16302
(DI) execution error the normal task. normal task only. Correct the program.
• The cam data of the cam No. specified with
(D) or (S) is not yet registered to the Motion
controller. • Correct the program so that cam data is that
• The resolution of the cam No. specified with of the already registered cam No..
(D) or (S) differs from the number of • Correct the program to match (n) with the cam
transferred words specified with (n). resolution.
Block transfer • (S) to (S)+(n-1) is outside the device range. • Change (n) so that the block transfer range is
16303 (BMOV) execution • (D) to (D)+(n-1) is outside the device range. within the device range.
error • (n) is 0 or a negative number. • Change (n) to a positive number.
• (S) is a bit device and the device number is not • When (S) or (D) is a bit device, set the device
a multiple of 16 number to be multiple of 16.
• (D) is a bit device and the device number is not • When (S) or (D) is a bit device, do not set
a multiple of 16. PX/PY.
• The device No. which indirectly specifies (S) is • Correct the program so that the device No.
Time to wait (TIME) illegal. which indirectly specifies (S) is proper.
16304
execution error • The (S) data is outside the range 0 to • Correct the program so that the (S) data is
2147483647. within the range of 0 to 2147483647.
• (D) to (D)+(n-1) is outside the device range.
• (n) is 0 or a negative number. • Change (n) so that the block transfer range is
• (S) is a bit device and the device number is not within the device range.
Same data block
a multiple of 16 • When (S) or (D) is a bit device, set the device
16305 transfer (FMOV)
• (D) is a bit device and the device number is not number to be multiple of 16.
execution error
a multiple of 16. • When (S) or (D) is a bit device, do not set
• PX/PY is set in (S). The block processing on PX/PY.
• PX/PY is set in (D) to (D)+(n-1). executing is stopped and
the next block is executed.
Speed change
16308 request (CHGV)
execution error
Correct the program so that the specified axis
Torque limit value • The specified axis No. is outside the range.
No. is within the range.
change request
16309
(CHGT) execution
error
• The (S) data is outside the range of the data • Correct the program so that the (S) data is
Assignment (=) type of (D). within the range of the data type of (D).
16316
execution error • The device No. which indirectly specifies (D) is • Correct the program so that the device No.
illegal. which indirectly specifies (D) is proper.
Operation (/)
16320
execution error Correct the program so that the divisor is other
• The divisor is 0.
Remainder (%) than 0.
16321
execution error
Device set (SET)
16322
execution error
Device reset (RST)
16333
execution error • Correct the program so that the device No.
• The device No. which indirectly specifies (D) is
Device set (SET=) which indirectly specifies (D) is proper.
16334 illegal.
execution error • Correct the program to set a write-enabled
• (D) is a device which is write-disabled.
Device reset (RST=) device at (D).
16335
execution error
Device output
16336
(DOUT) execution
Device input (DIN)
16337
execution error
• The device No. which indirectly specifies (D) is Correct the program so that the device No.
Bit device output illegal. which indirectly specifies (D) is proper.
16338 (OUT=) execution
error
19 - 5
19 ERROR CODE LISTS
Table 19.5 Operation control/transition execution errors (16300 to 16599) (continued)

Error factor
Name Description
Signed 16-bit integer
value conversion • The (S) data is outside the signed 16-bit integer Correct the program so that the (S) data is
16380
(SHORT) execution value range. within the signed 16-bit integer value range.
error
Device input (DIN)

16337
execution error
• The device No. which indirectly specifies (D) is Correct the program so that the device No.
Bit device output illegal. which indirectly specifies (D) is proper.
16338 (OUT=) execution
error
16380
(SHORT) execution value range. within the signed 16-bit integer value range.
error
Unsigned 16-bit
integer value
• The (S) data is outside the unsigned 16-bit Correct the program so that the (S) data is
16381 conversion
integer value range. within the unsigned 16-bit integer value range.
(USHORT)
execution error
16382
(LONG) execution value range. The block processing on within the signed 32-bit integer value range.
error executing is stopped and
Unsigned 32-bit the next block is executed.
integer value
• The (S) data is outside the unsigned 32-bit Correct the program so that the (S) data is
16383 conversion
integer value range. within the signed 32-bit integer value range.
(ULONG) execution
error
Tangent (TAN) • (S) is 90+(180*n). Correct the program so that (S) is not
16398
execution error (n is an integer) 90+(180*n). (n is an integer)
Arcsine (ASIN)
16399
execution error Correct the program so that (S) is within the
• (S) is outside the range of -1.0 to 1.0.
Arccosine (ACOS) range of -1.0 to 1.0.
16400
execution error
Square root (SQRT) Correct the program so that (S) is a positive
16402 • (S) is a negative number.
execution error number.
BCD BIN
Correct the program so that each digit of (S) is
16403 conversion (BIN) • Any digit of (S) has a value other than 0 to 9.
0 to 9.
execution error
BIN BCD
• The (S) value is outside the range where BIN Correct the program so that the (S) value is
16404 conversion (BCD)
data can be converted into BCD data. within the range.
execution error
Natural logarithm Correct the program so that (S) is a positive
16405 • (S) is 0 or a negative number.
(LN) execution error number.
19 - 6
19 ERROR CODE LISTS

Error factor
Name Description
• Correct the program so that the number of
words (n) to be written is within the range of 1
• Number of words (n) to be written is outside the
to 256.
range of 1 to 256.
• Correct the program so that the shared CPU
• The shared CPU memory address (D) of self
memory address (D) of self CPU of the writing
CPU of the writing destination device is outside
destination is within the range of shared CPU
the range (800H to FFFH) of the shared CPU
memory address.
memory address.
• The shared CPU memory address (D) of self
memory address (D) of self CPU of the writing
CPU of the writing destination device + number
destination + number of words (n) to be
Write device data to of words (n) to be written is outside the range
written is within the range of shared CPU
shared CPU (800H to FFFH) of the shared CPU memory
memory address.
16420 memory of the self address.
• Correct the program so that first device No.
CPU (MULTW) • First device No. (S) which writing data are
(S) which writing data are stored + number of
execution error stored + number of words (n) to be written is
words (n) to be written is within the device
outside the device range.
range.
• MULTW instruction was executed again before
• Execute MULTW instruction again after the
MULTW instruction is executed and complete
complete bit device of MULTW instruction is
bit device is turned on.
turned on.
• (D1) is a write-disabled device.
• Correct the program to set a write-enabled
• (S) is a bit device and the device number is not
device at (D1).
a multiple of 16.
• When (S) is a bit device, set the device
number to be multiple of 16.
• When (S) is a bit device, do not set PX/PY.
The block processing in
words (n) to be read is within the range of 1 to
execution is stopped and
256.
• Number of words (n) to be read is outside the memory first address (S2) of the data which it
range of 1 to 256. will be read is within the range of shared CPU
• The shared CPU memory first address (S2) of memory address.
the data which it will be read is outside the • Correct the program so that the shared CPU
range (000H to FFFH) of the shared CPU memory first address (S2) of the data which it
memory address. will be read + number of words (n) to be read
• The shared CPU memory first address (S2) of is within the range of shared CPU memory
the data which it will be read + number of address.
Read device data
words (n) to be read is outside the range (000H • Correct the program so that first device No.
from shared CPU
to FFFH) of the shared CPU memory address. (D) which stores the reading data + number of
16421 memory of the other
• First device No. (D) which stores the reading words (n) to be read is within the device
CPU (MULTR)
data + number of words (n) to be read is range.
execution error
outside the device range. • Correct the program so that
• Except 3E0H/3E1H/3E2H/3E3H is set at (S1). 3E0H/3E1H/3E2H/3E3H is set at (S1).
• The self CPU is specified with (S1). • Correct the program so that the self CPU is
• The CPU which reads is resetting. not specified with (S1).
• The errors are detected in the CPU which read. • Check that the reset flag (M9240 to M9243) is
• (D) is a bit device and the device number is not OFF, then correct the program to execute the
a multiple of 16. MULTR instruction.
• PX/PY is set in (D) to (D)+(n-1). • If the errors are detected in the CPU which
read, exchange the CPU.
• When (D) is a bit device, set the device
• When (D) is a bit device, do not set PX/PY.
19 - 7
19 ERROR CODE LISTS

Error factor
Name Description
• Number of words (n) to be written is outside the • Correct the program so that the number of
range of 1 to 256. words (n) to be written is within the range of 1
• Motion CPU cannot communicate with to 256.
intelligent function module/special function • Replace the intelligent function module/
module at the instruction execution. special function module if there is a fault.
• Abnormalities of the intelligent function module/ • Correct the program so that the first I/O No.s
special function module were detected at the specified with (D1) is intelligent function
Write device data to instruction execution. module/special function module controlled by
intelligent function • I/O No.s specified with (D1) differ from the the self CPU.
16422 module/special intelligent function module/special function • Correct the program so that the address
function module module controlled by the self CPU. specified with (D2) is within the buffer
(TO) execution error • The address specified with (D2) is outside the memory range.
buffer memory range. • Correct the program so that first device No.
• First device No. (S) which writing data are (S) which writing data are stored + number of
stored + number of words (n) to be written is words (n) to be written is within the device
outside the device range. range.
• (S) is a bit device and the device number is not • When (S) is a bit device, set the device
a multiple of 16. number to be multiple of 16.
• PX/PY is set in (S) to (S)+(n-1). • When (S) is a bit device, do not set PX/PY.
• Number of words (n) to be read is outside the
range of 1 to 256.
words (n) to be read is within the range of 1 to
• Motion CPU cannot communicate with
256.
intelligent function module/special function
• Replace the intelligent function module/
module at the instruction execution.
special function module if there is a fault.
• Abnormalities of the intelligent function module/
• Correct the program so that I/O No.s specified
Read device data special function module were detected at the
with (S1) is intelligent function module/special
from intelligent instruction execution.
function • I/O No.s specified with (S1) differ from the
• Correct the program so that the address
16423 module/special intelligent function module/special function
The block processing in specified with (S2) is within the buffer memory
function module module controlled by the self CPU.
range.
(FROM) execution • The address specified with (S2) is outside the execution is stopped and
the next block is executed. • Correct the program so that first device No.
error buffer memory range.
(D) which stores the reading data + number of
• First device No. (D) which stores the reading
words (n) to be read is within the device
data + number of words (n) to be read is
range.
outside the device range.
• When (D) is a bit device, set the device
• (D) is a bit device and the device number is not
a multiple of 16.
• When (D) is a bit device, do not set PX/PY.
Indirectly specified
• The indirectly specified device No. is outside
16462 16-bit motion device
the range.
(#(n)) read error
(#(n)L) read error
Indirectly specified the range or an odd number.
(#(n)F) read error
Correct the program so that the indirectly
• The indirectly specified device No. is outside specified device No. is proper.
16465 16-bit data register
the range.
(D(n)) read error
(D(n)L) read error
the range or an odd number.
(D(n)F) read error
19 - 8
19 ERROR CODE LISTS

Error factor
Name Description
16468 16-bit link register
the range.
(W(n)) read error
(W(n)L) read error • The indirectly specified device No. is outside
Indirectly specified the range or an odd number.
(W(n)F) read error
16486 input relay (X(n))
read error
16487 output relay (Y(n))
read error
internal/latch relay • The indirectly specified device No. is outside
16488 the range.
(M(n)/L(n)) read
error
16489 link relay (B(n)) read
error
Annunciator (F(n))
16490 The block processing in Correct the program so that the indirectly
read error
execution is stopped and specified device No. is proper.
16-bit batch input
16516
relay (X(n)) read
error
32-bit batch input
16517
relay (X(n)) read
error • The indirectly specified device No. is outside
Indirectly specified the range or is not a multiple of 16.
16-bit batch output
16518
relay (Y(n)) read
error
32-bit batch output
16519
relay (Y(n)) read
error
16-bit batch
16520 internal/latch relay • The indirectly specified device No. is outside
(M(n)/L(n)) read the range or is not a multiple of 16.
error
32-bit batch
16521 internal/latch relay
(M(n)/L(n)) read
error
19 - 9
19 ERROR CODE LISTS

Error factor
Name Description
16-bit batch
16522
internal/latch relay
(B(n)) read error
32-bit batch
16523
internal/latch relay
(B(n)) read error The block processing in
• The indirectly specified device No. is outside Correct the program so that the indirectly
execution is stopped and
Indirectly specified the range or is not a multiple of 16. specified device No. is proper.
16-bit batch
16524
annunciator (F(n))
read error
32-bit batch
16525
annunciator (F(n))
read error
19 - 10
19 ERROR CODE LISTS
19.3 Motion SFC Parameter Errors
Motion SFC parameters are checked by SW6RN-GSV P.
Table 19.6 PLC ready flag (M2000) OFF ON errors (17000 to 17009)
Error factor
Name Description
Normal task
• The normal task's consecutive transition count
consecutive The initial value of 3 is
17000 of the Motion SFC program started by the
transition count used for control.
normal task is outside the range 1 to 30.
error
Event task • The set number of consecutive transitions of Turn PLC ready flag (M2000) OFF, make
17001 consecutive the Motion SFC program started by the event correction to set the value within the range,
transition count error task is outside the range 1 to 10. and write it to the CPU.
The initial value of 1 is
used for control.
NMI task • The set number of consecutive transitions of
17002 consecutive the Motion SFC program started by the NMI
transition count error task is outside the range 1 to 10.
Table 19.7 SFC Program start errors (17010 to 17019)

Error factor
Name Description
Executed task • Among the normal, event and NMI tasks, more
17010
setting is illegal than one or none of them has been set. Turn PLC ready flag (M2000) OFF, make
The initial value (normal
correction, and write a correct value to the
Executed task task) is used for control.
• Two or more fixed cycles of the event task have CPU.
17011 setting is illegal
been set.
(event)
19 - 11
19 ERROR CODE LISTS
MEMO
19 - 12
19 ERROR CODE LISTS
19.4 Multiple CPU Error Codes
19.4.1 Self-diagnosis error code
This section explains the self-diagnosis error code. A self-diagnosis error code is
stored in D9008.
And, it can be confirmed with device monitor of the PC diagnosis/SW6RN-GSV P of
GX Developer.
Each digit is defined as the error code as follows.
Big classification
1 Internal hardware
2 Handling
Digit :
3 Parameter
Tens digit : Details code
Hundreds digit : 4 Program
Thousands digit : Big classification (Factor) 5 Watch timer

Millions digit : Super classification The correspondence
6
(Except the PLC CPU) which becomes double
7 Indicates Multiple CPU
8
9 Outside diagnosis
The characteristic error of Motion CPU is 10000 (the error code which occurs except
the PLC CPU).
19 - 13
19 ERROR CODE LISTS
Table 19.8 Multiple CPU errors which occurs in the Motion CPU (1000 to 10000)
Occurs CPU LED status
Middle Error Error information Operating Diagnostic
Error messages Single Multiple
classification code Classification code RUN ERROR status of CPU timing
composition composition
1000
1001
1002
MAIN CPU DOWN 1003 — — — OFF Flickers Stop Always

1004
1005
CPU (hard)
error 1006
1007
1008
1009
In the CPU,
At power supply
RAM error 1105 — OFF Flickers Stop
ON/at reset
(RAM ERROR)
Stop/Continue
FUSE BREAK OFF 1300 — — — OFF/ON Flickers/ON Always
(Note-7)
Module At power supply

SP. UNIT DOWN 1401 Module No. OFF Flickers Stop
error (hard) ON/at reset
1413 Module No. OFF Flickers Stop Always

1414 Module No. OFF Flickers Stop Always
Base Q bus error
1415 Base No. (Note-2) OFF Flickers Stop Always
(CONTROL-BUS
At power supply
ERROR) 1416 Module No. (Note-1) — OFF Flickers Stop
ON/at reset
Power Detection of AC/DC
1500 — ON OFF Continue Always
supply DOWN (AC/DC DOWN)
1600 ON OFF
Battery (BATTERY ERROR) Drive name Continue Always
BAT. ALM
1601
LED ON
2121
Handling the 2124

Intelligent function
intelligent Module No.
module installation error
function
(SP. UNIT LAY 2125
module/
ERROR) At power supply
Multiple — OFF Flickers Stop
ON/at reset
CPU
module
2126 Module No. (Note-1)
(Note-1) : CPU No. is stored in slot No. of the common information classification.
(Note-2) : Base No. in "common information classification code" of "error information classification code" is 0 : CPU base, 1 to 7 : Number of extension bases.
(Note-3) : Because a stop error or CPU No. except CPU No. that it was reset becomes MULTI CPU DOWN simultaneously, a stop error or CPU No. except CPU
No. that it was reset may store in the classification of error information depending on timing.
(Note-4) : When an error occurs in the Motion CPU and so on except PLC CPU, if a PC diagnosis is made in the CPU except PLC CPU from GX Developer via
PLC CPU, the error code "10000" is indicated.
(Note-5) : The Motion SFC error detection signal (M2039) turned on at the error detection. A self-diagnosis error flag (M9008) and a diagnosis error flag (M9010)
do not turn on at the error detection. The error code "10000" being set in D9008 is reset in the Motion SFC error detection signal (M2039) ON OFF.
(Note-6) : MOTION RUN LED turns off at the stop error occurrence. (The condition of RUN LED does not change.)
(Note-7) : Operating status of CPU at the error occurrence can be set in the parameter. (LED display also changes continuously.)
19 - 14
19 ERROR CODE LISTS
Error code Error contents and cause Corrective action Remark
1000
1001
(1) Measure noise level.
1002
Run-away or failure of main CPU (2) Reset and establish the RUN status again. If the same error is
1003 (1) Malfunctioning due to noise or other reason displayed again, this suggests a CPU hardware error. Explain
1004 (2) Hardware fault the error symptom and get advice from our sales
1005 representative.
1006
1007
1008
1009
(1) Measure noise level.
(2) Reset and establish the RUN status again. If the same error is
1105 Shared CPU memory fault in the CPU. displayed again, this suggests a CPU hardware error. Explain
the error symptom and get advice from our sales
representative.
Check ERR. LED of the output modules and replace the module
1300 There is an output module with a blown fuse.
whose LED is lit.
The Motion dedicated module, the intelligent function module, the
There was no response from the motion module or intelligent CPU module or the base unit has hardware error.
1401 Explain the error symptom and get advice from our sales
function module during initial communications.
representative.
1413
An error is detected on the Q bus.
1414 A special function module, the CPU module, or the base unit has
1415 Fault of the CPU or extension base unit was detected. hardware error. Explain the error symptom and get advice from
our sales representative.
1416 Bus fault was detected at power-on or reset.
A momentary power interruption of the power supply occurred. Check the power supply.
1500 The power supply went off.
(1) Replace the battery.

(1) Voltage of the CPU has dropped below stipulated level.
1600 (2) If the battery is for internal RAM or for the back-up power
(2) The lead connector of CPU battery has not been installed.
function, install a lead connector.
1601 Battery voltage has dropped below stipulated level. Replace the battery.
2121 A CPU module is installed in a slot except CPU slot, 0 to 2 slot. A CPU module is installed to a CPU slot or 0 to 2 slot.
(1) A module is installed in slot 65 or subsequent slot. (1) Remove a module of slot 65 or subsequent slot.
2124 (2) A module is installed in a base for which "None" is set in the base (2) Remove a module of base for which "None" is set in the base
settings. settings.
(1) A module which the PLC CPU cannot recognize has been (1) Install a usable module in the PLC CPU.
(2) The intelligent function module has hardware error. Explain
2125 installed. the error symptom and get advice from our sales
(2) There was no response from the intelligent function module. representative.
(1) There must be non-installation slots between the CPU
CPU module locations in a Multiple CPU system is either of the
modules in the Multiple CPU system. (When the non-
following.
installation slots are reserved, cancel the reservation.)
2126 (1) There are non-installation slots between the CPU modules.
(2) Remove the modules except the PLC CPU installed between
(2) The modules except the PLC CPU are installed between the PLC
the PLC CPU modules, and shift over to the slots with the
CPU modules.
PLC CPU modules in the Multiple CPU system.
: It occurs in the CPU (CPU No.) which detected a error.
: It occurs in all CPU No. at the time of the Multiple CPU composition.
: It does not occur.
19 - 15
19 ERROR CODE LISTS
Table 19.8 Multiple CPU errors which occurs in the Motion CPU (continued)
Occurs CPU LED status
Middle Error Error information Operating Diagnostic
Error messages Single Multiple
classification code Classification code RUN ERROR status of CPU timing
composition composition
3001
At power
3010 —
PARAMETER supply ON/
Parameter File name OFF Flickers Stop
ERROR at reset/
3012 — at Stop Run
3013 —
Always
Module No.
7000 —
(Note-1) (Note-3)
Other issue
opportunity CPU
OFF Flickers Stop
weight occasion error
(MULTI CPU DOWN) At power
7002 — supply ON/
Module No. at reset
(Note-1)
Multiple 7003 —
CPU
Multiple CPU start

At power
error Module No.
7010 — OFF Flickers Stop supply ON/
(MULTI EXE. (Note-1)
at reset
ERROR)
Multiple CPU start

error Module No.
7020 — ON ON Continue Always
(MULTI CPU (Note-1)
ERROR)
ON : System Stop : System At power

setting setting supply ON/
CPU error except for
error/ error at reset/
CPU error PLC CPU
servo Continue : other at Stop Run
except for (CONT. UNIT 10000 — Except for PLC CPU ON
error error
PLC CPU ERROR)
OFF : other
(Note-4) (Note-5)
error
(Note-1) : CPU No. is stored in slot No. of the common information classification.
(Note-2) : Base No. in "common information classification code" of "error information classification code" is 0 : CPU base, 1 to 7 : Number of extension bases.
(Note-3) : Because a stop error or CPU No. except CPU No. that it was reset becomes MULTI CPU DOWN simultaneously, a stop error or CPU No. except CPU
No. that it was reset may store in the classification of error information depending on timing.
(Note-4) : When an error occurs in the Motion CPU and so on except PLC CPU, if a PC diagnosis is made in the CPU except PLC CPU from GX Developer via
PLC CPU, the error code "10000" is indicated.
(Note-5) : The Motion SFC error detection signal (M2039) turned on at the error detection. A self-diagnosis error flag (M9008) and a diagnosis error flag (M9010)
do not turn on at the error detection. The error code "10000" being set in D9008 is reset in the Motion SFC error detection signal (M2039) ON OFF.
(Note-6) : MOTION RUN LED turns off at the stop error occurrence. (The condition of RUN LED does not change.)
19 - 16
19 ERROR CODE LISTS
Error code Error contents and cause Corrective action Remark
(1) Read the error detailed information at the peripheral device,

check and correct the parameter items corresponding to the
numerical values (parameter No.).
3001 Parameter contents have been destroyed. (2) If the error still occurred after correcting of the parameter
settings, it may be an error for internal RAM of CPU or
memory. Explain the error symptom and get advice from our
sales representative.
The number of CPU modules set in the parameter differ from the real Match (preset count of Multiple CPU setting) – (CPU (empty)
3010
installation in a Multiple CPU system. setting in I/O assignment) with the real installation of CPUs.
The reference CPU No. set in the parameter differ from the setting in Match the setting in the parameter with that of the reference CPU
3012
a Multiple CPU system. No. (CPU No.1).
Check the following in the Multiple CPU automatic refresh
Multiple CPU automatic refresh setting is any of the followings in a
parameters and make correction.
Multiple CPU system.
(1) When specifying the bit device, specify a multiple of 16 for the
(1) When a bit device is used as a refresh device, a number except a
3013 refresh first device.
multiple of 16 is set as the refresh first device.
(2) Specify the device that may be specified for the refresh
(2) A non-specifiable device is specified.
device.
(3) The number of transmitting points is an odd number.
(3) Set the number of transmitting points to an even number.
In a Multiple CPU system, a CPU fault occurred at the CPU where "all
station stop by stop error of CPU was selected" in the operating
mode.
Read the individual information of the error at the peripheral
(It occurs in the CPU except for the CPU that suspension of a system
7000 device, check the error of the CPU resulting in CPU fault, and
is chosen.)
remove the error.
In a Multiple CPU system, CPU No.1 resulted in stop error at power-
on and the other CPU cannot start. (This error occurred at CPU No.2
to 4)
7002
Reset the PLC CPU and run it again. If the same error is
At initial communication in a Multiple CPU system, no response is
displayed again, it is a hardware fault of any CPU. Explain the
given back from the target CPU of initial communication.
7003 error symptom and get advice from our sales representative.
(1) A fault CPU is installed in a Multiple CPU system.

(2) CPUs of unmatched versions are installed in a Multiple CPU
The CPU No. of the function version A or the break down module
system.
is exchanged for the CPU module of the function version B, after
7010 (This error is detected at the PLC CPU of function version B.)
it began to read the individual information of the error at the
(3) Any CPU No. among CPU No.2 to 4 was reset, after power supply
peripheral devices.
on a Multiple CPU system.
(This error occurs at only the CPU No. which reset was released.)
In a Multiple CPU system, a CPU fault occurred at the CPU where "all
Read the individual information of the error at the peripheral
station stop by stop error of CPU was not selected" in the operation
7020 device, check the error of the CPU resulting in CPU fault, and
mode. (The error is detected at the PLC CPU of other than the CPU
remove the error.
No. where the CPU fault occurred.)
The error which a Motion CPU was characteristic of occurred.

It is set when an error all to set with the system setting error, the Use the software package of the applicable CPU module to
10000
Motion CPU is detected. (Minor error, major error, servo error and check the details of the error that occurred.
various errors)
: It occurs in the CPU (CPU No.) which detected a error.

: It occurs in all CPU No. at the time of the Multiple CPU composition.
: It does not occur.
19 - 17
19 ERROR CODE LISTS
19.4.2 Release of self-diagnosis error
The CPU can perform the release operation for errors only when the errors allow the
CPU to continue its operation.
To release the errors, follow the steps shown below.
(1) Eliminate the error cause.
(2) Store the error code to be released in the special register D9060.
(3) Turn the special relay M9060 off to on.
(4) The target error is released.
After the CPU is reset by the release of error, the special relays, special registers and
LEDs for the error are returned to the states under which the error occurred.
If the same error occurs again after the release of the error, it will be registered again.
19 - 18
APPENDICES
APPENDICES
APPENDIX 1 Processing Times
APPENDIX 1.1 Processing time of operation control/Transition instruction
(1) Operation instructions

Processing time of operation instruction
Classifications Symbol Instruction Operation expression
Unit [µs]
=#0 #1 6.30
=D800 D801 10.20
= #0L #2L 8.70
= Substitution
=D800L D802L 13.56
=#0F #4F 8.88
=D800F D804F 15.30
=#0 #1+#2 9.72
=D800 D801+D802 13.50
=#0L #2L+#4L 11.52
+ Addition
=D800L D802L+D804L 16.68
=#0F #4F+#8F 13.26
=D800F D804F+D808F 19.20
=#0 #1-#2 10.02
=D800 D801-D802 13.14
= #0L #2L-#4L 10.68
- Subtraction
=D800L D802L-D804L 22.50
Binary =#0F #4F-#8F 12.06
operation =D800F D804F-D808F 19.26
=#0 #1*#2 8.76
=D800 D801*D802 12.66
= #0L #2L*#4L 8.46
* Multiplication
=D800L D802L*D804L 18.12
=#0F #4F*#8F 12.30
=D800F D804F*D808F 19.14
=#0 #1/#2 10.08
=D800 D801/D802 13.02
=#0L #2L/#4L 13.62
/ Division
=D800L D802L/D804L 20.52
=#0F #4F/#8F 14.16
=D800F D804F/D808F 20.04
=#0 #1%#2 10.74
=D800 D801%D802 15.06
% Remainder
= #0L #2L%#4L 13.20
=D800L D802L%D804L 20.76 APP.
#0=~#1 7.68
Bit inversion D800=~D801 11.22
Bit operation ~
(complement) #0L=~#2L 9.60
D800L=~D802L 14.64
APP - 1
APPENDICES
Processing time of operation instruction (Continued)

Unit [µs]
=#0 #1&#2 3.78
=D800 D801&D802 12.78
& Bit logical AND
= #0L #2L&#4L 10.80
=D800L D802L&D804L 18.24
=#0 #1|#2 8.40
=D800 D801|D802 12.36
| Bit logical OR
= #0L #2L|#4L 10.68
=D800L D802L|D804L 12.54
=#0 #1^#2 8.76
=D800 D801^D802 10.80
Bit operation ^ Bit exclusive OR
= #0L #2L^#4L 10.62
=D800L D802L^D804L 15.60
=#0 #1>>#2 11.76
=D800 D801>>D802 15.00
>> Bit right shift
= #0L #2L>>#4L 11.82
=D800L D802L>>D804L 18.06
=#0 #1<<#2 10.50
=D800 D801<<D802 12.24
<< Bit left shift
=#0L #2L<<#4L 12.18
=D800L D802L<<D804L 15.90
=#0 -#1 7.02
=D800 -D812 11.70
=
Sign inversion #0L -#2L 8.76
Sign -
(complement of=2) D800L -D802L 14.34
=#0F -#4F 11.28
=D800F -D804F 15.84
=#0F SIN(#4F) 19.80
SIN Sine
=D800F SIN(D804F) 25.68
=#0F COS(#4F) 13.20
COS Cosin
=D800F COS(D804F) 24.54
=#0F TAN(#4F) 19.86
TAN Tangent
=D800F TAN(D804F) 30.78
=#0F ASIN(#4F) 21.18
ASIN Arcsin
=D800F ASIN(D804F) 33.48
=#0F ACOS(#4F) 23.52
ACOS Arccosin
=D800F ACOS(D804F) 34.80
Standard =#0F ATAN(#4F) 15.30
ATAN Arctangent
function =D800F ATAN(D804F) 19.62
=#0F SQRT(#4F) 10.68
SQRT Square root
=D800F SQRT(D804F) 15.42
= #0F LN(#4F) 16.92
LN Natural logarithm
=D800F LN(D804F) 22.26
= #0F EXP(#4F) 18.54
EXP Exponential operation
= D800F EXP(D804F) 25.14
= #0F ABS(#4F) 12.90
ABS Absolute value
D800F=ABS(D804F) 16.02
=#0F RND(#4F) 12.24
RND Round-off
=D800F RND(D804F) 12.42
APP - 2
APPENDICES

Unit [µs]
=#0F FIX(#4F) 11.40
FIX
Round-down =D800F FIX(D804F) 20.28
Round-up = #0F FUP(#4F) 12.00
FUP
=D800F FUP(D804F) 16.92
=#0 BIN(#1) 8.82
Standard = D800F BIN(D801) 12.30
BIN BCD→BIN conversion
function = #0L BIN(#2L) 11.16
=D800L BIN(D802L) 14.82
=#0 BCD(#1) 13.92
= D800 BCD(D801) 17.70
BCD BIN→BCD conversion
= #0L BCD(#2L) 14.94
=D800L BCD(D802L) 26.10
=#0 SHORT(#2L) 10.14
Converted into
= 16-bit integer type #0 SHORT(#4F) 14.70
SHORT
(signed) = D800 SHORT(D802L) 14.40
=D800 SHORT(D804F) 17.40
=#0 USHORT(#2L) 9.90
Converted into=
16-bit integer type #0 USHORT(#4F) 14.52
USHORT
(unsigned) = D800 USHORT(D802L) 14.10
=D800 USHORT(D804F) 16.50
=#0L LONG(#2) 9.00
Converted into
= 32-bit integer type #0L LONG(#4F) 12.48
LONG
(signed) = D800L LONG(D802) 12.90
Type =D800L LONG(D804F) 18.60
conversion =#0L ULONG(#2) 9.30
Converted into=
32-bit integer type #0L ULONG(#4F) 47.22
ULONG
(unsigned) = D800L ULONG(D802) 7.62
=D800L ULONG(D804F) 50.10
= #0F FLOAT(#4) 9.12
Regarded as signed data and
= #0F FLOAT(#4L) 9.48
FLOAT converted into 64-bit floating point
= D800F FLOAT(D804) 13.56
type
= D800F FLOAT(D804L) 15.00
UFLOAT = #0F UFLOAT(#4) 7.92
Regarded as unsigned
= #0F UFLOAT(#4L) 10.26
UFLOAT
data and converted = D800F UFLOAT(D804) 13.26
into 64-bit floating point type
= D800F UFLOAT(D804L) 15.06
SET M1000 = M0 13.74
(None) ON (normally open contact) SET M1000 = X100 14.26
SET M1000 = PX0 14.82
Bit device status
SET M1000 = !M0 13.38
! OFF (normally closed contact) SET M1000 = !X100 14.40
SET M1000 = !PX0 14.82
SET M1000 3.42
SET Device set SET Y100 10.74
Bit device SET PY0 14.58
control RST M1000 3.30
RST Device reset RST Y100 10.02
RST PY0 11.16
APP - 3
APPENDICES

Unit [µs]
DOUT M0,#0 9.42
DOUT M0,#0L 10.14
DOUT Y100,#0 9.48
DOUT Device output
DOUT Y100,#0L 12.30
DOUT PY0,#0 8.76
DOUT PY0,#0L 15.48
DIN #0,M0 8.88
Bit device
DIN #0L,M0 10.20
control
DIN #0,X0 9.12
DIN Device input
DIN #0L,X0 9.66
DIN #0,PX0 10.56
DIN #0L,PX0 11.10
OUT M1000 = M0 19.26
OUT Bit device output OUT Y0 = M0 21.90
OUT PY0 = M0 20.88
SET M1000 = M0*M1 15.96
* Logical AND SET M1000 = X100*X101 14.70
Logical SET M1000 = PX0*PX1 17.40
operation SET M1000 = M0+M1 15.66
+ Logical OR SET M1000 = X100+X101 14.94
SET M1000 = PX0+PX1 16.20
SET M1000 = #0==#1 11.40
SET M1000 = D800==D801 14.10
SET M1000 = #0L==#2L 13.98
=
= Equal to
SET M1000 = D800L==D802L 18.42
SET M1000 = #0F==#4F 14.64
SET M1000 = D800F==D804F 18.48
SET M1000 = #0!=#1 12.72
SET M1000 = D800!=D801 15.24
SET M1000 = #0L!=#2L 13.98
!= Not equal to
SET M1000 = D800L!=D802L 18.54
SET M1000 = #0F!=#4F 16.02
Comparison SET M1000 = D800F!=D804F 18.66
operation SET M1000 = #0<#1 10.56
SET M1000 = D800<D801 16.14
SET M1000 = #0L<#2L 16.26
< Less than
SET M1000 = D800L<D802L 18.78
SET M1000 = #0F<#4F 16.32
SET M1000 = D800F<D804F 16.32
SET M1000 = #0<=#1 12.60
SET M1000 = D800<=D801 16.14
SET M1000 = #0L<=#2L 14.04
<= Less than or equal to
SET M1000 = D800L<=D802L 18.42
SET M1000 = #0F<=#4F 16.50
SET M1000 = D800F<=D804F 19.32
APP - 4
APPENDICES

Unit [µs]
SET M1000 = #0>#1 12.18
SET M1000 = D800>D801 15.72
SET M1000 = #0L>#2L 14.64
> More than
SET M1000 = D800L>D802L 19.74
SET M1000 = #0F>#4F 15.30
Comparison SET M1000 = D800F>D804F 19.86
operation SET M1000 = #0>=#1 12.12
SET M1000 = D800>=D801 15.84
SET M1000 = #0L>=#2L 14.16
>= More than or equal to
SET M1000 = D800L>=D802L 19.38
SET M1000 = #0F>=#4F 16.44
SET M1000 = D800F>=D804F 21.84
CHGV(K1,#0) 13.80
CHGV(K1,D800) 15.72
CHGV Speed change request
CHGV(K1,#0L) 14.70
Motion
CHGV(K1,D800L) 18.36
dedicated
CHGT(K1,#0) 6.84
function
Torque limit value change CHGT(K1,D800) 8.70
CHGT
request CHGT(K1,#0L) 3.60
CHGT(K1,D800L) 11.40
EI Event task enable EI 3.78
DI Event task disable DI 3.66
NOP No operation NOP 1.44
BMOV #0,#100,K10 4.80
BMOV D800,D100,K10 11.94
BMOV #0,#100,K100 34.80
BMOV Block transfer
BMOV D800,D100,K100 37.98
BMOV N1,#0,K512 67.86
BMOV N1,D800,K512 73.14
FMOV #0,#100,K10 13.98
Others FMOV D800,D100,K10 21.18
FMOV Same data block transfer
FMOV #0,#100,K100 25.50
FMOV D800,D100,K100 43.80
MULTW H800,#0,K1,M0 21.72
MULTW H800,D800,K1,M0 22.14
MULTW H800,#0,K10,M0 22.86
Write device data to shared CPU MULTW H800,D800,K10,M0 28.92
MULTW
memory of the self CPU MULTW H800,D800,#0,K100,M0 42.36
MULTW H800,D800,K100,M0 44.70
MULTW H800,#0,K256,M0 81.06
MULTW H800,D800,K256,M0 85.38
APP - 5
APPENDICES

Unit [µs]
MULTR #0,H3E0,H800,K1 44.16
MULTR D800,H3E0,H800,K1 44.76
MULTR H800,#0,K10,M0 51.48
Read device data from shared MULTR #0,H3E0,H800,K10 51.00
MULTR
CPU memory of the other CPU MULTR D800,H3E0,H800,K10 134.88
MULTR #0,H3E0,H800,K100 135.60
MULTR #0,H3E0,H800,K256 269.94
MULTR D800,H3E0,H800,K256 270.96
TO H0,H0,#0,K1 27.78
TO H0,H0,D800,K1 27.30
TO H0,H0,#0,K10 34.50
Write device data to intelligent
TO H0,H0,D800,K10 34.80
TO function module/special function
TO H0,H0,#0,K100 105.78
module
Others TO H0,H0,D800,K100 120.90
TO H0,H0,#0,K256 227.52
TO H0,H0,D800,K256 249.24
FROM #0,H0,H0,K1 31.20
FROM D800,H0,H0,K1 28.14
FROM #0,H0,H0,K10 36.30
FROM D800,H0,H0,K10 37.44
FROM Read device data from intelligent
FROM #0,H0,H0,K100 119.70
FROM D800,H0,H0,K100 116.82
FROM #0,H0,H0,K256 247.98
FROM D800,H0,H0,K256 246.90
TIME K1 13.26
TIME Time to wait TIME #0 19.50
TIME D800 16.62
APP - 6
APPENDICES
(2) Transition conditional expressions

Processing time of transition conditional expressions
Unit [µs]
M0 2.82
ON (Normally open contact)
(None) X100 6.88
(When condition enables)
Bit device PX0 7.62
control !M0 3.24
OFF (Normally closed contact)
! !X100 8.46
(When condition enables)
!PX0 9.24
M0*M1 10.32
* Logical AND X100*X101 11.28
Logical PX0*PX1 12.36
operation M0+M1 5.28
+ Logical OR X100+X101 9.78
PX0+PX1 11.10
=
=#0 #1 1.26
=
=D800 D801 9.48
= = #0L #2L 7.74
=
= Equal to
=
=D800L D802L 13.32
=
=#0F #4F 9.36
=
=D800F D804F 12.66
=#0! #1 1.38
=D800! D801 9.42
= #0L! #2L 8.16
!= Not equal to
=D800L! D802L 12.06
=#0F! #4F 9.60
=D800F! D804F 12.24
#0<#1 1.68
D800<D801 9.90
#0L<#2L 7.50
< Less than
D800L<D802L 12.48
#0F<#4F 9.30
Comparison D800F<D804F 13.80
operation =#0< #1 2.76
=D800< D801 9.48
= #0L< #2L 2.82
<= Less than or equal to
= D800L< D802L 13.02
=#0F< #4F 4.26
=D800< D804F 11.40
#0>#1 6.48
D800>D801 4.80
#0L>#2L 7.98
> More than
D800L>D802L 7.38
#0F>#4F 9.12
D800F>D804F 11.40
=#0> #1 1.26
=D800> D801 9.36
= #0L> #2L 2.70
>= More than or equal to
= D800L> D802L 12.06
=#0F> #4F 4.32
=D800F> D804F 13.08
APP - 7
APPENDICES
(3) Processing time by the combination F and G (program described in

F/G is NOP)
F alone G alone F+G GSUB CLR JMP/coupling
CLR
F G F SUB SUB
P
G
Note) Note)
SUB SUB P
P
F F
END G
P
Q173CPU(N)/
31.92 28.38 34.5 87.24 47.3 22.86
Q172CPU(N) [ s]
Parallel branch (2 Pcs.) Parallel branch (5 Pcs.)
F F F F F F F
G G G G G G G
At branch At coupling At branch At coupling

Q173CPU(N)/
50.82 50.34 83.94 116.34
Q172CPU(N) [ s]
Selective branch (2 Pcs.) Selective branch (5 Pcs.)
G G G G G G G
F F F F F F F
Q173CPU(N)/
139.68 196.02
Q172CPU(N) [ s]
(Note) : Varies greatly with the started or cleared program.
POINT
Long processing time may cause a Motion CPU WDT error or servo fault.
Especially for the Motion SFC programs run by event/NMI tasks, take care so that
the processing time will not be too long.
APP - 8
APPENDICES
APPENDIX 2 Sample Program
APPENDIX 2.1 Program example to execute the Multiple CPU dedicated instruction
continuously
This is the program example which publishes the instruction continuously toward the
same Motion CPU in the Multiple dedicated instruction toward the Motion CPU. When
an instruction cannot be accepted even if it is executed, it becomes "No operation".
The following is program example which repeats reading data for 10 points from D0 of
the Motion CPU installing the CPU No.2 to since D100 of the PLC CPU, and the data
for 10 points from D200 of the Motion CPU to since D300 of the PLC CPU by turns
continuously during X0 is ON. Make a circuit to execute the next S(P).DDRD
instruction after the device which it is made to turn on by the instruction completion of
the S(P).DDRD instruction execute 1-scan turns it on.
<Example>
SM400
MOV K10 D51
MOV K10 D251
X0
PLS M2
M2 X0
SET M0
M1
M0 M10
SP.DDRD H3E1 D50 D0 D100 M10
SET M50
M50 M10
RST M0
SET M1
RST M50
M1 M20
SP.DDRD H3E1 D250 D200 D300 M20
SET M51
M51 M20
RST M1
RST M51
M10 M11
Read the data from D0 to D100,
and normality complete processing.
M11
and abnormality complete processing.
M20 M21
M21
and abnormality complete processing
APP - 9
APPENDICES
There is the following restriction in the case as an example.

1) The Multiple CPU instruction of Motion CPU cannot be used Interrupt
program/fixed cycle executive type program and low speed executive type
program. When it is used, an instruction may not operate by the timing.
APP - 10
APPENDICES
APPENDIX 2.2 The program example to execute plural Multiple CPU instruction by the
instructions of one time
This is the program example which executes to the Multiple same Motion CPU at
high speed by one instruction.
In this case, you must take an interlock with "To self CPU high speed interrupt
accept flag from CPU". When an instruction cannot be accepted even if it is
executed, it becomes "No operation".
The program which read the data for 10 points from D0 of the Motion CPU
installing the CPU No.2 to since D100 of the PLC CPU, the data for 10 points
from D200 of the Motion CPU to since D300 of the PLC CPU, and the data for 10
points from D400 of the Motion CPU to since D500 of the PLC CPU by starting of
X0 is shown as an example 1.
At this time, number of multiple CPU dedicated execute instructions at one
command should no exceed the maximum acceptable number of instructions
(Refer to Chapter 5.) of one Motion CPU.
When an maximum acceptable number of instructions is 32, the program which
made not to execute the multiple dedicated instructions when number of the
Multiple CPU dedicated execute instructions exceeds 32 is shown as an example
2.
<Example 1>
SM400
MOV K10 D51
MOV K10 D251
MOV K10 D451

X0
PLS M0
accept flag from CPU 1
M0 U3E1 G48.0
SET M1
M1 U3E1 G48.0
SP.DDRD H3E1 D250 D200 D300 M20
RST M1
SET M2
M2 U3E1 G48.0
SP.DDRD H3E1 D450 D400 D500 M30
RST M2
M10 M11
M11
M20 M21
M21
M30 M31
M31
APP - 11
APPENDICES
<Example 2>
SM400
MOV K10 D51
MOV K10 D251
MOV K10 D451

SM400 M10
> D1000 K0 DECP D1000
M20
> D1000 K0 DECP D1000
M30
> D1000 K0 DECP D1000
X0
> K32 D1000 PLS M0
M0 U3E1 G48.0
INCP D1000
SET M1
U3E1 G48.0
M1
SP.DDRD H3E1 D250 D200 D300 M20
INCP D1000
RST M1
SET M2
M2 U3E1 G48.0
SP.DDRD H3E1 D450 D400 D500 M30
INCP D1000
RST M2
M10 M11
M11
M20 M21
M21
M30 M31
M31
There is the following restriction in the case as the example 2.

1) The Multiple CPU dedicated instruction of Motion CPU cannot be used
Interrupt program/fixed cycle executive type program and low speed
executive type program. When it is used, an instruction may not work by the
timing.
APP - 12
APPENDICES
APPENDIX 2.3 Motion control example by Motion SFC program
(1) The Motion SFC program composition example to execute motion

control.
This sample program example is described to every following function.
Function list of sample program

No. Item Description
Monitor of the positioning The positioning dedicated device status of the Motion CPU (CPU No.2)
1
dedicated device is reflected on "M2400 to" and "D0 to" of the PLC CPU (CPU No.1).
The clock data read request (M9028) is turned on so that clock data
2 Reading of the clock data
may be set to the error history.
When the forced stop input assigned to PX0 is on, all axes turn on, and
motion control is executed.
3 Forced stop
When the forced stop input turn off, servo amplifier is made to forced
stop, and motion control is suspended, and actual output (PY) turn off.
Motion control is executed according to the condition of PX and PX2 in
each following mode.
• PX2 : OFF PX1 : OFF JOG mode
4 Motion control
• PX2 : OFF PX1 : ON Manual pulse generator mode
• PX2 : On PX1 : OFF Home position return mode
• PX2 : On PX1 : On Programming operation mode
The following JOG operation is executed when each signal of PX3 to
PX6 is turned on.
• PX3 : 1 axis JOG forward rotation
5 JOG mode
• PX4 : 1 axis JOG reverse rotation
• PX5 : 2 axes JOG forward rotation
• PX6 : 2 axes JOG reverse rotation
The following the manual pulse generator operation is executed.
• Manual pulse generator operation of 1 axis is executed with the
6 Manual pulse generator mode manual pulse generator P1.
• Manual pulse generator operation of 2 axes is executed with the
manual pulse generator P1.
The following home position return is executed.
7 Home position return mode • When PX3 is on, the home position return of 1 axis is executed.
• When PX4 is on, the home position return of 2 axes is executed.
The following program operation is executed.
• When PX3 detects OFF to ON, axis No.1 locates and 1000[ms]
standing by, after the location of axis No.2 is executed.
• When PX4 turn on, axis No.1, 2 locates of the linear control and in-
8 Programming operation mode
position check is executed, after the location of axis No.2 is
executed, the program stands by until No.1, 2 locates of the linear
control is executed at a double speed in the opposition direction and
PX4 turns off.
APP - 13
APPENDICES
(2) Contents processing of the Motion SFC program

Motion SFC program list
Number of
Automatic
No. Program name Task connective Contents of processing
operation
transitions
• This program starts automatically at the time of run of
Q173CPU(N), and it is always executed.
• The positioning dedicated device (bit device) for monitor is
transferred to "W0 to".
Positioning
0 Normal Start 3 • The positioning dedicated device (word device) for monitor is
device
transferred to "W100 to".
(Note) : "W0 to" is assigned to "M2400 to" of the PLC CPU (CPU
No.1), and "W100 to" is assigned to "D0 to" by the
automatic refresh setting.
• This program starts automatically at the time of run of
• Watch data is taken out, and clock data read request (M9028)
is turned on.
20 Main Normal Start 3
• When a forced stop is canceled, a subroutine starts a "No.110 :
Motion control".
• "No.110 : Motion control" is stopped at the time of the forced
stop, and real output (PY) is turned off.
• All axes servo on.
• The call of the subroutine of the following program is executed
by the condition of PX1, PX2.
110 Motion control Normal Not start 3 1) PX2 : OFF PX1 : OFF No.120 : JOG
2) PX2 : OFF PX1 : ON No.130 : Manual pulse generator
3) PX2 : ON PX1 : OFF No.140 : Home position return
4) PX2 : ON PX1 : ON No.150 : Programming operation
(1) The JOG operation speed of 1 axis and 2 axes is set.
(2) 1 axis JOG forward command is turned on when PX3 is on,
and the reverse command is turned on when PX4 is on.
(3) 2 axes JOG forward command is turned on when PX5 is on,
120 JOG Normal Not start 3
and the reverse command is turned on when PX6 is on.
(4) The above (2), (3) are repeated during PX2/PX1 is off, when
except for it, the JOG forward and reverse command of 1 axis
and 2 axes are turned off and the program is ended.
• 1 pulse input magnification of the 1 axis and 2 axes is set up.
• 1 axis is controlled with P1, and set up to control 2 axes with
P2, and Manual pulse generator enable flag of P1, P2 is turned
Manual pulse
130 Normal Not start 3 on.
generator
• When except for PX2 : OFF, PX1 : ON (Manual pulse generator
mode), Manual pulse generator enable flag of P1, P2 is turned
off, and a program is ended.
APP - 14
APPENDICES
Motion SFC program list (Continued)

Number of
Automatic
operation
transitions
• "K140 : The home position return of 1 axis" is started when PX3
is on,"K141 : The home position return of 2 axes" is started
Home position
140 Normal Not start 3 when PX4 is on.
return
• PX2 : ON, PX1 : The program is ended when they become to
except for off (Home position return mode).
• When PX3 detects OFF to ON, after positioning of 1 axis,
standing by for 1000[ms] and positioning of 2 axes is executed.
• When PX4 turn on, after positioning of linear interpolation in-
Programming position check is executed, positioning of axis No. 1, 2 linear
150 Normal Not start 3
operation interpolation is executed at a double speed in the opposition
direction, and it stand by until PX4 turned off.
• PX2 : ON, PX1 : The program is fended when they become to
except for ON (Programming operation mode).
APP - 15
APPENDICES
(a) No.0 : Positioning device

Positioning device
P0
[F0]
//Each axis status M2400 to M3039
//(40 words)
//M2400 to CPU No.1 of the Qn(H)CPU
DIN W00L, M2400
DIN W02L, M2432 (1) Each axis status M2400 to M3039 (for 32 axes) transferred
DIN W04L, M2464 to "W0 to".
DIN W06L, M2496
DIN W08L, M2528 (2) Common devices M2000 to M2064 transferred to "W28 to".
DIN W0AL, M2560 (3) Special relay M9000 to M9015 transferred to "W2C to".
DIN W0CL, M2592
DIN W0EL, M2624 Automatic refresh of the between Multiple CPU, and "W0 to" of
DIN W10L, M2656 Q173CPU(N) (CPU No.2) sets it up to have refresh by "M2400
DIN W12L, M2688 to" of Qn(H)CPU (CPU No.1), therefore the condition of
DIN W14L, M2720
DIN W16L, M2752 Q173CPU(N) (CPU No.2) can be grasped with Qn(H)CPU of
DIN W18L, M2784 the CPU No.1 by monitoring the following device.
DIN W1AL, M2816 Devices of QnHCPU Correspond with devices
DIN W1CL, M2848 (CPU No.1) of Q173CPU(N) (CPU No.2)
DIN W1EL, M2880
DIN W20L, M2912 M2400 to M3039 M2400 to M3039
DIN W22L, M2944 M3040 to M3103 M2000 to M2064
DIN W24L, M2976 M3104 to M3119 M9000 to M9015
DIN W26L, M3008
(Note) : Refresh does data for 32 axes by this sample example,
//Common devices M2000 to M2063(4 words) number of refresh points is made a necessary minimum
//M3040 to CPU No.1 of the Qn(H)CPU corresponding to the system for processing time
DIN W28L, M2000 shortening.
DIN W2AL, M2032
//Special relays M9000 to M9015(1 word)
DIN W2C, M9000
//Special relays M9064 to M9079(1 word)

DIN W2D, M9064
[F1]
//Each axis monitor devices
//D0000 to D0639(640 words)
//D000 to CPU No.1 of the Qn(H)CPU (1) Each monitor devices D0 to D639 (for 32 axes) transferred
BMOV W100, D0, K640 to "W100 to".
(2) Special register D9000 to D9015 transferred to "W380 to".
//Special devices D9000 to D9015(16 words) (3) Special register D9182 to M9197 transferred to "W38A to".
//D640 to CPU No.1 of the Qn(H)CPU
W380=D9000 Automatic refresh of the between Multiple CPU, and "W100 to"
W381=D9005 of Q173CPU(N) (CPU No.2) sets it up to have refresh by "D0
W382=D9008 to" of Qn(H)CPU (CPU No.1), therefore the condition of
W384L=D9010L Q173CPU(N) (CPU No.2) can be grasped with Qn(H) CPU of
W386L=D9012L the CPU No.1 by monitoring the following device.
W388L=D9014L
Devices of QnHCPU Correspond with devices
//Special registers D9182 to D9197 (CPU No.1) of Q173CPU(N) (CPU No.2)
//(16 words) D0000 to D0639 D0000 to D0630
//D656 to CPU No.1 of the Qn(H)CPU D0640 to D0655 D9000 to D9015
W38AL=D9182L D0656 to D0671 D9182 to D9197
W38CL=D9184L (Note) : Refresh does data for 32 axes by this sample example,
W38EL=D9186L
number of refresh points is made a necessary minimum
W390L=D9188L
corresponding to the system for processing time
W392L=D9190L
shortening.
W394L=D9192L
W396L=D9194L
W398L=D9196L
P0
APP - 16
APPENDICES
(b) No.20 : Main

Main
[F20]
SET M9028 //Clock data read request ON
P0
[G20]
M9076 //Did you during the forced When a forced stop is released, a
//stop? subroutine starts "No.110 : Motion
control". (Because the next step is a
shift, it becomes a subroutine start, and
Motion control
the next step is executed at the same
time with subroutine practice, too.)
When a forced stop is released, it is
the structure which starts the program
[G21] "No.110 : Motion control" is made to which does motion control from the
!M9076 //Did you release the stop at the time of the forced stop, initials again by sample program.
//forced stop? and (The program that a subroutine call Therefore it is the system example
is executed from No.110 stops, too.) that motion control is resumed when
CLR
Motion control actual output (PY) is turned off. a forced stop release is executed
(Note-1) : The program that a subroutine after it stops forced for while.
was started is made to stop if
necessary when a subroutine
[F25] start program is added
DOUT PY10,H0000 //PY10 to PY1F because it does not stop.
(16points)OFF (Note-2) : Real output is turned off if
necessary.
(Note-3) : The occurrence detection of
P0 servo error and so on is added
to the stop status with forced
stop if necessary.
(c) No.110 : Motion control

Motion control
[F110]
SET M2042 //All axes servo ON
//command ON
P0
[G105]
M2415*M2435 //Is 1 axis and
//2 axis servo on/off status ON?
[G110] [G111] [G112] [G113]

!PX2*!PX1 !PX2*PX1 PX2*!PX1 PX2*PX1
JOG Manual pulse generator Home position return Programming operation
[G115]
//Wait a subroutine call completion
NOP
P0 The subroutine call of the following program is executed corresponding to the status of
PX1, PX2.
Selective branch is made the program so that each subroutine may never start it in the
plural at the same time.
And, each subroutine makes the next step "WAIT" to become a subroutine call to
make it stop when this program is suspended by the clear step of "No.20 : Main", too.
Condition of Subroutine call program
PX1, PX2
PX2 PX1 No. Program name
OFF OFF 120 JOG
OFF ON 130 Manual pulse generator
ON OFF 140 Home position return
ON ON 150 Programming operation
APP - 17
APPENDICES
(d) No.120 : JOG

JOG
[F120]
//1 axis JOG operation speed =
//100000PLS/s
D640L=K100000
//2 axes JOG operation speed =
//100000PLS/s
D642L=K100000
[G120] When each signal of PX3 to PX6 is turned on/off, which the
//1 axis forward rotation JOG start correspondences JOG command device is SET/RST.
//SET/RST It makes forward rotation JOG start of the same axis and a
SET M3202=PX3 * !M3203 reverse rotation JOG start from making turned on at the same
RST M3202=!PX3 time.
//1 axis reverse rotation JOG start Signal name Correspond with JOG command device
//SET/RST PX3 M3202(1 axis forward rotation JOG)
SET M3203=PX4 * !M3202 PX4 M3203(1 axis reverse rotation JOG)
RST M3203=!PX4 PX5 M3222(2 axis forward rotation JOG)
//2 axis forward rotation JOG start PX6 M3223(2 axis reverse rotation JOG)
//SET/RST
SET M3222=PX5 * !M3223 (Note) : The ON/OFF distinction of each signal can be
RST M3222=!PX5 described with Y/N transition. But, processing time can
//2 axes reverse rotation JOG start
be shortened more the number of steps when it was
//SET/RST
SET M3223=PX6 * !M3222 described as the following in the case of the processing
RST M3223=!PX6 which could be described only with SET=/RST=
because it is made low.
//Is repeated to the JOG mode
//completion.
!(!PX1*!PX2)
[F122]
//1, 2 axis forward/reverse rotation Forward rotation/reverse rotation JOG status of 1, 2 axis is
//JOG start command is reset. turned off at the time of the JOG mode completion not to
RST M3202 continue a JOG movement after it moves to other mode of the
RST M3203 safety.
RST M3222
RST M3223
END
(e) No.130 : Manual pulse generator

[F130]
D720=100 //1-pulse input magnification
//setting of 1 axis
D721=100 //1-pulse input magnification The setup of the following is executed to do manual pulse
//setting of 2 axes generator operation of P1 with 1 axis/P2 with 2 axis.
D714L=H00000001 //P1 is controlled Setting of 1-pulse input magnification of the 1 axis and 2
//1 axis. axis.
D716L=H00000002 //P2 is controlled
Manual pulse generator axis No. setting register is setup to
//2 axes
control of P1 with 1 axis/P2 with 2 axis.
SET M2051 //P1 Manual pulse generator
Manual pulse generator axis enable flag of P1, P2 is
//enable flag is ON turned on.
SET M2052 //P2 Manual pulse generator
//enable flag is ON
[G130]
!(!PX2*PX1)//Did you complete a manual
//pulse generator mode?
[F131] 1, 2 axis Manual pulse generator enable flag turned off at the
RST M2051 //P1 Manual pulse generator time of the JOG mode completion not to continue a manual
//enable flag is OFF pulse generator operation after it moves to other mode of the
RST M2052 //P2 Manual pulse generator safety.
//enable flag is OFF
END
APP - 18
APPENDICES
(f) No.140 : Home position return
Home position return request
P0
[G140] [G141] [G142]

//(PX3*!1 axis home position return //(PX4*!2 axes home position return //Did you finish home position return
//completion *1 axis in-position signal*!1 //completion *2 axes in-position signal*!2 //request mode?
//axis start accept)? //axis start accept)? !(PX2*!PX1)
PX3*!M2410*M2402*!M2001 PX4*!M2430*M2422*!M2002
[K140 : Real] [K141 : Real]

1 ZERO 1 ZERO END
Axis 1 Axis 2
P0
When PX3 is ON, the home position return request of 1 axis is executed.
When PX4 is ON, the home position return request of 2 axes is executed.
At this time in-position signal ON and start accept OFF confirmed, and home
position return request program is started.
(Note) : This program is the structure which does not have WAIT that it waits for the
completion of the home position return in the next of the motion control
step, because it possible a thing during "K140" practice and "K141" are
started.
(You must take the initial start of each axis to interlock condition to prevent
the double start of K140 and K141.)
APP - 19
APPENDICES
(g) No.150 : Programming operation
Programming operation
P0
[G150] [G151] [G152]

//(OFF to ON)detection of PX3. //Did you turn on PX4? //Did you finish a programming operation
PX4 //mode?
//PX3 turns on M0 in on when M1 (last time !(PX2*!PX1)
//condition of PX3) is off.
RST M0 Edge(OFF to ON)
SET M0=PX3 * !M1 detection of the bit
//Condition was stored in M1 last time device (PX3).
//of PX3. Condition was
RST M1 memorized in M1
SET M1=PX3 last time, and OFF
//When M0 is ON(OFF to ON of PX3 is to ON of PX3 was
//detected.), it transition to the next steps. detected.
M0
[F150] END
#0L=1000000//1 axis positioning address
[K150:Real] //set
1 INC-1 #2L=2000000//2 axes positioning address
Axis 1, 1000000 PLS //set
Speed 500000 PLS/s #4L=500000//Positioning speed Positioning address, the indirect
designation of the speed.
[K151:Real]
[G153] 1 INC-2
//It waits 1000[ms] after the motion control Axis 1, # 0 PLS
//completion.TIME K1000 Axis 2, # 2 PLS
Speed # 4 PLS/s
[K152:Real] [G154]
1 INC-1 //Did you turned on 1 axis and 2 axis
Axis 2, 2000000 PLS //in-position?
Speed 1000000 PLS/s M2402*M2422
[G155] [F151]
NOP //Waits for the motion control #0L=-#0L //1 axis positioning address sign
//completion. //inversion
#2L=-#2L //2 axes positioning address sign
//inversion
#4L= #4L*2 //Positioning speed *2 Positioning address, the indirect
designation of the speed.
When OFF to ON of
PX3 is detected, [K151:Real]
1000[ms] after 1 axis 1 INC-2
positioning completion Axis 1, # 0 PLS
stands by, and the Axis 2, # 2 PLS
positioning of 2 axes Speed # 4 PLS/s
is executed, and
stands by to the
[G156]
positioning completion
//Did you turn on PX4?
of 2 axes.
!PX4
P0
When PX4 is on, the linear interpolation
control of the 1 axis and 2 axis is
executed at a double speed in the
action, the opposition direction after the
linear interpolation control of the 1 axis
and 2 axis in-position check. And stands
by to PX4 is OFF.
APP - 20
APPENDICES
(3) System setting data of the Motion CPU

System setting is shown below.
(a) Module setting

Manual pulse generator interface module (Q173PX : Slot 3)
Axis No. Description

P1 Manual pulse generator, Synchronous encoder (INC)
I/O response time 0.4[ms]
(b) Basic setting

1) Multiple CPU setting
Setting items Description
Number of Multiple CPU 2 modules

Operating mode All CPU stop by stop error of CPU No.1/2
APP - 21
APPENDICES
2) Automatic refresh setting 1
Send range for each CPU CPU side device This device area is set
up in "M2400" with the
CPU CPU share memory G Dev. starting W0
Qn(H) CPU No.1. (The
bit device for monitor is
No.1 0 transferred to "W0 to" by
No.2 50 0800 0831 W0 W31 the Motion SFC
No.3 program on the
No.4 Q173CPU(N) side.).
Send range for each CPU CPU side device This device area is set
up in "D0" with the Qn
CPU CPU share memory G Dev. starting W100
(H) CPU No.1. (The
ward device for monitor
No.1 0 is transferred to "W100"
No.2 640 0832 0AB1 W100 W37F to by the Motion SFC
No.3 program on the
No.4 Q173CPU(N) side.).

CPU CPU share memory G Dev. starting
No.1
No.2
No.3
No.4
This setting area is used
for the use except for
the positioning device
Send range for each CPU CPU side device for the monitor.
CPU CPU share memory G Dev. starting
No.1
No.2
No.3
No.4
APP - 22
APPENDICES
6) System setting
Setting items Description
Operation cycle setting Auto
Operation mode M2000 is turned on with switch (Stop to Run)
Emergency shout down input PX0
7) Latch range setting

Latch (1) Latch (2)
Item Symbol
Start End Start End
Internal relay M
Link relay B
Annunciator F
Data register D
Link register W
Latch (1) : It is possible to clear using the latch clear.
Latch (2) : Clearing using the latch clear is disabled.
(c) PLC module setting

Type of the Number of Occupation I/O response
Base Slot No.
module points device time
Input 16 000-00F CPU base unit 1 10[ms]
Output 16 010-01F CPU base unit 2
(4) Parameter setting of the Qn(H) CPU No.1

Qn(H) parameter
PC parameter item
Description
1 Number of CPU 2 modules
2 Operation mode The error operating mode in the CPU stop.
CPU No.1 All station stop by stop error
CPU No.2 All station stop by stop error
3 Out of group input settings The input condition outside the group is taken.
Out of group output
The output condition outside the group is not taken.
settings
4 Refresh setting
Setting No.1
Shared CPU memory G First device M2400
CPU
Point Start End Start END
CPU No.1 0
CPU No.2 50 0800 0831 M2400 M3199
Setting No.2
Shared CPU memory G First device D0
CPU
Point Start End Start END
CPU No.1 0
CPU No.2 640 0832 0AB1 D0 D639
APP - 23
APPENDICES
APPENDIX 2.4 Continuation execution example at the subroutine re-start by the Motion
SFC program
(1) Explanation of the operation

This is the program example which execute continuously from the motion control
step which stopped on the way when it re-started after stopping the subroutine
program with the clear step during the motion control is running.
The servo is turned on by the forced stop release and the positioning control of
the 2 axes liner interpolation is executed when PX4 is ON in this program. One
cycle operation is completed after confirmation that PX4 became OFF. When the
forced stop is executed during the positioning operating, the positioning operation
is interrupted and the servomotor is stopped. It is resumed from the interrupted
positioning operation when the forced stop was released next.
Continuation execution of the subroutine re-start is executed by this program
example by the following processing.
(a) While motion control with the subroutine is executed, it is memorized

whether the positioning of which motion control step was completed in the
user device.
(b) The subroutine re-start is resumed from the motion control step of stopping
the information memorized by the above (a).
(c) A motion control step should locate absolute to cope with it when it is
resumed after it stops on the way of the positioning.
(d) A positioning complete signal (M2401+20n) is used for the decision, whether
servomotor is stopped during the positioning.
APP - 24
APPENDICES
(2) Contents of processing the Motion SFC program

Motion SFC program list
Number of
Automatic
operation
transitions
• This program starts automatically at the time of RUN of
• Watch data is taken out, and clock data read request (M9028) is
turned on.
• "0" is set on the continuation point (#100 : user device) as an
20 Main Normal Start 3 initial value.
• The subroutine starts a "No.160 : Re-start continuation" after all
axes servo are turned on and servo on of 1 axis and 2 axes is
confirmed when a forced stop is released.
• "No.160 : Re-start continuation" is stopped at the time of the
forced stop, and actual output (PY) is turned off.
(1) This program jumps corresponding to the value of the
continuation point (#100) of the following (2) 1) to 9).
#100 Jump destination
0 Following (2) 1)
10 Following (2) 3)
20 Following (2) 5)
30 Following (2) 8)
(2) The following motion control is executed.

1) This program stands by until PX4 is turned on.
Restart 2) "10" is set on continuation point (#100).
160 Normal Not start 3
continuation 3) 1 axis, 2 axes are located in (0,0) in the linear control
(absolute 2 axes positioning).
4) Positioning completion signal on of 1 axis, 2 axes is
confirmed, and "20" is set on the continuation point (#100).
5) In-position on of 1 axis and 2 axes is confirmed.
6) 1 axis, 2 axes are located in (1000000, 2000000) in the
linear control (absolute 2 axes positioning).
7) Positioning completion signal on of 1 axis, 2 axes is
confirmed, and "30" is set on the continuation point (#100).
8) This program stands by until PX4 is turned off.
9) "0" is set on continuation point (#100).
APP - 25
APPENDICES
(a) No.20 : Main
Main
[F20] "0" is set on the continuation point (#100)

SET M9028 //Clock data read request on as an initial value.
#100=0 //Continuation point=0
P0
[G20]
M9076 //Did you release a forced
//stop?
The subroutine starts "No.160 : Restart
[F110] continuation" after all axis servo are
SET M2042//All axis servo ON command turned on and servo on of 1 axis and 2
//ON axes is confirmed when a forced stop is
released.
[G105] (Because the next step is a shift, it
M2415*M2435//Did a thing during servo becomes a subroutine start, and the
//on 1 axis and 2 axes? next step is executed at the same time When a forced stop is released, it is
with subroutine practice, too.) the structure which starts the program
which does motion control from the
Restart continuation initials again by sample program.
"No.160 : Restart continuation" is made
to stop by the forced stop, and real Therefore it is the system example
output (PY) is turned off. that motion control is resumed when
a forced stop release is executed
[G21] (Note-1) : The program that a subroutine after it stops forced for while.
!M9076//Did you turn on a forced was started is made to stop if
//stop? necessary when a subroutine
start program is added because
CLR it does not stop.
Restart continuation
(Note-2) : Actual output is turned off if
necessary.
(Note-3) : The occurrence detection of
[F25] servo error and so on is added
DOUT PY10, H0000 //PY10 to PY1F to the stop condition with
//(16 points) OFF forced stop if necessary.
P0
APP - 26
APPENDICES
(b) No.160 : Restart continuation
Restart continuation
[G190] [G191] [G192] [G193]

#100==0 //Is a continuation point 0? #100==10 //Is a continuation #100==20 //Is a continuation #100==30 //Is a continuation
//point 10? //point 20? //point 30?
P0 P10 P20 P30
[G151] The process is started corresponding to the value of

//Did you turn on PX4? #100 (continuation point) from each point of P0 to P30.
PX4
[F189]
#100=10 //Continuation point=10
For the continuation
from P10
P0
P10
[K150:Real] The motion control step [K151:Real]

1 ABS-2 executed absolute posi- 1 ABS-2
Axis 1, 0 PLS tioning to application when Axis 1, # 0 PLS
Axis 2, 0 PLS to start again after it stops Axis 2, # 2 PLS
Speed 500000 PLS/s on the way. Speed # 4 PLS/s
This program is judged by
using the positioning
[G195] completion signal whether [G195]
//Did you turn on 1 axis and it was stopped during the //Did you turn on 1 axis and
//2 axes positioning completion? positioning on the way. //2 axes positioning completion?
M2401*M2421 (When it stops on the way, M2401*M2421
a switchover is stopped in
[F190] this program clear step [F191]
#100=20 //Continuation point=20 stop complete.) #100=30 //Continuation point=30
For the continuation
For the continuation from P30
P20 from P20 P30
[G154] [G156]
//Did you turn on 1 axis and //Did you turn on PX4?
//2 axes in-position signal? !PX4
M2402*M2422
[F150] [F193]
#0L=1000000//1 axis positioning #100=0 //Continuation point=0 "0" is set on #100
//address set (Continuation point)
#2L=2000000//2 axes positioning and it jumps in P0.
//address set P0
#4L=500000//Positioning speed set
APP - 27
APPENDICES
APPENDIX 2.5 Continuation execution example after the stop by the Motion SFC program
(1) The explanation of the operation

The program example that the Motion SFC program is stopped by external input
signal ON for the forced stop from the input module, and it is executed
continuously by external signal OFF for the stop is shown below.
The servo is turned on by the forced stop release and the positioning control of
the 2 axes liner interpolation is executed when PX4 is ON in this program. One
cycle operation is completed after confirmation that PX4 became OFF.
When PX5 turns ON during the positioning operating, the positioning operation is
stopped by the stop instruction and it is resumed from the interrupted positioning
operation at turning PX5 on. The transition to the next step is not executed during
PX5 is ON in the WAIT transition.
When the forced stop is executed during the positioning operating, the
positioning operation is interrupted and the servomotor is stopped. It is resumed
from the interrupted positioning operation when the forced stop was released
next.
Continuation execution of the stop and stop after is executed by this program
example by the following processing.
(a) While PX5 turns it on, it is made to turn on a stop command (M3200+20n)
and an internal relay (M100) for the stop.
(b) While PX5 turns it off, it is made to turn off a stop command (M3200+20n)
and an internal relay (M100) for the stop.
(c) A motion control step does absolute position to cope with it when it is
resumed after it stops on the way of the positioning.
(d) A positioning completion signal (M2401+20n) is used for the decision

whether it is stopped during the positioning on the way.
(e) The motion control step is resumed after it waits to turn it off, when it was
stepped during positioning.
(f) "The internal relay (M100) for the stop turn off." is substituted for the WAIT
transition condition that you must stop.
APP - 28
APPENDICES
(2) Contents of processing SFC program

SFC program list
Number of
Program Automatic
No. Task connective Contents of processing
name operation
transitions
• This program starts automatically at the time of RUN of Q173CPU(N), and
it is always executed.
• Watch data is taken out, and clock data read request (M9028) is turned on.
• The initials condition of the internal relay (M100) for the stop is turned on.
20 Main Normal Start 3
• The subroutine starts "No.170 : Stop".
• The subroutine starts "No.150 : Programming operation".
• When an forced stop is released, all axes servo are turned on.
• Turns off actual output (PY) at the time of the forced stop.
(1) When a stop input signal (PX5) from the input unit is off, the treatment of
the following (2) is executed, and 1 axis and 2 axes executed the following
(3) during servo on in the case of the one except for it.
170 Stop Normal Not start 3 (2) 1 axis and 2 axes stop command are turned off, and an internal relay
(M100) for the stop is turned off.
(3) 1 axis and 2 axes stop command are turned on, and an internal relay
(M100) for the stop is turned on.
(1) The following motion control is executed.
1) This program stands by until PX4 is turned on.
2) 1 axis and 2 axes are located in (0,0) in the linear interpolation control
(absolute 2 axes positioning).
3) Positioning completion signal on of 1 axis and 2 axes are confirmed.
4) In-position on of 1 axis and 2 axes are confirmed.
5) 1 axis and 2 axes are located in (1000000, 2000000) in the linear
Program
150 Normal Not start 3 control (absolute 2 axes positioning).
operation
6) Positioning completion signal on of 1 axis and 2 axes are confirmed.
7) This program stands by until PX4 is turned off.
(2) When a positioning completion signal of the above (1) 3) and 6) is off, it
waits to turn off, and (When a positioning was suspended on the way.)
execute the motion control step (1) 2) or 5) again.
(3) Until an internal relay (M100) for the stop turns it on, it does not move to
the next step of the above (1) 1) and 7).
APP - 29
APPENDICES
(a) No.20 : Main
Main
[F20] The internal relay (M100) for the stop

SET M9028 //Clock data read request on turn on.
SET M100 //Stop ON (Initials set)
Stop
The subroutine starts "170: stop" and

"150 : Programming operation".
P0
[G20] The subroutine that motion control was

M9076 //Did you release a forced executed at the time of the forced stop
//stop? did not stop and which started it for a
When a forced stop is released, all axis while goes on, and it is executed by
servo on command are turned on. this sample program.
[F110]
SET M2042//All axes servo ON command Motion control is stopped after servo
// is ON OFF is detected at the time of the
forced stop in the inside of the
"Real output (PY)" is turned off at the subroutine.
[G21] time of the forced stop.
(Note-1) : A subroutine during the start is Resuming of the motion control is
!M9076//Did you turn on forced executed after all the axis servo ON
//stop? made to stop if necessary.
(Note-2) : Actual output is turned off if command were turned on in this
necessary. program and the detection of servo ON
[F25] was done on the subroutine side when
DOUT PY10,H0000 //PY10 to PY1F (Note-3) : The occurrence detection of
servo error and so on is added a forced stop is released.
//(16 points)OFF
to the stop condition with the
forced stop if necessary.
P0
(b) No.170 : Stop
Stop
P0
[G170]
//Did you release a stop?
// (Did a thing during servo ON and PX5 When servo ON and the outside input
//turn off 1 axis and 2 axes?) signal (PX5) for the stop are OFF, 1
M2415*M2435*!PX5 axis, 2 axis stop command are turned
off, and 1 axis, 2 axis continue motion
control by turning off an internal relay
(M100) for the stop.
[F170] [F171] It is made to turn on 1 axis, 2 axis stop
//A stop is being released stop, status. //The stop is being turned on, status. command, and motion control is made
RST M3200 //1 axis stop command OFF SET M100 //Stop ON to stop by turning on an internal relay
RST M3220 //2 axes stop command OFF SET M3200 //1 axis stop command ON (M100) for the stop, too, when either
RST M100 //Stop OFF SET M3220 //2 axes stop command ON axis turns off servo or when PX5 turns
it on.
P0
APP - 30
APPENDICES
(c) No.150 : Programming operation
P0
[G151] WAIT transition which

//Did you turn on PX4, and turn wants to stop substitutes
//off a stop? "The internal relay (M100)
PX4*!M100 for the stop turns off." for
the AND status.
P10
[K150:Real] The motion control step

1 ABS-2 executed absolute
Axis 1, 0 PLS positioning to application
Axis 2, 0 PLS with it when to start again
Speed 500000 PLS/s after it stops on the way. This program is judged
whether it was stopped by
using the location complete
[G200] signal during the location
//Did 1 axis and 2 axes execute on the way.
//positioning completion? This program is made to
M2401*M2421 execute the motion control
step of again after internal
relay (M100) of the stop
[G154] [G202] waits to turn it off when
//Did you turn on 1 axis and 2 axes !M100 //Did you turn off a stop? positioning completion is
//in-position signal? not turned on after the
M2402*M2422 motion control is executed.
[F150] P10
#0L=1000000//1 axis positioning
//address set
#2L=2000000//2 axes positioning
//address set
#4L=500000//Positioning speed set
P20
[K151:Real]
1 ABS-2 The motion control step
Axis 1, # 0 PLS executed absolute
Axis 2, # 2 PLS positioning to application
Speed # 4 PLS/s with it when to start again This program is judged
after it stops on the way. whether it was stopped by
using the location complete
[G200] signal during the location
//Did 1 axis and 2 axes execute on the way.
//positioning completion? It is made to execute the
M2401*M2421 motion control step of again
after internal relay (M100)
of the stop waits to turn it
[G156] This program substitutes [G202] off when positioning
//Did you turn on PX4, and turn "The internal relay (M100) !M100 //Did you turn off a stop? completion is not turned on
//off a stop? for the stop turns off." into after the motion control is
!PX4*!M100 the AND status in WAIT executed.
transition which wants it to
stop.
P20
P0
APP - 31
APPENDICES
MEMO
APP - 32
WARRANTY
Please confirm the following product warranty details before using this product.
1. Gratis Warranty Term and Gratis Warranty Range

We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as
the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the
distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of
dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are
not responsible for any on-site readjustment and/or trial run that may be required after a defective unit is repaired or
replaced.
[Gratis Warranty Term]

The term of warranty for Product is thirty six (36) months after your purchase or delivery of the Product to a place
designated by you or forty two (42) months from the date of manufacture whichever comes first "Warranty Period".
Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work.
[Gratis Warranty Range]

(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.
It can also be carried out by us or our service company upon your request and the actual cost will be charged.
However, it will not be charged if we are responsible for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with
the terms and conditions and instructions that are set forth in the instruction manual and user manual for the
Product and the caution label affixed to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;
1) A failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure
caused by your hardware or software problem
2) A failure caused by any alteration, etc. to the Product made on your side without our approval
3) A failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is
equipped with a safety device required by applicable laws and has any function or structure considered to
be indispensable according to a common sense in the industry
4) A failure which may be regarded as avoidable if consumable parts designated in the instruction manual,
etc. are duly maintained and replaced
5) Any replacement of consumable parts (battery, fan, etc.)
6) A failure caused by external factors such as inevitable accidents, including without limitation fire and
abnormal fluctuation of voltage, and acts of God, including without limitation earthquake, lightning and
natural disasters
7) A failure generated by an unforeseeable cause with a scientific technology that was not available at the
time of the shipment of the Product from our company
8) Any other failures which we are not responsible for or which you acknowledge we are not responsible for
2. Onerous Repair Term after Discontinuation of Production

(1) We may accept the repair at charge for another seven (7) years after the production of the product is
discontinued.
The announcement of the stop of production for each model can be seen in our Sales and Service, etc.
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.
3. Service in overseas countries

Our regional FA Center in overseas countries will accept the repair work of the Product; However, the terms and
conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.
4. Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability

Whether under or after the term of warranty, we assume no responsibility for any damages arisen from causes for
which we are not responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product,
any damages, secondary damages or compensation for accidents arisen under a specific circumstance that are
foreseen or unforeseen by our company, any damages to products other than the Product, and also compensation
for any replacement work, readjustment, start-up test run of local machines and the Product and any other
operations conducted by you.
5. Change of Product specifications

Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Precautions for Choosing the Products
(1) For the use of our Motion controller, its applications should be those that may not result in a serious damage
even if any failure or malfunction occurs in Motion controller, and a backup or fail-safe function should operate
on an external system to Motion controller when any failure or malfunction occurs.
(2) Our Motion controller is designed and manufactured as a general purpose product for use at general industries.
Therefore, applications substantially influential on the public interest for such as atomic power plants and other
power plants of electric power companies, and also which require a special quality assurance system, including
applications for railway companies and government or public offices are not recommended, and we assume no
responsibility for any failure caused by these applications when used.
In addition, applications which may be substantially influential to human lives or properties for such as airlines,
medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment,
entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any
failure caused by these applications when used.
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality
for a specific application. Please contact us for consultation.
IB(NA)-0300042-D
IB(NA)-0300042-D(1004)MEE
MODEL: Q173-P-SV13/22-SFC-E
MODEL CODE: 1XB781
HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN
When exported from Japan, this manual does not require application to the
Ministry of Economy, Trade and Industry for service transaction permission.
Specifications subject to change without notice.

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Q173CPU(N)/Q172CPU(N)

Motion Controller (SV13/SV22)

Indicates that incorrect handling may cause hazardous

Indicates that incorrect handling may cause hazardous

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

2. For fire prevention

(2) Parameter settings and programming

(3) Transportation and installation

functioning. Control output

(5) Trial operation and adjustment

(7) Corrective actions for errors

(10) General cautions

Japanese Manual Version IB(NA)-0300023

© 2002 MITSUBISHI ELECTRIC CORPORATION

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

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

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

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

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

4. STRUCTURE OF THE MOTION CPU PROGRAM 4- 1 to 4- 4

4.1 Motion Control in SV13/SV22 Real Mode............................................................................................... 4- 2

5. MOTION DEDICATED PLC INSTRUCTION 5- 1 to 5-48

5.1 Motion Dedicated PLC Instruction........................................................................................................... 5- 1

6. MOTION SFC PROGRAMS 6- 1 to 6-28

6.1 Motion SFC Program Configuration ........................................................................................................ 6- 1

7. OPERATION CONTROL PROGRAMS 7- 1 to 7-96

7.1 Operation Control Programs.................................................................................................................... 7- 1

8.1 Transition Programs................................................................................................................................. 8- 1

9. MOTION CONTROL PROGRAMS 9- 1 to 9-22

9.1 Servo Instruction List................................................................................................................................ 9- 1

10. MOTION DEVICES 10- 1 to 10- 6

10.1 Motion Registers (#0 to #8191) ............................................................................................................ 10- 1

11. MOTION SFC PARAMETER 11- 1 to 11-20

11.1 Task Definitions.................................................................................................................................... 11- 1

12. USER FILES 12- 1 to 12- 8

12.1 Projects................................................................................................................................................. 12- 1

13. LIMIT SWITCH OUTPUT FUNCTION 13- 1 to 13- 8

13.1 Operations............................................................................................................................................ 13- 1

14. ROM OPERATION FUNCTION 14- 1 to 14-12

14.1 About the ROM Operation Function.................................................................................................... 14- 1

15.1 Password Registration/change............................................................................................................ 15- 1

16. COMMUNICATIONS VIA NETWORK 16- 1 to 16-10

16.1 Specifications of The Communications via Network........................................................................... 16- 2

17. MONITOR FUNCTION OF THE MAIN CYCLE 17- 1 to 17- 2

18. SERVO PARAMETER READING FUNCTION 18- 1 to 18- 2

18.1 About The Servo Parameter Read Request Devices......................................................................... 18- 1

19. ERROR CODE LISTS 19- 1 to 19-18

19.1 Reading Procedure for Error Codes.................................................................................................... 19- 1

APPENDICES APP- 1 to APP-32

APPENDIX 1 Processing Times...............................................................................................................APP- 1

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