Q 172 D Straining Motion School

Motion Controller School Textbook
(Advanced Synchronous Control Edition)

Windows PC Compatible MT Works2
Motion Controller School Textbook (Advanced Synchronous Control Edition) Windows PC Compatible MT Works2
MODEL
MODEL
CODE
SH-030148ENG-A (1403) MEE
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.

 Safety Precautions 
(Always read before performing practical work.)
When designing systems, always read related manuals and give sufficient consideration to safety.
Pay due attention to the following points when performing practical work, and ensure correct handling of the
product.
[Practical work precautions]
! DANGER
 Do not touch terminals while the power is ON. Failure to observe this may result in electric shock.
 When removing the safety cover, either turn OFF the power, or ensure that sufficient attention is paid to safety.
! CAUTION
 Carry out practical work in accordance with the instructions of your teacher.
 Do not remove the demonstration machine, or make changes to the wiring.

Failure to observe this may result in a fault, malfunction, injury, or fire.
 Turn OFF the power before attaching or removing the module.

Removing or attaching the module with the power ON may result in a module fault or electric shock.
 If the demonstration machine emits an abnormal odor or noise, press the [Power] button or [EMERGENCY
STOP] button to stop the module.
 If an error occurs, notify your teacher immediately.
A-1
Revision History
* The text number is indicated in the lower left of the rear cover of this manual.
Print date * Text No. Revision details

Sep. 2015 SH-030148ENG-A First print
This manual does not guarantee the enforcement of industrial property or other rights, and does not
grant licensing rights. Furthermore, Mitsubishi accepts no responsibility for industrial property related
problems arising through use of the content described in this manual.
© 2015 MITSUBISHI ELECTRIC CORPORATION
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Contents
Introduction ··········································································································· A - 8
Chapter 1 Overview 1 - 1 to 1 - 6
1.1 Motion Controller Features ·················································································· 1-1

1.2 Control Overview ······························································································ 1-4
1.2.1 Real mode control for SV13 conveyance and assembly/SV22 automatic machines ··· 1-4
1.2.2 Advanced synchronous control for SV22 automatic machines ······························ 1-5
1.3 System Startup Requirements ············································································· 1-6
Chapter 2 Function Description 2 - 1 to 2 - 8
2.1 Specifications List ····························································································· 2-1

2.1.1 Motion control specifications list (SV13/SV22) ··················································· 2-1
2.1.2 Motion SFC performance specifications list (SV13/SV22) ···································· 2-2
2.1.3 System configuration device list (SV13/SV22) ··················································· 2-3
2.2 System Configuration Diagrams ··········································································· 2-4
2.2.1 Q173DSCPU/Q172DSCPU system ································································· 2-4
2.3 Name of Each Part ···························································································· 2-5
Chapter 3 Q PLC Multiple CPU 3 - 1 to 3 -19
3.1 Multiple CPU System ························································································· 3 - 2

3.1.1 Multiple CPU system settings ········································································ 3 - 2
3.1.2 Q PLC CPU, Q motion CPU installation locations ··············································· 3 - 3
3.1.3 I/O numbers ······························································································· 3 - 4
3.1.4 CPU shared memory ··················································································· 3 - 6
3.1.5 Multiple CPU high speed transmission ····························································· 3 - 9
3.2 Dedicated Multiple CPU Motion Commands ·························································· 3 -15
3.2.1 SFCS motion SFC program start command ····················································· 3 -15
3.2.2 SVST servo program start request command ··················································· 3 -17
Chapter 4 Q Motion CPU 4 - 1 to 4 - 27
4.1 System Settings ································································································ 4 - 2

4.1.1 Basic settings ····························································································· 4 - 2
4.1.2 System configuration ··················································································· 4 - 3
4.1.3 SSCNET configuration ················································································· 4 - 3
4.2 Servo Data Settings ··························································································· 4 - 4
4.2.1 Servo data ································································································· 4 - 4
4.2.2 Parameter blocks ························································································ 4 - 4
4.2.3 Servo parameters ························································································ 4 - 5
4.3 Positioning Control Devices ················································································· 4 - 6
4.3.1 Internal relays (status/command signals) ······················································· 4 - 11
4.3.2 Internal relays (common devices) ································································· 4 - 22
4.3.3 Data register (monitor device/control change register) ······································ 4 - 24
4.3.4 Special relays ···························································································· 4 - 38
4.3.5 Special Registers························································································ 4 - 38
4.4 Motion Devices ······························································································· 4 - 39
4.4.1 Motion registers (#0 to #12287) ···································································· 4 - 39
4.5 Coasting Timer (FT) ························································································ 4 - 43
A-3
Chapter 5 Motion SFC Programs 5 – 1 to 5 - 23
5.1 Features ········································································································· 5 - 1

5.2 Motion SFC Program Configuration ······································································ 5 - 2
5.3 SFC Diagram Symbol List ··················································································· 5 - 3
5.4 Branch and Node Diagram List ············································································ 5 - 5
5.5 Motion SFC Program Name ················································································ 5 - 6
5.6 Steps ·············································································································· 5 - 7
5.6.1 Motion control steps ····················································································· 5 - 7
5.6.2 Operation control steps ················································································ 5 - 8
5.6.3 Sub-routine call/start steps ············································································ 5 - 9
5.6.4 Clear Steps ······························································································ 5 - 10
5.7 Transition ······································································································ 5 - 11
5.8 Jumps and Pointers ························································································· 5 - 13
5.9 END ·············································································································· 5 - 13
5.10 Branches and Nodes ······················································································· 5 - 14
5.10.1 Series transitions ······················································································ 5 - 14
5.10.2 Selection branches and selection nodes ························································ 5 - 15
5.10.3 Parallel branches and parallel nodes ····························································· 5 - 16
5.11 Y/N Transitions ······························································································· 5 - 17
5.12 Task Operation ······························································································· 5 - 19
5.13 SFC Parameters ····························································································· 5 - 21
5.13.1 Task parameters ······················································································· 5 - 21
5.13.2 Program parameters ·················································································· 5 - 21
5.14 Motion SFC Program Start Method ····································································· 5 - 22
5.15 Motion SFC Program Exit Method ······································································ 5 - 22
Chapter 6 SV22 Servo Programs 6 - 1 to 6 - 27
6.1 Servo Programs ································································································· 6- 1

6.1.1 Servo program configuration ··········································································· 6- 1
6.1.2 Servo command lists ····················································································· 6- 2
6.1.3 Linear control ····························································································· 6-15
6.1.4 Circular interpolation control for interpolation point designation ····························· 6-16
6.1.5 Circular interpolation control for radius designation ············································ 6-17
6.1.6 Circular interpolation control for center point designation ····································· 6-18
6.1.7 Fixed feeding ····························································································· 6-19
6.1.8 Speed control ····························································································· 6-19
6.1.9 Speed, position switching control ···································································· 6-20
6.1.10 Constant speed control ················································································· 6-21
6.1.11 Repeat control (for speed switching control and constant speed control) ················ 6-22
6.1.12 Simultaneous start ······················································································· 6-23
6.1.13 Zeroing ····································································································· 6-24
6.1.14 Fixed-pitch feed control ················································································ 6-25
6.1.15 Current value change ··················································································· 6-26
Chapter 7 Operation Control Programs 7 – 1 to 7 - 4
7.1 Operator, function priority order ············································································ 7 - 1

7.2 Operational control, transition command list ··························································· 7 - 2
A-4
Chapter 8 Windows Computer Operation 8 - 1 to 8 - 11
8.1 Data Creation Flow for Motion Controller Operation ················································· 8-1
8.2 Q PLC CPU Settings ························································································· 8-2
8.2.1 Opening a project ························································································ 8-2
8.2.2 Multiple CPU settings ··················································································· 8-3
8.2.3 Writing sequence programs ··········································································· 8-7
8.3 Starting MT Works2 ··························································································· 8-9
Chapter 9 Basic Practice in SV22 Real Mode 9 - 1 to 9 - 81
9.1 Practice Content ································································································ 9- 1

9.2 Q172DSCPU Demonstration Machine System Configuration ········································ 9- 2
9.3 System Settings ································································································· 9- 5
9.4 Servo Data Input Operation ················································································· 9-18
9.5 Practice Motion SFC Programs ············································································ 9-25
9.5.1 Program list ······························································································· 9-25
9.5.2 Initial processing ························································································· 9-31
9.5.3 JOG Operation ··························································································· 9-32
9.5.4 Zeroing ····································································································· 9-35
9.5.5 Main routine motion SFC program (real mode operation) ····································· 9-37
9.5.6 Standby point positioning ·············································································· 9-39
9.5.7 Point selection positioning ············································································· 9-40
9.5.8 Address indirect designation positioning ·························································· 9-41
9.5.9 Changing the speed (CHGV) [additional practice] ·············································· 9-42
9.6 Motion SFC Program Creation Procedure ······························································ 9-46
9.6.1 Creating a new motion SFC program ······························································· 9-46
9.6.2 SFC diagram creation procedure ···································································· 9-48
9.6.3 Entering transition and operation control steps ·················································· 9-55
9.6.4 Entering motion control steps ········································································· 9-59
9.6.5 Motion SFC program parameter settings, batch conversion ································· 9-64
9.7 Writing to the Motion CPU ··················································································· 9-66
9.8 Test Operation ································································································· 9-68
9.8.1 JOG operation ···························································································· 9-68
9.8.2 Servo program execution ·············································································· 9-71
9.9 Demonstration Machine Operation ········································································ 9-74
9.9.1 Operation ·································································································· 9-74
9.9.2 Monitor operation with monitor screen ····························································· 9-78
9.9.3 Motion SFC program monitor ·········································································· 9-80
9.10 Exit Operation ·································································································· 9-83
9.10.1 Exiting MT Works2 ······················································································ 9-83
9.10.2 Exiting GX Works2 ······················································································ 9-83
Chapter 10 SV22 Advanced Synchronous Control Practice 10 - 1 to 10 - 43
10.1 Synchronous Control Parameters ········································································ 10- 1

10.1.1 Synchronous control modules ······································································· 10- 1
10.1.2 Synchronous control module list ···································································· 10- 2
10.1.3 Servo input axes ························································································ 10- 3
10.1.4 Command generation axes ·········································································· 10- 3
10.1.5 Synchronous encoder axes ·········································································· 10- 4
10.1.6 Main shaft main input axis ············································································ 10- 5
10.1.7 Main shaft sub input axis ············································································· 10- 6
10.1.8 Composite main shaft gear ··········································································· 10- 6
10.1.9 Main shaft gear ·························································································· 10- 6
A-5
10.1.10 Main shaft clutch ························································································ 10- 7
10.1.11 Auxiliary shafts ·························································································· 10- 8
10.1.12 Auxiliary shaft gear ····················································································· 10- 9
10.1.13 Auxiliary shaft clutch ··················································································· 10- 9
10.1.14 Auxiliary shaft clutch ·················································································· 10-11
10.1.15 Speed change gear ··················································································· 10-11
10.1.16 Output axes ····························································································· 10-12
10.2 Practice Content ····························································································· 10-14
10.3 Cam Data Creation ··························································································· 10-16
10.4 Advanced Synchronous Control Programs ··························································· 10-21
10.4.1 Creating new advanced synchronous control motion SFC programs ···················· 10-23
10.4.2 Entering motion control steps for advanced synchronous control ························· 10-25
10.5 Editing Command Generation Axis Parameters ····················································· 10-30
10.6 Editing Servo Input Axis Parameters ··································································· 10-30
10.7 Editing Synchronous Control Parameters ····························································· 10-31
10.8 Writing to the Q Motion CPU ··············································································· 10-36
10.9 Practice Programs ···························································································· 10-37
10.10 Demonstration Machine Operation ······································································ 10-41
Appendices Appendix - 1 to Appendix - 146
Appendix 1 Application Practice in SV22 Real Mode ··········································· Appendix - 1

Appendix 1.1 Practice Content ······································································ Appendix - 1
Appendix 1.2 Practice Motion SFC Programs ···················································· Appendix - 2
Appendix 1.2.1 Program list ········································································ Appendix - 2
Appendix 1.2.2 Main routine motion SFC program (real mode operation) ············· Appendix - 5
Appendix 1.2.3 Continuous positioning (1) 5 ···················································· Appendix - 7
Appendix 1.2.4 Continuous positioning (2) ···················································· Appendix - 10
Appendix 1.2.5 Teaching, teaching playback ················································· Appendix - 11
Appendix 1.2.6 Fixed feed, fixed feed advance ·············································· Appendix - 13
Appendix 1.3 Demonstration Machine Operation ··············································· Appendix - 15
Appendix 1.3.1 Operation ·········································································· Appendix - 15
Appendix 2 Digital Oscilloscope ······································································ Appendix - 19
Appendix 3 Windows Computer Operation ······················································ Appendix - 25
Appendix 3.1 MELSOFT MT Works2 Installation Procedure ······························ Appendix - 25
Appendix 4 Q173DCPU and Q172DCPU Comparison ······································· Appendix - 28
Appendix 5 OS Software Installation Procedure ················································ Appendix - 30
Appendix 6 Dedicated Motion Sequence Commands ········································· Appendix - 33
Appendix 6.1 GINT Interrupt Commands to Other CPUs ··································· Appendix - 33
Appendix 6.2 Read Command from DDRD Q Motion CPU Device ······················ Appendix - 36
Appendix 6.3 Read Command from DDWR Q Motion CPU Device ····················· Appendix - 39
Appendix 6.4 CHGT Torque Limit Value Change Request Command ·················· Appendix - 42
Appendix 6.5 CHGA Current Value Change Command ······································ Appendix - 45
Appendix 6.6 CHGV Speed Change Command ················································ Appendix - 48
Appendix 7 Operation Control Programs (Details) ············································· Appendix - 51
Appendix 7.1 Device Descriptions ································································ Appendix - 51
Appendix 7.2 Constant Description ······························································ Appendix - 53
Appendix 7.3 Binary Operation ····································································· Appendix - 54
Appendix 7.3.1 Substitution: = ···································································· Appendix - 54
Appendix 7.3.2 Addition: + ········································································· Appendix - 56
Appendix 7.3.3 Subtraction: - ····································································· Appendix - 57
Appendix 7.3.4 Multiplication: * ··································································· Appendix - 58
Appendix 7.3.5 Division: / ·········································································· Appendix - 60
Appendix 7.3.6 Remainder: % ···································································· Appendix - 61
A-6
Appendix 7.4 Bit Operation ········································································· Appendix - 62
Appendix 7.4.1 Bit inversion (complement): ~ ················································ Appendix - 62
Appendix 7.4.2 Bit logical product: & ···························································· Appendix - 63
Appendix 7.4.3 Bit logical sum: | ································································· Appendix - 64
Appendix 7.4.4 Bit exclusive logical sum: ^ ··················································· Appendix - 65
Appendix 7.4.5 Bit right shift: >> ································································· Appendix - 66
Appendix 7.4.6 Bit left shift: << ··································································· Appendix - 67
Appendix 7.5 Bit Device Status ····································································· Appendix - 68
Appendix 7.5.1 ON (contact A): (none) ························································· Appendix - 68
Appendix 7.5.2 OFF (contact B): ! ······························································· Appendix - 69
Appendix 7.6 Bit Device Control ···································································· Appendix - 70
Appendix 7.6.1 Device set: SET ································································· Appendix - 70
Appendix 7.6.2 Device reset: RST ······························································· Appendix - 72
Appendix 7.6.3 Device output: DOUT ···························································· Appendix - 74
Appendix 7.6.4 Device input: DIN ································································ Appendix - 75
Appendix 7.6.5 Bit device output: OUT ························································· Appendix - 76
Appendix 7.7 Logical Operations ····································································· Appendix - 77
Appendix 7.7.1 Logical affirmation: (none) ···················································· Appendix - 77
Appendix 7.7.2 Logical negation: ! ····························································· Appendix - 78
Appendix 7.7.3 Logical product: * ································································ Appendix - 79
Appendix 7.7.4 Logical sum: + ··································································· Appendix - 80
Appendix 7.8 Comparison Operations ····························································· Appendix - 81
Appendix 7.8.1 Match: == ··········································································· Appendix - 81
Appendix 7.8.2 Mismatch != ········································································ Appendix - 82
Appendix 7.8.3 Less than: < ······································································ Appendix - 83
Appendix 7.8.4 Less than or equal to: <= ······················································· Appendix - 84
Appendix 7.8.5 Greater than: > ··································································· Appendix - 85
Appendix 7.8.6 Greater than or equal to: >= ·················································· Appendix - 86
Appendix 7.9 Dedicated Motion Functions (CHGV/CHGT) ···································· Appendix - 87
Appendix 7.9.1 Speed change request: CHGV ················································ Appendix - 87
Appendix 7.9.2 Torque limit value change request: CHGT ······························· Appendix - 93
Appendix7.9.3 Torque limit value individual change request: CHGT2 ·················· Appendix - 95
Appendix 7.9.4 Target position change request: CHGP ····································· Appendix - 98
Appendix 7.10 Other Commands ································································· Appendix - 107
Appendix 7.10.1 Event task authorized: EI ················································ Appendix - 107
Appendix 7.10.2 Event task prohibited: DI ·················································· Appendix - 108
Appendix 7.10.3 No processing: NOP ······················································ Appendix - 109
Appendix 7.10.4 Block transfer: BMOV ······················································ Appendix - 110
Appendix 7.10.5 Same data block transfer: FMOV ······································· Appendix - 113
Appendix 7.10.6 Data writing to self CPU shared memory: MULTW ··············· Appendix - 115
Appendix 7.10.7 Data reading from shared memory: MULTR ······················· Appendix - 117
Appendix 7.10.8 Word data writing to intelligent function module: TO ············· Appendix - 120
Appendix 7.10.9 Word data reading from intelligent function module:
FROM ········································································ Appendix - 123
Appendix 7.10.10 Time wait: TIME ··························································· Appendix - 126
Appendix 8 Overview of Virtual Mode Control for SV22 Automatic Machines ··········· Appendix - 128
Appendix 9 Glossary ··················································································· Appendix - 129
A-7
Introduction
This document is a schooling text created for the purpose of helping users understand the motion
controller developed to easily control multi-axis positioning.
This manual provides an overview of the Q motion controller, and describes how to specify data
settings to perform positioning, and create servo programs, mechanical support languages, and
sequence programs using a Windows computer and programming tool (MT Works2).
(Usable software packages and function specifications will differ depending on the model.)
The following related manuals are available.

Model Model code
(1) User's manual
 Q172D(S)CPU/Q173D(S)CPU IB(NA)-0300133 1XB927
Describes the motion controller hardware (exterior, wiring, etc.).
(2) Programming manuals

 Q172D(S)CPU・Q173D(S)CPU Common Edition IB(NA)-0300134 1XB928
 SV13/22 (Q172D(S) / Q173D(S) Real Mode Edition) IB(NA)-0300136 1XB930
 (Q172D(S)/Q173D(S) Advanced Synchronous Control Edition)
for SV22 automatic machine IB(NA)-0300198 1XB953
 Motion SFC Edition (Q172D(S)/ Q173D(S)) IB(NA)-0300135 1XB929
Describes parameters for positioning control, dedicated positioning devices, positioning methods,
and motion SFC, etc.
(3) Software manual

 MELSOFT MT Works2 Installation Instructions BCN-B62008-364
(4) Sequence programming manuals

 QCPU (Q mode) Common Command Edition SH(NA)-080809ENG 13JW10
 QnUCPU User's Manual Function Description,
Program Basics Edition SH(NA)-080807ENG 13JZ27
 QnUCPU User's Manual Hardware Design, Maintenance &
Inspection Edition SH(NA)-080483ENG 13JR73
 QnUCPU User's Manual Multi-CPU System Edition SH(NA)-080485ENG 13JR75
Describes devices and all commands required to create sequence programs.
(5) GX Works2 related manuals

 GX Works2 Version1 Operating Manual (Common Edition) SH(NA)-080779ENG 13JU63
 GX Works2 Version1 Operating Manual (Simple Project Edition) SH(NA)-080780ENG 13JU64
 GX Works2 Version1 Operating Manual (Intelligent Function Unit Operation Edition)
SH(NA)-080921ENG 13JU69
(6) Technical document collections

 MR-J4-B Servo Amp Technical Document Collection SH(NA)-030106 1CW805
Describes SSCNET III (/H) servo amp handling and error displays, etc.
 MELSERVO-J4 Servo Amp Technical Document Collection (Troubleshooting Edition)
SH(NA)-030109 1CW808
SSCNET is an abbreviation of Servo System Controller Network.
A-8
Chapter 1 Overview
1.1 Motion Controller Features
The motion controller has the following features.
(1) Q PLC CPU and multiple CPU System

Processing loads can be balanced to realize a flexible system construction by
using the Q motion CPU module for complex servo control, and the Q PLC
CPU module for all other machine and information control.
(2) Full range of controllers for all applications

The following motion controller models are available to suit the scale of the
systems required to perform multi-axis positioning.
(Multi-axis positioning function for 1
• Q172DSCPU
to 16 axes)
SSCNET III/H
• Q173DSCPU
to 32 axes)
• Q172DCPU
to 8 axes)
• Q173DCPU
to 32 axes)
SSCNET III
• Q172HCPU
to 8 axes)
• Q173HCPU
to 32 axes)
• Q172CPU
to 8 axes)
SSCNET
• Q173CPU
to 32 axes)
(3) Control is possible with an MR-J4-B servo amplifier.

Servo motors can be controlled by externally connecting an MR-J4-B servo
amplifier with motion network SSCNET III/H.
(Using the Q172DSCPU or Q173DSCPU, up to 16 or 32 servo motors can be
controlled, respectively.)
(4) High-speed serial communication with servo amplifiers is possible.

Servo data can be collected, changes can be made to servo parameters, servo
tests can be carried out, servos can be monitored, and mechanical system
programs can be monitored through motion network SSCNET III/H high-speed
serial communication. Furthermore, SSCNET III/H communication offers a
maximum communication speed of 150 Mbps, accelerated command
communication synchronization of 0.22 ms, and high-speed, high-accuracy
positioning.
(5) An absolute position system is possible.

An absolute position system is possible using servo motors equipped with
absolute position detector. (Zeroing is unnecessary even in the event of a
power outage.)
(6) A Windows computer is used as the programming tool for positioning.

Motion SFC programming, servo control programming, monitoring, and
testing can be performed using a Windows computer and dedicated software
package.
Windows computer peripheral software package: MT Works2
1-1
(7) Changes can be made to the operating system (OS).
A comprehensive range of software packages is available to suit all
applications, and the applicable OS can be written directly to the CPU built-in
Flash memory to realize a motion controller suitable for any machine.
Furthermore, functional upgrades to software packages are also possible.
1) SV13 for conveyance and assembly
SV13 can perform tasks such as 1 to 4-axis linear interpolation with
dedicated servo commands, 2-axis circular interpolation, 3-axis helical
interpolation, CP control (constant speed control), speed control, and
fixed-pitch feeding, making it ideal for equipment such as conveyors and
assembly machines.
2) SV22 for automatic machines
Multiple servo motors can be controlled simultaneously with a mechanical
support language, and cam control is possible using software, making
SV22 ideal for automatic machines and so on.
Motion controllers come preinstalled with SV22 when shipped.
Furthermore, the latest versions of the OS software for all motion controllers
can be downloaded from the Mitsubishi Electric FA site and then installed.
(8) Mechanical support language (mechanical system program): valid only

for SV22
In the past, synchronous motion and cooperative motion were required for
industrial equipment and automatic machines, and these motions were
combined as an implementation tool.
This method used transfer mechanisms such as main shafts, which were the
driving forces, and gears, clutches, and cranks to drive output mechanisms
such as rotational motions, linear motions, reciprocating motions, and feed
motions,. This method was excellent in terms of synchronous and cooperative
motions, but was lacking in flexibility.
Separating the mechanical support language from the previous mechanical

combination, and using software to process machine mechanism motions has
led to improvements in the functionality and performance of the positioning
control used to control servo motors, and because this is an electrical method,
there are few mechanical limitations, facilitating a logical design.
Transfer mechanisms from main shafts to gears, clutches, transmissions, and

differential gears, and output mechanisms such as roller output, ballscrew
output, rotary table output, and cam output are shown in diagrams on
peripheral equipment screens, and simply by setting the respective module
parameters, synchronous and cooperative motions can be realized, facilitating
the easy construction of flexible control systems.
Consequently, mechanical parts such as main shafts, gears, clutches, cranks,
transmissions, differential gears, and cams can be significantly eliminated or
omitted, meaning lower costs and less wear.
(9) Software cam: valid only for SV22

By replacing the cam mechanism for which synchronous control was being
performed mechanically with software, and then setting synchronous control
parameters, the following features can be obtained by synchronizing control
with input axes.
1) Cam curved line data can be created easily with cam curved line creation
software, eliminating the need to manufacture cam parts.
2) Cams can be replaced easily by changing the cam No. from the motion
SFC program or sequence program.
3) There is no need to consider the wear or short life characteristic of cams.
1-2
(10) Teaching function
Gauging servo programs can be created with the current value teaching
function.
(11) Limit switch function

This function outputs ON/OFF signals corresponding to the data range for
watch data set for each output device (X, Y, M, L, B).
Output devices for up to 32 signals can be set.
(12) Peripheral I/F (Ethernet)

With the peripheral I/F built-in motion CPU, connections can be made to a wide
range of devices such as GOT and COGNEX vision systems via Ethernet.
(13) Support for 4 million pulse synchronous encoder as standard

The "Q171ENC-W8" 4 million pulse synchronous encoder is supported as
standard, meaning significant improvements in synchronized operation
accuracy (16 times higher than previous system). High-accuracy control can
be achieved in combination with an MR-J4-B servo amplifier (standard motor
resolution of 4 million (22-bit) pulses).
1-3
1.2 Control Overview
1.2.1 Real mode control for SV13 conveyance and assembly/SV22 automatic
machines
(a) Systems using servo motors are controlled directly with a servo
program.
(b) Positioning parameters must be set, and servo programs and motion
SFC programs must be created.
(c) The procedure when performing positioning control is as follows.
1) Issue a motion SFC program start request with a sequence

program SFCS command.
2) Perform positioning control with the specified motion SFC

program.
3) Servo motors are controlled.
Q PLC CPU
QシーケンサCPU Q motion CPU
QモーションCPU
シーケンスプログラム
Sequence program Motion SFC program
モーションSFCプログラム
2) Servo
1)
① ②
DP.SFCS
DP.SFCS 
････ K0KO ････
 Transfer (KO) (K0)
トランスファーサーボアンプ
amplifier
Motion SFC
モーションSFC
program start [G100]
[G100]
プログラム
request M2049//サーボON受付?
M2049//Servo ON received?
起動要求命令
command
サーボプログラム
Servo program
始動プログラム番号設定
Start program No. setting 3)
③ Servo
サーボモータmotor
[K10：リアル]
[K10: Real]
1Axis
INC-2
1: 10,000 pls
*1 Motion SFC programs can also be started
※1．モーションSFCプログラムは，パラメ軸2: 2,000
Axis 　1， pls　10000 PLS
automatically by specifying a parameter
ータ設定により自動起動することも軸　2，　 20000　PLS
setting. Combined speed: 30,000 pls/s
できます。合成速度 30000　PLS/sec
※2．SVST命令を使用することにより，モー
*2 Using the SVST command, servo programs
ションSFCプログラムなしでサーボプロ
can also be started directly without a motion
グラムを直接始動することもできます。
SFC program. END
END
位置決め用パラメータ
Positioning parameters
システム設定
System settings
固定パラメータ
Fixed parameters
Servo parameters
サーボパラメータ
Parameter blocks
パラメータブロック
原点復帰データ
Zeroing data
JOG運転データ
JOG operation data
Limit switches
リミットスイッチ
出力データ
Output data
1-4
1.2.2 Advanced synchronous control for SV22 automatic machines
(a) Performs the same control by replacing the mechanism used to

perform mechanical synchronous control using devices such as gears,
shafts, transmissions, and cams with software.
(b) Synchronous control parameters are required in addition to the

positioning parameters, servo programs, and motion SFC programs
used in real mode.
(c) The procedure for positioning control with advanced synchronous

control is as follows.
1) Issue an advanced synchronous control motion SFC program
start request with a sequence program SFCS command.
2) The advanced synchronous control command generation axis

starts up.
3) Output synchronous control parameters to the servo amplifier for

each axis.

＜シーケンサCPU＞
PLC CPU ＜モーションCPU＞
Motion CPU
シーケンスプログラム
Sequence program Motion SFC program
モーションSFCプログラム Axis軸1同期制御パラメータ（各軸)
1 synchronous control parameters (all axes)
1)
① Command
指令生成軸 generation axis
トランスファー
Transfer
DP.SFCS ････
 K300 ････････

[G300]
[G300]
M10880//Performing synchronous control?
M10880//同期制御中?
モーションSFC
Motion SFC Start program
始動プログラム ②2)
プログラム起動
program start No. setting
番号指定サーボプログラム
Servo program
request
要求命令
command [K100：指令生成軸]
[K100: Command generation axis]
1 VF （軸1）
(Axis 1)
Axis: 1
　　軸　　1　　
*: Motion SFC programs can also be started
＊：モーションSFCプログラムは，パラメータ設定に
automatically by specifying a parameter setting.
　　より自動起動することもできます。　Speed: # 0 pls/s
速度　　　　#　0　PLS/s
END
END
Positioning control parameters

位置決め制御用パラメータ
System settings
システム設定
Fixed parameters
Servo parameters
サーボパラメータ
Parameter blocks
Limit switches
出力データ
Output data
• Zeroing is not possible with advanced synchronous control, and therefore zeroing data is not used.
・アドバンスト同期制御では，原点復帰ができないため，原点復帰データは使用しません｡
・アドバンスト同期制御のJOGデータ運転は，指令生成軸パラメータで設定したJOG運転データ 3) ③
• Advanced synchronous control JOG data operation is controlled with JOG operation data set in the
　で制御されます｡
command generation axis parameters. Servo
サーボアンプ
amplifier
4) ④
サーボモータ
Servo motor
1-5
1.3 System Startup Requirements
The steps inside the boxes with unbroken lines must be carried out.
The steps inside the boxes with broken lines should be carried out as
required.
Refer to Chapter 8 for details on system startup.
Select devices such as the Q PLC base, power supply modules, Q motion
1 Motion controller device selection
CPU, Q PLC CPU, motion module, servo amplifiers, servo motors, and cables,
system assembly, wiring
and assemble and wire the system.
2 To Windows computer
Register the software package (MT Works2, MR Configurator2, GX Works2).
Software package registration
3 Q PLC CPU multiple CPU settings Create with GX Works2.
4 Sequence program creation Create with GX Works2.
5 Data writing to the Q PLC CPU Write the sequence program and computer parameters at the computer.
6 Cam creation Create cams when SV22 is used, and using cams for the output module.
SV13, SV22 startup (new project

7 Start the software package used, and then create a new project.
creation)
Create system basic settings, multiple CPU settings, the Q PLC base, motion
8 System settings creation module, servo amplifiers, servo motors, axis numbers and so on as the motion
controller system.
Servo data creation • Set unit settings, travel value per pulse, stroke limit values, etc.
• Fixed parameters • Set the rotation direction, auto tuning, etc.
• Servo parameters • Set the zeroing direction, method, address, speed, etc.
9 • Zeroing data • Set the JOG speed limit value, parameter block numbers, etc.
• JOG operation data • Set the speed limit values, acceleration/deceleration time, torque limit values,
• Parameter blocks etc.
(Set servo parameters at MR Configurator2 started from MT Works2.)
Servo data creation

10 Set only when using the limit switch output function.
• Limit switch data
11 Motion SFC program creation
Mechanical system program creation

12 Synchronous control parameter Create and set when using SV22.
setting
Use Ethernet to connect to the Windows computer, and use Ethernet,

13 Cable connection to Q motion CPU
RS-232C, or USB to connect to the Q PLC CPU.
Register the OS using the installation procedure at the servo menu screen.
Registering the OS in the Q motion
14 (Performed only once when constructing the system. SV22 comes
CPU
preinstalled.)
Write the motion SFC program, servo data, servo program, mechanical system
15 Data writing to the Q motion CPU
program, synchronous control parameters, and cam data.
16 Resetting the Q PLC CPU Press the Q PLC CPU [RESET] button.
Running the Q PLC CPU, Q motion

17 Press the Q PLC CPU, Q motion CPU [RUN] button.
CPU
1-6
Chapter 2 Function Description
This section describes the system functions.
2.1 Specifications List

2.1.1 Motion control specifications list (SV13/SV22)
Model
Q173DSCPU Q172DSCPU
Comparison item
External dimensions [mm] 120.5(H) × 27.4(W) × 120.3(D)
Number of control axes Max. 32 axes (Max. 16 axes per system × 2) Max. 16 axes
Up to 2 × Q172DLX modules can be
Up to 4 × Q172DLX modules can be used.
No of equipped motion used.
related modules Up to 6 × Q172DEX modules can be used.
Up to 4 × Q173DPX modules can be used. *1
0. 22 ms/1 to 4 axes
0. 44 ms/5 to 10 axes
SV13 0. 44 ms/5 to 10 axes
0. 88 ms/11 to 24 axes
Operation cycle 0. 88 ms/11 to 16 axes
1. 77 ms/25 to 32 axes
(default)
SV22 0. 88 ms/7 to 16 axes
0. 88 ms/7 to 16 axes
1. 77 ms/17 to 32 axes
Linear interpolation (max. 4 axes), circular interpolation (2 axes),
Interpolation function
helical interpolation (3 axes)
PTP (Point To Point) control, speed control, speed position control, fixed feeding,
constant speed control, fixed-pitch feed, fixed position stop speed control,
Control mode
speed change control, high-speed oscillation control, speed/torque control,
synchronous control (SV22)
Acceleration/deceleration Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration,
processing advanced S-curve acceleration/deceleration
Compensation function Backlash compensation, electronic gear, phase compensation (SV22)
Program language Motion SFC, dedicated commands, mechanical support language (SV22)
Servo program capacity 16 k steps
Number of positioning points 3,200 points (indirect designation possible)
USB/RS-232/Ethernet (via PLC CPU),
Peripheral I/F
peripheral I/F (motion CPU control)
Proximity dog method (2 types), count method (3 types), data set method (2 types)
dog cradle method, stopper stopping method (2 types), combined use with limit switch,
Zeroing function
scale home position signal detection method
(Equipped with zeroing retry function, home position shift function)
JOG operation function Yes
Manual pulse generator 3 modules can be connected (when using Q173DPX)
operation function 1 module can be connected (when using motion CPU built-in interface)
Synchronous encoder 12 modules can be connected (when using SV22)
operation function (Q172DEX + Q173DPX + motion CPU built-in interface)
Equipped with M-code output function
M-code function
Equipped with await M-code completion function
32 output points
SV13
Watch data: motion control data/word device
Limit switch output
64 output points x 2 settings
function
SV22 Output timing compensation
Watch data: motion control data/word device
ROM operation function Yes
Compatible by inserting battery in servo amplifier.
Absolute position system
(Absolute system/incremental system can be specified for each axis.)
Number of SSCNETIII(/H)
2 systems *3 1 system *3
systems *2
*1: This is the number of modules if using an INC synchronous encoder (when using SV22). Only one module can be
used if connecting a manual pulse generator.
*2: SSCNET compatible servo amplifiers cannot be used.
*3: SSCNET III and SSCNET III/H cannot be used together within the same system. If using Q173DSCPU, SSCNET III
and SSCNET III/H can be set for each system.
2-1
2.1.2 Motion SFC performance specifications list (SV13/SV22)
Item Q173DSCPU/Q172DSCPU
Code total
(SFC diagram + operation control + 652 kb
Program capacity transition)
Text total
668 kb
(Operation control + transition)
Number of motion SFC programs 256 (No. 0 to 255)
SFC diagram size/program Max. 64 kb (inc. SFC diagram comment)
Number of SFC steps/program Max. 4,094 steps
Motion SFC program No. of selection branches/branch 255
No. of parallel branches/branch 255
Parallel branch nest Max. 4 types

Number of operation control F (one-time execution type)/FS (scan execution type)
programs 4,096 in total (F/FS0 to F/FS4095)
Number of transition programs 4096 (G0 to G4095)
Code size/program Max. approx 64 kb (32,766 steps)
Operation control
Number of blocks (lines)/program Max. 8,192 blocks (if 4 steps (min.)/block)
Program (F/FS)
/ Number of characters/block (line) Max. 128 single-byte characters (inc. comment)
transition Number of operands/block Max. 64 (operand: constant, word device, bit device)
program (G) ( ) nests/block Max. 32 types
Operation control Calculation method, bit conditional expression,
Running program branch/iteration
form Transition Calculation method, bit conditional expression,
program comparison conditional expression
Number of simultaneous execution
Max. 256
programs
Number of simultaneous active steps Max. 256 steps/all programs
Normal tasks Execution during motion main cycle
Fixed Execution every fixed cycle
Event cycle (0.22 ms, 0.44 ms, 0.88 ms, 1.77 ms, 3.55 ms, 7.11 ms, 14.2 ms)
Execution specifications
tasks External Execution when turning set inputs ON out of 16 interrupt module
Execution
(Mask interrupts QI60 inputs
tasks
possible) PLC
Execution with interrupt command (D(P).GINT) from PLC
interrupts
Execution when turning set inputs ON out of 16 interrupt module
NMI tasks
QI60 inputs
Number of inputs/outputs (X/Y) 8,192
256
Number of actual inputs/outputs (PX/PY)
(Motion CPU built-in interface (4 inputs) + I/O module)
Number of internal relays (M) 12288
Number of link relays (B) 8192
Number of annunciators (F) 2048
Devices Number of special relays (SM) 2256
(Motion CPU built-in Number of data registers (D) 8192
portion only)
(inc. dedicated positioning Number of link registers (W) 8192
devices) Number of special registers (SD) 2256
Number of motion registers (#) 12288
Number of coasting timers (FT) 1 (888 s)
*
Multiple CPU area devices Max. 14336 types
*: The number of devices that can be used differs depending on the system settings.
2-2
2.1.3 System configuration device list (SV13/SV22)
(1) Motion controller OS software
Model
Application
Q173DSCPU *1 Q172DSCPU *1
For conveyance and assembly (SV13) SW8DNC-SV13QJ SW8DNC-SV13QL
For automatic machines (SV22) SW8DNC-SV22QJ SW8DNC-SV22QL
*1: The motion controller OS software (SV22 (advanced synchronous control method)) is already
installed when the product is shipped.)
The latest OS software can be downloaded from the Mitsubishi Electric FA site.
(2) Peripheral software package

Software name Model
MELSOFT MT Works2 (MT Developer2 *1) SW1DNC-MTW2-J
*1: This programming software is included in motion controller engineering environment "MELSOFT MT
Works2".
(3) Related software packages

(a) PLC software packages
Software name Software package name
GX Works2 SW1DNC-GXW2-J
(b) Servo setup software package

Software name Software package name
MR Configurator2 SW1DNC-MRC2-J
2-3
2.2 System Configuration Diagrams
Refer to the User's Manual for details on wiring.
2.2.1 Q173DSCPU/Q172DSCPU system

Motion CPU control module
モーションCPU管理ユニット
入サ入同入手
力｜力期力動
ユボユエユパ
ニ外ニンニル
Main base unit
基本ベースユニット PLC CPU/
シーケンサCPU／ッ部ッコッサ
ト信ト｜ト
(Q3□DB)
(Q3□DB) motion CPU
モーションCPU
号ダ
PERIPHERAL I/F
PERIPHERAL I/F QnUD□
Q61P
Q61P QnUD□ Q17□DS QI60 QX□□ QY□□ Q6□AD Q172DLXQ172DEX Q173DPX
CPU
CPU CPU ／ I/Oユニット，
Q6□DA
I/O module, intelligent
Panel computer
パネルパソコンインテリジェント機能
function module
ユニット
AC100／200V
Three manual pulse3台／ユニット
手動パルス発生器 generators/module
USB/RS-232/ P
(MR-HDP01)
Ethernet＊1
Serial ABS synchronous encoder cable
シリアルABS同期エンコーダケーブル
(Q170ENCCBL□M)
Two serial ABS synchronous 2台／ユニット
シリアルABS同期エンコーダ encoders/module
E
Computer
パソコン (Q171ENC-W8)
(PC/AT compatible)
(PC/AT互換機)
External input signal
外部入力信号 No. of inputs
入力点数
FLS: Upper stroke limit
・FLS　　　　：上限ストロークリミット
RLS: Lower stroke limit No. of inputs for 8
・RLS　　　
STOP: ：下限ストロークリミット
Stop signal 8軸分／ユニット
Battery (Q6BAT)
バッテリ(Q6BAT) ・STOP　　　：停止信号
DOG/CHANGE: Proximity dog/speed, position axes/module
control switching
・DOG／CHANGE：近点ドグ／速度・位置制御切換え
Analog input/output
アナログ入力／出力
Emergency stop input cable
緊急停止入力ケーブル Input/output (max. 256 points)
入力／出力（最大256点）
(Q170DEMICBL□M)
EMI emergency stop input (24 VDC)
EMI緊急停止入力(DC24V) External output signal
外部入力信号
•・上限ストロークリミット
Upper stroke limit
External interrupt output (16 points) • Lower stroke limit
外部割り込み入力（16点）・下限ストロークリミット
• Stop signal
Expansion
増設ベースユニットbase module •・停止信号
Proximity dog/speed, position control
(Q6□B) Manual pulse generator/INC
手動パルス発生器／ switching
・近点ドグ／速度・位置制御切換え
P synchronous encoder: 1
電 INC同期エンコーダ　1台
源
General-purpose input signal/mark detection input signal
(4汎用入力信号／マーク検出入力信号（4点）
ユ
points)
ニ
Expansion
増設ケーブル cable ッ
(QC□B) ト SSCNET III cable
SSCNETⅢケーブル
Max. 7 stacks (MR-J3BUS□M(-A/-B)) System 1
系統1　SSCNETⅢ(/H)(CN1)
最大7段
d01 d16 d01 d16
System 2
系統2　SSCNETⅢ(/H)(CN2)
M M M M
E E E E
MR-J3(W)-□B/MR-J4(W)-□B servo amplifier

MR-J3(W)-□B／MR-J4(W)-□B形サーボアンプ
(Q173DSCPU: 2 systems (Max. 32 axes (max. 16 axes/system))
Q173DSCPU：2系統（最大32軸（1系統最大16軸））
(Q172DSCPU: 1 system (Max. 16 axes)
Q172DSCPU：1系統（最大16軸）
Servo amplifier external input signal

サーボアンプの外部入力信号
• ・近点ドグ／速度・位置制御切換え
Proximity dog/speed, position control
switching
• ・上限ストロークリミット
Upper stroke limit
• ・下限ストロークリミット
Lower stroke limit
*1:＊1：Ethernet:QnUDE(H)CPUのみ
Ethernet: QnUDE(H)CPU only
RS-232: QnUD(H)CPU
RS-232 only
:QnUD(H)CPUのみ
注意
CAUTION
 If the operation performed when an error occurs and the system safe direction operation differs for
the controller and servo amplifier, construct a countermeasure circuit outside the servo amplifier.
 Use parts used in the system (other than controller, servo amplifiers, servo motors) with rating and
characteristics suited to the controller, servo amplifiers, and servo motors.
 Set parameter values applicable to the controller, servo amplifier, servo motor, regenerative resistor
models, and system application. Safeguards may fail to function if settings are specified incorrectly.
2-4
2.3 Name of Each Part
This section describes the names and settings of all Q172DSCPU/
Q173DSCPU parts.
(1) Names of Q172DSCPU/Q173DSCPU parts
バッテリカバー
Battery cover open Q172DSCPU front Q173DSCPU front
を開いた状態 Q172DSCPU 正面 Q173DSCPU 正面
Q173DSCPU Q172DSCPU Q173DSCPU
1)1) 1)
1)
F01 F01
SW 2) F01 F01
SW
3) 2)
F01 F01
SW
3)3)
DE
DE
DE
DE
DE
DE
2) 3) 2)
23
23
23
23
3
3
12 12 12
STOP RUN
4)
4)
STOP RUN STOP RUN
EMI EMI 4) 4) EMI
5) 5) 14)
14) 5) 5) 14)
14)
6) 6) 16)
16) 6) 6) 16)
16)
7) 7)
PULL PULL
17)
17)
FRONT FRONT
RIO RIO
20) 8) 8)
8) 8)
10)
10) Side Bottom
側面下面
11)
11)
15)
15)
12) 12)
9)9)
18)
18) 19)
19)
2-5
No. Item Function
1) 7-segment LED Displays the operating status and error information.
For function selection 1
2)
Rotary switch (SW1) • Sets the operation mode (normal operation mode, installation mode, ROM operation mode,
etc.)
For function selection 2
3)
Rotary switch (SW2)
• Switch settings are specified with 0 to F. (Default: SW1 "0", SW2 "0")
• Used for RUN/STOP. (Default: STOP)
4) RUN/STOP switch RUN : Runs the motion SFC program (SV13/SV22).
STOP : Stops the motion SFC program (SV13/SV22).
Emergency stop input • Performs an emergency stop for all servo amplifier axes together.
5) *1 EMI ON (open) : Emergency stop
connector (EMI)
EMI OFF (24 VDC input) : Cancels emergency stop
*2
6) SSCNET III CN1 connector Connector used to connect with the first system servo amplifier (for 16 axes).
SSCNET III CN1 connector
7) *2,3 Connector used to connect with the second system servo amplifier (for 16 axes).
8) Serial No. indication Indicates the serial No. on the rating plate.
9) Module attachment lever Used to attach modules to the base module.
*4
10) Module securing hook Hook used to secure the module to the base module. (Helps when performing module attachment.)
11) Module securing screw Screw used to secure to the base module. (M3 × 13)
12) Module securing protrusion Protrusion used for securing to the base module.
*5
13) Battery connector (BAT) Connector used to connect to battery holder module Q170DBATC.
For communication interface with peripheral Item Specification

devices
• Bottom LED 100 Mbps/
Data transfer speed
10 Mbps
Flashing : Accessing peripheral devices
Transfer
14) Peripheral I/F connector ON : Not accessing peripheral devices Full duplex/
Communication mode
• Top LED half duplex
Data transfer speed Transfer method Base band
ON : 100 Mbps
OFF : 10 Mbps Cable length Max. 30 m
15) RIO connector Connector used to connect to safety signal module (Q173DSXY).
Connector used for manual pulse generator/INC synchronous encoder connection, and to input
16) Built-in interface connector general-purpose input signals/mark detection input signals. (Voltage output/open collector type,
differential output type)
17) Battery connector Connector used to connect to the battery (Q6BAT).
18) Battery holder Holder used to hold the battery (Q6BAT).
19) Battery cover Cover for battery (Q6BAT) protection
*5 Battery (Q6BAT) for program, parameter, motion device (#), latch range device, and absolute
20) Battery
position data protection.
*1: Always use an external forced stop input cable (sold separately). If not used, it will not be possible to clear emergency stop
conditions.
If preparing your own external forced stop input cable, ensure a cable length of 30 [m] or less.
*2: In order that the weight of the SSCNET III cable is not applied to the SSCNET III connector, store the cable in a duct, or secure the
part near the motion CPU with a cable tie.
*3: Q173DSCPU only
*4: This helps when attaching modules to the main base module. Always secure modules to the main base module with the screws
provided.
*5: Always use a battery.
If the battery is not inserted properly, programs stored in the motion CPU built-in SRAM, parameters, motion device (#), latch range
device, and absolute position data will not be retained.
2-6
(2) 7-segment LED display
The mode display turns ON or flashes based on the combination with each
error.
Item 7-segment LED Remarks
Initialization (until RUN/STOP is displayed) takes
approximately 10 seconds.
If stopped with the initialization display, turn the
system power from OFF to ON. If the same
Initialization item
～
condition occurs again, a motion CPU module
display
hardware error is likely.
Contact your nearest system service center, dealer,
or branch, and describe the abnormal startup
When starting condition (LED indicator).
Initialization item
display With the power ON, initialize the safety monitoring
(When using safety function and perform self-diagnosis.
monitoring This takes approximately 15 seconds.
function)
This flashing symbol indicates normal CPU

When normal " " flashes.
operation.
"INS" lights up This mode is used to install the motion controller OS

Installation mode
" " flashes. software via the computer.
This mode is used to perform operation with the

RAM operation
" " flashes. user program and parameters stored in the motion
mode
CPU built-in RAM.
Operation
mode This mode is used to run the motion controller after
ROM operation "-" lights up booting the user program and parameters stored in
mode " " flashes. the motion CPU built-in FLASH ROM to the motion
CPU built-in SRAM.
A "STOP" condition occurs when the PLC ready flag
STOP "STP" lights up. (M2000) turns OFF.
Stops the motion SFC program (SV13/SV22).
A "RUN" condition occurs when the PLC ready flag
RUN "RUN" lights up (M2000) turns ON.
Runs the motion SFC program (SV13/SV22).
Initial
"BT1" lights up. Displays when the battery voltage is 2.7 V or less.
(2.7 V or less)
Battery
error
End of life
"BT2" lights up. Displays when the battery voltage is 2.5 V or less.
(2.5 V or less)
The mode changes to installation mode when the

Motion controller OS software
"A00" flashes. motion controller OS software has not been
not installed
installed.
"AL" flashes 3 Motion CPU system setting error

times. Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion
System setting error
↓ Control Programming Manual (common edition)" for
"L01" lights up. details.
"AL" flashes 3
times. Motion CPU servo error
Servo error Refer to the programming manual for the OS
↓ software used.
"S01" lights up.
Hardware error or software error.

WDT error "..." lights up. Refer to the programming manual for the OS
software used.
2-7
Item 7-segment LED Remarks Item
"AL" flashes 3
times.
↓
"A1" lights up.
(Self-diagnosis
Multiple CPU system setting error
error)
Self-diagnosis error Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion
(Multiple CPU related error) ↓ Controller Programming Manual (common edition)"
The 4-digit error for details.
code is split up and
displayed twice.
(The example on
the left is for error
code [3012].)
POINT
1) If an error is indicated at the 7-segment LED, check the error code
and so on at MT Works2.
2) For error details, refer to the MT Works2 motion error monitor, or
the error list in each programming manual.
(3) Rotary switch allocation

(a) Function selection 1 rotary switch (SW1)
Rotary switch Setting * Mode Details
F01 0 Normal mode Normal operation mode

CDE
23
4 56
AB
789
A Installation mode Used to install the motion controller OS software from MT Works2.
*: Settings other than the above are prohibited.
(b) Function selection 2 rotary switch (SW2)

Rotary switch Setting * Mode Details
RAM operation Normal operation mode

0
mode (Functions with motion CPU built-in SRAM settings data and parameters.)
ROM operation Functions with settings data written to the motion CPU built-in FLASH
F01 6
mode ROM and parameters.
CDE
23
456
AB
Ethernet IP address
8 This mode displays the Ethernet IP address.
789
Display mode
C SRAM clear SRAM 0 clear
*: Settings other than the above are prohibited.
CAUTION
 If changing the rotary switch setting, always turn the multiple CPU
System power OFF beforehand.
2-8
Chapter 3 Q PLC Multiple CPU
I/O unit and special function unit sequence control, and calculation with
application commands and dedicated commands is performed with sequence
programs.
Furthermore, they are also used to execute SFCS (motion SFC start request)
commands used to start motion SFC programs, GINT commands used to
perform interrupts for motion CPUs, DDRD and DDWR commands used to
perform direct device reading and writing for Q motion CPUs, SVST
commands used to issue servo program startup request, CHGA current value
change commands, CHGV speed change commands, and CHGT torque limit
value change commands.
This is described as Q172DSCPU specifications in this chapter.

(Refer to Appendix 8 for details on GINT, DDRD, DDWR, CHGA, CHGV, and
CHGT commands.)
3-1
3.1 Multiple CPU System
The multiple CPU system incorporates multiple (max. 4) Q PLC CPU/Q motion
CPUs on a main base unit, and is used to control I/O units and intelligent
function units with each Q PLC CPU/Q motion CPU.
Processing loads can be balanced by using the Q motion CPU unit for complex
servo control, and the Q PLC CPU unit for all other machine and information
control.
3.1.1 Multiple CPU system settings

With the multiple CPU system, it is necessary to set (control CPU settings)
which I/O modules and intelligent function modules are to be controlled with
which Q PLC CPU/Q motion CPU, and the number of installed Q PLC CPU/Q
motion CPU units for all Q PLC CPU/Q motion CPUs.
(The multiple CPU setting method is described in section 8.3.2.)
CPU 0 1 2 3 4 5 6 7
Q motion CPU 2
Q PLC CPU 1 1
Output unit 1
Output unit 1
Output unit 2
Power supply
Input unit 1
Input unit 1
Input unit 2
Input unit 2
module
Controlled CPU
No. setting
Controlled with Q PLC

CPU (No.1) sequence
program.
Controlled with Q motion CPU (No.2)

motion SFC program.
Initially, the Q motion CPU compares the parameters in the following table
against the No.1 Q PLC CPU. An error occurs if there is a mismatch, and
therefore the following parameters must be made to match.
Parameter
No. Comparison item Remarks
Name at Q motion CPU Name at Q PLC CPU
Compares only the unit

1 Unit control CPU No. Motion slot setting Control CPU No. set at Q motion
CPU.
I/O
2 Total base qty assignment
settings No comparison made if
Base No.
Base settings Basic settings no settings specified at
3 Base No. of base Q PLC CPU.
slots
No. of
4 No. of CPU module multiple No. of CPUs
CPUs
Operation mode when CPU Multiple CPU Operation Multiple CPU Operation
5
stop error occurs settings mode settings mode
Automatic
Refresh
6 No. of automatic refreshes refresh
settings
settings
3-2
3.1.2 Q PLC CPU, Q motion CPU installation locations
Up to four PLC CPU modules or motion CPU modules can be installed from
the main base unit CPU slot (slot to right of power supply module) to slot 2.
Motion CPU modules cannot be installed in CPU slots.
With multiple CPU combinations, CPU No.1 must be a PLC CPU module.
There are no restrictions in the installation order for CPU module No.2 to No.4.
*: If using in combination with high-performance model CPU modules, process

CPU modules, computer CPU modules, or C language controller modules, refer
to the manual for each CPU module.
CPU module installation example

No. of
CPU module installation location
CPUs
CPU 0 1 2
電
　源
QnUD□ Q17□DS
CPU CPU
2 -- --
1号機
No.1 2号機 No.3
No.2 3号機 No.4
4号機
CPU 0 1 2 CPU 0 1 2
電
電
　源
　源
QnUD□ Q17□DS QnUD□ QnUD□ Q17□DS Q17□DS

CPU CPU CPU CPU CPU CPU
3 --
1号機 No.2
No.1 2号機 No.3
3号機 No.4
4号機 1号機
No.1 2号機 No.3
No.2 3号機 No.4
4号機
CPU 0 1 2 CPU 0 1 2 CPU 0 1 2

電
電
電
　源
　源
　源
QnUD□ Q17□DS QnUD□ CPU

CPU QnUD□ Q17□DS Q17□DS QnUD□ QnUD□ Q17□DS Q17□DSQ17□DS
vacant
CPU CPU CPU 空き CPU CPU CPU CPU CPU CPU CPU CPU
4
1号機 No.2
No.1 2号機 No.3
3号機 No.4
4号機 1号機 No.2
No.1 2号機 3号機 No.4
No.3 4号機 1号機
No.1 2号機 3号機
No.2 No.3 4号機
No.4
CPU 0 1 2 : Slot No.
A vacant slot can be added for additional CPU modules in the future. Set the
number of CPUs, including the vacant slot, in the multiple CPU settings, and
set the type for the slot to be left vacant to "CPU (Vacant)" in the CPU settings.
(EX1)
（例1)　 CPU 0 1 2 (EX2)
（例2)　 CPU 0 1 2 (EX3)
（例3)　 CPU 0 1 2
電
電
　源
　源
　源
QnUD□ CPU
CPU Q17□DS QnUD□ CPU
CPU Q17□DS CPU
CPU QnUD□ CPU
CPU CPU
CPU Q17□DS
CPU vacant
空き CPU CPU vacant
空き CPU vacant
空き CPU vacant
空き vacant
空き CPU
1号機
No.1 2号機
No.2 3号機
No.3 4号機
No.4 1号機
No.1 2号機
No.2 3号機
No.3 4号機
No.4 1号機
No.1 2号機
No.2 3号機
No.3 4号機
No.4
3-3
3.1.3 I/O numbers
With the multiple CPU system, the number of slots set in the computer
parameter multiple CPU settings is occupied by Q PLC CPU/Q motion CPUs.
The I/O numbers for I/O modules and intelligent function modules installed to
the right of the slots occupied by Q PLC CPU/Q motion CPUs begin with "OH",
and are numbered sequentially from left to right.
Q PLC CPU: If the number of CPUs is set to 2

0 1 2 3 4 5 6 7
電
　源入出力番号:OH
► I/O No.: OH
Q motion CPU I/O numbers are unrelated to Q PLC CPU I/O numbers. The Q
motion CPU I/O numbers are those set in the Q motion CPU system settings.
(I/O numbers for modules controlled by Q motion CPUs are indicated by
PX/PY.)
Allocating Q motion CPU control module I/O numbers to Q PLC CPUs is
meaningless.
It is generally recommended that I/O numbers be common to all CPUS, and
that they are set sequentially.
No.1 No.1 No.2 No.2 No.3 No.3
control
1号機管理 control
1号機管理 control control
2号機管理 2号機管理 3号機管理 control
control 3号機管理
module
CPU 1
1号機 CPU
2号機2 CPU
3号機3 ユニット module
ユニット module module
ユニットユニットユニット module
module ユニット
電源
Q03UDCPU Q172DSCPU Q172DSCPU QX41 QY41 QX41 QY41 QX41 QY41
X0～X1F Y20～Y3F PX0～PX1F PY20～PY3F PX0～PX1F PY20～PY3F

or or or or
PX40～PX5F PY60～PY7F PX80～PX9F PYA0～PYBF
If setting Q motion CPU control modules when allocating Q PLC CPU I/O
numbers, refer to the following table and set. (With the Q172DLX, Q172DEX,
and Q173DPX, intelligent function modules occupy 32 points on Q PLC CPUs.)
Module Type No. of points Remarks
Input module Input Set based on module.  Set the control CPU
No. applicable to the Q
Output module Output Set based on module.
motion CPU.
Mix of inputs/ (Required)
Mix of input/output modules Set based on module.
outputs  Type and No. of points
Analog input module Analog input settings may be
omitted.
Analog output module Analog output 16
Interrupt module (QI60) Interrupt
Q172DLX (servo external signal input) Intelligent 32
Q172DEX (synchronous encoder input) Intelligent 32
Q173DPX (manual pulse generator input) Intelligent 32
3-4
POINT
With the Q172DLX, Q172DEX, and Q173DPX, Q motion CPU modules

cannot be installed in main base unit CPU slots or in I/O slots 0 to 2. If
mistakenly installed, the main base unit may be damaged.
0 1 2 3 4 5 6 7
電
　源
Q172DLX/Q172DEX/Q173DPX
Please note that with Q172DLX/DPX, modules can be installed in expansion

base units, however, this is not possible with the Q172DEX.
3-5
3.1.4 CPU shared memory
CPU shared memory is memory used to transfer date between CPUs in the
multiple CPU system, and has 24,335 words from 0H to 5F0FH.
CPU shared memory has a "self CPU operation information area", "system
area", "user setting area", and "multiple CPU high speed transmission area".
The CPU shared memory configuration, and whether or not data exchange
from self CPUs using CPU shared memory with a program is performed is
shown in the following table.
Communication with self Communication with

CPU other CPU
CPU shared memory Write Read Write Read
(0H) 0
Self CPU operation
to to
information area
×  *2 ×  *2
(1FFH) 511
(200H) 512
to to System area × × ×  *2
(7FFH) 2047
(800H) 2048
to to User setting area  *1  *2 ×  *2
(FFFH) 4095
(1000H) 4096
to to Use not possible × × × ×
(270FH) 9999
Multiple CPU high speed

10000
(2710H) transmission area
to
to
Max.
(Size variable from 0 to 14 k High-speed  *3  *3 ×  *3
(5F0FH) [points]: bus
24335 between
1 k word units)
multiple CPUs
Remarks
*1: With motion CPUs, use an MULTW command to write to the self CPU
user setting area.
With PLC CPUs, use an S.TO command to write to the self CPU user
setting area.
*2: With motion CPUs, use an MULTR command to read self CPU and other
CPU shared memory.
To read motion CPU shared memory from a PLC CPU, use a FROM
command/multiple CPU area device (U\G).
*3: Refer to section 3.1.5 for details on how to access the multiple CPU high
speed transmission area.
3-6
(1) Self CPU operation information area (0H to 1FFH)
(a) The following self CPU information is stored as multiple CPU information.
Shared
Corresponding
memory Name Content Content details *
special register
address
Area used to confirm whether there is information stored in the
self CPU operation information area (1H to 1FH).
Information Information • 0: No information is stored in the self CPU operation
0H(0) -
presence presence flag information area.
• 1: Information is stored in the self CPU operation information
area.
Diagnostic error The error No. when an error occurs during diagnosis is stored in
1H(1) Diagnostic error SD0
No. BIN.
The year and month in which the error No. was stored in CPU
shared memory address 1H are stored with a 2-digit BCD code.
2H(2) B15
B15 to～ B8B8B7 B7 to ～B0 B0 （例）2006年1月
(Example) Jan. 2006
SD1
Year (0 - 99) Month
年（0～99) (1 -12)
月（1～12) 　　　H0601H0601
The day and hour at which the error No. was stored in CPU
shared memory address 1H are stored with a 2-digit BCD code.
3H(3) Diagnostic error Diagnostic error B15 to
B15 ～ B8B8B7B7 to ～B0 B0 (Example) 25th at 10 am
（例）25日10時 SD2
date/time date/time Day (1 - 31) Hour (0 -23) 　　　H2510 H2510
日（1～31) 時（0～23)
The minute and second at which the error No. was stored in
CPU shared memory address 1H are stored with a 2-digit BCD
4H(4) code. SD3
B15 to ～B8 B7
B15 B8 B7to ～B0 B0 (Example) 35 m, 48 s
（例）35分48秒
Minute (0 - 59) Second
分（0～59) (0 -59)
秒（0～59) 　　　H3548H3548
Error information Error information A category code used to judge what the error common
5H(5) SD4
category code category code information and error individual information contains.
6H(6) SD5
Error common Error common Common information corresponding to the error No. when an
～
information information error occurs during diagnosis is stored.

10H(16) SD15
11H(17) SD16
Error individual Error individual Individual information corresponding to the error No. when an
～
information information error occurs during diagnosis is stored.

1BH(27) SD26
1CH(28) Vacant - Use not possible -
The CPU module switch status is stored.
B15 B12 B11 B8 B7 B4 B3 B0
Operating status
1DH(29) Status of switch SD200
of CPU
Not未使用
used (1) ①
(1): Operating status of CPU: 0: RUN, 1: STOP
1EH(30) Vacant - Use not possible -
Operating status Operating status
1FH(31) The CPU module operating status is stored. SD203
of CPU of CPU
*: Refer to the corresponding special register for details.
(b) The self CPU operation information area is updated during the main
cycle when the corresponding register changes.
(c) Other PLC CPUs are able to read the self CPU operation information
area data with an FROM command.
However, the data update process will be delayed, and therefore read
data should be used for monitoring purposes.
3-7
(2) System area (200H to 7FFH)
This is an area used by the PLC CPU/motion CPU system (OS). The OS
uses this area when executing dedicated communication commands
between multiple CPUs.
• System area (204H to 20DH) used with dedicated motion sequence

commands
The completion status of each flag is stored in the following addresses.
Shared
memory Name Content details
address
There are start accept flags for 32 axes, and they are stored corresponding to
each bit.
204H(516) Axis start accept flag (axes 1 to 16) (Bits are actually set in J1 to J32 for the Q173DSCPU, and J1 to J16 for the
Q172DSCPU.)
OFF: Start accept possible
ON: Start accept not possible
b15 b1 b0
Address 204H(516)
205H(517) Axis start accept flag (axes 17 to 32) 204H(516)番地 J16 J2 J1
Address 205H(517)
205H(517)番地 J32 J17
(3) User setting area

This area is used to exchange data between each CPU unit in the multiple
CPU system using the motion CPU MULTR and MULTW commands.
(With PLC CPUs, data is exchanged between CPUs using FROM and S.TO
commands, and multiple CPU area devices.)
Refer to the programming manual for the OS software used for details on
MULTR and MULTW commands.
3-8
3.1.5 Multiple CPU high speed transmission
(1) Multiple CPU high speed transmission
Multiple CPU high speed transmission is a function used to transfer data
between multiple CPUs in fixed cycles (multiple CPU high speed
transmission cycle: 0.88 [ms]).
With data transfer between multiple CPUs through multiple CPU high speed
transmission, processing is performed in parallel with sequence program,
and motion SFC program/motion program execution, facilitating stable data
transmission without being affected by the PLC CPU scan time or motion
CPU main cycle.
The multiple CPU high speed transmission cycle is synchronized with the
motion CPU operation cycle, and high-speed responses can be delivered
between multiple CPUs.
The following methods can be used to transfer data between multiple

CPUs using multiple CPU high speed transmission.
• Using a multiple CPU area device

Specify a multiple CPU high speed transmission area using a direct
multiple CPU area device (U\G) in the program.
• Using automatic refresh
All CPU internal devices are refreshed automatically via the multiple CPU
high speed transmission area.
(a) Example using a multiple CPU area device
CPU No.1 (PLC CPU)

1号機（シーケンサCPU） CPU No.2 (motion CPU)
2号機（モーションCPU）
CPUCPU共有メモリ
shared memory CPU sharedCPU共有メモリ
memory
PLC program
シーケンスプログラム (user setting area *1)＊1) (user setting area *1) Motion SFC program
(ユーザ自由エリア (ユーザ自由エリア＊1)
SM400
SM400 U3E0\
U3E0\
MOV
MOV WO
WO G10000
G10000
3) G0 G1
U3E0\
U3E0\
1) U3E0\G10000
U3E0\G10000 U3E0\G10000
U3E0\G10000 ③ U3E0\G10010.1
U3E0\G10010.1 U3E0\G10110.5
U3E0\G10110.5
G10010.1
G10010.1 ①
U3E0\G10010
U3E0\G10010 ② U3E0\G10010
2) U3E0\G10010
F0 F1
SM400
SM400 U3E0\ No.1 CPU No.1 CPU W0=U3E0\G10000
W0=U3E0\G10000 W1=U3E0\G10100
W1=U3E0\G10100
U3E0\ CPU1号機 CPU1号機
transmission
MOV W1 G101
MOV W1 G10100
00 transmission
送信データ
data 送信データ
data
U3E0\
U3E0\ 5) U3E0\G10100 6)
⑥
G10110.5
G10110.5 4)
④
U3E0\G10100
U3E0\G10100 ⑤ U3E0\G10100
U3E0\G10110
U3E0\G10110
END
END U3E0\G10110 U3E0\G10110
0.88ms周期でマルチ
transmission in 0.88 ms cycles
CPU間高速通信
1), 4):①，④：1号機は，マルチCPU共有デバイスを使用した命令によりユーザ自由エリア
CPU No.1 writes to the user setting area *1 with a command using a multiple
＊1に書込む。CPU
area device.
③，⑥：2号機は，マルチCPU共有デバイスを使用した命令によりユーザ自由エリア＊1から読出す。
3), 6):②，⑤：マルチCPU間高速通信により，ユーザ自由エリア
CPU No.2 reads from the user setting area *1 with a command using a multiple
＊1の内容を0.88ms周期で他号機に転送する。
CPU＊1：マルチCPU間高速通信エリア内に構成されるエリア
area device.
2), 5): The content of the user setting
　　（詳細は，「(3) area *1 is transferred to other CPUs in 0.88 ms
マルチCPU間高速通信エリアのメモリ構成」を参照。）
cycles with multiple CPU high speed transmission.
*1: Area configured inside multiple CPU high speed transmission area
(Refer to "(3) Multiple CPU high speed transmission area memory configuration".)
3-9
1) Access to multiple CPU high speed transmission area
a) Multiple CPU area device description method
Word device: U
ワードデバイス：U □ \\ G
G □
CPU shared memory address (decimal notation)

CPU共有メモリアドレス(10進)（10000～最大24335）
(1000 to max. 24335)
CPUユニット先頭入出力番号
CPU module first I/O No.
CPU No.
CPUの号機番号CPU 1号機 2号機
No.1 CPU 3号機
No.2 CPU No.3 4号機
CPU No.4
First I/O No.
先頭入出力番号 3E0(H)
3E0(H)3E1(H)
3E1(H) 3E2(H) 3E3(H)
3E2(H) 3E3(H)
Bit device:
ビットデバイス：U U
□ \\ G. 
G □．□
Bit designation (0 to F: hexadecimal notation)

ビット指定(0～F：16進)
CPU shared memory address (decimal notation)
CPU共有メモリアドレス(10進)（10000～最大24335）
(1000 to max. 24335)
CPU module first I/O No.
CPUユニット先頭入出力番号
CPU No.
CPUの号機番号CPU No.1
1号機CPU2号機
No.2 CPU
3号機No.3 4号機
CPU No.4
First I/O No.
先頭入出力番号 3E0(H)
3E0(H)3E1(H)
3E1(H) 3E2(H) 3E3(H)
3E2(H) 3E3(H)
(Example)
• CPU No.2 multiple CPU high speed transmission memory
address: 10002
U3E1\G10002
• CPU No.3 multiple CPU high speed transmission memory
address: 10200 bit14
U3E2\G10200.E
b) Example of access with program

<Motion SFC program> *SV13/SV22
• Program substituting K12345678 for self CPU (No.2) multiple
CPU high speed transmission memory 10200, 10201.
U3E1\G10200L = K12345678
• Turns ON self CPU (No.3) multiple CPU high speed transmission
memory 10301 bit12.
Program
SET U3E2\G10301.C
<Servo program> *SV13/SV22

• Program used to position axis 1 at the position set in CPU No.1
multiple CPU high speed transmission memory 10400 and
10401, at speed set in CPU No.1 multiple CPU high speed
transmission memory 10402 and 10403, and use the CPU No.1
multiple CPU high speed transmission memory 10404 bit1 as a
cancel signal.
ABS-1
Axis 1, U3E0\G10400
Speed U3E0\G10402
Cancel U3E0\G10404.1
POINT
Only the CPU shared memory "multiple CPU high speed transmission
area" can be accessed with this method. It cannot be used to access
CPU shared memories 0 to 4095.
3 - 10
(b) Example using automatic refresh
CPU No.1 (PLC CPU)
1号機（シーケンサCPU） CPU No.2 (motion CPU)
2号機（モーションCPU）
CPU shared memory
CPU共有メモリ CPU CPU共有メモリ
shared memory
Sequence program
シーケンスプログラム Device memory (Auto refresh area *1) Device memory
デバイスメモリ (自動リフレッシュエリア＊1) (Auto refresh area *1) ＊1)
(自動リフレッシュエリアデバイスメモリ
SM400
INC DO
1)
①
D0 3)③
Y0 Refresh ②
2)
END処理の No.1 CPU
executed CPU1号機
No.1 CPU CPU1号機
タイミング
when transmission transmission D2000
D2000
送信データ送信データ
SM400 でリフレッ
performing data data モーションCPU
Refresh
INC D1 シュを実行
END のメイン周期
executed when
processing.
performing
のタイミングで
Y0 motion
リフレッシュをCPU
0.88ms周期でマルチ
Multiple CPU high speed main
実行 cycle.
transmission in 0.88 ms cycles
END
CPU間高速通信
Parameter
パラメータ Parameter
パラメータ
CPUNo.1CPU CPU No.1 CPU No.2
1号機→2号機
No.2 : 1号機→2号機
D2000 is received.
: D0：D0を送信
is sent. ：D2000を受信
1) By specifying in the parameters, the content of D0 is sent to the auto refresh area *1 when performing
① パラメータ設定により，END処理のタイミングでD0の内容を自動リフレッシュエリア END processing.
＊1に転送する。
2) The content of the auto refresh area *1 is transferred to other CPUs in 0.88 ms cycles by multiple CPU high speed transmission.
② マルチCPU間高速通信により，自動リフレッシュエリア＊1の内容を0.88ms周期で他号機に転送する。 *1
3) By specifying in the parameters, the content of the auto refresh area is read and then transferred to D2000 when performing the motion CPU main
cycle.③ パラメータ設定により，モーションCPUのメイン周期のタイミングで自動リフレッシュエリアの内容を読出し，D2000に転送する。
＊1
*1: Area configured inside multiple CPU high speed transmission area (Refer to "(3) Multiple CPU
＊1：マルチCPU間高速通信エリア内に構成されるエリア（詳細は，「(3) high speed transmission area memory configuration".)
マルチCPU間高速通信エリアのメモリ構成」を参照。）
(2) System configuration

Multiple CPU high speed transmission can only be used between multiple
CPU high speed transmission compatible CPU modules installed on the
multiple CPU high speed main base (Q3DB).
The system configuration specifications are shown in the following table.
Applicable module Restriction details
Base module Uses multiple CPU high speed main base (Q3DB).
QnUD(E)(H) CPU is used for CPU No.1.
CPU module Q173DSCPU/Q172DSCPU and QnUD(E)(H) CPUs are used for CPU Nos. 2
to 4.
If the multiple CPU system power is turned ON when the above

specifications are not satisfied, a "MULTI EXE.ERROR (error code: 7011)"
error occurs.
3 - 11
(3) Multiple CPU high speed transmission area memory configuration
The multiple CPU high speed transmission area memory configuration is
shown below.
1)
① ②
2) CPU No.1 transmission area 6) User setting area
⑥
Multiple CPU high speed 1号機送信エリアユーザ自由エリア
マルチCPU間高速通信エリア
transmission area
[0～14k[点]
[Possible with 0 to 14 で可変]
＊1
k [points]*1] ③
3) CPU No.1 transmission area
2号機送信エリア ⑦
7) Automatic refresh area
自動リフレッシュエリア
④
3号機送信エリア
⑤ 4号機送信エリア
*1: The 14 k [points]

*1： in the multiple CPU high speed transmission area is the maximum value for two
マルチCPU間高速通信エリアの14k[点]は，CPUユニット2台構成時の最大値。
CPU modules.
CPUユニット3台構成時は，13k[点]，CPUユニット4台構成時は12k[点]。
This value will be 13 k [points] for three CPU modules, and 12 k [points] for four CPU modules.
Size
No. Name Description Setting
Setting unit
range
• This area is used for data transfer between CPU modules in the
Multiple CPU high speed multiple CPU system.
1) 0 to 14 k 1k
transmission area • An area of up to 14 k [points] is distributed among each CPU
module in the multiple CPU system.
2) • Area in which transmission data for each CPU module is stored.
3) CPU No.n transmission • Data stored in the self CPU transmission area is sent to other
area CPUs. 0 to 14 k 1k
4) (n = 1 to 4) • Data received from other CPU modules is stored in the other CPU
5) transmission area.
• This areas is used to transfer data between other CPUs with a

multiple CPU area device.
6) User setting area 0 to 14 k 2
• Accesses the transmission area with a user program using a
Multiple CPU area device.
Automatic refresh
• This areas is used to transfer device data between other CPUs
7) through exchange with automatic refresh. 0 to 14 k 2
area
• Access with a user program is not possible.
3 - 12
(4) Parameter settings
The parameter settings required to use multiple CPU high speed
transmission are shown in the following table.
Applicable
Parameter name Details
CPU
Multiple CPU high speed Sets the size of the multiple CPU high speed transmission area
transmission area settings assigned to each CPU module in the multiple CPU system. Required for
Sets the range for data transmission with the automatic refresh all CPU
Automatic refresh settings function from the user area inside the multiple CPU high speed modules
transmission area.
(a) Multiple CPU high speed transmission area settings

The Multiple CPU High Speed Transmission Area Setting screen and
setting range are shown below.
Item Setting details

Sets the number of CPUs including PLC CPUs.
No. of CPU
• No. of CPUs: 2 to 4
Operation Mode Sets the operation mode when a CPU stop error occurs.
• Points
Sets the number of data points transmitted by each CPU.
Range: 0 to 14 [k points], unit: 1 [k points]
The default values assigned to each CPU are as follows.
No. of multiple Transmission area size for each CPU (words)

CPUs No.1 No.2 No.3 No.4
2 7k 7k - -
Multiple CPU High
Speed Transmission 3 7k 3k 3k -
Area Settings 4 3k 3k 3k 3k
• User Setting Area
Displays the number of points used in the user setting area, and the used address start and end range.
The user setting area is the range used when performing automatic refresh subtracted from the number of
points assigned to each CPU.
• Automatic Refresh
Displays the number of points set in the automatic refresh settings.
By clicking the [Automatic refresh] button, an automatic refresh settings dialog box appears.
Displays the total number of [points] in the transmission range for each CPU.
Set so that the total for CPUs is equal to or less than the following number of points.
Total CPU No.2 configuration: 14 [k points]
CPU No.3 configuration: 13 [k points]
CPU No.4 configuration: 12 [k points]
3 - 13
(b) Automatic refresh settings
The settings required to use the automatic refresh function are shown
below.
32 ranges can be set at each CPU module.
The Automatic Refresh Setting screen and setting ranges are shown
below.
Item Setting details
Tab Select the CPU No. for which automatic refresh setting is to be specified.
Setting No. Displays the transfer setting No. for each CPU module.
Sets the number of points for which transfer is performed in word units.
Points Setting range: 2 to 14336
Setting unit: 2
Automatic refresh Sets the first device subject to transfer.
Start
Usable devices: X, Y, M, B, D，W, #, SM, SD
Sets the last device subject to transfer.
End
The last device is calculated from the [No. of points] and [First device].
Displays the refresh direction.
<--: Send
-->: Receive
Refresh direction
---: If the number of points has been entered, and the self CPU has not
been set
×: If the device has not been set
CPU Specific Send Range Displays the CPU transmission range used for automatic refresh.
The total points Displays the total number of points.
Points can be set up Displays the transmission range (k points) assigned to each CPU.
3 - 14
3.2 Dedicated Multiple CPU Motion Commands
This section describes dedicated commands (SFCS, SVST, CHGA, CHGV) for
multiple CPUs.
However, refer to Appendix 7.5 (page, Appendix-54) for details on CHGA, and
Appendix 7.6 (page, Appendix-57) for details on CHGV.
3.2.1 SFCS motion SFC program start command

This is an SFCS (SFC start) command used to start the specified motion SFC
program.
[Command symbol] [Execution conditions]

Command
*1
Command
Command
*1
Command
Device in which completion status is stored

完了ステータスを格納するデバイス
完了デバイス
Completion device
(D1+0): Device for which 1 scan is turned ON when command start
(D1+0):命令の起動受付け処理完了にて1スキャンON
receipt processing is complete.
　　　　させるデバイス
(D1+1):命令の起動受付け異常完了にて1スキャンON
receipt error is complete. (D1+0 also turns ON when error complete.)
　　　　させるデバイス(異常完了時,D1+0もONする)
起動するモーションSFCプログラムNo.
Motion SFC program No. to be started
Applicable CPU No. first I/O No. ÷ 16
対象号機CPUの先頭入出力番号÷16
The values actually specified are as follows.
実際に指定する値は以下の通りです。
CPU No.2: 3E1H, CPU No.3: 3E2H, CPU No.4: 3E3H
2号機:3E1H
Note: Motion CPUs 3号機:3E2H
cannot be assigned4号機:3E3H
to No.1 with multiple CPU configurations.
注) マルチCPU構成では，モーションCPUを1号機にできません。
*1: This command can be omitted if both (D1) and (D2) are omitted.
(1) Motion SFC program No. setting

The motion SFC program No. can be set directly or indirectly.
(a) Direct setting involves setting the motion SFC program No. directly with a
numerical value (K0 to K255).
Example
Motion SFC program No. 50 is set as follows.
SP.SFCS
DP.SFCS H3E1 K50 M0 D5000
Direct setting
直接設定
(b) Indirect setting involves setting the motion SFC program No. with word
device (D0 to D8191, W0 to W1FF) content.
Example
When setting D4000 起動させるモーションSFCプログラムNo.(0～255)

Motion SFC program No. to be started (0 to 255)
MOV K D4000
D.SFCS H3E3 D4000 M100 D5000
間接設定
Indirect setting
3 - 15
(2) Execution timing
A start request for the specified motion SFC program is made when the
SFCS command execution command turns ON.
Motion SFC programs can be started regardless of whether the task
setting is normal task execution or NMI task execution.
This is valid at any time, regardless of whether in real mode, virtual mode,
or while changing mode.
The following is an overview of operation between CPUs when executing
the DP.SFCS command.
Sequence program
DP.SFCS command execution
DP.SFCS command
Request data setting
CPU dedicated transmission Transfer Transfer
(0.88 ms cycles) Response

data setting
Motion SFC program Motion SFC execution processing
Completion device
(D1+0)
ON: only when error complete
Completion status display

device (D1+1)
1 scan
(3) Operation error conditions

In the following cases, an operation error occurs, and the SFCS command
is not executed.
(a) When a CPU No. reserved with the applicable CPU No. first No. I/O No.
÷ 16(n1) is specified.
(b) When specified for the self CPU with the applicable CPU No. first No. I/O
No. ÷ 16(n1).
(c) When a CPU other than a Q motion CPU is specified with the applicable
CPU No. first No. I/O No. ÷ 16(n1).
(d) When the specified command name is incorrect.
(e) When the command is configured with a device other than a usable
device.
(f) When 0 to 3DFH, or 3E4H and above is specified with the applicable
CPU No. first No. I/O No. ÷ 16(n1).
3 - 16
3.2.2 SVST servo program start request command
This command is used to request the start of the specified servo program.

［命令記号］［実行条件］
指令
Command
DP.SVST DP.SVST (n1) (S1) (n2) *1
指令
Command
DP.SVST (n1) (S1) (n2) (D1) (D2)
Command
指令
D.SVST D.SVST (n1) (S1) (n2) *1
Command
指令
D.SVST (n1) (S1) (n2) (D1) (D2)

Completion
完了デバイス device
receipt processing is complete.
receipt error is complete. (D1+0 also turns ON when error complete.)
Servo program No. to be executed

実行させるサーボプログラムNo.
Axis No. to be started ("Jn")
始動させる軸No.（"Jn"）
Q173DCPU: J1 to J32/Q172DCPU: J1 to J8
Q173DCPU：J1～J32／Q172DCPU：J1～J8

2号機:3E1H 3号機:3E2H 4号機:3E3H
Note: Motion CPUs cannot be assigned to No.1 with multiple CPU configurations.
(1) SVST command program example

This program is used to issue a servo program No.10 start request for
motion CPU (No.2) axis 1 and 2 when M0 is ON.
＜例1＞　完了デバイス，完了ステータスを省略した場合のプログラム
<Example 1> Program with Completion device, completion status omitted
U3E1 U3E1
M0 \G516.0 \G516.1
DP.SVST H3E1 "J1J2" K10
Command
命令実行 CPU
2号機 No.2 CPU
2号機No.2
execution
指令 axis
軸1の 1 start
始動 axis
軸2の 2 始動
start RST M0
command accept
受付けflag accept
受付けflag
フラグフラグ命令実行
Command execution command
指令
<Example 2> Program using Completion device, completion status

＜例2＞　完了デバイス，完了ステータスを使用した場合のプログラム
U3E1 U3E1
M0 \G516.0 \G516.1
DP.SVST H3E1 "J1J2" K10 M100 D100
命令実行
Command 2号機
CPU No.2 2号機No.2
CPU
指令
execution 軸1の
axis 始動
1 start 軸2の
axis 2 始動
start RST M0
command 受付けflag
accept 受付けflag
accept
フラグフラグ Command execution command
命令実行
指令
M100 M101
正常完了プログラム
Completion device
Completion
完了 M101
M101 Unsuccessfully
device
デバイス異常完了プログラム
complete program
3 - 17
A start request for the specified servo program is issued when the SVST
command execution command turns ON.
Sequence program
シーケンスプログラム END END
DP.SVST命令実行
DP.SVST command
ON execution
DP.SVST command
DP.SVST命令
要求データセット
Request data setting
ON
Axis start accept flag

軸始動受付けフラグ
（システムエリア）
(system area)
CPU dedicated
CPU間専用通信
transmission 転送
Transfer 転送
Transfer
（0.88ms周期）
(0.88 ms cycles) 0.88ms 応答
Response
データ
data
setting
セット
サーボプログラム
Servo program サーボプログラム実行処理
Servo program execution processing
ON
Completion
完了デバイス
device
(D1(D1＋0)
+ 0)
ON：異常完了時のみ
ON: Only when abnormal completion
Status display device
完了時の状態表示
whenデバイス(D1＋1)
complete (D1 + 1)
1スキャン
One scan
3 - 18
(3) Error content
In the following cases, an abnormal termination occurs, and an error code is
stored in the device specified at the completion status storage device (D2).
If the completion status storage device (D2) is omitted, no error is detected
and processing is not performed, and therefore caution is advised.
Completion
status * Error cause Remedy
(Error code) (H)
The command request from the PLC CPU to the motion

0010
CPU exceeds the permissible value.
The number of command (D(P).SVST/D(P).CHGA Check the

combined) requests issued from the PLC CPU to the motion program, and
2100 then change to
CPU simultaneously is 65 or more, and therefore the motion
CPU is unable to process. the correct
sequence
The No. of the servo program being executed lies outside program.
2201
the 0 to 4095 range.
The axis No. specified with the D(P).SVST command is
2202
illegal.
*: 0000H (normal)
In the following cases, an operation error occurs, the diagnostic error flag
(SM0) turns ON, and the error code is stored in the diagnostic error register
(SD0).
Error code * Error cause Remedy

The specified applicable CPU module is incorrect.
(1) A reserved CPU No. was specified.
4350 (2) An uninstalled CPU No. was specified.
(3) The applicable CPU module first No. I/O No. ÷ 16(n1)
lies outside the 3E0H to 3E3H range.
Cannot be executed at the specified applicable CPU Check the
module. program, and
4351 (1) The command name is incorrect. then change to
(2) An unsupported command was specified at the the correct
applicable CPU module. sequence
program.
4352 The number of specified command devices is incorrect.
A device that cannot be used with the specified command
4353
has been specified.
A character string that cannot be handled with the specified
4354
command has been specified.
*: 0 (normal)
3 - 19
Chapter 4 Q Motion CPU
Q motion CPUs hold system settings data and servo data, and run the servo
programs and mechanical support language required to perform multi-axis
positioning.
Q motion CPUs hold the following types of data. The default values are set, and
therefore it is necessary to make changes to the data to suit the system.
Data is stored in the motion CPU memory area (SRAM battery backup).
Basic settings: Specifies

基本設定・・・・・ system basic settings such as main base and extension
基本ベース・増設ベース設定やマルチCPUシステムの設定など，
base settings, and multiple CPU system settings.
システムの基本設定を行います。
システム設定
System settings
System configuration:
システム構成・・・ Specifies module settings used for main bases and extension
基本ベース・増設ベースに使用する各ユニットの設定を行います。
bases.
SSCNET configuration:
SSCNET構成・・・・ Selects used servo amplifiers, servo motors, and regenerative
使用するサーボアンプ・サーボモータ・回生抵抗などを選択します。
Data
データ resistors, etc.
Servo data: Specifies settings

サーボデータ・・・・・・ relating to machine characteristic values, zeroing,
機械の特性値・原点復帰・JOG運転に関する設定を行います。
Servo data
サーボデータ設定 and JOG operation.
settings Parameter blocks:
パラメータブロック・・・ Data such as acceleration/deceleration time used in
原点復帰データ，JOG運転データ，サーボプログラムで
(Block No.1 to 64)
(ブロックNo.1～64) zeroing data, JOG operation data, and servo programs.
使用する加減速時間などのデータです。
Servo parameters:
サーボパラメータ・・・・ Setsサーボ動作に必要なサーボの特性値の設定を行います。
servo characteristic values required for servo operation.
(Axes 1 to 32)
(軸1～32)
4-1
4.1 System Settings
System settings are used to select the bases and modules used, and to decide
axis numbers, and the servo amplifier and servo motor types.
4.1.1 Basic settings

Basic settings are used to specify system basic settings such as main base and
extension base settings, as well as multiple CPU system settings.
4-2
4.1.2 System configuration
The system configuration specifies module settings used for main bases and
extension bases.
4.1.3 SSCNET configuration

The SSCNET configuration selects the servo amplifiers and servo motors used.
4-3
4.2 Servo Data Settings
Servo data settings are used to set servo data required to perform positioning
control for the axes set in the system settings.
4.2.1 Servo data

Servo data is used to specify settings relating to machine characteristic values,
zeroing, and JOG operation.
4.2.2 Parameter blocks

Parameter blocks contain data such as acceleration/deceleration time used in
zeroing data, JOG operation data, and servo programs.
4-4
4.2.3 Servo parameters
Servo parameters contain data determined by the specifications of servo
amplifiers and servo motors controlled with parameters set for each axis, as well
as data required to control servo motors.
Servo parameters are set with the setup software (MR-Configurator2).
Refer to the Servo amplifier Technical Document Collection for details on servo
parameters.
POINT
If changes are made to parameters that require the servo amplifier control
power to be rebooted, do so after resetting or rebooting the multiple CPU
system.
4-5
4.3 Positioning Control Devices
Q motion CPUs are equipped with positioning control devices for positioning
information.
Of the devices in the motion CPU, the following five devices are used for motion
CPU internal signals.
If using SV13 (real mode)

• Internal relay (M): M2000 to M3839 (1840 points)
• Special relay (SM): SM0 to SM2255 (2256 points)
• Data register (D): D0 to D799 (800 points)
• Motion register (#): #8000 to #8735 (736 points)
• Special register (SD): SD0 to SD2255 (2256 points)
If using SV22 (advanced synchronous control)

• Internal relay (M): M2000 to M3839 (1840 points)
M8192 to M12287 (4096 points)
• Special relay (SM): SM0 to SM2255 (2256 points)
• Data register (D): D0 to D799 (800 points)
D10240 to D19823 (9584 points)
• Motion register (#): #8000 to #8751 (752 points)
• Special register (SD): SD0 to SD2255 (2256 points)
4-6
(1) Internal relay list
SV13 SV22
Virtual mode switching method Advanced synchronous control method
Device
Application type Device Device
No. Application type Application type
No. No.
M0 M0 M0
User device User device User device
(2000 points) (2000 points) (2000 points)
~
~
M2000 M2000 M2000
Common device Common device Common device
~
~
M2320 M2320 M2320

Unusable Unusable Unusable
~
~
M2400 M2400 Axis status M2400
Axis status (20 points × 32 axes) Axis status
(20 points × 32 axes) Real mode: all axes (20 points × 32 axes)
~
~
Virtual mode: output modules
M3040 M3040 M3040
~
~
M3072 Common device (command M3072 Common device (command M3072 Common device (command
signal) signal) signal)
~
~
M3136 M3136 M3136
~
~
M3200 M3200 Axis command signal M3200
Axis command signal (20 points × 32 axes) Axis command signal
~

M3840 M3840 M3840
Unusable
(160 points)
~
~
M4000 Virtual servo motor axis status

*1
~
(20 points × 32 axes)

M4640 Synchronous encoder axis
status
~
M4688 *1
Unusable
User device (112 points) User device
~
(4352 points) (4352 points)

M4800 Virtual servo motor axis
*1
command signal
~

command signal
~
M5488
User device
~
(2704 points)
M8191 M8191 M8191
4-7
SV13 SV22
Device
No. No.
M8192 M8192 M8192
System area
(1608 points)
~
~
M9800
Command generation axis status
~
status
~
M10560
Output axis status
~
M10880 Synchronous control
signal[St.380]
(32 points)
~
M10912 Synchronous analysis complete
signal [St.381]
(32 points)
~
M10944
Unusable
(16 points)
~
System area System area M10960 Command generation axis
command signal
~
command signal
~
M11648
Unusable
(32 points)
~
M11680
Output axis command signal
~
M12000 Synchronous control start signal

[Rq.380]
(32 points)
~
M12032 Synchronous analysis request

signal [Rq.381]
(32 points)
~
M12064
Unusable
~
(224 points)
M12287 M12287 M12287
can be used with user devices.

*1: If using only in SV22 real mode, use with user devices is possible.
POINT
• Total number of user device points
SV13: 6352 points (SV13), SV22 virtual mode switching method: 4704
points*,
SV22 advanced synchronous control method: 6352 points
*: If not used with virtual mode, up to 6096 points can be used.
• If using the Q172DCPU, devices for 16 axes are used.
4-8
(2) Data register list
SV13 SV22
Device
No. No.
D0 D0 Axis monitor device D0
Axis monitor device (20 points × 32 axes) Axis monitor device
~
~
D640 Control change register D640 Control change register D640 Control change register
(2 points × 32 axes) (2 points × 32 axes) (2 points × 32 axes)
~
~
D704 Common device (command D704 Common device (command D704
Common device (command signal)
signal) signal)
(54 points)
~
~
D758 Unusable D758 Unusable D758 Unusable
~
~
D800 D800 Virtual servo motor axis monitor D800
*1
Device
~
~
D1120 Synchronous encoder axis
monitor Device
~

User device User device
D1240 Cam axis monitor device
*1
~
D1560
User device
~
(6632 points)
D8191 D8191 D8191
2
D8192＊ User device
(2048 points)
~
2
D10240＊ System area
(2040 points)
~
*2
D12280 Servo input axis monitor device
~
*2
D12600 Command generation axis monitor
device
~

*2
D13240 Synchronous encoder axis monitor
device
~

*2
D13480 Unusable
(120 points)
~
*2
D13600 Output axis monitor device
~
*2
D14560 Unusable
(40 points)
~
*2
D14600 Servo input axis control device
~
*2
D14664 Unusable
(16 points)
~
*2
D14680
Command generation axis control
device
~
*2
(4 points x 32 axes)
D14807
4-9
SV13 SV22
Device
No. No.
*2
D14808 Unusable
(12 points)
~
*2
D14820 Synchronous encoder axis control
device
~
*2
D14940 Unusable
(60 points)
~
*2
D15000 Output axis control device
~
*2
D19800
Unusable
~
(24 points)
*2
D19823
can be used with user devices.
*1: If using only in SV22 real mode, use with user devices is possible.
*2: If using the advanced synchronous control method, D8192 to D19823 cannot be set in the latch range.
POINT
• Total number of user device points
SV13: 7392 points, SV22 virtual mode switching method: 6632 points*,
SV22 advanced synchronous control method: 9440 points
*: If not used with virtual mode, up to 7272 points can be used.
• If using the Q172DSCPU, devices for 16 axes are used.
4 - 10
4.3.1 Internal relays (status/command signals)
The Q17DSCPU is equipped with an internal relay with 12288 points from
M0 to M12287.
Of these, M2400 to M5487 are used for data transfer for each axis, and the
signal names and I/O Nos. for each axis are fixed as shown in the following
tables.
(1) Axis status list
Axis
軸
No. デバイス番号
Device No. Signal name信号名称
No.
1 M2400～M2419
2 M2420～M2439
Signal name
信号名称 Refresh cycle
リフレッシュ周期 Load取込周期
cycle Signal
信号種別 type
3 M2440～M2459
4 M2460～M2479 Positioning start complete
0 位置決め始動完了
5 M2480～M2499 Positioning complete
1 位置決め完了
6 M2500～M2519 In-position
2 インポジション
Operation cycle
7 M2520～M2539 Command in-position
3 指令インポジション演算周期
8 M2540～M2559 Speed controlling
4 速度制御中
9 M2560～M2579 Speed, position switching latch
5 速度・位置切換えラッチ
10 M2580～M2599 Zero pass
6 零点通過
11 M2600～M2619 Error detection
7 エラー検出即時
Immediate Status
ステータス
signal
12 M2620～M2639 Servo error detection
8 サーボエラー検出 Operation
演算周期 cycle
信号
13 M2640～M2659 9 原点復帰要求
Zeroing request Main メイン周期
cycle
14 M2660～M2679 10 原点復帰完了
Zeroing complete Operation
演算周期cycle
15 M2680～M2699 11 FLS
External
16 M2700～M2719 12 RLS
signals
外部信号 Main メイン周期
cycle
17 M2720～M2739 13 STOP
18 M2740～M2759 14 DOG/CHANGE
19 M2760～M2779 Servo ready
15 サーボレディ Operation
演算周期 cycle
20 M2780～M2799 Torque limiting
16 トルク制限中
21 M2800～M2819 Unusable
17 ユーザ使用不可－－－
22 M2820～M2839 Virtual mode continued operation not
仮想モード継続運転不可警告 When switching to
18 possible warning 仮想モード移行時 Status
ステータス
(SV22のみ) ＊1 virtual mode
23 M2840～M2859 (SV22 only) *1 signal
信号
24 M2860～M2879 M-code outputting
19 Mコード出力中 Operation
演算周期 cycle
25 M2880～M2899
26 M2900～M2919
27 M2920～M2939
28 M2940～M2959
29 M2960～M2979
30 M2980～M2999
31 M3000～M3019
32 M3020～M3039
*1: Unusable in SV13/SV22 real mode, SV22 advanced synchronous control.
POINT
(1) With the Q172DSCPU, the axis No.1 to 16 range is valid.
(2) With the Q172DSCPU, device areas of 17 axes or greater can be used as
user devices.
However, if a Q172DSCPU project is replaced with a Q173DSCPU project,
it will no longer be able to be used as a user device.
4 - 11
(2) Axis command signal list
軸
Axis Device No.
デバイス番号 Signal信号名称
name
No.
No.
1 M3200～M3219
2 M3220～M3239
Signal信号名称
name Refresh cycle
リフレッシュ周期 Load
取込周期cycle Signal
信号種別 type
3 M3240～M3259
4 M3260～M3279 0 Stop command
停止指令
Operation
演算周期 cycle
5 M3280～M3299 1 急停止指令
Rapid stop command
6 M3300～M3319 2 Forward rotation JOG start
正転JOG始動指令 Command
指令信号
7 M3320～M3339 3 Reverse rotation JOG start
逆転JOG始動指令 Main メイン周期
cycle signal
8 M3340～M3359 4 Complete signal OFF command
完了信号OFF指令
9 M3360～M3379 5 Speed, position switching enable command
速度・位置切換え許可指令 Operation
演算周期 cycle
10 M3380～M3399 Unusable
6 ユーザ使用不可－－－
11 M3400～M3419 7 エラーリセット指令
Error reset command Main メイン周期
cycle Command
12 M3420～M3439 8 Servo error reset command
サーボエラーリセット指令指令信号
signal
13 M3440～M3459 9 External stop input disable at start command
始動時の外部STOP入力無効指令 When starting
始動時
14 M3460～M3479 10
Unusable
ユーザ使用不可－－－
15 M3480～M3499 11
16 M3500～M3519 12 Feed current value update command
送り現在値更新指令 When starting
始動時
Address clutch reference setting
17 M3520～M3539 アドレスクラッチ基準設定指令
13 command ＊1
18 M3540～M3559 (SV22のみ)
(SV22 only) *1 When switching to
仮想モード移行時
virtual mode
19 M3560～M3579 Cam reference position setting command
カム基準位置設定指令 Command
14 (SV22 only) *1 signal
20 M3580～M3599 (SV22のみ)＊1
指令信号
21 M3600～M3619 15 サーボOFF指令
Servo OFF command 演算周期
Operation cycle
22 M3620～M3639 16 ゲイン切換え指令
Gain changing command Operation cycle
＊2 *2
演算周期
23 M3640～M3659 PI-PID changing command
17 PI-PID切換え指令
24 M3660～M3679 Control loop changing command
18 制御ループ切換え指令
Operation
演算周期 cycle
25 M3680～M3699 FIN signal
19 FIN信号
26 M3700～M3719
27 M3720～M3739
28 M3740～M3759
29 M3760～M3779
30 M3780～M3799
31 M3800～M3819
32 M3820～M3839
*1: Unusable in SV13/SV22 real mode, SV22 advanced synchronous control. 。
＊1：SV13/SV22リアルモード，SV22アドバンスト同期制御でユーザ使用不可です
*2: Every 3.5 [ms] if the operation cycle is 7.1 [ms] or longer.
＊2：演算周期が7.1[ms]以上の場合は3.5[ms]ごとになります。
POINT
user devices.
4 - 12
(3) Command generation axis status list
Axis
軸
No. Device No.
name
No.
1 M9800～M9819
2 M9820～M9839
Symbol
記号 Signal name
信号種別 type
3 M9840～M9859
4 M3260～M9879 0 Command generation axis positioning start complete
St.340 指令生成軸位置決め始動完了 Status
ステータス signal
Operation
演算周期 cycle
5 M9880～M9899 1 St.341 Command generation axis positioning complete
指令生成軸位置決め完了信号
6 M9900～M9919 2 － Unusable
7 M9920～M9939 3 Command generation axis command in-position
St.342 指令生成軸指令インポジション Status
Operation
演算周期 cycle
8 M9940～M9959 4 Command generation axis speed controlling
St.343 指令生成軸速度制御中信号
9 M9960～M9979 5
－ Unusable
10 M9980～M9999 6
11 M10000～M10019 Status
7 Command generation axis error
St.344 指令生成軸エラー検出 Immediate
即時
12 M10020～M10039 detection 信号
13 M10040～M10059 8
－ユーザ使用不可
Unusable －－－
14 M10060～M10079 9
15 M10080～M10099 10 St.345 Command generation axis start accept flag
指令生成軸始動受付けフラグ
Command generation axis speed change accepting flag
16 M10100～M10119 11 St.346 指令生成軸速度変更受付け中フラグ
Operation cycle Status
17 M10120～M10139 Command generation axis speed change
指令生成軸速度変更「0」受付け中演算周期
12 St.347 "0" accepting flag 信号
18 M10140～M10159 フラグ
19 M10160～M10179 13 St.348 Command generation axis automatic decelerating flag
指令生成軸自動減速中フラグ
20 M10180～M10199 14
21 M10200～M10219 15
22 M10220～M10239 16 － Unusable
23 M10240～M10259 17
24 M10260～M10279 18
25 M10280～M10299 Command generation axis M-code outputting Status
19 St.349 指令生成軸Mコード出力中 Operation
演算周期 cycle
26 M10300～M10319 信号
27 M10320～M10339
28 M10340～M10359
29 M10360～M10379
30 M10380～M10399
31 M10400～M10419
32 M10420～M10439
POINT
user devices.
4 - 13
(4) Command generation axis command signal list
Axis
軸
No. Device No.
デバイス番号 Signal name
信号名称
No.
1 M10960～M10979
2 M10980～M10999 Symbol Signal name Refresh cycle Load cycle Signal type
記号信号名称リフレッシュ周期取込周期信号種別
3 M11000～M11019
4 M11020～M11039 0 Rq.341 Command generation axis stop command
指令生成軸停止指令
Operation
演算周期 cycle
5 M11040～M11059 1 Rq.342 Command generation axis rapid stop command
指令生成軸急停止指令
Command generation axis forward rotation JOG start Command signal
6 M11060～M11079 2 Rq.343 command
指令生成軸正転JOG始動指令指令信号
Command generation axis reverse rotation JOG start Main cycle
7 M11080～M11099 3 Rq.344 指令生成軸逆転JOG始動指令
command メイン周期
Command generation axis complete signal OFF
8 M11100～M11119 4 Rq.345 指令生成軸完了信号OFF指令
command
9 M11120～M11139 5
－ Unusable
10 M11140～M11159 6
11 M11160～M11179 7 Rq.346 Command generation axis error reset command
指令生成軸エラーリセット指令 Main cycle
メイン周期 Command signal
指令信号
12 M11180～M11199 8
13 M11200～M11219 9 Unusable
－ユーザ使用不可－－－
14 M11220～M11239 10
15 M11240～M11259 11
Command generation axis feed current value update
When starting Command signal
16 M11260～M11279 12 Rq.347 request
指令生成軸送り現在値更新指令
command 始動時指令信号
17 M11280～M11299 13
18 M11300～M11319 14
19 M11320～M11339 15 Unusable
20 M11340～M11359 16
21 M11360～M11379 17
22 M11380～M11399 18
23 M11400～M11419 19 Command generation axis FIN signal
Rq.348 指令生成軸FIN信号 Operation
演算周期 cycle Signal
指令信号 type
24 M11420～M11439
25 M11440～M11459
26 M11460～M11479
27 M11480～M11499
28 M11500～M11519
29 M11520～M11539
30 M11540～M11559
31 M11560～M11579
32 M11580～M11599
POINT
user devices.
4 - 14
(5) Synchronous encoder axis status list
Axis
軸
No. Device No.
name
No.
1 M10440～M10449
2 M10450～M10459
Symbol
記号 Signal 信号名称
name Refresh cycle
信号種別 type
3 M10460～M10469
4 M10470～M10479 0 St.320 Synchronous encoder axis setting valid flag
同期エンコーダ軸設定有効フラグ When電源投入時
power turned ON
Synchronous encoder axis connecting valid flag
5 M10480～M10489 1 St.321 同期エンコーダ軸接続有効フラグ
6 M10490～M10499 Synchronous
同期エンコーダ軸カウンタencoder axis counter enable Status signal
2 St.322 flag Operation cycle ステータス
7 M10500～M10509 イネーブルフラグ演算周期
信号
8 M10510～M10519 Synchronous encoder axis current value
同期エンコーダ軸現在値設定要求
3 St.323 setting request flag
9 M10520～M10529 フラグ
10 M10530～M10539 4 St.324 Synchronous encoder axis error detection flag
同期エンコーダ軸エラー検出フラグ Immediate
即時
11 M10540～M10549 5 － Unusable
12 M10550～M10559 Synchronous encoder axis control Immediate Status
6 St.325 complete
同期エンコーダ軸制御完了フラグ
flag 即時
信号
7
8 － Unusable
9
(6) Synchronous encoder axis command signal list
軸
Axis Signal name
No. Device No.
デバイス番号信号名称
No.
1 M11600～M11603
2 M11604～M11607
記号
Symbol Signal信号名称
name リフレッシュ周期
Refresh cycle 取込周期
Load cycle 信号種別
Signal type
3 M11608～M11611
4 M11612～M11615 0 Rq.323 Synchronous encoder axis error reset
同期エンコーダ軸エラーリセット Main cycle
メイン周期
5 M11616～M11619 1 Rq.320 Synchronous
同期エンコーダ軸制御要求encoder axis control request Operation
演算周期 cycle
Command signal
指令信号
6 M11620～M11623 Connection command of synchronous
デバイス／マスタCPU経由
2 Rq.324 encoder via device/master CPU Main cycle
メイン周期
7 M11624～M11627 同期エンコーダ接続指令
8 M11628～M11631 3 －ユーザ使用不可
Unusable －－－
9 M11632～M11635
10 M11636～M11639
11 M11640～M11643
12 M11644～M11647
4 - 15
(7) Output axis status list
Axis
軸
No. Device No.
信号名称
No.
1 M10560～M10569
2 M10570～M10579
Symbol
記号 Signal
信号名称 name Refresh cycle
信号種別 type
3 M10580～M10589
4 M10590～M10599 0 St.420 Main shaft clutch ON/OFF status
主軸クラッチON/OFFステータス
5 M10600～M10609 Main shaft clutch smoothing status
主軸クラッチスムージング
1 St.421
6 M10610～M10619 ステータス Operation cycle Status
演算周期
7 M10620～M10629 2 St.423 Auxiliary shaft clutch ON/OFF status
補助軸クラッチON/OFFステータス信号
8 M10630～M10639 Auxiliary shaft clutch smoothing status
補助軸クラッチスムージング
3 St.424
9 M10640～M10649 ステータス
10 M10650～M10659 4
－ Unusable
11 M10660～M10669 5
12 M10670～M10679 Status
Control change complete Operation cycle
6 St.426 制御変更完了演算周期
13 M10680～M10689 信号
14 M10690～M10699 7
15 M10700～M10709 8 － Unusable
16 M10710～M10719 9
17 M10720～M10729
18 M10730～M10739
19 M10740～M10749
20 M10750～M10759
21 M10760～M10769
22 M10770～M10779
23 M10780～M10789
24 M10790～M10799
25 M10800～M10809
26 M10810～M10819
27 M10820～M10829
28 M10830～M10839
29 M10840～M10849
30 M10850～M10859
31 M10860～M10869
32 M10870～M10879
POINT
user devices.
4 - 16
(8) Output axis command signal list
Axis
軸
No. Device No.
name
No.
1 M11680～M11689
2 M11690～M11699
Symbol
記号 Signal
信号名称name Refresh cycle
取込周期 cycle Signal
信号種別 type
3 M11700～M11709
4 M11710～M11719 0 Rq.400 Main shaft clutch command
主軸クラッチ指令
Command signal
5 M11720～M11729 1 Rq.401 Main shaft clutch control invalid command
主軸クラッチ制御無効指令 Operation
演算周期 cycle 指令信号
6 M11730～M11739 2 Rq.402 Main shaft clutch forced OFF command
主軸クラッチ強制OFF指令
7 M11740～M11749 3 － Unusable
8 M11750～M11759 4 Rq.403 Auxiliary
補助軸クラッチ指令 shaft clutch command
Command signal
9 M11760～M11769 5 Auxiliary clutch
Rq.404 補助軸クラッチ制御無効指令 control invalid command Operation
10 M11770～M11779 6 Rq.405 Auxiliary clutch forced OFF command
補助軸クラッチ強制OFF指令
11 M11780～M11789 7 － Unusable
Command signal
12 M11790～M11799 8 Rq.406 Control
制御変更要求指令change request command Operation
13 M11800～M11809 9 － Unusable
14 M11810～M11819
15 M11820～M11829
16 M11830～M11839
17 M11840～M11849
18 M11850～M11859
19 M11860～M11869
20 M11870～M11879
21 M11880～M11889
22 M11890～M11899
23 M11900～M11909
24 M11910～M11919
25 M11920～M11929
26 M11930～M11939
27 M11940～M11949
28 M11950～M11959
29 M11960～M11969
30 M11970～M11979
31 M11980～M11989
32 M11990～M11999
POINT
user devices.
4 - 17
(9) Synchronous control signal list
Axis
軸リフレッシュ
No. Device No.
デバイス番号 Symbol
記号 Signal
信号名称 name Refresh cycle Load
信号種別 type
No. 周期
1 M10880
2 M10881
3 M10882
4 M10883
5 M10884
6 M10885
7 M10886
8 M10887
9 M10888
10 M10889
11 M10890
12 M10891
13 M10892
14 M10893
15 M10894
16 M10895 ステータス
Synchronous controlling
St.380 同期制御中 Operation
演算周期 cycle Status signal
17 M10896 信号
18 M10897
19 M10898
20 M10899
21 M10900
22 M10901
23 M10902
24 M10903
25 M10904
26 M10905
27 M10906
28 M10907
29 M10908
30 M10909
31 M10910
32 M10911
POINT
user devices.
4 - 18
(10) Synchronous analysis complete signal list
Axis
Axis
Device
DeviceNo.No. 記号
Symbol
Symbol 信号名称
Signal namename
Signal Refresh cycle 取込周期
Load
Load cycle
cycle 信号種別
Signal type
Signal type
No. 周期
1 M10912
2 M10913
3 M10914
4 M10915
5 M10916
6 M10917
7 M10918
8 M10919
9 M10920
10 M10921
11 M10922
12 M10923
13 M10924
14 M10925
15 M10926
16 M10927 Synchronous analysis complete Operation cycle ステータス
Status signal
St.381 同期解析完了演算周期
17 M10928 信号
18 M10929
19 M10930
20 M10931
21 M10932
22 M10933
23 M10934
24 M10935
25 M10936
26 M10937
27 M10938
28 M10939
29 M10940
30 M10941
31 M10942
32 M10943
POINT
user devices.
4 - 19
(11) Synchronous control start signal list
Axis
Device No. 記号
Symbol 信号名称
Signal name Refresh cycle 取込周期
Signal type
No. 周期
1 M12000
2 M12001
3 M12002
4 M12003
5 M12004
6 M12005
7 M12006
8 M12007
9 M12008
10 M12009
11 M12010
12 M12011
13 M12012
14 M12013
15 M12014
16 M12015
Rq.380 Synchronous
同期制御始動control start Operation
演算周期 cycle Command
指令信号 signal
17 M12016
18 M12017
19 M12018
20 M12019
21 M12020
22 M12021
23 M12022
24 M12023
25 M12024
26 M12025
27 M12026
28 M12027
29 M12028
30 M12029
31 M12030
32 M12031
POINT
user devices.
4 - 20
(12) Synchronous analysis request signal list
Axis
No. Device No.
デバイス番号 Symbol
記号 Signal
信号名称 name Refresh cycle Load
信号種別 type
No. 周期
1 M12032
2 M12033
3 M12034
4 M12035
5 M12036
6 M12037
7 M12038
8 M12039
9 M12040
10 M12041
11 M12042
12 M12043
13 M12044
14 M12045
15 M12046
16 M12047 When starting
同期制御 Command signal
Synchronous analysis
Rq.381 同期解析要求 synchronous 指令信号
17 M12048 request 始動時
control
18 M12049
19 M12050
20 M12051
21 M12052
22 M12053
23 M12054
24 M12055
25 M12056
26 M12057
27 M12058
28 M12059
29 M12060
30 M12061
31 M12062
32 M12063
POINT
user devices.
4 - 21
4.3.2 Internal relays (common devices)
Q17DSCPU is equipped with an internal relay with 12288 points from M0 to
M12287.
Of these, M2000 to M2319 and M3072 to M3135 are used for positioning
control, and their respective applications are fixed as shown in the following
tables.
(1) Common devices
Device No. Signal name

M2000 PLC ready flag
～
M2001 Axis 1 start accept flag
M2032 Axis 32 start accept flag

M2033
Unusable
M2034
M2035 Motion error history clear request flag
M2036
Unusable
M2037
M2038 Motion SFC debugging flag
M2039 Motion error detection flag
M2040 Speed switching point specified flag
M2041 System setting error flag
M2042 All axis servo ON command
M2043 Real mode/virtual mode switching request (SV22) *1
M2044 Real mode/virtual mode switching request (SV22) *1
M2045 Real mode/virtual mode switching error (SV22) *1
M2046 Out-of-sync warning (SV22) *1
M2047 Motion slot module error
M2048 JOG simultaneous start command
M2049 All axes servo ON accept flag
M2050 Unusable
M2051 Manual pulse generator 1 enable flag
M2054 Operation cycle over flag
～
M2055
Unusable
M2060
～
M2061 Axis 1 speed change flag
M2092 Axis 32 speed change flag

～
M2093
Unusable
M2100
～
Axis 1 synchronous encoder current value changing flag

～
M2101
Axis 12 synchronous encoder current value changing flag
M2112 *1 *2
～
M2113
Unusable
M2127
～
M2128 Axis 1 automatic decelerating flag
M2159 Axis 32 automatic decelerating flag

～
M2160
Unusable
M2239
～
M2240 Axis 1 speed change "0" accepting flag
M2271 Axis 32 speed change "0" accepting flag
4 - 22
～
M2272 Axis 1 control loop monitor status
M2303 Axis 32 control loop monitor status
～
M2304
Unusable
M2319
*1: Unusable when performing SV22 advanced synchronous control.
*2: Unusable in real mode.
(2) Common device (command signal) list

Device No. Signal name Refresh cycle Load cycle Signal type Remarks *1, *2
M3072 PLC ready flag Main cycle M2000
M3073 Speed switching point specified flag When starting M2040
M3074 All axes servo ON command Operation cycle M2042

When
Real mode/virtual mode switching
M3075 3 switching to M2043
Request (SV22) * virtual mode
JOG operation simultaneous start Command
M3076 command signal M2048
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 error history clear

M3080 M2035
request flag
M3081
*4
Unusable
- - - -
~
(55 points)
M3135
*1: If the device in the Remarks field is turned ON/OFF directly, the device status will not match. Please note that if requests
are issued simultaneously from the data register and the above devices, requests from these devices will be valid.
*2: Commands are possible even for devices in the Remarks field.
*4: Do not use as a user device. This will be a command signal spare area, and therefore can be used as a device to perform
automatic refresh.
4 - 23
4.3.3 Data register (monitor device/control change register)
There are 19824 data registers in the Q17nDSCPU, from D0 to D19823.
Of these, 800 points from D0 to D799 are used for positioning control, and 9584
points from D10240 to D19823 are used for advanced synchronous control, and
their respective applications are fixed as shown in the following tables.
(1) Axis monitor device list
Axis
軸
No. Device No.
デバイス番号 Signal
信号名称name
No.
1 D0～D19
2 D20～D39 Signal name Refresh cycle Load cycle Signal type
信号名称リフレッシュ周期取込周期信号種別
3 D40～D59
4 D60～D79 0 Feed current value
送り現在値
5 D80～D99 1
6 D100～D119 2
Real current value
実現在値 Operation
演算周期cycle
7 D120～D139 3
8 D140～D159 4
Deviation counter value
偏差カウンタ値
9 D160～D179 5
10 D180～D199 6 Minor error code
軽度エラーコード
Immediate
即時
11 D200～D219 7 Major error code
重度エラーコード Monitor
device
モニタ
12 D220～D239 8 Servo error code
サーボエラーコード Main cycle
メイン周期
デバイス
13 D240～D259 9 Zeroing
原点復帰再移動量retravel value
14 D260～D279 10 Travel value after proximity dog ON Operation
演算周期cycle
近点ドグON後の移動量
15 D280～D299 11
16 D300～D319 12 Execute program No.
実行プログラムNo. When
始動時starting
17 D320～D339 13 M-code
Mコード Operation
演算周期cycle
18 D340～D359 14 Torque
トルク制限値 limit value
19 D360～D379 Data set pointer for constant-speed
等速制御用データセット When starting/started
15 control 始動時・始動中
20 D380～D399 ポインタ
21 D400～D419 16 Unusable *
ユーザ使用不可＊1 －－－
22 D420～D439 17
23 D440～D459 18 Real current value at stop input Monitor
モニタ
STOP入力時の実現在値 Operation
演算周期 cycle
24 D460～D479 19 device
デバイス
25 D480～D499
26 D500～D519
27 D520～D539
28 D540～D559
29 D560～D579
30 D580～D599
31 D600～D619
32 D620～D639
＊1：移動量変更レジスタとして使用可能です。移動量変更レジスタは，サーボプログラムにて任意デバイスに設定できます。
*1: Can be used as the travel value change register. The travel value change register can be set for the desired device in the servo
program.
POINT
user devices.
4 - 24
(2) Control change register list
Axis
軸
No. Device No.
信号名称name
No.
1 D640，D641
2 D642，D643
Signal
信号名称 name Refresh cycle
信号種別 type
3 D644，D645
4 D646，D647 0 When始動時
starting Command
指令
JOG speed setting
JOG速度設定
5 D648，D649 1 device
デバイス
6 D650，D651
7 D652，D653
8 D654，D655
9 D656，D657
10 D658，D659
11 D660，D661
12 D662，D663
13 D664，D665
14 D666，D667
15 D668，D669
16 D670，D671
17 D672，D673
18 D674，D675
19 D676，D677
20 D678，D679
21 D680，D681
22 D682，D683
23 D684，D685
24 D686，D687
25 D688，D689
26 D690，D691
27 D692，D693
28 D694，D695
29 D696，D697
30 D698，D699
31 D700，D701
32 D702，D703
POINT
user devices.
4 - 25
(3) Servo input axis monitor device list
Axis
軸
No. Device No.
信号名称name
No.
1 D12280～D12289
2 D12290～D12299
Symbol
記号 Signal name
信号種別 type
3 D12300～D12309
4 D12310～D12319 0 Servo input axis current value
Md.300 サーボ入力軸現在値
5 D12320～D12329 1
6 D12330～D12339 2 Servo input axis speed
Md.301 サーボ入力軸速度 Monitor
7 D12340～D12349 3 Operation cycle モニタ
演算周期 device
8 D12350～D12359 4 Servo input axis phase compensation デバイス
Md.302 amount
サーボ入力軸位相補正量
9 D12360～D12369 5
10 D12370～D12379 6 Servo input axis rotation direction
Md.303 restriction
サーボ入力軸回転方向制限量
amount
11 D12380～D12389 7
12 D12390～D12399 8 Unusable
13 D12400～D12409 9
14 D12410～D12419
15 D12420～D12429
16 D12430～D12439
17 D12440～D12449
18 D12450～D12459
19 D12460～D12469
20 D12470～D12479
21 D12480～D12489
22 D12490～D12499
23 D12500～D12509
24 D12510～D12519
25 D12520～D12529
26 D12530～D12539
27 D12540～D12549
28 D12550～D12559
29 D12560～D12569
30 D12570～D12579
31 D12580～D12589
32 D12590～D12599
POINT
user devices.
4 - 26
(4) Servo input axis control device list
Axis
軸
No. Device No.
信号名称name
No.
1 D14600，D14601
2 D14602，D14603
Symbol
記号 Signal name
信号名称リフレッシュ周期
Refresh cycle Load
信号種別 type
3 D14604，D14605
4 D14606，D14607 0 Servo input axis phase Command
指令
Pr.302 compensation
サーボ入力軸位相補正進め時間 advance time Operation
演算周期 cycle device
5 D14608，D14609 1 デバイス
6 D14610，D14611
7 D14612，D14613
8 D14614，D14615
9 D14616，D14617
10 D14618，D14619
11 D14620，D14621
12 D14622，D14623
13 D14624，D14625
14 D14626，D14627
15 D14628，D14629
16 D14630，D14631
17 D14632，D14633
18 D14634，D14635
19 D14636，D14637
20 D14638，D14639
21 D14640，D14641
22 D14642，D14643
23 D14644，D14645
24 D14646，D14647
25 D14648，D14649
26 D14650，D14651
27 D14652，D14653
28 D14654，D14655
29 D14656，D14657
30 D14658，D14659
31 D14660，D14661
32 D14662，D14663
POINT
user devices.
4 - 27
(5) Command generation axis monitor device list
軸
Axis
デバイス番号
Device No. Signal
信号名称name
No.
No.
1 D12600～D12619
2 D12620～D12639
記号
Symbol 信号名称
Signal name リフレッシュ周期
Signal type
3 D12640～D12659
4 D12660～D12679 0 Command generation axis feed
Md.340 current
指令生成軸送り現在値 Operation
演算周期 cycle
5 D12680～D12699 1 value
6 D12700～D12719 2 Md.341 Command

指令生成軸軽度エラーコード
generation axis minor error code Immediate
即時
7 D12720～D12739 3 Md.342 Command
指令生成軸重度エラーコード
generation axis major error code Monitor
モニタ
When starting device
デバイス
8 D12740～D12759 4 Md.343 Command generation axis execute program No.
指令生成軸実行プログラムNo. 始動時
9 D12760～D12779 5 Md.344 Command
指令生成軸Mコード
generation axis M-code
10 D12780～D12799 6 Command generation axis accumulative Operation

演算周期 cycle
Md.345 current value
指令生成軸累積現在値
11 D12800～D12819 7
12 D12820～D12839 8 －ユーザ使用不可
Unusable －－－
13 D12840～D12859 Command generation axis data set
指令生成軸等速制御用データセット When starting/started
9 Md.346 pointer for constant-speed control 始動時・始動中
14 D12860～D12879 ポインタ
Monitor
15 D12880～D12899 10 Command generation axis current value モニタ
Md.347 per
指令生成軸1サイクル現在値 device
cycle デバイス
16 D12900～D12919 11 Operation cycle
演算周期
17 D12920～D12939 12 Command generation axis command
Md.348 speed
指令生成軸指令速度
18 D12940～D12959 13
19 D12960～D12979 14
20 D12980～D12999 15
21 D13000～D13019 16
－ Unusable
22 D13020～D13039 17
23 D13040～D13059 18
24 D13060～D13079 19
25 D13080～D13099
26 D13100～D13119
27 D13120～D13139
28 D13140～D13159
29 D13160～D13179
30 D13180～D13199
31 D13200～D13219
32 D13220～D13239
POINT
user devices.
4 - 28
(6) Command generation axis control device list
軸
Axis
No. Device No.
信号名称name
No.
1 D14680～D14683
2 D14684～D14687
記号
Symbol 信号名称
Signal type
3 D14688～D14691
4 D14692～D14695 0 Command generation axis JOG speed
Cd.340 setting
指令生成軸JOG速度設定
5 D14696～D14699 1 When starting JOG Command
指令
JOG運転始動時
operation device
6 D14700～D14703 Command generation axis JOG operation
指令生成軸JOG運転パラメータデバイス
2 Pr.348 parameter block setting
7 D14704～D14707 ブロック指定
8 D14708～D14711 3 － Unusable
9 D14712～D14715
10 D14716～D14719
11 D14720～D14723
12 D14724～D14727
13 D14728～D14731
14 D14732～D14735
15 D14736～D14739
16 D14740～D14743
17 D14744～D14747
18 D14748～D14751
19 D14752～D14755
20 D14756～D14759
21 D14760～D14763
22 D14764～D14767
23 D14768～D14771
24 D14772～D14775
25 D14776～D14779
26 D14780～D14783
27 D14784～D14787
28 D14788～D14791
29 D14792～D14795
30 D14796～D14799
31 D14800～D14803
32 D14804～D14807
POINT
user devices.
4 - 29
(7) Synchronous encoder axis monitor device list
Axis
軸
No. Device No.
信号名称name
No.
1 D13240～D13259
2 D13260～D13279
記号
Symbol 信号名称
Signal type
3 D13280～D13299
4 D13300～D13319 0
Md.320 Synchronous
同期エンコーダ軸現在値 encoder axis current value
5 D13320～D13339 1
6 D13340～D13359 2 Synchronous encoder axis current value
Md.321 per
同期エンコーダ軸1サイクル現在値
cycle
7 D13360～D13369 3
Md.322 Synchronous
同期エンコーダ軸速度 encoder axis speed
演算周期 Monitor
9 D13400～D13419 5 モニタ
device
10 D13420～D13439 6 Synchronous encoder axis phase デバイス
Md.323 compensation
同期エンコーダ軸位相補正量amount
11 D13440～D13459 7
12 D13460～D13479 8 Synchronous encoder axis rotation
Md.324 direction
同期エンコーダ軸回転方向制限量
restriction amount
9
10 Md.327 Synchronous encoder axis minor error code
同期エンコーダ軸軽度エラーコード Immediate
即時
11 Md.326 Synchronous encoder axis major error code
同期エンコーダ軸重度エラーコード
12
13
14
15 Unusable
16
17
18
19
4 - 30
(8) Synchronous encoder axis control device list
軸
Axis
Device No. Signal
信号名称name
No.
1 D14820～D14829
2 D14830～D14839
記号
Symbol Signal name
信号種別 type
3 D14840～D14849
4 D14850～D14859 0 Synchronous encoder axis phase
Pr.326 compensation
同期エンコーダ軸位相補正進め時間
advance time Operation
演算周期 cycle
5 D14860～D14869 1
6 D14870～D14879 2 Cd.320 Synchronous encoder axis control start condition
同期エンコーダ軸制御始動条件
When starting Command
7 D14880～D14889 3 Cd.321 Synchronous
同期エンコーダ軸制御方法encoder axis control method 同期エンコーダ軸
synchronous encoder 指令
device
Synchronous encoder axis current value axis control
制御始動時デバイス
8 D14890～D14899 4 同期エンコーダ軸現在値設定
Cd.322 setting address
9 D14900～D14909 5 アドレス
10 D14910～D14919 6 Input value for synchronous encoder via Operation cycle
Cd.325 device
デバイス経由同期エンコーダ入力値演算周期
11 D14920～D14929 7
12 D14930～D14939 8 Unusable
9
4 - 31
(9) Output axis monitor device list
軸
Axis
No. Device No.
信号名称name
No.
1 D13600～D13629
2 D13630～D13659
Symbol
記号 Signal name
信号名称リフレッシュ周期
Refresh cycle Load
信号種別 type
3 D13660～D13689
4 D13690～D13719 0 Current value after composite main
Md.400 主軸合成ギア後現在値
shaft gear
5 D13720～D13749 1
6 D13750～D13779 2 Current value per cycle after main shaft
Md.401 主軸ギア後1サイクル現在値
7 D13780～D13809 3 gear
8 D13810～D13839 4 Current value per cycle after auxiliary

Md.402 補助軸ギア後1サイクル現在値
shaft gear
9 D13840～D13869 5
10 D13870～D13899 6
Md.422 主軸クラッチ滑り量累積値
Main shaft clutch slippage
11 D13900～D13929 7 (accumulative)
12 D13930～D13959 8 Auxiliary shaft clutch slippage
Md.425 補助軸クラッチ滑り量累積値
(accumulative)
Monitor
モニタ
13 D13960～D13989 9 Operation
演算周期 cycle device
デバイス
14 D13990～D14019 10
Md.406 カム軸位相補正量
Cam axis phase compensation amount
15 D14020～D14049 11
16 D14050～D14079 12
Md.407 カム軸1サイクル現在値
Cam axis current value per cycle
17 D14080～D14109 13
18 D14110～D14139 14
Md.408 カム基準位置
Cam reference position
19 D14140～D14169 15
20 D14170～D14199 16 Cam axis feed current value
Md.409 カム軸送り現在値
21 D14200～D14229 17
22 D14230～D14259 18 Execution cam No.
Md.410 実行カムNo.
23 D14260～D14289 19 －ユーザ使用不可
Unusable －－－
24 D14290～D14319 20
Md.411 実行カムストローク量
Execute cam stroke amount
25 D14320～D14349 21 Operation cycle Monitor
モニタ
演算周期 device
26 D14350～D14379 22 デバイス
Execute Cam axis length per cycle
Md.412 実行カム軸1サイクル長
27 D14380～D14409 23
28 D14410～D14439 24
29 D14440～D14469 25
30 D14470～D14499 26
－ユーザ使用不可
Unusable －－－
31 D14500～D14529 27
32 D14530～D14559 28
29
POINT
user devices.
4 - 32
(10) Output axis control device list
軸
Axis
No. Device No.
デバイス番号信号名称
Signal name
No.
1 D15000～D15149
2 D15150～D15299
記号
Symbol 信号名称
Signal type
3 D15300～D15449
4 D15450～D15599 0 Main input axis No.
Pr.400 メイン入力軸番号 When starting Command
同期制御始動時
synchronous control 指令
5 D15600～D15749 1 Sub input axis No
Pr.401 サブ入力軸番号 device
デバイス
6 D15750～D15899 2 Composite main shaft gear
Pr.402 主軸合成ギア Operation
演算周期 cycle
7 D15900～D16049 3 －ユーザ使用不可
Unusable －－－
8 D16050～D16199 4
Pr.403 主軸ギア分子
Main shaft gear: Numerator
9 D16200～D16349 5 When starting
synchronous control
10 D16350～D16499 6
Pr.404 主軸ギア分母
Main shaft gear: Denominator
11 D16500～D16649 7
12 D16650～D16799 8 Main shaft clutch control setting
Pr.405 主軸クラッチ制御設定 Operation
演算周期 cycle
When starting synchronous
13 D16800～D16949 9 Pr.406 Main shaft clutch reference address setting
主軸クラッチ参照アドレス設定同期制御始動時
control
14 D16950～D17099 10
Pr.407 主軸クラッチONアドレス
Main shaft clutch ON address Operation
演算周期 cycle
15 D17100～D17249 11
16 D17250～D17399 12 クラッチON条件
When clutch ON
Pr.408 主軸クラッチON前移動量
Travel value before main shaft clutch ON conditions established
17 D17400～D17549 13 成立時
18 D17550～D17699 14
Main shaft clutch OFF address
Pr.409 主軸クラッチOFFアドレス Operation
演算周期 cycle
19 D17700～D17849 15
20 D17850～D17999 16 クラッチOFF条件
When clutch OFF
Pr.410 主軸クラッチOFF前移動量
Travel value before main shaft clutch
conditions established
21 D18000～D18149 17 OFF 成立時
22 D18150～D18299 18 Main shaft clutch smoothing method
Pr.411 主軸クラッチスムージング方式 When starting
synchronous control
23 D18300～D18449 19 Main shaft clutch smoothing time constant
Pr.412 主軸クラッチスムージング時定数
24 D18450～D18599 20 When starting clutch
Slippage amount at main shaft clutch ON
Pr.413 主軸クラッチON時滑り量クラッチON開始時
ON
25 D18600～D18749 21
26 D18750～D18899 22 When starting clutch
Slippage amount at main shaft clutch OFF
Pr.414 主軸クラッチOFF時滑り量クラッチOFF開始時
OFF Command
27 D18900～D19049 23 device
指令
28 D19050～D19199 24 Auxiliary shaft axis No.
Pr.418 補助軸番号同期制御始動時
control デバイス
29 D19200～D19349 25 Composite auxiliary shaft gear
Pr.419 補助軸合成ギア Operation
演算周期 cycle
30 D19350～D19499 26
Auxiliary shaft gear: Numerator
Pr.420 補助軸ギア分子 When starting
31 D19500～D19649 27 synchronous control
32 D19650～D19799 28
Auxiliary shaft gear: Denominator
Pr.421 補助軸ギア分母
29
30 Pr.422 補助軸クラッチ制御設定
Auxiliary shaft clutch control setting Operation
演算周期 cycle
31 Pr.423 補助軸クラッチ参照アドレス設定
Auxiliary shaft clutch reference address setting 同期制御始動時
control
32
Auxiliary shaft clutch ON address
Pr.424 補助軸クラッチONアドレス Operation
演算周期 cycle
33
34 クラッチON条件
When clutch ON
Pr.425 補助軸クラッチON前移動量
Travel value before auxiliary shaft clutch ON conditions established
35 成立時
36
Auxiliary shaft clutch OFF address
Pr.426 補助軸クラッチOFFアドレス Operation
演算周期 cycle
37
38 クラッチOFF条件
When clutch OFF
Pr.427 Travel
補助軸クラッチOFF前移動量
value before auxiliary shaft clutch OFF conditions established
39 成立時
40 Auxiliary shaft clutch smoothing method
Pr.428 補助軸クラッチスムージング方式 When starting
Auxiliary shaft clutch smoothing time constant
synchronous control
41 Pr.429 補助軸クラッチスムージング時定数
42 Slippage amount at auxiliary shaft When starting clutch
Pr.430 補助軸クラッチON時滑り量
clutch ON クラッチON開始時
ON
43
4 - 33
Output axis control device list (cont.)
軸
Axis
Device No. 信号名称
Signal name
No.
1 D15000～D15149
2 D15150～D15299
記号
name リフレッシュ周期
Signal type
3 D15300～D15449
4 D15450～D15599 44 Slippage amount at auxiliary When starting
Pr.431 補助軸クラッチOFF時滑り量
shaft clutch OFF クラッチOFF開始時
5 D15600～D15749 45 clutch OFF
6 D15750～D15899 46 Pr.434 変速機1配置

Speed change gear 1 allocation When starting
synchronous control
7 D15900～D16049 47 Speed change gear 1 smoothing time constant
Pr.435 変速機1スムージング時定数
8 D16050～D16199 48
Speed change ratio 1: Numerator
Pr.436 変速比1分子 Operation cycle
9 D16200～D16349 49
演算周期
10 D16350～D16499 50
Speed change ratio 1: Denominator
Pr.437 変速比1分母
11 D16500～D16649 51
12 D16650～D16799 52 Speed change gear 2 allocation
Pr.490 変速機2配置 When starting
synchronous control Command
13 D16800～D16949 53 Pr.491 Speed change gear 2 smoothing time constant
変速機2スムージング時定数 device
指令
14 D16950～D17099 54
Speed change ratio 2: Numerator
Pr.492 変速比2分子デバイス
演算周期
16 D17250～D17399 56
Speed change ratio 2: Denominator
Pr.493 変速比2分母
17 D17400～D17549 57
18 D17550～D17699 58 Cam axis cycle unit setting
Pr.438 カム軸サイクル単位設定
19 D17700～D17849 59 Cam axis length per cycle change setting
Pr.442 カム軸1サイクル長変更設定 When starting
synchronous control
20 D17850～D17999 60
Cam axis length per cycle
Pr.439 カム軸1サイクル長
21 D18000～D18149 61
22 D18150～D18299 When starting
同期制御始動時，
synchronous control,
23 D18300～D18449 62 Cam No.
Pr.440 カムNo. カムデータ0点目
when passing cam
24 D18450～D18599 data 0 通過時
point
25 D18600～D18749 63 － Unusable
26 D18750～D18899 64 同期制御始動時，
When starting
Cam stroke amount synchronous control,
27 D18900～D19049 Pr.441 カムストローク量カムデータ0点目
when passing cam
65
28 D19050～D19199 data 0通過時
point
Command
指令
device
Pr.444 カム軸位相補正進め時間
Cam axis phase compensation advance time 演算周期
30 D19350～D19499 67 デバイス
31 D19500～D19649 68 Cam axis phase compensation time constant
Pr.445 カム軸位相補正時定数
When starting
32 D19650～D19799 69 Synchronous control parameter block No.
Pr.448 同期制御パラメータブロックNo. 同期制御始動時
synchronous control
70 Output axis smoothing time constant
Pr.447 出力軸スムージング時定数
71
72
73
74
75
76 － Unusable
77
78
79
80
81
4 - 34
軸
Axis
No. Device No.
信号名称name
No.
1 D15000～D15149
2 D15150～D15299
記号
name Refresh cycle
リフレッシュ周期 Load cycle
取込周期 Signal
信号種別 type
3 D15300～D15449
4 D15450～D15599 82
5 D15600～D15749 83
6 D15750～D15899 84
7 D15900～D16049 85
8 D16050～D16199 86
9 D16200～D16349 87
10 D16350～D16499 88
11 D16500～D16649 89
12 D16650～D16799 90 Unusable
13 D16800～D16949 91
14 D16950～D17099 92
15 D17100～D17249 93
16 D17250～D17399 94
17 D17400～D17549 95
18 D17550～D17699 96
19 D17700～D17849 97
20 D17850～D17999 98
21 D18000～D18149 99
22 D18150～D18299 主軸ギア後1サイクル現在値設定
Setting method of current value per
100 Pr.460 cycle after main shaft gear
23 D18300～D18449 方法
24 D18450～D18599 補助軸ギア後1サイクル現在値設定
Setting method of current value per
101 Pr.461 cycle after auxiliary shaft gear When starting 指令
Command
25 D18600～D18749 方法同期制御始動時
synchronous device
control
デバイス
26 D18750～D18899 Cam axis position restoration object
102 Pr.462 カム軸位置復元対象
27 D18900～D19049 Setting method of cam reference position
103 Pr.463 カム基準位置設定方法
28 D19050～D19199 Cam axis 1 cycle current value setting method
104 Pr.464 カム軸1サイクル現在値設定方法
29 D19200～D19349 105 － Unusable
30 D19350～D19499 106 Current value per cycle after main
主軸ギア後1サイクル現在値初期
Pr.465 shaft gear (Initial setting)
31 D19500～D19649 107 設定値
32 D19650～D19799 108 補助軸ギア後1サイクル現在値初期
Current value per cycle after auxiliary
Pr.466 shaft gear (Initial setting)
109 設定値 When starting Command
指令
synchronous device
110 control デバイス
Cam reference position (Initial setting)
Pr.467 カム基準位置初期設定値
111
112 Cam axis current value per cycle
Pr.468 カム軸1サイクル現在値初期設定値
(Initial setting)
113
114
115
116
117
118
119 － Unusable
120
121
122
123
124
4 - 35
軸
Axis
Device No.
信号名称
No.
No.
1 D15000～D15149
2 D15150～D15299 Symbol
記号 Signal信号名称
name Refresh cycle
取込周期 Signal
信号種別
3 D15300～D15449 type
4 D15450～D15599 125
5 D15600～D15749 126
－ Unusable
6 D15750～D15899 127
7 D15900～D16049 128
8 D16050～D16199 129
9 D16200～D16349 Synchronous control change
130 Cd.407 同期制御変更命令 When
Synchronous control change reflection time requesting Command
10 D16350～D16499 131 Cd.409 同期制御変更反映時間同期制御変更指令
simultaneous device
11 D16500～D16649 132 control要求時
change デバイス
Synchronous control change value
Cd.408 同期制御変更値
12 D16650～D16799 133
13 D16800～D16949 134
14 D16950～D17099 135
15 D17100～D17249 136
16 D17250～D17399 137
17 D17400～D17549 138
18 D17550～D17699 139
19 D17700～D17849 140
20 D17850～D17999 141 Unusable
21 D18000～D18149 142
22 D18150～D18299 143
23 D18300～D18449 144
24 D18450～D18599 145
25 D18600～D18749 146
26 D18750～D18899 147
27 D18900～D19049 148
28 D19050～D19199 149
29 D19200～D19349
30 D19350～D19499
31 D19500～D19649
32 D19650～D19799
POINT
user devices.
4 - 36
(12) Common device list
デバイ Signal デバイ
Device Signal
Device Signal
取込周期信号種別 Signal
取込周期信号種別
No.
ス番号 type No.
ス番号 type
シーケンサレディフラグ Manual pulse generator 1

手動パルサ1スムージング
D704 PLC ready flag request D752 smoothing magnification
要求倍率設定レジスタ
setting register When manual pulse
速度切換えポイント指定
Speed switching point
Manual pulse generator 2
手動パルサ2スムージング手動パルサ許可フラグ
generator enable flag
D705 D753 smoothing magnification
specified flag request
フラグ要求倍率設定レジスタ
setting register 時
All axes servo ON Main cycle Command
指令 Manual pulse generator 3
手動パルサ3スムージング Command
D706 全軸サーボON指令要求
command request メイン周期 device D754 smoothing magnification device
デバイス倍率設定レジスタ
setting register 指令
リアルモード／仮想モード手動パルサ1許可フラグ
Manual pulse generator デバイス
D707 Real mode/virtual mode D755
＊1 *1
switching request (SV22)
切換え要求（SV22） 1 enable flag request
セット要求
JOG operation start Manual pulse generator
手動パルサ2許可フラグ Main cycle
D708 JOG運転始動指令要求 D756 メイン周期
command request 2 enable flag request
セット要求
手動パルサ3許可フラグ
Manual pulse generator
D709 ユーザ使用不可
Unusable －－－ D757
3 enable flag request
セット要求
D710 D758
JOG operation
D711 JOG運転同時始動軸
simultaneous start When starting D759
始動時
D712 axis setting register
設定レジスタ D760
D713 D761
D714 Axis No. setting register
手動パルサ1で制御する D762
controlled by manual pulse
D715 軸NO.設定レジスタ
generator 1 D763
D716 Axis No. setting register
手動パルサ2で制御する D764
D717 軸No.設定レジスタ
generator 2 D765
Axis No. setting register
D718 手動パルサ3で制御する D766
D719 軸No.設定レジスタ
generator 3 D767
D720 Axis
軸11 D768
D721 Axis
軸22 D769
D722 Axis
軸33 D770
D723 Axis
軸44 D771
Axis 5
D724 軸5 D772
Axis 6
D725 軸6 D773
D726 Axis
軸77 D774
D727 Axis
軸88 D775
D728 Axis
軸99 D776
D729 Axis
軸10 10 Command D777
device
D730 Axis
軸11 11 When manual pulse 指令 D778 ユーザ使用不可
Unusable (42 points)
generator enable －－－
D731 Axis
軸12 12 デバイス D779 （42点）
flag
D732 Axis
軸13 13 Manual pulse 手動パルサ許可フラグ D780
Axis 14 generators 1 pulse 時
D733 軸14 input magnification D781
D734 Axis 15
軸15 setting register *2,
手動パルサの D782
Axis 16
*3
D735 軸16 1パルス入力倍率 D783
Axis 17 設定レジスタ
D736 軸17 D784
＊2，＊3
Axis 18
D737 軸18 D785
D738 Axis
軸19 19 D786
D739 Axis
軸20 20 D787
Axis 21
D740 軸21 D788
D741 Axis
軸22 22 D789
D742 Axis
軸23 23 D790
D743 Axis
軸24 24 D791
D744 Axis
軸25 25 D792
D745 Axis
軸26 26 D793
Axis 27
D746 軸27 D794
Axis 28
D747 軸28 D795
D748 Axis
軸29 29 D796
D749 Axis
軸30 30 D797
D750 Axis
軸31 31 D798
Axis 32
D751 軸32 D799
*1: Unusable with SV22 advanced synchronous control.

＊1：SV22アドバンスト同期制御でユーザ使用不可です。
*2: With the＊2：Q172DSCPUでは軸No.1～16の範囲が有効です。
Q172DSCPU, the axis No. 1 to 16 range is valid.
*3: With the Q172DSCPU, devices areas for axis 17 and above are unusable.
＊3：Q172DSCPUで17軸以上のデバイスエリアはユーザ使用不可です。
4 - 37
4.3.4 Special relays
The Q17nDSCPU has 2256 special relays from SM0 to SM2255.
Nine of these are used for positioning control, and their respective applications
are fixed as shown in the following tables.
Device No. Signal name Refresh cycle Signal type
SM500 PCPU READY complete flag

Main cycle
SM501 Test mode flag
SM502 External forced stop input flag Operation cycle
SM503 Digital oscilloscope executing flag Main cycle
SM506 External forced stop input ON latch flag Operation cycle
Status signal
SM508 Amplifier-less operation status flag
SM510 TEST mode request error flag
SM512 PCPU WDT error flag Main cycle
SM513 Manual pulse generator axis setting error flag
SM516 Servo program setting error flag
4.3.5 Special Registers

There are 2256 special registers in the Q17nDSCPU, from SD0 to SD2255.
In addition to special registers used for positioning control, 23 data registers
are used as special registers, and their respective applications are fixed as
shown in the following tables.
Device No. Signal name Refresh cycle Load cycle Signal type
SD200 Switch status

SD500 Real mode axis information Main cycle
SD501 register (SV22) *1
SD502 Servo amplifier loading When power turned ON and
SD503 information when performing operation cycle
SD504
Real mode/virtual mode switching
SD505 When switching to virtual mode
error information (SV22) *1
SD506
SD508 SSCNET control (Status) Main cycle
SD510 Test mode request error
When making test mode request
SD511 information
When motion CPU WDT error
SD512 Motion CPU WDT error cause Monitor device
occurs
SD513
Manual pulse generator axis When manual pulse generator
SD514
setting error information enable flag
SD515
SD516 Error program No.
When starting
SD517 Error item information
SD522 Motion operation cycle Operation cycle
Operation cycle of the motion
SD523 When power turned ON
CPU setting
SD524 Maximum motion operation cycle Operation cycle
SD550 System settings
System setting error information
SD551 When an error occurs
SD560 Operation method When power turned ON
Command
SD803 SSCNET control (Command) Main cycle
device
4 - 38
4.4 Motion Devices
Motion registers (#0 to #12287) and a coasting timer (FT) are used as dedicated
motion CPU devices.
These can be used for operation control (F/FS) programs or transition (G)
programs.
(Direct access is not possible from PLCs, and therefore motion CPUs should
be accesses after substituting the PLC device if using at the PLC side.)
4.4.1 Motion registers (#0 to #12287)

Item Q173DSCPU/Q172DSCPU
No. of points 12288 points (#0 to #12287)
Data size 16 bits/point
Only user devices are latched.
Motion register (#) Latch (All points are cleared with the latch clear
operation.)
Usable tasks Normal, event, NMI
Access Complete range Read, Write possible
(1) Motion register list

These OS is common for all registers.
Device No. Application type Remarks
～
#0 User device
Cleared with the latch clear operation.
(8000 points)
～
#8000 Monitor device Cleared only when the power is turned ON or when
(640 points) reset.
Cleared with motion error history clear request flag
～
#8640 Motion error history device

ON. (Retained when power turned ON, or when
(96 points)
reset.)
～
#8736 Product information list device

Set when the power is turned ON or when reset.
(16 points)
～
#8752
System area Cleared only when the power is turned ON or when
(3536 points) reset.
#12287
4 - 39
(2) Monitor devices (#8000 to #8639)
Monitor devices store information for each axis. Details of the stored data
are as follows.
Axis
No.
1 #8000 to #8019
2 #8020 to #8039
Signal name Refresh cycle Signal type
3 #8040 to #8059
4 #8060 to #8079 0 Servo amplifier type When amplifier power turned ON
5 #8080 to #8099 1 Motor current Operation cycle of 1.7 [ms] or
6 #8100 to #8119 2 shorter: operation cycle
Motor speed Operation cycle of 3.5 [ms] or
7 #8120 to #8139 3 longer: 3.5 [ms]
8 #8140 to #8159 4
Command speed Operation cycle
9 #8160 to #8179 5
10 #8180 to #8199 6
Zeroing re-travel value When performing zeroing re-travel Monitor device
11 #8200 to #8219 7
Servo amplifier display
12 #8220 to #8239 8
Servo error code Main cycle
13 #8240 to #8259 9 Parameter error No.
14 #8260 to #8279 10 Servo status 1 Operation cycle of 1.7 [ms] or
15 #8280 to #8299 11 Servo status 2 shorter: operation cycle
Operation cycle of 3.5 [ms] or
16 #8300 to #8319 12 Servo status 3 longer: 3.5 [ms]
17 #8320 to #8339 13
18 #8340 to #8359 14
19 #8360 to #8379 15
20 #8380 to #8399 16 Unusable - -
21 #8400 to #8419 17
22 #8420 to #8439 18
23 #8440 to #8459 19
24 #8460 to #8479
25 #8480 to #8499
26 #8500 to #8519
27 #8520 to #8539
28 #8540 to #8559
29 #8560 to #8579
30 #8580 to #8599
31 #8600 to #8619
32 #8620 to #8639
(3) Motion error history devices (#8640 to #8735)

Motion error history devices are shown below.
Signal direction Refresh Load
Status Command cycle cycle
Information on past 7
#8640 to #8651 errors
(Oldest error information)
#8652 to #8663
errors
#8664 to #8675
errors
Information on past 4 Motion error history (8 times) When an
#8676 to #8687  - -
errors (96 points) error occurs
#8688 to #8699
errors
#8700 to #8711
errors
#8712 to #8723
errors
#8724 to #8735 Newest error information
4 - 40
(4) Motion error history device error information
Information for the past eight errors after turning ON the CPU power is
stored as history. Numbers #8724 to #8735 contain the latest errors.
Errors when performing SFC control, and all existing minor and major
errors, servo errors, servo program errors, and mode switching errors, etc.
are tabulated in the history.
When an error occurs, "Motion error detection flag M2039" is also set.
Error information is as follows.
Details
No. Signal name If error occurs when performing motion
If motion control error
SFC control
Motion SFC 0 to 255: Motion SFC program No. for which
+0 Error program error occurred -1
No. -1: If unrelated to motion SFC program
2: Minor, major errors (command generation axis)
(SV22 advanced synchronous control method)
3: Minor, major errors
4: Minor, major errors (virtual servo motor axis)
(SV22 virtual mode switching method)
5: Minor, major errors (synchronous encoder axis) (SV22)
6: Errors detected by servo amplifier (MR-J3-B)
20: When F/FS
7: Servo program setting errors
21: When G
8: Mode switching errors (SV22 virtual mode switching method)
+1 Error type 22: When K or other
9: Manual pulse generator axis setting errors
(when neither F/FS nor G)
10: Test mode request errors
23: When motion SFC diagram
11: WDT errors
13: Self-diagnostic errors (error code 10000 and below)
14: System setting errors/motion slot error detection
15: Errors detected by servo amplifier (MR-J4-B)
42: Errors detected by SSCNET III/H head unit
50: Safety monitor errors
51: Safety monitor warnings
• If error type is "2", "3", "4", or "7"
0 to 4095: Servo program No.
FFFFH: JOG operation
FFFEH: Manual pulse generator
FFFDH: Test mode (zeroing, servo diagnosis, servo startup)
0 to 4095: F/FS, G, K program No.
Error FFEFH: Synchronous control
+2 0 to 255: GSUB program No.
program No. FFDFH: Speed control
-1: If unrelated to F/FS, G, K, GSUB
FFDEH: Torque control
FFDDH: Push control
FF00H: All other cases
• If error type is other than "2", "3", "4", or "7"
-1
0 to 8191: If error type is "20"or "21", F/FS or G
Error block program block No. (line No.) 1 to 32: If error type is "2" to "6", relevant axis No.
No./Motion 0to 8188: If error type is "23", 1 to 8: If error type is "42", relevant SSCNET III/
+3
SFC list/ Line motion SFC list line No. H head unit axis No.
No./Axis No. -1: If error type is "22", or error type is -1: All other cases
"20" or "21" and unrelated to block
(Go to next page)
4 - 41
(From previous page)
Details
No. Signal name If error occurs when performing motion
If motion control error
SFC control
• If error type is as follows
"2": D12602+20n or D12603+20n storage error code
(SV22 virtual mode switching method)
D13250+20n or D13251+20n storage error code
(SV22 advanced synchronous control method)
+4 Error code 16000 and above "6": D8+20n storage error code
"7": SD517 storage error code
"9", "10": -1
"13", "14": SD0 storage error code
"15": #8008+20n storage error code
"42": SSCNET III/H head unit monitor device alarm/warning No.
storage error code
"50", "51": SD32 storage error code
Error YY/
+5
Occur- MM
Sets the clock data (SD210, SD211, SD212) at the time of the error.
+6 rence DD/Hr
(BCD code, year is last 2 digits of calendar year)
date/ Min/
+7 time Sec
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Degree axis speed x 10 setting

degree軸速度10倍設定
エラー設定データ有無
Error setting data presence 0: Disable
0：無効
0：なし
0: No 1: Enable
1：有効
 Sets the status when an error occurs when the error
1：あり
1: Yes ・エラー設定データ単位が「11：制御単位（速度
setting data unit is "11: Control unit (speed data)",
　データ）」，制御単位が「10：degree」のとき
and the control unit is "10: degree".
　に，エラー発生時の状態をセットする。
Control unit/display method
制御単位／表示形式
 Sets the control unit when the error setting data
・エラー設定データ単位が「01：軸単位，出力モ
units are "01: Axis unit, output module unit", "10:
　ジュール単位」, 「10：制御単位（アドレス
Control unit (address data, radius arc interpolation
　データ，半径円弧補間誤差許容範囲エラー）」，
error tolerance error", and "11: Control unit (speed
data)".
　｢11：制御単位（速度データ）」のときに，制御
00: mm
　単位をセットする。
01: inch
　00：mm
10: degree
　01：inch
11: PLS
* The virtual servo motor axis is "11: PLS fixed".
　10：degree
Error setting  Sets the display method when the error setting data
+8 　11：PLS
data info. unit is "00: none".
　　　＊：仮想サーボモータ軸は「11：PLS固定」
00: Decimal notation with symbol
・エラー設定データ単位が「00：なし」の
01: Decimal notation with no symbol
　ときに，表示形式をセットする。
10: Hexadecimal notation (lower bit 4-digit display)
11: Hexadecimal notation (8-digit display)
　00：符号付き10進表示
　01：符号無し10進表示
　10：16進（下位ビット4桁表示）
　11：16進（8桁表示）
Error setting data unit
エラー設定データ単位
00: None
00：なし
01: Axis unit, output module unit
01：軸単位，出力モジュール単位
(when output module error occurs)
10: Control unit (address data, radius arc
　　(出力モジュールエラー時）
interpolation error tolerance error)
10：制御単位（アドレスデータ，半径円弧補間
11: Control unit (speed data)
　　誤差許容範囲エラー）
11：制御単位（速度データ）
Error setting data presence
エラー設定データ有無
0: No
0：なし
1: Yes
1：あり
+9 Unusable -
• Setting data that caused error
• If error type is one of the following
*1 "15": #8009＋20n storage parameter error No. (hexadecimal
+10 Error setting • Stores error details code.
+11 data • Fixed at 0 if error with no details code. notation)
"42": Fixed at 0
"50", "51": SD33 (safety signal monitor error details data) is
store.
*1: If command execution fails for motion SFC program synchronous control dedicated functions, a details code is output to
both the motion error history device error code and the error setting data.
4 - 42
(5) Motion error detection flag (M2039)
The motion error detection flag (M2039) turns ON when all errors detected
by the motion CPU occur.
When an error occurs, set the motion error detection flag (M2039) for the
error device with the following procedure.
(a) Set the error code for each axis or each error device.
(b) Turn ON the error detection signal for each axis or each error.
(c) Set the motion error detection flag (M2039) for the above "motion error
history devices (#8640 to #8735)".
(d) Turn the motion error detection flag (M2039) ON.
After reading error history with the "Motion error detection flag (M2039)" ON,
reset the "Motion error detection flag (M2039)" in the user program. The
"Motion error detection flag (M2039)" will turn ON again for subsequent
new errors.
POINT
• If turning the "Motion error detection flag (M2039)" OFF, check the error
content, eliminate the cause of the error, and then turn it OFF at the user
side.
Turning M2039 OFF clears self-diagnostic error information other than for
stop errors.
• Set clock data and the clock data read request (SM801) in the user
program.
(6) Error setting when servo warnings occur

Set whether to output an error to the MT Developer2 motion error history
and self-diagnostic errors when a servo warning occurs.
Set in the system basic settings in the system settings.
Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion Controller Programming
Manual (Common Edition)" for details.
4.5 Coasting Timer (FT)

Motion device Item Specification
No. of points 1 point (FT)
Data size 32 bits/point (-2147483648 to 2147483647)
No latch. The timer is reset to 0 when the power is turned ON, and
Coasting timer (FT) Latch
*1, *2 counting is continued.
Usable tasks Normal, event, NMI
Access Read only possible
Timer specifications 888 s timer (1 is added to the current value (FT) every 888 s.)
*1: Use devices SD720 or SD721 for the 444 s coasting timer.
*2: Use devices SD722 or SD723 for the 222 s coasting timer.
4 - 43
Chapter 5 Motion SFC Programs
This section describes the configuration and each element of motion SFC
programs.
Previously, machine operations were managed at the PLC CPU side, and the
starting and stopping of motion SFC programs was controlled at the motion
CPU side with start and stop commands from the PLC. Consequently, the time
taken from the point command conditions were established until commands
were issued was delayed by at most the number of sequences taken to perform
a single scan, and the resultant variations in this time restricted applications
which demanded responsiveness and short tact time.
With the Q Series motion controller, programs at the motion side are described
with an SFC (Sequential Function Chart), enabling the control of machine
operations. Furthermore, it is now also possible to control events that require
program execution when interrupts are input from external sensors.
5.1 Features
(1) By breaking up machine sequential operations into individual steps, anyone
can create easy-to-understand programs in flowchart format, resulting in
improved maintenance.
(2) Transition conditions are identified and positioning started at the motion CPU
side, meaning no variations in the response time that can be influence
sequence scan time.
(3) With the motion SFC step processing method (active steps only executed),
high-speed processing, and high-speed response processing can be realized.
(4) In addition to positioning control, numerical operations and device SET/RST,

etc. can also be processed at the motion CPU side, leading to reduced tact
time without involving the PLC CPU.
(5) Commands can be issued to servo amplifiers when start conditions are
established with a transition conditions description unique to motion SFC.
(6) Operation can proceed to the next step without waiting for positioning to be
completed after starting with a transition condition description unique to
motion SFC.
(7) Motion SFC programs that respond to interrupt inputs from external sources
can be executed.
(8) Motion SFC programs can be executed at regular intervals (min. 0.22 ms:
when using Q17DSCPU) by synchronizing with the motion operation cycle.
5-1
5.2 Motion SFC Program Configuration
Motion SFC programs are configured by START, step, transition, and END
components and so on as shown below.
Operation
動作開始 start Program name ･････ START:
プログラム名 Indicates the program entrance.
START：プログラムの入り口を示します。
Step (operation control step): When in the active

F0 ステップ（演算制御ステップ）：活性状態時，指 Set
SET Y0=X0+X10
Y0＝X0＋X10
･････status, the specified operation control program is ･････ D100=W0+W100
Positioning
位置決め準備
preparation F0
定された演算制御プログラムを実行します。
executed. D100＝W0＋W100
Positioning
位置決め準備
Transition (shift): Indicates conditions for
トランジション（シフト）：次のステップへ制御 Y0*M100
preparation G0 ･････advancing control to the next step. ･････ Y0*M100
完了チェック
complete check G0 を移行する条件を示します。
ABS-1
ABS-1
Positioning
位置決め実行 K0
K0 ･････
Step (motion control step): When in the active
ステップ（モーション制御ステップ）：活性状態 Axis 1, D100
･････軸1， D100
execution
status, the specified servo program is executed.
時，指定されたサーボプログラムを実行します。 Speed 10000
速度　10000
Positioning Transition (WAIT): Indicates conditions for

トランジション（WAIT）：次のステップへ制御を !X0
位置決め完了
complete check
チェック G1
G1 ･････advancing control to the next step.
移行する条件を示します。
･････ !X0
Operation
動作終了
complete
END
END ･････END: Indicates program completion.
END：プログラムの終了を示します。
Operation for the above motion SFC program when started is as follows.
(1) The step (F0) status becomes active, and the operation specified at the step
(F0) is executed (positioning preparation). An active status step is known as
an active step.
(2) A check is carried out to determine whether the conditions specified at the
transition (G0) have been established (whether the positioning program can
be started), the active step (F0) becomes inactive when conditions are
established, and the next step (K0) becomes active (servo program K0 is
started).
(3) A check is carried out at the transition (G1) to ensure that step (K0) operation
is complete (servo program K0 positioning complete), and control advances to
the next step when operation is complete (conditions established).
(4) As the active step advances as described in (1) to (3) above, control is
executed and then completed with END.
POINT
The number of steps that can simultaneously be active steps in all motion
SFC programs is 256 or less.
If 256 is exceeded, a Motion SFC error [16120] occurs.
The motion SFC program symbols are as follows.
F/FS: operation control, K: positioning control, G: judgment
5-2
5.3 SFC Diagram Symbol List
The parts that form the component elements of the motion SFC program are as
follows. The motion SFC program expresses the operation order and transition
control by joining these parts with a directed line.
Symbol
Category Name List expression Function
(Code size (bytes))
Program
プログラム名 name • Indicates the program entrance with the program name.
START Program name • This program name is specified when calling sub-
routines.
(0) • Limited to one per program.
Program
Start/end • Indicates the end (exit) of the program.
• When a sub-routine is called, operation returns to the
END END END program from which the sub-routine was called.
(8)
• Multiple ENDs can be set within a single program, and
can be set even if none.
• Starts servo program Kn (K0 to K4095).
Motion Kn
CALL Kn
control step
(8)
Single • Executes operation control program Fn (F0 to F4095)
execution once.
Fn
type CALL Fn
Operation
control step (8)
Scan • Executes operation control program FSn (FS0 to

execution FSn FS4095) repeatedly until the next transition condition is
CALL FSn established.
type operation
control step (8)
• If WAIT follows GSUB, a "Sub-routine call" condition
occurs, and control advances to the specified program.
Control is returned to the program from which the
プログラム名
Program name
sub-routine is called when END is executed.
Sub-routine GSUB program • If GSUB is followed by other than WAIT, a "Sub-routine
Steps start" condition occurs, the specified program is
call/start step (8) name started, and control advances to the next (below)
program. The start source program and start
destination program are executed simultaneously, and
the start destination program is exited when END is
executed.
• Execution of the specified program currently running is
stopped, and the program is exited. By restarting the
program after exiting, it starts from the initial step (start
CLProgram
R name
CLR
step).
プログラム名 • If the specified program is currently "calling a sub-
routine", execution of the sub-routine program is also
Clear stopped.
CLR program name
step • If the specified program is at a point after "starting the
(8)
sub-routine", execution of the sub-routine program is
not stopped.
• If a clear is performed for the "called sub-routine",
execution of the specified sub-routine is stopped,
control returns to the program from which the sub-
routine was called, and then proceeds to the next.
POINT
Comments can be set for each symbol in SFC diagram steps, transitions, etc.
• Program start/end comments cannot be set.
• Step/transition comments: max. 80 half-width (40 full-width) characters, 20 characters
displayed in 4 lines
• Jump/pointer comments: max. 64 half-width (32 full-width) characters, 16 characters displayed
in 4 lines
5-3
Symbol
Category Name List expression Function
(Code size (bytes))
• If the previous step is a motion control step, processing
proceeds to the next step without waiting for the completion of
motion operation when transition condition Gn (G0 to G4095)
is established.
Shift • If the previous step is an operation control step, processing
(Read-ahead Gn SFT Gn proceeds to the next step following operation execution when
transition) the transition condition is established.
• If the previous step is a sub-routine call/start step, processing
(8) sub-routine operation when the transition condition is
established.
motion operation when transition condition Gn (G0 to G4095)
is established.
• If the previous step is an operation control step, processing
Gn proceeds to the next step following operation execution when
WAIT WAIT Gn the transition condition is established. (Same operation as
shift)
(8) waits for completion of sub-routine operation, and then
proceeds to the next when the transition condition is
established.
• Start preparations are carried out for the next motion control
ONビON
ッ bit
ト device
デバイス step, and a command is issued immediately when the
specified bit device turns ON.
WAITON WAITON bit device • Always set a one-to-one pair with the motion control step.
Kn
(14)
• Start preparations are carried out for the next motion control
OFFビットデバイス
OFF bit device step, and a command is issued immediately when the
specified bit device turns OFF.
Transi- • Always set a one-to-one pair with the motion control step.
WAITOFF WAITOFF bit device
tion Kn
(14)
proceeds to the step below without waiting for the completion
of motion operation when transition condition Gn (G0 to
IFBm
G4095) is established, and when the condition is not
IFT1 established, processing proceeds to the step connected from
(When established)
SFT Gn the right.
Gn : • If the previous step is an operation control step, processing
N JMP IFEm proceeds to the step below following operation execution
Shift Y/N
IFT2 when the transition condition is established, and when the
(When not Y SFT Gn+? condition is not established, processing proceeds to the step
established) connected from the right.
:
JMP IFEm
proceeds to the step below without waiting for the completion
IFEm of the sub-routine operation when the transition condition is
established, and when the condition is not established,
processing proceeds to the step connected from the right.
• If the previous step is a motion control step, processing waits
for completion of motion operation, and proceeds to the next
IFBm step when transition condition Gn (G0 to G4095) is
IFT1 established, and when the condition is not established,
(When established) WAIT Gn processing proceeds to the step connected from the right.
: • If the previous step is an operation control step, processing
proceeds to the step below following operation execution
Gn JMP IFEm
WAIT Y/N when the transition condition is established, and when the
N IFT2 condition is not established, processing proceeds to the step
WAIT Gn+? connected from the right. (Same operation as shift)
(When not Y : • If the previous step is a sub-routine call/start step, control
established)
JMP IFEm waits for completion of the sub-routine, and proceeds to the
IFEm step below when the transition condition is established, and
when the condition is not established, processing proceeds to
the step connected from the right.
• Controls jumps to specified pointer Pn (P0 to P16383) inside
the self program.
Jump Jump JMP Pn
(14)
• Indicates the jump destination pointer (label).
• Pointers can be set for steps, transitions, branch points, and
Pointer Pointer Pn nodes.
• P0 to P16383 can be set for a single program. Numbers may
(8) overlap with those in other programs.
5-4
5.4 Branch and Node Diagram List
SFC diagrams show branch and node patterns used to specify the flow of steps
and transitions.
Name (code size)
SFC symbol List expression Function
(bytes))
Based on list • Processes each step, transition connected in
expression series in order from the top.
Series transitions
(Size of each
corresponding to • Steps and transitions do not have to be
SFC diagram aligned alternately.
symbol)
symbols shown in • If transitions are omitted, unconditional shift
5.2. transition processing is performed.
• After executing the step or branch immediately
CALL Kn before the branch, the route for which
IFBm transition conditions are established first is
Selection branches IFBm IFT1 executed.
(( No. of branches + IFT1 IFT2 SFT Gn • The start of the branch destination name for
2) × 10) CALL Fn
the selection branch must be a transition, is
:
limited to all SHIFTs or all WAITs. (If SHIFTs
JMP IFEm
and WAITs are mixed, the branch will be a
IFT2
parallel branch.)
SFT Gn’
CALL Fn’ • Following processing of the branched route
:
with the selection branch, processing
Selection nodes ( JMP IFEm)
proceeds to the node.
(8) IFEm
IFEm • Either steps or transitions may be used
CALL Fn’’
immediately before or after nodes.
Parallel branches
• Multiple routes (steps) connected in parallel
SFT Gn are executed simultaneously.
(No. of branches × PABm
PABm
22 + No. of nodes ×
PAT1 PAT2 • The start of the branch destination name for
Basic shape
PAT1
2 + 12) CALL Fn the parallel branch may be either a step or a
SFT Gn’ transition.
:
JMP PAEm
PAT2 • Completion of execution of each branched
CALL Fn’ route with a parallel branch waits at a node,
SFT Gn’’ and processing proceeds to the next step
: when execution is complete for all routes.
Parallel node ( JMP PAEm ) • Either steps or transitions may be used
(8) PAEm immediately before or after nodes.
PAEm CALL Fn’’
:
• If the step immediately before the node is an
FS step, scanning is performed even while
waiting. Scanning is not performed after
waiting is complete.
(1) Normal jump
<Normal jump> <Node jump> • After executing the previous step or
CALL Fn transition, control jumps to execution of the
JMP Pn specified pointer Pn inside the self
program.
• It is possible to jump to either a step or a
transition.
Jump transition
(Size of each • Even if jumping from an FS step to a
symbol) transition, scanning is performed while the
jump destination transition condition is
CALL Fn’ established.
Pn (2) Node jump
CALL Kn • If jumping to another route within a parallel
branch after a parallel branch, a "node
jump" is made, and the system awaits
execution at the jump destination.
5-5
5.5 Motion SFC Program Name
The "motion SFC program name" is set individually for motion SFC program No.
0 to No. 255.
The motion SFC program name is set within 16 half-width characters (8 full-
width characters). Specify this motion SFC program name in "sub-routine call/
start steps (GSUB)", and "clear steps (CLR)".
POINT
(1) The motion SFC program can be set to a random number between
0 and 255.
(2) "$ (half-width)" cannot be set for the first character of the motion
SFC program name.
(3) "\ / : ; ,. * ? " < > | (half-width)" cannot be set in the motion SFC
program name.
5-6
5.6 Steps
5.6.1 Motion control steps
Motion control steps are used to start servo program Kn.
Name Symbol Function

Motion control steps are used to start
Motion control step servo program Kn.
Specification range: K0 to K4095
(1) Operation description

(a) The start accept flag for the axis specified in the specified servo program
Kn turns ON.
(b) The specified servo program Kn is started.
Execution timing
Transition condition established
Start accept flag (M2001 + n)

v
(2) Error
A Motion SFC error [16200] occurs when the specified servo program Kn
does not exist, and execution of the motion SFC program is stopped the
moment this error is detected.
(3) Precautions
(a) If changes are made to the current values in the motion SFC program,
specify the CHGA command in the servo program, and then call it with
the motion control step.
(b) Even if a minor error/major error occurs and an error stop condition
occurs at the servo program when the servo program specified with the
motion control step is started or while starting, execution of the motion
SFC program continues. If wishing to stop the motion SFC program when
an error is detected, insert an error detection condition in the transition
(transition condition).
5-7
5.6.2 Operation control steps
Operation control steps are used to execute operation control program Fn/FSn.

Operation control steps are used to execute
operation control program Fn/FSn.
Operation control step Fn/FSn Specification range: F0 to F4095/FS0 to
FS4095

(a) One-time execution type operation control step Fn
Executes the specified operation control program Fn (n = F0 to F4095)
once.
(b) Scan execution type operation control step FSn

Executes the specified operation control program FSn (n = 0 to 4095)
repeatedly until the next transition condition is established.
(2) Error
A Motion SFC error [16201] occurs when the specified operation control
program Fn/FSn does not exist, and execution of the motion SFC program is
stopped the moment this error is detected.
(3) Precautions
(a) Even if an operation error, etc. occurs during operation control program
execution, execution of the motion SFC program continues.
5-8
5.6.3 Sub-routine call/start steps
Sub-routine call/start steps are used to call or start motion SFC programs for the
specified program name.
Sub-routine call/start steps are used to

Sub-routine
Program name call motion SFC programs for the
Call/start step
specified program name.

(a) Sub-routine call/start steps are used to call or start motion SFC programs
for the specified program name.
(b) Control differs depending on the type of the transition linked after the
sub-routine call/start step.
• If WAIT: The sub-routine is called.
• If other than WAIT: The sub-routine is started.
MAIN 1)
① SUB MAIN 1)
① SUB
3)
③ ③
3)
2)
② ②
2)
SUB SUB
WAIT 5)
⑤ 4) END シフト
SHIFT 2)
② END
④
END END
If WAIT (sub-routine
WAITの場合 call) If other than WAIT (sub-routine start)
WAIT以外の場合
(2) Errors
An error occurs in the following cases and execution of the motion SFC
program is stopped.
(a) A Motion SFC error [16005] occurs if the specified motion SFC program
does not exist when a sub-routine is called/started, and execution of the
motion SFC program from which the call/start originated is stopped the
moment this error is detected.
(b) A Motion SFC error [16006] occurs if the called/started motion SFC
program has already been started when a sub-routine is called/started,
and execution of the motion SFC program from which the call/start
originated is stopped the moment this error is detected.
(c) A Motion SFC error [16110] occurs if a self program is called/started
when a sub-routine is called/started, and execution of the motion SFC
program from which the call/start originated is stopped the moment this
error is detected.
(d) When the sub-routine called/started when calling/starting a sub-routine is
motion SFC program 1 (called/start program) in motion SFC program 2
called/started from motion SFC program 1, Motion SFC error [16111]
occurs, and motion SFC program 2 from which the called/started
originated is stopped the moment this error is detected.
(3) Precautions
(a) There are no restrictions on sub-routine call/start nesting depth.
(b) With sub-routine starting, processing of the motion SFC program from
which the start originated continues even if an error stop occurs for the
start destination motion SFC program.
(c) With sub-routine calling, when an error stop occurs for the call destination
motion SFC program, execution of the motion SFC program from which the
call originated is also stopped at the same time.
5-9
5.6.4 Clear Steps
Clear steps are used to stop execution of motion SFC programs for the specified
program name.
Clear steps are used to stop execution of

Clear step CLR Program name motion SFC programs for the specified
program name.

(a) Execution of the specified program currently running is stopped.
(b) Even if the motion SFC program for which the clear step is specified is set
to start automatically, it will not automatically start again after stopping.
(c) The specified program can also be a self program.
(d) If the specified program is currently calling a sub-routine, execution of the
sub- routine program being called is also stopped.
MAIN SUB If a左図のように「サブルーチン呼出」されている場合
"sub-routine is called" as shown in the diagram on the left:
 ・親(MAIN)がクリアされたとき
When MAIN is cleared:
Execution of the both MAIN and sub-routine (SUB) is stopped even
　サブルーチン(SUB)実行中でも親(MAIN)，サブルーチン(SUB)
if the sub-routine (SUB) is currently running.
SUB 　ともに実行を中止します。
 When the sub-routine (SUB) is cleared:
・サブルーチン(SUB)がクリアされたとき
Execution of the sub-routine (SUB) is stopped if currently running,
WAIT END 　サブルーチン(SUB)実行中であれば，サブルーチン(SUB)の
and processing returns to MAIN.
　実行を中止し，親(MAIN)に戻ります。
END
(e) If the specified program is at a point after starting the sub-routine,

processing of the started sub-routine program continues.
MAIN SUB If左図のように「サブルーチン起動」されている場合
a "sub-routine is started" as shown in the diagram on the left:
• When MAIN is cleared:
・親(MAIN)がクリアされたとき
Execution of MAIN is stopped even if the sub-routine (SUB) is
　サブルーチン(SUB)実行中でも親(MAIN)は実行を中止しますが，
currently running, however, processing of the started sub-routine
SUB 　起動されたサブルーチン(SUB)は処理続行します。
(SUB) continues.
•・サブルーチン(SUB)がクリアされたとき
When the sub-routine (SUB) is cleared:
シフト
SHIFT END 　サブルーチン(SUB)実行中であれば，サブルーチン(SUB)のみ
Execution of only the sub-routine (SUB) is stopped if currently running.
　実行を中止します。
END
(f) If the servo program started from the specified program is currently being
started, processing of the servo program continues.
(g) If waiting for conditions to be established at the WAITON/WAITOFF+
motion control step, the system waits for conditions to be established and
then executes the servo program. If the servo program is not executed,
enter a stop command separately for the relevant axis.
(2) Error
If the motion SFC program specified in the clear step does not exist, a
Motion SFC error [16203] occurs.
(3) Precautions
(a) When the motion SFC program specified in the clear step has not been
started, no error occurs and the condition is ignored.
(b) Even if execution of the motion SFC program is stopped with the clear
step, output is maintained.
(c) If stopping the axis that is currently operating in conjunction with
execution of the clear step, enter a stop command for the relevant axis
separately.
5 - 10
5.7 Transition
Conditional expressions and operational expressions can be described in
transitions. The operational expression described here is executed repeatedly
until the transitional condition is established.

(a) Motion control step + SHIFT
• Processing proceeds to the next step when
Kn transition condition Gn is established without
waiting for the completion of operation of servo
Gn program Kn started with the motion control step.
(b) Motion control step + WAIT

• Processing waits for the completion of operation
of servo program Kn started with the motion
control step, and then proceeds to the next step
when transition condition Gn is established.
Kn
• No condition for the completion of operation of
Gn servo program Kn is required in transition
condition Gn.
• Even if an error stop occurs when the started
servo program Kn is started or while it is starting,
the system deems that operation is complete.
(c) WAITON/WAITOFF + motion control step

• Processing starts immediately when the specified
ON M0 OFF M0 bit device for WAITON/WAITOFF turns ON/OFF.
Kn Kn
(d) Combination with operation control step

• The same operation is performed for both WAIT
and SHIFT, and after executing operation control
program Fn, processing proceeds to the next step
Fn Fn when transition condition Gn is established.
• In the case of operation control steps, the same
Gn Gn operation is performed for both WAIT and SHIFT,
and after executing operation control program Fn,
processing proceeds to the next step when
transition condition Gn is established.
5 - 11
(2) Precautions
(a) Always set a one-to-one pair with the motion control step. If the step after
WAITON/WAITOFF is not a motion control step, execution of the motion
SFC program is stopped the moment an error is detected.
(b) When the jump destination immediately after WAITON/WAITOFF is a
motion control step, no error occurs. (See lower left diagram.)
(c) It is possible for a pointer to exist immediately after WAITON/WAITOFF.
(See lower right diagram.)
ON MO
ON MO
Pn
Pn
Kn
Pn
Kn
(d) If a minor/major error occurs when starting the servo program specified in
the motion control step, preventing the program being started, execution of
the motion SFC program continues regardless of the WAITON/WAITOFF
bit device status, and processing proceeds to the next step. If wishing to
stop the motion SFC program when an error is detected, insert an error
detection condition in the next transition (transition condition).
(e) The following commands can be used with motion control steps used in
combination with WAITON/WAITOFF.
(Linear interpolation control, circular interpolation control, helical
interpolation control, speed switching control, fixed-pitch feed control,
constant speed control, high-speed oscillating, fixed position stop speed
control)
5 - 12
5.8 Jumps and Pointers
Pn Pn
Jump
ジャンプ Pointer
ポインタ

(a) Jumps are used to jump to specified pointer Pn inside the self program.
(b) Pointers can be set for steps, transitions, branch points, and nodes.
(c) Pointer Pn can be set from P0 to P16383 for a single program.
(2) Precautions
(a) It is not possible to set the kind of jumps that break from inside parallel
branches to parallel nodes.
(Bad example 1 below)
(b) It is not possible to set jumps inside parallel branches to parallel nodes
from outside parallel branches to parallel nodes. (Bad example 2 below)
(c) Labels and jumps cannot be set consecutively. (Bad example 3 below)
悪い例1
Bad example 1 悪い例2
Bad example 2 悪い例3
Bad example 3
Pn
Pn Pn Pn
Pn
Pn
5.9 END
END

(a) END is used to exit the program.
(b) When a sub-routine is called, processing returns to the motion SFC
program from which the sub-routine was called.
(2) Precautions
(a) Multiple ENDs can be set within a single program.
(b) An END cannot be set between a parallel branch and node.
(c) Output is maintained even after exiting a motion SFC program with END.
5 - 13
5.10 Branches and Nodes
5.10.1 Series transitions
Series transitions are used to execute steps or transitions directly below those
connected in series.
(1) If wishing to start a servo program or sub-routine, and proceed to the

next step without waiting for the completion of operation:
Set a SHIFT in the transition.
In such cases, the transition (SHIFT) can be omitted.
If transitions are omitted, unconditional shift transition processing is performed.
K1 Servo program K1 is started.

サーボプログラムK1を始動。
Proceeds to the next step when the condition set in transition
サーボプログラムK1の動作完了を待たず，トランジション
G1 is established without waiting for the completion of the servo
G1
G1で設定した条件成立にて次へ移行します。
program K1 operation.

(2) If wishing to start servo program or sub-routine, and proceed to the

next step upon the completion of operation:
Set a WAIT in the transition.

Proceeds to the next step when the start axis in servo program
サーボプログラムK1での始動軸が停止(始動受付フラグOFF)，かつ
G1 K1 stops (start accept flag OFF), and condition set in transition
トランジションG1で設計した条件成立にて次へ移行します。
G1 is established.
5 - 14
5.10.2 Selection branches and selection nodes
(1) Selection branches
Selection branches are used to judge the conditions for multiple transitions
connected in series, and execute only the route for which conditions are
established quickest.
Transitions are restricted to all SHIFT or all WAIT.
(Example) If WAIT

The start axis in servo

サーボプログラムK1での始動軸
G1 G2 G3 G255 program K1 stops (start
が停止(始動受付フラグOFF)後，
accept flag OFF), the
トランジションG1～G255の条件
conditions set in transition
判定を実行し，成立したルート
K2 K3 K4 G255
G1 to G255 are judged, and
へ移行します。
then processing proceeds to
the established route.
Max. number of selection branches: 255
最大選択分岐数＝255
POINT
(1) The judgment of transition conditions is not necessarily performed
in order from left to right.
(2) Selection nodes

Selection nodes are used after selection branches if connecting to a single
route again after completing the processing of each route, however, it is also
possible to set not to be joined as shown below.
IFB1
Jump transition (normal jump)

ジャンプ移行(ノーマルジャンプ)
END Program END

プログラムのEND
IFE1
5 - 15
5.10.3 Parallel branches and parallel nodes
(1) Parallel branches
Multiple steps connected in parallel are executed simultaneously. The start
of the parallel branch destination may be either a step or a transition.
G0 WAIT G0
After operation for the previous step is

K2 K3 F1 F10 直前のステップの動作完了後，トランジション
complete, steps K2 to F10 connected in
G0で設定した条件成立にて並列につながるステ
parallel are executed when the condition
ップK2からF10を実行し，以後，並列結合点ま
G1 G2 G3 G255 set for transition
で各々のルートを同時に実行します。 G0 is established, and
each route is then executed up to the
parallel node point.
Max. number of parallel branches: 255
最大並列分岐数＝255
POINT
A "SHIFT" or "WAIT" may also be set for transitions immediately before
parallel branches. Neither "WAITON" nor "WAITOFF" can be set.
(2) Parallel nodes

If using parallel branches, always connect them to parallel nodes.
Jumps to other branch routes can be set between parallel branches and
parallel nodes.
In such cases, the jump destination is a midway parallel node point (node
jump).
It is not possible to set jumps that break from between parallel branches and
parallel nodes.
G1
PAB1 Parallel
並列分岐点 branch point
K2 K4 F10
Node jump
結合ジャンプ
ON M100 G11
K3 F1
After stoppage of servo program K3 is
complete, lines meet until the condition
サーボプログラムK3の停止完了後トラン
G3 G12 set for transition G3 is established, and
ジションG3で設定した条件成立と，サー
servo program K4 has been started.
ボプログラムK4の始動が完了するまで待
Processing
合わせを行います。 proceeds to the next (below)
F12 step when meeting is complete.
待合わせ完了にて次(下)に移行します。
K100
PAE1 Parallel
並列結合点 node point
K5
5 - 16
5.11 Y/N Transitions
If branching a route when transition conditions have or have not been established,
it is helpful to use a "SHIFT Y/N transition" or "WAIT Y/N transition"

(When not
established)
SHIFT Y/N • Processing proceeds to the step below when
Gn
transition N the transition condition set in Gn is
(When
established)
Y established, and when the condition is not
established, processing proceeds to the step
(When not
established) connected from the right.
WAIT Y/N Gn • The difference between "SHIFT Y/N" and
transition N "WAIT Y/N" is the same as the difference
(When
established)
Y between "SHIFT" and "WAIT".
In this example, it has been made easy to describe a selection branch program for
two routes as follows.
<Y/N transition not used> • G0 and G1 programs are restricted to cases in which
the affirmation and negation in the conditional
expression part differs only.
IFB1 <Example 1> <Example 2>
[G 0] [G 1] [G 0] [G 1]
G0 G1 MO !MO DO!=K100 DO=K100
<Y/N transition used> • Set the G0 program shown in <Example 1> and
<Example 2> above in the G0 program.
• The motion SFC program list and code following
conversion will be the same as with the previous
IFB1
description. (The motion SFC diagram expression will
G0 differ only.) Consequently, when editing the program,
"an automatic search for a vacant G No. is performed,
a program for which the conditional expression portion
is logically negated is generated automatically", and
two G programs are occupied.
If a Y/N transition is deleted when "editing the
program", the automatically generated G program (G1
below) is not deleted. If deletion is necessary, delete
at the "Program use list".
IFB1
G0 G1
5 - 17
(2) Precautions
(a) If linking immediately before "SHIFT Y/N" or "WAIT Y/N", place a
"consecutive node - branch" in between.
• It is not possible link directly to • Place a "consecutive node -

"SHIFT Y/N" or "WAIT Y/N". branch" in between.
5 - 18
5.12 Task Operation
The timing at which motion SFC programs are executed can be set for each
program in the program parameters with a single task. Tasks are largely divided
into three types as shown in the following table.
Task type Details
Normal tasks Executed during motion CPU main cycle (spare time).
1. Executed at fixed cycles (0.22 ms, 0.44 ms, 0.88 ms, 1.77 ms, 3.55 ms, 7.11 ms,
14.2 ms).
Event tasks 2. Executed when the input set for the event task factor from among external interrupts
(16 in QI60) is turned ON.
3. Executed with interrupt from PLC.
NMI tasks
Executed when the input set for the NMI task factor from among external interrupts (16
(Non-Maskable
for QI60) is turned ON.
Interrupt)
POINT
If executing event tasks in 0.22 ms fixed cycles, set "0.2 ms" for the operation
cycle time in the MT Developer2 system basic settings.
(1) Normal tasks

[Operation description]
Motion SFC programs are executed during motion CPU processing main
cycles (spare time). The following is an overview of processing.
* Example of motion SFC parameter "No. of consecutive transitions setting 2"
Program
プログラム1 1 Program
プログラム2 2
Program
プログラム名 name Program
プログラム名 name
F20 1)
① F30 A)
A
F1 F5
F2 ②
2) F6 B)
B
F3 F7
END F8 C)
C
END
SFCS1 SFCS2
Ladder
ラダー
Main cycle
メイン周期 Main
メイン cycle
周期
Normalノーマル
task
タスク
①
1) A)
A ②
2) B)
B
Main cycle
メイン周期
Normal tasks
ノーマル endタスクwithはEND (no
ENDにて終了する
c)
C consecutive
（継続 operation).
動作なし）When
operating連続的に
consecutively,
動作させ use a
るとき
jump to have はジャ
the ンプ
program
にて開始ステップ
return to the start
に戻すプログラム step.
とする
[Point]
(a) Set motion SFC programs containing motion control steps for normal
tasks.
(b) Execution of normal tasks is aborted while executing event tasks and
NMI tasks.
However, with normal tasks, event task prohibition commands (DI) can be
specified in operation control steps, and therefore event task interrupts can
be prohibited in parts enclosed with an event task prohibition command
(DI) and event task enable command (EI).
5 - 19
(2) Event tasks
Event tasks trigger the execution of motion SFC programs when events occur.
There are three types of events as follows.
(a) Fixed cycle
Fixed cycle events regularly trigger the execution of motion SFC programs
in a 0.22 ms, 0.44 ms, 0.88 ms, 1.77 ms, 3.55 ms, 7.11 ms, or 14.2 ms
cycle.
(b) External interrupt (16 points from I0 to I15)
A motion SFC program is executed when the input set for the event task
from the 16 points of the QI60 (16 point interrupt unit) installed in the
motion slot turns ON.
(c) Sequence interrupt
A motion SFC program is executed when a GINT command is executed
for a sequence program for another Q PLC CPU.
POINT
(1) Multiple events can be set for a single motion SFC program. However,
it is not possible to set multiple fixed cycles.
(2) It is also possible to execute multiple motion SFC programs with a
single event.
(3) Motion control steps cannot be executed inside event tasks.
(4) If event tasks are prohibited with a normal task, it will not be possible
to execute event tasks. If an event occurs while event tasks are
prohibited, they are executed the moment event tasks are enabled.
(3) NMI tasks

Motion SFC programs are executed when the input set for the NMI task factor
from among external interrupts (16 for QI60) is turned ON.
POINT
(1) NMI tasks are given the highest priority among normal tasks, event
tasks, and NMI tasks.
(2) Even if event tasks are prohibited (DI) in a normal task, NMI task
interrupts are performed without masking.
(4) Execution status example

The following diagram displays an example of the execution status for each
motion SFC program when motion SFC programs are executed with multiple
tasks.
3.55 ms
3.55ms NMI割込み
NMI interrupt NMI割込み
NMI interrupt
NMI task execution program

NMIタスク実行プログラム
3.55 ms event task execution program

3.55msイベントタスク実行プログラム
Normal task execution program

ノーマルタスク実行プログラム
If there is a program executed with an NMI task, program executed with a

3.55 ms fixed cycle event task, and a program executed with a normal task,
as shown in the above diagram,
(a) 3.55 ms fixed cycle event tasks are executed every 3.55 ms,
(b) If an NMI interrupt is entered, priority is given to execution of the NMI task,
(c) And the normal task is executed during spare time.
5 - 20
5.13 SFC Parameters
There are two types of SFC parameters, "task parameters" used to control tasks
(normal tasks, event tasks, NMI tasks), and "program parameters" set for each
motion SFC program.
5.13.1 Task parameters

No. Item Setting range Default value Remarks
No. of
Normal tasks
1 consecutive 1 to 30 3
(Common to normal tasks)
transitions
This parameter reads values when the
Sets an event task or NMI
PLC ready flag (M2000) turns from OFF
2 Interrupt setting task for external interrupt Event task
to ON, and then performs control.
input (I0 to I15).
If setting or changing this parameter,
Repeat Normal task 1 to 100000 1000 turn the PLC ready flag (M2000) OFF.
3 control Event task 1 to 10000 100
restriction count
NMI task 1 to 10000 100
5.13.2 Program parameters

The following parameters are set for each motion SFC program.
No. Item Setting range Default value Remarks

1 Start setting Sets whether to Start/Not start automatically. Not start
Only one from normal task, event task, NMI task Normal task
If an event task is set, set another event to be enabled.
One of the follow 1 to 3 must be set.
1. Fixed cycle
One from 0.22 ms, 0.44 ms, 0.88 ms, 1.77 ms, 3.55 ms, 7.11 ms,
or 14.2 ms,
or none.
2. External interrupt (selected from those set for event task)
Execution
2 Multiple interrupts can be set from I0 to I15.
task None
3. PLC interrupt
Multiple interrupts can be set from I0 to I15.
Multiple tasks can be set from 1 to 3. This parameter reads
This is possible even if the same event is shared with multiple motion values when the PLC
SFC programs. ready flag (M2000) is
If an NMI task is set, set another interrupt input to be enabled. ON, and then performs
1. External interrupt (selected from those set for NMI task) Multiple control. If setting or
interrupts can be set from I0 to I15. changing this parameter,
No. of 1 to 10 turn the PLC ready flag
3 consecutive Set the No. of consecutive transitions for programs set for event tasks or 1 (M2000) OFF.
transitions NMI tasks.
End/continue
END
4 Set the END step operation mode for programs set for event tasks or NMI End
operation
tasks.
None/bit device
Set the bit device to be turned ON during motion SFC program execution.
The following devices can be used.
*1
Executing X0 to X1FFF
5 None
flag Y0 to Y1FFF
M0 to M8191
B0 to B1FFF
*2
U\G10000.0 to U\G(10000+p-1).F (self CPUs only)
*1: With input devices (PXn+0 to PXn+F) allocated to the motion CPU built-in interface (DI), the PXn+4 to
PXn+F range is fixed at 0, and cannot be used. (n = first input No.)
*2: p is the number of user setting area points for each CPU multiple CPU high speed transmission area.
5 - 21
5.14 Motion SFC Program Start Method
Motion SFC programs run while PLC ready flag M2000 is ON.
There are three ways of starting motion SFC programs as follows.
(1) Automatic start
(2) Start from motion SFC program
(3) Start from PLC
The start method is set in the program parameters for each motion SFC program.
(1) Automatic start

Motion SFC programs are started automatically by turning the PLC ready
flag M2000 ON.
(2) Start from motion SFC program

Motion SFC programs are started by executing a sub-routine call/start step
in the motion SFC program.
(3) Start from PLC

Motion SFC programs are started by executing a D(P).SFCS command with
a PLC program.
5.15 Motion SFC Program Exit Method

There are three ways of exiting motion SFC programs as follows.
(1) Motion SFC programs are exited by executing an END set in the motion
SFC program.
(2) Motion SFC programs are stopped by turning PLC ready flag M2000 OFF.
(3) Motion SFC programs are exited with a clear step.
Point
(1) Multiple ENDs can be set for a single motion SFC program.
(2) Motion SFC programs are exited even if set to start automatically.
5 - 22
Memo
5 - 23
Chapter 6 SV22 Servo Programs
6.1 Servo Programs
A servo program is used to specify the type of positioning control required to
control positioning, as well as positioning data. This section describes the servo
program configuration and specification method.
SV13 and SV22 control servo motors with this servo program, and the
applicable servo commands are shown in the "Servo command lists".
6.1.1 Servo program configuration

A single servo program consists of the following (1) to (3).
(1) Program No. ............................. This number is used to specify start requests
0 to 4095 in the sequence program, and a random
number can be set from 0 to 4095.
(2) Servo command ....................... Indicates the positioning control type.
(3) Positioning data ....................... This is data required to execute servo

commands. The data required to execute the
commands is fixed in each servo command.
プログラムNo.
Program No.
<K11>
ABS-2 Servo
サーボ命令 command
Axis
軸　　　　　1,　　　　20000.0　（μ m）
Axis
軸　　　　　2,　　　　20000.0　（μ m） Positioning
位置決め用データ data
軸No.以外はワードデバイス(D,W)
Data other than the axis No. can be
Composite speed
合成速度　　　　　　　5000.00　（mm/min）による間接指定ができます。
specified indirectly with a word
Dwell
ドゥエル　　　　　　　　　100　（ms）
M-code
Mコード　　　　　　　　　　 3
device (D, W).
P.Bはパラメータブロック
P.B
P.B 2 （設定しないとブロック1で運転
S-curve ratio
S字比率　　　　　　　　　 100　（%） P.B stands for parameter block.
されます。）
(Operation is performed at block 1 if
not set.)
(4) Servo program area

1) The positioning CPU internal memory used to store servo programs
created with peripheral equipment has a capacity of 14,334 steps (14 k
steps), and the servo program area is used as a backup for the SRAM
battery.
6-1
6.1.2 Servo command lists
Lists of servo commands used in servo programs are shown on the following
pages.
(1) Viewing the command lists
(3)
③ (4)
④ (5)
⑤ (6)
⑥ (7)
⑦ (8)
⑧
Positioning
位置決め用データ data
共　　通
Common パラメータブロック
Parameter block 円弧／ヘリカル
Circular/helical OSC *1 その他
Others
1* Reference axis
補半中ピ開振周基
STOP input deceleration processing
S-curve ratio
Auxiliary point
Interpolation control unit
Circular interpolation error tolerance

range
Torque limit value
Speed limit value

M-code
Radius
No. of pitches
Start angle
Dwell time
Center point
Vibration amplitude
Frequency
Torque limit value

Advanced S-curve 減速
Deceleration time
Rapid stop deceleration time
Acceleration time
Positioning control
Parameter block No.
Command speed
キス F
Address/travel value
Program No.
Fixed position stop

パ軸ア指ド M ト加減急ト S 円 S アドバンストS字加
Skip
Fixed position stop

acceleration/deceleration time
Repeat conditions
W
Cancel
繰プ指定定
Axis
Command speed (constant speed)

補速始
FIN acceleration/deceleration
WAITON/OFF
Start bias speed
Command symbol
acceleration/deceleration
ラド令ウコル速速停ル T 弧字加加加減減助径心ッ始幅波準間度動 A 返ロ令ャキ I 位位
Deceleration section 2 ratio

Acceleration section 2 ratio
Deceleration section 1 ratio

Acceleration section 1 ratio
Acceleration/deceleration
method
メレ速ェ｜ク時時止ク O 補比減速速速速点点チ角数軸制制時 I しグ速ンッ N 置置
｜ス度ルド制間間減制 P 間率速区区区区数 No. 御限バ T 条ラ度セプ加停停
位
Processing タ／タ限速限入誤方間間間間単値イ | 件ムル減止止
(　　)
置移値時値力差位 O 速
ブイ式 1 2 1 2 ア No．等加 No. of
決
め
命令
記号
details
処理内容ロ動ム間時許比比比比ス N 速減ステップ
steps
数
ッ量減容速 / 速
制率率率率
ク速範度 O 時
御処囲 F 間
No.
理 F
仮想有効
Virtual valid ○ ○ ○ ○ ○ ○ － ○ ○ ○ ○ －－－ ○ － ○ ○ ○ ○ －－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－
ステップ数
No. of steps 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 1 1 1 2 1 1 2 2 2 1 2 1 1
＊2
No. of
間接ワード数 indirect 1 － 2 2 1 1 1 2 2 2 1 2 2 2 1 1 2 1 1 1 1 1 2 1 1 1 1 1 1 2 1/ － 2
＊2 ＊2
1
＊2
1 1(B)
＊2
words 1(B) 1(B) 1(B)
1(B)
Absolute 1 axis positioning
ABS-1 アブソ1軸位置決め △ ○ ○ ○ △ △ △ △ △ △ △ △ △ △ △ △ △ △ △ △
interpolatio
11軸
axis 4～17
Incremental 1 axis positioning
INC-1 インクリ1軸位置決め △ ○ ○ ○ △ △ △ △ △ △ △ △ △ △ △ △ △ △ △ △
Linear
直 Absolute 2 axis positioning

ABS-2 アブソ2軸位置決め △ ○ ○ ○ △ △ ○ △ △ △ △ △ △ △ △ △ △ △ △ △ △ △
線 22軸
axes 5～20
補 INC-2 ○ △ △ △ △ △ △ △ △ △ △ △ △ △ △ △
間 △ △ △ △ △ △ △ △ △ △ △ △ △ △
①
(1) ②
(2)
No.号
番内Content
容
Command
命令記号 Describes
symbol servo commands that can be used in servo
サーボプログラムに使用できるサーボ命令を記載する。 programs.
(1)
①
Processing
処理内容 details Provides an overview of servo command processing.
サーボ命令の処理概要を記載する。
(1) サーボ命令で設定できる位置決め用データを示す
(1) Shows positioning data that can be set in servo
。 commands.
(a) ○：必ず設定する項目（設定しないとサーボ命令を実行できないデータ
(a) ○: Items that must be set (Data for which it will not be possible to）execute servo commands if not set)
: Items set when required (Data controlled with default value if not）set)
(b) △：必要なときに設定する項目（設定しないと初期値で制御されるデータ
(b)
(2) Direct/indirect designation possible (exc. axis No.)
(2) 直接指定／間接指定が可能（軸No.を除く）
(a) 直接指定：数値で設定する。
(a) Direct designation: Set with numerical value.
(b) Indirect designation: Set with word device.
(b) 間接指定：ワードデバイスで設定する。
(2)
②  Servo program execution is controlled with the content of the set word device.
・サーボプログラム実行は，設定されているワードデバイスの内容で制御する。
 1 word data or 2 word data is used depending on the setting item.
・各設定項目により，1ワードデータ，2ワードデータと異なる。
 If 2 word data, the first device No. is set.
・2ワードデータの場合は先頭デバイス番号を設定する。
(3) ステップ数
(3) No. of steps
The greater the number of setting items, the greater the number of command steps. (The number of steps is displayed
設定項目が多いほど，命令ステップ数も増える（サーボプログラム作成時にステップ数は表示される）
when creating servo programs.) 。
(A command + ○ item will result in the minimum
（命令＋○項目で最小ステップとなり，△項目 step, and steps will increase one at a time with an  item 1 item.
，1項目で1ステップ増えます。）
(3)
③ Items common to all servo commands
各サーボ命令に共通している項目
(4)
④ Items set in circular interpolation start servo目programs
円弧補間始動用サーボプログラムで設定する項
(5)
⑤ High-speed
高速オシレートの設定項目oscillating setting items
Set when performing control after changing parameter block (default values used if not set) data set at the servo
サーボプログラムで設定したパラメータブロック（設定しない場合は，初期値）データを変更して制御するときに設定する。
⑥
(6) program. (Parameter block data is not changed.)
（パラメータブロックのデータは変更されない）
(7)
⑦ Setting items other than common, circular, parameter block (The items set will differ depending
共通，円弧，パラメータブロック以外の設定項目（サーボ命令により設定する項目が異なる。） on the servo command.)
(8)
⑧ Indicates the number of steps in each servo command.
各サーボ命令のステップ数を示す。
6-2
(2) Servo command lists
Lists of servo commands that can be used with servo programs and
positioning data set with servo commands are shown on the following table.
Positioning data
Common Circular /helical OSC
1* Reference axis No.

Start angle
Vibration amplitude
Frequency
No. of pitches
Dwell time
Parameter block No.
M-code
Center point
Axis
Command speed
Torque limit value
Auxiliary point
Radius
Com- Processing details
Positioning mand
control symbol
Virtual valid
No. of steps
No. of indirect words
1 Absolute 1 axis positioning

axis
Linear interpolation control

axes Incremental 2 axis positioning

axes

axes Incremental 4 axis positioning
Absolute auxiliary point
Auxiliary point
designation
designation circular interpolation
Incremental auxiliary point

designation circular interpolation
Absolute radius designation circular
interpolation
Circular interpolation control
Less than CW 180

interpolation
CW 180 or greater
Radius designation
interpolation
Less than CCW 180
interpolation
CCW 180 or greater
Incremental radius designation
circular interpolation
Less than CW 180
6-3
Speed limit value
Acceleration time
Deceleration time
Torque limit value

STOP input deceleration
processing
Circular interpolation error
tolerance range
S-curve ratio
Parameter block
Acceleration/decelera-
tion method
Acceleration section
1 ratio
2 ratio
Deceleration section
Advanced S-curve
1 ratio
6-4
Positioning data
2 ratio
Start bias speed
Repeat conditions
Program No.
Command speed
(constant speed)
Cancel
Skip
Other
*2: (B) indicates bit device.

WAITON/OFF
Fixed position stop
Fixed position stop
*1: Only when reference axis speed specified

○: Items that must be set, : Items set when required
steps
No. of
Positioning data

Start angle
Vibration amplitude
No. of pitches
Frequency
Dwell time
Parameter block No.
Command speed
M-code
Center point
Axis
Torque limit value
Auxiliary point
Radius
Positioning mand
control symbol
Virtual valid
No. of steps
Absolute center point designation

polation control
circular interpolation CW
Circular inter-
Center point
designation
Absolute center point designation

circular interpolation CCW
Incremental center point designation
circular interpolation CW
Incremental center point designation
circular interpolation CCW
Absolute auxiliary point
Auxiliary point
designation
designation helical interpolation
Incremental auxiliary point

designation helical interpolation
Absolute radius designation helical
interpolation
Less than CW 180
interpolation
interpolation
Radius designation
Less than CCW180

Helical interpolation control
interpolation
helical interpolation
Less than CW 180
Absolute center point designa-
Center point designation
tion helical interpolation CW

Absolute center point designa-
tion helical interpolation CCW
Incremental center point desig-

nation helical interpolation CW
Incremental center point design-
nation helical interpolation CCW
6-5
Speed limit value
Acceleration time
Deceleration time
Torque limit value

processing
tolerance range
S-curve ratio
Parameter block
tion method
1 ratio
2 ratio
Advanced S-curve
1 ratio
6-6
Positioning data
2 ratio
Start bias speed
Repeat conditions
Program No.
Command speed
(constant speed)
Cancel
Skip
Other

WAITON/OFF
Fixed position stop
Fixed position stop

steps
No. of
Positioning data

Start angle
Vibration amplitude
No. of pitches
Frequency
Dwell time
Parameter block No.
M-code
Center point
Axis
Command speed
Torque limit value
Auxiliary point
Radius
Positioning mand
control symbol
Virtual valid
No. of steps
1 axis 1 axis fixed feed rate start

Fixed feed
2 axis linear interpolation fixed feed

2 axis rate start
3 axis 3 axis linear interpolation fixed feed
rate start
For- Speed control (I) forward rotation
control (I)
ward start
Speed
Re- Speed control (I) reverse rotation

verse start
For- Speed control (II) forward
control (II)
ward rotation start

Speed
Re- Speed control (II) reverse

verse rotation start
For- Speed, position control forward

rotation start
Speed, position
ward
Re- Speed, position control reverse
control
verse rotation start
Re-
start Speed, position control restart
Speed switching control start
Speed switching control end
Speed switching control

End point address
Speed
switching
control
Speed switching control
Travel value to end point
Speed switching point absolute

designation
Speed switching point incremental
designation
6-7
Speed limit value
Acceleration time
Deceleration time
Torque limit value

processing
tolerance range
S-curve ratio
Parameter block
tion method
1 ratio
2 ratio
Advanced S-curve
1 ratio
6-8
Positioning data
2 ratio
Start bias speed
Repeat conditions
Program No.
Command speed
(constant speed)
Cancel
Skip
Other

WAITON/OFF
Fixed position stop
Fixed position stop

steps
No. of
Positioning data

Start angle
No. of pitches
Vibration amplitude
Frequency
Dwell time
Parameter block No.
Command speed
M-code
Center point
Axis
Torque limit value
Auxiliary point
Radius
Positioning mand
control symbol
Virtual valid
No. of steps
Fixed
Forward
rotation
position Fixed position stop speed

stop control absolute designation
speed
Reverse
rotation
control
Fixed-pitch
feed Fixed-pitch feed start
1 axis constant speed control start
Constant speed control pass

point absolute designation
Constant
speed
control

point helical absolute
designation
6-9
Speed limit value
Acceleration time
Deceleration time
Torque limit value

processing
tolerance range
S-curve ratio
Parameter block
tion method
1 ratio
2 ratio
Advanced S-curve
1 ratio
Positioning data
6 - 10
2 ratio
Start bias speed
Repeat conditions
Program No.
Command speed
(constant speed)
Cancel
Skip
Other

WAITON/OFF
Fixed position stop
Fixed position stop

steps
No. of
Positioning data

Start angle
No. of pitches
Vibration amplitude
Frequency
Dwell time
Center point
Parameter block No.
Command speed
M-code
Axis
Torque limit value
Auxiliary point
Radius
Positioning mand
control symbol
Virtual valid
No. of steps

point incremental designation
Constant
speed
control

point helical incremental
designation
Constant speed control end
6 - 11
Speed limit value
Acceleration time
Deceleration time
Torque limit value

processing
tolerance range
S-curve ratio
Parameter block
tion method
1 ratio
2 ratio
Advanced S-curve
1 ratio
Positioning data
6 - 12
2 ratio
Start bias speed
Repeat conditions
Program No.
Command speed
(constant speed)
Cancel
Skip
Other

WAITON/OFF
Fixed position stop
Fixed position stop

steps
No. of
Positioning data

Start angle
No. of pitches
Vibration amplitude
Frequency
Dwell time
Parameter block No.
Command speed
M-code
Center point
Axis
Torque limit value
Auxiliary point
Radius
Positioning mand
control symbol
Virtual valid
No. of steps
Same control
repetition
(Used with Repeat range start setting
speed
switching
control,
constant
speed control) Repeat range end setting
Simultaneous
start Simultaneous start
Zeroing Zeroing start
High-speed
oscillating High-speed oscillating
Serco/virtual servo current value

change
Current
value Encoder current value change
change
Cam axis current value change
6 - 13
Speed limit value
Acceleration time
Deceleration time
Torque limit value

processing
tolerance range
S-curve ratio
Parameter block
tion method
1 ratio
2 ratio
Advanced S-curve
1 ratio
Positioning data
6 - 14
2 ratio
Start bias speed
Repeat conditions
Program No.
Command speed
(constant speed)
Cancel
Skip
Other

WAITON/OFF
Fixed position stop
Fixed position stop

steps
No. of
6.1.3 Linear control
Control of 1 to 4 axes with ABS-1 to ABS-4 (absolute method)

(1) Controls positioning from the current stop address (address prior to
positioning) with home position as reference to the specified address.
(2) The movement direction is determined based on the current stop address
and specified address.
Real
リアル
<K 50>
<K 50> End
200
200 終点point
No matter where the
位置決め前のアドレスが
ABS-2
ABS-2
address is prior to
End Axis 1
軸　　　　　 1, 200000.0 （( m)
200000.0 μm）どこであってもこの位置
終点
point positioning, it will move to
Axis 2
軸　　　　　 2, 200000.0 （( m)
200000.0 μm）へ移動します。
100 this position.
Composite speed 5000.00 （( mm/min)
合成速度　　　　　　　5000.00　 mm/min） 100
00
Start point
始点 0 100
100 200
200 300（mm）
300 (mm)
Linear control of 1 to 4 axes with INC-1 to INC-4 (incremental method)

(1) Controls positioning by the specified travel value from the current stop position
address.
(2) The movement direction is determined based on the movement symbol (+/-).
1) When the movement direction is positive:
Forward direction (address increase direction) positioning
2) When the movement direction is negative:
Reverse direction (address decrease direction) positioning
Real
リアル
<K 51>
〈K　51〉 200 End
終点point
INC-2
INC-2
Travel Axis1
軸 1, 100000.0
100000.0 ((m)
μ m)
移動量 Axis ((m)
value 軸 2 2, 100000.0
100000.0 μ m)
Composite speed 5000.00 ( mm/min) 100
合成速度 5000.00 ( mm/min)
Start
始点 point
00
00 50
50 100
100 200
200 300
300(mm)
(mm)
Speed designation (speed type) when performing linear 2 axis,

3 axis, and 4 axis interpolation control
1. Composite speed Reference
基準軸速度axis speed Composite
合成速度
This is the speed designation for moving with interpolation. speed
2. Major axis speed
This the speed for the interpolation axis with longest movement.
(Major axes are judged and processed automatically.)
3. Reference axis speed 長軸速度
Major axis speed
This is the speed setting for the axis to be set as reference from 基準軸速度
Reference axis speed
among interpolation axes.
6 - 15
6.1.4 Circular interpolation control for interpolation point designation
Control of 2 axes with ABS (absolute method)

(1) Performs circular interpolation from the current stop address (address prior
to positioning) with home position as reference to the end point address via
the specified auxiliary point address.
(2) This is an arc produced with point the start address (current stop address)
and auxiliary point address intersects the auxiliary point address and end
point address perpendicular bisector as the center point.
リアル
Real
<K 52>
〈K　52〉 200
End
終点point
ABS
ABS
End Axis (( m) 150
　終点軸1 1, 200000.0
200000.0 μm)
point Axis (( m)
軸2 2, 200000.0
200000.0 μm) 100 Auxiliary
補助点
Speed 5000.00 ( mm/min) point
速度 5000.00 ( mm/min)
Auxiliary point 1 50000.0 ( m)
補助 P.point 21,
Auxiliary 50000.0
150000.0 ( μm)
( m)
補助 P. 2, 150000.0 ( μm)
Start
始点 point
00
0 50
50 100
100 200 300
300(mm)
(mm)
Control of 2 axes with INC (incremental method)

(1) Performs circular interpolation from the current stop address to the end point
via the specified auxiliary point.
(2) This is an arc produced with the point the start point (current stop position)
and auxiliary point intersect the auxiliary point and end point perpendicular
bisector as the center point.
Real
リアル
<K 53>
〈K　53〉 200
200
INC End
終点point
INC
Travel Axis
軸1 1, 200000.0
200000.0 ( (m)
μ m) 150
150
移動量 Axis ( (m) Auxiliary
value 軸2 2, 150000.0
150000.0 μ m) 補助点
point
Speed 5000.00 ( mm/min) 100
速度
Auxiliary point 1
5000.00
50000.0
( mm/min)
( m)
補助 P.point 21,
Auxiliary 50000.0
100000.0 ( μ m) 50
( m) 50
補助 P. 2, 100000.0 ( μ m) 始点 point
Start
0
0 50 100
100 200 300 (mm)
300 (mm)
6 - 16
6.1.5 Circular interpolation control for radius designation
Control of 2 axes with ABS , ABS , ABS , and

ABS (absolute method)
(1) Performs circular interpolation from the current stop address (address prior
to positioning) with home position as reference to the specified end point
address at the specified radius.
(2) This is an arc produced with the point that the start address (current stop
address) and end point address perpendicular bisector intersects the specified
radius as the center point.
Real
リアル
<K 54>
<K 54> 200
200
ABS
ABS 終点
End
Axis 1
軸　　　　　 1, 300000.0
300000.0 ( m)
（ μm） point
End
終点
point Axis 2
軸　　　　　 2, 200000.0
200000.0 ( m)
（ μm）
Speed 8000.00
速度　　　　　　　　　8000.00　 ( mm/min)
（ mm/min） 100
Radius
半径　　　　　　　　 300000.0
300000.0 ( m)
（ μm）
Radius
半径
00
Start point
始点 0 100
100 200
200 300 (mm)
300（mm）
Control of 2 axes with INC , INC , INC , and

INC (incremental method)
(1) Performs circular interpolation to the end point specified at the specified
radius with the current stop address as the start point (0, 0).
(2) This is an arc produced with the point that the start address (current stop
address) and end point address perpendicular bisector intersects the specified
radius as the center point.
リアル
Real
<K 55>
<K 55> 200
200
INC
INC
End Axis 1
軸　　　　　 1, 100000.0
100000.0 （( m)
μm）
終点
point Axis 2
軸　　　　　 2, -50000.0
-50000.0 （( m)
μm）
Speed 8000.00
速度　　　　　　　　　8000.00　（( mm/min)
mm/min） 100
100
Radius Radius
半径　　　　　　　　 70000.0
70000.0 （( m)
μm）半径
50 Radius
50 半径
Start始点
point
00
End
終点point
Start point
始点00 100
100 200
200 300（mm）
300 (mm)
6 - 17
6.1.6 Circular interpolation control for center point designation
Control of 2 axes with ABS , ABS (absolute method)

(1) Performs circular interpolation with the current stop address (address prior to
positioning) with home position as reference as the start point address to the
end point address with arc with radius of distance to the center point.
リアル
Real
<K 56>
<K 56> 200
200
ABS
ABS
End
終点
Axis 1
軸　　　　　 1, 200000.0 ( m)
（ μm）
point Axis 2
軸　　　　　 2, 0.0
0.0 ( m)
（ μm）
Speed 5000.00
速度　　　　　　　　　5000.00　 ( mm/min)
（ mm/min） 100
100
Center
中心　　　　1 100000.0
1, 　　 100000.0 ( m)
（ μm） Center point
中心点
Center
中心　　　　2 50000.0
2, 　　 50000.0 ( m)
（ μm） 50
50
End point
終点
00
Start point
始点 0 100
100 200
200 300 (mm)
300（mm）
Control of 2 axes with INC , INC (incremental method)

(1) Performs circular interpolation with the current stop address as the start point
(0, 0) with travel value to the end point with arc with radius of distance to the
center point.
Real
リアル
<K 57>
<K 57> 200
200
INC
INC
Travel 軸　　　　　
Axis 1 1, 200000.0
200000.0 ( m)
（ μm）
移動量
value Axis 2
軸　　　　　 2, 0.0
0.0 ( m)
（ μm） Center point
100 中心点
Speed 5000.00
速度　　　　　　　　　5000.00　 ( mm/min)
（ mm/min） 100
Center
中心　　　　 1 100000.0
1, 　　 100000.0 ( m)
（ μm）
Center
中心　　　　 2 50000.0
2, 　　 50000.0 ( m)
（ μm） 50
50 End
終点point
Start
始点 point
00
Start point
始点 0 50
50 100
100 150 200 250
150 200 250 300（mm）
300 (mm)
6 - 18
6.1.7 Fixed feeding
Control of 1 to 3 axes with FEED-1, FEED-2, FEED-3

(incremental method)
(1) Controls positioning by the specified travel value with the current stop position
as 0.
(2) The movement direction is determined based on the movement symbol.
(a) When the movement direction is positive:
Forward direction (address increase direction) positioning
(b) When the movement direction is negative:
Reverse direction (address decrease direction) positioning
Real
リアル
<K 58>
〈K　58〉 100
FEED-2
FEED-2
Travel Axis
軸 1 60000.0
60000.0 (( m)
μm)
移動量 1, End
終点point
value Axis 2 60000.0 ( m)
軸
Speed 2, 60000.0
5000.00 ( μm)
( mm/min) 50
速度 5000.00 ( mm/min) 50
00
Start point
始点 00 50 100
100 150 (mm)
150 (mm)
6.1.8 Speed control
Control of 1 axis with VF, VR, VVF, VVR

(1) Performs control at a specified speed from the moment the servo motor
starts until a stop command is input.
(a) VF: Starts moving in

Servo amplifier control contains a position
forward direction.
loop.
(b) VR: Starts moving in
reverse direction. Servo amplifier control involves speed
(c) VVF: Starts moving in control that does not contain a position
forward direction. loop.
(d) VVR: Starts moving in Consequently, this can be used for
reverse direction. contact positioning control and so on to
prevent excessive error.
(2) The current value does not change with 0.
Real
リアル
<K 30>
<K 30>
VF
VF
Forward Axis 1
軸　　　　　 1
正転 Speed 2500.00 ( mm/min)
速度　　　　　　　　　2500.00　（ mm/min）
200
200
Real
リアル 100
100 Doesn't stop until
停止信号が入るまで
<K 31>
<K 31> Start
始点 point stop signal is input.
止まらない。
VR
VR
Reverse Axis 1
軸　　　　　 1
逆転 Speed ( mm/min)
2500.00 （ 0
速度　　　　　　　　　2500.00　 mm/min）
0 50
50 100
100 200
200 300
300 (mm)
(mm)
6 - 19
6.1.9 Speed, position switching control
Control of 1 axis with VPF, VPR (incremental method)

(1) Speed control is performed after the servo motor starts, switches to position
control with an external CHANGE (speed, position switching) signal when
the speed/position switching enable signal (M3205/axis 1) turns ON, and
then performs positioning with the specified travel value.
(a) VPF: Starts moving in forward direction (address increase direction).
(b) VPR: Starts moving in reverse direction (address decrease direction).
(2) The specified positioning is performed with the incremental method the
moment an external CHANGE signal is input.
リアル
Real
200
200
<K 32>
〈K　32〉
Travel VPF
VPF
移動量 Axis 1 100000.0 ((μm) CHANGE
CHANGE
value 軸　　　　 1，　　100000.0 m)
Speed 5000.00
速度　　　　　　　　5000.00 ((mm/min)
mm/min) 100
100 End
終点 point
Start
始点 point
0
0 50
50 100
100 200 300
300(mm)
(mm)
CHANGE signal
CHANGE信号
Speed
速度
Time
時間
Speed
速度制御 Positioning
位置決め
control control
制御
Remarks
There is no response delay after the external CHANGE signal is input.
6 - 20
6.1.10 Constant speed control
Control of 1 to 4 axes with CPSTART1 to CPSTART4 and CPEND

(1) Performs positioning control at a constant speed to the end point address
while relaying the pass point with a single start.
Pass point
ABS-2, ABS-3, ABS-4, ABS , ABS ,ABS , ABS ,

ABS , ABS , ABS , ABH , ABH ,ABH ,
ABH , ABH , ABH , ABH
INC-2, INC-3, INC-4, INC , INC , INC , INC ,
INC , INC , INC , INH , INH , INH ,
INH , INH , INH , INH
The absolute or incremental method is determined based on whether the

pass point command is ABS or INC, and a mix of both is possible.
Real
リアル
<K 61>
<K 61>
200
200 End
終点point
CPSTART2
CPSTART2
Pass point
Speed Axis 1
軸　　　　　 1，通過ポイント
End
終点point
速度指定
designation Axis 2
軸　　　　　 2，
Speed
速度 5000.00 （
　　5000.00　 ( mm/min)
mm/min） 100
100
ABS-2
ABS-2 5000mm/min半径Radius
5000mm/min
Axis 1
軸　　　　　 1， 100000.0
100000.0 ( m)
（ μm）
Axis 2
軸　　　　　 2， 150000.0
150000.0 ( m)
（ μm）
Pass
通過 point INC-2
INC-2
00
ポイント Axis 1
軸　　　　　 1， 100000.0
100000.0 ( m)
（ μm）
Axis 2 -50000.0 ( m) 00 100
100 200
200 300(mm)
300 (mm)
軸　　　　　 2， -50000.0 （ μm）
INC
INC
Axis 1
軸　　　　　 1， 100000.0
100000.0 ( m)
（ μm）
End point is
終点は
before Axis 2
軸　　　　　 2， 100000.0
100000.0 ( m)
（ μm）
CPENDの前
CPEND Radius
半径　　　　 100000.0
100000.0 ( m)
（ μm）
CPEND
CPEND
6 - 21
6.1.11 Repeat control (for speed switching control and constant speed control)
Control of 1 to 4 axes with FOR-TIMES，FOR-ON，FOR-OFF/NEXT

(1) Repeats speed switching control speed switching point VABS and VINC
commands.
(2) Repeats constant speed control pass point ABS and INC commands.
(3) Repeat count specification method
FOR-TIMES specifies the repeat count with a numerical value from K1 to
K32767, or indirectly with D, W, or #.
FOR-ON specifies repeat bit device X, Y, M, L, B, or F until the command
turns ON.
FOR-OFF specifies repeat bit device X, Y, M, L, B, or F until the command
turns OFF.
Real
リアル
<K 62>
〈K　62〉
CPSTART2
CPSTART2
Axis
軸 1 1,
Axis
軸 2 2,
Speed
速度 5000.00
5000.00 ((mm/min)
mm/min)
ABS-2
ABS-2
Axis
軸 1 1, 50000.0
50000.0 ((m)
μ m) 200
Axis
軸 2 2, 50000.0
50000.0 ((m)
μ m)
FOR-TIMES
FOR-TIMES
KK 33
INC-2 100
100
INC-2
Repeats 3 times. Axis
軸 1 1, 30000.0
30000.0 ((m)
μ m)
3回 End
終点point
Axis
軸 2 2, 100000.0
100000.0 ((m)
μ m)
くり返す。 INC-2 INC-2 1 time
1 回目22 回目33 times
times 回目
00
Axis
軸 1 1, 20000.0
20000.0 ((m)
μ m) Start 始点
point 0
Axis 0 100
100 200
200 300 (mm)
300
軸 2 2, -100000.0
-100000.0 ((m)
μ m)
NEXT
NEXT
CPEND
CPEND
6 - 22
6.1.12 Simultaneous start
Simultaneous start control with START

(1) Starts two to three types of servo program (exc. START command)
simultaneously.
(2) Up to 12 axes can be started simultaneously if three servo programs are
controlling four axes.
(3) Servo program Nos. specified with a START command cannot be specified
indirectly.
Real
リアル
<K 63>
<K 63>
START
START
　　　　　 KK 64
64
　　　　　 KK 65
65
200
200
Real
リアル
<K
<K 64>
64> 100
100 End
終点point
INC-1
INC-1
Axis 1
軸　　　　 1, 100000.0
100000.0 （(m)
μm） 50
50
Speed 5000.00 Start
始点 point
速度　　　 5000.00 （(mm/min)
mm/min）
00
0 50
50 100
100 150 200
200 300 (mm)
300（mm）
Real
リアル
<K 65>
<K 65>
INC-1
INC-1
Axis
軸　　　　2 2, 50000.0 (m)
50000.0 （ μm）
Speed
速度　　　 5000.00 (mm/min)
5000.00 （ mm/min）
6 - 23
6.1.13 Zeroing
1 axis zeroing with ZERO

(1) Zeroing is performed from the current stop position based on the zeroing
data return method.
(2) If the proximity dog method or count method, the axis advances in the
zeroing data return direction.
(3) If the data set method, the stop address is the home position, and the axis
does not move.
(4) The axis No. cannot be specified indirectly.
Real
リアル 200
200
<K 1>
〈K　1〉
ZERO
ZERO
軸Axis:
11
100
100
Home position
原点 Start
始点 point
DOG
DOG
0
-300
‐300 -200
‐200 -100
‐100 0 100
100 200 300
300 (mm)
(mm)
Only 1 axis can be specified.

A separate servo program is required to
perform zeroing for other axes.
Remarks
The simultaneous starting of zeroing is performed with a START command,
and ZERO command servo programs are started simultaneously.
6 - 24
6.1.14 Fixed-pitch feed control
Control of 1 axis with PFSTART (absolute method)

(1) The axis is positioned at the address word device (even number for D, W, #)
specified in the servo program with a single start.
(Fixed-pitch feeding is performed if the content of D, W, # changes midway
through.)
Real
リアル 200
200 -1
<K 66>
<K 66> D10の数値×10
D10 numerical m
value x 10 -1μm
End PFSTART
PFSTART
終点
point Axis 2
軸　　　　　 2, D10D10 （(m)
μm）
Speed 2000.00 (mm/min)
速度　　　　2000.00　（ mm/min） 100
100 End point
終点
00
Start point
始点 0 Start
始点 200
100
100 point 200 300
300 (mm)
(mm)
(2) The movement when the content of the word device changes midway
through is as follows.
Change in same direction
If位置決めアドレスが途中で
positioning address doesn't
Speed
速度 change midway through
変更されなかった場合
0 100 200
200
If changed before positioning address
位置決めアドレスが終点に到達する前に
reaches end point (same direction)
（同じ方向）へと変更された場合
Positioning
位置決めアドレス address 200mm
200mm 100mm
100mm
Change in return direction
If positioning address doesn't

位置決めアドレスが途中で
Speed change midway through
速度変更されなかった場合
00 100
100 200
200
If changed before positioning address reaches
位置決めアドレスが終点に到達する前に
end point (return direction)
（戻る方向）へと変更された場合
Positioning
位置決めアドレス address 200 mm
200mm 100 mm
100mm
(3) Fixed-pitch feed control continues until a stop command is input.
6 - 25
6.1.15 Current value change
CHGA Servo motor/virtual servo motor axis current value change control
(1) Changes current values for the specified axis when in real mode.
(2) Changes current values for the specified virtual servo motor axis when in
virtual mode.
<K <K
10>10>
CHGA
CHGA Current value change control
現在値変更制御
軸2， 50 ・使用軸･･･････････････
 Used axis: Axis 2 ･･軸2
Axis 2, 50
・現在値変更アドレス･････50
 Current value change address: 50
CHGA-E Synchronous encoder axis current value change control

(1) Changes the current value for the specified synchronous encoder axis to
the specified address.
<K<K11>
11>
Synchronous
エンコーダencoder axis current
制御 value change control
CHGA-E
CHGA -E 同期軸現在値変更
軸1， D10  Synchronous

・同期エンコーダencoder No.:11
No.･･････
Axis 1, D10  Current value change address: Indirect designation
・現在値変更アドレス･････ D10，D11による間接指定with
D10, D11
CHGA-C Control of changes in current values within single cam

axis rotation
(1) Executing a CHGA-C command changes the current values within a single
rotation for the specified cam axis to the specified address.
(2) Cam axes may be in the middle of movement.
<K<K
12>
12>
Control of changes in current values within single cam axis
CHGA-C
CHGA -C カム軸1回転内現在値変更制御
rotation
軸2， 0  Output
・出力 axis No.: ･･･････
軸No.･･･････ 2 2
Axis 2, 0  Current
・現在値 value change･････
変更アドレス address:
0 0
6 - 26
Chapter 7 Operation Control Programs
Substitute operational expressions, dedicated motion functions, and bit
device control commands can be set in operation control programs.
Multiple blocks can be set in a single operation control program, however,
only transition programs can be set for transition conditions.
This section describes operation control programs, and operational
expressions that can be described in transition programs.
7.1 Operator, function priority order

The priority order for operators and functions is as follows.
By using parentheses, the operation order can be specified freely.
Priority order Item (operator, function)

高
High Calculation inside 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 operator: less than (<), less than or equal to (<=),
greater than (>), greater than or equal to (>=)
Comparison operator: match (==), mismatch (!=)
Bit logical product (&)
Low
低 Bit exclusive logical sum (^)
Bit logical sum (|)
Logical product (*)
Logical sum (+)
Substitution (=)
7-1
7.2 Operational control, transition command list
Refer to Appendix 9 for details on the shaded parts in the following table.
Usable
Usable expression
program
Y/N transition
Comparative
No. of
Calculation
conditional
conditional
conditional
expression
expression
expression
formula
Category Symbol Function Format basic
Bit
steps F/FS G
= Substitution (D)=(S) 4 ○ ○ ○ - - -
+ Addition (S1)+(S2) 4 ○ ○ ○ - - -
Binary - Subtraction (S1)-(S2) 4 ○ ○ ○ - - -
operation * Multiplication (S1)*(S2) 4 ○ ○ ○ - - -
/ Division (S1)/(S2) 4 ○ ○ ○ - - -
% Remainder (S1)%(S2) 4 ○ ○ ○ - - -
Bit inversion
¯
(complement)
¯ (S) 2 ○ ○ ○ - - -
& Bit logical product (S1)&(S2) 4 ○ ○ ○ - - -
Bit | Bit logical sum (S1)|(S2) 4 ○ ○ ○ - - -
operation
^ Bit exclusive logical sum (S1)^(S2) 4 ○ ○ ○ - - -
>> Bit right shift (S1)>>(S2) 4 ○ ○ ○ - - -
<< Bit left shift (S1)<<(S2) 4 ○ ○ ○ - - -
Sign inversion
Sign -
(complement of 2)
-(S) 4 ○ ○ ○ - - -
SIN Sine SIN(S) 2 ○ ○ ○ - - -
COS Cosine COS(S) 2 ○ ○ ○ - - -
TAN Tangent TAN(S) 2 ○ ○ ○ - - -
ASIN Arc sine ASIN(S) 2 ○ ○ ○ - - -
ACOS Arc cosine ACOS(S) 2 ○ ○ ○ - - -
ATAN Arc tangent ATAN(S) 2 ○ ○ ○ - - -
SQRT Square root SQRT(S) 2 ○ ○ ○ - - -
Standard
function
LN Natural logarithm LN(S) 2 ○ ○ ○ - - -
EXP Exponent operation EXP(S) 2 ○ ○ ○ - - -
ABS Absolute value ABS(S) 2 ○ ○ ○ - - -
RND Round-off RND(S) 2 ○ ○ ○ - - -
FIX Omission of fractions FIX(S) 2 ○ ○ ○ - - -
FUP Round-up FUP(S) 2 ○ ○ ○ - - -
BIN BCD → BIN conversion BIN(S) 2 ○ ○ ○ - - -
BCD BIN → BCD conversion BCD(S) 2 ○ ○ ○ - - -
Conversion to 16 bit
SHORT
integer type (with sign)
SHORT(S) 2 ○ ○ ○ - - -
USHORT integer type (without USHORT(S) 2 ○ ○ ○ - - -
sign)
LONG
integer type (with sign)
LONG(S) 2 ○ ○ ○ - - -
ULONG integer type (without ULONG(S) 2 ○ ○ ○ - - -
Type sign)
conversion Deem as data with sign,
FLOAT convert to 64 bit floating FLOAT(S) 2 ○ ○ ○ - - -
decimal type
Deem as data without
UFLOAT sign, convert to 64 bit UFLOAT(S) 2 ○ ○ ○ - - -
floating decimal type
Floating decimal type 32
DFLT
→ 64 bit conversion
DFLT(S) 2 ○ ○ ○ - - -
Floating decimal type 64
SFLT
→ 32 bit conversion
SFLT(S) 2 ○ ○ ○ - - -
(bit conditional
Bit device
(None) ON (A contact)
expression)
2 ○ ○ - ○ - ○
status ! (bit conditional
! OFF (B contact)
expression)
2 ○ ○ - ○ - ○
7-2
Usable Usable expression
program
Y/N transition
Comparative
Calculation
conditional
conditional
conditional
expression
expression
expression
No. of
formula
Bit
steps F/FS G
SET(D） 3 ○ ○ - ○ - -
SET Device set SET(D) = (conditional
expression)
4 ○ ○ - ○ ○ -
RST(D) 3 ○ ○ - ○ - -
Bit device RST Device reset SET(D) = (conditional
control expression)
4 ○ ○ - ○ ○ -
DOUT Device output DOUT(D),(S) 4 ○ ○ - ○ - -

DIN Device input DIN(D),(S) 4 ○ ○ - ○ - -
OUT(D) = (conditional
OUT Bit device output expression)
4 ○ ○ - ○ ○ -
(None) Logical affirmation (Conditional expression) 0 ○ ○ - ○ ○ ○
! (conditional
! Logical negation expression)
2 ○ ○ - ○ ○ ○
Logical (Conditional expression)
operation * Logical product * (conditional 4 ○ ○ - ○ ○ ○
expression)
(Conditional expression)
+ Logical sum + (conditional 4 ○ ○ - ○ ○ ○
expression)
(Calculation formula) ==
== Match (calculation formula)
4 ○ ○ - - ○ ○
(Calculation formula) !=
!= Mismatch (calculation formula)
4 ○ ○ - - ○ ○
(Calculation formula) <
Comparison
< Less than (calculation formula)
4 ○ ○ - - ○ ○
operation (Calculation formula) <=
<= Less than or equal to (calculation formula)
4 ○ ○ - - ○ ○
(Calculation formula) >
> Greater than (calculation formula)
4 ○ ○ - - ○ ○
(Calculation formula) >=
>= Greater than or equal to (calculation formula)
4 ○ ○ - - ○ ○
CHGV Speed change request CHGV((S1),(S2)) 4 ○ ○ - - - -
Torque limit value
Dedicated
CHGT
change request
CHGT((S1),(S2)) 4 ○ ○ - - - -
motion Torque limit value (S1) only
function CHGT2
individual change request
CHGT2((S1),(S2),(S3)) 5 ○ ○ not - - -
possible
Target pos. change
CHGP
request
CHGP((S1),(S2),(S3)) 6 ○ ○ - - - -
EI Event task authorized EI 1 ○ ○ - - - -

DI Event task prohibited DI 1 ○ ○ - - - -
NOP No processing NOP 1 ○ ○ - - - -
FMOV Same data block transfer FMOV(D),(S),(n) 6 ○ ○ - - - -
BMOV Block transfer BMOV(D),(S),(n) 7 ○ ○ - - - -
TIME Time wait TIME(S) 7 - ○ - - - -
Data write to self CPU
Other
MULTW
shared memory
MULTW(D),(S),(n),(D1) 8 ○ ○ - - - -
Data read to other CPU
MULTR
shared memory
MULTR(D),(S1),(S2),(n) 7 ○ ○ - - - -
Word data write to
TO intelligent function TO(D1),(D2),(S),(n) 7 ○ ○ - - - -
module/special module
Word data read to intelligent
FROM function module/special FROM(D),(S1),(S2),(n) 7 ○ ○ - - - -
module
TIME Time wait TIME(S) 7 - ○ - - - -
7-3
Usable Usable expression
program
Y/N transition
Comparative
Calculation
conditional
conditional
conditional
expression
expression
expression
No. of
formula
Bit
steps F/FS G
MVOPEN Line open MVOPEN(S1),(S2) 4 ○ ○ - - - -

Vision program
MVLOAD
load
MVLOAD(S1),(S2) 4 ○ ○ - - - -
MVTRG Trigger issue MVTRG(S1),(S2) 4 ○ ○ - - - -

Vision program
MVPST
start
MVPST(S1),(S2) 4 ○ ○ - - - -
Dedicated
vision 8 or
MVIN Data input MVIN(S1),(S2),(D),(S3)
higher ○ ○ - - - -
system
function MVOUT(S1),(S2),(S3), 8 or
MVOUT Data output
(S4) higher ○ ○ - - - -
Status storage device
MVFIN
reset
MVFIN(S) 2 ○ ○ - - - -
MVCLOSE Line close MVCLOSE(S) 2 ○ ○ - - - -

Random native mode MVCOM(S1),(S2),(D), 9 or
MVCOM
command transmission (S3),(S4) higher ○ ○ - - - -
16-bit integer type
SCL
scaling
SCL(S1),(S2),(S3),(D) 8 ○ ○ - - - -
Data control
32-bit integer type
DSCL
scaling
DSCL(S1),(S2),(S3),(D) 8 ○ ○ - - - -
IF(S)
IF ~ : IF :4
Conditional branch
ELSE ~
control
ELSE ELSE:3 ○ ○ - - - -
IEND : IEND:1
IEND
SELECT
CASE(S1)
:
SELECT
CEND
SELECT :1
CASE(Sn) CASE:4
~ 32-bit integer type
Program CASE ~ scaling
: CEND:3 ○ ○ - - - -
CEND CLELSE
control SEND :1
CLELSE SEND:1
:
CEND
SEND
FOR(D) = (S1) TO
(S2)
FOR ~ No. of times designation FOR:9
NEXT repeat control
STEP (S3) NEXT:8 ○ ○ - - - -
:
NEXT
BREAK Repeat control forced exit BREAK 3 ○ ○ - - - -
1 program code for operation control program, transition program

Size approximate expression
2 + (1 + total no. of basic steps in 1 block)

+ 32 bit constant qty/1 block × 1
+ 64 bit constant qty/1 block × 3) × no. of blocks (steps)
(1 step = 2 bytes)
POINT
• A transition condition must be set in the final block of the transition
program.
7-4
Chapter 8 Windows Computer Operation
8.1 Data Creation Flow for Motion Controller Operation
Software package installation Software package installation

• MT Works2 • GX Works2
• MR Configurator
GX Works2 startup
Do motion CPU and No
module OS match?
Motion CPU OS installation

Yes
• SW8DNC-SV22QC
MT Works2 startup
System settings
New project creation
Servo data creation • Computer series
• Fixed parameters • Computer type
• Servo parameters
• Parameter blocks
• Zeroing data
• JOG data
Motion SFC program creation Parameters and sequence program

creation
Mechanical system program,

advanced synchronous control
program
• Module selection
• Module servo parameter
settings
• Cam data creation
Writing to Q motion CPU Writing to the Q PLC CPU

• Servo data
• Parameters
• Motion SFC program
• Mechanical system program
• Main sequence program
• Advanced synchronous
control program
• Cam data
Reset Q PLC CPU.
Operation possible
8-1
8.2 Q PLC CPU Settings
8.2.1 Opening a project
(1) Click the Windows [start] button, and then select
[All Programs]  [MELSOFT Application] 
[GX Works2]  [GX Works2].
(2) When GX Works2 starts up, click [Open…] on

the [Project] menu.
(3) A dialog box prompting the user to open a project

appears. Select the project to read.
By clicking the Open button, the sequence

program and computer parameters are read.
8-2
8.2.2 Multiple CPU settings
(1) Select [Parameter] in the project window, and
then double-click [PLC Parameter].
(2) Click the [Multiple CPU setting] tab at the Q

Parameter Setting dialog box that appears.
(3) Set "No. of PLC" to "2".
(3) Set!
Go to next page
8-3
From previous page
(4) Click the PLC No.1 Refresh button in the "Multiple

CPU High Speed Transmission Area Setting "tab.
(4) Click!
(5) An Auto Refresh Setting dialog box then

appears. Specify the auto refresh settings for
the PLC No.1 as follows.
"No. 1 - Points" : "48"

"No. 1 - Start" : "M3072"
"No. 2 - Points" : "64"
"No. 2 - Start" : "D640"
(5) Set!
"No. 3 - Points" : "50"
"No. 3 - Start" : "M6000"
"No. 4 - Points" : "800"
"No. 4 - Start" : "D6000"
(6) Click the "PLC No.2" tab, and specify the auto
(6) Click! refresh settings for the PLC No.2 as follows.
"No. 1 - Points" : "66"

"No. 1 - Start" : "M2000"
"No. 2 - Points" : "640"
"No. 2 - Start" : "D0"
"No. 3 - Points" : "50"
(6) Set! "No. 3 - Start" : "M6800"
"No. 4 - Points" : "800"
"No. 4 - Start" : "D6800"
"No. 5 - Points" : "4"
"No. 5 - Start" : "M496"
(7) When settings are complete, click the End button.

(7) Click!
Go to next page
8-4
From previous page
(8) The display then returns to the Q Parameter

Setting dialog box. Click the [I/O Assignment
(8) Click! setting] tab.
(9) At the I/O Assignment tab, set the "Base Setting

- Main" - "Slots" to "8", select "10" for the "Basic
Setting – Ext.Base1" - "Slots", and then click the
Detailed Setting button.
(9) Click!
* "Type: Intelligent" and "No. of points: 16" are
set for I/O assignment expansion slot "8(1-0)".
(10) At the I/O Module, Intelligent Function Module

Detailed Setting dialog box that appears,
Set "Slot 1 (*-1)" - "Control PLC" to "PLC No.1",
"Slot 2 (*-2)" - "Control PLC" to "PLC No.1",
"Slot 3 (*-3)" - "Control PLC" to "PLC No.2",
"Slot 4 (*-4)" - "Control PLC" to "PLC No.2", and
(10) Set!
"Slot 5 (*-5)" - "Control PLC" to "PLC No.2", and
then click the End button.
Go to next page
8-5
From previous page
(11) The display then returns to the Q Parameter

Settings dialog box. Click the [End] button.
(11) Click!
8-6
8.2.3 Writing sequence programs
Q03UDCPU
Q03UDCPU Q172DSCPU
Q172DSCPU
USB
USB
USB cable
USBケーブル
(1) Double-click "Connection1" at "Connection

Destination" in the Project window.
(2) A Connection Destination Setting dialog box

appears. Set the "Multiple CPU Setting" -
"Target PLC" to "PLC No.1", and then click the
OK button.
(3) Click [Write to PLC…] on the [Online] menu.
Go to next page
8-7
From previous page
(4) Click the Parameter + Program button at the

Online Data Operation dialog box that appears.
(5) Click the Execute button.
(6) A "PC write: Complete" message appears when

writing to the computer is complete. Click the
Close button.
(7) Click the Close button at the Online Data

Operation dialog box.
8-8
8.3 Starting MT Works2
The following is a description of the procedure from MT Works2 startup to new
project creation.
(1) Click the Windows [start] button, and then

select [All Program]  [MELSOFT Application]
 [MT Works2]  [MT Developer2].
(2) MT Works2 starts up.
(3) Click [New…] on the [Project] menu.
(4) A Create New Project dialog box appears.

Select the "CPU Type" and "OS Type", and
then click the OK button.
Go to next page
8-9
From previous page
(5) A new project is created, and a Basic Settings dialog box appears.
The content of settings to be specified at each tab screen in the Basic Settings dialog box is
as follows.
[Base Setting] tab [Multiple CPU Setting] tab [System Basic Setting] tab
Set the number of main base slots and number Specify multiple CPU system settings such as Set the motion CPU operation cycle, latch range,
of expansion base levels and slots. the number of CPUs, operation mode when a etc.
CPU stop error occurs, devices used with auto
refresh, etc.
[SSCNET Setting] tab [CPU Name Setting] tab [Built-in Ethernet Port Setting] tab
Set the communication type and SSCNET Set labels and comments. Set the IP address, protocol, etc.
system.
Click the OK button to close the Base Setting dialog box.
(6) Startup and new project creation are now

complete.
Go to next page
8 - 10
From previous page
(7) Click [Save As...] on the [Project] menu, and

save the project.
8 - 11
Chapter 9 Basic Practice in SV22 Real Mode
9.1 Practice Content
Basic practice involves initial processing, zeroing, and JOG operation.
Furthermore, this practice will be based on a basic positioning program example
using a motion SFC program.
(Y)
(Y)
Axis
軸2 2
(Random position)
（任意位置）
[アドレス指定]
[Address designation]
Specify address by numerical input (unit: mm).
「数値入力」にてアドレス指定(㎜単位)
[Standby point positioning]

[待機点位置決め]
-5-5mm
mm 待機点
Standby point
(0,0)
(0,0)
40mm
40mm 80mm
80mm 120mm
120mm
Axis
軸1 1(X)
(X)
-5mm
-5mm
Home position (30)
(30) (31)
(31) (32)
(32)
[Point selection]
[ポイント選択]
Select points by numerical input.
「数値入力」にてポイント選択
Specify an address by numerical input at the demonstration machine operation

panel.
You will practice two positioning methods, one of which involves specifying
points, and the other which involves specifying with an X, Y address.
9-1
9.2 Q172DSCPU Demonstration Machine System Configuration
In this practice, external signals (boundary limits, DOG) are read using the
Q172DLX module.
Controlled
シーケンサCPUで管理by PLC CPU
Main base
基本ベース
Q38DB
Q35DB シーケンサCPUで管理
Controlled by PLC CPU
(0) (1) (2) (3) (4) (5)
入出力混合
(0)
入出力混合
(1) (2) (3) (4) (5) External
同期エンコーダ入力
Servo 外部ボリ
volume
AD A
入出力ユニット
サーボ外部信号
I/O I/O external Synchronous ューム
D
conversion
変換ユニット
ユニット
mixed mixed signal
ユニット
ユニット
encoder Synchronous
module module
module
I/O input module 同期エン
encoder
Q03UD
Q03UD Q172DS コーダ
　　　　
Q172D
　　　　
module
CPU
CPU CPU
SCPU
Q61P-A1
Q61P-A1
Q64AD
増設 base
Extension QH42P QH42P Q172
Q172
connector DLX
ベース DEX
コネクタ QH42P QH42P Q172 Q172
Q64AD DLX DEX
Q171-ENCW8
Q171ENC-W8
GT15-QC30B
Servo amplifier Servo amplifier

サーボアンプサーボアンプ
MR-J4-10B1 MR-J4-10B1
MR-J4-10B1 MR-J4-10B1
Computer Axis
軸11 軸22
Axis
パソコン
SSCNETⅢケーブル
SSCNET III cable
MR-J3BUS1M
MR-J3BUS1M
GOT (operation panel)
GOT(操作パネル)
U/V/W
U・V・W Encoder cable SSCNET III cable
エンコーダ SSCNETⅢケーブル
MR-J3ENCBL2M-A2-L
ケーブル MR-J3BUS015M
MR-J3BUS015M
MR-J3ENCBL2M-A2-L
50W
50W
Axis Servo motor
サーボモータ 3000rpm
3000rpm
軸2 HG-KR053 absolute 4194304 p/r
2 HG-KR053 アブソリュート4194304p/r
X軸(軸1)
X-axis (axis 1)
150
150 U/V/W
U・V・W
120
120 Encoder cable
エンコーダ
MR-J3ENCBL2M-A2-L
ケーブル
MR-J3ENCBL2M-A2-L
90
90
60
60
30
30
Y軸
Y-axis Home position (-5, -5)
(軸2)
(axis 2)
原点(-5,-5)
00
Servo motor
サーボモータ
HG-KR053
00 30 60
60 90
90 120
120 150
150 HG-KR053
Ball screw (lead 2 mm) Axis

軸11
ボールネジ(リード2mm)
2 mm/rotation
2mm/回転
9-2
Demonstration machine operation panel
Start
立上げ画面 screen
The error display screen is common to all modes.

エラー表示画面は各モード共通です。
9-3
PLC Motion Motion
CPU PLC CPU
M M D
SM D SD
0
999 Range used as the user

device in the motion
CPU program for this
practice
Range used as the user

device in the PLC CPU
program for this practice Range used as the user
device in the motion
CPU program for this
practice
Range used as the user

device in the PLC CPU
program for this practice
: Positioning control device : Auto refresh device : User device
9-4
9.3 System Settings
It is first of all necessary to specify system settings at MT Works2.
(1) System settings
1) Double-click the [System Setting]  "Basic

Setting" tab in the project window for the new
project created at section 8.3.
Double-click!
2) Click the [Import Multiple CPU Parameter]

button at the Basic Setting dialog box that
appears.
2) Click!
Go to next page
POINT
Import Multiple CPU Parameter
This section introduces the function used to specify settings at the motion
CPU side also using the PLC side CPU parameters set at section 8.2.2.
 Setting mistakes will be minimized!
If not using "Import Multiple CPU Parameter"

Click the "Multiple CPU Settings" tab.  Go to page 9-8.
9-5
From previous page
3) Click the Browse button at the dialog box used

to open a project, and select a project for which
3) Select! PLC side CPU parameters have been set.
4) Click the Open button.
4) Click!
5) Click the Yes button at the Import Multiple CPU

Parameter dialog confirmation message box
that appears.
6) Click the "Multiple CPU Setting" tab, and

6) Click! ensure that the "No. of CPU" is "2".
6) Check!
7) Click the CPU No.2 Refresh button in the
"Multiple CPU High Speed Transmission Area
Setting" tab.
7) Click!
Go to next page
9-6
From previous page
8) An Automatic Refresh Setting dialog box for

the CPU2 then appears. Change the start of
Setting No. 5 as follows.
(A special relay is used at the motion side.)
"M496" → "SM496"
9) Click the OK button.

8) Change!
9) Click!
10) Ensure that "All station stop by stop error of

(11) Click!
CPU2" is selected at "Operation Mode".
11) Once confirmed, click the "System Basic

Setting" tab in the Basic Setting dialog box.
10) Check!
 Go to 12) on page 9-10.
* Pages 9-8 to 9-9 describe the setting method when not reusing multiple CPU parameters.
9-7
[If not using "Reuse Multiple CPU Parameters"]
From page 9-5
a) Set the "1st row" of the "Extension Base" to "10

Slots/GOT (Bus connection)".
a) Set!
b) Set "No. of CPU" to "2".
b) Set! c) Click the CPU No.1 Refresh button at "Multiple

CPU High Speed Transmission Area Setting".
c) Click!
d) An Automatic Refresh Setting dialog box then

appears. Specify the automatic refresh settings
for the CPU1 as follows.
"Setting No.1 - Points" : "48"
"Setting No.1 - Start" : "M3072"
"Setting No.2 - Start" : "D640"
d) Set!
Go to next page
9-8
From previous page
e) Click the "CPU2" tab, and specify the

e) Click! automatic refresh settings for the CPU No.2 as
follows.
e) Set!
"Setting No.5 - Start" : "SM496"
f) Click!
f) When settings are complete, click the OK
button.
g) The display then returns to the Basic Setting

h) Click!
dialog box. Ensure that "All station stop by stop
error of CPU2" is selected at "Operation
Mode".
h) Once confirmed, click the "System Basic

g) Check!
Setting" tab in the Basic Setting dialog box.
Go to next page
9-9
From previous page
12) Ensure that the following settings are as shown.

"Forced Stop" : Nothing
"Operation Cycle" : Default Setting
"Operation at STOP to RUN"
: M2000 is turned on by
switching from STOP to
(12) Check! RUN.
13) Once set, click the OK button at the Basic

Setting dialog box.
(13) Click!
(14) Basic setting is now complete.

System configuration settings are described at
(2) from the following page.
9 - 10
(2) Motion slot settings
1) To specify settings for the slot 4 servo external

signal input module, double-click main base
slot 4 in the system configuration window.
(1) Double-click!
2) A Motion Slot Setting dialog box then appears.

Select "Servo External Signal Module" -
(2) Select! "Q172DLX" at "Motion Module".
3) When settings are complete, click the

Detail Setting button.
(3) Click!
4) A Q172DLX Setting dialog box then appears.

Ensure that the DOG signal contacts are set as
(4) Check! follows.
• DOG1: Normal Open
• DOG2: Normal Open
(5) Click!
5) When settings are complete, click the OK
button.
The display then returns to the Motion Setting
dialog box. Click the OK button.
6) To specify settings for the slot 5 synchronous

encoder input module, double-click main base
slot 5 in the system settings window.
(6) Double-click!
Go to next page
9 - 11
From previous page

Select "Sync. ENC. Input Module" - "Q172DEX"
at "Motion Module".
(7) Select! 8) When settings are complete, click the

(8) Click!
9) A Q172DEX Setting dialog box then appears.

Select the "P1" check box at "MAN-PLS/Sync.
(9) Set!
ENC Setting", and then select "Q171ENC-W8
(ABS 4194304[PLS])" (set "High-speed Read
Data Setting" to "Not used", and "Input
Response Time (operation mode)" to "0.4".)

(10) Click! button.
11) To specify settings for the slot 3 analog input

module, double-click main base slot 3 in the
system settings window.
(11) Double-click!

Select "Analog Input" at "PLC Module".
13) When settings are complete, click the

(12) Select!
(13) Click!
Go to next page
9 - 12
From previous page
14) An Analog Module Setting dialog box then

appears. Select "0040" at "First I/O No.", and
(14) Select!
then specify the following setting.
Switch 1
"CH1": 0 to 10V

button.
(15) Click!
16) System configuration settings are now

complete.
9 - 13
(3) Amplifier settings
1) Double-click [System Setting]  [SSCNET

Structure] in the Project window.
Double-click!
2) An SSCNET Structure window appears.
3) To specify settings for the first servo amplifier

and servo motor, double-click the first (d01)
servo amplifier from the left in the SSCNET
Structure window.
3) Double-click!
Go to next page
9 - 14
From previous page
(4) Check! 4) An Amplifier Setting dialog box then appears.

Ensure that the "Amplifier Model" is
"MR-J4(W)-B".
5) Ensure that the "Axis No." is "1".

(5) Check!
6) Once set, click the OK button at the Amplifier
Setting dialog box.
(10) Click!
7) To then specify settings for the second servo

amplifier and servo motor, double-click the
second (d02) servo amplifier from the left in the
System Setting window.
(7) Double-click!
Go to next page
9 - 15
From previous page
(4) Check! (8) An Amplifier Setting dialog box then appears.

Ensure that the "Amplifier Model" is
"MR-J4(W)-B".
(9) Ensure that the "Axis No." is "2".

(5) Check!
(10) Once set, click the OK button at the Amplifier
Setting dialog box.
(10) Click!
(11) Settings for the first (d01) and second (d02)

servo amplifier and servo motor are now
complete.
9 - 16
(4) Relativity check, saving
1) When motion slot settings and amplifier

settings are complete, click [Relative Check/
Convert] on the [Check/Convert] menu.
Click!
2) Ensure that there are no errors at the output

window.
If any error items are displayed in the output
window, edit the setting(s) and retry the
relativity check.
3) Click [Save] on the [Project] menu.
System settings are now complete.
Click!
9 - 17
9.4 Servo Data Input Operation
After specifying system settings, specify servo data settings.
(1) Double-click [Servo Data Setting] 
[Servo Data] in the project window.
Double-click!
(2) A Servo Data Setting window

appears.
(3) Specify the content shown on the

left for the Axis 1 Fixed Parameter.
Set!
Go to next page
9 - 18
From previous page

left for the Axis 1 Home Position
Return Data settings.
Set!

left for the Axis 1 JOG Operation
Set!
Data settings.

left for the Axis 1 Servo External
Signal Parameter.
Note: The values set for Axis 1 differ

from those for Axis 2, and
therefore care should be taken if
copying Axis 1 settings to Axis 2.
Go to next page
9 - 19
From previous page
(7) Use the same operation to specify

the content shown below for the
Axis 2 Fixed Parameter, Home
Position Return Data, and JOG
Operation Data.
POINT
By right-clicking the screen on the left, blocks
can be copied and pasted.

[Servo Parameter] in the Project
window.
Double-click!
(9) MR Configurator2 starts up.

MR Configurator2 is software used
to set servo amplifier parameters
and so on.
Go to next page
9 - 20
From previous page
(10) Click [Function display] 

[Component parts] in the
Parameter Setting screen display
selection tree, and then specify the
Click! following settings.
Absolute pos. detection system sel.

: Enabled (Used in ABS pos. detect
Set! system)
(11) Click the [Update Project] button.
Click!
(12) Click the [Yes] button to update the

servo parameter changes.
Click!
(13) Switch to Axis 2 and set the

parameters in the same manner.
Go to next page
9 - 21
From previous page
(14) Click the [Update Project] button.
Click!
(15) Click the [Yes] button to update the servo

parameter changes.
Click!
(16) Exit MR Configurator2.

[Parameter Block] in the Project window.
Double-click!
Go to next page
9 - 22
From previous page
(18) The Parameter Block Setting screen appears.
(19) Specify Parameter Block No.1 settings as

shown on the left.
(20) Specify Parameter Block No.2 settings as

shown on the left.
Go to next page
9 - 23
From previous page
(21) When all servo data settings are complete,

click [Save] on the [Project] menu.
Servo data settings are now complete.
9 - 24
9.5 Practice Motion SFC Programs
These sequence/motion SFC programs have been created for operation
purposes on the assumption that MT Works2 (for Q172DSCPU) be used.
An explanatory drawing of the demonstration machine GOT operation panel is
shown in item 9.2.
9.5.1 Program list

The sequence program and motion SFC program used for practice are shown
in the following list.
Initial processing, operation type selection, JOG operation, zeroing, and motion
SFC program startup are performed from the sequence program. Standby
point positioning, positioning by selecting positioning points at the GOT
operation panel, and positioning by entering positioning addresses at the GOT
operation panel are practiced using the motion SFC program. Refer to the
respective descriptions of each program in this manual for details.
Startup with Startup with motion
Normal execution sequence program SFC program
• Sequence program
*****Real mode*****
170 PLS M1040

Real Real mode [Real mode main]
mode main start Motion SFC program
trigger No.10
M1040
SET M1041
Real mode Real mode
main start main start
trigger request
<Motion SFC program No.10 start request>  [Standby point positioning]

M1041
DP.SFCS H3E1 K10 M1050 D3050 Motion SFC program No.20
Real mode Completion Completion
main start device status
 [Point selection positioning]
request
Motion SFC program No.30
RST M1041
Real mode  [Address designation
main start positioning]
request Motion SFC program No.40
Motion SFC program parameters

No. of
No. Program name Automatic start END operation
transitions Execution timing
10 Real mode main No - 3 Normal
20 Standby point positioning No - 3 Normal
30 Point selection No - 3 Normal
40 Address indirect designation No - 3 Normal
9 - 25
• Start program from sequence program
Real mode main
Address indirect
Standby point positioning Point selection designation
9 - 26
• Start program from motion SFC program [Real mode main] program No.10
・モーションSFCプログラム〔リアルモードメイン〕プログラムNo.10からの起動プログラム
[Standby point positioning] Program

[待機点位置決め]プログラム No.20
No.20 [Point selection positioning] Program
[ポイント選択]プログラム No.30 No.30
Standby point positioning Point selection
[Address[アドレス間接指定]プログラム
indirect designation] Program No.40
No.40
Address
indirect designation

[Zeroing program] Servo program K1 and K2 are started directly with an SVST command from the
sequence program.
[Jog operation] JOG start devices M3202, M3203, M3222, and M3223 are started by turning them ON
directly from the sequence program.
9 - 27
• Q03UD sequence program
****Initial
**** イニシャル処理*****
processing*****
SM403
SM40 3 M500
M50 0 M1000
M100 0
00 M307 4
M3074
1RUN後1ス
scan only PCPU準備 GOT switch servo ON
PCPU ready GOTスイッ All全軸ｻｰﾎﾞ
axis servo ON
OFF
キャンのafter 完了ﾌﾗｸﾞ
complete チ　サー ON
RUN
みOFF ボON
****Operation mode change*****

**** 操作モードの切換え*****
M241 5
M2415 M243 5
M2435 M680
M68000 M680 1
M6801 M680
M68022
19
19 M600 0
M6000
Axis 1 servo Axis
軸1ｻｰﾎﾞﾚ 2 servo JOG,
軸2ｻｰﾎﾞﾚ JOG・原点リアルモ
Real アドバン
Advanced JOG・原点
JOG/home pos. mode
ready
ﾃﾞｨ ready
ﾃﾞｨスイッチpos.
home ードスイ
mode スト同期
synchronous モード
switch ッチ
switch 制御スイ
control
ッチ
switch
M6800
M680 0 M6801
M680 1 M6802
M680 2
M600 1
M6001
JOG・原点
JOG, リアルモ
Real アドバン
Advanced Real
リアルモ mode
スイッチ pos.
home ードスイ
mode スト同期
synchronous ード
switch ッチ
switch 制御スイ
control
ッチ
switch
M680 0
M6800 M680
M68011 M680 2
M6802
M6002
M600 2
JOG・原点
JOG, リアルモ
Real アドバン
Advanced アドバン control
Advanced
スイッチpos.
home ードスイ
mode スト同期
synchronous スト制御
switch ッチ
switch 制御スイ
control
ッチ
switch
**** JOG運転と原点復帰*****
****JOG operation and zeroing*****
M6000
M600 0 M1010
M101 0 M3202
M320 2 M3203
M320 3
53
53 M320 2
M3202
JOG/home
JOG・原点 GOT switch
GOTスイッ Axis
軸1－正転1- Axis
軸1－逆転 1 - reverse Axis軸1－正転
1 - forward
pos.
モードmode axis 1
チ　軸1正 forward
JOG始動指 rotation
JOG始動指 JOG rotation
JOG始動 JOG 指start
forward
転JOG rotation
令 start
令 command command
令
rotation JOG start
JOG command
M200 1
M2001
始動受
Start 付 flag
accept
ﾌﾗｸﾞ
M101 1
M1011 M320 3
M3203 M320 2
M3202
M3203
M320 3
GOTスイッ
GOT switch Axis
軸1－逆転 1– 軸1－正転
Axis 1 – forward Axis 1 – reverse
軸1－逆転
チ　軸1逆
axis 1 reverse
JOG始動指 JOG始動指
rotation JOG rotation
JOG始動 JOG 指start
転JOG
reverse rotation
令令 command
start command
令
rotation JOG start
JOG command
M200 1
M2001
Start
始動受 accept
付 flag
ﾌﾗｸﾞ
M1012
M101 2 M3222
M322 2 M3223
M322 3
M3222
M322 2
GOT
GOTスイッswitch Axis
軸2－正転2- Axis
軸2－逆転2 - reverse Axis 2 - forward
軸2－正転
axis
チ　軸2正2 forward
JOG始動指 rotation
JOG始動指 JOG rotation
JOG始動 JOG指start
forward
転JOG rotation
令 start
令 command 令
command
JOG JOG start
command
M200 2
M2002
Start
始動受 accept
付 flag
フラグ
9 - 28
M1013
M101 3 M3223
M322 3 M3222
M322 2
M3223
M322 3
GOT
GOTスイッswitch 軸2－逆転
Axis 2– 軸2－正転
Axis 2 – forward Axis軸2－逆転
2 – reverse
チ　軸2逆
axis 2 JOG始動指
reverse JOG始動指
rotation JOG JOG始動
rotation JOG指start
転JOG
reverse 令
rotation JOG 令
start command 令
command
rotation start
JOG command
M200 2
M2002
Start
始動受 accept
付 flag
フラグ
M1020
M102 0
PLS
PLS M1021
M1021
GOTスイッ
GOT switch zeroing Zeroing trigger
原点復帰
チ　原点トリガ
復帰
M1021
M102 1
SET
SET M1022
M1022
Zeroing
原点復帰 Axis 軸1原点復
1 zeroing
trigger
トリガ帰要求
request
SET
SET M1023
M1023
軸2原点
Axis 2 復
zeroing
帰要求
request
M1022
M102 2 U3E1 \G516.0
U3E1\G516 .0
DPSVST
DP.SVST H3E1
H3E1 “J1”
"J1" K1
K1 M1030
M1030 D3030
D3030
Axis 1
軸1原点復 Axis start
軸始動受 accept Completion
完了デバ Completion
完了ステ
zeroing
帰要求付 device
イス status
ータス
request
RST
RST M1022
M1022
Axis 軸1原点復
1 zeroing
帰要求
request
M1023
M102 3 U3E1\G516.1
U3E1\G516 .1
DPSVST
DP.SVST H3E1
H3E1 “J2”
"J2" K2
K2 M1032
M1032 D3032
D3032
Axis 軸2原点復
2 zeroing 軸始動受 accept
Axis start Completion
完了ステ
帰要求
request 付 device
イス status
ータス
RST
RST M1023
M1023
Axis 軸2原点
2 zeroing
復
request
帰要求
**** リアルモード*****
****Real mode*****
M600 1
M6001
170
170 PLS
PLS M1040
M1040
Real
リアルモ mode リアルモ
Real mode main
ード startードメイ
trigger
ン始動ト
リガ
9 - 29
M1040 M1040
SET M1041
リアルモ
Real mode リアルモ
Real mode
main
ードメイ start main
ードメイ start
trigger request
ン始動トン始動要
リガ求
M1041
M1041
DP.SFCS H3E1 K10 M1050 D3050
リアルモ
Real mode 完了デバ
Completion 完了ステ
Completion
main
ードメイstart device
イス status
ータス
request
ン始動要
求
RST M1041
リアルモ
Real mode
ードメイ
main start
request
ン始動要
求
* *** アドバンスト制御
****Advanced *****
control*****
M6002 M6810
219 M3075
アドバン
Advanced Performing ｱﾄﾞﾊﾞﾝｽﾄ
Advanced
control
スト制御 advanced control
制御
control
M3075
PLS M1060
ｱﾄﾞﾊﾞﾝｽﾄ
Advanced Advanced
アドバン
control
制御 control
スト制御 start
trigger
始動トリ
ガ
M1060
SET M1061
アドバン
Advanced Advanced
control
スト制御 start control
制御メイ main
trigger start request
始動トリン始動要
ガ求
M1061
DP.SFCS H3E1 K100 M1070 D3070
Advance 完了デバ
Completion 完了ステ
Completion
制御メイ
control main device
イス status
ータス
start
ン始動要 request
求
RST M1061
Advance
control
制御メイ main
start request
ン始動要
求
259 END
9 - 30
9.5.2 Initial processing
The following is an example of a program used to start all motion CPU servo
axes.
Both the PLC CPU and motion CPU are set to the RUN status. With the
settings for this practice, a servo data and servo parameter check is performed
after the motion CPU status changes from STOP to RUN. If there are no errors,
the motion CPU turns the PCPU READY complete flag (SM500) ON.
The PLC CPU receives the PCPU READY complete flag (SM500) as M500
through auto refresh. When there are no errors at either the PLC CPU or
motion CPU, by turning M1000 ON at the demonstration machine operation
panel, an all axis servo ON command is sent from the PLC CPU, and motion
CPU startup is completed.
(1) Program example
****Initial processing*****
SM403 M500 M1000
0 M3074
1 scan only PCPU ready GOT switch All axis servo
OFF after complete flag servo ON ON
RUN
[Timing chart]
Motion CPU RUN (M2000)
PCPU ready complete flag SM500
M1000
All axis servo ON command

M3074 (M3074)
All axis servo ready status
9 - 31
9.5.3 JOG Operation
JOG operation is used to perform operation manually only while buttons are
held down.
The devices shown in the table below and content (acceleration/deceleration
time) of the parameter blocks set in JOG data are used.
By setting the speed in the JOG speed setting register (table below), and
turning ON a forward rotation JOG start signal (M3202/axis 1) or reverse
rotation JOG start signal (M3203/axis 1), JOG operation starts.
JOG operation stops when the JOG start signal is turned OFF.
(1) JOG operation speed setting register

JOG operation Speed setting range
speed setting
Axis register mm inch degree PULSE
No.
Setting Setting Setting Setting
Upper Lower Unit Unit Unit Unit
range range range range
1 D641 D640
2 D643 D642
3 D645 D644 -2 -3
× 10 × 10 -3
4 D647 D646 1 to × 10 pulse
1 to mm 1 to inch 1 to
214748364 / /
5 D649 D648 600000000 / 600000000 / 10000000
7 min s
min min
6 D651 D650
7 D653 D652
8 D655 D654
(2) Forward/reverse rotation JOG start signals

Control
Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8
axis
Forward
M3202 M3222 M3242 M3262 M3282 M3302 M3322 M3342
rotation
Reverse
M3203 M3223 M3243 M3263 M3283 M3303 M3323 M3343
rotation
(3) Program example

1) JOG operating condition items
Item Condition
Control axis Axis 1 Axis 2
Forward rotation Forward rotation
JOG operation (M1010) (M1012)
command input
Reverse rotation Reverse rotation
(M1011) (M1013)
9 - 32
2) Example of program in which JOG operation is performed by starting
axes 1 and 2 independently
The JOG speed can be set freely from the demonstration machine
operation panel.
****JOG operation and home position return*****

M6000 M1010 M3202 M3203
53 M3202
JOG/home GOT switch Axis 1 - Axis 1 - reverse Axis 1 - forward
pos. mode axis 1 forward rotation JOG rotation JOG
forward rotation JOG start command start command
rotation start
JOG command
M2001
Start accept
flag
M1011 M3203 M3202

M3203
GOT switch Axis 1 - Axis 1 - Axis 1 - reverse
axis 1 reverse forward rotation JOG start
reverse rotation JOG rotation JOG command
rotation start start
command command
M2001
Start accept
flag
M1012 M3222 M3223

M3222
GOT switch Axis 2 - Axis 2 - reverse Axis 2 - forward
axis 2 forward rotation JOG rotation JOG
forward rotation JOG start command start command
JOG start
command
M2002
Start accept
flag
M1013 M3223 M3222

M3223
GOT switch Axis 2 - Axis 2 - forward Axis 2 - reverse
axis 2 reverse rotation JOG rotation JOG
reverse rotation JOG start command start command
JOG start
command
M2002
Start accept
flag
9 - 33
軸22
Axis
(Y) 実習機操作盤（GOT)
(Y) Demonstration machine operation panel (GOT)
M1010 : Axis 1 forward rotation JOG command

M1011 : Axis 1 reverse rotation JOG command
M1012 : Axis 2 forward rotation JOG command
M1013 : Axis 2 reverse rotation JOG command
D641, D640 : Axis 1 JOG speed setting register
D643, D642 : Axis 2 JOG speed setting register
軸1(X)
Axis 1 (X)
[Timing chart]
JOG 速度
JOG speed
正転
Forward rotation
逆転
Reverse rotation
M1010
M1010
M3202
M3202
M1011
M1011
M3203
M3203
9 - 34
9.5.4 Zeroing
The following is an example of a program in which a servo program is run and
zeroing is performed by executing an SVST command from a ladder program.
Actual details of the zeroing operation are determined by the zeroing data at
the motion CPU side and the parameter block (acceleration/deceleration time).
The zeroing operation for each axis is as follows.
Zeroing is performed by turning ON the demonstration machine operation
panel M1020.
Axis 1/2: Set with proximity dog.

After starting, the motor rotates in the zeroing direction, and the rotation
is complete when the home position dog changes from ON to OFF.
[Servo program]
Real
<K 1>
ZERO Axis 1 servo program
Axis 1
Start point
DOG
(mm)
-15 -10 -5 0 5 10 15
Real
<K 2>
(mm)
ZERO Axis 2 servo program
Axis 2
10
Start
DOG
-5
-10
-15
9 - 35
[Sequence program]
M1020
PLS M1021
GOT switch Zeroing
zeroing trigger
M1021
SET M1022
Zeroing Axis 1
trigger zeroing
request
SET M1023
Axis 2
zeroing
request
<Servo program start request>

M1022 U3E1¥516.0
DP.SVST H3E1 “J1! K1 M1030 D3030
Axis 1 Axis start Completion Completion
zeroing accept device status
request
RST M1022
Axis 1
zeroing
request

M1023 U3E1¥516.1
DP.SVST H3E1 “J2” K2 M1032 D3032
Axis 2 Axis start
zeroing accept
request
RST M1023
Axis 2
zeroing
request
9 - 36
MEMO
9 - 37
9.5.5 Main routine motion SFC program (real mode operation)
This is a motion SFC program run as the main routine when performing real
mode positioning operation (other than manual operation).
Other motion SFC programs used to perform various types of operation when
in real mode from this main routine motion SFC program are started as sub-
routines.
(1) Motion SFC program started from main routine motion SFC program.
Motion SFC
Program name Reference section
program No.
20 Standby point positioning 9.5.6
30 Point selection 9.5.7
40 Address indirect designation 9.5.8
(2) Program example
Realﾘｱﾙﾓｰﾄﾞﾒｲﾝ
mode main Motion SF program No.10
モーションSFCプログラム No.10
[F
[F 100]
100]
//ランプの点灯
//Lamp ON
SET M9
SET M9
Speed
速度変更 change
"Standby
M0=ON point positioning" called when
P0 M0 = ON
M2001(軸1始動受付フラグ)=OFF
M2001 (axis 1 start accept flag) = OFF
のときに「待機点位置決め」を呼出
IFB1
[G
[G100]
100] [G
[G 101]
101]
//Mode selection switch check
//モード選択スイッチのチェック //Standby point positioning start
//待機点位置決め始動
!M6801
!M6801 M0*!M2001*!2002
M0*!M2001*!M2002
CLR
Speed
速度変更 change Standby
待機点位置決め point positioning
Axis stands by at that position until

サブルーチン呼出により呼び出した
program called by calling sub-routine is
プログラムが終了するまで、その位置
complete.
で待機する。
[F 101] [G4095]
[F 101] [G4095]
//Lamp OFF
//ランプの消灯 //Program completion & start accept return wait dummy
// プログラム終了＆始動受付復帰待ちダミー
RST
RST M9
M9 NOP
NOP
END
IFE1
P0
9 - 38
"Point
M1=ON selection" called when "Address
M2=ON indirect designation" called when
M1 = ON
M2001(軸1始動受付フラグ)=OFF M2 = ON
K30<=D2000<=K32 M2002(軸2始動受付フラグ)=OFF
K30 <=D2000 <= K32
のときに「ポイント選択」を呼出のときに「アドレス間接指定」を呼出
[G
[G 102]
102] [G
[G 103]
103]
//Positioning at selected point start
//選択したポイントへ位置決め始動 //Address variable positioning start
//アドレス可変位置決め始動
M1*M2001*(D2000>=K30)*(D2000<=K32)
M1*!M2001*(D2000>=K30)*(D2000<=K32) M2*!M2001*!M2002
M2*!M2001*!M2002
ポイント選択
Point selection アドレス間接指定
Address indirect designation
Axis stands by at that position until

サブルーチン呼出により呼び出した Axis stands by at that position until
サブルーチン呼出により呼び出した
program called by calling sub-routine
プログラムが終了するまで、その位置 program called by calling sub-routine
プログラムが終了するまで、その位置
で待機する。
is complete. で待機する。
is complete.
[G4095]
[G4095] [G4095]
[G4095]
//Program completion & start accept return wait dummy
// プログラム終了＆始動受付復帰待ちダミー //Program completion & start accept return wait dummy
// プログラム終了＆始動受付復帰待ちダミー
NOP
NOP NOP
NOP
9 - 39
9.5.6 Standby point positioning
Standby point refers to a work standby position at other than the mechanical
home position. (There may be times when the position is the same as the
home position.)
In this program example, the axis returns to the standby point by specifying the
standby point address and performing positioning.
By running the servo program with a motion SFC program motion control step,
operation is performed based on the content of the executed servo program
[G 102]
data and the parameter block.
//Positioning at selected point start
M1*M2001*(D2000>=K30)*(D2000<=K32)
[Real mode main] program

[リアルモードメイン]プログラム
"Standby point positioning"

called when
M0 = ON
M2001 = OFF
Standby point positioning M2002 = OFF
Standby point positioning モーションSFCプログラム

待機点位置決め
No.20
[F 200]
[F200]
//Lamp ON
//ランプ点灯
SETM10
SET M10
[K20: リアル]
[K20: Real]
ABS-2
ABS-2
Axis
軸1 1, 0.0 m
0.0 μm
Axis 2 0.0 m
軸 2, 0.0 μm
Composite speed 4000.00mm/min
合成速度
Dwell 4000.00 100
mm/min
msec
ﾄﾞｳｪﾙ 100 msec
[G4095]
[G4095] Ensures transition to next step
“WAIT”タイプのトランジションにより，
//Program completion & start accept return
//ﾌﾟﾛｸﾞﾗﾑ終了&始動受付復帰待ちﾀﾞﾐｰ with "WAIT" type transition after
．．．実行中のサーボプログラムの動作完了後に，
wait dummy completion of current servo
NOP 次のステップへ移行するようにします。
NOP
program.
[F201]
[F201]
//Lamp
//ランプ点灯 ON
RST M10
RST M10
END
END
9 - 40
9.5.7 Point selection positioning
This is an example of a basic point selection program.
By entering the point No. (servo program No. in this example) at the GOT
operation panel and then pressing the START button, the axis is positioned at
the address registered beforehand.
"Point selection" called when
M1 = ON
M2001 = OFF
K30 <=D2000 <= K32
Point selection
ﾎﾟｲﾝﾄ選択モーションSFCプログラム
Point selection No.30
[F300]
[F300]
//Lamp ON
//ランプの点灯
SET
SETM11
M11
RunsGOT操作パネルの値
relevant servoがprogram if の場合に該当するサーボプログラムを実行
30，31，32 GOT operation value is 30, 31, or 32.
IFB1
IFB1
[G300]
[G300] [G301]
[G301] [G302]
[G302]
//入力値=30のとき
//When input value = 30 //入力値=31のとき
//When input value = 31 //入力値=32のとき
//When input value = 32
D2000==K30
D2000==K30 D2000==K31
D2000==K31 D2000==K32
D2000==K32
[K30: Real]
[K30: リアル] [K30: Real]
[K31: リアル] [K30: リアル]
[K32: Real]
ABS-1ABS-1 1 ABS-1
ABS-1 1 ABS-1
ABS-1
Axis 1軸 1, 40000.0 μm
40000.0 m Axis 1軸 1, 80000.0 μm
80000.0 m Axis 1軸 1, 120000.0 μm
120000.0 m
速度 5000.00 mm/min 速度 3000.00 mm/min 速度 1000.00 mm/min
Speed 5000.00 mm/min Speed 3000.00 mm/min Speed 1000.00 mm/min
[G4095]
[G4095] [G4095]
[G4095] [G4095]
[G4095]
//ﾌﾟﾛｸﾞﾗﾑ終了&始動受付復帰待ちﾀﾞﾐｰ //Program completion & start accept return
//ﾌﾟﾛｸﾞﾗﾑ終了&始動受付復帰待ちﾀﾞﾐｰ //Program completion & start accept return
//ﾌﾟﾛｸﾞﾗﾑ終了&始動受付復帰待ちﾀﾞﾐｰ
wait
NOP dummy wait
NOP dummy wait
NOP dummy
NOP NOP NOP
IFE1
IFE1
[F301]
[F301]
//Lamp
//ランプの消灯OFF
RST M11
RST M11
END
END
Note: There are two "=" symbols in the “D2000==K30”, “D2000==K31”, and “D2000==K32” commands in
[G300], [G301], and [G302].
9 - 41
9.5.8 Address indirect designation positioning
This is an example of positioning at an address other than the previously
registered position.
The axis 1 and axis 2 addresses are computed based on the GOT operation
panel values, and then stored in D2020.
Positioning is performed by pressing the START button.
Even number addresses in the unused data register D, link register W, and
motion device # can be used for indirect setting.
In addition to addresses, speed, dwell, M-codes, and parameter blocks can
also be set indirectly.

"Address indirect designation"
G103 called when
M2 = ON
M2001 = OFF
M2002 = OFF
Address indirect
designation
G4095
Addressｱﾄﾞﾚｽ間接指定
indirect designation モーションSFCプログラム
No.40
[F400]
//Lamp
//ランプの点灯ON
SET M12
SET M12
//For address designation <32 bit>
//アドレス指定用（32bit）
D2020L=D2000L*K10000
D2020L=D2000L*K10000
[K40: Real]
リアル]
1 ABS-2
1 ABS-2
Axis 1軸 1, D
D 2020 m
2020 μm 軸1,2のアドレスをD2020,D2021の
Axis 1, 2 addresses set as D2020, D2021
Axis 2軸 2, D
D 2020 m
2020 μm
Composite speed 1000.00 mm/min 32 bit data.
32ビットデータとする。
合成速度 1000.00 mm/min
[G4095]
[G4095]
//ﾌﾟﾛｸﾞﾗﾑ終了&始動受付復帰待ちﾀﾞﾐｰ
wait
NOP dummy
NOP
[F401]
//Lamp
//ランプの消灯OFF
RST M12
RST M12
END
END
9 - 42
9.5.9 Changing the speed (CHGV) [additional practice]
This is an example of a program used to change the speed in three stages at
the GOT operation panel and then temporarily stop operation.
Changes to speed are made by executing a speed change command (CHGV
command) with a motion SFC program operation control step.
When setting the speed with a CHGV command, operation stops temporarily
when setting the speed to "0", and the remainder of the operation is performed
when the speed is changed again by setting to a value other than 0.
(1) CHGV speed change request command

Describes the axis No. for which the speed is to be changed, and the
changed speed.
CHGV(K1,K30000)
CHGV(K1,K30000)
KK[変更後速度]
[speed after change]
D0 to D8191
D0～D8191
W0 to 1FFF
W0～1FFF
#0 to #7999
#0～#7999
Axis No. (1 to 8) for which speed changed
速度変更を行う軸No.(1～8)
(2) Speed change setting range

Speed change setting range
mm inch degree pulse
Setting Unit Setting Unit Setting Unit Setting Unit
× 10-3
-600000000 to × 10-2 -600000000 to × 10-3 -2147483648 to -10000000 to
degrees/ pulse/s
600000000 mm/min 600000000 inch/min 2147483648 10000000
min
POINT
If setting the speed with the CHGV command, set a value 100 times (mm)
or 1000 times (inch/degrees) the actual speed.
Example
If setting the speed to 10000.00 mm/min, set a value of "1000000".
(3) Program example

1) Speed change conditions
Item Condition
Control axis Axis 1 Axis 2
M20 Speed after change: 2000 mm/min ──────
Speed change M21 Speed after change: 1000 mm/min ──────
command input M22 Speed after change: 500 mm/min ──────
M23 Temporary stop (0 mm/min) ──────
9 - 43
2) Speed change program example
[リアルモードメイン］プログラム
Real mode main
ﾘｱﾙﾓｰﾄﾞﾒｲﾝ
F100
Speed change
“Speed change” started in conjunction
「リアルモードメイン」起動に合わせて、
速度変更
「速度変更」を起動
with “Real mode main” start.
P0
IFB1
G100
CL R
Speed change “Speed change” finished in conjunction
「リアルモードメイン」終了に合わせて、
速度変更
「速度変更」を終了
with “Real mode main” end.
F101
END
IFB
Speed change
速度変更 Motion SFC program No.200
No.200
P0
IFE1
IFB
[G2001]
[G2000]
[G2000] [G2001] [G2002]
[G2002] [G2003]
[G2003]
//Is there no medium-speed, speed change request?
//Is there no high-speed, speed change request? //Is there no low-speed, speed change request? //Is there no temporary stop request?
//高速の速度変更要求がないか？ //M2001: Axis 1 start accept (ON while started)
//中速の速度変更要求がないか？ //低速の速度変更要求がないか？ //一時停止要求はないか？
//M2001: Axis 1 start accept (ON while started) //M2001: Axis 1 start accept (ON while started) //M2001: Axis 1 start accept (ON while started)
//M2061: During axis 1 speed change (ON only
//M2061: During axis 1 speed change (ON only
//M2001：軸1始動受付(始動中ON) //M2001：軸1始動受付(始動中ON) //M2061: During axis 1 speed change (ON only
//M2001：軸1始動受付(始動中ON) //M2061: During axis 1 speed change (ON only
//M2001：軸1始動受付(始動中ON)
when starting speed change)
when starting speed change) when starting speed change) when starting speed change)
//M2061：軸1速度変更中(変速開始時のみON) //M2061：軸1速度変更中(変速開始時のみON)
//M2128: During axis 1 auto deceleration (ON //M2061：軸1速度変更中(変速開始時のみON) //M2061：軸1速度変更中(変速開始時のみON)
//M2128: During axis 1 auto deceleration (ON //M2128: During axis 1 auto deceleration (ON //M2128: During axis 1 auto deceleration (ON
//M2128：軸1自動減速中(自動減速中ON) during auto deceleration)
//M2128：軸1自動減速中(自動減速中ON) //M2128：軸1自動減速中(自動減速中ON) //M2128：軸1自動減速中(自動減速中ON)
during auto deceleration) during auto deceleration) during auto deceleration)
M20*M2001*!M2061*!M2128 M21*M2001*!M2061*!M2128 M22*M2001*!M2061*!M2128 M23*M2001*!M2061*!M2128
IFE1
[F2000] [F2001]
[F2001] [F2002] [F2003]
[F2000] [F2002] [F2003]
//Speed change request (2000.00 mm/min) //Speed change request (1000.00 mm/min) //Speed change request (500.00 mm/min) //Speed change request (0 mm/min; stop)
//速度変更要求（2000.00mm/min) //速度変更要求（1000mm/min) //速度変更要求（500.00mm/min) //速度変更要求（0mm/min：停止)
//Used as temporary stop
CHGV(K1,K200000) CHGV(K1,K100000) CHGV(K1,K50000) //一時停止として使用
CHGV(K1,K0)
Speed
速度変更命令 change command
(Set in “0.01mm/min”units)
(“0.01mm/min”単位で設定)
P0
M2001=ON, M2061=OFF,
M2001=ON（軸1始動受付(始動中ON)）
When M2128 = OFF
M2061=OFF（軸1速度変更中(変速開始時のみON)）
[M20 = ON: Speed change to 2000 mm/min]
M2128=OFF（軸1自動減速中(自動減速中ON)）のとき
[M20=ON：速度 2000mm/minに変更]
[M23 = ON: Temporary stop (Speed: 0 mm/min]
[M23=ON：一時停止（速度 0mm/min）]
9 - 44
[Timing chart]
速度 V
Speed V During operation
動作中
2000mm/min
1000mm/min
CHGV
M20
M21
M22
M2061
M23
POINT
• The speed cannot be changed while the start accept flag is OFF.
• The speed cannot be changed during zeroing, circular interpolation, or
while decelerating.
• The speed can be changed within the 0 to start speed range.
9 - 45
9.6 Motion SFC Program Creation Procedure
This section describes how to create motion SFC programs used to set motion
control operation.
9.6.1 Creating a new motion SFC program

To create a new motion SFC program, begin by specifying the "Program
name".
(1) Double-click [Motion SFC Program]  [Motion

SFC Program Manager] in the Project window.
(1) Double-click!
(2) A Motion SFC Program Manager dialog box

appears.
Click the NEW button.
(2) Click!
(3) A New dialog box appears. Set the program No.

(3) Enter! for the motion SFC program being created.
Enter "10" for the "Motion SFC program No.",
and "Real mode main" for the "Motion SFC
program name".
(4) Click the OK button after entering.
(4) Click!
Go to next page
9 - 46
From previous page
(4) The set motion SFC program appears in a list.

Press the NEW button again to create a motion
SFC program such as the following.
No. Program name
10 Real mode main
20 Standby point positioning
30 Point selection
40 Address indirect designation
(Motion SFC programs other than No.10 and

No.20 created here will not be described in
detail.) Refer to the section on motion SFC
programs for operation described later to
create.
9 - 47
9.6.2 SFC diagram creation procedure
Allocate SFC diagram symbols to create an SFC diagram.
(1) Select "10 Real mode main" from the motion
SFC program list in the Motion SFC Program
Management dialog box, and then click the OK
button.
①(1)クリック！
Click!
(2) An Edit Program screen used to create

individual motion SFC programs appears.
(3) Click the single execution type operation control

step tool button ([F]) on the Program Edit
screen.
(4) Click on a random position to allocate an SFC

diagram symbol pointer.
Multiple pointers can be allocated.
When allocation is complete, right-click to
clear the SFC diagram symbol.
Go to next page
9 - 48
From previous page
(5) Now, click each tool button in the same manner to allocate SFC diagram symbols as shown on
the left.
Real mode main
: (Single execution type operation control step)
: (Pointer)
: (Jump)
: (Shift transition)
: (Wait transition)
: (Sub-routine call/start step)
: (END)
(6) Connect the allocated SFC diagram symbols.

Click the connect tool button at the Edit
Program screen.
Go to next page
9 - 49
From previous page
(7) By moving the mouse cursor over an SFC

diagram symbol, the shape of the cursor
changes.
Drag to connect the start of the motion SFC
program and pointer.
(8) Connect other SFC diagram symbols in the same manner.
Real mode main
If connections are mistaken, click the Select/Cut tool button at the

Edit Program screen ( ), move the mouse cursor over the
connecting line, and then click to cut the line.
Go to next page
9 - 50
From previous page
(9) Click [Arrange] on the [Edit] menu at the Edit

Program window.
Arrange the allocated SFC diagram symbols.
(9) Click!
(10) Set program Nos. and pointer Nos. for the

allocated SFC diagram symbols.
Click the Select/Cut tool button at the Edit
Program screen.
(10) Click!
(11) Double-click! (11) Double-click a pointer (P).
(12) A Pointer Number Setting dialog box appears.

Enter "0" for the "Pointer Number", and then
click the OK button.
(12) Click! Pointer Nos. can be set fro 0 to 16383 for
each motion SFC program.
("P0" for motion SFC program No.0 and
motion SFC program No.10 are different.)
Go to next page
9 - 51
From previous page
(13) Pointer No. "0" is set.

Next, double-click a transition (G).
(13) Double-click!
(14) A Program Number Setting dialog box appears.

Enter "100" for the "Program No.", and then
The program No. is a common number in the
project.
(14) Click!
(15) Program No. "G100" is set for the transition.

Set operation control steps (F) and transitions
(G) in the same manner.
Go to next page
9 - 52
From previous page
(16) Next, double-click a sub-routine call/start step.
(16) Double-click!
(17) A Program Name Setting dialog box appears.

Enter "Standby point positioning" for the "Motion
SFC Program Name", and then click the OK
(17) Click! button.
Go to next page
9 - 53
From previous page
(18) Program name "Standby point positioning" is set for the sub-routine call/start step.
Set program Nos. and pointer Nos. for other SFC diagram symbols in the same manner as
shown on the left.
Real mode main
F100
F100
P0
P0
IFB1
IFB1
G100
G100 G101
G101 G102
G102 G103
G103
Standby point Address indirect

F101
F101 待機点位置決め
positioning ポイント選択
Point selection アドレス間
designation 接指定
END
END G4095
G4095 G4095
G4095 G4095
G4095
IFE1
IFE1
P0P0
9 - 54
9.6.3 Entering transition and operation control steps
This section describes how to set conditional expressions and operational
expressions for transitions and operation control steps allocated to SFC diagrams.
(1) Click operation control step "F100" to select.
Real mode main
(2) Double-click! (2) When "[F100]" appears in the area on the right
of the screen (step Edit Program screen),
double-click.
(3) An Edit Operation Control Program/Transition

(3) Click!
Program dialog box appears.
Enter a comment and press the Enter key to
start a new line.
Click the Select Instruction button.
Commands can be set by direct entry.

If entering directly, continue from step (5).
(4) An Instruction Wizard dialog box appears.

Select as follows, and then press the OK button.
Class : Bit Device Control
Description : SET
Description Example : SET M0
Go to next page
9 - 55
From previous page
(5) A "SET M0" command is set. Change "M0" to

"M9".
Press the Enter key again to start a new line,
and then enter a comment and command.
Click the Convert button after entering.
(6) Click the OK button at the conversion complete

message that appears.
(7) Click the Close button.
(8) The set command appears on the step Edit

Program screen.
Go to next page
9 - 56
From previous page
(9) Set the operational expression and conditional expression for the following operation control
programs and transition programs in the same manner.
Real mode main
F100
F100
P0P0
IFB1
IFB1
G100
G100 G101
G101 G102
G102 G103
G103
Standby point Address indirect

F101
F101 待機点位置決め
positioning
Point selection
ポイント選択アドレス間
designation 接指定
END
END G4095
G4095 G4095
G4095 G4095
G4095
IFE1
IFE1
P0P0
[G100] //Mode selection switch check

!M6801
[G101] //Standby point positioning start
M0*!M2001*!M2002
[G102] //Positioning at selected point start
M1*!M2001*(D2000>=K30)*(D2000<=K32)
[G103] //Address variable positioning start
M2*!M2001*!M2002
[G4095] //Program completion & start accept return
wait dummy
NOP
[F100] //Lamp ON
SET M9
[F101] //Lamp OFF
RST M9
*(Logical product)
!(Logical negation)
(10) Click the Write Motion SFC Diagram button at

the Edit Program screen.
(10) Click!
Go to next page
9 - 57
From previous page
(11) When conversion is complete, a "Successful

completion" message appears in the output
window.
(12) Click [Save] on the [Project] menu at the Edit

Program window.
Real mode main creation is now complete.
Click!
9 - 58
9.6.4 Entering motion control steps
This section describes how to specify motion control steps used to perform
positioning control and so on.
Here, a motion SFC program for standby point positioning is created first.
SFC Program Manager] in the project window.
(1) Double-click!
(2) Select "20 Standby point positioning" from the

motion SFC program list in the Motion SFC
Program Manager dialog box, and then click the
OK button.
② (2)
クリック！
Click!
standby point (3) Create a motion SFC program for standby point
positioning positioning as follows.
(a) Allocate SFC diagram symbols.

Use the following tool buttons to allocate
SFC diagram symbols.
: (Motion control step)
: (WAIT transition)
: (One-time execution type
operation control step)
: (END)
(b) Connect the SFC diagram symbols with the
Connect tool button.
(c) Select the servo program No. with the
Select/Cut tool button, and then set.
(4) Click motion control step "K20" to select it, and

then double-click the Edit Program screen.
(4) Double-click!
Go to next page
9 - 59
From previous page
(5) A Select Instruction dialog box is displayed at

the Servo Program Editor dialog box.
(6) Select "Positioning" for the "Instruction Class",

and "ABS-2 (Vector-speed)" for the "Servo
Instruction" at the Select Instruction dialog box,
and then click the OK button.
(7) Enter "1" and "0.0" in the "Axis" text box.

Press the Enter key again to start a new line,
and then enter "2" and "0.0".
Enter "4000.00" for "Vector speed".
Add "Dwell" from the setting items, and then
enter "100".
Go to next page
9 - 60
From previous page
(8) Click the Convert button.

"K20" motion control step settings are now
(8) Click! complete.
(9) Use the same procedure now to create steps used at other motion SFC
programs from the following page.
Motion control step editing schematic procedure
1) Right-click "Servo program" in the Project

window, and then click "New Servo Program…".
Click!
2) Enter the program No. at the New Servo

Program dialog box, and then click the OK
button.
Click!
3) Select "Speed" for the "Instruction Class", and

"VF" for the "Servo Instruction" at the Select
Instruction dialog box, and then click the [OK]
button.
Click!
Go to next page
9 - 61
From previous page
4) Enter "1" in the "Axis:" text box, and enter "D

2110" in the "Speed" text box. Add "P.B." from
Setting Item, and then enter "2".
5) Click the Convert button.
Click!
Zeroing
(axis 1)
Zeroing
(axis 2)
Positioning
(1-axis linear)
Positioning
(1-axis linear)
Positioning
(1-axis linear)
Go to next page
9 - 62
From previous page
Positioning
(2-axis linear
interpolation)
(10) After creating motion control steps, click the

Close button to close the Edit Servo Program
Click! dialog box.
(11) The set motion control steps appear in the

Program Editor dialog box.
(12) Set the operation control program shown on the

//Lamp ON left.
//Lamp OFF
(13) Click the Program Editor dialog box Write

Motion SFC Diagram button to convert to a
(13) Click! motion SFC program.
Refer to section 9.5.7 to 9.5.8 and use the same
procedure to create motion SFC programs with
the following numbers.
30 40
(14) Click [Save] on the [Project] menu at the

Program Editor window.
Motion control step entry is now complete.
(14) Click!
9 - 63
9.6.5 Motion SFC program parameter settings, batch conversion
Specify parameter settings and perform batch conversion to motion SFC
programs for the created motion SFC programs.
SFC Parameter] in the Project window.
(1) Double-click!
(2) A Motion SFC Parameter dialog box appears.

Created motion SFC programs appear in a list.
Double-click "Real mode main".
(2) Double-click!
(3) A Program Parameter Setting dialog box

appears.
Ensure that "Start setting" is set to "No
automatic start".
Click the OK button after setting.
Task (execution timing) settings
1. Normal tasks
Execution with motion cycle (spare time)
2. Event tasks
• Execution with fixed cycle (0.22 ms, 0.44 ms,
0.8 ms, 1.7 ms, 3.5 ms, 7.1 ms, 14.2 ms)
• Execute by entering external interrupts
(3) Click! QI60 I0 to I15.
• Execute with interrupts (I0 to I15) from the
PLC (GINT command).
3. NMI tasks (Non-Maskable Interrupt)
Execute by entering external interrupts QI60
I0 to I15
Priority is high with event task internal
interrupts, even if interrupts are prohibited (DI).
Go to next page
9 - 64
From previous page
(4) Batch convert created SFC diagrams to motion

SFC programs.
Click the motion SFC program batch conversion
tool button at the Program Editor screen.
(4) Click!
(5) When conversion is complete, a "Successful

completion" message appears in the output
window.
Motion SFC program creation is now complete.
Make corrections to motion SFC programs if a

caution message appears.
9 - 65
9.7 Writing to the Motion CPU
Write servo settings data and motion SFC programs to the Q172DSCPU.
Point
Select [Change CPU Operation Method] on the [Online] menu, and if the
operation method is "Virtual mode switching method", change to
"Advanced synchronous control method", and then reboot.
(1) Set the Q motion CPU to "STOP".
(2) Click [Transfer Setup] on the [Online] menu at

the Program Editor window.
(2) Click!
(3) Specify the following settings at the Transfer

Setup dialog box that appears, and then click
the OK button.
• PC side I/F: Serial USB
• CPU side I/F: PLC Module
• Other Station Setting: No Specification
• Target system: Multiple CPU Setting PLC No.2
(3) Click!
(4) Click [Write to CPU] on the [Online] menu at the

Program Editor window.
(4) Click!
Go to next page
9 - 66
From previous page
(5) Select the "Programs" and "Parameters" check

boxes at the CPU Write dialog box that
appears, and then click the Execute button.
(6) When a "Complete!" message appears, click the

OK button.
(10) Reset the Q PLC CPU.
(11) Run the Q PLC CPU and Q motion CPU.
If the Q03UDCPU RUN lamp and Q172DSCPU RUN and M.RUN lamps light up, writing is successful.
POINT
Signification reduction in program data read/write time

With the Q17DSCPU, the time required to read/write program data for
servo programs and so on is now approximately one third of the time
previously taken, facilitating an improvement in debugging efficiency.
Motion communication time

* Servo program read time
Communication
time
Reduced to
Q173D(S)CPU approx. 1/3
Q17HCPU
9 - 67
9.8 Test Operation
It is necessary to turn OFF PLC ready (M2000) to perform test operation.
Set the Q motion CPU to "STOP", followed by the PLC CPU.
9.8.1 JOG operation
(1) Click the Test tool button at the Program Editor
window.
(1) Click!
(2) Click Yes at the test mode start request

confirmation screen that appears when the Test
window appears.
When the motion CPU is in test mode, all test

function tool buttons are enabled.
Use the servo ON/OFF tool to turn all servos
ON.
(3) Click the Servo ON/OFF tool button.
(3) Click!
Go to next page
9 - 68
From previous page (4) A Servo ON/OFF dialog box appears.
Press the All Axes Servo ON button to turn the
(4) Click! servo ON for all axes.
 Black: Servo OFF

Blue: Servo ON
 Servo ON if turns blue.
(5) Click the JOG operation tool button.
(5) Click!
(6) Set the "Axis No." to "1" at the JOG Operation

(6) Set! dialog box that appears.
Click the Forward or Reverse button to perform
JOG operation.
Go to next page
9 - 69
From previous page
(7) Set the "Axis No." to "2" to perform JOG

(7) Set! operation in the same manner as that for axis 1.
(8) Click the End button to close the JOG

Operation dialog box.
JOG operation is now complete.
(8) Click!
9 - 70
9.8.2 Servo program execution
Run the zeroing and positioning servo programs set for program operation in
test mode.
(1) Click the Program operation tool button.
(1) Click!
(2) Click the Independent Operation button at the

dialog box used to select the program operation
type that appears.
(2) Click!
(3) Set "1" at the spin box in the Program Operation

(Independent) dialog box that appears, and then
(3) Click! click the Program No. Setting button.
(4) Click the Setting Complete button at the

Program Operation (Independent) dialog box.
(4) Click!
Go to next page
9 - 71
From previous page
(5) Click the Start button at the Program Operation

dialog box that appears.
(Zeroing is performed for axis 1.)
(5) Click!
(6) When a "Program operation complete!"

message appears, click the OK button.
The feed current value will be "-5000.0 m".
(6) Click!
(7) Click!
(7) Click the End button at the Program Operation
dialog box.
(8) Servo program No.2 is started using the same operations.

(Zeroing is performed for axis 2.)
The feed current value will be "-5000.0 m".
(9) Servo program No.30 is started using the same operations.
(10) Click the Servo ON/OFF tool button.
(10) Click!
Go to next page
9 - 72
From previous page (11) A Servo ON/OFF dialog box appears.
Press the All Axes Servo OFF button to turn the
servo OFF for all axes.
(11) Click!
 Black: Servo OFF

Blue: Servo ON
 Servo OFF if turns black.
(12) Click [Cancel Test Mode] on the [Test] menu at

the Test window.
(12) Click!
(13) Click the Yes button at the cancel test mode

confirmation message box that appears.
Program operation using the test function is
now complete.
9 - 73
9.9 Demonstration Machine Operation
9.9.1 Operation
Servo motors are run and servo motor operation is monitored with MT Works2.
Set the PLC CPU and Q motion CPU RUN/STOP switch to "RUN".
[Servo ON]
Press Servo ON at the demonstration machine Demonstration machine operation panel
operation panel.
The servo status for axes 1 and 2 changes to ready.
9 - 74
[JOG operation execution]
Axis 2 Demonstration machine
軸2
(Y)
(Y) operation panel (GOT)
実習機操作盤（GOT) Press JOG
JOG at the demonstration machine operation panel.
Press JOG・原点
JOG/Home Pos.
at the JOG operation panel to turn ON the running
lamp.
JOG operation is possible while the JOG operation buttons are ON.
Item Condition
Axis 1
軸1(X)
(X) Control axis Axis 1 Axis 2
Forward rotation Forward rotation
JOG operation command (M1010) (M1012)
input
Reverse rotation Reverse rotation
(M1011) (M1013)
[Zeroing execution]
Press JOG
JOG at the demonstration machine operation panel.
By pressing JOG/Home
JOG・原点 Pos.
at the JOG operation panel, the running lamp lights up.
Axes 1 and 2 use proximity dog type 2. Operation is as follows.
• Press zeroing M1020 : Movement starts in the zeroing direction.
GOT switch Zeroing

zeroing trigger
Zeroing Axis 1
trigger zeroing
request
Axis 1 zeroing
Axis 2
zeroing
request
The axis 1 current value becomes -5.0

m.
Axis 1 Axis start Completion Completion
zeroing accept device status
request
Axis 2 zeroing
Axis 1
zeroing
request
The axis 2 current value becomes -5.0
m.
Axis 2 Axis start
zeroing accept
request
Axis 2
zeroing
request
POINT
Checks to be performed when there is no
movement
• Are the servos ON?
• Are the Q PLC CPU and Q motion CPU
switches set to "RUN"?
• Is the computer in test mode? (If in test
mode, cancel.)
• Has an alarm occurred? (If so, eliminate the cause.)
Go to next page
9 - 75
From previous page
Press Real
リアル at the demonstration machine operation panel.
(1) Press リアルモードメイン

Real Mode Main at the Real Mode screen to turn ON the running lamp.
Standby
(2) By pressing 待機点 , positioning is performed at the standby point address (0.0).
Point
[Real mode main] program (motion SFC program No.10)
Real Mode Main
[G100]
[G 100] [G101]
[G 101]
//Mode selection switch check
//モード選択スイッチのチェック //Standby point positioning start
//待機点位置決め始動
!M6801 M0*!M2001*!M2002 "Standby point positioning" called
M0=ON
when
M0 = ON
M2001 (axis 1 start accept flag) =
CLR のときに「待機点位置決め」を呼出
OFF
速度変更 Standby point positioning
待機点位置決め
M2002 (axis 2 start accept flag) =
OFF
[Standby point positioning] program (motion SFC program No.20)
Standby待機点位置決め
point positioning
[F200]
[F200]
//Switch LED ON
//ｽｲｯﾁLEDの点灯
SETM10
SETM10
[K20:リアル]
[K20: Real]
11 ABS-2
ABS-2
Axis 1: 0.0m
軸 2:
Axis 1, 0.00.0m
μm ．． Servo program No.20 executed.
．サーボプログラムNo.20を実行

軸 2,
Composite speed: 4000.00μm
0.0 mm/min (2-axis linear interpolation)
(2軸直線補間)
Dwell:
合成速度 4000.00100msec
mm/min
ﾄﾞｳｪﾙ 100 msec
Go to next page
9 - 76
[Real mode main] From previous page
[Address indirect designation]
[Point selection]
• By turning Position
位置選択 Select ON, positioning is performed with the [Point selection] locus.
• By turning 間接指定
Indirect Designation ON, positioning is performed with [Address indirect designation].
(Y)
(Y)
Axis軸2
2
(Random position)
（任意位置）
[Address indirect designation]
[アドレス間接指定]
Specify address by "numerical entry" (unit: mm).
「数値入力」にてアドレス指定(㎜単位)
(軸1，軸2のアドレスは
(Same value for axis 1 and 2
同一の値になります。)
addresses)
[待機点位置決め]
- 5mm
待機点
Standby
-5mm 40mm
40mm 80mm
80mm 120mm
120mm
(0,0)
point Axis(X)
1 (X)
軸1
-5mm
- 5mm (30)
Home (30) (31)
(31) (32)
(32)
position
[Point selection]
[ポイント選択]
Specify points by "numerical entry".
「数値入力」にてポイント選択
[Speed change]
Speed change/temporary stop during operation
• By turning 2000 ON, the speed will be 2000 mm/min.
• By turning 0 ON, operation will temporarily stop.

(The speed may be changed multiple times during operation.
However, do not perform operation during zeroing, circular interpolation, or during deceleration. A
minor error will occur.)
Operation complete
9 - 77
9.9.2 Monitor operation with monitor screen
Current values and error causes and so on can be checked using the
Monitor screen.
(1) Monitor startup

1) Click the monitor icon on the toolbar.
2) The monitor starts up.
(2) Stopping/starting the monitor

Click! 1) To stop the monitor, click the "Stop monitor"
button on the Monitor screen toolbar.
Click! 2) To start the monitor again, click the "Start

monitor" button on the Monitor screen toolbar.
9 - 78
(3) Motion CPU error batch monitor
Click! 1) Click the "Motion CPU error batch monitor"
button on the Monitor screen toolbar.
2) The Motion CPU error batch monitor appears.
POINT
By using the Motion CPU error batch monitor, all motion CPU error
information is displayed on the monitor.
9 - 79
9.9.3 Motion SFC program monitor
This section describes how to display the motion CPU program monitor.
The start and stop status of each program, and current device values
can be monitored and so on.
(1) Mode change

1) Click the "Monitor mode" button at the Program
Click! Editor screen.
2) The motion SFC program changes to monitor

mode.
: Executing
: Stopped
: Taking break
(Blue): Active
(Red): Awaiting parallel connection
3) By clicking the "Edit mode" button at the Edit

Click!
Program screen, the mode changes to edit
mode.
9 - 80
(2) Program batch monitor
Displays the program start and stop statuses in a list.
1) Click the program list monitor button.
Click!
2) The program list monitor appears.
: Executing
: Stopped
9 - 81
(3) Specific step monitor
Values for devices used at selected steps can be monitored.
Click!
1) Click the specified step monitor button.
2) Click the step to be monitored.
Click!
3) Values for devices at specific steps can be

monitored.
9 - 82
9.10 Exit Operation
9.10.1 Exiting MT Works2
(1) Click [Exit] on the [Project] menu.
(1) Click!
(2) If any changes have been made to setting data,

a message appears to confirm whether to save
the project.
Click the Yes button.
(2) Click!
9.10.2 Exiting GX Works2

(1) Click [Exit] on the GX Works2 [Project] menu.
(1) Click!
(2) If the project has not been saved, a message

appears to confirm whether to save the project.
Click the Yes button.
(2) Click!
9 - 83
Chapter 10 SV22 Advanced Synchronous Control Practice
10.1 Synchronous Control Parameters
By starting synchronous control for each output axis, control is synchronized for
input axes (servo input axis, command generation axis, synchronous encoder
axis).
10.1.1 Synchronous control modules

The modules used with synchronous control are shown below.
Input axis module

入力軸モジュール
Synchronous
同期エンコーダ軸 encoder
axis parameters
パラメータ
Synchronous
同期エンコーダ軸
encoder axis Synchronous parameters
同期パラメータ
Command
指令生成軸
generation axis Main shaft module
主軸モジュール
パラメータ
parameters
Command Input axis Composite main Main
指令生成軸
generation axis 入力軸主軸合成主軸shaft gear
(main shaft main) shaft gear
（主軸メイン）ギアギア
Servo input axis
サーボ入力軸
parameters
パラメータ
サーボ入力軸
Servo input axis
Main shaft
主軸
clutch
Input axis module
入力軸モジュール入力軸クラッチ
Input axis
（主軸サブ）
(main shaft sub)
Speed
Synchronous
同期エンコーダ軸 encoder
axis parameters
Speed change
変速機変速機gear
change
パラメータ gear module
モジュール
Synchronous
encoder axis Auxiliary Auxiliary Speed
補助軸
shaft 補助軸
shaft 変速機
change gear
ギアクラッチ
gear clutch
Command
指令生成軸 Speed
generation axis 補助軸
Composite 補助軸 gear
change
パラメータ
parameters 合成ギア
auxiliary shaft モジュール
module
Command gear
指令生成軸
generation axis
Servo input axis

サーボ入力軸 Speed
parameters Speed
変速機 change 変速機
change gear
パラメータ gear モジュール
module
Servo input axis
サーボ入力軸 Cam data
カムデータ
Auxiliary
補助軸 shaft
Auxiliary shaft
補助軸 Speed
変速機 Output
gear change gear Cam
カム出力軸axis
モジュールモジュール module
module モジュール
出力軸
Output axis
Command Servo input axis

Synchronous encoder 指令生成軸
generation axis サーボ入力軸
axis parameters
パラメータパラメータ
parameters parameters
パラメータ
Synchronous Command
Servo input axis
encoder axis 指令生成軸
generation axis サーボ入力軸
入力軸モジュール
Input axis module
10 - 1
10.1.2 Synchronous control module list
The number of modules that can be used with synchronous control is shown
below. (Indicates the number of modules for Q172DSCPU.)
Part No. of usable modules

Category Name
drawing Per unit Per axis
Servo input axis - 16 -
Command
Input axis - 16 -
generation axis
module
Synchronous
- 12 -
encoder axis
Main shaft main

16 1
input axis
Main shaft sub input

16 1
axis
Main shaft
module Composite main
16 1
shaft gear
Main shaft gear 16 1
Main shaft clutch 16 1
Auxiliary axis 16 1
Auxiliary axis gear 16 1

Auxiliary axis
module Auxiliary shaft
16 1
clutch
Composite auxiliary
16 1
shaft gear
Speed change
gear Speed change gear 32 2
module
Output axis
module Output axis 16 1
Cam data Cam data - Max. 256 -
10 - 2
10.1.3 Servo input axes
Servo input axes are used to drive input axes based on the position of servo
motors controlled with the motion CPU (Q173DSCPU/Q172DSCPU).
Load
Symbol Setting item Setting details Setting value Default Device No.
cycle
0: Disable
Sets the current value
1: Feed current value
Servo input axis type from which the
Pr.300
type servo input axis input
2: Real current value 0 -
3: Servo command value When
value is generated. power
4: Feedback value
turned ON
Servo input axis Set if performing
Pr.301 smoothing time smoothing processing 0 to 5000 [ms] 0 [ms] -
constant for input values.
Servo input axis
Sets the time to
phase -2147483648 Operation D14600+2n
Pr.302 advance or delay the 0 [μs]
compensation to 2147483647 [μs] cycle D14601+2n
phase.
advance time
Servo input axis
phase Sets the time to reflect
Pr.303 0 to 65535 [ms] 10 [ms] -
compensation time phase compensation.
constant
0: No rotation direction When
restriction power
1: Permit only when turned ON
Servo input axis Set if restricting the
current value is
Pr.304 rotation direction input travel value to a 0 -
increase direction
restriction single direction.
2: Permit only when
current value is
decrease direction
10.1.4 Command generation axes

Axes used to perform command generation only can be controlled independently
of axes connected to servo amps. Command generation axes are used if driving
input axes with servo programs or with JOG operation.
Load
cycle
Command Enables/disables the
0: Disable
Pr.340 generation axis used command 0 -
1: Enable
enable setting generation axis.
0: mm
Command
Sets the command 1: inch
Pr.341 generation axis 3 -
generation axis unit. 2: degree
unit setting
3: PLS
-2147483648 to
2147483647
Command Sets the command
(when degree:
Pr.342 generation axis generation axis upper 0 -
0 to 35999999)
upper stroke limit stroke limit.
[Command generation
axis position unit] *1
-2147483648 to When
2147483647 power
(when degree: turned ON
Pr.343 generation axis generation axis lower 0 -
0 to 35999999)
lower stroke limit stroke limit.
[Command generation
1 to 2147483647
generation axis generation axis
Pr.344 [Command generation 100 -
command command in-position
in-position range range.
Sets whether to perform
Command positioning control at a
generation axis speed 10 times the
0: Disable
Pr.345 degree axis speed command speed setting 0 -
1: Enable
10 times value when the
designation command generation
axis unit is degree.
10 - 3
Load
cycle
0: Disable
1 to 2147483647
Pr.346 generation axis generation axis 1 cycle 0 -
[Command generation
1 cycle length length. *1
axis position unit] When
Sets the speed limit power
Command turned ON
value when performing 1 to 2147483647
generation axis
Pr.347 JOG operation for a [Command generation 20000 -
JOG speed limit *2
command generation axis speed unit]
value
axis.
Command Sets the No. of the When
generation axis parameter block used
starting
Pr.348 JOG operation when performing JOG 1 to 64 1 D14682+4n
operation for a command
JOG
parameter block
generation axis. operation
designation
Command Sets the bit device
generation axis used to permit
acceleration/decel acceleration/decelerati Bit device Optional
Pr.349 -
eration time on time changes when (X, Y, M, B, F, U\G) device
change enable requesting a speed
*3
device change.
Command
Sets the word device When
generation axis
used to set the Word device power Optional
Pr.350 acceleration time -
acceleration time (D, W, #, U\G) turned ON device
change value
*3 change value.
device
Command
Sets the word device
generation axis
used to set the Word device Optional
Pr.351 deceleration time -
deceleration time (D, W, #, U\G) device
change value
*3 change value.
device
*1: Command generation axis position unit
*2: Command generation axis speed unit
*3: This setting can be omitted.
10.1.5 Synchronous encoder axes

Use if driving input axes with input pulses from externally connected
synchronous encoders.
Load
cycle
0: Disable
1: Synchronous encoder
Pn (synchronous
encoder axis No.: 1 to
• Sets the type of 12)
synchronous encoder 201: Via device
axis used. 301: Master CPU servo
• Sets the master CPU input axis
Synchronous
Pr.320 input axis if using as a (Axis No.: 1 to 32) 0 -
encoder axis type
slave CPU with 401: Master CPU
multiple CPU high command
speed synchronous generation axis
control. (Axis No.: 1 to 32)
501: Master CPU
synchronous
When
encoder axis
power
(Axis No.: 1 to 12)
turned ON
Control unit
0: mm
• Sets the synchronous 1: inch 3
encoder axis unit. 2: degree
• The position unit is set 3: PLS
-9
in the "×1 to 10 No. of position decimal
Synchronous point digits 0
[control unit]" range.
Pr.321 encoder axis unit 0 to 9 -
• The speed unit is set
setting -9
in the "×1 to 10 Speed time unit
[control unit/s, or 0: sec 0
control unit/min]" 1: mm
range. No. of speed decimal
point digits 0
0 to 9
10 - 4
Load
cycle
Sets the numerator for
Synchronous -2147483648 to
converting synchronous
encoder axis unit 2147483647
Pr.322 encoder axis encoder 1 -
conversion [Synchronous encoder
pulses to synchronous *1
numerator axis position unit]
encoder axis units.
Sets the denominator
Synchronous for converting
encoder axis unit synchronous encoder
Pr.323 1 to 2147483647 [PLS] When 1 [PLS] -
conversion axis encoder pulses to
denominator synchronous encoder power
axis units. turned ON
Synchronous Sets the synchronous 1 to 2147483647
Pr.324 encoder axis 1 encoder axis 1 cycle [Synchronous encoder 4000 -
*1
cycle length length. axis position unit]
Synchronous
Set if performing
encoder axis
Pr.325 smoothing processing 0 to 5000 [ms] 0 [ms] -
smoothing time
for input values.
constant
Synchronous
encoder axis Sets the time to
-2147483648 Operation D14820+10n
Pr.326 phase advance or delay the 0 [μs]
to 2147483647 [μs] cycle D14821+10n
compensation phase.
advance time
Synchronous
encoder axis
Sets the time to reflect
Pr.327 phase 0 to 65535 [ms] 10 [ms] -
phase compensation.
compensation time
constant
0: No rotation direction
restriction
Synchronous 1: Permit only when
Set if restricting the
encoder axis current value is
Pr.328 input travel value to a 0 -
rotation direction increase direction
single direction.
restriction 2: Permit only when
current value is
decrease direction When
• Sets the type of power
synchronous encoder turned ON
axis using
synchronous encoder
resolution when the
synchronous encoder
Synchronous
axis type is
Pr.329 encoder via device 0 to 2147483647 [PLS] 0 [PLS] -
synchronous encoder
resolution
via device.
• If 0 is set, processing
is performed with the
synchronous encoder
via device input value
as a 32 bit counter.
*1: Synchronous encoder axis position unit
10.1.6 Main shaft main input axis

This is the input axis at the main shaft module main side. This is the reference
for the main shaft position.
Load
cycle
0 : Disable
1 to 32 : Servo input When
axis *1
Sets the input axis No. starting
Main input axis 201 to 232 : Command
Pr.400 at the main shaft input Synchro- 0 D15000+150n
No. generation
main side. axis *2 nous
801 to 812 : Synchronous control
encoder axis
*1: With the Q172DSCPU, the 1 to 16 range is valid.
10 - 5
10.1.7 Main shaft sub input axis
This is the input axis at the main shaft module sub side. This is used if entering
a compensation amount for the main shaft main input axis position.
Load
cycle
0 : Disable
axis *1
Sets the input axis No. starting
201 to 232 : Command
Pr.401 Sub input axis No. at the main shaft input Synchro- 0 D15001+150n
generation
sub side. axis *2 nous
encoder axis
10.1.8 Composite main shaft gear

The main shaft main input axis and main shaft sub input axis travel values are
compounded and transferred to the main shaft gear.
Load
cycle
• Set in hexadecimal
notation.
H
Main input
method
Selects the input value
0: No input
Composite main composition method Operation
Pr.402 1: Input + 0001h D15002+150n
shaft gear from main input axis cycle
2: Input -
and sub input axis.
Sub input
method
0: No input
1: Input +
2: Input -
10.1.9 Main shaft gear

The gear ratio for which the travel value after the composite main shaft gear is
set is converted and transferred.
Load
cycle
Main shaft gear Sets the main shaft -2147483648 to When D15004+150n
Pr.403 1
numerator gear numerator. 2147483647 starting D15005+150n
Main shaft gear Sets the main shaft synchronous D15006+150n
Pr.404 1 to 2147483647 control 1
denominator gear denominator. D15007+150n
10 - 6
10.1.10 Main shaft clutch
The main shaft travel value is turned ON and OFF with the clutch and transferred.
This is used if conveying/isolating command pulses from main shaft input to
the output axis module side, and controlling servo motor operation/stoppage.
Load
cycle
notation.
H
ON control mode
0: No clutch
1: Clutch command
ON/OFF
2: Clutch command
Rising
3: Clutch command
Falling
4: Address mode
5: High-speed input
request
Main shaft clutch Sets the clutch control Operation

Pr.405 OFF control mode 0000h D15008+150n
control setting method. cycle
0: OFF control
disabled
1: One shot OFF
2: Clutch command
Rising
3: Clutch command
Falling
4: Address mode
5: High-speed input
request
High-speed input
request signal
00 to 1F:
Signal 1 to 32
high-speed input
request signal
0: Current value after

When
composite main shaft
Main shaft clutch starting
Sets the clutch gear
Pr.406 reference address Synchro- 0 D15009+150n
reference address. 1: Current value per
setting nous
cycle after main shaft
control
gear
• Sets the address for
turning ON the clutch
when in address
mode.
(The setting is invalid
-2147483648 to
when in other than
2147483647
Main shaft clutch address mode.) Operation D15010+150n
Pr.407 [Main input axis position 0
ON address • If other than "0 to *1 cycle D15011+150n
unit , or cam axis cycle
(cam axis 1 cycle *2
unit ]
length -1)", the clutch
is controlled after
converting to the "0 to
(cam axis 1 cycle
length -1)" range.
• Sets the travel value
until the clutch is
actually turned ON
after the clutch ON
-2147483648 to
conditions are When
Travel value 2147483647
established. clutch ON D15012+150n
Pr.408 before main shaft [Main input axis position 0
• Set a positive value *1 conditions D15013+150n
clutch ON unit , or cam axis cycle established
for movements in the *2
unit ]
increase direction,
and negative value for
movements in the
decrease direction.
10 - 7
Load
cycle
turning OFF the clutch
when in address
mode.
(The setting is invalid
-2147483648 to
when in other than
2147483647
Main shaft clutch address mode.) Operation D15014+150n
Pr.409 [Main input axis position 0
OFF address • If other than "0 to *1 cycle D15015+150n
unit , or cam axis cycle
(cam axis 1 cycle *2
unit ]
length -1)", the clutch
is controlled after
(cam axis 1 cycle
length -1)" range.
until the clutch is
actually
turned OFF after the
-2147483648 to
clutch OFF conditions When
Travel value 2147483647
are established. clutch OFF D15016+150n
Pr.410 before main shaft [Main input axis position conditions 0
• Set a positive value *1 D15017+150n
clutch OFF unit , or cam axis cycle established
for movements in the *2
unit ]
increase direction,
movements in the
decrease direction.
0: Direct
1: Time constant method
(index)
Main shaft clutch Sets the clutch
Pr.411 (linear) When 0 D15018+150n
smoothing method smoothing method.
3: Slippage amount starting
method (index) Synchro-
4: Slippage amount nous
method (linear) control
Sets the smoothing
Main shaft clutch
time constant if time
Pr.412 Smoothing time 0 to 5000 [ms] 0 [ms] D15019+150n
constant method
constant
smoothing.
Sets the slippage
0 to 2147483647
Slippage amount amount when the clutch When
[Main input axis position D15020+150n
Pr.413 at main shaft is ON if slippage *1 clutch ON 0
unit , or cam axis cycle D15021+150n
clutch ON amount method *2 starts
unit ]
smoothing.
Sets the slippage
0 to 2147483647 When
Slippage amount amount when the clutch
[Main input axis position clutch D15022+150n
Pr.414 at main shaft is OFF if slippage *1 0
unit , or cam axis cycle OFF D15023+150n
clutch OFF amount method *2
unit ] starts
smoothing.
*1: Main input axis position unit
*2: Cam axis cycle unit
10.1.11 Auxiliary shafts

These are input axes for auxiliary shaft modules. Input values are generated
from auxiliary shafts. Furthermore, input values can be converted to values
taking the mechanical reduction ratio and rotation direction into consideration
with an auxiliary shaft gear.
Symbol Load
Setting item Setting details Setting value Default Device No.
cycle
0 : Disable
axis *1
starting
Auxiliary shaft Sets the auxiliary shaft 201 to 232 : Command
Pr.418 synchro- 0 D15024+150n
No. input axis No. generation
axis *2 nous
encoder axis
10 - 8
10.1.12 Auxiliary shaft gear
The auxiliary shaft travel value is converted with the set gear ratio and
transferred.
Load
cycle
Auxiliary shaft Sets the auxiliary shaft -2147483648 to When D15026+150n
Pr.420 starting 1
gear numerator gear numerator. 2147483647 D15027+150n
synchro-
Auxiliary shaft Sets the auxiliary shaft nous D15028+150n
Pr.421 1 to 2147483647 1
gear denominator gear denominator. control D15029+150n
10.1.13 Auxiliary shaft clutch

The auxiliary shaft travel value is turned ON and OFF with the clutch and
transferred.
This is used if conveying/isolating command pulses from auxiliary shaft input to
the output axis module side, and controlling servo motor operation/stoppage.
Load
cycle
notation.
H
ON control mode
0: No clutch
1: Clutch command
ON/OFF
2: Clutch command
Rising
3: Clutch command
Falling
4: Address mode
5: High-speed input
request
Auxiliary shaft
Sets the clutch control Operation
Pr.422 clutch control OFF control mode 0000h D15030+150n
method. cycle
setting 0: OFF control
disabled
1: One shot OFF
2: Clutch command
Rising
3: Clutch command
Falling
4: Address mode
5: High-speed input
request
High-speed input
request signal
00 to 1F:
Signal 1 to 32
high-speed input
request signal
0: Auxiliary shaft current When

Auxiliary shaft value starting
Sets the clutch
Pr.423 clutch reference 1: Current value per synchro- 0 D15031+150n
reference address.
address setting cycle after auxiliary nous
shaft gear control
turning ON the clutch
when in address
mode. (The setting is
invalid when in other -2147483648 to
Auxiliary shaft than address mode.) 2147483647
Operation D15032+150n
Pr.424 clutch • If other than "0 to [Auxiliary input axis 0
*1 cycle D15033+150n
ON address (cam axis 1 cycle position unit , or cam
*2
length -1)", the clutch axis cycle unit ]
is controlled after
(cam axis 1 cycle
length -1)" range.
10 - 9
Load
cycle
until the clutch is
actually turned ON
after the clutch ON
-2147483648 to When
Travel value conditions are
2147483647 clutch
before established. D15034+150n
Pr.425 [Auxiliary input axis ON 0
auxiliary shaft • Set a positive value *1
conditions
D15035+150n
position unit , or cam
clutch ON for movements in the *2 established
axis cycle unit ]
increase direction,
movements in the
decrease direction.
turning OFF the clutch
when in address
mode. (The setting is
invalid when in other -2147483648 to
Auxiliary shaft than address mode.) 2147483647
Operation D15036+150n
Pr.426 clutch OFF • If other than "0 to [Auxiliary input axis 0
*1 cycle D15037+150n
address (cam axis 1 cycle position unit , or cam
*2
length -1)", the clutch axis cycle unit ]
is controlled after
(cam axis 1 cycle
length -1)" range.
until the clutch is
actually turned OFF
after the clutch OFF
-2147483648 to When
Travel value conditions are
2147483647 clutch
before established. D15038+150n
Pr.427 [Auxiliary input axis OFF 0
auxiliary shaft • Set a positive value *1
conditions
D15039+150n
position unit , or cam
clutch OFF for movements in the *2 established
axis cycle unit ]
increase direction,
movements in the
decrease direction.
0: Direct
(index)
Auxiliary shaft
clutch Sets the clutch
Pr.428 (linear) When 0 D15040+150n
smoothing smoothing method.
3: Slippage amount starting
method
method (index) Synchro-
4: Slippage amount nous
method (linear) control
Auxiliary shaft Sets the smoothing
clutch time constant if time
Pr.429 0 to 5000 [ms] 0 [ms] D15041+150n
smoothing time constant method
constant smoothing.
Sets the slippage
0 to 2147483647
Slippage amount amount when the clutch When
[Auxiliary input axis D15042+150n
Pr.430 at auxiliary shaft is OFF if slippage *1 clutch ON 0
position unit , or cam D15043+150n
clutch ON amount method *2 starts
axis cycle unit ]
smoothing.
Sets the slippage
0 to 2147483647 When
Slippage amount amount when the clutch
[Auxiliary input axis clutch D15044+150n
Pr.431 at auxiliary shaft is OFF if slippage *1 0
position unit , or cam OFF D15045+150n
clutch OFF amount method *2
axis cycle unit ] starts
smoothing.
*1: Auxiliary shaft position unit
10 - 10
10.1.14 Auxiliary shaft clutch
Main shaft and auxiliary shaft travel values are compounded and transferred.
Load
cycle
notation.
H□□□□
Main shaft input
method
Selects the input value
0: No input
Auxiliary shaft composition method 1: Input +
Operation
Pr.419 0001h D15025+150n
composite gear from the main shaft and 2: Input - cycle
auxiliary shaft.
Auxiliary shaft
input method
0: No input
1: Input +
2: Input -
10.1.15 Speed change gear

The speed change gear is used if changing the input speed from the main shaft,
auxiliary shaft, or composite auxiliary shaft gear during operation. If not used, set
"0: No speed change gear" for [Pr.434] speed change gear 1 allocation
(D15046+150n) and [Pr.490] speed change gear 2 allocation (D15052+150n).
Load
cycle
0: No speed change
gear
Speed change Sets the speed change 1: Main shaft side
Pr.434 When 0 D15046+150n
gear 1 gear 1 allocation. 2: Auxiliary shaft side
3: After composite starting
auxiliary shaft gear synchro-
nous
Speed change control
Sets the speed change
gear 1
Pr.435 gear 1 smoothing time 0 to 5000 [ms] 0 [ms] D15047+150n
smoothing time
constant.
constant
Speed change Sets the speed change -2147483648 to D15048+150n
Pr.436 1
ratio 1 numerator ratio 1 numerator. 2147483647 D15049+150n
Operation
Speed change cycle
Sets the speed change D15050+150n
Pr.437 ratio 1 1 to 2147483647 1
ratio 1 denominator. D15051+150n
denominator
0: No speed change
gear
Speed change Sets the speed change 1: Main shaft side
Pr.490 When 0 D15052+150n
gear 2 gear 2 allocation. 2: Auxiliary shaft side
3: After composite starting
auxiliary shaft gear synchro-
nous
Speed change control
Sets the speed change
gear 2
Pr.491 gear 2 smoothing time 0 to 5000 [ms] 0 [ms] D15053+150n
smoothing time
constant.
constant
Speed change Sets the speed change -2147483648 to D15054+150n
Pr.492 1
ratio 2 numerator ratio 2 numerator. 2147483647 D15055+150n
Operation
Speed change cycle
Sets the speed change D15056+150n
Pr.493 ratio 2 1 to 2147483647 1
ratio 2 denominator. D15057+150n
denominator
10 - 11
10.1.16 Output axes
Output axes perform cam conversion processing based on the input travel
value and set cam data, and outputs the feed current values that serve as
commands to the servo amp.
Load
cycle
notation.
H
Control unit
0: mm
1: inch
• Sets the cam axis 1 2: degree

When
cycle length unit. 3: PLS
No. of decimal point starting
Cam axis cycle • This is a parameter for
Pr.438 digits Synchro- 0000h D15058+150n
unit setting monitor display, and 0 to 9 nous
does not affect b0: Unit setting
control
control. selection
0: Use main shaft
main input axis
unit.
1: Use this setting
unit.
b1 to 3: Not used
Sets the input amount

Cam axis 1 1 to 2147483647 D15060+150n
Pr.439 required for 1 cam *1 4194304
cycle length [Cam axis cycle unit] D15061+150n
cycle.
When
0 : Linear cam
starting
(preset)
Pr.440 Cam No. Sets the cam No. synchro- 0 D15062+150n
1 to 256 : User created
nous
cams
control,
• Sets the cam stroke when
amount relative to a passing
-2147483648 to
stroke ratio of 100%
Cam stroke 2147483647 cam data D15064+150n
Pr.441 for stroke ratio data 0 point 4194304
amount [Output axis position D15065+150n
format cams. *2
unit]
• Ignored for coordinate
data format cams.
Set if changing the
When
[Pr.439] cam axis 1
Cam axis 1 starting
cycle length 0: Disable
Pr.442 cycle length Synchro- 0 D15059+150n
(D15060+150n, 1: Enable
Change setting nous
D15061+150n) during
control
synchronous control.
Cam axis phase Sets the time to
-2147483648 to Operation D15066+150n
Pr.444 compensation advance or delay the 0 [μs]
2147483647 [μs] cycle D15067+150n
advance time cam axis phase.
Cam axis phase Sets the time to reflect
Pr.445 compensation cam axis phase 0 to 65535 [ms] 10 [ms] D15068+150n
time constant compensation. When
Synchronous Sets the synchronous starting
Pr.448 control parameter control parameter block 1 to 64 Synchro- 1 D15069+150n
block No. No. nous
Output axis Set if performing control
Pr.447 smoothing time smoothing processing 0 to 5000 [ms] 0 [ms] D15070+150n
constant for output axes.
*2: Output axis position unit
10 - 12
[Cam data]
Synchronous control output axes are moved with cams. Output axis movement
patterns (return movements, feed movements) relative to output axis module input
travel values are registered in the cam data.
The movement patters are as follows.
• Return movement: Return movement within fixed cam stroke range
Cam data Cam axis
1 cycle current value
Cam
conversion
processing
Feed current value

(User-created cam)
• Feed movement: Movement that involves updating the cam reference position
every 1 cycle
Cam axis
Cam data
Cam
conversion
processing Cam reference position Cam reference position
rd
Cam reference position (2nd cycle) (3 cycle)
(1st cycle)
Feed current value
(User-created cam)
• Linear movement: Linear movement in which 1 cycle has a stroke ratio of 100%
(Cam No. 0)
Cam data Cam axis
Cam
conversion
processing Cam reference position Cam reference position
Cam reference position (2nd cycle) rd
(3 cycle)
(1st cycle)
Feed current value
(Linear cam: Cam No.0)
Stroke amount × 100%
10 - 13
10.2 Practice Content
By setting "synchronous control parameters" and starting synchronous control
for each output axis, control is synchronized for input axes (servo input axis,
command generation axis, synchronous encoder axis).
速度
Speed
X軸
X-axis
カム
cam
Stroke Time
時間
ストローク
Y-axis
Y軸
cam
カム
Time
時間
Positioning start Synchronous encoder Synchronous control start Synchronous

control start
Manual pulse generator/
synchronous encoder Synchronous
input control start
Axis 1
Synchronous parameters
Axis 2
Input axis Composite

main shaft gear Main shaft gear Axis 3
(main shaft main)
Synchronous
Command encoder
generation axis Synchronous encoder
axis
Main shaft
Servo program Command clutch
generation axis Input axis
Positioning control parameters (main shaft sub)
Command generation Speed
axis change
*2
Auxiliary Auxiliary Speed gear
Other axis input
*1 Servo input axis shaft shaft change
parameters gear clutch gear
*2
Servo input axis Composite

auxiliary
shaft gear
Speed
change
*2
gear
Auxiliary shaft Cam
Output axis
Positioning start
Servo Servo Servo
amp. amp. amp.
Axis 4
Servo program
Servo Servo Servo
Positioning control motor motor motor
Servo
amp.
Servo
motor
10 - 14
Locus movement concept
• The X-axis is set to 2 mm per rotation in the basic parameters, and is treated as the Y-axis main
shaft.
• The Y-axis (axis 2) ballscrew moves 2 mm per rotation (4194304 pulses/rotation), and therefore
the 1 cycle length in the output axis parameters is set to 4194304 pulses (actually 30 mm or 10
mm) in order to make it easier to confirm movements.
Variable cam
カムストローク
stroke
可変
00 360°
360°
カム1回転
Single cam rotation
(30mmまたは10mm)
(30mm or 10mm)
サーボモータ
Servo axis motor
Y軸用
for Y-axis
1:1
1：1
Transfer gear Y-axis (axis 2) movement

伝達ギヤ Y軸(軸2)の動作
Cam stroke specified by indirect
カムのストロークは間接指定で
designation, and is set to variable with
Bottom dead center
下死点シーケンサより可変設定とする。
the PLC.
80°
80°
180°
Servo axis motor

サーボモータ
for X-axis
X軸用
Circumference 2 mm
周長2mm Conveyor (image)
コンベア（イメージ）
Speed
速度 X-axis (axis 1)
movement
X軸(軸1)の動作
Time
時間
10 - 15
10.3 Cam Data Creation
(1) Right-click "Cam Data" in the Project window,
and then click "New Cam Data…".
(1) Click!
(2) A New Data screen appears.

Set the Cam No., and then click the OK button.
(2) Click!
(3) Cam data is created, and a setting screen

appears.
Go to next page
10 - 16
From previous page
(4) Specify the setting screen stroke settings as

follows.
Div. No. Start point End point Stroke

1 0.00000 80.00000 30.0000000
(4) Set!
2 180.00000 100.0000000
3 0.00000 0.0000000
Stroke setting range
"Min. value": 0.00000, "Max. value": 100.0000000
Set all strokes to "Single Hypot." at the "Cam
Curve" selection.
(5) Click the cam data conversion button.
(5) Click!
(6) Change the "Display graph" check box

selections to change the graph display in order
to view the stroke, speed, acceleration, and jerk
relative to the movement angle in a chart.
Go to next page
10 - 17
From previous page
(7) To view the stroke ratio, speed, acceleration,

and jerk relative to the movement angle in
numerical values, click the point data display tool
button.
(7) Click!
After checking, click

the Close button.
There are tables

from No. 1 to 256.
Scroll to view all
tables.
(8) Create cam data for cam No. 002 using the
same procedure as that for cam No. 001.
For cam No. 002, set all strokes to "Const.
Speed" at the "Cam Curve" selection.
(All other selections are the same as those for
(8) Set! cam No. 001.)
Go to next page
10 - 18
From previous page
(9) Use the same procedure to create data for cam

No. 003.
Specify the stroke settings as follows.
Div. No. Start point End point Stroke
1 0.00000 80.00000 30.0000000
(9) Set! 2 150.00000 100.0000000

3 220.00000 100.0000000
4 310.00000 0.0000000
5 0.00000 0.0000000
Stroke setting range
"Min. value": 0.00000, "Max. value": 100.0000000
Set all strokes to "Double Hypot." at the "Cam
Curve" selection.
(10) Click the cam data conversion button.
(10) Click!
(11) Cam data creation is now complete.
10 - 19
[Locus of each created cam]
<Cam No.001 waveform>
(mm)
100
0 30 60 90 120 (mm)
90 180 270 360 90 180 270 360 90 180 270 360 90 180 270 360 (deg.)
(度)
(mm)
100
0 30 60 90 120 (mm)
90 180 270 360 90 180 270 360 90 180 270 360 90 180 270 360 (deg.)
(度)
(mm)
100
0 30 60 90 120 (mm)
90 180 270 360 90 180 270 360 90 180 270 360 90 180 270 360 (deg.)
(度)
10 - 20
10.4 Advanced Synchronous Control Programs
Motion SFC programs used with advanced synchronous control are shown in
the following table.
No. of
No. Program name Automatic start END operation Execution timing
transitions
Advanced synchronous
100 No Normal
control
210 Speed change 2 No Normal
230 Analog speed change No Normal

[Advanced synchronous control] program No.100
Started with sequence program
Advanced synchronous control
ｱﾄﾞﾊﾞﾝｽﾄ同期制御
F500
Speed
速度変更2 change 2
クラッチ
Clutch
P0
IFB1
G500 G502 G503
PAB1
K500 K501 F510 F591
PAE1
CLR
G510 G512 クラッチ
Clutch
PAB2
CLR
K502 K503 F511 速度変更2
Speed change 2
PAE2
G511 G513 END
F590 F512
G590 G591
CLR
P0 Clutch
クラッチ
CLR
Speed
速度変更2change 2
F591
END
10 - 21
• Start program from motion SFC program
[Speed change 2] program No.210 (Program used to change the speed of command generation axes)
Started with No.100
Speed change 2
Analog speed change
CHGVS (K1,2000) (K1,1000) (K5,500) (K1,K0)

20mm/min 10mm/min 5mm/min 0mm/min
• Start program from motion SFC program

[Analog speed change] program No.230 (Program used to change the speed of command generation axes)
Started with No.100
Analog speed change
アナログ速度変更
P0
IFB1
G2300
F2300 END
IFB2
G2302
IFB3
G2304 P0
F2301 F2302
IFE3
P0
10 - 22
10.4.1 Creating new advanced synchronous control motion SFC programs
(1) Double-click!
(2) A Motion SFC Program Manager dialog box

appears.
Click the New button.
(2) Click!
(3) A New dialog box appears. Set the program No.

(3) Click! for the motion SFC program being created.
Enter "100" for the "Motion SFC program No.",
and "Advanced synchronous control" for the
"Motion SFC program name".
(4) Click the OK button after entering.
(4) Click!
(5) Now create the following new motion SFC

program.
"Motion SFC program No.": 110

"Motion SFC program name": Clutch
Go to next page
10 - 23
From previous page
(6) The set motion SFC program appears in a list.

Select motion SFC program No.100, and then
No. Program name
100 Advanced synchronous control
110 Clutch
(The creation procedure for the motion SFC

program created here will not be described
in detail. Refer to the section on motion SFC
programs for operation described later to
create.)
10 - 24
10.4.2 Entering motion control steps for advanced synchronous control
Sets motion control steps for advanced synchronous control.
(1) Create a servo program motion SFC program.

Double-click [Motion SFC Program] → [Motion
(1) Double-click!
(2) Select "100 Advanced synchronous control" from

the motion SFC program list in the Motion SFC
Program Management dialog box, and then click
the OK button.
(2)
② Click!
クリック！
Advanced synchronous control

ｱﾄﾞﾊﾞﾝｽﾄ同期制御 (3) Create the SFC diagram shown on the left.
F500
Speed change 2
速度変更2
クラッチ
Clutch
P0
IFB1
G500 G502 G503
PAB1
K500 K501 F510 F591
PAE1
CLR
G510 G512 クラッチ
Clutch
PAB2
CLR
K502 K503 F511 速度変更2
Speed change 2
PAE2
G511 G513 END
F590 F512
G590 G591
CLR
P0 クラッチ
Clutch
CLR
速度変更2
Speed change 2
F591
END
Go to next page
10 - 25
From previous page
(4) Double-click [Command Generation Axis

Program Allocation] in the Project window.
(4) Double-click!
(4) Double-click!
(5) Set "Command Generation Axis Program

Allocation" to "Exist" and set the "Command
Generation Axis Program" to "100" to "109" at
the Command Generation Axis Program
Allocation Setting dialog box, and then click the
OK button.
(6) Right-click "Servo program" in the Project

window, and then click "Create New Servo
Program".
(6) Click!
(7) Enter the Program No. at the New Servo

Program dialog box, and then click the OK
button.
(7) Click!
Go to next page
10 - 26
From previous page
(8) Select "Speed" for the "Instruction Class", and

"VF" for the "Servo Instruction" at the Select
Instruction dialog box, and then click the OK
button.
(8) Click!
(9) Enter "1" in the "Axis" text box, and enter "D
2110" in the "Speed" text box.
Add "P.B." from the setting items, and then enter
"2".
(10) Click the Convert button.
(10) Click!
(11) After creating motion control steps, click the

Close button to close the Servo Program Editor
dialog box.
(11) Click!
Go to next page
10 - 27
From previous page
(12) Set the following transition programs.

100: Advanced synchronous control
Advanced synchronous
ｱﾄﾞﾊﾞﾝｽﾄ同期制御
[G500] M30*M2402*M2415
[G502] M31*M2402*M2415
control
F500 [G510] M2410*M2430

[G511] !M30
Speed change 2
速度変更2
[G512] //Axis 1&2_Performing synchronous
Clutch
クラッチ control
M10880*M10881
P0 [G513] !M31
IFB1
G500 G502 G503
[G514] //Axis 1&2_Performing synchronous
control
PAB1
K500 K501 F510 F591 !M10880*!M10881
PAE1 [G590] !M2001
CLR
G510 G512 Clutch
クラッチ
[F500] SET M6810
PAB2
K502 K503 F511
CLR
Speed change 2
速度変更2
SET M2042
PAE2
[F510] //Axis 1_Synchronous control
G511 G513 END execution
SET M12000
F590 F512
//Axis 2_Synchronous control
G590 G591
execution
SET M12001
P0
CLR
Clutch
クラッチ [F511] //Command generation axis 1_JOG
CLR
speed
速度変更2
//D14600L=1000
Speed change 2
F591
//Servo input
D14680L=1000
END //Command generation axis 1_Forward
rotation JOG ON
SET M10962
Go to next page [F512] //Command generation axis 1_Forward
rotation JOG ON
RST M10962
//Axis 1_Synchronous control stop
RST M12000
//Axis 2_Synchronous control stop
RST M12001
[F590] RST M12000
[F591] RST M6810
10 - 28
From previous page
110: Clutch
Clutch
[F1100] //Clutch 1 control

OUT M11680 = !M32
[F1101] //Clutch 2 control
OUT M11690 = !M33
(13) Batch convert created SFC diagrams to motion

SFC programs.
Click [Project Batch Check/Conversion] on the
[Check/Convert] menu.
(14) Editing of servo program No.100 for advanced

synchronous control is now complete.
(13) Click!
10 - 29
10.5 Editing Command Generation Axis Parameters
(1) Select [Synchronous Control Parameter] 
[Input Axis Parameter] in the Project window,
and then double-click [Command Generation
(1) Double-click! Axis parameter].
(2) A Command Generation Axis Parameter dialog

box appears.
Specify the following settings for axis 1 only.
Valid Setting 1: Valid
Unit Setting 0: mm
Upper Stroke Limit 214748364.7 (μm)
Lower Stroke Limit -214748364.8 (μm)
10.6 Editing Servo Input Axis Parameters

(1) Select [Synchronous Control Parameter] 
[Input Axis Parameter] in the Project window,
and then double-click [Servo Input Axis
(1) Double-click! Parameter].
(1) Double-click!
(2) A Command Generation Axis Parameter dialog

box appears.
Specify the following settings for axis 1 only.
Servo Input Axis Type 1: Feed Current Value
10 - 30
10.7 Editing Synchronous Control Parameters
(1) Select [Synchronous Control Parameter]  [Axis
1 to Axis 8 Synchronous Parameter] in the
Project window, and then double-click [Axis 1].
(1) Double-click!
(2) An Axis 1 Synchronous Parameter dialog box appears. Set the "Main Input Axis"
"Type" and "Axis No". as follows.
Go to next page
10 - 31
From previous page
(3) Set the "Main Shaft Clutch Control Setting" "ON Control Mode" as follows.
(4) Set the "Cam Axis Length per Cycle", "Cam Stroke Amount", and "Cam No." as
follows. Setting of axis 1 synchronous parameter is now complete.
Go to next page
10 - 32
From previous page
(5) Select [Synchronous Control Parameter]  [Axis

1 to Axis 8 Synchronous Parameter] in the
Project window, and then double-click [Axis 2].
(5) Double-click!
(6) An Axis 2 Synchronous Parameter dialog box appears. Set the "Main Input Axis"
"Type" and "Axis No". as follows.
Go to next page
10 - 33
From previous page
(7) Set the "Main Shaft Clutch Control Setting" "ON Control Mode" as follows.
(8) Set the "Cam Axis Length per Cycle", "Cam Stroke Amount", and "Cam No." as
follows. Setting of axis 2 synchronous parameters is now complete.
Go to next page
10 - 34
From previous page
(10) Convert data for advanced synchronous control

program editing to an internal code that allows
the motion CPU to function.
(10) Click! Click [Project Batch Check/Conversion] on the
[Check/Convert] menu.
(11) A cam data conversion complete message

appears in the output window.
10 - 35
10.8 Writing to the Q Motion CPU
This section describes writing created data (motion SFC programs/synchronous
control parameters/cam data) to the Q motion CPU.
(1) Set the Q motion CPU to "STOP".
(2) Click [Write to CPU…] on the [Online] menu.

(2) Click!
(3) A CPU Write dialog box appears. Select

"Program memory" for the applicable memory,
select the "Programs" check box, and then click
the Execute button.
(The settings for servo settings data (system
settings, servo settings data) are the same as
those for real mode described in Chapter 6, and
therefore writing is not necessary.
(3) Click!
(4) Click the OK button when the "Complete"

message appears.
(5) Click the Close button at the CPU Write dialog box to
close.
(6) Reset the Q PLC CPU, and then set the Q motion CPU to "RUN".
Data writing to the Q motion CPU is now complete.
10 - 36
10.9 Practice Programs
Refer to the respective descriptions of each program in this manual for details.
Started with sequence

Constant execution
program
****Advanced control*****
* *** アドバンスト制御 *****
M6002 M6810
219 M3075
Advanced
アドバン Performing Advanced
control
制御
control
M3075
PLS M1060
Advanced
ｱﾄﾞﾊﾞﾝｽﾄ Advanced
アドバン
control
制御 control
スト制御
start
始動トリ
trigger
ガ
M1060
SET M1061
アドバン
Advanced Advanced
control
スト制御 start control
制御メイ
trigger main start
始動トリ
ガ
ン始動要
request
求 • [Advanced synchronous
M1061
control]
DP.SFCS H3E1 K100 M1070 D3070 Motion SFC program
Advanced
ｱﾄﾞﾊﾞﾝｽﾄ Completion
完了ステ
control
制御メイ
main start
device
イス status
ータス No.100
ン始動要
request
求
RST M1061
Advanced
control
制御メイ
main start
ン始動要
request
求

Automatic END No. of
No. Program name Execution timing
start operation transitions
100 Advanced synchronous control No Normal
10 - 37
[Advanced synchronous control] program No.100
This is an example of a program used to perform positioning after switching to
advanced synchronous control.
Output modules operate by starting and stopping command generation axes.
Advancedｱﾄﾞﾊﾞﾝｽﾄ同期制御
synchronous control
[F 500]
M6810
SET
SET M2042
Speed
Clutch
クラッチ
P0
IFB1
[G 500] [G 502] [G 503]
M30*M2402*M2415 M31*M2402*M2415 !M6802
PAB1
[K 500 : Real
リアル軸axis ] [K 501 Real axis
: リアル軸 ] [F 510] [F 591]
1 ZERO 1 ZERO SET M12000 //Axis 1_Synchronous control execution
//軸1_同期制御実行 RST M6810
軸
Axis: 1 軸
Axis: 2 SET M12001 //Axis 2_Synchronous control execution
//軸2_同期制御実行
PAE1
CLR
[G 510] [G 512] Clutch
クラッチ
M2410*M2430 M10880*M10881 //Axis 1&2_Performing synchronous control
//軸1&2_同期制御中
PAB2
CLR
[K 502 : Real
リアル軸axis ] [K 503 : Real
リアル軸 axis ] [F 511] Speed
速度変更2 change 2
1 ABS-1 1 ABS-1 D14680L=1000 //Command axis generation 1_JOG speed
//指令生成軸1_JOG速度
Axis:
軸 1 Axis:
軸 2 //D14600L=1000 //Servo input
//ｻｰﾎﾞ入力
Address
└アドレス 10000.0 μm └アドレス
Address 10000.0 μm SET M10962 //Command
//指令生成軸1_正転JOG
axis generation ON
速度
Speed 1000.00 mm/min 速度
Speed 1000.00 mm/min 1_Forward rotation JOG ON
PAE2
[G 511] [G 513] END
!M30 !M31
[F 590] [F 512]
RST M12000 RST M10962 //Command axis generation 1_Forward rotation JOG ON
//指令生成軸1_正転JOG ON
RST M12000 //Axis 1_ Synchronous control stop
//軸1_同期制御停止
RST M12001 //Axis 2_ Synchronous control stop
//軸2_同期制御停止
[G 590] [G 591]
!M2001 !M2001*!M10880*!M10881 //Axis//軸1&2_同期制御中
1&2_Performing synchronous control
CLR
P0 Clutch
クラッチ
CLR
Speed
[F 591]
RST M6810
END
10 - 38
Sequence programs
Conditions are determined based on the type of output module used with the
advanced synchronous control program, however, in this program example, the
current value when switching becomes the cam bottom dead center position.
****Advanced control*****
* *** アドバンスト制御 *****
M6002 M6810
219 M3075
アドバン
Advanced Performing ｱﾄﾞﾊﾞﾝｽﾄ
Advanced
control
制御
control
M3075
PLS M1060
Advanced アドバン
Advanced
control
制御 control
スト制御
start
始動トリ
trigger
ガ
M1060
SET M1061
Advanced
アドバン Advanced
control
スト制御 control
制御メイ
start main start
始動トリン始動要
trigger request
ガ求
M1061
DP.SFCS H3E1 K100 M1070 D3070
Advanced Completion
完了ステ
control
制御メイ device
イス device
ータス
main
ン始動要 start
request
求
RST M1061
Advanced
control
制御メイ
main start
ン始動要
request
求
10 - 39
Caution when creating advanced synchronous control programs
If using cams, advanced synchronous control switching setting M3075 is turned ON when the cam
reference value (bottom dead center) setting M3234/axis 2 is ON.
There is no need to turn M3234/axis 2 ON and OFF each time if the reference value has been
determined. If turned ON and OFF recklessly, the reference value will change, leading to potential
trouble, and therefore caution is advised.
A点
Point A B点
Point B
Position at which M3234/axis

M3234/軸２を ON2した位置
turned ON Cam reference value (bottom dead center)
カム基準値（下死点)
0° 360°
0° 360°
原点
Home position
Camカム
1 rotation movement
1 回転の動作
軸2 2
Servo motor axis
サーボモータ
If the axis stops at point A or B on the solid line during movement, by turning M3234/axis 2 ON and OFF, the
cam reference value (bottom dead center) will change to a stopped position, and the axis movement will
change to that of the broken line when the next movement is made.
10 - 40
10.10 Demonstration Machine Operation
(1) Click the monitor tool button.
(1) Click!
(2) The monitor window axis monitor appears.
Go to next page
10 - 41
From previous page
Set the Q PLC CPU and Q motion CPU to "RUN".

[Zeroing execution
and positioning at standby point]
ADVANCED
アドバンスト
Press M6802
M6802 at the demonstration machine operation panel.
ZEROING
原点復帰
Press the zeroing M30
M30 button: Movement starts in the zeroing direction, and positioning is
performed at the standby point P address (0.0).
The feed current value will be 10000.0 m for both axes 1 and 2.
[Switching to advanced synchronous

control and clutch operation]
ADVANCED START
アドバンスト起動
Press M31
M31 at the demonstration machine operation panel.
Press the CLUTCH
クラッチ 11
M32
M32 and CLUTCH
クラッチ21
M33
M32 buttons, and ensure that clutch operation is possible.
• Press during operation with advanced synchronous control.
CLUTCH
クラッチ 11
M32
M32
The clutch opens, and the movement in the X-axis direction stops.
CAUTION
• When the clutch is turned OFF, the X-axis movement stops, and when the clutch
is turned ON, the X-axis direction position changes only by the amount that the
axis did not move when it stopped.
Error check operation
Motion CPU error batch monitor screen

Select [Monitor]  [Motion CPU error batch monitor]  [Motion CPU
error batch monitor] on the [Online] menu.
↓
Go to next page
10 - 42
From previous page
[Changing the stroke amount]
• Set the stroke amount in the 1.0 to 120.0 mm range at the demonstration machine operation
panel.
• Ensure that the stroke amount is changed.
[Speed change]
Press M20 (2000 mm/min), M21 (1000 mm/min), M22 (500 mm/min), and
M23 (temporary stop) to change the command generation axis speed.
Press M24 to change the command generation axis speed in analog.
[Set the cam No. to "2".]

• Set the cam No. to "2" at the demonstration machine operation panel.
• "2" displays for the "Execute cam No."
[Content to be checked (cam No.2)]

• Watch the stop status.
• Check the details monitor at each module.
• Change the stroke amount.
• Watch the movement when the speed is changed (2000 mm/min, 1000 mm/min, 500 mm/min,
temporary stop).
• Watch the movement when the clutch is turned OFF.
[Set the cam No. to "3".]

• Set the cam No. to "3" at the demonstration machine operation panel.
• "3" displays for the "Execute cam No."
[Content to be checked (cam No.3)]

• Watch the stop status.
• Check the details monitor at each module.
• Change the stroke amount.
• Watch the movement when the speed is changed (2000 mm/min, 1000 mm/min, 500 mm/min,
temporary stop).
• Watch the movement when the clutch is turned OFF.
[Cycle length setting]
• Press to end advanced startup.

ADVANCED
アドバンスト
START
起動
• Press to end all operations.

ADVANCED
アドバンスト
M6802
M6802
• Set the cycle length again at the demonstration machine operation panel.
ZEROING
原点復帰
• Press again, and then press to perform zeroing.
ADVANCED
アドバンスト
M6802
M6802 M30
M30
• Set in the same manner for cam No.2 and No.3.
Practice is complete when all of these operations are finished.
Point
If the cycle length < the stroke amount, a 31.1 35.1 2-axis alarm may occur at the servo amp.
10 - 43
Appendices
Appendix 1 Application Practice in SV22 Real Mode
Appendix 1.1 Practice Content
Perform continuous positioning at multiple points.
SV13 operation is the same as that for SV22 in real mode, and therefore this
practice applies to both.
Continuous positioning (1) operation diagram

Speed
速度
Axis
軸1 1 3000 mm/min
3000mm/min
2000mm/min
2000 mm/min
1000 mm/min
1000mm/min
+30
+30 +30
+30 500 mm/min
500mm/min
+30
+30
+50
+50 00mm
mm
3030mm
mm 60mm
60 mm 90mm
90 mm 140mm
140 mm -140
-140
7000mm/min
7000 mm/min
軸2 2
Axis
500 mm/min
5000mm/min
200 mm/min
2000mm/min +80
+60
0 mm
0mm
60 60mm
mm 140mm
140 mm -140
-140 Time
時間
7000mm/min
7000 mm/min
ステップ送り
Step feed
M4M4
Startup
起動M3M3
Continuous positioning (2) operation diagram
100
100
80
80
60
60
40
40
20
20
00
00 Standby
待機点(0,0)point (0,0)
-20
-20
-20
-20 00
00 20
20 40
40 60
60 80
80 100
100 120
120 140
140 (mm)
(mm)
Appendix - 1
Appendix 1.2 Practice Motion SFC Programs
These sequence/motion SFC programs have been created for operation
purposes on the assumption that MT Works2 (for Q172DSCPU) be used.
Refer to section 9.2 for an explanatory drawing of the demonstration machine
operation panel.
Refer to section 9.5 for details on initial processing, JOG operation, zeroing,
standby point positioning, point selection positioning, and address indirect
designation positioning.
Appendix 1.2.1 Program list

Refer to the respective descriptions of each program in this manual for details.
Constant execution 常時実行 Started with sequence

シーケンスプログラムで起動 Started with motion SFC program
モーションSFCプログラムで起動
program
・シーケンスプログラム
Sequence program
****リアルモード *****
****Real mode*****
M6001
M6001
170
170 PLS
PLS M1040
M1040
リアルモﾘｱﾙﾓｰﾄﾞ　
Real
ード Real mode
ﾒｲﾝ始動
mode main start
ﾄﾘｶﾞ
trigger
M1040
M1040
SET
SET M1041
M1041
ﾘｱﾙﾓｰﾄﾞ　ﾘｱﾙﾓｰﾄﾞ　
Real mode
ﾒｲﾝ始動 Realﾒｲﾝ始動要
mode
main start
ﾄﾘｶﾞ main
求 start
trigger request
<モーション SFC No.10起動要求　　　>
<Motion SFC No.10 start request>
M1041
M1041
ﾘｱﾙﾓｰﾄﾞ　
DP.SFCS H3E1K10K10 M1050
DP.SFCS H3E1 M1050 D3050
D3050
完了　　 Completion
完了　　
• ・[リアルモードメイン]
[Real mode main]
Real mode Completion
ﾒｲﾝ始動要
main start
ﾃﾞﾊﾞｲｽ
device ｽﾃｰﾀｽ
status Motion SFC program No.10
　モーションSFC
求
request 　プログラム No.10
• [Standby positioning]
・[待機点位置決め]
RST
RST M1041
M1041
　モーションSFCプログラム No.20
Real mode
ﾒｲﾝ始動要
main
求 start
request
***Teaching***
***ティーチング *** • [Point selection]
・[ポイント選択]
280
280
M6000
M6000 M1100
M1100
PLS M1101
PLS M1101
JOG・原点
JOG/home
position
モード
mode
• [Address designation]
・[アドレス指定]
M110
M1101
SET
SET M1102
M1102 Motion SFC program No.40
Teaching
ﾃｨｰﾁﾝｸﾞ　
起動ﾄﾘｶﾞ
start
trigger
<Motion SFC No.210SFC
start request>
M1102
M1102
<モーション No.210起動要求　　　 >
• [Continuous positioning (1)]
・[連続位置決め①]
Teaching
DP.SFCS
DP.SFCS H3E1H3E1K210
K210 M1110
M1110 D3110
D3110 Motion SFC program No.50
起動要求
start
request
RST M1102
• [Continuous positioning (2)]
・[連続位置決め②]
RST M1102
　モーションSFCプログラム
Motion SFC program No.60 No.60
• [Teaching playback]
・[ティーチングプレイバック]
• [Fixed feed]
・[定寸送り]
[Fixed feed advance]
・[定寸送り歩進]
• [Speed change]
・[速度変更]
• [Teaching]
・[ティーチング] Motion SFC program No.200
Motion SFC program
　モーションSFC
No.210
　プログラム No.210
Appendix - 2
No. of
No. Program name Automatic start END operation Execution timing
transitions
10 Real mode main No - 3 Normal
20 Standby point positioning No - 3 Normal
30 Point selection No - 3 Normal
40 Address indirect designation No - 3 Normal
50 Continuous positioning (1) No - 3 Normal
60 Continuous positioning (2) No - 3 Normal
70 Teaching playback No - 3 Normal
80 Fixed feed No - 3 Normal
200 Speed change No - 3 Normal
210 Teaching No - 3 Normal
220 Fixed feed advance No Continuous 2 Event (0.8 ms)
Appendix - 3
• Q03UD sequence program
M6001
M6001
170
170 PLS
PLS M1040
M1040
Real
リアルモ Realﾘｱﾙﾓｰﾄﾞ　
mode
ード
mode mainﾒｲﾝ始動
start
ﾄﾘｶﾞ
trigger
リ
ア M1040
M1040
ル SET
SET M1041
M1041
Real mode
ﾘｱﾙﾓｰﾄﾞ　ﾘｱﾙﾓｰﾄﾞ　
モ　 main start
ﾒｲﾝ始動
Real mode
ﾒｲﾝ始動要
main start
trigger
ﾄﾘｶﾞ求
request
ド <Motion
<モーション SFC No.10 start request>
SFC No.10起動要求　　　>
メ M1041
M1041
DP.SFCS H3E1 K10
DP.SFCS H3E1 K10 M1050
M1050 D3050
D3050
イ Real mode
ﾘｱﾙﾓｰﾄﾞ　完了　　 Completion
Completion 完了　　
main start
ﾒｲﾝ始動要ﾃﾞﾊﾞｲｽｽﾃｰﾀｽ
ン求
request
device status
起
動
RST
RST M1041
M1041
Real mode
ﾒｲﾝ始動要
main start
求
request
***Teaching***
***ティーチング ***
M6000
M6000 M1100
M1100
280
280 PLS
PLS M1101
M1101
JOG・原点
JOG/home
position
モード
テ mode
ィ　
M1101
M1101
SET
SET M1102
M1102
チ Teaching
起動ﾄﾘｶﾞ
ン start trigger
グ <モーション
<Motion SFC No.210起動要求　　　
SFC No.210 start request> >
起 M1102
M1102
動ﾃｨｰﾁﾝｸﾞ　
Teaching
DP.SFCS H3E1
DP.SFCS H3E1 K210
K210 M1110
M1110 D3110
D3110
起動要求
start request
RST
RST M1102
M1102
Appendix - 4
Appendix 1.2.2 Main routine motion SFC program (real mode operation)
This is the main executed motion SFC program when performing operation in
real mode.
Other motion SFC programs used to perform various types of operation when
in real mode from this main routine motion SFC program are started as sub-
routines.
(1) Motion SFC program started from main routine motion SFC program
Motion SFC
Program name Reference section
program No.
20 Standby point positioning 9.9

30 Point selection 9.9
40 Address indirect designation 9.9
50 Continuous positioning (1) Appendix 1.2.3
60 Continuous positioning (2) Appendix 1.2.4
70 Teaching playback Appendix 1.2.5
80 Fixed feed Appendix 1.2.6
200 Speed change Appendix 1.2.7
210 Teaching Appendix 1.2.5
220 Fixed feed advance Appendix 1.2.6
Appendix - 5
(2) Program example
Real mode main
Speed change
CLR Teaching playback Fixed feed

Speed change Standby point positioning Point selection Address indirect designation Continuous positioning (1) Continuous positioning (2)
Appendix - 6
Appendix 1.2.3 Continuous positioning (1)
This is an example of a program used to perform positioning at multiple points
based on respective conditions.
The standby method if the flow is branched, and M-codes that can be used to
control auxiliary machinery with sequence programs are set.
(1) Multiple servo program execution order control

To execute servo programs in the order 50  51, 52  53  54  56, 57,
by using a "WAIT" type transition after the motion control step (servo
program), the system waits until the servo program currently running is
complete before proceeding to the next motion control step (servo program).
Furthermore, if the program is interrupted during consecutive execution,
execution is resumed from the interrupted servo program.
(2) Example of servo program with M-code

M-codes 0 to 255 are added to servo programs, and by running these
programs, M-code Nos. are entered in the M-code monitor register.
Data is also sent to the PLC CPU by setting auto refresh (user setting), and
therefore if monitored with the sequence program comparison command,
the M-code No. is known, allowing the operation determined beforehand to
be performed.
M-code 1 is added.
Appendix - 7
(3) Motion SFC program
"Continuous
positioning (1)" is [G104]
started when:
//Continuous positioning (1) start
M3*!M2001*!M2002 Continuous positioning (1)
M3 = ON
M2001 = OFF
M2002 = OFF
Continuous positioning (1)
[F500]
//Switch LED ON
SET M13
[K50: Real]
1 ABS-1
Axis 1: 30000.0 m
Speed: 1000.00 mm/min
M-code: 1
Servo program No.51 and 52 are executed in parallel

[G500] (no interpolation) when:
//Advance to next point • M4 = ON (step feed SW)
M4*!M2001*!M2002 • M2001 = OFF (axis 1 start accept flag)
• M2002 = OFF (axis 2 start accept flag)
[K51: Real] [K52: Real]

1 ABS-1 1 ABS-1
Axis 1: 60000.0 m Axis 2: 60000.0 m
Speed: 2000.00 mm/min Speed: 2000.00 mm/min
M-code: 2
[G4095] [G4095]
//Program completion & start accept return wait //Program completion & start accept return wait
dummy dummy
NOP NOP
When positioning is finished for both points,

[G500]
servo program No.53 is executed when:
//Advance to next point
M4*!M2001*!M2002
[K53: Real]
1 ABS-1
Axis 1: 90000.0 m
50 msec
2000 msec
M-code: 0
[G501] Servo programs No.54 and 55 are executed

//Axis 2 in-position signal check when:
M2422 • M2422 = ON (axis 2 in-position)
[K54: Real] [K55: Real]

1 ABS-1 1 ABS-1
Axis 1: 140000.0 m Axis 2: 140000.0 m
Speed: 500.00 mm/min Speed: 5000.00 mm/min
M-code: 3
[G4095] [G4095]
//Program completion & start accept return wait //Program completion & start accept return wait
dummy dummy
NOP NOP
(Go to next page)
Appendix - 8
P1-A P1-B
PAE2
[G502]
//Advance signal OFF check Transition when M4 = OFF detected
M4=OFFの検出で移行
//歩進信号のOFF確認
!M4
!M4
Servo programs No.56 and 57 are executed when:

・M4=ON（M4のOFF→ONの立上りを検出）
[G500] M4 = ON (M4 OFF  ON detected)
•・M2001=OFF
//Advance to next point
//次のﾎﾟｲﾝﾄに歩進 • M2001 = OFF (axis 1 start accept flag)
M4*!M2001*!M2002 ・M2002=OFF
M4*!M2001*!M2002 • M2002 = OFF (axis 2 start accept flag)
のときに,サーボプログラムNo.56,57を実行
PAB3
[K56:
[K56: Real]
リアル] [K57: Real]
[K57: リアル]
1 ABS-1 1 ABS-1
1 ABS-1
1 ABS-1
Axis 1: 0.0 m Axis 2: 0.0 m
軸 1, 　0.0mm/min
μ m 軸
Speed: 2, 0.0mm/min
7000.00 μm
Speed: 7000.00
速度
M-code: 7000.00
0 mm/min 速度 7000.00 mm/min
Mｺｰﾄﾞ 0
[G503] [G504]
[G504]
[G503]
//Axis 1 positioning complete signal check //Axis 2 positioning complete signal check
//軸1位置決め完了信号の確認
M2401 //軸2位置決め完了信号の確認
M2421
M2401 M2421
PAE3
[F501]
[F501]
//Switch LED OFF
//ｽｲｯﾁLEDの消灯
RST M13
RST M13
END
END
Appendix - 9
Appendix 1.2.4 Continuous positioning (2)
This is an example of a program used to perform continuous interpolation
between multiple points with 2-axis constant speed control.
Even with independent servo programs, multiple operations are possible if the
operation pattern is fixed.
[Motion SFC program]


"Continuous positioning (2)" is started
when:
M5 = ON [G105]
M2001 = OFF //Continuous positioning (2) start
M2002 = OFF M5*!M2001*!M2002
[F600]
//Switch LED ON
[G4095] Proceeds to F601 after K60
SET M15 //Program completion & start accept return wait motion control step complete
dummy
NOP
[K60: Real]
8 CPSTART2
Axis 1:
Axis 2: [F601]
Speed: 4000.00 mm/min //Switch LED OFF
1 ABS-2 RST M15
Axis 1: 10000.0 m First
Axis 2: 20000.0 m
* FOR-TIMES points
Setting value K 6
2 INC-2
Axis 1: 0.0 m
Axis 2: 100000.0 m END
3 INC
Axis 1: 10000.0 m
Axis 2: 0.0 m
Auxiliary P. 1: 5000.0 m
4 INC-2
Axis 1: 0.0 m
Axis 2: -100000.0 m Executed
5 INC 6 times
Axis 1: 10000.0 m repeatedly
Axis 2: 0.0 m
Auxiliary P. 2: -5000.0 m
* NEXT
6 INC-2
Axis 1: 0.0 m
Axis 2: 100000.0 m
7 ABS-2
Axis 1: 0.0 m
Axis 2: 0.0 m
M-code 0
8 CPEND
Last
points
Appendix - 10
Appendix 1.2.5 Teaching, teaching playback
Teaching programs are used to register positions (with push button operation)
to which axes are moved to manually with JOG operation and so on, and
teaching playback programs are used to perform position at registered
addresses.
Motion SFC program No.210 [teaching]

Register the current address by pressing the [Load Position] button on the
demonstration machine operation panel.
M0 M1100
280 PLS
PLS M1101
M1101
JOG・原点
JOG/home
position
モード
mode
M110
M1101
SET
SET M1102
M1102
M1102
DP.SFCS
DP.SFCS H3E1 H3E1
K210 K210
M1110 M1110
D3110
RST
RST M1102
M1102
ﾃｨｰﾁﾝｸﾞ
Teaching
[F2100]
[F2100]
//Set axis 1 feed current value as teaching Register current address in CPU
位置取込スイッチの操作により，
//軸1送り現在値をﾃｨｰﾁﾝｸﾞﾎﾟｲﾝﾄにｾｯﾄ
point device memory (user area) by
現在のアドレスをモーションCPUの
#70L=D0L
#70L=DOL pressing [Load Position] button.
デバイスメモリ(ユーザエリア)に
//Set axis 2 feed current value as teaching
//軸2送り現在値をﾃｨｰﾁﾝｸﾞﾎﾟｲﾝﾄにｾｯﾄ
point 登録する。
#72L=D20L
#72L=D20L
END
END
Appendix - 11
Motion SFC program No.70 [teaching playback]
Perform positioning at the address registered with teaching.

"Teaching playback" is started Motion SFC program No.10
when:
M6 = ON
M2001 = OFF
M2002 = OFF [G106]
//Teaching playback operation start
M6*!M2001*!M2002 Teaching playback
Teaching playback
[F700]
//Switch LED ON
SET M16
[K70: Real] Indirectly designates device

1 ABS-2 registered with "Teaching" for
Axis 1: # 70 address, and performs
Axis 2: # 70 positioning.
Composite speed: 100.00 mm/min
[G4095]
//Program completion & start accept return wait
dummy
NOP
[F701]
//Switch LED OFF
RST M16
END
Appendix - 12
Appendix 1.2.6 Fixed feed, fixed feed advance
Operations in which workpieces of fixed length are fed at fixed timing such as
when inputting signals are known as fixed feed.
If there are many fixed feed, and the interval between signals is short, there
may be times when it is necessary to shorten the start time between signal
input and the start of operation.
With this program example, the following effective functions are used in such a
case.
• WAIT-ON(WAIT-OFF) command: Performs start preparations for the next

motion control step beforehand.
• Event tasks: Periodically runs a motion SFC program at a fixed cycle (0.8 ms).
Motion SFC program No.80 [fixed feed]

[Real mode main] program Fixed feed Normal task
[F800]
[G107] //Initial processing
// Fixed feed start EI//Event task permission
M7*!M2001 D2080=K0//Counter clear
RST M81//Start enable flag reset
"Fixed feed" is started SET M17//Switch LED ON
when:
M7 = ON
Fixed feed
M2001 = OFF
Fixed feed advance Executes motion SFC program
No.220 "Fixed feed advance".
P0
IFB1
[G800]
//Judge operation count (10 times)
D2080<K10
Fixed feed performed 10 times and completed

[Fixed feed advance] [F801]
CLR
//Fixed feed setting and advance enable signal Fixed feed advance
Fixed feed advance Event task D2082L=D2000L*K10000
SET M81
Executes motion SFC program No.220 "Fixed

IFB1 feed advance".
[G2200] [F804]
//Advance signal load [G802] //Switch LED OFF
M8*M81 Turn ON //Advance signal OFF check RST M17
conditions inside !M80*!M2001
WAIT ON.
[F2200] [F2201]
//Advance signal ON //Advance signal OFF
RST M80
WAI
SET M80
ON M80 END
END END A position command is sent to the servo when M80 turns
ON.
[K80: Real]
1 ABS-1
Axis 1: D 2082 
20 msec
20 mesc
(Go to next page)
Appendix - 13
[G804]
[G804]
//Feed complete with INPOS signal
//INPOS信号で送り完了
M2402
M2402
[F803]
[F803]
//Feed count processing
//送り回数ｶｳﾝﾄ処理
D2080=D2080+1
D2080=D2080+1
RSTM81
RSTM81
PO
The task type and operating conditions for each program are set in the "Program Parameters".
"Program Parameters" are located in the peripheral tool "Options"  "SFC Parameter Settings" 
"Program Parameters".
Appendix - 14
Appendix 1.3 Demonstration Machine Operation
Appendix 1.3.1 Operation
Servo motors are run, and servo motor operation is monitored with MT Works2.
(1) Click the monitor tool button.
(1) Click!
(2) The monitor window Current Value Expansion

Monitor appears.
Go to next page
Appendix - 15
From previous page
[Teaching/
teaching playback]
• Teaching
Press JOG at the demonstration machine operation panel.
Enable the JOG operation screen JOG/Home Pos.
button.
• Perform JOG operation using the "JOG Operation" X Y Y
, and
X
, ,
buttons.
• Turn ON "Teaching" position load, and register the position moved to with JOG operation.
[Teaching] program (motion SFC program No.210)

Teaching
With "Position Load" ON, start motion SFC

program [Teaching].
Substitute the axis 1 and 2 current values (D0,
point D20) for #70 and #72.
point
• Teaching playback
Change to the Real screen.
• Press Real Mode Main to turn ON the running lamp.
• By pressing Teaching on the screen, positioning is performed at the registered address.
[Teaching playback] program (motion SFC program No.70)

Teaching playback
//Switch LED ON
Perform positioning at the #70 and #72

[K70: Real]
1 ABS-2 (composite) addresses registered with teaching.
Axis
Address
Axis
Address
Composite speed
Go to next page
Appendix - 16
From previous page
[Mid-operation check details]
Speed change/temporary stop during operation (operation during continuous positioning, constant
speed control, speed control)
• By turning ON the 2000 touch panel speed change switch, the speed changes to 2000
mm/min.
mm/min.
mm/min.
• By turning ON the 0 touch panel speed change switch, movement stops temporarily.
• By turning ON the Analog touch panel speed change switch, speed changes to analog speed.
(The speed may be changed multiple times during operation. However, do not perform operation
during zeroing or during deceleration. A minor error will occur.)
[Speed change] program (motion SFC program No.200)

Speed change
//Is there no high-speed, speed change request? //Is there no medium-speed, speed change request? //Is there no low-speed, speed change request? //Is there no temporary stop request? //Analog speed change program start
//M2001: Axis 1 start accept (ON while started) //M2001: Axis 1 start accept (ON while started) //M2001: Axis 1 start accept (ON while started) //M2001: Axis 1 start accept (ON while started) M24
//M2061: During axis 1 speed change (ON only when //M2061: During axis 1 speed change (ON only when //M2061: During axis 1 speed change (ON only when //M2061: During axis 1 speed change (ON only when
starting speed change) starting speed change) starting speed change) starting speed change)
//M2128: During axis 1 auto deceleration (ON during auto //M2128: During axis 1 auto deceleration (ON during //M2128: During axis 1 auto deceleration (ON during auto //M2128: During axis 1 auto deceleration (ON during
auto deceleration) deceleration) auto deceleration)
Analog speed change
//Speed change request (2000.00 mm/min) //Speed change request (1000.00 mm/min) //Speed change request (500.00 mm/min) //Speed change request (0 mm/min; stop)
//Used as temporary stop
//Program completion & start accept

return wait dummy
Axis 1 speed change to 2000 Axis 1 speed change to 1000 Axis 1 speed change to 500 Axis 1 temporary stop M24 = ON:
mm/min with M20 = ON mm/min with M21 = ON mm/min with M22 = ON with M23 = ON Analog voltage input
value
Go to next page
Appendix - 17
From previous page
[Fixed feed, fixed feed advance]
• Fixed feed, fixed feed advance
Change to the Real screen.
• Press Real Mode Main to turn ON the running lamp.
• Set the fixed feed amount to "10" at the touch panel.
• Press the "Fixed Feed" Permit fixed button to permit fixed feed operation.  Operation will not
start yet.
• Fixed feed is performed once each time the "Fixed Feed" E xe cu te fixe d button is pressed, and
stops after ten times.
• Fixed feed operation is performed with the fixed feed and fixed feed advance motion SFC
program.
[Fixed feed] program (motion SFC program No.80)
Fixed feed
Start motion SFC program No.220 [fixed feed
advance].
Fixed feed advance
Terminate motion SFC program No.220 [fixed feed

advance].
//Judge operation count (10 times)
ON M80
CLR Fixed feed
d
Real
Axis 1:
Speed:
//Feed count processing
[Fixed feed advance] program (motion SFC program No.220)

Fixed feed advance
//Advance signal load
//Advance signal ON //Advance signal OFF
Operation complete
Appendix - 18
Appendix 2 Digital Oscilloscope
Position commands, position droop, motor speed, motor current, and speed
commands and so on can be traced with the MT Works2 digital oscilloscope.
Refer to the performance specifications (digital oscilloscope) in the MT

Developer2 Help.
(1) Communication settings

(1) Click the Windows [start] button, and then select
[All Programs]  [MELSOFT Application] 
[MT Works2]  [Digital Oscilloscope].
(1) Click!
Go to next page
Appendix - 19
From previous page
(2) A Digital Oscilloscope window appears.
No. Item Details

1) Menu bar This menu is used to perform each function.
2) Toolbar Displays tool buttons used to perform each function.
3) Waveform display area Displays word data and bit data waveforms.
4) X-axis cursors [1], [2], [T] Displays X-axis cursors [1] and [2], and trigger cursor[T].
Displays X-axis cursor [1] and [2] and trigger cursor[T] position (time), and the time between
5) X-axis cursor position display field
cursors. (Unit: msec)
6) Y-axis cursors [A], [B] Displays Y-axis cursors [A] and [B]
7) Word waveform selection button Selects the word waveform subject to operation.
Word waveform item name display Displays the probe name for the word waveform selected with the word waveform selection
8)
field button.
Word waveform item unit display Displays the data unit for the word waveform selected with the word waveform selection
9)
field button.
Word waveform selection item Displays the data scale value for the word waveform selected with the word waveform
10)
scale display field selection button.
Displays the GND(0) existence, and changes between the word waveform and GND level
11) GND level button
display.
X-axis 1 Division setting field
12) Changes the X-axis 1 Division setting.
(Displays only in FIXED grid mode.)
Y-axis scale optimization button Automatically adjusts Y-axis divisions so that the selected word waveform can be displayed
13)
(Displays only in FIXED grid mode.) inside a single screen.
14) Bit waveform selection button Selects the bit waveform subject to operation.
Bit waveform selection item display Displays the probe name for the bit waveform selected with the word waveform selection
15)
field button.
Scrolls the word waveform selected with the word waveform selection button in the Y-axis
16) Y-axis waveform scrollbar
direction.
17) Vertical waveform enlarge button ( ) Enlarges the scale of the word waveform selected with the word waveform selection button.
18) Vertical waveform reduce button ( ) Reduces the scale of the word waveform selected with the word waveform selection button.
Go to next page
Appendix - 20
From previous page
No. Item Details

19) X-axis (time) scale display field Displays the X-axis (time axis) scale.
20) X-axis waveform scrollbar Scrolls through the entire waveform in the X-axis direction.
21) Horizontal waveform enlarge button ( ) Enlarges the entire waveform in the horizontal direction.
22) Horizontal waveform reduce button ( ) Reduces the entire waveform in the horizontal direction.
23) Status display field Displays the status when sampling.
24) Continual mode status display field Displays the status during execution in trigger type Continual mode.
25) File comment display field Displays a comment for the currently displayed file.
26) Status bar Displays digital oscilloscope status information.
Docking Cursor Displays cursor position data and the difference between cursors as the X-axis and
27)
window window Y-axis cursors move.
MAP window Displays which area of the 100% sampling data is the data area (X-axis range)
displayed in the graph display field with a black band.
*: The display area is only the X-axis scale range. The Y-axis scale display area is not
applicable.
By left-clicking any position in the MAP window, a graph displays with the clicked
X-axis position as the center (vicinity).
(Enabled while running.)
Cursor [1] Cursor [T] Cursor [2]
28)
100% sampling area
Screen no display area Screen display area Screen no display area

(white) (black) (white)
Displays/changes the data scale mode for the word waveform selected with the word
Word waveform scale mode waveform selection button.
display/change field • Manual scale [FIX] button:
(Displays only in AUTO grid mode.) If the word waveform scale mode is changed to MANUAL, enlarge/reduce (range
29)
adjustment) the Y-axis scale, scroll the Y-axis (display area), and adjust the GND(0)
position, and then press the FIX button to set the scale.
Y-axis 1 Division setting field
Changes the Y-axis 1 division setting for the selected word waveform.
(Displays only in FIXED grid mode.)
Displays the Assistant screen.
30) Assistant screen display button
The display changes from [STOP -> Assistant screen] while running.
31) Device comment project bar Displays the set content for the current device comment project.
(3) Click [Communication Setting…] on the digital

oscilloscope [Online] menu to specify
communication settings.
(3) Click!
Go to next page
Appendix - 21
(4) A Communication Settings dialog box appears.
Select "Motion buffering method" (select the
(4) Click! check box to display waveforms in real time) for
the "Sampling method", and select "ONLINE" for
the "Operation mode".
When settings are complete, click the
Transfer Setup button.
(5) Specify the following settings at the Transfer

Setup dialog box that appears, and then click the
OK button.
• Computer I/F: Serial USB
• CPU I/F: CPU module
• Other station designation: No other station
designation
• Applicable system: Multiple CPU designation
No.2 CPU
(6) The display then returns to the Communication

Setting dialog box. Click the OK button.
(5) Click!
(2) Waveform measurement

(1) Select the item to be probed.
Click [Probe] on the [Edit] menu at the Digital
Oscilloscope window.
(1) Click!
(2) Click the Optional device button at the PROBE

screen that appears.
(2) Click!
Go to next page
Appendix - 22
From previous page
(3) Select the check box and use the ten-key pad to
enter "M1" at the DEVICE screen, and then click
the OK button.
(4) The display then returns to the PROBE screen.

Select the item to be set, and then click
to register.
Register the "Motor current", "Motor speed", and
"Feed current value" here.
Click the Next button.
(4) Click!
(5) Set the trigger at the TRIGGER screen that

(6) Click!
appears.
Specify the default settings as follows.
• Sampling Rate: 0.444 x 10 (msec)
• Sampling Size: 8192
• Trigger Type: Select "One shot".
(6) Click the "Trigger Setting" tab.
(7) Specify the trigger settings as follows.

• Trigger Mode: Bit OR
• Pattern: (OFF→ON (startup))
(7) Click! Click the Complete button.
Go to next page
Appendix - 23
From previous page
(8) Click [RUN] on the [Action] menu at the Digital

Oscilloscope window.
Sampling is started.
(8) Click!
(9) The system waits for the trigger, and "Sampling

before trigger" appears in the display area MAP.
(10) Press Standby Point at the demonstration

machine operation panel to perform positioning
to the standby point.
(11) Align the digital switch to "30" and press

Position Movement to perform point positioning.
The trace monitor is executed.
(12) Once buffering is complete when the trigger is

established, a buffering data read progress bar
is displayed.
(13) The waveform displays once buffering data

reading is complete.
Appendix - 24
Appendix 3 Windows Computer Operation
Appendix 3.1 MELSOFT MT Works2 Installation Procedure
This section describes the installation and uninstallation procedures for MT
Developer2.
 Product configuration
Model name Software name Qty
MELSOFT MT Works2 (MT Developer2)
1
(1 licensed product) CD-ROM
Installation procedure manual 1
SW1DNC-MTW2-J Software usage agreement 1
(Japanese edition package)
Software registration guidance 1
License agreement 1
Information 1
 Operating environment
Item Software name
Computer Personal computer running Windows®
Microsoft® Windows® 7 Starter [no Service Pack/1]*2
Microsoft® Windows® 7 Home Premium [no Service Pack/1]*2*3
Microsoft® Windows® 7 Professional [no Service Pack/1]*2*3
Microsoft® Windows® 7 Ultimate [no Service Pack/1]*2*3
Microsoft® Windows® 7 Enterprise [no Service Pack/1]*2*3
Microsoft® Windows Vista® Home Basic [no Service Pack/1]*2
OS Microsoft® Windows Vista® Home Premium [no Service Pack/1]*2
Microsoft® Windows Vista® Business [no Service Pack/1]*2
Computer
Microsoft® Windows Vista® Ultimate [no Service Pack/1]*2

Microsoft® Windows Vista® Enterprise [no Service Pack/1]*2
Microsoft® Windows® XP Professional [Service Pack 2/3]
Microsoft® Windows® XP Home Edition [Service Pack 2/3]
Microsoft® Windows® 2000 Professional [Service Pack 4]
® ®
Desktop computer: Intel Celeron processor 2.8GHz or faster recommended
CPU Notebook computer: Intel® Pentium® M processor 1.7GHz or faster
recommended
Required
1 GB or more recommended
memory
Video card Video card compatible with Microsoft® DirectX® 9.0c or later
Available hard When installing MT Developer2: available HDD space of 1 GB or more
disk space When running MT Developer2: available virtual memory of 512 MB or more
*1
3.5 inch (1.44 MB) floppy disk drive
Disk drive
CD-ROM compatible disk drive
Display Resolution: 1024 x 768 or higher
RS-232 port
USB port
Communication
SSC I/F card (A30CD-PCF) *4
interface
SSC I/F board (A10BD-PCF) *4
Ethernet port
*1: Required if installing this OS software with a floppy disk.
*2: Compatible with 32-bit edition.
*3: Compatible with 64-bit edition.
®
*4: A30CD-PCF and A10BD-PCF are not compatible with the 64-bit edition of Windows 7.
Appendix - 25
(1) Installation procedure
Install MT Developer2 on the computer.
1) Insert the CD-ROM in the CD-ROM drive. Double-click "Setup.exe" (may

also appear as "Setup") in the CD-ROM.
2) Follow the screen instructions to select or enter the required items.
CAUTION
The following message may appear before the product installation is complete.
The driver must be installed.
When using Windows® XP
Select "Continue" and install the driver.
Appendix - 26
(2) USB driver installation procedure
It is necessary to install a USB driver to perform USB communication with
the motion CPU.
(When using Windows® XP)

1) Connect the computer and PLC CPU, and then
turn ON the PLC CPU.
2) A "New hardware search wizard start" dialog

box appears. Select "Install from list or specific
location (details)".
3) A "Select search and install options" dialog box appears. Select "Search for best driver in following
location". Select the "Include following location" check box, and then set "Easysocket USBdrivers"
in the folder in which MT Developer2 was installed. If multiple MELSOFT products have been
installed, browse the installation direction for the first product. ("\Melsec\Easysocket\USBDrivers" or
"\[installation folder specified when installing]\Easysocket\USBDrivers")
POINT
If unable to install the USB driver, check the following settings.
• If "Block - Do not install unsigned driver software" is selected in [Control Panel] - [System] - [Hardware]
- [Driver Signature], it may not be possible to install the USB driver.
• Select "Ignore - Install software and do not check", or "Warning - Select operation each time", and then
install the USB driver.
Appendix - 27
Appendix 4 Q173DCPU and Q172DCPU Comparison
Item Q173DSCPU Q172DSCPU Q173DCPU Q172DCPU

Number of control axes 32 axes 16 axes 32 axes 8 axes
0. 44 ms/5 to 10 axes 0. 44 ms/1 to 6 axes 0. 44 ms/1 to 3 axes
SV13 0. 44 ms/5 to 10 axes
Operation cycle 0. 88 ms/11 to 16 axes
1. 77 ms/25 to 32 axes
(default)
SV22 0. 88 ms/7 to 16 axes
0. 88 ms/7 to 16 axes 0. 88 ms/5 to 8 axes 1.77 ms/6 to 8 axes
1. 77 ms/17 to 32 axes
OS software media CD-ROM FD (2)
OS software model
SWDNC-SVQ
(SV13/SV22)
USB/RS-232/Ethernet (via PLC CPU),
Peripheral device I/F
peripheral I/F (motion CPU control)
Main base unit
Main base unit
(Q35B/Q38B/Q312B)
Attachment to panel Tightening with unit securing screw
DIN rail Unusable
No.1 CPU module Universal model (QnUD(E)(H)CPU)
Attachment order for CPU modules
No restriction
from No.2
Empty CPU slots Can be set between CPU modules.
PLC CPU module Universal model (QnUD(E)(H)CPU)
Motion CPU module Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1)
Motion CPU module Combination with Combination with
combination Q173DCPU(-S1)/Q172DCPU(-S1) possible Q173DSCPU/Q172DSCPU possible
Attachment on main base unit Tightening with motion CPU module securing screw
Function selection switch Rotary switch 1, rotary switch 2
RESET/L.CLR switch None
LED display 7-segment LED status display
External battery Add Q6BAT if continuous power outage continues for 1 month or more.
Battery holder unit Required
• Uses motion CPU module EMI terminal.
External forced stop input
• Uses device specified with external forced stop input in system settings.
External forced stop input cable Required
*1
Motion module Q172DLX/Q172DEX/Q173DPX/Q173DSXY
Attachment on main base unit Q172DLX/Q172DEX/Q173DPX: Installation not possible in I/O slots 0 to 2.
transmission memory Equipped
for CPU high speed transfer
Number of internal relays (M) 12288
No. of latch relays (L) None (M latch possible with latch setting)
Number of special relays (M) -
Number of special relays (SM) 2256
Devices
Number of special registers (D) -

Number of special registers
2256
(SD)
Number of motion registers (#) 12288
Multiple CPU shared devices
Max. 14336
(U□\G)
D(P).DDRD, D(P).DDWR, D(P).SFCS, D(P).DDRD, D(P).DDWR, D(P).SFCS,
D(P).SVST, D(P).SVST,
Dedicated SV13/SV22
D(P).CHGT, D(P).CHGT2, D(P).CHGV, D(P).CHGT, D(P).CHGV, D(P).CHGA,
motion D(P).CHGA, D(P).GINT D(P).GINT
sequence
commands D(P).DDRD, D(P).DDWR, D(P).SFCS,
SV43 - D(P).SVST,
D(P).CHGT, D(P).CHGV, D(P).CHGA
Multiple commands can be executed in succession with no interlock conditions due to high speed
Interlock conditions interrupt accept flag from CPU to self CPU.
: CPU No.
Appendix - 28
Item Q173DSCPU Q172DSCPU Q173DCPU Q172DCPU
*1
SV13 Q172DLX, Q173DPX, Q173DSXY Q172DLX, Q173DPX, Q173DSXY
*1
Motion module SV22 Q172DLX, Q172DEX, Q173DPX, Q173DSXY Q172DLX, Q172DEX, Q173DPX, Q173DSXY
SV43 - Q172DLX, Q173DPX
• QnUD(E)(H)CPU is No.1 CPU.
• The only main base units that can be used are multiple CPU high speed main base units
System settings
(Q35DB/Q38DB/Q312DB).
• Q172DLX, Q172DEX, Q173DPX cannot be installed in I/O slots 0 to 2.
Latch clear Remote operation
RUN/STOP Remote operation, RUN/STOP switch
• ROM writing is performed in RAM operation mode/ROM operation mode.
Boot operation from ROM
• MT Developer□ data can be written to the ROM.
Multiple CPU high
speed transmission Yes
CPU shared area
memory Access with
multiple CPU Possible
shared memory
Shared memory CPU shared memory multiple CPU high speed transmission area
Auto refresh
32 range setting possible
Auto settings
refresh Multiple CPU high
speed Yes
refresh function
Latch range Latch (1) Clearing possible with remote latch clear latch clear (1), latch clear (1) (2).
setting Latch (2) Clearing possible with remote latch clear latch clear (1) (2).
All clear function Executed in install mode.
Multiple CPU related error
Turn M2039 OFF.
clearance
*1: Q173DCPU-S1/Q172DCPU-S1 only
Appendix - 29
Appendix 5 OS Software Installation Procedure
It is necessary to install OS software for the motion CPU module using MT Works2.
The installation procedure is as follows.
Installation start
Set motion CPU module rotary switch 1

(SW1) to "A". Set to install mode..
(Rotary switch (SW2) can be set freely.)
When product shipped: SW1 "A"
: SW2 "0"
"INS" appears at the 7-segment LED.

Turn multiple CPU system power ON.
The RUN/STOP switch is ignored.
Start MT Works2 installation
Set communication method between computer

and multiple CPU system in System Settings.
Operation at
MT Works2*
Select OS software to install in motion

CPU module, and install.
"Installation complete" dialog box The dialog box indicates that the OS software has been successfully
appears. installed on the motion CPU module
Turn multiple CPU system power OFF.
Set motion CPU module rotary switch 1

(SW1) to "0". Set to RAM operation mode.
Set rotary switch 2 (SW2) to "0".
Complete
*: Follow the MT Works2 screen instructions to install.

Refer to MT Works2 Help for details.
Appendix - 30
POINT
(1) The motion CPU module product condition is as follows when shipped.
• Q173DSCPU/Q172DSCPU
The OS software (SV22) has already been installed when the product is shipped.
The latest OS software can be downloaded from MELFANSweb.
• Q173DCPU(-S1)/Q172DCPU(-S1)
The OS software has not been installed when the product is shipped.
It is necessary to install the OS software before starting the system.
(2) If changing the rotary switch setting, always turn the power OFF beforehand.
(3) Even if the software is installed, programs, parameters, and absolute position data written to
the motion CPU module is not rewritten.
However, if using the software security key function with the Q173DSCPU/Q172DSCPU, if
the software security key embedded in the OS software already installed in the motion CPU
differs from that in the OS software to be installed, an all clear is performed at the same time
as the installation. A backup using MT Developer2 is recommended beforehand.
(4) Do not perform the following during installation. The motion CPU module may malfunction.
• Do not turn the multiple CPU system power OFF.
• Do not set the PLC CPU module "RUN/STOP/RESET" switch to "RESET".
• Do not turn the computer power OFF.
• Do not disconnect the cable connected to the computer.
(5) If installing multiple motion CPU modules on which the OS software has not been installed
on the same base unit, and then installing the OS software, set all motion CPU modules on
which the software has not been installed to install mode (set rotary switch 1 (SW1) to "A"),
and then perform the installation.
Note: If the power is turned ON for motion CPU modules on which the OS software has not
been installed, the system will not function normally.
It is necessary to install the OS software before starting the system.
Appendix - 31
OS software version check
The motion CPU OS software version can be checked at the GX Works2 system monitor.
Click [Diagnosis] - [System Monitor] at GX Works2 to display the System Monitor screen, and then
click the [Product information list device] button.
Motion CPU module serial No.
Operating system software version.
Remarks
The "Motion CPU module serial No." and "OS software version" displayed at the GX Works2
system monitor (Product information list device) applies to those motion CPU modules
manufactured from the beginning of October, 2007.
Appendix - 32
Appendix 6 Dedicated Motion Sequence Commands
This section describes SFCS commands and GINT commands used to issue servo program
start requests, DDRD commands, and DDWR commands.
Appendix 6.1 GINT Interrupt Commands to Other CPUs

This is a command used to trigger an interrupt for Q motion CPUs.

指令
Command
DP.GINT DP.GINT (n1) (n2) *1
Command
指令
DP.GINT (n1) (n2) (D1) (D2)
Command
指令
D.GINT D.GINT (n1) (n2) *1
Command
指令
D.GINT (n1) (n2) (D1) (D2)

Completion
accept processing is complete.
accept error is complete. (D1+0 also turns ON when error
complete.)
Interrupt
割込みポインタ番号 pointer No.
CPU No.2: 3E1H, CPU
2号機:3E1H No.3: 3E2H,4号機:3E3H
3号機:3E2H CPU No.4: 3E3H
(1) GINT command program example

This program used to trigger an interrupt pointer No.10 interrupt for the
motion CPU (No.2) when M0 turns ON.
<Example 1> Program if completion device, completion status omitted

M0
DP.GINT H3E1 K10
Command
命令実行
execution
指令
command RST M0
命令実行
Command
execution
指令
command
<Example 2> Program if completion device, completion status used

M0
DP.GINT H3E1 K10 M100 D100
Command
命令実行
execution
指令
command RST M0
Command
命令実行
execution
指令
command
M100 M101
Normal completion program
Completion
完了
device
M101
Unsuccessfully complete program
Appendix - 33
the DP.GINT command.
Sequence program
DP.GINT command
DP.GINT命令実行
execution
ON
DP.GINT command
DP.GINT命令
Request
要求データセットdata setting
CPU dedicated Transfer

転送 Transfer
転送
CPU間専用通信
transmission
（0.88ms周期） Response
(0.88 ms cycles) 0.88ms 応答
data
データ
setting
セット
Other CPU motion CPU event task execution
PLC interrupt event
シーケンサ割込み他号機モーションCPUイベントタスク実行処理
processing
イベントタスク
task
ON
Completion
(D1 + 0)
(D1＋0)

when complete
デバイス(D1＋1)
(D1 + 1) 1 scan
1スキャン
Appendix - 34
(3) Error content
In the following cases, an abnormal termination occurs, and an error code
is stored in the device specified at the completion status storage device
(D2).
Completion
(Error code) (H)
The command request from the PLC CPU to the motion CPU
0010
exceeds the permissible value. Check the
The interrupt pointer No. set with the D(P).GINT command program, and
2082
lies outside the 0 to 15 range. then change to
The number of command requests issued from the PLC CPU the correct
to the motion CPU simultaneously is 33 or more with sequence
2100 program.
D(P).GINT, and therefore the motion CPU is unable to
process.
*: 0000H (normal)
(SD0).

(3) The applicable CPU module first No. I/O No. ÷ 16(n1) lies
Check the
outside the 3E0H to 3E3H range.
program, and
Cannot be executed at the specified applicable CPU module. then change to
(1) The command name is incorrect. the correct
4351
(2) An unsupported command was specified at the applicable sequence
CPU module. program.
A device that cannot be used with the specified command has
4353
been specified.
*: 0 (normal)
Appendix - 35
Appendix 6.2 Read Command from DDRD Q Motion CPU Device
This command is used to read device data inside the Q motion CPU directly
from the Q PLC CPU.
[Command [Execution
symbol] conditions] 指令
Command
DP.DDRD
DP.DDRD (n1) (S1) (S2) (D1) (D2) *1
Command
指令
D.DDRD (n1) (S1) (S2) (D1) (D2)
D.DDRD
Completion
accept error is complete. (D1+0 also turns ON when error
complete.)
読出したデータを格納する自号機の先頭デバイス
First device in self CPU storing read data
First device in applicable motion CPU in which data to

読出すデータが格納されている対象号機モーションCPUの
be read is stored
先頭デバイス
First device in self CPU in which control data is stored
コントロールデータが格納されている自号機の先頭デバイス
2号機:3E1H
Note: Motion CPUs3号機:3E2H 4号機:3E3H
cannot be assigned to No.1 with multiple CPU configurations.
(1) DDRD command program example

This program is used to store a 10 word piece of data from the No.2 CPU
D0 to the self CPU W10 and onward when X0 is ON.
X0 "10" read data items are stored in control

コントロールデータの読出しデータ
MOVP　K10　D101 data read data qty (S1 + 1) setting device
点数(S1＋1)設定デバイスD101に読
D101.
出しデータ数"10"を格納する。
Command
命令実行
execution
指令 No.2 CPU D0 to D9 is stored in self CPU
command 2号機のD0～D9を自号機のW10～W19
DP.DDRD　H3E1　D100　D0　W10　M100 W10 to W19
に格納する。
M100 M101
完了
Completion
device
デバイス M101
異常完了プログラム
Appendix - 36
the DP.DDRD command.
Sequence program
シーケンスプログラム END END END
DP-DDRD command execution
DP.DDRD命令実行
ON
DP-DDRD
DP.DDRD命令
command
Response data
setting
CPU dedicated
transmission Transfer
転送 Transfer
転送
CPU間専用通信
(0.88 ms cycles)
（0.88ms周期）
0.88ms Response
応答
data
データsetting
Applicable CPU セット
DP.DDRD accept
対象号機DP.DDRD DP.DDRD accept processing
受付け処理
processing
DP.DDRD受付け処理
Set
セット
Self CPU storage
自号機格納デバイス
device (D1)
(D1)
ON
Completion device
完了デバイス
(D2 + 0)
(D2＋0)
ON: Only when abnormal
completion
when complete (D2 + 1)
1スキャン
1 scan
Appendix - 37
(3) Error content
is stored in the device specified at the completion status storage device (S1
+ 0).
Completion
(Error code) (H)
0010
The specified device cannot be used with the motion CPU.
2001
Or it lies outside the device range. Check the program,
The number of read data items set with the D(P).DDRD and then change to
2081 the correct sequence
command is illegal.
program.
The number of command (D(P).DDRD/D(P).DDWR
combined) requests issued from the PLC CPU to the
2100
motion CPU simultaneously is 65 or more, and therefore
the motion CPU is unable to process.
*: 0000H (normal)
(SD0).

The number of read data items lies outside the read data
4101
storage device range.
Cannot be executed at the specified applicable CPU
module. Check the program,
4351 (1) The command name is incorrect. and then change to
(2) An unsupported command was specified at the the correct sequence
applicable CPU module. program.
4353
has been specified.
A character string that cannot be handled with the
4354
specified command has been specified.
The number of read data items lies outside the 1 to 20
4355
range.
*: 0 (normal)
Appendix - 38
Appendix 6.3 Read Command from DDWR Q Motion CPU Device
This command is used to write device data inside the Q motion CPU directly
from the Q PLC CPU.
[Command [Execution
［命令記号］［実行条件］ Command
symbol] conditions]
指令
DP.DDWR
DP.DDWR (n1) (S1) (S2) (D1) (D2) *1
Command
指令
D.DDWR (n1) (S1) (S2) (D1) (D2)
D.DDWR
Completion
accept error is complete. (D1+0 also turns ON when error complete.)
First device in applicable motion CPU in which data to
書込むデータを格納する対象号機モーションCPUの
be written is to be stored
先頭デバイス
First device in self CPU in which data to be written is stored
書込むデータが格納されている自号機の先頭デバイス
First device in self CPU in which control data is stored

コントロールデータが格納されている自号機の先頭デバイス
(1) DDWR command program example

This program is used to store a 10 word piece of data from the self CPU D0
to the No.2 CPU W10 and onward when X0 is ON.
X0 コントロールデータの書込みデータ
"10" write data items are stored in control
MOVP　K10　D101 点数(S1＋1)設定デバイスD101に書
data write data qty (S1 + 1) setting device
Command
込みデータ数"10"を格納する。
D101.
命令実行
execution
指令
command 自号機のD0～D9を2号機のW10～W19
DP.DDWR　H3E1　D100　D0　W10　M100 Self CPU D0 to D9 is stored in No.2 CPU
に格納する。
W10 to W19.
M100 M101
Completion
完了
device
デバイス M101
Appendix - 39
the DP.DDWR command.
Sequence program
シーケンスプログラム END END END
DP.DDWR command execution
DP.DDWR命令実行
ON
DP.DDWR command
DP.DDWR命令
Request
CPU dedicated Transfer Transfer
CPU間専用通信転送転送
transmission
（0.88ms周期）
(0.88 ms cycles)
0.88ms Response
応答
data
データ
setting
セット
Applicable CPU
対象号機DP.DDWR
DP.DDWR accept
受付け処理 DP.DDWR受付け処理
DP.DDWR accept processing
processing
ON
Completion
(D2 + 0)
(D2＋0) ON: Only when abnormal
completion
1 scan
1スキャン
Appendix - 40
(3) Error content
is stored in the device specified at the completion status storage device (S1
+ 0).
Completion
(Error code) (H)
0010
The specified device cannot be used with the motion CPU.
2001
Or it lies outside the device range. Check the program,
The number of write data items set with the D(P).DDWR and then change to
2080 the correct sequence
command is illegal.
program.
The number of command (D(P).DDRD/D(P).DDWR
combined) requests issued from the PLC CPU to the
2100
motion CPU simultaneously is 65 or more, and therefore
the motion CPU is unable to process.
*: 0000H (normal)
(SD0).

The number of write data items lies outside the write data
4101
storage device range.
4353
has been specified.
4354
The number of write data items lies outside the 1 to 20
4355
range.
*: 0: Normal
Appendix - 41
Appendix 6.4 CHGT Torque Limit Value Change Request Command
This command is used to change the torque limit values when in real mode,
regardless of whether the machine is running or is stopped.
Command
指令
DP.CHGT DP.CHGT (n1) (S1) (n2) *1
Command
指令
DP.CHGT (n1) (S1) (n2) (D1) (D2)
Command
指令
D.CHGT D.CHGT (n1) (S1) (n2) *1
Command
指令
D.CHGT (n1) (S1) (n2) (D1) (D2)

Completion
(D1+0): Device for which 1 scan is turned ON when command
start accept processing is complete.
(D1+1): Device for which 1 scan is turned ON when command
start accept
Torque limit value setting being changed
変更するトルク制限値の設定
Axis No. ("Jn") for which torque limit value changed.
トルク制限値変更を行う軸No.（"Jn"）
Q173DCPU：J1～J32／Q172DCPU：J1～J8

(1) CHGT command program example

This program is used to change the motion CPU (No.2) axis 1 torque limit
value to 10% when M0 turns ON.
M0
DP.CHGT H3E1 "J1" K10
Command
命令実行
execution
指令
command
RST M0
命令実行
Command
指令
execution
command

M0
DP.CHGT H3E1 "J1" K10 M100 D100
Command
命令実行
execution
指令 RST M0
command
命令実行
Command
指令
execution
command
M100 M101
Completion
完了 M101
device
デバイス Unsuccessfully
異常完了プログラム complete program
Appendix - 42
the DP.CHGT command.
Sequence program
DP.CHGT command execution
DP.CHGT命令実行
ON
DP.CHGT command
DP.CHGT命令
Response data setting
CPU dedicated
CPU間専用通信
transmission Transfer
転送 Transfer
転送
（0.88ms周期）
0.88ms 応答
data
データ
setting
セット
Torque limit value Torque limit value change
トルク制限値変更トルク制限値変更処理
change processing
ON
Completion device
完了デバイス
(D1 + 0)
(D1＋0)
when complete
(D1 + 1)
1 scan
1スキャン
Appendix - 43
(3) Error content
In the following cases, an abnormal termination occurs, and an error code is stored
in the device specified at the completion status storage device (D2).
If the completion status storage device (D2) is omitted, no error is detected and
processing is not performed, and therefore caution is advised.
Completion
(Error code) (H)
The command request from the PLC CPU to the motion Check the program,
0010
CPU exceeds the permissible value. and then change to
The axis No. specified with the D(P).CHGT command is the correct sequence
2205 program.
illegal.
*: 0000H (normal)
In the following cases, an operation error occurs, the diagnostic error flag (SM0)
turns ON, and the error code is stored in the diagnostic error register (SD0).

4353
has been specified.
4354
*: 0 (normal)
Appendix - 44
Appendix 6.5 CHGA Current Value Change Command
This command is used to change the current value of the stopped axis.

指令
Command
DP.CHGA DP.CHGA (n1) (S1) (n2) *1
Command
指令
DP.CHGA (n1) (S1) (n2) (D1) (D2)
Command
指令
D.CHGA D.CHGA (n1) (S1) (n2) *1
指令
Command
D.CHGA (n1) (S1) (n2) (D1) (D2)

Completion
Current value setting being changed
変更する現在値の設定
Axis No. ("Jn") for which current value changed
現在値変更を行う軸No.（"Jn"）
Q173DSCPU：J1～J32／Q172DSCPU：J1～J16
Encoder axis No. ("En") for which current value changed
現在値変更を行うエンコーダ軸No.（"En"）
Q173DCPU: E1 to E12/Q172DCPU: E1 to E16
Cam axis No. ("Cn") for which current value changed within
Q173DSCPU：E1～E12／Q172DSCPU：E1～E16
single rotation
1回転内現在値変更を行うカム軸No.（"Cn"）
Q173DCPU: C1 to C32/Q172DCPU: C1 to C16
Q173DSCPU：C1～C32／Q172DSCPU：C1～C16

2号機:3E1H
Note: Motion CPUs3号機:3E2H 4号機:3E3H
cannot be assigned to No.1 with multiple CPU configurations.
(1) CHGA command program example

This program is used to change the motion CPU (No.2) axis 1 current value
to 10 when M0 turns ON.
U3E1
M0 \G516.0
\G516.0
DP.CHGA H3E1 "J1" K10
命令実行
Command 2号機
No.2 CPU
指令
execution 軸1の
axis 1 始動
start RST M0
command 受付け
accept flag
フラグ命令実行
Command
指令
execution
command

U3E1
M0 \G516.0
\G516.0
DP.CHGA H3E1 "J1" K10 M100 D100
Command No.2 CPU
命令実行 2号機
execution axis 1 始動
start
指令軸1の RST M0
command accept
受付けflag
フラグ命令実行
Command
指令
execution
command
M100 M101
Completion
完了 M101
device
Appendix - 45
The current value for the specified axis is changed when the CHGA
command execution command turns ON.
Sequence program
DP.CHGA command execution
DP.CHGA命令実行
ON
DP.CHGA command
DP.CHGA命令
Request
Axis start accept flag ON
(system area)
軸始動受付けフラグ
（システムエリア）
CPU dedicated
Transfer
転送 Transfer
転送
transmission
CPU間専用通信
（0.88ms周期）
0.88ms 応答
data
データ
setting
セット
Current
現在値変更 value change Current value change processing
現在値変更処理
ON
Completion device
完了デバイス
(D1 + 0)
(D1＋0)
1 scan
1スキャン
Appendix - 46
(3) Error content
(D2).
Completion
(Error code) (H)
0010
The number of command (D(P).SVST/D(P).CHGA Check the program,
combined) requests issued from the PLC CPU to the and then change to
2100
motion CPU simultaneously is 65 or more, and therefore the correct sequence
the motion CPU is unable to process. program.
The axis No. specified with the D(P).CHGA command is
2203
illegal.
*: 0000H (normal)
(SD0).

4353
has been specified.
4354
*: 0 (normal)
Appendix - 47
Appendix 6.6 CHGV Speed Change Command
This command is used to change the speed during positioning or during JOG
operation.

Command
指令
DP.CHGV DP.CHGV (n1) (S1) (n2) *1
Command
指令
DP.CHGV (n1) (S1) (n2) (D1) (D2)
Command
指令
D.CHGV D.CHGV (n1) (S1) (n2) *1
Command
指令
D.CHGV (n1) (S1) (n2) (D1) (D2)

Completion
Speed setting being changed
変更する速度の設定
速度変更を行う軸No.（"Jn"）
Axis No. ("Jn") for which speed changed
Q173DCPU: J1 to J32/Q172DCPU:J1 to J16
Q173DSCPU：J1～J32／Q172DSCPU：J1～J16
(1) CHGA command program example

This program is used to change the motion CPU (No.2) axis 1 positioning
speed to 20000 when M0 turns ON.
M0
DP.CHGV H3E1 "J1" K20000
Command
命令実行
execution
指令
command RST M0
Command
命令実行
execution
指令
command
M0
DP.CHGV H3E1 "J1" K20000 M100 D100
Command
命令実行
execution
指令
command RST M0
Command
命令実行
execution
指令
command
M100 M101
Completion
完了
device M101
デバイス Unsuccessfully complete program
Appendix - 48
The speed for the specified axis is changed when the CHGV command
execution command turns ON.
Sequence program
DP.CHGV command execution
DP.CHGV命令実行
ON
DP.CHGV command
DP.CHGV命令
Request
CPU dedicated
transmission
CPU間専用通信 Transfer
転送 Transfer
転送
(0.88 ms cycles)
（0.88ms周期）
0.88ms 応答
Response
データ
data
セット
setting
Speed change
速度変更 Speed change processing
速度変更処理
ON
Completion device
完了デバイス
(D1 + 0)
(D1＋0)
1 scan
1スキャン
Appendix - 49
(3) Error content
(D2).
Completion
(Error code) (H)
The command request from the PLC CPU to the motion Check the program,
0010
CPU exceeds the permissible value. and then change to
The axis No. specified with the D(P).CHGV command is the correct sequence
2204 program.
illegal.
*: 0000H (normal)
(SD0).

4353
has been specified.
4354
*: 0 (normal)
Appendix - 50
Appendix 7 Operation Control Programs (Details)
Appendix 7.1 Device Descriptions
Word devices and bit devices are described below.
(1) Word device description
Device description
32-bit 64-bit
16-bit integer Floating-poi Device No. (n) designation range
integer type nt type
type (n is even (n is even
number) number)
Data register Dn DnL DnF 0 to 8191
Link register Wn WnL Wn:F 0 to 1FFF
Special register SDn SDnL SDnF 0 to 2255*1
Motion register #n #nL #nF 0 to 12287
10000 to (10000+p-1)*2
: CPU No.
Multiple CPU area (No.1 CPU: 3EO No.2 CPU: 3E1 No.3 CPU:
U\Gn U\GnL U\GnF
devices 3E2 No.4 CPU: 3E3)
It is not possible to specify a CPU No. greater
than the number of multiple CPUs.
Coasting timer - FT - -
*1: Indirect designation is not possible for the 2000 to 2255 range.
*2: p is the number of multiple CPU high speed transmission area user setting areas for each CPU.
(a) An L is added to 32-bit integer type, and an F (for link registers: F) to 64-bit
floating-point type to distinguish them.
(b) The device number is specified with an even number for 32-bit integer type and
64-bit floating-point type. (Device numbers cannot be specified with an odd
number.)
(c) Coasting timer FT counts up every 888 [us]. (The coasting timer is a 32-bit
integer type.)
(2) Bit device description
Device
Device No. (n) designation range
description
Input relay Xn/PXn 0 to 1FFF*1
Output relay Yn/PYn 0 to 1FFF
Internal relay Mn 0 to 12287
10000.0 to (10000+p-1).F*2
: CPU No.
Multiple CPU area (No.1 CPU: 3EO No.2 CPU: 3E1 No.3 CPU:
U\Gn
devices 3E2 No.4 CPU: 3E3)
It is not possible to specify a CPU No. greater
than the number of multiple CPUs.
Link relay Bn 0 to 1FFF
Annunciator Fn 0 to 2047
Special relay SMn 0 to 2255*3
*1: With input devices (PXn + 0 to PXn + F) assigned to the motion CPU built-in interface (DI), the PXn + 4 to PXn + F range is fixed at
0 and cannot be used. (n = first input number)
*2: p is the number of multiple CPU high speed transmission area user setting areas for each CPU.
*3: Indirect designation is not possible for the 2000 to 2255 range.
(a) If used as batch bit data with DIN and DOUT, n is specified with a multiple of 16.
(b) If using multiple CPU area devices as batch bit data, specify as word devices
without specifying bits.
Appendix - 51
(3) Device No. indirect designation
Device Nos. (n) can be designated indirectly for the above word device and bit
device descriptions.
(a) Device No. (n) indirect designation with word device
• Word devices for which device Nos. are designated indirectly cannot be
used.
• Indirect designation is possible with 16-bit integer type and 32-bit integer type
word devices. The 64-bit floating-point type cannot be used.
<Description example>
Good example Bad example
#(D10) #(D(D5))
D(#10L)F D(#4F)
(b) Device No. (n) indirect designation with operational expression

• Indirect designation is possible with a calculation method using the following
data and operators.
16-bit integer type word devices

32-bit integer type word devices
Usable data
16-bit integer type constants
32-bit integer type constants
Addition: +
Subtraction: -
Multiplication: *
Usable operators
Division: /
Remainder: %
Sign inversion: -
• Word devices for which device Nos. are designated indirectly cannot be
used.
• Only a single operator can be used.
<Description example>
Good example Bad example
#(D10-K5) #(D(D5)F+K20)
D(#10L%H6L)F D(#4L<<K2)
*: If performing device No. indirect designation using the results obtained with
other than the above calculations, describe by separating into two blocks as
shown below.
D0 = SHORT(ASIN(#0F))
W0 = #(D0)
POINT
For details on the multiple CPU high speed transmission area user setting points,
refer to Chapter 2 of the "Q173D(S)CPU/Q172D(S) CPU Motion Controller
Programming Manual (Common Edition)".
Appendix - 52
Appendix 7.2 Constant Description
16-bit integer type, 32-bit integer type, and 64-bit floating-point type constants are
described 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-2147483648L to
K-32768 to K32767 K0.0，
notation K2147483647L
K2.23E-308 to K1.79E+308
Hexadecimal H00000000L to
H0000 to HFFFF -
notation HFFFFFFFFL
(1) L is added to 32-bit integer type constants, 64-bit floating-point type constants
contain a decimal point and added index portion (E) in order to clearly identify
the data type.
(2) If the data type is omitted, the values will be regarded as the minimum type.
(3) K is added at the beginning if expressed in decimal notation, and H is added if

expressed in hexadecimal notation. K can be omitted.
(4) 64-bit floating-point type constants cannot be expressed in hexadecimal notation.
Appendix - 53
F/FS G
Appendix 7.3 Binary Operation

Appendix 7.3.1 Substitution: =
No. of basic
Format (D)=(S) 4
steps
[Usable data]
Usable data
Setting data
Word device Constant
Comparative
Calculation
conditional
conditional
expression
expression
formula
Bit 64-bit 16-bit 32-bit 64-bit
16-bit 32-bit
Bit
device floating- Coasting integer integer floating-
integer integer
point timer type type point
type type (L)
type (F) (K/H) (K/H, L) type (K)
(S) - - -
(D) - - - - - - - -
: Setting possible
[Setting data]
Setting data Details Resultant data type
Word device/constant/calculation method for which
(S)
substitution performed (D) data type
(D) Word device for which the operation result is stored
[Function]
(1) The data value specified with (S) is substituted for the word device specified with (D).
(2) If the (S) and (D) data types differ, the (S) data type is converted to (D) and then substituted.
(If (D) is a 16-bit integer type or 32-bit integer type constant, and (S) is a 64-bit floating-point
type constant, the decimal portion of (S) is cut.)
[Error]
(1) An operation error occurs in the following cases.
• When the (S) data lies outside the (D) data range.
• When either (D) or (S) is an indirect designation device, and the device No. lies outside the
range.
[Program example]
(1) Program in which the D0 value is substituted for #0
#0 = D0
#0 123 D0 123
Appendix - 54
(2) Program in which K123456.789 is substituted for D0L
D0L = K123456.789
D1 D0
123456 123456.789
64-bit floating-point type constants are converted to 32-bit integer type constants
and then substituted.
(3) Program in which the result of adding K123 and #0 is substituted for W0
W0 = K123+#0
123
W0 579 ＋
#0 456
Appendix - 55
F/FS G
Appendix 7.3.2 Addition: +

No. of basic
Format (S1)+(S2) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S1) - - -
(S2) - - -
: Setting possible
[Setting data]
(S1) Augend data Larger data type
(S2) Addition data of (S1) and (S2)
[Function]
(1) Data specified with (S2) is added to data specified with (S1).
(2) If the (S1) and (S2) data types differ, conversion is made to the larger of the two and then the
operation is performed.
[Error]
• Either (S1) or (S2) is an indirect designation device, and the device No. lies outside the
range.
[Program example]
(1) Program in which the result of adding K123 and #0 is substituted for W0
W0 = K123 + #0
123
W0 579 ＋
#0 456
(2) Program in which the result of adding #0F and #10 is substituted for D0L
D0L = #0F + #10
#3 #2 #1 #0
12345.789
D1 D0
D0L 12468
12468.789 ＋
#10 123
Addition is performed with the 64-bit floating-point type, the result is converted to a 32-bit
integer type constant and then substituted.
Appendix - 56
F/FS G
Appendix 7.3.3 Subtraction: -

No. of basic
Format (S1)-(S2) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S1) - - -
(S2) - - -
: Setting possible
[Setting data]
(S1) Minuend data Larger data type
(S2) Subtraction data of (S1) and (S2)
[Function]
(1) Data specified with (S2) is subtracted from data specified with (S1).
[Error]
range.
[Program example]
(1) Program in which the result of subtracting #0 from K123 is substituted for W0
W0 = K123 - #0
123
W0 －333 ―
#0 456
(2) Program in which the result of subtracting #10 from #0F is substituted for D0L
D0L = #0F - #10
#3 #2 #1 #0
12345.789
D1 D0
D0L 12222
12222.789 ―
#10 123
Subtraction is performed with the 64-bit floating-point type, the result is converted to a 32-bit
Appendix - 57
F/FS G
Appendix 7.3.4 Multiplication: *

No. of basic
Format (S1)*(S2) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S1) - - -
(S2) - - -
: Setting possible
[Setting data]
(S1) Factor data Larger data type
(S2) Multiplication data of (S1) and (S2)
[Function]
(1) Data specified with (S1) is multiplied by data specified with (S2).
(3) The motion SFC program processed the multiplication result with the type specified at (2). An
overflow occurs if the multiplication result exceeds the range for numerical values processed
with each type, however, an operational error does not occur.
By converting setting data with a type conversion command, overflows can sometimes be
prevented. (See program examples (3), (4).)
[Error]
range.
Appendix - 58
[Program example]
(1) Program in which the result of multiplying #0 by K123 is substituted for W0
W0 = K123 * #0
123
W0 56088 ＊
#0 456
(2) Program in which the result of multiplying #10 by #0F is substituted for D0L
D0L = #0F * #10
#3 #2 #1 #0
12345.789
D1 D0
1518532.047 ＊
D0L 1518532
#10 123
Multiplication is performed with the 64-bit floating-point type, the result is converted to a 32-bit
(3) Program in which the result of multiplying #10 by #0 is substituted for W0L
W0L = #0 * #10
#0 12345
W1 W0 (HB6F6)←(H7FB6F6) (H3039)
W0L -18698 ＊
#10 678
(H02A6)
Both setting data items are 16-bit integer type, and therefore the multiplication result is
processed as 16-bit integer type.
An overflow occurs, and the operation result is the latter 16 bits of the multiplication result.
(4) Program in which #0 and #10 are converted to 32-bit integer type, and the multiplication result
is substituted for W0L
W0L = LONG(#0) * LONG(#10)

LONG(#0) 12345
W1 W0 (H007FB6F6) (H00003039)
W0L 8369910 ＊
LONG(#10) 678
(H000002A6)
Even if the device value is the same as program example (3), the multiplication result is
processed as a 32-bit integer type with the type conversion command, and therefore no
overflow occurs.
Appendix - 59
F/FS G
Appendix 7.3.5 Division: /

No. of basic
Format (S1)/(S2) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S1) - - -
(S2) - - -
: Setting possible
[Setting data]
(S1) Divisor data Larger data type
(S2) Division data of (S1) and (S2)
[Function]
(1) Data specified with (S1) is divided by data specified with (S2) to obtain the quotient.
[Error]
• When (S2) is 0
range.
[Program example]
(1) Program in which K456 is divided by #0, and the quotient is substituted for W0
W0 = K456 / #0
456
W0 3 ／
#0 123
(2) Program in which #0F is divided by #10, and the quotient is substituted for D0L
D0L = #0F / #10
#3 #2 #1 #0
12345.789
D1 D0
100.3722683 ／
100
#10 123
Division is performed with the 64-bit floating-point type, the quotient is converted to a 32-bit
Appendix - 60
F/FS G
Appendix 7.3.6 Remainder: %

No. of basic
Format (S1)%(S2) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S1) - - - - -
(S2) - - - - -
: Setting possible
[Setting data]
(S1) Divisor data Larger data type of (S1)
(S2) Division data and (S2) (integer type)
[Function]
(1) Data specified with (S1)is divided by (S2) to obtain the remainder
[Error]
• When (S2) is 0
range.
[Program example]
(1) Program in which K456 is divided by #0, and the remainder is substituted for W0
W0 = K456 % #0
456
W0 87 ％
#0 123
Appendix - 61
F/FS G
Appendix 7.4 Bit Operation

Appendix 7.4.1 Bit inversion (complement): ~
No. of basic
Format ~(S) 2
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S) - - - - -
: Setting possible
[Setting data]
(S) data type
(S) Data for which bit inversion is performed
(integer type)
[Function]
(1) Obtains the bit inversion value for data specified with (S).
[Error]
• When (S) is an indirect designation device, and the device No. lies outside the range.
[Program example]
(1) Program in which the #0 bit inversion value is obtained, and then substituted for D0
D0 = ~#0
b15 b0 b15 b0
D0 1101101011001011 #0 0010010100110100
Appendix - 62
F/FS G
Appendix 7.4.2 Bit logical product: &

No. of basic
Format (S1)&(S2) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S1) - - - - -
(S2) - - - - -
: Setting possible
[Setting data]
(S1) Data for which a logical product operation is performed for Larger data type of (S1)
(S2) each bit and (S2) (integer type)
[Function]
(1) Obtains the logical product for each bit for data specified with (S1) and data specified with
(S2).
operation is performed. When doing so, conversion is performed with symbols, and therefore
caution is advised.
[Error]
range.
[Program example]
(1) Program in which the logical product of #0 and #1 is obtained, and then substituted for D0
D0 = #0 & #1
b15 b0
#0 0010010100110100
b15 b0
D0 0010000100100100 &
b15 b0
#1 0010100100100100
Appendix - 63
F/FS G
Appendix 7.4.3 Bit logical sum: |

No. of basic
Format (S1) | (S2) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S1) - - - - -
(S2) - - - - -
: Setting possible
[Setting data]
(S1) Data for which a logical sum operation is performed for Larger data type of (S1)
(S2) each bit and (S2) (integer type)
[Function]
(1) Obtains the logical sum for each bit for data specified with (S1) and data specified with (S2).
caution is advised.
[Error]
range.
[Program example]
(1) Program in which the logical sum of #0 and #1 is obtained, and then substituted for D0
D0 = #0 | #1
b15 b0
#0 0010010100110100
b15 b0
D0 0010110100110100 ｜
b15 b0
#1 0010100100100100
Appendix - 64
F/FS G
Appendix 7.4.4 Bit exclusive logical sum: ^

No. of basic
Format (S1)^(S2) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S1) - - - - -
(S2) - - - - -
: Setting possible
[Setting data]
(S1) Data for which an exclusive logical sum operation is Larger data type of (S1)
(S2) performed for each bit and (S2) (integer type)
[Function]
(1) Obtains the exclusive logical sum for each bit for data specified with (S1) and data specified
with (S2).
caution is advised.
[Error]
range.
[Program example]
(1) Program in which the exclusive logical sum of #0 and #1 is obtained, and then substituted for
D0
D0 = #0 ^ #1
b15 b0
#0 0010010100110100
b15 b0
D0 0000110000010000 ＾
b15 b0
#1 0010100100100100
Appendix - 65
F/FS G
Appendix 7.4.5 Bit right shift: >>

No. of basic
Format (S1)>>(S2) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S1) - - - - -
(S2) - - - - -
: Setting possible
[Setting data]
(S1) Data for which a right shift is performed (S1) data type
(S2) Number of right shifts (integer type)
[Function]
(1) Data specified with (S1) is shifted to the right by the number of times in the data specified with
(S2).
(2) If the uppermost bit of (S1) is 1, 1 is entered for the uppermost bit in the right shift result. If the
uppermost bit of (S1) is 0, 0 is entered for the uppermost bit in the right shift result.
(3) The result is 0 when (S1) is a 16-bit integer type, and (S2) is negative number or 16 or higher.
[Error]
range.
[Program example]
(1) Program in which #0 is shifted two bits to the right, and then substituted for D0
D0 = #0 >> K2
b15 b0 b15 b0
D0 0000100101001101 #0 0010010100110100
Appendix - 66
F/FS G
Appendix 7.4.6 Bit left shift: <<

No. of basic
Format (S1)<<(S2) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S1) - - - - -
(S2) - - - - -
: Setting possible
[Setting data]
(S1) Data for which a left shift is performed (S1) data
(S2) Number of left shifts (integer type)
[Function]
(1) Data specified with (S1) is shifted to the left by the number of times in the data specified with
(S2).
(2) 0 is entered for the lowermost bit in the left shift result.
[Error]
range.
[Program example]
(1) Program in which #0 is shifted one bit to the left, and then substituted for D0
D0 = #0 << K1
b15 b0 b15 b0
D0 0100101001101000 #0 0010010100110100
Appendix - 67
F/FS G
Appendix 7.5 Bit Device Status

Appendix 7.5.1 ON (contact A): (none)
No. of basic
Format (S) 2
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S) - - - - - - - - - -
: Setting possible
[Setting data]
(S) Bit device used for bit conditional expression Logical type (true/false)
[Function]
(1) When the bit device specified with (S) with the bit conditional expression is ON(1), true is
returned, and when OFF(0), false is returned.
[Error]
[Program example]
(1) Program in which M100 is set when either M0 or X0 is ON(1)
SET M100 = M0 + X0
M0 0 (True)
(偽)
(True)
(真)
M100 1 ＋
X0 1 (False)
(真)
Appendix - 68
F/FS G
Appendix 7.5.2 OFF (contact B): !

No. of basic
Format !(S) 2
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S) - - - - - - - - - -
: Setting possible
[Setting data]
(S) Bit device used for bit conditional expression Logical type (true/false)
[Function]
(1) When the bit device specified with (S) with the bit conditional expression is OFF(0), true is
returned, and when ON(1), false is returned.
[Error]
[Program example]
(1) Program in which M100 is reset when M0 is OFF(0)
RST M100 = !M0
M100 0 ！M0 0 (True)

(真)
Appendix - 69
F/FS G
Appendix 7.6 Bit Device Control

Appendix 7.6.1 Device set: SET
No. of basic
Format SET(D)=(S) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(D) - - - - - - - - - -
(S) - - - - - - - -
*1: Writing is not possible for PX, and therefore cannot be used for (D). : Setting possible
*2: M2001 to M2032 cannot be used for (D).
[Setting data]
(D) Bit data for which device setting is performed
Bit logical type
Condition data which determines whether device setting is (true/false)
(S)
performed
[Function]
(1) Sets bit data specified with (D) when the data specified with (S) is true.
(2) (S) can be omitted. The format is "SET(D)" at this time, and device setting is performed
unconditionally.
(3) If set as a transition condition in the last block of the transition program, the data true/false
specified with (S) is returned as logical type data. In this case, (S) cannot be omitted.
[Error]
range.
[Program example]
(1) Program in which M100 is set when either M0 or X0 is 1
SET M100 = M0 + X0
M0 0
(True)
M100 1 ＋ (真)
X0 1
Appendix - 70
(2) Program in which M100 is set when #0 and D0 match
SET M100 = #0 == D0
#0 100
(True)
M100 1 ＝＝ (真)
D0 100
(3) Program in which Y0 is set unconditionally

SET Y0
Y0 1
Appendix - 71
F/FS G
Appendix 7.6.2 Device reset: RST

No. of basic
Format RST(D)=(S) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(D) - - - - - - - - - -
(S) - - - - - - - -
*1: Writing is not possible for PX, and therefore cannot be used for (D). : Setting possible
*2: M2001 to M2032 cannot be used for (D).
[Setting data]
(D) Bit data for which device resetting is performed
Bit logical type
Condition data which determines whether device resetting (true/false)
(S)
is performed
[Function]
(1) Resets bit data specified with (D) when the data specified with (S) is true.
(2) (S) can be omitted. The format is "RST(D)" at this time, and device resetting is performed
unconditionally.
specified with (S) is returned as logical type data. In this case, (S) cannot be omitted.
[Error]
range.
[Program example]
(1) Program in which M100 is reset when either M0 or X0 is 1
RST M100 = M0 + X0
M0 0
(True)
M100 0 ＋ (真)
X0 1
Appendix - 72
(2) Program in which M100 is reset when #0 and D0 do not match
RST M100 = #0 != D0
#0 100
M100 0 ！＝ (True)
(真)
D0 200
(3) Program in which Y0 is reset unconditionally

RST Y0
Y0 0
Appendix - 73
F/FS G
Appendix 7.6.3 Device output: DOUT

No. of basic
Format DOUT (D),(S) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(D) - - - - - - - - - -
(S) - - - - -
*1: PX and special relays cannot be used for (D). : Setting possible
*2: The range including M2000 to M2127 cannot be used for (D).
[Setting data]
(D) Output destination bit data
Batch bit
(S) Output source data
[Function]
(1) Outputs bit data specified with (S) to bit data specified with (D).
(2) Device Nos. for bit data specified with (D) are specified in multiples of 16.
(3) If the (S) type is 16-bit integer type, (S) data is output sequentially from the lowermost bit in 16
points beginning with the bit device specified with (D).
(4) If the (S) type is 32-bit integer type, (S) data is output sequentially from the lowermost bit in 32
points beginning with the bit device specified with (D).
[Error]
range.
• When (D) is an indirect designation device, and the device No. is not a multiple of 16.
[Program example]
(1) Program in which D0 data is output to Y0 to YF.
DOUT Y0,D0
YF Y0 b15 b0
0010011100001111 D0 0010011100001111
Appendix - 74
F/FS G
Appendix 7.6.4 Device input: DIN

No. of basic
Format DIN (D),(S) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(D) - - - - - - - - -
(S) - - - - - - - - - -
: Setting possible
[Setting data]
(D) Input destination data (D) data type
(S) Input origin bit data (integer type)
[Function]
(1) Inputs bit data specified with (S) to data specified with (D).
(2) Device Nos. for bit data specified with (S) are specified in multiples of 16.
(3) If the (D) type is 16-bit integer type, (D) data is input sequentially from the lowermost bit in 16
points beginning with the bit device specified with (S).
(4) If the (D) type is 32-bit integer type, (D) data is input sequentially from the lowermost bit in 32
points beginning with the bit device specified with (S).
[Error]
range.
• When (S) is an indirect designation device, and the device No. is not a multiple of 16.
[Program example]
(1) Program in which X0 to XF data is input to D0.
DIN D0,X0
b15 b0 XF X0
D0 0010011100001111 0010011100001111
Appendix - 75
F/FS G
Appendix 7.6.5 Bit device output: OUT

No. of basic
Format OUT (D) = (S) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(D) - - - - - - - - - -
(S) - - - - - - - -
: Setting possible
[Setting data]
(D) Bit device for which device output is performed

Bit
(S) Device output conditions data
[Function]
(1) Bit devices specified with (D) are set when the data specified with (S) is true, and bit devices
specified with (D) are reset when the data specified with (S) is false.
specified with (S) is returned as logical type data.
(3) (S) cannot be omitted.
[Error]
range.
[Program example]
(1) Program in which M100 turns ON when M0 is ON, and turns OFF when M0 is OFF.
OUT M100 = M0
(2) Program in which M100 turns ON when both M0 and M1 are ON, and turns OFF in all other
cases.
OUT M100 = M0 * M1
(3) M100 turns ON when the D0 and D2000 values match, and turns OFF when they do not.
OUT M100 = (D0 == D2000)
Appendix - 76
F/FS G
Appendix 7.7 Logical Operations

Appendix 7.7.1 Logical affirmation: (none)
No. of basic
Format (S) -
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S) - - - - - - - -
: Setting possible
[Setting data]
(S) Data for which logical affirmation is performed Logical type (true/false)
[Function]
(1) Returns logical type data true/false specified with (S) as is. (Logical affirmation)
[Error]
[Program example]
(1) Program in which M100 is set when either M0 or X0 is ON(1)
SET M100 = M0 + X0
M0 0 (False)
(偽)
(True)
(真)
M100 1 ＋
(True)
X0 1 (真)
Appendix - 77
F/FS G
Appendix 7.7.2 Logical negation: !

No. of basic
Format !(S) 2
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S) - - - - - - - -
: Setting possible
[Setting data]
(S) Data for which logical negation is performed Logical type (true/false)
[Function]
(1) Performs logical negation for data specified with (S).
[Error]
[Program example]
(1) Program in which M100 is set when "either M0 or X0 is ON(1)" (when both M0 and X0 are
OFF(0))
SET M100 = !(M0 + X0)
M0 0 (False)
（偽）
(True)
（真） !！
(False)
（偽）
M100 1 ＋
(False)
X0 0 （偽）
Appendix - 78
F/FS G
Appendix 7.7.3 Logical product: *

No. of basic
Format (S1)*(S2) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S1) - - - - - - - -
(S2) - - - - - - - -
: Setting possible
[Setting data]
(S1)
Data for which logical product operation is performed Logical type (true/false)
(S2)
[Function]
(1) Obtains the logical product for data specified with (S1) and data specified with (S2).
[Error]
[Program example]
(1) Program in which M100 is set when both M0 and X0 are 1
SET M100 = M0 * X0
M0 1
(True)
M100 1 ＊ (真)
X0 1
Appendix - 79
F/FS G
Appendix 7.7.4 Logical sum: +

No. of basic
Format (S1)+(S2) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S1) - - - - - - - -
(S2) - - - - - - - -
: Setting possible
[Setting data]
(S1)
Data for which logical sum operation is performed Logical type (true/false)
(S2)
[Function]
(1) Obtains the logical sum for data specified with (S1) and data specified with (S2).
[Error]
range.
[Program example]
(1) Program in which M100 is set when either M0 or X0 is 1
SET M100 = M0 + X0
M0 0
M100 1 ＋ (True)
(真)
X0 1
Appendix - 80
F/FS G
Appendix 7.8 Comparison Operations

Appendix 7.8.1 Match: ==
No. of basic
Format (S1)==(S2) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S1) - - -
(S2) - - -
: Setting possible
[Setting data]
(S1)
Data for which comparison is made Logical type (true/false)
(S2)
[Function]
(1) Data specified with (S1) is compared with data specified with (S2), and the result is true if they
match.
comparison is made.
[Error]
range.
[Program example]
(1) Program in which a comparison is made when #0 and D0 match
#0 == D0
#0 100
(True)
(真) ＝＝
D0 100
Appendix - 81
F/FS G
Appendix 7.8.2 Mismatch !=

No. of basic
Format (S1)!=(S2) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S1) - - -
(S2) - - -
: Setting possible
[Setting data]
(S1)
(S2)
[Function]
(1) Data specified with (S1) is compared with data specified with (S2), and the result is true if they
do not match.
comparison is made.
[Error]
range.
[Program example]
(1) Program in which a comparison is made when #0 and D0 do not match
#0 != D0
#0 100
(True)
(真) ！＝
D0 20
Appendix - 82
F/FS G
Appendix 7.8.3 Less than: <

No. of basic
Format (S1)<(S2) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S1) - - -
(S2) - - -
: Setting possible
[Setting data]
(S1) Logical type
Data for which comparison is made
(S2) (true/false)
[Function]
(1) If the data specified with (S1) is less than the data specified with (S2), the result is true.
comparison is made.
[Error]
range.
[Program example]
(1) Program in which a comparison is made to determine whether #0 is less than D0
#0 < D0
#0 10
(True)
(真) ＜
D0 20
Appendix - 83
F/FS G
Appendix 7.8.4 Less than or equal to: <=

No. of basic
Format (S1)<=(S2) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S1) - - -
(S2) - - -
: Setting possible
[Setting data]
(S1)
(S2)
[Function]
(1) If the data specified with (S1) is less than or equal to the data specified with (S2), the result is
true.
comparison is made.
[Error]
range.
[Program example]
(1) Program in which a comparison is made to determine whether #0 is less than or equal to D0
#0 <= D0
#0 10
(True)
(真) ＜＝
D0 20
Appendix - 84
F/FS G
Appendix 7.8.5 Greater than: >

No. of basic
Format (S1)>(S2) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S1) - - -
(S2) - - -
: Setting possible
[Setting data]
(S1)
(S2)
[Function]
(1) If the data specified with (S1) is greater than the data specified with (S2), the result is true.
comparison is made.
[Error]
range.
[Program example]
(1) Program in which a comparison is made to determine whether #0 is greater than D0
#0 > D0
#0 400
(True)
(真) ＞
D0 20
Appendix - 85
F/FS G
Appendix 7.8.6 Greater than or equal to: >=

No. of basic
Format (S1)>=(S2) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S1) - - -
(S2) - - -
: Setting possible
[Setting data]
(S1)
(S2)
[Function]
(1) If the data specified with (S1) is greater than or equal to the data specified with (S2), the result
is true.
comparison is made.
[Error]
range.
[Program example]
(1) Program in which a comparison is made to determine whether #0 is greater than or equal to
D0
#0 >= D0
#0 400
(True)
(真) ＞＝
D0 20
Appendix - 86
F/FS G
Appendix 7.9 Dedicated Motion Functions (CHGV/CHGT)

Appendix 7.9.1 Speed change request: CHGV
No. of basic
Format CHGV((S1),(S2)) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S1) - - - - - - - - - -
(S2) - - - - - -
: Setting possible
[Setting data]
(S1) Axis No. for which speed change request is made
-
(S2) Specified speed
[Function]
(1) Speed change is performed using the following procedure.
(a) The speed change accepting flag (M2061 to M2092) corresponding 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 change accepting flag is turned OFF.
(2) The range of axis Nos. that can be set for (S1) is as follows.
Q172DSCPU Q173DSCPU
1 to 16 1 to 32
When performing interpolation control, set one of the interpolation axes. If performing linear
interpolation control, speed change is performed based on the positioning speed designation
method set in the servo program.
Positioning speed
Operation
designation method
Composite speed The speed is changed so that the composite speed becomes the
designation speed specified with (S2).
The speed is changed so that the major axis speed becomes the
Major axis reference
speed specified with (S2).
Reference axis speed The speed is changed so that the reference axis speed becomes the
designation speed specified with (S2).
Appendix - 87
(3) Operation is performed as follows based on the designated speed symbol set for (S2).
Designated speed symbols Operation

Positive Speed change
0 Temporary stop
Negative Reversal
(4) The range for the designated speed that can be set for (S2) is as follows.
(a) Real mode

mm inch degree PLS
Setting Setting Setting Setting
Unit Unit Unit Unit
range range range range
Speed ×10-3 *1
0 to ×10-2 0 to ×10-3 0 to 0 to
change degrees/mi 2147483647 PLS/s
600000000 mm/min 600000000 inch/min 2147483647
request n
×10-3 *1
Reversal -1 to ×10-2 -1 to ×10-3 -1 to -1 to
PLS/s
request -600000000 mm/min -600000000 inch/min -2147483647 degrees/mi -2147483647
n
*1: If the degree axis speed 10 times designation is enabled in the fixed parameters, the unit will be x10-2 [degrees/min].
(b) Virtual mode

PLS
Setting
Unit
range
Speed
0 to
change PLS/s
2147483647
request
Reversal -1 to
PLS/s
request -2147483647
(5) The speed changed with the CHGV command is valid only for servo programs that have been
started.
(6) Speed change is not performed when deceleration of the axis specified with (S1) is stopped.
(7) Speed change is not performed if the axis specified with (S1) is currently subject to speed/torque
control.
Appendix - 88
(8) By specifying a negative speed during startup and then issuing a speed change request, the
axis starts to decelerate from that point onward, and is able to return in the reverse direction
when deceleration is complete. The following operations are performed with servo commands.
Control mode Servo command Operation
ABS－1 INC－1
ABS－2 INC－2
Linear control
ABS－3 INC－3
The travel direction is reversed when deceleration is
ABS－4 INC－4 complete, the axis returns to the positioning start point
at the specified absolute value for speed, and then
Circular ABS 円弧 INCINC stops (standby). When performing circular
ABS 円弧
interpolation CIRCULAR CIRCULAR interpolation, the axis returns in a circular locus.
control
FEED-1 FEED-2
Fixed feed
FEED-3
CPSTART1
The travel direction is reversed when deceleration is
Constant speed CPSTART2 complete, the axis returns to the previous point at the
control CPSTART3 specified absolute value for speed, and then stops
(standby).
CPSTART4
Speed control
VF VR The travel direction at the specified absolute value for
(I)
speed when deceleration is complete is reversed.
Speed control The axis does not stop until a stop command is input.
VVF VVR
(II)
Speed/position
VPF VPR VPSTART
control
Fixed-pitch feed
PFSTART Reversal is not possible.
control
The request is deemed to be a normal speed change
Fixed position
request.
stop speed PVF PVR
A minor error [305]* occurs, and speed is controlled at
control
the speed limit value.
Speed switching
VSTART
control
JOG operation
High-speed The speed cannot be changed. A minor error [310]*
OSC
oscillation occurs.
The speed cannot be changed. A minor error [301]*
Zeroing ZERO
occurs.
*: Minor error [301]: Speed change was performed during zeroing.
Minor error [305]: The set speed lies outside the 0 to speed limit value range.
Minor error [310]: Speed change was performed during high-speed oscillation.
[Control details]
(a) If the speed is changed to a negative speed, the control indicated in the above table is
performed based on the control mode during startup.
(b) The command speed when returning is the change speed absolute value.
(c) The status when the axis is standing by at the return position is as follows.
1) Signal status
• Start accept (M2001+n) ON (no change to before CHGV
execution)
• Positioning start complete (M2400+20n) ON (no change to before CHGV
execution)
• Positioning complete (M2401+20n) OFF
• In-position (M2402+20n) ON
• Command in-position (M2403+20n) OFF
• Speed change "0" accepting flag (M2240+n) ON
Appendix - 89
2) If starting again, change the speed to a positive speed.
3) If terminating positioning, turn the stop command ON.
4) If a negative speed change is performed again, it is ignored.
(d) Operation is as follows if during reversal in speed control mode.

1) If returning the travel direction again, change the speed to a positive speed.
2) If stopping, turn the stop command ON.
3) If a negative speed change is performed again, speed change is performed in the reversal
direction.
(e) Changes to negative speeds are not performed for axes for which the stroke limit is disabled.
[Error]
(1) An operation error occurs in the following cases, and speed change is not performed.
• When the (S1) designated axis No. lies outside the range.
• When (S2) is an indirect designation device, and the device No. lies outside the range.
(2) A minor error occurs in the following cases, and speed change is not performed.
• When zeroing is performed for the axis specified with (S1). (Minor error: 301)
• When changes to negative speeds are performed for axes for which the stroke limit is disabled.
(Minor error: 310)
POINT
Speed changes are ignored even if performed when the axis specified with (S1)
is decelerating.
No error occurs at this time.
(3) A minor error occurs in the following case, and control is performed at the speed limit value.
• When the absolute value for the speed specified with (S2) is greater than the speed limit
value. (Minor error: 305)
POINT
If the negative change speed absolute value exceeds the speed specified in the
servo program during constant speed control, reversal control is performed at the
speed specified in the program (speed clamp control for speed change during
constant speed control). No error occurs at this time.
Appendix - 90
[Program example]
(1) Program in which the axis 2 positioning speed is changed
CHGV(K2,K10)
(2) Reversal program in which the axis 1 positioning speed is changed to a negative value
CHGV(K1,K-1000)
The operation when a reversal request is made when performing constant speed control is as
follows.
[サーボプログラム]
[Servo program] [軌跡]
[Locus]
CPSTART2
CPSTART2 Axis 軸2
2
Axis
軸11
Axis
軸22
Speed
速度 1000
1000
ABS-2 P2 P3
P3
P1P1 ABS-2
Axis 1 10000
軸1,　　　10000
Axis 2 0
軸2,
ABS-2 0
Axis 1
P2P2 ABS-2 10000
Axis
軸1,2 10000
10000
ABS-2 Negative
負の速度変更 speed change
軸2, 10000
Axis 1 2000
P3P3 ABS-2
Axis 2 1000
軸1,
CPEND 20000 Start
始点 point P1 Axis
軸11
軸2, 10000
CPEND
始動要求
Start request
始動受付けフラグ
Start accept flag
M2001+nM2001＋n
Speed 速度変更要求CHGV
change request
CHGV
Speed 変更速度
change -1000 1000
Composite speed
合成速度
Standby at point P1
ポイントP1で待機
ポイントP1への戻り動作
Return operation to point P1
Command in-position
指令インポジション
(OFF)
(OFF)
Speed change (0)
速度変更「0」
accepting flag
受付け中フラグ
By changing the speed to a negative value while performing positioning at P2 as shown above,
the axis returns to P1 along the locus specified in the program and stands by at P1.
Appendix - 91
POINT
• Speed change precautions
(1) If speed change is performed during the period up until the "Positioning start
complete signal" status turns ON when issuing a servo program start request,
the speed change may be invalid. If the speed change is performed around
the same time as the program is started, create the program in such a way
that the speed change is always performed after the "Positioning start
complete signal" status turns ON.
(2) If the M-code FIN signal wait function is used when performing constant
speed control, and a reversal request is made while the axis is stopped and
waiting for FIN, the request is ignored.
(3) If a reversal request is made immediately before P2 and P2 is passed while
decelerating as in the example on the previous page, the axis returns to P2.
(4) The response time from the point the CHGV command is executed until the
speed actually starts to change is delayed by a maximum of the length of the
operation cycle.
Axis 2
軸2 P2
P2 P3
P3
Reversal performed here.

ここで逆戻り要求を行った
Start始点
point P1
P1 軸1 1
Axis
Appendix - 92
F/FS G
Appendix 7.9.2 Torque limit value change request: CHGT

No. of basic
Format CHGT((S1),(S2)) 4
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S1) - - - - - - - - - -
(S2) - - - - - -
: Setting possible
[Setting data]
(S1) Axis No. for which torque limit value change request made
-
(S2) Specified torque limit value
[Function]
(1) The axis torque limit value specified with (S1) is changed to the torque limit value specified
with (S2).
(2) When in real mode, if servo startup is complete for the axis in question, the torque limit value
is changed at any time regardless of whether the servo is starting, stopped, ON, or OFF.
(3) The range for the axis No. that can be set for (S1) is as follows.
Q172DSCPU Q173DSCPU
1 to 16 1 to 32
(4) The range for the torque limit value that can be set for (S2) is 1 to 1000 [%].
(5) The relationship with the torque limit value specified in the servo program is as follows.
When started
When the servo starts normally, a command is issued specifying the torque limit value for the
starting axis servo based based either on "P.torque" set in the servo program, or the "Torque
limit value" in the specified parameter block. This torque limit value is applied to the travel
amount for the interpolating axis when starting interpolation.

By executing the CHGT command, a command is issued specifying the torque limit value set
only for the designated axis.

Subsequently, the torque limit value specified for the servo when starting the servo program or
when starting JOG operation is valid only if it is lower than the torque limit value changed with
the CHGT command. Clamp processing for this torque limit value is performed for each axis.
Appendix - 93
When starting
(a) Even if the following settings are specified, the torque limit value is not changed to a value
higher than that changed with the CHGT command.
• Torque limit value at midway point when performing constant speed control or speed
switching control
• Torque limit value at the moment position control switching is performed when performing
speed/position switching control
• Torque limit value when performing speed control
(b) With the CHGT command, it is also possible to change to a torque limit value higher than
that set in the servo program or in the parameter block.
(6) The torque limit value changed with the CHGT command is valid only while the servo amp
control power is ON.
[Error]
(1) An operation error occurs in the following cases, and the torque limit value is not changed.
• When (S2) is an indirect designation device, and the device No. lies outside the range.
(2) A minor error occurs in the following cases, and the torque limit value is not changed.
• When the torque limit value specified with (S2) lies outside the 1 to 1000 [%] range. (Minor
error: 311)
• When the CHGT command is issued for axes that have not been started (Minor error: 312)
[Program example]
(1) Program in which the axis 2 torque limit value is changed to 10 [%]
CHGT(K2, K10)
POINT
(1) The CHGT command has no effect (is ignored) if issued while in virtual mode.
If the torque limit value is changed during operation in virtual mode, perform
after setting the "Torque limit value setting device" in the output module
parameters for the mechanical system program.
(2) The time from the point the CHGT command is executed until the torque limit
value is actually transferred to the servo amp is delayed by a maximum of the
length of the operation cycle.
Appendix - 94
F/FS G
Appendix 7.9.3 Torque limit value individual change request: CHGT2

No. of basic
Format CHGT2((S1),(S2),(S3)) 5
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S1) - - - - - - - - - -
(S2) - - - - - -
(S3) - - - - - -
: Setting possible
[Setting data]
(S1) Axis No. for which torque limit value change request made
(S2) Plus direction torque limit value (×0.1 [%] -
(S3) Minus direction torque limit value (×0.1 [%]
[Function]
(1) The axis torque limit value specified with (S1) is changed to the plus direction torque limit
value specified with (S2) and minus direction torque limit value specified with (S3).
The plus direction torque limit value is used to power the servo motor forward rotation (CW)
and control the reverse rotation (CCW) regenerative torque, and the minus direction torque
limit value is used to power the servo motor reverse rotation (CCW) and control the forward
rotation (CCW) regenerative torque.
(2) If servo startup is complete for the axis in question, the torque limit value is changed at any
time regardless of whether the servo is starting, stopped, ON, or OFF.
(3) If a CHGT2 command is executed for the mechanical system output module in virtual mode,
set 300 [%] for the output module torque limit value. If the torque limit value for the output
module is set by indirect designation with a device, a minor error (error code: 6260) occurs,
and the torque limit value is not changed individually.
(4) The range for the axis No. that can be set for (S1) is as follows.
Q172DSCPU Q173DSCPU
1 to 16 1 to 32
(5) (S2) and (S3) cannot be omitted. If changing only one of the torque limit values, set -1 for the
setting data for which no change is required.
(6) The range for the torque limit value that can be set for (S2) and (S3) is 1 to 10000 (x 0.1 [%]).
Appendix - 95
(7) For details on the relationship between the torque limit value specified in the servo program
and the torque limit value change request command, refer to the "Q173D(S)CPU/Q172D(S)
CPU Motion Controller (SV13/SV22) Programming Manual (Real Mode Edition)".
Operation when the CHGT2 and CHGT commands are combined is as follows.
Torque limit value [%]
トルク制限値[％] Plus direction torque limit value (powers servo motor forward rotation
：正方向トルク制限値（サーボモータの正転(CCW)力行，逆転(CW)回生トルク）
(CW), controls reverse rotation (CCW) regenerative torque)
60.0 ：負方向トルク制限値（サーボモータの逆転(CW)力行，正転(CCW)回生トルク）
Minus direction torque limit value (powers servo motor reverse rotation
60.0
(CCW) and controls forward rotation (CW) regenerative torque)
40.0
40.0
20.0
20.0
t
00
Start始動受付けフラグ（M2001＋n）
accept flag (M2001+1)
Torque limit value change

トルク制限値変更要求(CHGT)
request (CHGT) 50[％]
トルク制限値個別変更要求
Torque limit value individual 正方向：40.0[％]　負方向：20.0[％]
Plus direction: 40.0 [%], minus direction: 20.0 [%] 正方向：－1　負方向：10.0[％]
Plus direction: -1, minus direction: 10.0 [%]
(CHGT2)
change request (CHGT2)
Servoサーボプログラム起動
program start
(トルク制限値：30[％]）
(torque limit value: 30 [%])
＊2
Plus 正方向トルク制限値モニタ
direction torque limit 300.0[％] 40.0[％] 30.0[％] 50.0[％]
valueデバイス
monitor device
＊1
Minus負方向トルク制限値モニタ
direction torque limit 300.0[％] 20.0[％] 10.0[％] 50.0[％]
valueデバイス
monitor device
トルク制限値格納レジスタ
Torque limit value storage 300[％] 40[％] 30[％] 50[％]
(D14＋20n)
register (D14+20n)
*1: The torque limit value specified in the servo program is clamped with the minus direction torque limit value changed
＊1：サーボプログラムで指定したトルク制限値は，CHGT2で変更した負方向トルク制限値でクランプされます。
with CHGT2.＊2：CHGT2の正方向トルク制限値に－1が設定されているため変更しません。
*2: -1 is set for the CHGT2 plus direction torque limit value, and therefore there is no change.
(8) When performing speed/torque control, it is not possible to change to the speed set in the
servo data, the speed set in the torque control data, or to a torque limit value higher than the
value used when performing torque control. If either the (S2) or (S3) value specified with the
CHGT2 command is greater than the torque limit value used when performing speed and
torque control, a minor error (error code: 319) occurs, and the torque limit value is not changed
individually.
(9) By setting a plus direction torque limit value monitor device and minus direction torque limit
value monitor device in the servo data settings extended parameters, the plus and minus
direction torque limit values can be monitored.
[Error]
(1) An operation error occurs in the following cases, and the torque limit value is not changed.
range.
(2) A minor error occurs in the following cases, and the torque limit value is not changed.
• When the torque limit value specified with (S2) or (S3) lies outside the 0.1 to 1000.0 [%]
range.
(Minor error: 311)
• When the CHGT2 command is issued for axes that have not been started (Minor error: 312)
• When the (S2) or (S3) value is greater than the torque limit value when performing
speed/torque control if a CHGT2 command is executed for an axis for which speed/torque
control is being performed. (Minor error: 319)
• When a CHGT2 command is executed for an axis for which the torque limit value is
designated indirectly with a device at the output module when in virtual mode. (Minor error:
6260)
Appendix - 96
[Program example]
(1) Program in which the axis 2 torque limit value is changed individually to 20.0 [%] for the plus
direction and 10.0 [%] for the minus direction.
CHGT2(K2, K200, K100)
POINT
The time from the point the CHGT2 command is executed until the torque limit
value is actually transferred to the servo amp is delayed by a maximum of the
length of the operation cycle.
Appendix - 97
F/FS G
Appendix 7.9.4 Target position change request: CHGP

No. of basic
Format CHGP((S1),(S2),(S3)) 6
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S1) - - - - - - - - - -
(S2) - - - - - - - - -
(S3) - - - - - - - - - -
: Setting possible
[Setting data]
(S1) Axis No. for which target position change request is made
Change address designation method
(S2) 0: Address designation
-
1: Travel amount designation
First number of device for which target position change
(S3)
value is stored
Appendix - 98
[Overview]
When a target position change request is issued, the target position is changed while
executing positioning commands. The new target position can be specified with an absolute
address, or with the relative travel amount from the feed current value when executing the
target position change request.
If a request for a target position change to (X, Y) = (400.0 μm, 500.0 μm) by specifying an
absolute address while performing linear interpolation from the positioning start position (X, Y)
= (0.0 um, 0.0 um) to (X, Y) = (800.0 μm, 600.0 μm), operation is as follows.
軸2(Y)
Axis 2 (Y) 変更前の目標位置（X，Y)＝(800.0μm，600.0μm）
Target position before change (X, Y) = (800.0 μm, 600.0 μm)
600.0μm
500.0μm Target position after change
変更後の目標位置
(X, Y) = (400.0 μm, 500.0 μm)
(X，Y)＝(400.0μm，500.0μm）
Ychg
Ychg Position when changing target position
目標位置変更時の位置
(X, Y) = (X , Ychg)
(X，Y)＝(Xchgchg
，Ychg）
Axis 1(X)
軸1(X)
0.0 μm XXchg
0.0μm 400.0μm
chg 400.0 μm
800.0μm
800.0 μm
Composite
合成速度 speed
Axis 1 speed
軸1速度
Axis 1 travel amount after target position change

目標位置変更後の軸1移動量（400.0μm－X chg ） (400.0 μm - Xchg)
Axis 2 speed
軸2速度
ON Axis 2 travel amount after target position change

目標位置変更後の軸2移動量（500.0μm－Y chg ） (500.0 μm - Ychg)
Start accept始動受付けフラグ
flag
(M2001+n) (M2001＋n） OFF
ON
目標位置変更要求（CHGP）
Target position change request (CHGP)
(internal processing image) OFF
(内部処理イメージ）
ON
指令インポジション信号
Command in-position signal OFF
(M2403＋20n）
(M2403+20n)
ON
位置決め完了信号
Positioning complete signal OFF
(M2401+20n) (M2401＋20n）
Appendix - 99
[Function]
(1) The target position is changed for the axis specified with (S1). Depending on the method
specified with (S2), the target position after the change is calculated with the value stored in
the device specified with (S3).
POINT
(1) The CHGP command is valid only for axes that have been started.
(2) Target position change is not performed when deceleration of the specified
axis is stopped.
(3) The time from the point the CHGP command is executed until the target
position is actually changed is delayed by a maximum of the length of the
operation cycle.
(4) By executing the CHGP command when making a servo program start
request (when positioning start complete signal (M2400+20n) is OFF), the
target position change is invalid. If the target position change is performed
around the same time as the servo program is started, create the program in
such a way that the target position change is performed after the "Positioning
start complete signal" status turns ON.
(2) The range of axis Nos. that can be set for (S1) is as follows.
When performing interpolation control, set one of the interpolation axes.
Q172DSCPU Q173DSCPU
1 to 16 1 to 32
(3) By setting (S2), the target position is as follows.
(a) When (S2) is set to 0 (address designation method), the target position value stored in the
device specified with (S3) is set as the target position.
(b) When (S2) is set to 1 (travel value designation method), the position from the feed current
value when executing the CHGP command to the position following travel of the target
position change amount stored in the device specified with (S3) is set as the target
position.
Point
By setting (S2) to 1 (travel value designation method) and executing the CHGP
command with a normal task, variations in the changed target position may occur
as a result of variations in the command accept timing. By executing with the
same fixed cycle task as the operation cycle, variations can be controlled.
Appendix - 100
(4) The first device in which the target position change value is stored is specified in (S3).
Set an even number for the first device, and set the target position change value as follows.
Setting range
degrees
Offset Name
mm inch PLS Address Travel value
designation designation
+0 Target pos.
+1 change value 1
+2 Target pos. -2147483648 -2147483648
+3 change value 2 -2147483648 to -2147483648 to
to to 0 to 35999999
2147483647 2147483647
+4 2147483647 2147483647 (×10-5 [degree])
(×10- [inch]) (×10-5 [degrees])
5
Target pos.
change value 3 (×10-1 [μm]) ([PLS])
+5
+6 Target pos.
+7 change value 4
(a) Set a positioning address or travel value for the target position change value based on the
(S2) setting.
(b) Set the target position change values in ascending order among the interpolation axes.
(Example) If making a target position change request while an INC-3 command is being
executed
[K100] INC-3
Axis
軸 3,3， 3000PLS
3000PLS
Axis
軸 4.4， 4000PLS
4000PLS
Axis 1, 4000PLS
軸 1， 4000PLS
Speed 10000PLS/s
10000PLS/s
The axis Nos. corresponding to target position change values 1 to 4 are as follows.
Target position change value 1 Axis No.1 setting

Target position change value 4 No setting required
(5) The CHGP command can be executed for both real mode programs and virtual mode programs.
Appendix - 101
(6) When executing the CHGP command, the following operations are performed with servo
commands during execution.
Control
制御モード Servo command
サーボ命令 Operation
動作
ABS－1 INC－1 By executing the CHGP command, positioning is

performed with linear interpolation control to the
ABS－2 INC－2 target position from which the change was made
直線制御
Linear from the feed current value when the command is
CHGP命令の実行で，実行時の送り現在値から変更した目標位
ABS－3 INC－3
executed.
置に直線補間制御で位置決めを行います。
ABS－4 INC－4
Fixed feed
定寸送り FEED-1 FEED-2 FEED-3
Circular ABS INC
円弧補間制御
interpolation control ABS円弧
CIRCULAR INC円弧
CIRCULAR
The target position change is ignored, and a
目標位置変更は無視され，軽度エラー[330]となります。
Helical interpolation
ヘリカル補間制御
ABS
ABSヘリカル
HELICAL INCヘリカル
HELICAL
INC minor error [330] occurs.
control
By executing the CHGP command, positioning is performed with
CHGP命令の実行で，実行時の送り現在値から変更した目標位
Constant CPSTART1 CPSTART2 linear interpolation control to the target position from which the
置に直線補間制御で位置決めを行います。残りのポイントへ
change was made from the feed current value when the
speed control
等速制御
command is executed. Positioning to the remaining points is not
は位置決めを実行しません。
CPSTART3 CPSTART4
performed. (See item 10.)
（本項(10)参照）
Speed control (I)
速度制御（Ⅰ） VF VR
Speed control (II)

速度制御（Ⅱ） VVF VVR
Speed/position control VPF VPR VPSTART

速度・位置制御
Fixed-pitch feed
位置追従制御
control PFSTART
定位置停止速度
Fixed position stop
PVF PVR
The target position change is ignored, and a minor
speed control 目標位置変更は無視され，軽度エラー[330]となります。
制御 error [330] occurs.
Speed switching
速度切換え制御
control VSTART
JOG operation
JOG運転
Speed/torque control
速度・トルク制御
High-speed
高速オシレート
oscillation OSC
Zeroing
原点復帰 ZERO
(7) Operation following execution of the CHGP command is as follows.

• The automatic decelerating flag (M2128+n) turns ON when automatic deceleration to the
target position following the change is processed.
• The command in-position signal (M2403+20n) turns ON when the absolute value for the
difference between the target position following the change and the feed current value falls
below the "command in-position range".
• The positioning complete signal (M2401+20n) turns ON when output of the command to the
target position following the change is complete.
(8) After executing the CHGP command, the composite speed remains as is, and the speed of
each axis changes based on the target position following the change. Consequently, the
speed of each axis may change suddenly depending on the target position following the
change, and therefore caution is advised.
Appendix - 102
(9) Processing is as follows if using reference axis speed designation or major axis reference
designation with linear interpolation control.
• The major axis is not reselected when changing the target position. The same major axis as
that prior to the target position changed is used.
• The positioning speed is recalculated based on the travel value for each axis following the
target position change.
• If the reference axis or major axis travel value becomes 0 due to the target position change,
a minor error (error code: 264) occurs, and deceleration stops.
(10) By executing a CHGP command during constant speed control (CPSTART), positioning is
performed at the changed target position.
Positioning is not performed at the points after the point being executed when a target position
change request is made.
[Servo program]
[サーボプログラム] [Locus]
[軌跡]
<K200>
CPSTART2
Axis
軸 1 1 Axis 2
軸2
Axis
軸 2 2
Speed
速度 2000
P1 ABS-2
Axis 1
軸
Axis 2
1, 10000
軸
Speed 2, 0
速度
M-code 1000 Target value after change
Mコード 100
P2 ABS-2 P2 P3
Axis
軸 1 1, 12000
Axis
軸 2 2, 10000
Speed
速度
M-code
2000
Mコード 200
P3 ABS-2
軸 1 1,
Axis 20000 Axis 1
軸1
Axis
軸 2 2, 10000 0 P1
M-code
Mコード 300
CPEND
ON
Start request OFF
始動要求
Start accept flag ON
(M2001+n) OFF
始動受付けフラグ
(M2001＋n) ON
Target position
change request CHGP OFF
目標位置変更要求CHGP
ON
Positioning complete signal OFF
位置決め完了信号
(M2401+20n)
(M2401＋20n)
M-code (D13+20n)
Mコード(D13＋20n) 100 200
Composite speed
合成速度
t
POINT
(1) By executing the CHGP command, setting items for the point for which
positioning is currently being performed are taken over, and positioning is
performed.
(2) The CHGP command is used to perform linear interpolation control for all
axes specified with CPSTART, and therefore it is necessary to set target
positions for all axes specified with CPSTART.
(3) If the CHGP command is executed while positioning at the circular
interpolation or helical interpolation point when performing constant speed
control, positioning at the circular interpolation and helical interpolation points
is completed, and the target position is then changed at the same time as
positioning at the linear interpolation point is started.
Appendix - 103
(11) The operation if a target position change request is made with the address designation method
for axes for which the control unit is [degrees] is as follows.
• Positioning is performed at the address following the change with the current travel direction
unchanged.
• If using the address designation method, set the change address from 0 to 35999999 × 10-5
[degrees]. If set outside the range, a minor error (error code: 260) occurs, and deceleration
stops.
(12) By executing the CHGP command, the operation if the travel value to the target position
following the change is smaller than the deceleration distance required to stop deceleration
from the speed applied during control is as follows.
• A minor error (error code: 261) occurs, and deceleration stops the moment the CHGP
command is executed.
• The difference between the travel value to the deceleration stoppage until the target position
following the change is an overrun.
• The positioning complete signal (M2401+20n) does not turn ON.
V 変更後の目標位置までの移動量
Travel value to target position following change
オーバラン
Overrun
t
ON
Target position change OFF
request CHGP
ON
Error detection OFF
エラー検出(M2407＋20n)
(M247+20n)
位置決め完了信号 OFF
Positioning complete signal
(M2401＋20n)
(M2401+20n)
(13) If a negative speed change is performed after executing the CHGP command, the axis
decelerates to a speed of 0, and when decelerating is complete, the axis returns to and stops
(stands by) at the position where the target position change (when CHGP command received)
was made when performing linear interpolation.
[Locus]
[軌跡] Axis
軸22
Target position before change
変更前の目標位置
Position when changing target position
目標位置変更時の位置
Target position after change
Axis 1
軸1
Positioning位置決め開始位置
start position
ON
Target position change request CHGP OFF
ON
Speed change速度変更要求CHGV
request CHGV OFF
(negative speed change)
(負の速度変更)
Speed when negative speed change executed

負の速度変更実行時の速度
Composite speed
合成速度
Negative speed absolute
CHGVで指定された
value specified with CHGV
負の速度の絶対値
Appendix - 104
[Error]
(1) An operation error occurs in the following cases, and the target position is not changed.
• When a value outside the 0 to 1 range is specified with (S2).
• When (S3) is other than an even-numbered device.
• When the (S3) to (S3) + 7 device No. lies outside the range.
(2) A minor error occurs in the following cases, and the target position is not changed.
• When home zeroing is being performed for the relevant axis. (Minor error: 330)
• When executing a servo program that does permit the target position of the relevant axis to
be changed. (Minor error: 330)
• When the target position following the change exceeds the stroke limit range. (Minor error:
262)
• When the FIN acceleration/deceleration or advanced S-curve acceleration/deceleration is
set for the acceleration/deceleration system. (Minor error: 263)
• When the travel value for the reference axis or major axis becomes 0 if reference axis speed
and major axis reference have been designated when performing linear interpolation control.
(Minor error: 264)
• When the change address lies outside the 0 to 35999999 × 10-5 [degrees] if an address
designation method target position change request for axes for which the control unit is
[degrees]. (Minor error: 260)
• When the travel value to the target position following the target position change is smaller
than that required to stop deceleration from the speed during control. (Minor error: 261)
Appendix - 105
[Program example]
(1) Program when changing the target position by travel value designation for axes 2 and 8 during
positioning with ABS-2
[Servo[サーボプログラム]
program] [Motion SFC program]
[モーションSFCプログラム]
<K50>
[F10] //Axis 2 target change position
ABS-2 D3000L=K5000 //軸2目標変更位置
Axis
軸 2 2, 20000 D3002L=K-3000//軸8目標変更位置
//Axis 8 target change position
Axis
軸 8 8, 10000
Speed
速度 3000 [G10]
//Stand by until PX1 turns ON
PX001//PX1がONするまで待機
[F20] //Target position change by

//軸2，軸8に対して移動量指定
specifying travel value for
で目標位置変更
axes 2, 8
CHGP(K2,K1,D3000)
[Locus]
[軌跡]
Axis 8
軸8
10000
－3000
Axis 2
軸2
0
20000
5000
Composite speed
合成速度
3000
t
0
Axis 2 speed
軸2速度
t
0
Axis 8 speed
軸8速度
t
0
Start
始動要求 request
Start accept flag

始動受付フラグ(M2001＋n)
(M2001+n)
PX1
PX1
Target position change
request CHGP
Appendix - 106
F/FS G
Appendix 7.10 Other Commands

Appendix 7.10.1 Event task authorized: EI
No. of basic
Format EI 1
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
- - - - - - - - - - - -
: Setting possible
[Setting data]
There is no setting data.
[Function]
(1) Authorizes event task execution.
(2) Can only be used with normal tasks.

[Error]
• When used with other than normal task.
[Program example]
(1) Authorizes event task execution.
EI
Appendix - 107
F/FS G
Appendix 7.10.2 Event task prohibited: DI

No. of basic
Format DI 1
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
- - - - - - - - - - - -
: Setting possible
[Setting data]
[Function]
(1) Prohibits event task execution.
(2) If an external interrupt or PLC interrupt occurs after executing the DI command, the
corresponding event task is executed once when the EI command is executed. (If an external
interrupt or PLC interrupt occurs multiple times while executing the DI command, the
corresponding event task is executed once only when the EI command is executed.)
(3) Fixed cycle events are not executed during DI.
(4) The execution of NMI tasks cannot be prohibited.
(5) The status becomes the DI status when the multiple CPU system power is turned ON or reset.
[Error]
• When used with other than normal task.
[Program example]
(1) Program in which event task execution is prohibited
DI
Appendix - 108
F/FS G
Appendix 7.10.3 No processing: NOP

No. of basic
Format NOP 1
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
- - - - - - - - - - - -
: Setting possible
[Setting data]
[Function]
(1) With a no processing command, there is no effect on operations performed thus far.
[Error]
(1) No processing: There is no NOP operation error.
Appendix - 109
F/FS G
Appendix 7.10.4 Block transfer: BMOV

No. of basic
Format BMOV (D),(S),(n) 6
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(D) - - - - - - - -
(S) - - - - - - - -
(n) - - - - - - - - -
: Setting possible
[Setting data]
(D) First No. of transfer destination device
(S) First No. of transfer origin device -
(n) No. of transfer words
[Function]
(1) The n word content from the device specified with (S) is batch transferred to the n word from
the device specified with (D).
(2) Transfer is possible even if the transfer origin and transfer destination devices overlap. If
transferring to the device with smaller number, data is transferred from (S), and if transferring
to the device with larger number, data is transferred from (S) + (n - 1).
(3) By specifying Nn (cam No.) for (D) or (S), cam data can be batch transferred. It is necessary
that cam data for the same cam No. already be registered in the motion controller. Ensure that
the number of transfer words specified with (n) matches the specified cam No. resolution.
カムデータ書込み時
When writing cam data
The cam data storage area is rewritten.

• Transfer of data to the cam data area is also performed during cam operation. Data is not
written while performing operation with the same cam No., and therefore caution is advised.
カムデータ読み出し時
When reading cam data
• Cam data in the currently set condition is read.
Appendix - 110
(4) Devices that can be set for (D), (S), and (n) are as follows.
Cam No.
Setting Word device *2 Bit device *2, *3
designation
data
Dn Wn SDn U□\Gn #n Mn U\Gn.m Bn Fn SMn Xn Yn Nn *1
*4 *4
(D)   -    -   -   
*4 *4
(S)       -      
(n)   -   - - - - - - - -
*1: Nn indicates the cam No.
*2: Indirect designation is not possible for device Nos.
*3: Device Nos. for bit data are specified in multiples of 16.
*4: PX and PY cannot be set.
(5) The range for cam Nos. that can be set with Nn is as follows.
Q173D(S)CPU/Q172D(S)CPU
1 to 64
101 to 164
201 to 264
301 to 364
[Error]
• When cam data for cam Nos. specified with (D) and (S) have not been registered in the motion
controller.
• When the resolution for cam Nos. specified with (D) and (S) differs from the number of transfer
words specified with (n).
• When (S) to (S) + (n - 1) lies outside the device range.
• When (D) to (D) + (n - 1) lies outside the device range.
• When (n) is 0 or a negative number. When (n) is a word device
• When PX and PY settings exist for (S) to (S) + (n - 1). designation.
• When PX and PY settings exist for (D) to (D) + (n - 1).
(2) An error occurs in the following cases if motion SFC program conversion is performed at MT
Developer.
• When (S) to (S) + (n - 1) lies outside the device range.
• When (n) is 0 or a negative number. When (n) is a constant
• When PX and PY settings exist for (S) to (S) + (n - 1). designation
• When (S) is a bit device, and the device No. is not a multiple of 16.
• When (D) is a bit device, and the device No. is not a multiple of 16.
Appendix - 111
[Program example]
(1) Program in which 5 word content from D0 is batch transferred from #10 to the 5 words
BMOV #10,D0,K5
#10 12 Batch transfer
D0 12
#11 34 一括転送 D1 34
#12 56 D2 56
#13 78 D3 78
#14 90 D4 90
(2) Program in which 2048 word content from #0 is batch transferred to the cam No.2 (resolution
2048) data area
BMOV N2,#0,K2048
カムNo.2
Cam No.2cam
のカムデータ
data
No.00 stroke ratio
番目のストローク比 H0000 #0 H0000
Batch
一括転送transfer
No.11 stroke ratio
番目のストローク比 H0005 #1 H0005
No.22 stroke ratio
番目のストローク比 H000A #2 H000A
:
：：：：
No.2047 stroke ratio
2047 番目のストローク比 H0000 #2047 H0000
POINT
The cam stroke ratio is set in the 0 to 7FFFH range.
(3) Program in which 4 word content from X0 is batch transferred from #20 to the 4 words
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
一括転送 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
Appendix - 112
F/FS G
Appendix 7.10.5 Same data block transfer: FMOV

No. of basic
Format FMOV (D),(S),(n) 6
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(D) - - - - - - - -
(S) - - - - - - - -
(n) - - - - - - - - -
: Setting possible
[Setting data]
(D) First No. of transfer destination device
Transfer data, or device No. in which data to be
(S) -
transferred is stored
(n) No. of transfer words
[Function]
(1) The data or device content specified with (S) is (n) word transferred to the device specified
with (D).
(2) Devices that can be set for (D), (S), and (n) are as follows.

data Dn Wn SDn U\Gn #n Mn U\Gn.m Bn Fn SMn Xn Yn
*3 *3
(D)   -    -   -  
*3 *3
(S)       -     
(n)   -   - - - - - - -
Appendix - 113
[Error]
• When (n) is 0 or a negative number. When (n) is a word device
• When PX and PY settings exist for (D) to (D) + (n - 1). designation.
(2) An error occurs in the following cases if motion SFC program conversion is performed with MT
Developer.
• When (S) lies outside the device range.
• When (n) is 0 or a negative number. When (n) is a constant
• When PX and PY settings exist for (S). designation
[Program example]
(1) Program in which all 3456H is set in the 100 word section from #10
FMOV #10,H3456,K100
m,km
(2) Program in which the D4000 content is set in the 50 word section from W0
FMOV W0,D4000,K50
W0 1234
Transfer
転送
W1 1234
D4000 1234
W2 1234
：：
W31 1234
(3) Program in which all 8000H is set in the 4 word section 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 Transfer b15 b0
転送
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
Appendix - 114
F/FS G
Appendix 7.10.6 Data writing to self CPU shared memory: MULTW

No. of basic
Format MULTW (D),(S),(n),(D1) 8
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(D) - - - - - - - - -
(S) - - - - - - - - -
(n) - - - - - - - - -
(D1) - - - - - - - - - -
: Setting possible
[Setting data]
Self CPU shared memory address for write destination
(D)
(800H to FFFH)
(S) No. of first device in which write data is stored -
(n) No. of write words (1 to 256)
(D1) Self CPU device turned ON when writing complete
[Function]
(1) Writes the (n) word section of data for devices specified with the self CPU unit (S) and onward
to the CPU shared memory address specified with the self CPU unit (D) and onward.
When writing is complete, the completed bit device specified with (D1) turns ON.
CPU shared memory addresses

CPU共有メモリアドレス
0H
自号機動作情報
Self CPU operating
information area
エリア
Self CPU自号機の共有メモリ
shared memory Device memory 200H
デバイスメモリ
(D) (D) n) (n)ワード分
word (S) System area
システムエリア
H0000 (S) H0000
H0005 書込む
section write H0005 800H Specifyable
書込み指定
User setting area
ユーザ自由エリア
H000A H000A write area
可能エリア
1000H
Unusable
使用不可
H0000 H0000
2710H Multiple CPU high
マルチCPU間
speed transmission
5F0FH 高速通信エリア
area
(2) Reset completed bit devices at the user program.
(3) Other MULTW commands cannot be processed until the MULTW command is executed and
the completed bit device turns ON. If the MULTW command is executed again during the
period of time from when the MULTW command is executed until the completed bit device
turns ON, an error will occur for subsequently executed MULTW commands.
Appendix - 115
(4) Devices that can be set for (D), (S), (n), and (D1) are as follows.
*1 *1
Word device Bit device , *2
Setting
U□\Gn.
data Dn Wn SDn U□\Gn #n Mn Bn Fn SMn Xn Yn
m
(D) ○ ○ - ○ ○ - - - - - - -
*3
(S) ○ ○ - ○ ○ ○ - ○ ○ - ○ ○*3
(n) ○ ○ - ○ ○ - - - - - - -
(D1) - - - - - ○ ○ ○ ○ - ○*4 ○*4

*4: PY setting is also possible. PX cannot be set.
(5) With this command, processing time becomes longer in proportion to the number of write
words (n), and execution tasks and the number of transfer words should be adjusted by
referring to the operation processing time in order to prevent from obstructing the execution of
motion operation.
[Error]
• When the number of write words (n) lies outside the 1 to 256 range.
• When the write destination self CPU shared memory address (D) lies outside the CPU
shared memory address (800H to FFFH) range.
• When the write destination self CPU shared memory address (D) + number of write words
(n) lie outside the CPU shared memory address (800H to FFFH) range.
• The first device No. (S) in which the write data is stored + number of write words (n) lie
outside the device range.
• When the MULTW command is executed again during the period of time from when the
MULTW command is executed until the completed bit device turns ON.
• (D) is a device for which writing is not possible.
• When PX and PY settings exist for (S) to (S) + (n - 1).
[Program example]
(1) Writes 2 words from D0 to shared memory A00H and onward, and processing proceeds to the
next step after write completion is confirmed.
F0
RST M0
MULTW HA00,D0,K2,M0
G0
M0
共有メモリ
Shared memory 2ワードデバイスメモリ
Device memory
A00H 2 word 転送
transfer D0H
100 100
A01H 200 D1H 200
Appendix - 116
F/FS G
Appendix 7.10.7 Data reading from shared memory: MULTR

No. of basic
Format MULTR (D),(S1),(S2),(n) 7
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(D) - - - - - - - - -
(S1) - - - - - - - - -
(S2) - - - - - - - - -
(n) - - - - - - - - -
: Setting possible
[Setting data]
(D) No. of first device in which read data is stored
First I/O number of PLC CPU,
motion CPU from which data is read
(S1)
(No.1 CPU: 3E0H, No.2 CPU: 3E1H,
No.3 CPU: 3E2H, No.4 CPU: 3E3H) -
CPU shared memory first address for data
(S2)
to be read (0H to FFFH)
(n) No. of read words (1 to 256)
[Function]
(1) Reads (n) word data from the address specified with CPU shared memory (S2) in the applicable
CPU specified with (S1), and stores it in the device specified with (D) onward.
CPU shared memory
CPU共有メモリ
addresses Self CPU
自号機 Other
他号機 CPU
アドレス
0H Self CPU operating Specifyable
自号機動作情報読出し指定
read area
(S1)
(S1) Shared
指定号機の memory for information area
エリア可能エリア
Device
デバイスメモリmemory specified
共有メモリ CPU 200H *1 Specifyable
(D) (n) word System area ＊1 読出し指定
(D) H0000 (n)ワード分 (S2)(S2) H0000
システムエリア read area
可能エリア
section
読出す read 800H Specifyable
H0005 H0005 読出し指定
User setting area
ユーザ自由エリア read area
H000A H000A 可能エリア
1000H
Unusable
使用不可
H0000 H0000
2710H Multiple CPU high speed
マルチCPU間
transmission area
5F0FH 高速通信エリア
*1: Read is not possible if the applicable CPU is a
＊1：対象号機が自号機の場合は読出し不可
self CPU.
Appendix - 117
(2) Devices that can be set for (D), (S1), (S2), and (n) are as follows.

*3 *3
(D)   -    -   -  
(S1)   -   - - - - - - -
(S2)   -   - - - - - - -
(n)   -   - - - - - - -
(3) If reading is completed successfully from the applicable CPU No. specified with (S1), read
completion flags SM528 to SM531 (No.1 CPU: SM528, No.2 CPU: SM529, No.3 CPU: SM530,
No.4 CPU: SM531) corresponding to the applicable CPU number turn ON. If reading is
unsuccessful, the read completion flag for the applicable CPU No. specified with (S1) does not
turn ON.
(4) With this command, processing time becomes longer in proportion to the number of read
motion operation.
(5) If multiple MULTR commands are executed simultaneously for the same CPU, read
completion flag SM528 to SM531 for the applicable CPU turns ON depending on the result of
the MULTR command executed last.
(6) Reset read completion flag SM528 to SM531 at the user program.
[Error]
• When the number of read words (n) lies outside the 1 to 256 range.
• When the read data CPU shared memory first address (S2) lies outside the CPU shared
memory address (0H to FFFH) range.
• When the read data CPU shared memory first address (S2) + number of read words (n) lie
outside the CPU shared memory address (0H to FFFH) range.
• The first device No. (D) in which the read data is stored + number of read words (n) lie
outside the device range.
• When other than 3E0H, 3E1H, 3E2H, or 3E3H is set with (S1).
• When the CPU performing reading is being reset.
• When an error is detected at the CPU performing reading.
Appendix - 118
[Program example]
(1) Confirms that the No.1 CPU is not being reset, reads 2 words to #0 onward from No.1 CPU
shared memory C00H, and processing proceeds to the next step after write completion is
confirmed.
G0
!SM240
F0
RST SM528
MULTR #0,H3E0,HC00,K2
G0
SM528
Device memory
デバイスメモリ 22ワード
word 共有メモリ
Shared memory
#0 100 転送
transfer C00H 100
#1 200 C01H 200
Appendix - 119
F/FS G
Appendix 7.10.8 Word data writing to intelligent function module: TO

No. of basic
Format TO (D1),(D2),(S),(n) 7
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(D1) - - - - - - - - -
(D2) - - - - - - - - -
(S) - - - - - - - - -
(n) - - - - - - - - -
: Setting possible
[Setting data]
Intelligent function module first I/O No.
(D1)
(000H to FF0H)
(D2) First address in buffer memory to which data is written -
(S) No. of first device in which write data is stored
(n) No. of write words (1 to 256)
[Function]
(1) Writes (n) word data from the device specified with (S) to the address specified with (D2) in the
buffer memory inside the intelligent function module managed by the self CPU specified with
(D1) and onward.
(D1)
(D1) インテリジェント
Intelligent function
機能ユニット
module buffer
バッファメモリ
memory デバイスメモリ
Device memory
(D2)
(D2) H0000 (n) word (S) H0000
(n)ワード分
H0005 section
書込む write H0005
H000A H000A
H0000 H0000
Appendix - 120
(2) (D1) specifies the first I/O number for the module specified in the system settings.
Power
電源 Q03UD Q173DS QX40 Q64AD Q64DAN
unit
ユニット CPU CPU
First I/O First I/O 先頭入出力
先頭入出力 First I/O
先頭入出力
No. No.番号 No.
番号番号
No.：00H No.：10H No.：20H
If the TO command is executed for the D/A conversion module (Q64DA) with the
above mentioned system setting, (D1) will be 20H.
(3) Devices that can be set for (D), (D2), (S), and (n) are as follows.

(D1)   -   - - - - - - -
(D2)   -   - - - - - - -
*3 *3
(S)   -    -   -  
(n)   -   - - - - - - -
(4) With this command, processing time becomes longer in proportion to the number of write
motion operation.
(5) Only the following analog modules can be used as motion CPU control modules.
• Analog input (Q68ADV, Q62AD-DGH, Q66AD-DG, Q68ADI, Q64AD, Q64AD-GH, Q68AD-G)
• Analog output (Q68DAVN, Q68DAIN, Q62DAN, Q62DA-FG, Q64DAN, Q66DA-G)
Appendix - 121
[Error]
• When the number of write words (n) lies outside the 1 to 256 range.
• When unable to communicate with the intelligent function module when executing the
command.
• When an intelligent function module error is detected when executing the command.
• When the I/O No. specified with (D1) is not an intelligent function module controlled by a self
CPU.
• When the address specified with (D2) lies outside the buffer memory range.
• The first device No. (S) in which the write data is stored + number of write words (n) lie outside
the device range.
• When PX and PY settings exist for (S) to (S) + (n - 1).
[Program example]
(1) Writes 2 words from #0 to intelligent function module (first I/O No. 010H) buffer memory address
0H.
TO H010,H0,#0,K2
Intelligent function module

インテリジェント機能ユニット
（先頭入出力番号：010H）
(first I/O No. 010H)
バッファメモリ
Buffer memory 22ワード
word デバイスメモリ
Device memory
0H 100 転送
transfer #0 100
1H 200 #1 200
Appendix - 122
F/FS G
Appendix 7.10.9 Word data reading from intelligent function module: FROM
No. of basic
Format FROM (D),(S1),(S2),(n) 7
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(D) - - - - - - - - -
(S1) - - - - - - - - -
(S2) - - - - - - - - -
(n) - - - - - - - - -
: Setting possible
[Setting data]
(D) No. of first device in which read data is stored
Intelligent function module first I/O No.
(S1)
(000H to FF0H) -
(S2) First address in buffer memory from which data is read
(n) No. of read words (1 to 256)
[Function]
(1) Reads (n) word data from the address specified with (S2) in the buffer memory inside the
intelligent function module controlled by the self CPU specified with (S1), and writes it to the
device specified with (D) and onward.
(S1) Intelligent
(S1) function
Device
デバイスメモリmemory module
バッファメモリbuffer memory
(D)
(D) (S2)
H0000 (n) word section(S2)
(n)ワード分 H0000
H0005 read読出す H0005
H000A H000A
H0000 H0000
Appendix - 123
(2) (S1) specifies the first I/O number for the module specified in the system settings.
電源 Q03UD Q173DS QX40 Q64AD Q64DAN

ユニット CPU CPU
First
先頭入出力 First I/O
First I/O 先頭入出力
先頭入出力
I/O No. No.
番号 No.
番号
番号
No.：00H No.：10H No.：20H
If the FROM command is executed for the A/D conversion module (Q64AD) with the
above mentioned system setting, (S1) will be 10H.
(3) Devices that can be set for (D), (S1), (S2), and (n) are as follows.

*3 *3
(D)   -    -   -  
(S1)   -   - - - - - - -
(S2)   -   - - - - - - -
(n)   -   - - - - - - -
(4) With this command, processing time becomes longer in proportion to the number of read
motion operation.
(5) Only the following analog modules can be used as motion CPU control modules.
• Analog input (Q68ADV, Q62AD-DGH, Q66AD-DG, Q68ADI, Q64AD, Q64AD-GH, Q68AD-G)
• Analog output (Q68DAVN, Q68DAIN, Q62DAN, Q62DA-FG, Q64DAN, Q66DA-G)
Appendix - 124
[Error]
• When the number of read words (n) lies outside the 1 to 256 range.
• When unable to communicate with the intelligent function module when executing the
command.
• When an intelligent function module error is detected when executing the command.
• When the I/O No. specified with (S1) is not an intelligent function module controlled by a self
CPU.
• When the address specified with (S2) lies outside the buffer memory range.
• The first device No. (D) in which the read data is stored + number of read words (n) lie outside
the device range.
[Program example]
(1) Reads 1 word from intelligent function module (first I/O No. 020H) buffer memory address 10H,
and stores it in W0.
FROM W0,H020,H10,K1
Intelligent function module
（先頭入出力番号：020H）
(first I/O No. 020H)
Device memory 1 word

デバイスメモリ 1ワード
transfer Buffer
バッファメモリmemory
W0 100 転送 10H 100
11H 200
300
Appendix - 125
F/FS G
-
Appendix 7.10.10 Time wait: TIME
No. of basic
Format TIME(S) 7
steps
[Usable data]
Usable data
Setting data
Comparative
Calculation
conditional
conditional
expression
expression
formula
16-bit 32-bit
Bit
integer integer
type type (L)
(S) - - - - - - -
: Setting possible
[Setting data]
(S) Wait time (0 to 2147483647) [ms] Logical type (true/false)
[Function]
(1) Waits the length of time specified with (S).
When the elapsed time is less than the set time, the result is false, and when longer than or
equal to the set time, the result is true, and processing continues.
(2) If (S) is specified with a 16-bit integer type word device and there are times when the time is
specified between 32768 and 65535 [ms], perform 32-bit integer value conversion without
symbol with ULONG. (See program example.)
[Error]
• When the data specified with (S) (device data when indirect designation) lies outside the 0 to
2147483647 range.
[Program example]
(1) Program with wait time of 60 seconds (when constant designation)
TIME K60000
(2) Program with 16-bit integer type indirect designation (#0) and in which the wait time can be
between 32768 and 65535 [ms]
TIME ULONG(#0)
(3) Program in which the bit device is set (reset) when the specified time or longer has elapsed,
and processing continues
SET M100 = TIME K60000
Appendix - 126
POINT
(1) If the wait time is designated indirectly with a word device, the device value is
controlled with the value loaded first. The set time cannot be changed, even if
the device value is changed during the wait time status.
(2) The TIME command is the equivalent of a conditional expression, and
therefore can only be set in the last line of transition (G) programs.
(3) If transition programs (Gn) with same number for which the TIME command
is set are used with multiple motion SFC programs, ensure that the programs
are not run simultaneously. (If run simultaneously, the wait time for the
program run first will be illegal.)
(4) If the transition program (Gn) is of another number, the TIME command can be
executed simultaneously with multiple motion SFC programs. (The maximum
number of simultaneous active steps is 256.)
(5) The wait time cannot be canceled during the wait time specified by executing
the TIME command.
Appendix - 127
Appendix 8 Overview of Virtual Mode Control for SV22 Automatic Machines
(a) Virtual mode uses software to perform synchronous control processing
with a mechanical system program comprised of a virtual main shaft
and mechanical module. By using virtual mode, it is possible to switch
from the previous synchronous control performed with a mechanical
system using a main shaft, gears, and cams, etc. to positioning control
using servo motors.
(b) With virtual mode, a mechanical system program is required in addition to

the positioning parameters, servo programs, and motion SFC programs
used with real mode.
(c) The procedure when performing positioning control in virtual mode is as

follows.
1) A virtual mode motion SFC program start request is issued with a
sequence program SFCS command.
2) The mechanical system program virtual servo motors start.
3) The results of operations performed through a transfer module are

output to the servo amplifier set in the output module.
QQシーケンサCPU
PLCC CPU QQモーションCPU
motion CPU
Sequence program
シーケンスプログラム Motion SFC program
モーションSFCプログラム Mechanical system program
メカ機構プログラム
①
(1) 駆動モジュール
Drive module
DP.SFCS
DP.SFCS ････ K10
K10 ････ Rotary cutter (K10)
ロータリカッタ (K10) （仮想サーボモータ）
(virtual servo motor)
Transfer
伝達モジュール module
MotionモーションSFC
SFC (2)
②
[G200]
[G200]
プログラム
program start M2044//仮想モード中?
M2044//In virtual mode?
起動要求命令
request command
(Axis
（軸1） 1)
[K100: Virtual]
[K100：仮想]
始動プログラム番号指定
Start program No. designation VF
1 VF
Axis 1軸　　 1
*1: Motion SFC programs can also be
合成
Composite D D 0 0PLS/sec
PLS/sec
※1．モーションSFCプログラムは、パラメータ
started automatically with a parameter
　　設定により自動起動することもできます。
setting. END
END
※2．SVST命令を使用することにより，SFCプロ
*2: By using the SVST command, servo
　　グラムなしでサーボプログラムを直接始動
programs can be started directly without 出力
することもできます。 Positioning parameters
位置決め用パラメータモジュール
Output module
an SFC program.
システム設定
System settings
Fixed parameters
Servo parameters
サーボパラメータ ③
(3)
Parameter block
Limit switch output data
出力データ
Servo Servo
サーボアンプ
amplifier
サーボアンプ
amplifier
• Zeroing is not possible in virtual mode, and therefore zeroing data
is not used. (Zeroing is performed in real mode.)
• Virtual mode JOG operation is controlled with JOG operation data (4) Servo motor Servo motor
④ サーボモータサーボモータ
set in the drive module parameters.
• External synchronous encoder pulses are input to the synchronous
encoder input unit or manual pulse generator input unit, allowing the
mechanical system program synchronous encoder to be operated.
Appendix - 128
Appendix 9 Glossary
A Absolute position system

This means cam non-dimensional acceleration. By zeroing once when starting up positioning control
Non-dimensional acceleration is non-dimensional devices, current values are backed up with a battery
speed differentiated by non-dimensional time. even when the power is turned OFF, and machine
The maximum value is expressed with Am. displacements are compensated.
See "Am". Consequently, there is no need to perform zeroing
See "V". after turning ON the power.
To construct this system, a servo amplifier compatible
5th power polynomial curve with servo motor with absolute position detector is
This curve has five boundary conditions, is smooth, required.
and possesses excellent characteristics.
AC motor drive unit
Absolute encoder This is a built-in servo amplifier capable of being
This is an absolute position detector that allows connected to and driving a single servo motor.
angular data contained in a single motor rotation to be
output externally, and standard encoders allow 360 Acceleration
degrees to be extracted in 8 to 12 bits. Acceleration is speed differentiated by time, and
With incremental encoders, the axis position when a expresses the rate of change of speed.
power outage occurs is lost, however, with absolute Furthermore, acceleration is proportional to force.
encoders, the axis position is retained, even in the See "A".
event of a power outage.
See "Encoder". Acceleration time
This is the time taken to reach full speed from the
stopped status with the motion controller.
The parameter acceleration time is the time taken to
reach the speed limit value, and therefore becomes
proportionally shorter if the set speed is low. It is
determined by such factors as the machine inertia and
motor torque, and load resistance torque.
Full全速＝速度制限値
speed = speed limit value
Absolute code
絶対値コード板
速度
wheel code wheel
Absolute
Speed
Angular data contained in a single rotation is known

the instant the power is turned back ON again,
however, data for multiple rotations (how may rotations 0 時間Time
were made) is backed up with a battery.
Acceleration
加速時間 time
Absolute mode
This is a method used to express the positioning Actual current value
address. This is an absolute address method. This is the actual servo travel amount pulse count
This method expresses the distance from the calculated from feedback pulses.
reference 0. The positioning direction is determined
automatically without being specified. There is also an
Address
incremental mode.
(1) Memory address Memory holds addresses, and
0 No.1 No.3 No.2 data is written and read by specifying these
No.1 No.3 No.2
addresses.
メモリ
Memory
00 データ
Data
11 データ
Data
①
(1) ②
(2) 22 データ
Data
(1) to (3) indicates operating sequence. (3)
③ 33 データ
Data
①～③は運転順を示す。
44 データ
Data
55 データ
Data
66 データ
Data
(Address)
（アドレス）
(2) Numerical value indicating the target position when

performing positioning. Units are set in mm, inches,
degrees, or pulses.
Appendix - 129
Am acceleration Backup function
This is the cam non-dimensional acceleration maximum (1) This function ensures that sequence programs and
value. device statuses stored in the PLC CPU RAM
See "A". memory are not forgotten even in the event of a
power outage.
Analog command (2) This function is used on absolute position compatible
Converts command pulses inside the positioning systems to ensure that current values are not
module to analog voltage, and outputs the converted forgotten even in the event of a power outage.
analog voltage to the servo motor drive module. (3) When replacing CPU modules, CPU data (servo
The motion controller contains no dedicated module programs, servo parameters, absolute position
capable of issuing this analog command. compatible data, etc.) is read by peripheral equipment,
A stand-alone MELSEC-A AD72 or AD70 analog and then loaded following CPU replacement.
output positioning module can be used.
Ballscrew
Auto tuning This is a type of screw, and has balls in the engaging
The responsiveness and stability of machines driven part similar to ball bearings. There is very little
by servo motors is influenced by changes in the backlash, and it can rotate with very little force, and so
moment of inertia and rigidity resulting from changes in is used for positioning.
factors such as machine load. See "Feed screw".
This function is used to automatically adjust the speed
loop gain and position loop gain based on the machine めネジ screw
Female
condition in order to maintain maximum machine
performance. Male
おネジ screw
Automatic trapezoidal acceleration/deceleration

This is positioning movement in which the time and
speed graph forms a trapezium.
Acceleration
加速
Deceleration
減速
Speed Base shut-off
速度
The servo amplifier supplies power to the servo motor
Time
時間 through power transistor switching.
Consequently, the base is shut off to stop power
Backlash compensation supply to the servo motor when the servo power turns
Play (backlash) occurs as the movement direction OFF or when an alarm occurs. When this happens,
changes from forward rotation to background rotation servo motors are in a coasting condition.
as the gears engage. The same phenomenon occurs
even with screws, and it is not simply enough to feed Blank cover module
an axis 1 m to the right when performing positioning This is an empty module used to improve the
and then feed 1 m back to the left to return the axis to appearance of vacant slots on the main base or
its original position. The axis will not return to its expansion base.
original position until it has also been fed by the
amount of play. This refers to the compensating of this Bottom dead center
play. This is similar to the "play" in car steering wheels. This refers to the lower side of the machine installation
route for the cam mechanism reciprocating motion.
Forward
正転rotation This is the lower point of the cam.
See "Reciprocating cam".
See "Feed cam".
Cam
Machine element used to transfer anticipated
movements through direct contact with a joint with
Backlash
バックラッシュ contactor of simple shape such as a knife edge, roller,
or planar shape.
機械は does not
Machine
1 m (Right travel)
1m（右行）動かない
move Cam curve
1m（左行） The follower member motion curve moved with the
1 m (Left travel) バック
Backlash cam can be set with a software package
Left travel feed amount ラッシュ
（左行送り分） (SWOSRX-CAMP). There are various names of cam
curves such as constant speed, constant acceleration,
5th power polynomial, cycloid, modified trapezoid,
modified sine, modified constant velocity, trapecloid,
double harmonic, and simple harmonic.
Appendix - 130
CAMP Count type zeroing
CAMP is a software package (SW3RN－CAMP) used The axis decelerates to creep speed when the
to create cams for virtual mode cam output. proximity dog turns ON during zeroing, and after
moving the travel value after the dog turns ON, the
CHANGE signal subsequent home position signal is set as the home
This is an external signal used to trigger position position address.
control while executing speed control. The proximity dog length can be ignored.
See "Zeroing method".
Characteristics of cam curves
VV Zeroing direction
原点復帰方向
This is the speed and acceleration of cam curves.
Zeroing
原点復帰速度 speed
Circular interpolation 原点復帰
Zeroing
始動
Positioning is performed by running a horizontal start クリープ速度
Creep speed
direction motor and vertical direction motor
simultaneously, the CPU performs the computations
necessary to draw an arc, and interpolation is tt
performed automatically.
Circles are created with auxiliary point designation, Proximity
近点ドグdog
radius designation, and center point designation, and ON
ON
Zero
零点point
any obstructions found can be avoided.
See "Linear interpolation". Travel value after proximity dog ON
近点ドグON後の移動量
Creep
This is a low speed at which the axis moves a little
障害
before reaching the home position when performing

Collision zeroing during positioning.
衝突
Obstruction
AA BB CC D
D It is difficult to stop suddenly at a precise point when
traveling at high speed, and therefore it is necessary
to switch to creep speed.
Command in-position See "Proximity dog type zeroing".
This turns ON when the difference detected between
the positioning address (command position) and feed Current feed value
current value with a signal found in the positioning This is the number of calculated pulses corresponding
data fixed parameters matches the set value. to the travel distance output by the motion controller.
Detection is made a little before the positioning end
point address, and it is used to carry out preparatory Current loop mode
work, etc. This is also referred to as torque loop mode.
See "Position loop mode".
Constant speed control
With a single start command, positioning is performed to Current value
the end point at fixed speed while performing linear or Current positioning control address
circular specified positioning control to a predetermined
pass point. Current value change, current value rewrite
With a FOR/NEXT command, the same control as that Refers to the teaching of temporary proximate values
for the pass point can be repeated. used for positioning when the machine is assembled
and connected to the motion controller.
Constant velocity curve In addition, this function can be used to write
This curve is applied if necessary for axes to run at temporary current values at such times as when
constant speed. current values are lost in the event of an accident, etc.
By then performing zeroing, the motion controller
Continuous pass recognizes the home position. Changes to current
This is control such as constant speed control in which values can be performed with a CHGA command
a route is followed without interruption. during a positioning stoppage.
Control unit Cursor

This is one of the basic units of positioning data, and is Used to urge caution to the operator at display
specified in mm, inches, degrees, or pulses. screens on peripheral equipment and CRTs, etc.
表示画面
Display screen
In Japan, mm or degrees? Pulses can also be used!
In the USA, inches or degrees?
カーソル
Cursor
COPY
This means copying a part from the Edit screen to
another location.
Appendix - 131
CUT Differential output
This means storing a part from the Edit screen to the This is one type of encoder feedback pulse output.
system buffer. If transferring a single signal, by transmitting signals
Parts stored in the system buffer by cutting can be with reversed polarity in pairs, the receipt side is able
displayed on the Edit screen again by pasting. to judge by setting the signal logic, and its excellent
noise resistant properties make it ideal for pulse train
Cycloid curve high speed signal transfer.
Commonly abbreviated to CY curve, this curve has
been known for many years as a continuous curve, Command Servo amp
指令装置サーボアンプ
and has little excitation frequency component, making module
it ideal for high speed. On the downside, it has high
characteristic values such as speed, acceleration, and
inertia torque.
Data set type zeroing

Driver
ドライバ Receiver
レシーバ
Sets the position at which the axis is currently stopped
as the home position address.
No proximity dog switch is required.
See "Zeroing method".
Digital bus connection
Commands output from the motion controller to servo
amplifiers are generally in the form of a pulse train or
V Current position while
停止中の現在位置が
V analog output, however, this method involves issuing
stopped is home position.
原点となる。 commands with digital values by connecting a bus line,
facilitating the construction of highly reliable,
tt high-speed, high-accuracy systems.
ZERO command
execution
ZERO命令の実行 Direct clutch
This is one of the virtual mode mechanical system
programs.
DELETE This transfer module clutch is a clutch with setting time
This means deleting parts from the Edit screen. of zero for which no smoothing time constant has been
set.
Deviation counter See "Smoothing clutch".
This counter is built in to the drive unit, and is used for
positioning. Discontinuous curve
Feedback pulses are subtracted from motion controller This is a constant speed curve or constant
command pulses, the command pulse and feedback acceleration curve within a cam curve for which
pulse deviation value (droop pulses) are sent to the acceleration within an interval including both the start
D/A converter, the motor is run, and if there are no point and finish point is not continuous.
command pulses, the motor is run until the number of
droop pulses reaches 0. DOG signal
Command This refers to the home position proximity dog.
pulses Deviation D/A
Motor
counter converter Drive module
programs.
PLG
Refers to the pairing of a virtual servo motor and
Feedback pulses synchronous encoder used to rotate the main shaft
Pulse and auxiliary input axes.
generator
Drive unit
Commands (pulses, etc.) issued by the motion
Differential gear controller are of low voltage and current, resulting in
This is one transfer module in the virtual mode insufficient energy to drive motors. This unit amplifies
mechanical system program, and is used for auxiliary these commands to drive motors.
input for main shaft rotations.
Motion
モーションドライブ
Drive unit Motor
モータ
controller
コントローラユニット
Power電源
supply
Drive unit ready

This signal indicates that the motor drive unit is ready.
The drive unit remains OFF if the power is OFF or if an
accident occurs.
Appendix - 132
Droop pulses Electromagnetic brake
As the machine has inertia (GD2), if positioning Electromagnetic brakes are installed on motors to
module speed commands are issued as is, the prevent vertical axes slipping during power outages or
machine becomes delayed and is therefore unable to when accidents occur, and for protection when motors
keep up. are stopped.
In the case of servo motors, speed command pulses This is a non-excitation electromagnetic brake.
are accumulated in the deviation counter to delay
them. Droop pulses are these accumulated pulses. Electronic gear
When the machine stops, the deviation counter This function is used for positioning, and allows the
discharges all pulses to leave the count at 0. feed value per feedback pulse to be changed freely.
To be exact, the difference between feed pulses and The feed pulse and feedback pulse ratio, in other
feedback pulses is droop pulses. words pulse rate, is selected based on the machine,
however, the advantage of this function is that it can
200 be set freely regardless of this machine system.
1,000指令カウンタ
フィード
800
パルス counter パルス Deviation
偏差カウンタ counter
comman 溜まり feed D/A
D/A Voltage
電圧
droop Feed pulses
フィードパルス電子＋
d pulses 200個
1,000個 pulses pulses
800個 Electronic
Motor
モータ
500P
500P ギヤgear
1000P －
1000P
Feedback pulses
フィードバックパルス
PLG
PLG
1000P
Dwell
Dwell refers to a condition in which the axis is temporarily フィードバックパルス
stopped, with no follower member displacement over the
passage of a certain period of time. Emergency stop
It is necessary to insert the emergency stop or stop
Dwell period program for safety purposes into the PLC program,
This is the input axis rotation angle when the output and also install a circuit used to stop the machine
axis is stopped, and the sum of this and the index outside the PLC.
period is 360°. This measure is taken in consideration of the rare
event of a PLC defect occurring, or the emergency
Dwell time stop being disabled by the sequence program based
It takes time to calculate deviation counter droop on the timing at which the PLC power turns ON and
pulses immediately after positioning is finished. OFF.
Positioning will be inaccurate if this time is too short, Note that it is better for input devices to use contact b
and so a longer time is used for the dwell time. because it allows wire damage and contact defects to
be detected.
Dynamic brake EMG signals should be used.
When the protective circuits are triggered by a power
EMG signal
outage or emergency stop condition (EMG signal), the
dynamic brake is used to short the circuit via a resistor With all axes, the emergency stop external switch is
between servo motor terminals, consume rotation contact b. Consequently, the power for the switch is
energy as heat, and stop axes suddenly without normally ON.
coasting the motor. By issuing this signal, all axes stop, the external
Braking power is generated only while motors capable emergency stop input flag (M9076) turns OFF, and the
of obtaining brake torque greater than that of motor coasts.
electromagnetic brakes are rotating, and as there is no Furthermore, addresses will be lost and so caution is
holding power when motors are stopped, mechanical required.
brakes are also used to prevent vertical axes from
falling.
EIA
This is the EIA code (EIA standard) punched on the
perforated paper tape used to instruct the NC unit to
perform processing.
Other NC languages are ISO code (ISO standard) and
JIS code (JIS standard).
EIA code
This is a tape code used for numerical control machine
perforated paper tape stipulated by the Electronics
Industries Association, and has 8 tracks including 6
bits used to show information, an odd number parity bit,
and an EOB character (end of block).
Appendix - 133
Encoder Feed cam
Inputs position information to the control unit. Pulse Consecutive feed motions are made by the stroke
generator, etc. Encoding device amount from the lower stroke position (bottom dead
The diagram shows an optical encoder. center), facilitating conveyor feed and transfer device
feed.
Main signal slit
主信号用スリット
Zero point signal slit
ゼロ点信号用スリット
ボールベアリング
Ball bearing
コード円板
Code disk
ストローク量
Stroke value
ZZ 0 下死点
Bottom dead center
0 1 cycle
1サイクル
Input axis
入力軸
A
A BB
受光素子
Receipt element
Feed forward control
(フォトトランジスタ) Index scale 光源
インデックス Light source
(photo transistor) (LED) Used to minimize motor delay and improve servo
スケール (発光ダイオード)
tracking in response to positioning control commands.
(Disabled during auto tuning.)
Rotary encoder Set to 0 to 150%.
(incremental)
Feed pulse
Light source
光源(LED)
(LED) Collimated lens
コリメートレンズ These are pulses sent from the command device on
(LED) the positioning module, etc. to the servo unit or
stepping motor. These are also referred to as
command pulses.
Main scale
メインスケール b
b
受光素子
Feed screw
Receipt element
(フォトダイオード)
(photo diode) This is a piece of apparatus used to perform
a
a positioning by rotating a screw, and is the main screw.
aa Ballscrews are commonly used to minimize backlash
Reference home position bb
基準原点 zz and dimensional error.
インデックススケール
Index scale
位置決め
Positioning
送りネジ
Feed screw
Linear encoder Rotation

モータで
with 回転
motor
Linear encoders employ a binary output format, and
are available in incremental and absolute types. Lead
リード
See "Absolute encoder". (feed amount with one screw rotation)
（ネジ1回転の送り量）
See "Incremental encoder".
Feedback pulse
Error compensation A command is issued during automatic control, and
When a dimensional error exists at the machine, when this pulse train is returned to confirm whether the
the feed value is actually less than or greater than 1 m machine is behaving in accordance with the command.
even although a 1 m command is sent from the If not, a correction command is issued. If a command
module, the motion controller compensates for that with 10,000 pulses is issued, and 10,000 feedback
error. For example, when the actual feed value is less pulses are returned, the balance should be 0. These
than 1 m, extra pulses just enough to cover the are also referred to as return pulses.
shortfall are sent to perform the correct 1 m See "Deviation counter".
positioning.
File name
External regenerative brake resistor This is the name given when writing data or programs
Referred to as regenerative brake. to a floppy disk or hard drive.
When moving machinery with a motor, power is File names are made up of the system name and
normally supplied from the amplifier to the motor, machine name, each with up to 8 characters, and a
however, when the motor is decelerating or driving a header is appended.
down load, the rotation energy held by the motor and See "Machine name".
machinery flows back (is regenerated) to the amplifier.
This regenerative energy is consumed by resistance, Fixed feed
and regenerative control capability is exhibited using This means obtaining the dimensions required to cut
the regenerative brake torque obtained. sheet and rod materials in the specified dimensions
This is used if performing high-frequency acceleration/ when performing positioning. The incremental method
deceleration. is commonly used.
There are three types: FEED-1, FEED-2, and FEED-3.
Follower member
This is a general term used to refer to the part that
makes contact with the cam (rod which moves back
and forth), or a load system after that point.
Appendix - 134
Formatting Gear
Refers to the initialization of the hard drive or floppy This is one transfer module in the virtual mode
drive disk, and involves the writing of computer rules mechanical system program, and is used to branch
and contents, etc. to the disk. Consequently, the disk main shaft rotations to the output module.
memory capacity will be reduced by the amount The gear ratio and rotation direction can be set.
required for formatting.
Disks are for general use, and therefore formatting is Grid
required to tailor them for the computer. Formatting Refers to useful reference horizontal and vertical lines
need only be performed once at the beginning. used for arranging parts on the mechanical system
editing screen.
Forward limit switch signal
This is a positioning control device input signal used to Home position
report the triggering of the external upper limit switch This is the position used as the reference for
(contact b configuration, power normally ON) for the positioning. Positioning cannot be started without a
travel range in which positioning control is performed. reference point.
This signal turns OFF when the external FLS signal
(contact b) is OFF (not conducting), and the Lower limit Reference
とにかくここが基準である
positioning operation has stopped. 下限
Fully closed control 原点

Home position
The machine travel mechanism is equipped with a
closed encoder, and direct travel distance is detected,
In position
allowing transfer system mechanism (gears,
ballscrews, timing belts, etc.) machine system errors The droop pulse value (difference between position
between the motor and machine to be suppressed to a command value and position feedback from servo
minimum. motor) in the deviation counter is detected with a
signal in the positioning data servo parameters, and
This type of control is also ideally suited to positioning
this in-position signal turns ON when the detected
control for sliding mechanisms.
value matches the set value.
A few droop pulses are cut, allowing them to be used
送りローラ
Feed roller at such times as when staring subsequent positioning.
Cutter
カッタ
Incremental encoder
This is a device used simply to emit ON/OFF pulses as
モータ
Motor an axis rotates. Single-phase encoders emit only A
Closed
クローズド pulses, and the axis rotation direction is unknown. Two-
PLG
PLG encoder
エンコーダ phase encoders emit both A and B pulses, allowing the
system to judge that the motor is rotating in the forward
direction if B turns ON while A is ON, and in the reverse
Motion Servo
サーボ
direction if A turns ON while B is ON.
controller amp.
アンプ There are also encoders with zero point signals.
MR - B-S Incremental encoders emit between 100 and 10,000
pulses per axis rotation, and are the most commonly
With closed encoders, the workpiece length is used encoders.
detected directly, ensuring a uniform workpiece See "Encoder".
cutting length regardless of feed roller slipping.
B信号スリット
B signal slit
A signal slit
A信号スリット
発光ダイオード
G-code Slit disk
スリット円板 AA LED
This is a standardized two-digit (00 to 99) number BB
フォト ZZ
used to stipulate the NC unit axis control function, and Photo
トランジスタtransistor ゼロ信号スリット
Zero signal slit
is also referred to as G function.
Example 回転軸 axis 11ピッチ
pitch
Rotational
G01 Linear interpolation
G02 Circular interpolation (clockwise)
G04 Dwell A A
1 pitch B
I/4
4 ピッチ
G28 Zeroing B
G50 Main shaft high speed setting Zero point signal
ゼロ点信号
軸1回転に1個
1 pulse for axis 1 rotation
出力波形　2相＋原点出力
Output waveform 2 phase + home position output
GD2
In mechanics, this is the same concept as moment of
inertia, and is a format used to express the moment of
inertia for gravitational unit systems (engineering units,
etc.)
2
"GD " is one of these symbols with G representing
gravity, and D representing the rotational diameter.
2 2 2
GD = [gravity] x [rotational diameter] (kgf/m )
The unit for moment of inertia used in catalogs is J (x
-4 2
10 kg/m ).
2
Consequently, it is given by GD = 4 x J.
Appendix - 135
Incremental mode Linear interpolation
This mode is used for positioning, and expresses the Positioning is performed by running a horizontal
position based on the specified direction and distance, direction (X) motor and vertical direction (Y) motor
with 0 as the stopping point. This is a relative address simultaneously, the CPU performs the computations
method. This mode is used for fixed feeding, etc. necessary for axis travel to proceed in a straight line,
There is also an absolute mode. and interpolation is performed automatically.
ABS-2 to ABS-4, and INC-2 to INC-4 can be used.
停止
Sto No.1
NO.1 No.3
NO.3 No.2
No.2 The following is an example of 2 axis linear
interpolation.
00 No.9
No.9
(3) ③右
Right
0
0 00
Lateral feed
①右
(1) Right ②右
(2) Right 4
縦送り 33 55
No.2はNo.1より右へ○mm。
No.2 is ○ mm to the right of No1. 66
22
Inertia
No.8
No.8 77
Behavior in which the current condition remains the No.1
No.1
same provided that the object is not acted upon by an Horizontal
横送り feed
external force. It is referred to as the moment of inertia.
Load inertia ratio
Installation function 2
GDL /GDM
2
2
The motion controller internal OS (operating system) See "GD ".
can be rewritten using peripheral equipment.
Dedicated operating systems are used for the SV13 Low inertia motor
conveyance and assembly controller, SV22 automatic Used when wishing to accelerate and decelerate
machine controller, SV43 processing machine frequently.
peripheral equipment controller, and SV51 dedicated In order to reduce the moment of inertia from standard
robot controller, and installing each OS facilitates use motors to approximately one third, the rotor diameter is
to match each machine. reduced, and the longitudinal direction is lengthened to
cover torque.
Inverter A load inertia ratio of 1 or less is ideal.
This is a device used to convert direct current to
alternating current. In order to actually change the Machine name
motor speed, a commercial frequency of 50Hz or 60Hz Maximum eight character code applied freely by the
is first delivered by direct current, which is then user from a file name. Alphabet characters (upper
converted to a an alternating current of 5Hz to 120Hz case), numbers, and one symbol are used. The first
to control the motor speed. character must be an alphabet character.
See "File name".
Jerk
This is a further differentiation of acceleration by time, Manual pulse generator
and expresses the rate of change of acceleration. Pulses are generated by manually rotating a handle.
JOG
JOG operation This means moving a little at a time.
Inching.
JOG operation is used for peripheral equipment test
operation, and can be performed with a sequence
program by writing parameters and the JOG speed.
カナ
KANA
Margin
KANA. Key found on peripheral equipment. Press to This is the cam and cam follower ratio of contact, and
enter Katakana characters. Remember to reset this should normally be 60% or higher.
key when entering alphabet characters or numbers.
Master axis
This is the side at which positioning data is prioritized
KPPS when performing interpolation during positioning.
Kilo-pulse per second It is an interpolation control unit set in the parameter
This is the number of pulses per second. 80 KPPS block.
means 80,000 pulses per second.
Line monitoring
This is the monitoring of the PLC and controller control
status during operation.
Appendix - 136
M-code Multiplication ratio setting
This is a signal used to trigger auxiliary functions such This is the pulse rate.
as drill change, clamping, unclamping, raising and See "Pulse rate".
lowering of electrodes, and all types of display that are
performed together with positioning. No-dwell motion
Codes 1 to 255 are assigned (1: clamp, 2: unclamp, At the operation start and end points, there is no dwell,
etc.) and used by users. acceleration is maintained at an arbitrary value, the
M is an abbreviation of machine. reciprocating operation is repeated, and the
acceleration (A) value becomes smaller.
Mechanical support language
Synchronous control is performed, and therefore by Notch filter
using software to process synchronous control This sets the notch frequency to match the machine
operations that were previously mechanically joined system resonant frequency.
with mechanisms using a main shaft, gears, and cams,
processing switches to positioning control (roller output, Numerical Control
ballscrew output, rotary table output, cam output) with
This is the language punched on the paper tape used
servo motors.
to instruct the NC unit to perform processing.
See "Mechanical system program".
Other NC languages are EIA code (EIA standard), ISO
code (ISO standard) and JIS code (JIS standard).
Mechanical system program
This consists of a mechanical mechanism connection Numerical controller
drawing connecting the drive module (virtual servo
Unit offering even more advanced positioning. 3 axes
motor and synchronous encoder) and virtual main
or more can be controlled with high accuracy and at
shaft, transfer module (gears, clutches, speed change
high speed. Control for complex curves and curved
gear, differential gear), output module (cams, rollers,
surfaces is also possible.
ballscrews, rotary table) with the respective module
parameters. A
F
C(?)
Model adaptive control a3 r2 a1
E(?)
r1
When performing actual operation, differences occur in a2
the actual control state quantity relative to the ideal m
control state quantity. D(?)
Motion control enables optimum loop gain control
based on those differences to ensure that control is
always performed at maximum performance.
One-dwell motion, dwell-rise-dwell motion
Modified constant velocity curve If used to double back on the same curve on the
Commonly abbreviated to MCV curve, this curve has a upward and downward journey for a movement
fixed speed interval in the middle of the curve, and is involving a stop at only the start point or finish point of
used when necessary to lower the maximum speed to that journey, acceleration can be reduced, and
reduce the pressure angle, or when a fixed speed movement becomes smoother.
portion is required.
It is applied to heavy loads traveling at medium speed. Option slot
Slot into which a motion module or MELSEC-Q Series
Modified sine curve can be installed to suit the intended use.
Commonly abbreviated to MS curve, this is a
commonly used standard curve. It has low maximum Output module
speed and small cam axis torque coefficient, and This refers to a module used to run a servo motor in
acceleration is comparatively low, and therefore is virtual mode.
widely used when the nature of the load is unknown. It The output module has rollers, ballscrews, rotary table,
is applied to loads traveling at high speed. and cams.
Modified trapezoid curve Pancake motor

Commonly abbreviated to MT curve, this is a standard The axis direction dimension is 100 mm shorter than
curve developed to minimize the maximum the standard shape,
acceleration value, and is applied to light loads and is used when there is little space to install the
traveling at high speed. servo motor.
Monitoring trace graph Parabolic curve

This is a monitor function, and displays waveforms Commonly abbreviated to PB curve, it possesses the
based on traced (recorded) position commands, characteristic of having a non-dimensional maximum
position droop, motor speed, motor current, and speed acceleration, facilitating minimum time control under
command values during positioning. the condition that the maximum acceleration value is
suppressed.
Motion control On the downside, acceleration is discontinuous, and
This refers to positioning control. vibrations occur easily.
Appendix - 137
Parameter block Positioning
This allows changes to be made easily to control This refers to traveling from a certain point to the
conditions with data such as that for acceleration and predetermined next point.
deceleration control used for positioning processing. For example, determining length in mm units,
outputting a drilling position, etc.
Parameters Servo motors channel power from the motion
Parameters stipulate PLC functions. Memory capacity, controller issuing the position commands.
relay or timer types, status latch selection, and
comment capacities and so on can be set by users as Positioning completion signal
parameters. Default values are set to enable basic This is signal Xn1 that turns ON when the positioning
functionality. There are fixed parameters and servo dwell time is complete.
parameters for positioning. The purpose of this signal is to begin other work
(clamping, etc.) after positioning.
PASTE
This means redisplaying parts cut from the Edit screen Dwell time
ドゥエルタイム
and stored in the system buffer on the Edit screen Positioning completion
速度
位置決め完了信号ON
again. Speed signal ON
PCPU
This refers to the positioning control CPU that exists
as the motion controller CPU configuration. 位置決め別な作業work
Positioning Separate
In addition, there is also a sequence control CPU
時間
Time
known as an SCPU.
PG0 (PG zero) Positioning devices

See "Home position signal". These refer to I/O signals, internal relays, data
registers, special relays, and special registers used to
Plural harmonic motion communicate signals between the SCPU (PLC CPU)
and PCPU (positioning CPU).
This is a cam curve,
examples of which are motions in which the
acceleration pattern is the multiple perpendicular axis Positioning parameters
component of a uniform circular motion. This is the basic data used for positioning control, and
This has been improved to make it difficult to cause includes such information as system settings to match
vibrations to "simple harmonic motions". the servo motors and servo amps used, the control unit,
travel value per pulse, speed limit value, upper and
Position loop gain lower stroke limits, and acceleration/deceleration time.
Expresses the control response speed when
performing positioning control at item 1 in the Programmable controller ready
positioning data servo parameters. This value Signal indicating that the PLC CPU is ready. Special
stipulates the number of deviation counter droop function modules are unable to function if this
pulses during operation, and droop pulses will become condition is not established.
smaller if the setting is high, allowing the settling time
when the axis is stopped to be reduced. If too high, Proximity dog type zeroing
however, undulations will occur when the axis stops, The axis starts to decelerate when the proximity dog
resulting in slight vibrations. Droop pulses will increase turns ON during zeroing, and after moving at creep
in size if the value is small, allowing axes to come to a speed until the proximity dog turns OFF, the first home
smooth halt as the settling time increases when the position is set as the home position address. The
axis stops, however, the stopping error will increase. length of the proximity dog is the point.
(sec )
-1 See "Zeroing method".
Position loop gain = Command pulse frequency
Droop pulse
原点復帰方向
Zeroing direction
Position loop mode V Zeroing speed
原点復帰原点復帰速度
This is one of the servo control modes used for
positioning, and is used for position control. 始動
Zeroing start クリープ速度
Creep speed
In addition, there is also a speed loop mode used to
perform speed control, and a torque loop mode used
to perform torque control (current control). tt
サーボアンプサーボモータ近点ドグ

Proximity dog
Servo amp Servo motor
ON
ON OFF
OFF
Zero
零点 point
Droop pulse
溜りパルス
Pulse
パルス列 train
位置速度電流
PTP point to point control
Position Speed Current Inverter M
M This refers to positioning control.
制御
control 制御
control 制御
control
電流フィードバック
Current feedback This is control in which pass points are specified at
Speed feedback
intervals on the route.
速度フィードバック
A request is made only to reach the target position,
位置フィードバック
Positioning feedback Interface PLG
PLG
and control over the route during travel from a certain
position to the next value is not required.
Appendix - 138
Pulse Reciprocating cam
(1) The turning ON and OFF of current (voltage) over a Consecutive reciprocating motions are made by the
short period of time. The same term is applied to the stroke amount from the lower stroke position (bottom
human pulse. A pulse train is a series of pulses. The dead center), facilitating push/return movements,
MELSEC AD71 is a unit that emits pulses. up/down movements, and left/right movements.
The AD61 unit receives and counts pulses.
ストローク量
Stroke value
0 下死点
Pulse command 0 Bottom dead center
1 cycle
1サイクル
This command turns only 1 program cycle (1 scan) ON (cam(カム軸1回転)
axis 1 rotation)
when conditions turn ON. With MELSEC-A, there is a
PLS command that turns the 1 scan time ON with the
Regenerative brake option
leading edge when the signal is ON, and a PLF
command that turns the 1 scan time ON with the This is an optional part, and is used to perform
trailing edge when the signal is OFF. high-frequency acceleration and deceleration.
See "External regenerative brake resistor".
Pulse generator
Resolver
This is a device used to generate pulses. For example,
pulses are generated as the shaft attached to the This is a device used to resolve angle detection into
motor axis rotates. Digital device two analog voltages.
Single-phase types emit a single pulse train, and Also referred to as a two-phase synchro, as opposed
two-phase types emit two pulse trains with phase to single phase voltage input, the resolver converts a
difference. 600 to 1 million pulses are emitted per axis single rotation of the axis rotation angle to a
rotation. Furthermore, one or two pulses with home perpendicular two-phase voltage (analog voltage), and
position signal are emitted per axis rotation. then outputs it.
See "Encoder".
Travel distance per 1 resolver rotation
Pulse rate
This is a coefficient used for positioning which doubles,
triples, halves, or thirds the feedback pulse per motor
axis rotation, and is the ratio of feed pulses to
feedback pulses.
For example, when there are 2,400 pulses per rotation Gear
and the pulse rate is 2, the result will be 1,200 pulses.
The axis rotation per pulse when there are 2,400 Position detection value
pulses is 0.15, however, this will be 0.3 with 1,200
pulses. Positioning accuracy drops as the pulse rate is Resolver (Addresses 0 to 4095
Motor converted to digital values.)
increased.
See "Electronic gear".
Reverse limit switch signal
Pulse train command This is a positioning control device input signal used to
By continuously emitting the number of pulses report the triggering of the external lower limit switch
corresponding to the machine travel distance from the (contact b configuration, power normally ON) for the
motion controller to the servo motor servo amplifier, it travel range in which positioning control is performed.
is possible to perform positioning control proportional This signal turns OFF when the external RLS signal
to the number of pulses. (contact b) is OFF (not conducting), and the
positioning operation has stopped.
Ready (M9074)
Condition in which the PCPU or servo amp is able to Roller
function normally after the power is turned ON. This is a cylindrical rotating object used to feed and roll
paper or steel plate.
Real mode Roller output can be set as a virtual mode output
In this mode, servo motors are controlled directly with module.
a servo program.
Rotary table
Real-time auto tuning Performs positioning control while rotating the
See "Auto tuning". workpiece on a round table within a 360° range.
SCPU
This refers to the sequence CPU that exists as the
motion controller CPU configuration.
In addition, there is also a positioning control CPU
known as a PCPU.
Appendix - 139
Scroll Servo parameters
The CRT screen and so on changes repeatedly like a See "Positioning parameters".
scroll.
The screen changes as the machine being controlled Servo program
moves, and with key operations. This is a program used to control servo motors,
and contains such commands as independent linear
Sequence control control, linear interpolation control, circular
This refers to a sequence program used to control interpolation control, fixed feeding, speed control,
operations sequentially such as detecting the constant speed control, and zeroing.
completion of a single movement with a switch, and
using this signal to start the next operation. Servo response
Sets auto turning responsiveness.
Servo amplifier The optimum response can be selected based on the
There is a type built in to the controller base, and an machine rigidity. The higher the machine rigidity, the
externally installed type. The servo amplifier issues higher responsiveness can be set, facilitating
speed commands to the servo motor, and controls the improved tracking in response to commands, as well
servo motor with received feedback pulses. as reduced settling time.
Servo lock Settling time

Force used to hold the motor at the stop position is This is the delay time from the time the stop command
required for positioning with servo motors and stepping is complete until the servo motor stops (time until
motors, etc. (The motor position will be lost if moved droop pulse becomes ±1).
with external forces.)
This condition is referred to as servo lock or servo lock SFC (sequential function chart)
torque. This is the optimum structured programming method
required to perform machine automatic control
テーブル
Table sequentially with a PLC.
Start preparation
MM Start preparation
OK Advance operation
Servo program execution
Positioning
complete
モータにはちゃんと止めておく力も必要なのだ
Motor also required power to fully stop. Push operation
Positioning Servo program execution
Servo motor complete
Motor that rotates reliably in response to commands. Positioning
Retract operation
These motors offer high responsiveness, high speed, complete Servo program execution
and high accuracy, and are capable of frequent
starting and stopping. They are produced in DC and
AC types, and large capacity models are also available. Simple Harmonic motion
They are equipped with pulse generators used to This is an example of a cam curve,
detect speed, and often perform feedback control. examples of which are motions in which the
In other words, they move in accordance with acceleration pattern is the single perpendicular axis
command values, and in such a manner as to component of a uniform circular motion.
minimize differences between command values and This motion generally exhibits smooth characteristics,
current values while detecting current values. and is therefore applied to low speeds.
On the downside, acceleration is discontinuous, and
Servo on vibrations occur easily.
Positioning is not performed when the drive unit is
normal and this servo on is not ON. Simultaneous start control
モーション
Motion
Two to three types of servo program are run with a
コントローラ
controller START command to start multiple servo motors
simultaneously.
CPU
CPU Multiple axes specified in a special register are started
simultaneously with a special relay with JOG operation.
Servo ON
サーボオン
Skip function
Drive
This function allows subsequent positioning to be
ドライブ started even if an external STOP signal turns ON
module
ユニット during positioning control, and the signal remains ON
when stopped.
Subsequent positioning is started with an SVST
command when the external STOP signal input
モータ
Motor PG
PG disable flag is turned ON during deceleration, and the
start accept flag turns OFF.
Appendix - 140
Slave axis Speed loop gain
See "Master axis". Expresses the control response speed when
performing speed control at item 1 in the positioning
Smoothing clutch data servo parameters.
This is a clutch for which a smoothing time constant is If the control system responsiveness drops and
set as a virtual mode transfer module. operation becomes unstable as the load inertia
The rotation can be conveyed smoothly when the moment ratio increases, stability can be improved by
clutch is ON and OFF. increasing this setting.
It is known as a direct clutch when the smoothing time If increased too much, the overshoot increases when
constant is zero. accelerating, and motor vibration noises are emitted
during operation or stoppages.
Smoothing time constant t
Speed loop mode
v Acceleration with See "Position loop mode".
スムージング処理
smoothing processing
による加速 Deceleration with
スムージング処理 Speed/position control
smoothing processing
による減速
BB AA Incremental positioning control is performed when
AA external switching signals are received during speed
control.
tt AA tt
B ×100＝63％
X 100 = 63%
B V
V
Set travel value
設定移動量
See "Smoothing clutch".
Speed change t
See "DSFLP command". During speed control
速度制御中 During
位置制御中 position control
Speed change control SSCNET

Axes are positioned at the travel value end point while This is an abbreviation of Servo System Controller
changing speed at the speed switching point during Network.
positioning control. This is a connection method used to improve reliability
between the motion controller and servo amp through
Speed change gear high-speed serial communication.
This is one transfer module in the virtual mode Wiring work is simplified with a one-touch connection
mechanical system program, and is used to change using a connector.
the main shaft rotation speed and transfer it to the
roller output module. Start completion
This is a signal sent to immediately indicate that the
Speed control motion controller has successfully started positioning.
Controls the speed for endless rotations in the same It does not mean that positioning is complete.
direction for conveyors, etc.
Using VF forward rotation and VR reverse rotation Servo amp program start
commands (position loop) and VVF forward rotation
Normal
and VVR reverse rotation commands (speed loop),
start
feed current values are zeroed at the same time as
Start completion signal
axis movement starts, axes are rotated at a previously start
set speed, and then decelerate when a stop command
is received, without increasing or decreasing the feed
current value. Starting axis
Note that upper and lower stroke limits are ignored. This is the axis to be started, and is axes 1 to 8/32.
Speed integral compensation Status

Frequency responses are issued when performing This is a device used to express the condition, and
positioning control at item 1 in the positioning data collectively refers to signals that turn ON (1) in the
servo parameters, and transient characteristics are clutch status, virtual mode status, and when making
improved. zeroing requests, etc.
It is helpful to increase this value when the overshoot
when accelerating or decelerating does not get any
smaller even by adjusting the speed loop gain.
The unit is ms.
Speed limit value

This is the maximum positioning speed. By setting this
value in the parameters, operation is performed with
speed limit values even if a larger value is set due to a
mistake in other data. Note that acceleration time and
deceleration time are the speed limit value times.
Appendix - 141
Stepping motor Stroke limit
This is a motor that performs an angular rotation (e.g., This is the range in which positioning can be
0.15°) with every pulse. Consequently, rotation performed, or the movement range beyond which the
proportional to the number of pulses can be obtained. machine will be damaged. If using a feed screw, the
Stepping motors are available in two to five-phase screw length is fixed, and if using fixed feed, this is the
types, and with the three-phase type, the motor rotates maximum dimension that is cut.
by applying voltage in order from A to C. Most The upper and lower limits are set in the parameters,
stepping motors are compact, and offer accurate however, to ensure safety, the machine is installed with
rotation without feedback. Caution is advised with step separate limit switches wired to external signal input
outs, whereby the motor does not rotate accurately. modules, allowing axes to be stopped automatically.
Limit switch
非常停止用
for emergency
00 3 m 3m stop
Lower limit
下限 Lower
下限limit
Positioning possible within 3 m

3mの中で位置決めできる
Sudden stop
(1) First, the A phase is (2) By then exciting the B
This is shorter than the deceleration time set in the
excited with a pulse. phase, force moves in
parameters, and is the sudden stop deceleration time
the direction indicated
taken to stop.
by the arrow.
全速
Full speed
急停止
Rapid stop
速度
Speed
Time
時間
(3) The nearest gear tooth (4) By successively

is pulled toward the B changing the excited Deceleration
減速時間 time
phase, and the motor phase, the rotor rotates
stops. in the clockwise SV13
direction.
This is a motion controller OS created for conveyance
STOP signal and assembly, is capable of 1 to 4 axis linear
This is a positioning control device input signal used to interpolation, 2 axis circular interpolation, CP control
directly stop positioning from outside during operation. (constant speed control), and speed control, and is
When the external STOP signal (contact a) is ON ideal for applications such as conveyance and
(conducting), operation stops and XnD turns ON. assembly equipment.
Sequential control with SFC is possible.
Stopper-forced stop
This is a zeroing method using with positioning, and SV22
involves stopping the axis when it comes into contact This is a motion controller OS created for automatic
with a stopper installed at the home position. machines, is capable of synchronous control of
The motor will burn out and the stopper damaged if multiple servo motors, and controlling cams with
the axis remains against the stopper, and therefore software, and is ideal for applications such as
various methods are used to prevent this such as automatic machines.
equipping the system with a timer allowing the motor
to be turned OFF when a fixed time has elapsed, or SV43
turning the motor OFF when the system detects that This is a motion controller OS created for processing
the motor torque has risen suddenly when the axis is machine peripheral equipment, is capable of linear
against the stopper. interpolation, 2 axis circular interpolation, CP control
Home
原点 position (constant speed control), and speed control with an
Zeroing
原点復帰 NC language (EIA), and is ideal for applications such
Stopper
ストッパ as processing machines.
SV51
This is a motion controller OS created for dedicated
robots, is capable of three-dimensional linear
interpolation, three-dimensional circular interpolation,
and three-dimensional CP control, and is ideal for
Stroke applications such as dedicated robots (painting
This refers to the axis journey, and is the movement machines, transfer machines, etc.)
change over the distance from the point the axis starts Sequential control with SFC is possible.
moving until it next stops.
Appendix - 142
Synchronized control Torque ripple
This involves rotating the main shaft with a virtual This is the torque fluctuating range, or variations in
mode drive module, and running the machine by torque.
synchronizing with multiple output modules (servo
motors) through a transfer module. Tracking
Travel values are entered from an external controller,
Synchronous encoder and by adding these travel values to servo command
This is one type of virtual mode drive module. Pulses values, positioning is performed at a relative speed
from encoders on external machines are input, and the with respect to the applicable object during travel.
system synchronizes with these pulses to drive the
output module. Transmission module
Teaching programs.
This function is required for positioning, and involves This is a module used to transfer drive module rotations
the manual teaching of positions when addresses are to the output module, and is comprised of gears,
unknown, or to align axes with the workpiece. clutches, speed change gear, and differential gear.
For example, it is troublesome to write the address for
each point as data for complex addresses such as Trapecloid curve
those in a picture, and so by tracing and teaching a Commonly abbreviated to TRP curve, residual
model, positioning can be reproduced later. vibrations after input is stopped can be suppressed,
and seismic resistance is high.
Teaching playback function
This involves setting positioning points with the address Travel
teaching function, and simultaneously creating a servo See "Stroke".
program and setting positioning points with the program
teaching function while actually moving the machine Travel per pulse
with the teaching unit (A30TU/A31TU). This is data calculated from the machine side, and
stipulates how much the motor axis travels per pulse
Teaching unit when the unit is mm, inches, or pulses when
This unit is used to teach the data writing and reading, performing positioning. This corresponds to the
operation, and monitoring required for positioning. position detection unit. Positioning accuracy higher
There are two teaching units: A30TU and A31TU. than this is not possible.
Systems are normally designed with a travel value of
Three-dimensional cam one rotation per axis at the motor side as a reference,
This cam uses three dimensional movements, and and therefore the travel value per pulse is calculated
compared to planar cams, is generally more compact, as follows.
and can be used as a positive cam for positive motion. Travel value per pulse =
Pulse rate x travel value
Three-dimensional interpolation CP control No. of pulses per pulse generator rotation per rotation
XYZ-axes (3-axis orthogonal) and the C-axis (1 axis
rotation) can be controlled at constant speed with a
[CPSTART XYZ command] machine control servo
command used with SV51 dedicated robots.
1個でどれだけ動くのか
How much movement with 1 pulse?
Two-dwell motion
Motion with dwell at both ends of the journey
軸
XX-axis C-axis
C軸
Unit setting
Z-axis
Z軸 This refers to changing to the actual address unit or
travel value unit for which positioning is to be
performed.
Units are set in mm, inches, degrees, or pulses.
Y-axis
Y
軸 Unsymmetrical
This is a cam curve in which the first half deceleration
Top dead center differs from the latter half ratio, and is mainly used to
This refers to the upper side of the machine installation improve high-speed specification deceleration area
route for the cam mechanism reciprocating motion. characteristics.
Torque V velocity
This is the size of a force acting on an axis multiplied This means cam non-dimensional speed. This is
by the arm length up to the line of action for that force. non-dimensional displacement (motion displacement
Nm (kgf/m) from start to finish expressed with 0 to 1) differentiated
by non-dimensional time (motion time from start to
Torque loop mode finish expressed with 0 to 1).
See "Vm".
This is also referred to as current loop mode.
See "Position loop mode".
Appendix - 143
Vicinity passage Window
Refers to the performing of smooth pass point Windows refers to selection menus displayed at the
operations with SV51 dedicated robot three-dimensional SW6RN-GSV22P or CAMP screen with peripheral
interpolation CP control equipment.
• Menu selection window
Pass point
通過ポイント
P1
• Mode function selection window
P1 A3
A3 A2 • Sub function selection window
A2
A2
• Execution/setting selection window
Vicinity amount (radius)
近傍量（半径）
Word
Expresses the data unit. With the MELSEC-A Series, 1
A1
A1
近傍量
Vicinity amount 中心点
Pass point word represents 16 bits, and numerical values from
(radius)
(半径) -32,768 to 32,767 in decimal notation are handled.
This is 0 to FFFF in hexadecimal notation.
P0
P0
However, there are also 32-bit commands, where 1
word represents 32 bits, and numerical values from
When vicinity passage is zero -2,147,483,648 to 2,147,483,647 are handled. This is
Locus is P0  P1  P2 0 to FFFFFFFF in hexadecimal notation.
When vicinity passage is specified
Locus is P0  A1  A2  A3  P2 Word devices
This is an element in the devices inside the PLC and
Virtual auxiliary input holds data. In this device, 1 point is 1 word. The timer
This is one of the virtual mode mechanical system (T), counter (C), and all registers (D, R, W, Z, V, A),
programs, etc. are word devices.
and adds addition/subtraction rotations from the
auxiliary shaft virtual servo motor or synchronous X-axis
encoder to rotations from the main shaft. 2D right/left lateral direction
Virtual main shaft XY table

This is one of the virtual mode mechanical system This is a table moved in the X (lateral) and Y
programs. (longitudinal) directions so that positioning can be
This shaft is used to connect drive module rotations performed easily.
directly to the transfer module gear. This is used when drilling holes in plates and drawing
diagrams, etc.
Virtual mode
This is a method used to move mechanical system Y table
program drive modules with a servo program or X table Ballscrew
external encoder in order to drive the servo motor.
X table
The mode used to drive servo motors directly with a
servo program is called real mode.
See "Mechanical system program". Base table
Y-axis servo motor
Virtual mode status
This is special relay M2044 used for monitoring, and is
capable of confirming that the system is operating in
virtual mode.
X-axis servo motor
Virtual servo motor

Y-axis
This is one of the drive modules in the virtual mode
mechanical system program, and is started with the 2D forward/backward direction
servo program.
The main shaft is connected directly to the virtual Z phase
servo motor. Also referred to as PG zero.
See "Home position signal".
Vm velocity
This is the cam non-dimensional speed maximum Z-axis
value. 3D up/down direction
See "V".
Zero point signal
WDT error This is the pulse generator (encoder) PGO (detected
This is an abbreviation of watchdog timer error, and once per rotation). It is also referred to as the Z phase.
indicates a PCPU defect. See "Pulse generator".
M907 turns ON when an error occurs.
Appendix - 144
Zero return data
This data is required by the motion controller to return
to the home position. This is determined at the
machine design stage, and involves changes to the
machine design in order to be changed at a later date.
This is the reference point for home position
positioning, and therefore zeroing is required at such
times as when a power outage occurs during
positioning, or an axis is moved manually with the
power OFF because the current values held by the
motion controller are no longer relevant. By performing
zeroing, the machine searches for the proximity dog,
moves, and then changes to creep speed, regardless
of the current value.
Zeroing method
There is a proximity dog method, count method, and
data set method.
Zeroing request
This request turns ON at the following times when
using an incremental position system.
(1) When the power is turned ON.
(2) When the PLC ready signal turns ON.
(3) When parameters and zeroing data from peripheral
equipment is written.
(4) When the following are selected while in peripheral
equipment test mode.
Zeroing
Positioning
JOG operation
Manual pulse generator
The decision as to whether to perform zeroing at these
times is made by the user.
Appendix - 145
Motion Controller School Textbook (Advanced Synchronous Control Edition) Windows PC Compatible MT Works2
MODEL
MODEL
CODE
SH-030148ENG-A (1509) MEE
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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Motion Controller School Textbook

(Advanced Synchronous Control Edition)

SH-030148ENG-A (1403) MEE

Specifications subject to change without notice.

[Practical work precautions]

 Do not remove the demonstration machine, or make changes to the wiring.

 Turn OFF the power before attaching or removing the module.

 If an error occurs, notify your teacher immediately.

Print date * Text No. Revision details

© 2015 MITSUBISHI ELECTRIC CORPORATION

1.1 Motion Controller Features ·················································································· 1-1

Chapter 2 Function Description 2 - 1 to 2 - 8

2.1 Specifications List ····························································································· 2-1

Chapter 3 Q PLC Multiple CPU 3 - 1 to 3 -19

3.1 Multiple CPU System ························································································· 3 - 2

Chapter 4 Q Motion CPU 4 - 1 to 4 - 27

4.1 System Settings ································································································ 4 - 2

5.1 Features ········································································································· 5 - 1

Chapter 6 SV22 Servo Programs 6 - 1 to 6 - 27

6.1 Servo Programs ································································································· 6- 1

Chapter 7 Operation Control Programs 7 – 1 to 7 - 4

7.1 Operator, function priority order ············································································ 7 - 1

Chapter 9 Basic Practice in SV22 Real Mode 9 - 1 to 9 - 81

9.1 Practice Content ································································································ 9- 1

Chapter 10 SV22 Advanced Synchronous Control Practice 10 - 1 to 10 - 43

10.1 Synchronous Control Parameters ········································································ 10- 1

Appendices Appendix - 1 to Appendix - 146

Appendix 1 Application Practice in SV22 Real Mode ··········································· Appendix - 1

The following related manuals are available.

(2) Programming manuals

(3) Software manual

(4) Sequence programming manuals

(5) GX Works2 related manuals

(6) Technical document collections

SSCNET is an abbreviation of Servo System Controller Network.

(1) Q PLC CPU and multiple CPU System

(2) Full range of controllers for all applications

(3) Control is possible with an MR-J4-B servo amplifier.

(4) High-speed serial communication with servo amplifiers is possible.

(5) An absolute position system is possible.

(6) A Windows computer is used as the programming tool for positioning.

(8) Mechanical support language (mechanical system program): valid only

Separating the mechanical support language from the previous mechanical

Transfer mechanisms from main shafts to gears, clutches, transmissions, and

(9) Software cam: valid only for SV22

(11) Limit switch function

(12) Peripheral I/F (Ethernet)

(13) Support for 4 million pulse synchronous encoder as standard

(c) The procedure when performing positioning control is as follows.

1) Issue a motion SFC program start request with a sequence

2) Perform positioning control with the specified motion SFC

3) Servo motors are controlled.

(a) Performs the same control by replacing the mechanism used to

(b) Synchronous control parameters are required in addition to the

(c) The procedure for positioning control with advanced synchronous

2) The advanced synchronous control command generation axis

3) Output synchronous control parameters to the servo amplifier for

4) Servo motors are controlled.

Positioning control parameters