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MELSEC iQ-R Inter-Module Synchronization Function Reference

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1. Instruction processing time Intelligent function module Inter module synchronization accuracy Inter module synchronization cycle Inter module synchronization setting Inter module synchronization signal Inter module synchronous interrupt Inter module synchronous master L Link Link scan time Local Master 5 Master local module 1 Multiple CPU settings Multiple CPU synchronous interrupt program Multiple CPU system function Multiple N Network configuration settings Network synchronous communication setting 15 23 33 33 Number of relay stations 12 Overhead 44 Program 34 Pulse measurement mode 20 RAS se das adw da near 5 RAS FUNCION sre essen ee 42 Refr shiz aut en 15 Refresh processing 44 Slave station 5 System 40 MEMO 47 48 REVISIO
2. transmission in master station and local station It takes two inter module synchronization cycles for the local station s input output refreshing state to be sent To synchronize the input output refreshing between the master station and local station the master station s input output refreshing must be delayed by two inter module synchronization cycles 1 er module synchronization cycle gt n synchronization cycle er module pe 1 Inter module 1 synchronization cycle gt IInter module synchi interrupt program ronous Normal program Inter module syncht interrupt program ronous Normal program inter module synchronous interrupt program Normal program CPU module No 1 Input Operation Output efresh processing refresh Input Operation Output refresh processing refresh Input Operation Output refresh processing refreshi J Cyclic transmission 1 System I 1 Output refresh of the master 1 1 1 1 station i Y Network module No 1 master station 3 Input refresh Cyclic transmission Cyclic transmission 2 Cyclic transmission Cyclic transmission Network module No 2 local station Cyclic transmission Cyclic transmission System 1 of the local station 1 Ou
3. Use Inter module Synchronization Function in System Select Use Select Synchronous Target Unit between Unit Select Synchronize for all Fixed Scan Interval Setting 1 00ms select Set by 0 05ms Synchronous Master Setting within the Modules Synchronous Master Setting of CC IE Field Set Mounted Slot No 2 HRefresh settings Set the transmission range between the RJ71EN71 when using CC Link IE Field network function and the CPU module devices Set the same details as the master station side XD Module Parameter gt Basic Setting Refresh Setting Refresh Destination Device Name Points Start End Applicable labels This table shows the labels used in this program example This section shows the labels used by the master station Module label EN71_F_1 bSts_BatonPassError EN71_F_1 bnOp_Synchronous_Station 1 Defined labels Define the global labels the following manner Label Name bninputi it O bnOutputl 15 E bnStation1_Outputl Bow Raoa bnStationi_Output 15 vyfyiow Define the local labels in the following manner Label Name Data Type Class M_MSynchronization_Delay20 U M MSynchronization_Delay2OUT VAR Y Defined labels Define the global labels the following manner Label Name bnStation1_Output1 bnStation1_Output2 bnOutputl bnOutput2
4. 5 FUNCTION 2 5 1 Fixed Cycle Synchronization Function 5 26 MTiming example 1 Synchronization with multiple CPU system function s fixed scan communication cycle Fixed scan communication timing 1 U 1 1 U Motion operation 1 1 MTiming example 2 When motion operation cycle and inter module synchronization cycle are equal Fixed scan communication timing Inter module A synchronization timing 1 NN Motion operation MTiming example 3 When motion operation cycle is double the inter module synchronization cycle Fixed scan 4 4 4 4 4 communication timing 1 1 1 1 1 I I I Inter module 4 4 4 4 synchronization timing I I I 4 4 Motion operation Point For details on the inter module synchronization function in the Motion CPU refer to the following LLIMotion CPU manual 5 FUNCTION 5 1 Fixed Cycle Synchronization Function CC Link IE Field Network synchronous communication function When the devices in the CC Link IE Field Network are communicating the send side and receive side timing are synchronized with the inter module synchronization cycle The master station parameters must be set to use this function C 33 Settings CC Link IE Field Network Master station and local station network synchronous communication With the CC Link IE Field Network synchron
5. 5 1 Fixed Cycle Synchronization Function 5 16 Inter module synchronous interrupt The interrupt program is executed at the inter module synchronization cycle timing set in the parameters The interrupt program executed at each inter module synchronization cycle is called the inter module synchronous interrupt program For details on the inter module synchronous interrupt program refer to the manual for each CPU module Point Write the program for controlling the synchronization target in the inter module synchronous interrupt program The operation when an interrupt cause occurs and the methods of creating the program etc are the same as a normal interrupt program llExecution timing The inter module synchronous interrupt program is executed at the inter module synchronization cycle timing The inter module synchronization cycle can be changed with the parameter settings 2 Page 30 Inter Module Synchronization Setting MMultiple interrupt For details on the inter module synchronization 144 multiple interrupt function refer to the following EL MELSEC iQ R CPU Module User s Manual Application Refresh timing according to CPU module s operation status This section shows the refresh timing according to the CPU module operation status Point For C Controller module the refresh timing is before and after an inter module synchronous interrupt program since an inter module synchronous interrupt program is execut
6. Assign Device Label 1000 VAR_GLOBAL VAR_GLOBAL 5 VAR GLOBAL 7 PROGRAM EXAMPLES 7 2 For Network Configuration Program The local station system output from the master station CPU module is instructed and the master station system output and local station system output are performed at the same inter module synchronization cycle timing Two inter module synchronization cycles are required to instruct the local station system output from the master station CPU module and output from the local station system output Thus the output to the nearest master station is made using the inter module synchronization function FB and is output after two inter module synchronization cycles LLIMELSEC iQ R CPU Module Function Block Reference Master station side This section shows the master station side program SM402 d H LEJ an 0 25 M MSynchronization Delay2OUT M MSynchronization Delay2OUT bnOutput1 0 B i_bData o_bData B bninputl EN71_F_1 bSts_ EN71_F_1 bnOp_Sy bnStation1_ 10 BatonPassError nchronous_Station 1 Qutput1 0 41 I WG KG l bnStation1_ Output 0 END Local station side This section shows the local station side program SM402 m E EE K4bnStation _ K4bnOutputl ation
7. Link IE Field Not Set Not Set Setting within the of CC IE Field Network module on the master station becomes the Set Modules inter module synchronous master When Not Set is selected the CPU module CPU module on the extreme left for the multiple CPU system configuration becomes the inter module synchronous master Page 9 Inter module synchronous master Mounted Slot No Set the mounted slot No for the CC Link IE Field 0 to 11 0 Network moduleon the master station that becomes the inter module synchronous master 1 The inter module synchronization cycle setting range differs according to the module LLIManual for each module 6 PARAMETER SETTINGS 6 1 Inter Module Synchronization Setting 31 6 2 Multiple CPU Settings Set when coordinating the inter module synchronization cycle to the multiple CPU system function s fixed scan communication cycle O System Parameter gt Multiple CPU Setting gt Communication Setting between CPU gt Fixed Scan Communication Setting Item E Fixed Scan Interval Setting of Fixed Scan Commun 0 05ms Unit Setting Not Set Fixed Scan Interval Setting Not Set by 0 05ms Fixed Scan Interval Setting Set by 0 05ms Fixed Scan Communication Function and Inter mox Cooperate Settine Fixed Scan Interval Setting of Fixed Scan Communication Sets whether to coordinate with the inter module Cooperate Not Fixed Scan Communication Function and
8. Network synchronous communication function Supporting Network synchronous communication function Master station Slave station No 2 Slave station No 3 Inter module synchronization cycle Inter module synchronization cycle for the master station CPU module on the master station Input Interrupt Output Input Interrupt Output Inter module synchronous refresh program refresh refresh program refresh interrupt program Input Interrupt refresh program Output Input Interrupt Output refresh refresh program refresh Slave station No 1 Slave station No 2 Slave station No 3 Operate at the same timing of the Operate at the different timing of the inter module synchronization cycle inter module synchronization cycle for the master station for the master station Point For details on the CC Link IE Field Network synchronous communication function with the slave station refer to the following for each slave station 5 FUNCTION 29 5 1 Fixed Cycle Synchronization Function 30 6 PARAMETER SETTINGS This section describes the parameter settings required to use the inter module synchronization function 6 1 Inter Module Synchronization Setting Set the module configuration diagram with the engineering tool and set the inter mo
9. Precautions for System Configuration Inter module synchronous master The inter module synchronous master is a module that issues the inter module synchronization command Normally the CPU module becomes the inter module synchronous master For the multiple CPU system configuration the CPU module on the extreme left for which Synchronize is set in Select the Synchronous Target Unit of Synchronization Setting within the Modules becomes the inter module synchronous master Note that if a module on the local station is used as the synchronization target the master station becomes the inter module synchronous master because the CC Link IE Field Network module on the local station operates by receiving the command from the master station Inter module synchronization command Master station Normally the CPU module becomes the inter module synchronous master and issues the inter module synchronization command The Network module sends the inter module synchronization command to each station Inter module synchronization command Local station Slave station Slave station Inter module synchronization command On the local station the Network module receives the command from the master station and issues the inter module synchronization command as the inter module synchronous master 2 SYSTEM CONFIGURATION 9 2 1 Precautions for System Configuration 2 2 Configuration D
10. according to the inter module synchronization cycle of the inter module synchronization function and the both functions are controlled to operate at the same timing In this case the fixed scan communication cycle of multiple CPU system function cannot be set Note that the number of program executions is different even though Cooperate is set in multiple CPU settings of system parameter because the start timings of interrupt program executions are different between the inter module synchronous interrupt 144 and the multiple CPU synchronous interrupt 145 For details on the start timings refer to Page 16 Refresh timing according to CPU module s operation status For details on the operations of interrupt programs such as during interrupt disabled time refer to the MELSEC iQ R CPU Module User s Manual Application Control with synchronized timing is not possible without synchronizing with the inter module synchronization function even if the same value is set for the multiple CPU system function s fixed scan communication cycle and the inter module synchronization cycle The execution timing for the motion operation or motion SFC event task fixed cycle task is as follows when the multiple CPU system function s fixed scan communication cycle or inter module synchronization cycle is used Fixed scan Disable Cycle unique to Motion CPU Synchronization with inter communication module synchronization cycle for mu
11. errors in the positioning module settings Parameter setting This table shows the details of the inter module synchronization settings Use Inter module Synchronization Function in System Select Use Select Synchronous Target Unit between Unit Select Synchronize for all Fixed Scan Interval Setting 0 888ms select Not Set by 0 05ms The default setting is used for each module s refresh setting 34 7 PROGRAM EXAMPLES 7 1 For Single CPU System Configuration Applicable labels This table shows the labels used in this program example Module label RD75_1 bPLCReady RW Programmable controller ready YO RD75_2 bPLCReady RW Programmable controller ready Y20 RD75_1 bnBusy_Axis 0 R BUSY RD75_2 bnBusy_Axis 0 R BUSY X2C RD75_1 stnAxisControlData_Axis_D 0 uPositioningStartNo_D RW Positioning start number direct U0 G1500 RD75_2 stnAxisControlData_Axis_D 0 uPositioningStartNo_D RW Positioning start number direct U2 G1500 RD75_1 stnAxisControlData_Axis_D 0 uAnalysisModeSetting_D RW Analysis mode setting direct U01G1590 RD75_2 stnAxisControlData_Axis_D 0 uAnalysisModeSetting_D RW Analysis mode setting direct U2 G1590 RD75_1 stnAxisMonitorData_Axis_D 0 uAnalysisMode_D R Analysis mode direct U0 G857 RD75_2 stnAxisMonitorData_Axis_D 0 uAnalysisMode_D R Analysis mode direct U2 G857 RD75_1 stSynchronousRefreshArea unAnalysisCompleteFlag_Axis
12. for the inter module synchronization function 3 1 Performance Specifications Shows the performance specifications for the inter module synchronization function Item Performance value Inter module synchronization cycle 100us to 10ms Inter module synchronization accuracy Calculate the accuracy with the inter module synchronization accuracy formula 25 Page 12 Inter module synchronization accuracy calculation formula Inter module synchronization accuracy The accuracy is the difference that each module recognizes the synchronization point and the time of the synchronization point In the case of the following output module the inter module synchronization accuracy is Tmax TO in the positive direction and in the negative direction T Inter module synchronization accuracy in the positive direction ONE To Synchronization point time Tmin Time that an output module recognizes synchronization point Tmin To Tmax Min Tmax Time that an output module recognizes synchronization i i i point Max 1 1 1 Toyo Inter module synchronization cycle I i i Tres Output module response time 1 1 U Toyo i Toyo 4 i 1 1 1 Tres I I i 1 1 i ON Output for when the I i inter module synchronization gt i accuracy of the output OFF U i T module is maximum T res in the negative direction U 1 I 1 ON Output for when the i i inter
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14. i T Do not set data here even though data can be output at the next inter module synchronization cycle 1 1 Acquire an input value 1 1 1 1 Input data 1 Input data 1 P 4 Read data from the fixed scan communication area L 1 Multiple CPU synchronous Inter module synchronous Multiple CPU synchronous Inter module synchronous Multiple CPU synchronous Inter module synchronous interrupt program interrupt program interrupt program interrupt program interrupt program interrupt program Normal program REM it operaion Output Normal program Input operation Output Normal program Ba input operation Output Normal program peration processing fresh peration processing efr sh processing refresh peration processing fresh processing refreshl 1 1 1 1 Sonoda data U 1 2 5 Set an output value 1 Output module CPU No 2 Program execution 44 Fixed scan communication aj M Fired scan communication cycle _ gt 4 Fixed scan communication cycle _ rocessin P 9 Inter module synchronization cycle Pd nter module synchronization ae 50 module synchronization cycle 4 Create the program where the two cycles of the output differences are offset 1 Write the i
15. module synchronization gt accuracy of the output OFF Y module is maximum 1 1 1 I The actual external output is output with the following time lag Inter module synchronization accuracy output module response time Tras Point Each module starts the process at the inter module synchronization functions start timing so the input or output is made after the response time from that inter module synchronization function s start timing For details on each module s response time Tes refer to each module s manual 3 SPECIFICATIONS 1 1 3 1 Performance Specifications 12 Inter module synchronization accuracy calculation formula Shows the calculation formula for the inter module synchronization accuracy Use as a guide to set the inter module synchronization cycle When not going through a network module T Teyc X2 4 X 10 N X 80 150 T Inter module synchronization accuracy ns Teyc Inter module synchronization cycle ns Number of stages in extension base unit in which the module for calculating the inter module synchronization accuracy is mounted 1 This is 0 for the main base unit When going through network module T Teyc X 2 4 X 104 N X80 N 12 700 T Inter module synchronization accuracy ns e Toyo Inter module synchronization cycle ns Number of stages in extension base unit in which the module for calculating the inter module synchronization accuracy is mounte
16. occur Set the inter module synchronization cycle to a value higher than the link scan time 8 TROUBLESHOOTING 8 2 RAS Function MEMO 8 TROUBLESHOOTING 8 2 RAS Function 43 44 APPENDIX Appendix 1 Processing Time This section describes the processing time Overhead time for executing interrupt program The overhead time for executing the inter module synchronous interrupt program between modules differs according to each CPU module CPU module manual Refresh processing time For details on the refresh processing time refer to the following LLlIManual for each module Instruction processing time in interrupt program For details on the instruction processing time in the interrupt program refer to the following LA MELSEC iQ R Programming Manual Instructions Standard Functions Function Blocks APPENDIX Appendix 1 Processing Time MEMO APPENDIX Appendix 1 Processing Time 45 INDEX A A D converter module CC Link IE Field Network synchronous communication e su ada Control GPUs 4599003 ida rra CPU module us 22 402442 ee CPU module s operation status Cyclic D Engineering F Fixed cycle synchronization function Fixed scan communication cycle G
17. the following LLlIManual for each positioning module Simple motion module There is no need to match the inter module synchronization cycle to the simple motion operation cycle Note that the buffer memory value is updated and referred to at the simple motion operation cycle When the inter module synchronization cycle is faster than the simple motion operation cycle The monitor data is updated at each simple motion operation cycle and the control data etc is not processed if only the inter module synchronization cycle is ON for only one scan etc When the inter module synchronization cycle is slower than the simple motion operation cycle Data may be skipped if the monitor data changes only during 1 simple motion operation cycle Point For details on the inter module synchronization function in the simple motion module refer to the following LAManual for simple motion module 5 FUNCTION 5 1 Fixed Cycle Synchronization Function Coordination with multiple CPU system function s fixed scan communication cycle The fixed scan communication cycle for the multiple CPU system function can be set to the inter module synchronization cycle When using C Controller module refer to the following manual LLIMELSEC iQ R C Controller Module User s Manual Application Programmable controller CPU By setting the fixed scan communication cycle for the multiple CPU system function to the inter module synchronization cycle modules with
18. 0 R Analysis complete flag RD75_2 stSynchronousRefreshArea unAnalysisCompleteFlag_Axis 0 R Analysis complete flag RD75_1 bnPositioningStart_Axis 0 RW Positioning start Y10 RD75_2 bnPositioningStart_Axis 0 RW Positioning start Y30 RD75_1 bnStartComplete_Axis 0 R Start complete X10 RD75_1 bnErrorDetection_Axis 0 R Error detection X8 RD75 1 bnBusy Axis D 0 R BUSY direct DXOC RD75 2 bnStartComplete Axis 0 R Start complete X30 RD75 2 bnErrorDetection Axis 0 R Error detection X28 RD75 2 bnBusy Axis D 0 R BUSY direct DX2C Defined labels Define the global labels the following manner Label Name Data Type TIE Class binputSimultaneousMuttiple UnitStartReq Bit VAR_GLOBAL X Define the local labels in the following manner Label Name Data Type LJ Class M VAR bPreAnalysisModeFlag Bit VAR Y bAnalysisCompFlag Bit VAR v binputPositioningStart Req Bit VAR bSimultaneousMultiple Unit Start Re Bit IVAR 7 PROGRAM EXAMPLES 7 1 For Single CPU System Configuration 35 Program To shorten the inter module synchronous interrupt program s processing time perform the positioning start processing with the inter module synchronous interrupt program and perform the other processing with the normal program SM402 binputSimultaneous Mul 9 pleUnitstartReq Les bSimultaneous MultipleUnitStart Reg bSimultaneousMultiple Uni
19. 11 1111 Qutput1 K4bnStation1_ K4bnOutput2 Output2 35 Lo 4 7 PROGRAM EXAMPLES 39 7 2 For Network Configuration 8 TROUBLESHOOTING This section describes troubleshooting for the inter module synchronization function 8 1 Error Processing and Recovery Methods This section shows the abnormal process detection and recovery methods used when an error occurs with the inter module synchronization function The inter module synchronization function s synchronization state can be confirmed on the system monitor XD Diagnostics gt System Monitor 1 PLCNo 2 Pl PLC No 4 Power woo vor vo vos vos Start 1 0 No 2 3E00 0000 0020 0030 0040 0050 32 Point 16 Point 16 Point 16 Point 16 Point PATIO R60DA Uninstall Module Configuration Uninstall Control GPU Synchro Synchro Synchro Synchro nizing nizing nizing Uninstall Uninstall Error Status Legend Major Moderate Minor Unit Base Access Error Inter module synchronization Shows the synchronization state of the inter module synchronization function c state Synchronizing Shows that the inter module synchronization function is operating Preparing Shows that the inter module synchronization function is in the pre operation preparation stage Error Appea
20. 4 MITSUBISHI ELECTRIC Mitsubishi Programmable Controller series MELSEC iQ R Inter Module Synchronization Function Reference Manual SAFETY PRECAUTIONS Read these precautions before using this product Before using MELSEC iQ R series programmable controllers please read the manuals for the product and the relevant manuals introduced in those manuals carefully and pay full attention to safety to handle the product correctly Make sure that the end users read this manual and then keep the manual in a safe place for future reference CONDITIONS OF USE FOR THE PRODUCT 1 Mitsubishi programmable controller the PRODUCT shall be used in conditions i where any problem fault or failure occurring in the PRODUCT if any shall not lead to any major or serious accident and ii where the backup and fail safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem fault or failure occurring in the PRODUCT 2 The PRODUCT has been designed and manufactured for the purpose of being used in general industries MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY INCLUDING BUT NOT LIMITED TO ANY AND ALL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT WARRANTY TORT PRODUCT LIABILITY FOR ANY INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS PRECAUTIONS OR WARNING CON
21. Inter module synchronization cycle and multiple CPU system Not Cooperated Cooperated Synchronization Function function s fixed scan communication cycle When set to Cooperate the fixed scan communication cycle of multiple CPU system function operates according to the inter module synchronization cycle Fixed Scan Interval Setting in Fixed Scan Communication Setting cannot be set 32 6 PARAMETER SETTINGS 6 2 Multiple CPU Settings 6 3 Settings in CC Link IE Field Network Set this to synchronize with the inter module synchronization cycle using the CC Link IE Field network synchronous communication function This setting is made in the master station XD Module Parameter gt Basic Setting gt Network Configuration Settings gt Detail Setting STAHO Master Total STAH 5 Line Star NZ2GF2B1 NZ2GFCE3 NZ2GF2B1 NZ2GFCE3 16D 16D 16T 16T Network Synchronous Communication Sets whether to coordinate the inter module Asynchronous Asynchronous Setting synchronization cycle with the CC Link IE Field Network Synchronous synchronous communication function Set the ring device assignments so the network synchronous communication target station and non target station are in succession If these are not in succession the time for the refreshing process at the inter module synchronization interrupt will take longer R
22. NS The manual number is given on the bottom left of the back cover June 2014 SH NA 081401ENG A First edition July 2014 SH NA 081401ENG B Added or modified parts Section 2 1 6 1 February 2015 SH NA 081401ENG C MAdded model R12CCPU V April 2015 SH NA 081401ENG D WAdded models RX40PC6H RX40NC6H July 2015 SH NA 081401ENG E WAdded models R04ENCPU RO8ENCPU R16ENCPU R32ENCPU R120ENCPU RO8PCPU R16PCPU R32PCPU R120PCPU WAdded or modified parts Section 2 2 Japanese manual number SH 081400 E This manual confers no industrial property rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2014 MITSUBISHI ELECTRIC CORPORATION WARRANTY Please confirm the following product warranty details before using this product 1 Gratis Warranty Term and Gratis Warranty Range If any faults or defects hereinafter Failure found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company However if repairs are required onsite at domestic or overseas location expenses to send an engineer will be solely at the customer s discretion Mitsubishi shall not be
23. RVIEW 6 CHAPTER 2 SYSTEM CONFIGURATION 8 2 1 Precautions for System 8 Inter module synchronous 9 2 2 Configuration Devices eoe rir man nn a ne 10 CHAPTER 3 SPECIFICATIONS 11 3 1 Performance Specifications lt ii nl Rr a POS 11 Inter module synchronization 11 CHAPTER 4 PROCEDURES BEFORE OPERATION 13 CHAPTER 5 FUNCTION 15 5 1 Fixed Cycle Synchronization 15 Timing for synchronizing CPU modules 15 Timing to synchronize each module 1 0 0 0c ee 17 Coordination with multiple CPU system function s fixed scan communication 23 CC Link IE Field Network synchronous communication function 27 CHAPTER 6 PARAMETER SETTINGS 30 6 1 Inter Module Synchronization 0 30 6 2 Multiple CPU Settings doce o p a a IE S RE REF EPI GW ERI ERE IDA e sees 32 6 3 Settings in CC Link IE Field Network 33 CHAPTER7 PROGRAM EXAMPLES 34 7 1 For Single CPU System Configuration 34 Sys
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25. X RY Setting RWw RWr Setting Network Synchronous RX RY Setting RWw RWr Setting Network Synchronous Start End Start End Communication Start End Start End Communication 0 0 1 0000 OOFF 0000 OOFF Synchronous 1 0000 OOFF 0000 OOFF Synchronous 2 0100 OFF 0100 01FF Asynchronous 2 0100 O1FF 0100 01 Synchronous 3 0200 O2FF 0200 02FF Synchronous 3 0200 0200 02 Synchronous 4 0300 03FF 0300 Asynchronous 4 0300 03FF 0300 Asynchronous 5 0400 O4FF 0400 04 Synchronous 5 0400 04FF 0400 04 Asynchronous Refresh takes longer because a synchronous area Refresh takes shorter because the same areas and an asynchronous area comes alternately synchronous or asynchronous come continuously For details on setting the slave stations other than the local station refer to the manual for each slave station 6 PARAMETER SETTINGS 33 6 3 Settings in CC Link IE Field Network PROGRAM EXAMPLES This section shows examples of the inter module synchronization function 7 1 For Single CPU System Configuration An example of the program that starts at the inter module synchronization cycle for multiple positioning modules is shown below This program starts axis 1 of each positioning module simultaneously System configuration The following system configuration is used Positioning module RD75D4 RD75P4 Programming condition It is assumed that there are no
26. able or not compensation for accidents and compensation for damages to products other than Mitsubishi products replacement by the user maintenance of on site equipment start up test run and other tasks 5 Changes in product specifications The specifications given in the catalogs manuals or technical documents are subject to change without prior notice 49 50 TRADEMARKS Microsoft Windows Windows Vista Windows NT Windows XP Windows Server Visio Excel PowerPoint Visual Basic Visual C and Access are either registered trademarks or trademarks of Microsoft Corporation in the United States Japan and other countries Intel Pentium and Celeron are either registered trademarks or trademarks of Intel Corporation in the United States and other countries Ethernet is a trademark of Xerox Corp The SD and SDHC logos are either registered trademarks or trademarks of SD 3C LLC All other company names and product names used in this manual are either trademarks or registered trademarks of their respective companies Dk SH NA 081401ENG E SH NA 081401ENG E 1507 MEE MODEL IMSF R E MITSUBISHI ELECTRIC CORPORATION 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 permiss
27. alue Point For details on the inter module synchronization function in the A D converter module refer to the following LLlEach A D converter module manual 5 FUNCTION 5 1 Fixed Cycle Synchronization Function 18 High speed counter module The value is latched in synchronization with the falling edge of the inter module synchronization control signal The latched value is stored in the buffer memory The normal count operation is executed even when using the inter module synchronization signal The latch target and storage destination buffer memory differ according to the operation mode Operation mode Latch timing Latch target Storage destination buffer memory name Pulse count mode Falling edge of inter module Current counter value Synchronization latch count value synchronization control signal Pulse measurement mode Falling edge of inter module Measured pulse value Synchronization measured pulse value synchronization control signal 1 The value is updated only at the falling edge of the inter module synchronization control signal regardless of the ON OFF state of the count enable instruction pulse measurement instruction MPulse count mode Synchronization latch counter function The latest current counter value is retrieved at the inter module synchronization cycle start timing and is held during the inter module synchronization cycle By reading the synchronization latch counter value from the i
28. bAnalysisCompFlag 25 sq Flag ii ES ROTE TbnPosiiringStar Ad RD75_2 r Asi RD75_1 bnPosifiening RD75_1 bnStartCo 29 Axis 0 mplete_Axis 0 RD75_1 bnBusy_Axis_D 0 1 aeg RD75_1 bnPositioningStart_Axi so RD75_1 bnErrorDe tection_Axis 0 SO RD75_2 bnPositioning RD75_2 bnStartCo ME alo melee As RD75 2bnBusy_Aris_DIN S IRD75_2 bnErrorDe teciion_Axis 0 LP 33 5 Sa END 36 7 PROGRAM EXAMPLES 7 1 For Single CPU System Configuration 7 2 For Network Configuration The following is an example of a program that outputs to the adjacent output module and multiple output modules via the network at the inter module synchronization cycle timing System configuration The following system configuration is used E E E DD En 2 eee Master station side CPU module R120CPU Each module RX10 RY40NT5P RJ71EN71 when using CC Link IE Field network function Local station side CPU module R04CPU Each module RY40NT5P RY40NT5P RJ71EN71 when using CC Link IE Field network function Parameter setting This section shows the details of each parameter setting Master station side This section shows the details of the master station sid
29. d Ns Number of transit stations from the master station in which the module for calculating the inter module synchronization accuracy 1 2 1 This is O for the main base unit 2 The number of relay stations from the master station refers to the number of stations physically related from the master station to the relevant station when using the following type of line topology or line topology star topology combination Number of relay stations Number of relay stations Number of relay stations Number of relay stations Number of relay stations from the master station 1 the master station 0 from the master station 0 from the master station 1 from the master station 2 Slave Slave Master Slave Slave Slave station station station station station station Point Obtain the inter module synchronization accuracy for the module mounted in the master station with the When not going through network module method 3 SPECIFICATIONS 3 1 Performance Specifications 4 PROCEDURES BEFORE OPERATION This section describes the procedures for using the inter module synchronization function 1 Starting up the engineering tool Connect the personal computer in which the engineering tool is installed to the CPU module and start up the engineering tool LA GX Works3 Operating Manual Point For details on the preparations for starting up the engi
30. different control CPUs can input and output in synchronization Coordination with the fixed scan communication cycle for the multiple CPU system function is set with the parameters Page 32 Multiple CPU Settings AID converter module AID converter module controlled by CPU No 1 M controlled by CPU No 2 o o o g d E G FH F 172 No 1 i Synchronization of I O operation is SONHONEN i i possible between modules controlled Programmable 1 by different CPU modules controller CPU No 2 n Point P For details on the multiple CPU system function refer to the following MELSEC iQ R CPU Module User s Manual Application 5 FUNCTION 2 3 5 1 Fixed Cycle Synchronization Function MProgram operation When the inter module synchronization cycle is coordinated with the fixed scan communication cycle for the multiple CPU system function the multiple CPU synchronous interrupt program 145 and inter module synchronous interrupt program 144 are executed between the inter module synchronization cycles The programs are executed in the order of multiple CPU synchronous interrupt program 145 and inter module synchronous interrupt program 144 It takes two inter module synchronization cycles for the host CPU module s retrieval data to reach another CPU module To synchronize the output between the CPU modules the output timing from the host
31. dule synchronization settings XD System Parameter gt Synchronization Setting within the Modules gt Synchronization Setting within the Modules Operating procedure Synchronization Setting within the Modules window Item Setting EJ Synchronization Setting within the Modules Use Inter module Synchronization Function in System Select Synchronous Target Unit between Unit Use lt Detailed Settine gt Select the Synchronous Target Unit window Slot Module Name Management Master Local Setting EJ Main CPU RO4CPU Host Station 1PLC controlled Synchronize CPU RO8CPU 2PLC No Synchronize 1 0 1 RX10 1PLC controlled Synchronize a 2 0 2 RY10R2 1PLC controlled Synchronize 3 0 3 RD77MS2 1PLC controlled Synchronize Synchronization Setting within the Modules window Item Settine E Synchronous Fixed Scan Interval Setting within the Modules 0 05ms Unit Setting Set Fixed Scan Interval Setting Not Set by 0 05ms 0 888ms Fixed Scan Interval Setting Set by 0 05ms 0 50 ms Synchronization Setting within the Modules window Item Settine E Synchronous Master Setting within the Modules Synchronous Master Setting of CC IE Field Set Mounted Slot No 0 6 PARAMETER SETTINGS 6 1 Inter Module Synchronization Setting Select Use for Use Inter module Synchronization Function in System Click Detailed Setting at Select Synchronous Target Unit between Unit The modules set in the module configurat
32. e parameter settings Minter module synchronization setting This table shows the details of the inter module synchronization settings Use Inter module Synchronization Function in System Select Use Select Synchronous Target Unit between Unit Select Synchronize for all Fixed Scan Interval Setting 1 00ms select Set by 0 05ms llNetwork configuration setting Add the local station with the network configuration settings Refresh settings Set the transmission range between the RJ71EN71 when using CC Link IE Field network function and the CPU module devices XD Module Parameter gt Basic Setting gt Refresh Setting PLC Side Device Name Points Start End Refresh Destination Device Name Points Start End SB 00000 001FF Module Label SW 00000 001FF Module Label RX 00000 0001F Specify Device X 32 01000 RY 00000 0001F Specify Device 3201000 RWr 00000 0000F Specify Device W m 16 00000 0000 RWw 00000 0000F Specify Device W m 16 01000 0100F 7 PROGRAM EXAMPLES 37 7 2 For Network Configuration 38 The table shows the details of the local station side parameters Minter module synchronization setting This table shows the details of the inter module synchronization settings Set the same details as the master station side
33. e synchronization target module if it is not set yet X Page 30 Inter Module Synchronization Setting Is the inter module synchronization function target module set Check whether a module label is used in the inter module synchronization function and whether the refresh destination device is used in the inter module synchronous interrupt program Review the refresh settings Is refresh set Synchronization of an arbitrary module can be confirmed with the system monitor Page 40 Error Processing and Recovery Methods 8 TROUBLESHOOTING 41 8 1 Error Processing and Recovery Methods 42 8 2 RAS Function Shows the RAS functions related to the inter module synchronization function Inter module synchronous interrupt program execution time monitor The error detection setting is used to monitor the inter module synchronous interrupt program s execution time Set whether to detect an error related to the inter module synchronous interrupt program s execution time When an error is detected the number of cycle overs is stored in SD480 For details on the setting method of error detection setting and special register refer to the following LA MELSEC iQ R CPU Module User s Manual Application Point P When synchronizing via a network module even if an error is detected at the master station s CPU module is till not be detected at the local station Therefore to stop the local station when an error occurs pre
34. ed even when the operating status of C Controller module is STOP For more details refer to the following manual LLIMELSEC iQ R C Controller Module User s Manual Application B RUN STOP operation at STOP At STOP the CPU module stops the execution of the inter module synchronous interrupt program and turns the output OFF Refreshing is executed even during STOP Note that refreshing will not be executed the specified inter module synchronization cycle fixed cycle but will be executed at the END process 1 This includes CPU module stop errors HSTOP gt RUN operation The CPU module issues the inter module synchronization start instruction to each module at the inter module synchronization cycle after STOP gt RUN The inter module synchronous interrupt program execution starts at the next inter module synchronization cycle The refresh timing changes from the END process to before and after the inter module synchronous interrupt program 1 The operation is the same at Power ON gt RUN 5 FUNCTION 5 1 Fixed Cycle Synchronization Function Timing to synchronize each module Shows the timing to synchronize each module Input module The input module retrieves the input module at the inter module synchronization cycle start timing and holds the input value during the inter module synchronization cycle The input value is retrieved only once during the inter module synchronization cycle By reading the input value input sig
35. evices Shows the modules that can be synchronously controlled with the inter module synchronization function CPU module Programmable controller CPU RO4CPU RO4ENCPU RO8CPU ROBENCPU R16CPU RIGENCPU R32CPU R32ENCPU R120CPU R120ENCPU Process CPU ROBPCPU R16PCPU R32PCPU R120PCPU Motion CPU RI6MTCPU R32MTCPU C Controller module R12CCPU V Network module Master local module RJ71GF11 T2 RJ71EN71 I O module AC input module RX10 DC input module RX40C7 RX41C4 DC high speed input module RX40PC6H RX40NC6H Contact output module Transistor output module RY10R2 RY40NT5P RY41NT2P RY40PT5P RY41PT1P Intelligent function module AID converter module R60AD4 R60ADI8 R60ADV8 D A converter module R60DA4 R60DAI8 R60DAV8 Simple motion module RD77MS2 RD77MS4 RD77MS8 RD77MS16 High speed counter module RD62P2 RD62D2 RD62P2E Positioning module RD75P2 RD75P4 RD75D2 RD75D4 1 Usable only when operating as the CC Link IE Field Network A module other than those listed in the table can be mounted on the system as long as it is not a module that is synchronously controlled with the inter module synchronization function 1 0 2 SYSTEM CONFIGURATION 2 2 Configuration Devices 3 SPECIFICATIONS Shows the specifications
36. have been avoided if consumable parts battery backlight fuse etc designated in the instruction manual had been correctly serviced or replaced 5 Failure caused by external irresistible forces such as fires or abnormal voltages and Failure caused by force majeure such as earthquakes lightning wind and water damage 6 Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi 7 Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user Onerous repair term after discontinuation of production 1 Mitsubishi shall accept onerous product repairs for seven 7 years after production of the product is discontinued Discontinuation of production shall be notified with Mitsubishi Technical Bulletins etc 2 Product supply including repair parts is not available after production is discontinued Overseas service Overseas repairs shall be accepted by Mitsubishi s local overseas FA Center Note that the repair conditions at each FA Center may differ 4 Exclusion of loss in opportunity and secondary loss from warranty liability Regardless of the gratis warranty term Mitsubishi shall not be liable for compensation of damages caused by any cause found not to be the responsibility of Mitsubishi loss in opportunity lost profits incurred to the user by Failures of Mitsubishi products special damages and secondary damages whether foresee
37. he global label has two types a module specific label module label which is generated automatically by GX Works3 and an optional label which can be created for any specified device Cyclic transmission A function by which data are periodically exchanged among stations on the network using link devices Slave station A generic term for a local station remote I O station remote device station and intelligent device station Device A device X Y M D or others in a CPU module Master local module A generic term for the RJ71GF11 T2 CC Link IE Field Network master local module and RJ71EN71 when the CC Link IE Field Network function is used Master station A station that controls the entire network This station can perform cyclic transmission and transient transmission with all stations Only one master station can be used in a network Module label A label that represents one of memory areas I O signals and buffer memory areas specific to each module in a given character string For the module used GX Works3 automatically generates this label which can be used as a global label Link scan time Time required for all the stations on the network to transmit data Link device A device RX RY RWr RWw SB SW in a module on CC Link IE Field Network Local station A station that performs cyclic transmission and transient transmission with the master station and other local stat
38. ion Specifications subject to change without notice
39. ion diagram appear Set Synchronize in the setting field for the synchronization target module Set the inter module synchronization cycle at Synchronous Fixed Scan Interval Setting within the Modules When writing the parameters write in both the system parameters and module parameters To use the CC Link IE Field Network module on the local station as the synchronization target module set Synchronous Master Setting within the Modules For the module on the master station the setting is not required NT Use Inter module Synchronization Function in System Sets whether to use the inter module Not Use Not Use synchronization function Use Select Synchronous Detailed Setting Sets the module to be synchronized Do Not Synchronize Do Not Target Unit between Unit Synchronize Synchronize Synchronous Fixed 0 05ms Unit Setting Sets whether to set the inter module synchronization Not Set Set Scan Interval Setting cycle in 0 05ms units Set within the Modules Fixed Scan Interval Setting When not setting in 0 05ms units select the inter 0 222ms 0 888ms Not Set by 0 05ms module synchronization cycle from the options 0 444ms 0 888ms 1 777ms 3 555ms 7 111ms Fixed Scan Interval Setting When setting in 0 05ms units set the inter module 0 10 to 10 00ms 0 05ms 0 50 ms Set by 0 05ms synchronization cycle units Synchronous Master Synchronous Master Setting When Set is selected the CC
40. ions 1 overview The inter module synchronization function adjusts the control timing for the signals between multiple modules When this function is used the synchronization target module can match the input or output timing to the inter module synchronization cycle The inter module synchronization cycle is a fixed scan interval for the inter module synchronization function The multiple CPU system function s fixed communication interval and the CC Link IE Field Network synchronous communication function can be coordinated with the inter module synchronization cycle Input module Output module Programmable A D converter module controller CPU D A converter module U Inter module Inter module synchronization cycle synchronization cycle Program Programmable controller CPU Inter module synchronous interrupt program 144 Operation processing AID converter module set as a synchronization target D A converter module set as a synchronization target Input module set as a synchronization target Output module setas a synchronization target _ 2 apt Output Output conversion conversion 1 Refreshing is executed before and after the inter module synchronous interrupt program 144 2 The input process and outp
41. ishi representative in your region INTRODUCTION Thank you for purchasing the Mitsubishi MELSEC iQ R series programmable controllers This manual describes the inter module synchronization function which controls multiple modules synchronously Before using this product please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC iQ R series programmable controller to handle the product correctly When applying the program examples provided in this manual to an actual system ensure the applicability and confirm that it will not cause system control problems Please make sure that the end users read this manual Point Where a reference to the GX Works3 Operating Manual or the MELSEC iQ R CPU Module User s Manual Startup or Application is given the reference should be made to the following instead LLICW Configurator Operating Manual LLIMELSEC iQ R C Controller Module User s Manual Startup LLIMELSEC iQ R C Controller Module User s Manual Application CONTENTS SAFETY PRECAUTIONS ca Linee TR a ee CA heme dad 1 CONDITIONS OF USE FOR THE 1 1 INTRODUCTION Ge ee a La KE dE row err 2 RELEVANT 5 1 1 11 434 1 22 2 5 r GAS Oko Bahn 5 CHAPTER 1 OVE
42. le synchronous interrupt program s execution time X Page 42 Inter module synchronous interrupt program execution time monitor 6 Writing the parameters and programs Write the parameters set with the engineering tool and the created program into the CPU module QA GX Works3 Operating Manual When using the multiple CPU system configuration the parameter settings and program must be written into each CPU module for CPU No 2 to 4 7 Restarting the system Restart the system with one of the following methods Power OFF gt 0N gt RUN Reset the CPU module RUN 8 Monitoring and diagnosis If necessary confirm the operation of the inter module synchronization function with the system monitor or the interrupt program monitor list for each CPU module Page 40 Error Processing and Recovery Methods 4 PROCEDURES BEFORE OPERATION 1 3 MEMO 14 4 PROCEDURES BEFORE OPERATION D FUNCTION Shows the details of the inter module synchronization function 5 1 Fixed Cycle Synchronization Function Multiple modules are synchronized at the inter module synchronization cycle timing set with the parameters The data is exchanged and the input output is control at a fixed cycle By using this function the encoder input can be collected at a fixed time so data is retrieved at an accurate speed In addition the input output timing is accurately known so highly accurate model prediction control is possible Timing for synchronizing CPU m
43. ltiple cycle CPU system Enable Do not synchronize Fixed scan communication cycle for multiple CPU system Error occurs function with inter module function I Page 26 Timing example 1 synchronization cycle Synchronize with Setting not possible Multiple CPU system function s fixed scan communication inter module cycle synchronization with inter module synchronization synchronization cycle I Page 26 Timing example 2 lt Page 26 Timing cycle example 3 1 When the motion operation cycle and the multiple CPU system function s fixed scan communication cycle or inter module synchronization cycle differ the start timing of the longer cycle is always synchronized with the start timing of the shorter cycle Ex When using the following setting with programmable controller CPU CPU No 1 and Motion CPU CPU No 2 Inter module synchronization cycle 1 00ms multiple CPU system function s fixed scan communication cycle 0 888ms Set the Motion CPU CPU No 2 to Do not Synchronize in the inter module synchronization target module selection The communication cycle of the programmable controller CPU CPU No 1 and Motion CPU CPU No 2 multiple CPU synchronous interrupt program 145 and CPU buffer memory access device U3En HGn is a 0 888ms cycle The programmable controller CPU CPU No 1 inter module synchronous interrupt program 144 has a 1 00ms cycle The Motion CPU operation cycle is a cycle synchronized to 0 888ms
44. nal from the inter module synchronous interrupt program multiple modules can read the retrieved value at the same timing Inter module Inter module i I synchronization cycle gt synchronization cycle i ji 1 1 Inter module synchronous Inter module synchronous interrupt program interrupt program CPU module Input Operation Output Normal program Input Operation Output Normal program refresh processing refresh refresh processing refresh 1 T 1 i Read an input value Read an input value I on I QEE I 1 1 1 ON OFF 1 External input signal to X0 ON 0 l X0 4 ON 4 OFF Acquire and hold an input value Acquire and hold an input value Acquire and hold an input value I I I 1 1 1 1 if 1 1 1 1 1 1 External input signal to X1 ON ON X1 ON ON 5 FUNCTION 4 7 5 1 Fixed Cycle Synchronization Function AID converter module During the interval from the inter module synchronization cycle start timing to execution of the inter module synchronous interrupt program the latest A D conversion value is retrieved and stored in the synchronization latch digital operation value The synchronization latch digital operation value is held during the inter module synchronization cycle By reading the synchronization latch digital operation value from the inter module synchronous i
45. nchronization cycle By writing the digital value from the inter module synchronous interrupt program to multiple D A converter modules multiple modules can output the analog signal at the same timing i Inter module gt 4 Inter I synchronization cycle i Inter module synchronous interrupt program CPU module Input Normal program refresh Operation processing Input refresh module synchronization cycle Inter module synchronous interrupt program Operation processing Normal program 1 i 1 i Set a digital value Set a digital value 1 1 i Digitalvalue2 Digitalvalue3 Analog output module No 1 CH1 I 1 I i I Analog output signal 1 1 1 1 4 Output preparation i Output preparation i Internal processing processing processing 1 1 1 Digital value Digital value 1 Digital value 2 Digital value 3 T Analog output module No 2 CH1 N Analog output signal 6 Output preparation I ot Internal processing KIESZEN I 1 Output preparation processing Digital value Digital value 1 Digital value 2 Point P For details on the inter module synchronization function in the D A converter module refer to the following LLIManual for each D A converter module Digital value 3 5 FUNCTION 5 1 Fixed C
46. neering tool mounting the modules wiring each device turning the system power ON etc refer to the following LL MELSEC iQ R CPU Module User s Manual Startup 2 Setting the applicable system Set the system used in the unit configuration drawing LA GX Works3 Operating Manual When using the multiple CPU system configuration set the system parameters for all CPU modules MELSEC iQ R CPU Module User s Manual Application 3 Setting the inter module synchronization function Set the parameters required for using the inter module synchronization function Inter module synchronization setting Page 30 Inter Module Synchronization Setting If necessary set the CPU parameters and module parameters LLIManual for each module To coordinate the multiple CPU system function s fixed scan communication cycle with the inter module synchronization cycle set the fixed scan communication setting 25 Page 32 Multiple CPU Settings To coordinate the CC Link IE Field Network synchronous communication function with the inter module synchronization cycle set the CC Link IE Field Network master station Page 33 Settings in CC Link IE Field Network 4 Programming Create the inter module synchronous interrupt program To exchange the data used with the inter module synchronization function between the multiple CPU systems create a program for exchanging data 9 RAS setting If necessary set to monitor the inter modu
47. nput value into the CPU No 1 s fixed scan communication area 2 Read the CPU No 1 s fixed scan communication area and set the output value Point An inter module synchronization function FB is provided to absorb the two cycle output difference To delay the output timing of the host s control module by two inter module synchronization cycles create a program using the inter module synchronization function s FB LLIMELSEC iQ R CPU Module Function Block Reference 2 4 5 FUNCTION 5 1 Fixed Cycle Synchronization Function MPrecautions This section describes the precautions for coordinating with the multiple CPU system function s fixed scan communication cycle Even if the input output settings for other than the group are enabled with another CPU module s program the input or output cannot be retrieved from the synchronization target s module Data can be read with direct specifications such as the DX DY UniGn or FROM instructions but the data might be inconsistent To synchronize the start timings of inter module synchronization function for all CPU modules and all stations set the CPU parameter to synchronize the rising of each module and set the system parameter to synchronize the rising of all CPU modules By setting Fixed Scan Communication Function and Inter module Synchronization Function to Cooperate in multiple CPU settings of system parameter the fixed scan communication cycle of multiple CPU system function operates
48. nter module synchronous interrupt program multiple modules can read the retrieved current count value at the same timing i Inter module ple Inter module I synchronization cycle i synchronization cycle 1 Inter module synchronous interrupt program Inter module synchronous interrupt program Normal program CPU module Operation processing Operation processing Read a synchronization latch count value RZA Count value 2 Read a synchronization latch count value E Count value 1 High speed counter module No 1 CH1 Present value Count value 2 Count value 1 Synchronization latch count value High speed counter module No 2 CH1 Present value Synchronization latch count value Count value 1 Count value 2 5 FUNCTION 5 1 Fixed Cycle Synchronization Function 19 MPulse measurement mode Synchronous pulse measurement function The pulse measurement value of the function input terminal s input pulse is retrieved at the inter module synchronization cycle start timing The pulse measurement interval can be selected from four patterns ON width OFF width rising edge to rising edge or falling edge to falling edge The synchronization latch pulse measurement value is updated only once during the inter module synchronization cycle By reading the synchronization latch pulse measurement value from the inter module synchr
49. nterrupt program multiple modules can read the A D conversion value at the same timing Inter module Inter module synchronization cycle synchronization cycle 3 Inter module synchronous interrupt program Inter module synchronous interrupt program CPU module Input Operation Output Normal program Jinput Operation Output Normal program refresh processing refresh refresh processing refresh AA A AA R 1 I Read an A D conversion value Read A D conversion value I conversion I conversion I conversion AID conversion 1 value 1 value 5 U U U 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 U U 1 1 1 1 1 1 Analog input module No 1 CH1 _ li AE ersion A D conversion A D conversion VA D conversion A D conversion emen AID conversion VA D conversion A D conversion JA A D conversion value value 2 value 3 alue 4 value 5 value 6 value 7 value 8 value 9 AID conversion value 5 Synchronization latch digital output value AID conversion value 1 1 Analog input module No 2 CH1 conversion AID conversion VAID conversion VAID conversion AID conversion VAID conversion VAID conversion VAID conversion A D convers conversion value Y 1 value 2 value 3 value 4 value 5 value 6 value 7 value 8 value 9 T AID conversion value 1 A D conversion value 5 Synchronization latch digital output v
50. odules The CPU modules execute an inter module synchronous interrupt program at each inter module synchronization cycle C Page 16 Inter module synchronous interrupt The CPU module and each module are synchronized by refreshing This is performed before or after the inter module synchronous interrupt program With this the input data can be retrieved and the output data can be written at the inter module synchronization cycle timing When using C Controller module refer to the following manual LLIMELSEC iQ R C Controller Module User s Manual Application Inter module synchronization cycle 1 I U j Inter module synchronous 1 1 1 CPU module 14 interrupt program execution time 1 1 a es Normal program i Interrupted Inter module synchronous interrupt program Output refresh processing refresh 1 1 1 I i Input Operation 1 1 I 1 I 1 I External device Input r J gt Input External device Input gt Input Input module Output gt Output External device E output External device Output module Point The CC Link IE Field Network module s input signal X and output signal Y are refreshed at the END process For details on the refresh operation and settings refer to each module s manual 5 FUNCTION 1
51. onous interrupt program the pulse measurement value of the input pulse just before the inter module synchronization cycle is started can be read out Inter module Inter module 4 synchronization cycle gt synchronization cycle 1 1 m 1 N Tntermosute synchronous interrupt program Inter module synchronous interrupt program CPU module Input Operation Output Normal program input Operation utput Normal program refresh processing _ refresh refresh processing refresh Read a synchronization measured pulse value Read a synchronization measured pulse value Measured value 1 Measured value 3 High speed counter module No 1 CH1 Measured value 1 Measured value 2 Measured value 3 Measured value 4 Measured val Measured pulse value Synchronization latch measured pulse value Measured value 1 T e Measured value 3 T 1 1 I i I 1 1 1 1 1 1 1 1 1 High speed counter module No 2 CH1 sured value 1 Measured value 2 Measured value 3 Measured value 4 Measured value 5 Measured pulse value Synchronization latch measured pulse value Measured value 1 Measured value 3 2 0 5 FUNCTION 5 1 Fixed Cycle Synchronization Function Output module The output module s external output value ON OFF is updated at the inter module synchronization cycle start timing The output value is updated only once during the inter module synchronization cycle B
52. ous communication function the inter module synchronization timing for the system in the master station is sent to the local station via the network The local station sends the inter module synchronization cycle timing to each module in its own station Inter module Inter module synchronization cycle synchronization cycle CPU module No 1 Output Output Normal program refresh processing refresh refresh processing refresh System of the master station Master station Link scan Link scan 1 Transfer the inter module synchronization timing U U U U U U 1 Local station Link scan Link scan U U U 1 1 U U f jteq module synchronous interrupt program tey module synchronous interrupt program ystem o the local station CPU module No 2 Operation Normal program Operation Output Normal program processing processing refresh Input module Output module Output 1 1 1 Inter module i Inter module i synchronization cycle gt lt synchronization cycle Point When the local station is cut off from the master station because of a cable break etc synchronization cannot be maintained between the master station and local station Thus the inter module synchronization target modules in the local station also cannot be synchronized 5 FUNCTION 27 5 1 Fixed Cycle Synchronization Function
53. pare a program to monitor the master station status using the network module s link special registers etc Inter module synchronization signal error monitoring Each module monitors for errors in the inter module signal cycle and generates a moderate error if an error is detected The CPU module can monitor for errors in the inter module synchronization signal with SM488 Monitor of output exceeding inter module synchronization cycle The D A converter module monitors whether the output preparation process is completed before the next inter module synchronization cycle If the inter module synchronous interrupt program does not complete before the next inter module synchronization cycle starts an error will occur even if the output preparation process has not started If the output preparation process is constantly delayed a cycle over will always occur Set the inter module synchronization cycle to a value at which the D A converter module s output conversion can accurately finish Cyclic monitor The CC Link IE Field Network master local module s master station monitors whether the cyclic transmission is completed before the next inter module synchronization cycle If the inter module synchronous interrupt program does not complete before the next inter module synchronization cycle starts an error will occur even if the cyclic transmission process has not started If the cyclic transmission process is constantly delayed a cycle over will always
54. rowsed using a dedicated tool e Manual has the following features Required information can be cross searched in multiple manuals Other manuals can be accessed from the links in the manual The hardware specifications of each part can be found from the product figures Pages that users often browse can be bookmarked TERMS Unless otherwise specified this manual uses the following terms AID converter module Another name for the analog digital converter module CPU module A generic term for the MELSEC iQ R series CPU module C Controller module A generic term for the MELSEC iQ R series C Controller module D A converter module Another name for the digital analog converter module RAS The abbreviation for Reliability Availability and Serviceability This term refers to usability of automated equipment Intelligent function module A module that has functions other than input and output such as an A D converter module and D A converter module Engineering tool The product name of the software package for the MELSEC programmable controllers Control CPU A CPU module that controls connected I O modules and intelligent function modules In a multiple CPU system there are multiple CPU modules and each connected module can be controlled by a different CPU module Global label A label that is valid for all the program data when multiple program data are created in the project T
55. rs when an error occurs with the inter module synchronization function Appears when the inter module synchronization function is disabled or when the module is not supported 40 8 TROUBLESHOOTING 8 1 Error Processing and Recovery Methods Inter module synchronous interrupt program does not run Check the following if the inter module synchronous interrupt program does not run Is the inter module synchronization setting enabled Enable the inter module synchronization setting if it is not enabled 7 Page 30 Inter Module Synchronization Setting Does an inter module synchronous interrupt program If the inter module synchronous interrupt program is not present add one present Is the CPU module set to RUN Set the CPU module to RUN if it is not already set Is interrupt permitted Execute the El instruction if it hasn t been executed yet Has the inter module synchronous interrupt program When C Controller module is used register and enable the inter module synchronous interrupt been registered program using the C Controller module dedicated function LLIMELSEC iQ R C Controller Module User s Manual Application The inter module synchronous interrupt program operating status can be checked with the interrupt program monitor list LA GX Works3 Operating Manual A specific module is not synchronized Check the following if a specific module does not run Set the inter modul
56. s control module must be delayed by two inter module synchronization cycles 1 CPU No 1 Program execution Fixed scan communication cycle Fixed scan communication cycle Fixed scan communication cycle processing 4 Inter module synchronization cycle Inter module synchronization cycle 4 Inter module synchronization cycle _ Multiple CPU synchronous Inter module synchronous Multiple CPU synchronous Inter module synchronous Multiple CPU synchronous Inter module synchronous interrupt program interrupt program ir interrupt program interrupt program interrupt program Normal program input operaton Output Normal program o Input operation Output Normal program cz Input operation Output Normal program peration processing refr sh processing refreshl peration processing processing refresh peration processing refreshi processing refreshi 1 1 1 Input 2 Write data to the fixed Input data 270 an communication t data output data 5 Set an output value module scan communication though data can be output Fixed scan communication area u Fixed scan communication 1 area at the next inter module I I EE drei Fixed scan communication Fixed scan communication Fixed scan communication Fixed scan communication 1 E Y NE T synchronization cycle Fixed scan communication area
57. tStariReq_P am bSimultaneousMultiple RD75 1 bPLCRea UnitStartRea dy bSimultaneousMultipleUnitStart I TT RO75 2 bPLCRea RD75_1 bPLCRea RD75_1 bnBu dy RD75_2 bPLCReady 110 RD75_2 ssa cid RD75_1 stnAxisControlData_Ax D uPositioningStartNo D RD75 2stnAxisControlData is_D O uPositioningStariNo_D RD75_1 stnAxisControlData_Ax is_D O uAnalysisModeSetting RD75_2 stnAxisControlData_Ax is_D O uAnalysisModeSetting E E E E RD75_1 stnAxisMonitorData_ Ki RD75_2 stnAxisMonitorData_ Kl bPreAnalysisModeFlag Axis_D 0 uAnalysisMode_D Axis_D 0 uAnalysisMode_D bSimultaneousMultipleUnitStart Req bPreAnalysisModeFlag 5 bPreAnalysisModeFlag z RD75_1 stnAxisMonitorData_Axis MEN LSL RD75_2 stnAxisMonitorData_Axis_ Ojj naisi Mode D 18 5 eii is PrsAnelyeie MaRa RD75_1st ynchronousRefreshArea RD75_2 stSynchronousRefreshArea bAnalysisCompFlag 7 unAnalysisCompleteF lag_Axis 0 unAnalysisCompleteFlag_Axis 0 3 bAnalysisCompFiag RD75_1 stSynchronousRefreshArea bAnalysisCompFlag 9 a unAnalysisCompleteFlag Axis 0 KI RD75 2 stSynchronousRefreshArea unaralysisComgleteFlag_Axis 0 binputPositioningStartR bPreAnalysisMode
58. tem configuration Gie oraw nga as Rad dup oni ae 34 Pr gramming Condition ses srasni ad a aan ao a OE A konw a nag wy 34 Parameter selling iuris ws petat doe E ne e AOS TO ka 34 Applicable labels cin whew bead pun ep Kate WEP Era 35 REE 36 7 2 For Network 37 System 1 22 2 1 37 Parameter Setting gs oe la ats A WON eden ER 37 Applicable 1 1 1 4 38 su DM 39 CHAPTER8 TROUBLESHOOTING 40 8 1 Error Processing and Recovery 40 Inter module synchronous interrupt program does 41 A specific module is not 41 8 2 RAS FUNCION A 42 Inter module synchronous interrupt program execution time 42 Inter module synchronization signal error 42 Monitor of outp
59. tput refresh 3 Input refresh Inter module synchrdnous Infer module synchronous j Inter module synchronou interrupt program interrupt program interrupt program 1 T CPU module No 2 Input Operation Output Normal program Input Operation Output Normal program Input Operation Output Normal program refresh processing refresh refresh processing refresh rejresh processing refresh Data is transferred to another station after two cycles of inter module synchronization cycle Inter module Inter module on Inter module synchronization cycle synchronization cycle synchronization cycle U I 1 rpe Point P An inter module synchronization function FB is provided to absorb the two cycle input output difference Use the inter module synchronization function FBs to create a program to delay the master station s input output refreshing by two inter module synchronization cycles lt Page 36 Program LLIMELSEC Q R CPU Module Function Block Reference 5 FUNCTION 5 1 Fixed Cycle Synchronization Function 28 Network synchronous communication with slave station Using the CC Link IE Field Network synchronous communication function another slave station connected in the same network can be operated in synchronization with the inter module synchronization cycle Supporting Network synchronous communication function Not supporting
60. upported with inter module synchronization function Only master station and local station Time required for inter module synchronization function to start rising edge Max 20 seconds 1 This is not restricted by the module mounting position maximum number of mountable modules or the number of CPU modules when using a multiple CPU system configuration Same as when not using the inter module synchronization function QA MELSEC iQ R Module Configuration Manual 2 In the multiple CPU system the inter module synchronization function can be used only by the network module controlled by the CPU No 1 3 If the local station is designated as the module targeted for the inter module synchronization function the master station on the same base unit as the local station cannot be set as a module targeted for the inter module synchronization function Master station 4 A hub compatible with the inter module synchronization function must be used QA MELSEC iQ R Ethernet CC Link IE User s Manual Startup 5 Shows the type of station that can be selected with the station type setting QA MELSEC iQ R CC Link IE Field Network User s Manual Application 6 To use the module on the local station as the synchronization target module Synchronous Master Setting within the Modules is required Page 9 Inter module synchronous master 57 Page 30 Inter Module Synchronization Setting 2 SYSTEM CONFIGURATION 2 1
61. ut exceeding inter module synchronization cycle 42 e ee AWG X De ed PCI ede PU P olo Ee Ae D da AU kr Rec De vs 42 APPENDIX 44 Appendix 1 Processing Time 44 Overhead time for executing interrupt 1 44 Refresh processing time ee ope rei as pne st bended dis 44 Instruction processing time in interrupt 44 INDEX 46 REVISIONS Mr AN 48 WARRANTY cedere E eee ed AES Dese Ed aa eR scent is spere o rku od 49 TRADEMARKS u is e rr rd cd a a e A ia 50 RELEVANT MANUALS Reference Manual SH 081401ENG this manual MELSEC iQ R Inter Module Synchronization Function Inter module synchronization function which controls multiple e Manual modules synchronously EPUB PDF MELSEC iQ R CPU Module User s Manual Startup SH 081263ENG Performance specifications procedures before operation and Print book troubleshooting of the CPU module e Manual EPUB PDF MELSEC iQ R C Controller Module User s Manual Application SH 081369ENG Functions devices and parameters of C Controller module Print book e Manual EPUB PDF Point e Manual refers to the Mitsubishi FA electronic book manuals that can be b
62. ut process are performed at the timing of the inter module synchronization cycle 6 1 OVERVIEW MEMO 1 OVERVIEW 7 8 2 SYSTEM CONFIGURATION Shows the system configuration for the inter module synchronization function 2 1 Precautions for System Configuration Lists precautions for configuring the inter module synchronization function system Item Description Modules targeted for inter module synchronization function This function can be used only with the MELSEC iQ R Series modules lt Page 10 Configuration Devices For configuration that uses the network module as the synchronization target module Network compatible with inter module synchronization function Only CC Link IE Field Network Number of network modules that can be specified as target module for inter module synchronization function Per station include those on extension base unit 273 Master station modules 8 modules Local station modules 1 module 6 Network transmission path format compatible with inter module synchronization function Only the following network topology can be used Line topology Star topology 4 Line topology and star topology combination 4 Mounting position of local station module in synchronization target network module The local station can be mounted only on the main base unit Local stations on the extension base unit cannot be synchronized Types of stations s
63. y setting the output value from the inter module synchronous interrupt program several modules can output the setting value externally at the same value The external output value is updated at the start timing of the inter module synchronization cycle after the output that is set in the inter module synchronous interrupt program Inter module synchronization cycle Inter module synchronization cycle gt Inter module synchronous interrupt program Inter module synchronous interrupt program CPU module Operation Normal program Normal program processing Operation processing Set an output value Set an output value ONI OFF ON External output signal from YO ON k Yo ON OFF ON Update an output value Update an output value Update an output value 1 1 External output signal from Y 1 ii A Y1 OFF OFF _ D A converter module After execution of the inter module synchronous interrupt program is completed the output preparation process is executed suing the digital value set in the D A converter module The analog signal is output at the start timing of the next inter module synchronization cycle after the inter module synchronization cycle The output preparation process is executed only once during the inter module sy
64. ycle Synchronization Function 22 Positioning module The pulse output is started at the inter module synchronization cycle after the positioning start trigger is received Note that the pulse output start timing is adjusted only to the inter module synchronization cycle After starting each positioning module controls the positioning independently Inter module I Inter module Inter module I synchronization cycle _ synchronization cycle 3 synchronization cycle gt Inter module synchronous interrupt program Normal program Input Operation Output refresh processing refresh Inter module synchronous Inter module synchronous interrupt program interrupt program CPU module Input refresh Operation processing Operation processing Normal program Normal program Positioning module No 2 axis 4 Pulse output to an external CE source Standby Analyzing 1 Axis operation status T 1 1 1 T 1 1 1 i i Start pulse Positioning start output I I I I Positioning module No 1 axis 1 I Pul tput ti t PELO BRENT Standby Analyzing Axis operation status i i Start pulse output 1 1 1 1 1 1 1 1 1 1 Point P For details on the positioning module s inter module synchronization function refer to

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