Mitsubishi Electric Q173HCPU Spezifikationen Seite 13
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INTRODUCTION
Thank you for choosing the Q173HCPU/Q172HCPU Motion Controller.
Please read this manual carefully so that equipment is used to its optimum.
CONTENTS
Safety Precautions .........................................................................................................................................A- 1
Revisions ........................................................................................................................................................A-11
Contents .........................................................................................................................................................A-12
About Manuals ...............................................................................................................................................A-17
1. OVERVIEW 1- 1 to 1- 6
1.1 Overview................................................................................................................................................... 1- 1
1.2 Features ................................................................................................................................................... 1- 3
1.2.1 Performance specifications............................................................................................................... 1- 3
1.2.2 Differences between Q173HCPU/Q172HCPU and Q173CPU(N)/Q172CPU(N)......................... 1- 6
2. POSITIONING CONTROL BY THE MOTION CPU 2- 1 to 2-10
2.1 Positioning Control by the Motion CPU................................................................................................... 2- 1
3. MOTION DEDICATED PLC INSTRUCTION 3- 1 to 3-44
3.1 Motion Dedicated PLC Instruction........................................................................................................... 3- 1
3.1.1 Restriction item of the Motion dedicated PLC instruction ................................................................ 3- 1
3.2 Motion program (Control program) Start Request from The PLC CPU to The Motion CPU:
S(P).SFCS (PLC instruction:
S(P).SFCS
)............................................................................................ 3- 8
3.3 Motion Program (Axis designation program) Start Request from The PLC CPU to The Motion CPU:
S(P).SVST (PLC instruction:
S(P).SVST
) ............................................................................................ 3-13
3.4 Home position return instruction from The PLC CPU to The Motion CPU:
S(P).CHGA (PLC instruction:
S(P).CHGA
)........................................................................................... 3-19
3.5 Speed Change Instruction from The PLC CPU to The Motion CPU:
S(P).CHGV (PLC instruction:
S(P).CHGV
)........................................................................................... 3-24
3.6 Torque Limit Value Change Request Instruction from The PLC CPU to The Motion CPU:
S(P).CHGT (PLC instruction:
S(P)
.CHGT
).......................................................................................... 3-32
3.7 Write from The PLC CPU to The Motion CPU: S(P).DDWR (PLC instruction:
S(P).DDWR
) .............. 3-36
3.8 Read from The Devices of The Motion CPU: S(P).DDRD (PLC instruction:
S(P).DDRD
) ................. 3-40
4. POSITIONING SIGNALS 4- 1 to 4-88
4.1 Internal Relays ......................................................................................................................................... 4- 2
4.1.1 Axis statuses ..................................................................................................................................... 4-13
4.1.2 Axis command signals ...................................................................................................................... 4-26
4.1.3 Axis statuses 2 .................................................................................................................................. 4-33
4.1.4 Axis command signals 2 ................................................................................................................... 4-36
4.1.5 Common devices .............................................................................................................................. 4-45
4.2 Data Registers.......................................................................................................................................... 4-56
- Programming Manual 1
- Q173HCPU 1
- Q172HCPU 1
- SAFETY PRECAUTIONS 2
- (1) System structure 4
- CAUTION 10
- S(P).SVST 13
- S(P).CHGA 13
- S(P).CHGV 13
- S(P).DDWR 13
- S(P).DDRD 13
- 1. OVERVIEW 20
- 1 OVERVIEW 21
- 1.2 Features 22
- (Note-2) 23
- Start request of the 27
- Motion program 27
- Motion CPU 28
- Motion program . . . . 28
- Set and correct using a 30
- (2) Motion program 33
- (3) PLC program 34
- The control program is set 41
- S(P).SFCS 43
- [Setting data] 43
- [Description] 44
- [Errors] 46
- [Program example] 47
- [Setting data] 48
- [Operation] 49
- [Setting range] 50
- S(P).CHGA (PLC instruction: 54
- S(P).CHGV (PLC instruction: 59
- S(P) .CHGT 67
- S(P) .DDWR 71
- [Controls] 72
- [Control data] 75
- [Control] 76
- 4. POSITIONING SIGNALS 80
- 4.1 Internal Relays 81
- (1) Internal relay list 81
- (2) Axis status list 82
- (4) Axis status 2 list 84
- (6) Common device list 86
- 4.1.1 Axis statuses 92
- [Motion program exapmle] 94
- 4 POSITIONING SIGNALS 101
- [Motion program example] 104
- 4.1.2 Axis command signals 105
- (Note-1) 112
- Temporary 115
- 4.1.5 Common devices 124
- ....………. Status signal 127
- 4.2 Data Registers 135
- (1) Data register list 135
- (8) Common device list 142
- 20 is stored in D849 149
- ...…….…….. Monitor device 150
- Name Contents 151
- 0 : End 151
- 1 : Executing 151
- ....…….. Command device 154
- 4.2.7 Common devices 155
- 4.4 Special Relays (SP.M) 159
- Table 4.2 Special relay list 159
- 4.5 Special Registers (SP.D) 162
- ........... Monitor device 163
- 5.1 System Settings 168
- 5.2 Fixed Parameters 169
- Servo amplifier 170
- Fig. 5.2 For ball screw 171
- 5.3 Parameter Block 180
- Set acceleration 184
- 5.3.2 S-curve ratio 185
- 5.4 Work Coordinate Data 187
- (2) Block 189
- (3) Motion program 190
- Type of the Motion program 191
- 6.3 G-code List 192
- G-code List 192
- 6.4 M-code List 194
- M-code List 194
- 6.5 Control Instruction List 195
- Control instruction list 195
- 6.6 Start/End Method 197
- Axis designation 198
- 6.8 Motion parameter 200
- G-code Combination List 201
- Used in G43, G44 209
- 6.11.2 Indirect setting 211
- (2) Usable device range 211
- (3) Variable conversion 212
- (5) Assignment of variable 214
- (7) Inputting device data 216
- 6.11.3 Operational data 218
- • For MOD 220
- (6) Functions (BIN, BCD) 226
- (1) Current value address 233
- (3) Positioning control 234
- (2) Work coordinate system 235
- 6.13 G-code 236
- Table 6.3 G-code arguments 237
- [Explanation] 239
- [Related Parameters] 240
- [Program Example] 240
- 6.13.7 G04 Dwell 253
- 6.13.8 G09 Exact stop check 255
- 6.13.19 G32 Skip 277
- 6.13.26 G64 Cutting mode 293
- Time-constant 305
- Correct locus control on 306
- 6.14 M-Code 307
- 6.15 Special M-Code 308
- 6.15.1 M00 Program stop 309
- 6.15.3 M02 Program end 311
- 6.15.4 M30 Program end 312
- 6.15.6 M100 Preread disable 315
- 6.16 Miscellaneous 316
- Table 6.5 Argument List 316
- F[]nT ;S 328
- Numerical value or variable 330
- WAITON #M100 ; 336
- EXEON #M101 ; 336
- G01 X100. F100 ; 336
- Reset bit number (0 to15) 337
- Set bit number (0 to15) 337
- 6.16.17 Speed change (CHGV) 343
- ON device (Y, M) 345
- Device ON command 345
- OFF device (Y, M) 345
- Device OFF command 345
- LJX p;JYJZJUJ 348
- JWJAJB P 348
- JX p;JYJZJUJ 350
- 6.16.25 Time to wait (TIME) 356
- M VBO ;D S nD 359
- M VO;D S nF 361
- M;D S S n 365
- T;D D SOn 367
- FM ;D S SRn21 369
- ON/OFF device (X, Y, M, B, F) 371
- Feed screw 374
- Backlash compensation amount 374
- Workpiece 374
- (4) Explanation 377
- 7.3 Home Position Return 378
- "valid" 382
- "home position 383
- G28 (Home position return) 385
- Practicable instructions 385
- All controlled instructions 385
- Word devices Usable devices 387
- D 1690 to 8191 387
- W 0 to 1FFF 387
- # 0 to 7999 387
- : Must be set 388
- : Must be not set 388
- [Cautions] 390
- [Data Setting] 416
- [Control details] 417
- [degree/min]" 424
- 7.5 JOG Operation 426
- 7.5.1 JOG operation data 426
- 7.5.2 Individual start 427
- (1) System configuration 430
- (1) System configuration 434
- K100 M0 D0 441
- "J2J3J44" 441
- 7.8 FIN signal wait function 443
- FIN waiting 443
- FIN wait 444
- Positioning operation 446
- 7.9 Single Block Operation 447
- Executing PLC No 448
- [Operation Timing] 452
- 8 USER FILES 454
- 8. USER FILES 454
- 8.1 Projects 454
- APPENDICES 456
- PPENDICES 457
- APPENDIX 1.2 Minor errors 459
- APPENDIX 1.3 Major errors 475
- APPENDIX 1.4 Servo errors 479
- (3) Axis status 2 list 499
- (5) Common device list 501
- (Note-1) , (Note-2) 506
- (Note-1), (Note-2) 506
- (7) Common device list 513
- APPENDIX 2.4 Special Relays 515
- Special relay list 516
- Year Month 519
- Example : July 1993 519
- H9307 519
- Example : 520
- Friday 520
- H0005 520
- WARRANTY 523
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