Mitsubishi Electronics Q172HCPU manuals
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Mitsubishi Electronics Q172HCPU Manual
454 pages 4.54 Mb
1 MITSUBISHI ELECTRICMITSUBISHI ELECTRIC 2 ! DANGERCAUTION 3 For Safe Operations1. Prevention of electric shocks !DANGER 2. For fire prevention !CAUTION 4 3. For injury prevention4. Various precautions (1) System structure 5 (2) Parameter settings and programming6 (3) Transportation and installation8 (4) Wiring(5) Trial operation and adjustment 9 (6) Usage methods(7) Corrective actions for errors 10 (8) Maintenance, inspection and part replacement11 (9) About processing of waste(10) General cautions 20 1. OVERVIEW21 REMARK22 1.2 Features1.2.1Performance Specifications (1)Motion control specifications 23 Motion control specifications (continued)24 1.2.2 Differences between Q173HCPU/Q172HCPU and Q173CPU(N)/Q172CPU(N)(1)Differences between Q173HCPU/Q172HCPU and Q173CPU(N)/Q172CPU(N) 26 2. POSITIONING CONTROL BY THE MOTION CPU37 (1) Positioning control parameters(2) Servo program 38 (3) Motion SFC program(4) PLC program 40 3. POSITIONING DEDICATED SIGNALS41 3.1 Internal Relays(1) Internal relay list 42 Internal relay list (Continued)POINT 43 Axis status list44 (3) Axis command signal list45 Common device list46 Common device list (Continued)47 3POSITIONING DEDICATED SIGNALS49 (5) Special relay allocated device list (Status)50 (6)Common device list (Command signal)(7) Special relay allocated device list (Command signal) 51 3.1.1 Axis statuses(1)Positioning start complete signal (M2400+20n) .......... Status signal 52 (2)Positioning complete signal (M2401+20n) ..................Status signalIn-position 53 (4)Command in-positionsignal (M2403+20n) .................Status signal(5)Speed controlling signal (M2404+20n) ........................Status signal 54 (6)Speed/position switching latch signal (M2405+20n).........................Status signal (7) Zero pass signal (M2406+20n) 55 (8)Error detection signal (M2407+20n) ............................Status signal(9)Servo error detection signal (M2408+20n) ..................Status signal 56 (10)Home position return request signal (M2409+20n)(11)Home position return complete signal (M2410+20n) .......................Status signal 57 (12)FLS signal (M2411+20n) (13) RLS signal (M2412+20n) 58 STOP signal (M2413+20n) ........................................Status signal(15)DOG/CHANGE signal (M2414+20n) (Note-1) ..................Statussignal 59 (16)Servo ready signal (M2415+20n) ..............................Status signal(17) Torque limiting signal (M2416+20n) 60 (18)M-codeoutputting signal (M2419+20n) .....................Status signalPOINTS 61 3.1.2Axis command signals(1)Stop command (M3200+20n) ............................... Command signal 62 (2)Rapid stop command (M3201+20n) ..................... Command signal63 (4) Complete signal OFF command (M3204+20n)......................... Command signal 64 (5) Speed/position switching enable command (M3205+20n)......... Command signal (6) Error reset command (M3207+20n) ..................... Command signal (7) Servo error reset command (M3208+20n) ........... Command signal 65 (8)External stop input disable at start command (M3209+20n)....................... Command signal (9)Feed current value update request command (M3212+20n) (10) Servo OFF command (M3215+20n) Command signal 66 (11)Gain changing command (M3216+20n) ............. Command signal(12) Control loop changing command (M3216+20n) 67 (13) FIN signal (M3219+20n)68 3.1.3 Common devices(1)PLC ready flag (M2000) ..............………………… Command signal 70 Start accept flag (M2001 to M2032) ............................ Status signal71 (3)Personal computer link communication error flag (M2034)....………. Status signal (4) Motion SFC error history clear request flag (M2035) .……. Command signal (5) Motion SFC error detection flag (M2039) .....….…… Status signal 72 (6)Speed switching point specified flag (M2040) ...... Command signal73 (8) All axes servo ON command (M2042)(9) Motion slot fault detection flag (M2047) (10)JOG operation simultaneous start command (M2048) 74 (11) All axes servo ON accept flag (M2049)(12) Manual pulse generator enable flag (M2051 to M2053) .......... Command signal (13) Operation cycle over flag (M2054) 75 (14) Speed changing flag (M2061 to M2092)76 (15) Automatic decelerating flag (M2128 to M2159)77 (16) Speed change "0" accepting flag (M2240 to M2271)80 (17)Control loop monitor status (M2272 to M2303)............................... Command signal 81 3.2 Data RegistersData register list 82 (2) Axis monitor device list83 (3) Control change register list84 (4)Common device list85 3.2.1 Axis monitor devices(1) Feed current value storage register (D0+20n, D1+20n) ....…….. Monitor device (2)Real current value storage register (D2+20n, D3+20n) (3)Deviation counter value storage register (D4+20n, D5+20n) (4)Minor error code storage register (D6+20n) ............. Monitor device 86 (5)Major error code storage register (D7+20n) ............. Monitor device(6)Servo error code storage register (D8+20n) ......... Monitor device (7)Home position return re-travelvalue storage register (D9+20n) (8)Travel value after proximity dog ON storage register (D10+20n, D11+20n) ………………………………… Monitor device 87 (9) Execute program No. storage register (D12+20n)(10)M-codestorage register (D13+20n) ..........……….. Monitor device (11) Torque limit value storage register (D14+20n) Monitor device 88 (12) Data set pointer for constant-speedcontrol (D15+20n)90 (13) Travel value change register (D16+20n, D17+20n)....…….. Command device (14)Real current value at STOP input storage register (D18+20n, D19+20n) .............……………………... Monitor device 91 3.2.2 Control change registersTable 3.1 Data storage area for control change list (1)JOG speed setting registers (D640+2n) ....…….. Command device 92 3.2.3Common devicesDetails of the request register (3)Manual pulse generator axis No. setting registers (D714 to D719) 93 (4)Manual pulse generator 1-pulseinput magnification settingregisters (D720 to D751) Command device 95 (6) Real mode axis information register (D790, D791).................................................... Monitor device 96 3.3 Motion Registers (#)(1) Servo monitor devices (#8064 to #8191) ................. Monitor device 97 3.4 Special Relays (SP.M)Table 3.2 Special relay list (2) PCPU REDAY complete flag (M9074) ………............ Status signal 98 (3)TEST mode ON flag (M9075) ........……...................... Status signal(4)External forced stop input flag (M9076) ....…………… Status signal (5)Manual pulse generator axis setting error flag (M9077) .………...... Status signal (6)TEST mode request error flag (M9078) ..........………. Status signal (7)Servo program setting error flag (M9079) ...........…... Status signal 99 3.5 Special Registers (SP.D)Table 3.3 Special register list 100 (1) Connect/disconnect (D9112)..................................... Command device/Monitor device (2)Test mode request error information (D9182, D9183) ........... Monitor device 101 (3)Motion CPU WDT error cause (D9184) ………........ Monitor device102 (4)Manual pulse generator axis setting error information(5) Motion operation cycle (D9188) ….……..…………. Monitor device (6)Error program No. (D9189) .................……….......... Monitor device (7)Error item information (D9190) ...........………........... Monitor device 103 (8) Servo amplifier loading information (D9191 to D9192)(9) PC link communication error codes (D9196) ........... Monitor device 104 (10)Operation cycle of the Motion CPU setting (D9197)(11) State of switch (D9200) ………………………….. Monitor device (12) State of LED (D9201)…………………………..…… Monitor device 106 4. PARAMETERS FOR POSITIONING CONTROL107 4.2Fixed ParametersTable 4.1 Fixed parameter list 108 4.2.1 Number of pulses/travel value per rotation(1) Number of pulses/travel value per rotation Fig. 4.1 Control content of the Motion CPU 110 4.2.2Backlash compensation amount4.2.3 Upper/lower stroke limit value Fig. 4.3 Travel range at the upper/lower stroke limit value setting 111 (1) Stroke limit range check112 4.2.4 Command in-positionrange113 4.2.5 Speed control 10multiplier setting for degree axis116 4.3Parameter BlockTable 4.2 Parameter Block Setting List 118 4.3.2 S-curveratio119 4.3.3 Allowable error range for circular interpolationFig. 4.4 Spiral Interpolation 120 5. SERVO PROGRAMS FOR POSITIONING CONTROL121 5.1.2Servo program area(1)Servo program area (2) Servo program capacity Fig. 5.2 Servo program area 122 5.2 Servo Instructions(1) Guide to servo instruction list Table. 5.1 Guide to Servo Instruction List 123 (2) Servo instruction listTable 5.2 Servo instruction list 125 Table 5.2 Servo Instruction List (continued)135 5SERVO PROGRAMS FOR POSITIONING CONTROL5.3 Positioning Data Table 5.3 Positioning data 137 Table 5.3 Positioning data (Continued)141 5.4 Setting Method for Positioning Data5.4.1 Setting method by specifying numerical values Fig. 5.3 Setting example of positioning data by specifying numerical value 142 5.4.2 Indirect setting method by word devices (D, W and #)143 (1) Devices for indirect setting dataFig. 5.4 Example of setting positioning data by numerical value setting (2) Inputting of positioning data 144 6. POSITIONING CONTROL145 6.1.2 Positioning speed at the interpolation control(1) 1 axis linear control (2) Linear interpolation control 150 6POSITIONING CONTROL(3)Circular interpolation control 6.1.3 Control units for 1 axis positioning control 6.1.4Control units for interpolation control 151 Remarks152 6.1.5 Control in the control unit "degree(1) Current value address (2) Stroke limit valid/invalid setting 153 (3)Positioning control154 6.1.6 Stop processing and restarting after stop(1)Stop processing 156 (c)Stop commands and stop causes157 (2)Re-startingafter stop158 (3)Continuation of positioning control160 6.1.7 Acceleration/deceleration processing(1) Trapezoidal acceleration/deceleration processing (2) S-curveacceleration/deceleration processing 161 (a) Direct specification(b) Indirect specification 162 6.2 1 Axis Linear Positioning ControlFig.6.1 Positioning using absolute data method 163 Fig.6.2 Positioning using incremental data method(1) System configuration (2) Positioning operation details 164 (3) Operation timing(4) Servo program (5) Motion SFC program 165 6.3 2 Axes Linear Interpolation Control166 Fig.6.3 Positioning using absolute data method167 Fig.6.4 Positioning using incremental data method168 (2)Positioning operation details(3)Positioning conditions (4)Operation timing 169 (5) Servo program(6) Motion SFC program 170 6.4 3 Axes Linear Interpolation Control171 Fig.6.5 Positioning using absolute data method172 Fig.6.6 Positioning using incremental data method174 (4) Operation timing176 6.5 4 Axes Linear Interpolation Control177 Fig.6.7 Axis configuration178 Fig.6.8 Positioning for 4 axes linear interpolation control181 6.6 Auxiliary Point-SpecifiedCircular Interpolation ControlFig.6.9 Circular interpolation control using absolute data method 182 Fig.6.10 Maximum arcFig.6.11 Circular interpolation control using incremental data method 183 Fig.6.12 Maximum arc(2) Positioning details 186 6.7 Radius-SpecifiedCircular Interpolation Control187 Fig.6.13 Circular interpolation control using absolute data method188 Fig.6.14 Maximum arcFig.6.15 Circular interpolation control using incremental data method Fig.6.16 Maximum arc 192 6.8 Central Point-SpecifiedCircular Interpolation Control193 Fig.6.17 Circular interpolation control using absolute date methodFig.6.18 Positioning control of a complete round Fig.6.19 Maximum arc 194 Fig.6.20 Circular interpolation control using incremental data method (INC )Fig.6.21 Positioning control of a complete round Fig.6.22 Maximum arc radius 198 6.9 Helical Interpolation Control199 6.9.1 Circular interpolation specified method by helical interpolation202 (1) Servo program203 (2) Motion SFC program220 6.10 1 Axis Fixed-PitchFeed ControlFig.6.23 1 axis fixed-pitchfeed control 221 (2)Fixed-pitchfeed control conditions222 (3)Operation timing224 6.11 Fixed-PitchFeed Control Using 2 Axes Linear InterpolationFig.6.24 Fixed-pitchfeed control using 2 axes linear interpolation 225 (2)Fixed-pitchfeed control228 6.12 Fixed-PitchFeed Control Using 3 Axes Linear InterpolationFig. 6.25 Fixed-pitchfeed control using 3 axes linear interpolation 232 6.13Speed Control ()233 Table.6.1 Stop commands and stop processing234 (2)Speed control () conditions236 6.14Speed Control ()244 (2)Positioning conditions246 6.15.2 Re-startingafter stop during controlFig. 6.27 Re-startingduring speed control 247 Fig.6.28 Re-startingduring speed controlFig.6.29 Re-startingafter speed change 251 6.16Speed-SwitchingControl252 (1) VSTART(2) VEND (1) ABS-1/INC-1 (2) ABS-2/INC-2 (3) ABS-3/INC-3 (1) VABS (2) VINC 254 (2) Positioning conditions255 (3) Operation timing and speed-switchingpositions258 (3)FOR-OFF (loop-outtrigger condition setting)(1) Operation in condition (2) Operation in condition 259 (3)Operation in condition260 (3)Operation timing and speed-switchingpositions263 6.17Constant-SpeedControl267 6.17.1 Specification of pass points by repetition instructions272 6.17.2 Speed-switchingby instruction execution277 6.17.3 1 axis constant-speedcontrol(1) CPSTART1 (2) CPEND 278 (3)Details of positioning operation281 6.17.4 2 to 4 axes constant-speedcontrol282 (1) CPSTART2(2) CPSTART3 (3) CPSTART4 (4) CPEND (1) ABS-2/INC-2 (2) ABS-3/INC-3 (3) ABS-4/INC-4 (4) ABS/INC (5) ABS/INC , ABS/INC , ABS/INC , ABS/INC 283 (6)ABS/INC , ABS/INCFig.6.30 Positioning for Axis 2 and Axis 288 6.17.5 Constant speed control for helical interpolation291 6.17.6 Pass point skip function(1) Skip signal devices 293 6.17.7 FIN signal wait function294 (1)FIN signal wait function by the PLC program297 (2)FIN signal wait function using the Motion SFC program302 6.18 Position Follow-UpControl308 6.19 Speed control with fixed position stop313 6.20Simultaneous Start314 (2) Number of specified servo programs and program NoStart conditions Servo program 316 6.21 JOG Operation6.21.1 JOG operation data Table 6.2 JOG operation data list 317 6.21.2 Individual start320 (2)JOG operation conditions322 6.21.3 Simultaneous start325 6.22 Manual Pulse Generator Operation330 (2)Manual pulse generator operation conditions(3)Motion SFC program 331 6.23Home Position Return333 6.23.1 Home position return dataTable 6.3 Home position return data list 335 (1)Travel value after proximity dog ON336 Fig. 6.31 Operation for home position return retry function337 (3)Home position shift amount/speed set at the home position shiftFig. 6.32 Home position shift amount/speed set at the home position shift 338 (4)Torque limit value at the creep speed339 (5)Operation setting for incompletion of home position return(6)Indirect setting of home position return data 340 (7)Setting items for home position return data341 6.23.2 Home position return by the proximity dog type(1) Proximity dog type (2) Home position return by the proximity dog type Fig. 6.33 Home position return operation by the proximity dog type (3) Home position return execution 342 (4)Cautions344 6.23.3 Home position return by the proximity dog type346 6.23.4Home position return by the count type(1)Count type (2) Home position return by the count type Fig. 6.35 Home position return operation by the count type 348 6.23.5Home position return by the count typeFig. 6.36 Home position return operation by the count type 349 6.23.6Home position return by the count type351 6.23.7 Home position return by the data set type(1) Data set type (2) Home position return by the data set type Fig. 6.38 Home position return operation by the date set type 352 6.23.8 Home position return by the data set typeFig. 6.39 Home position return operation by the date set type 353 6.23.9 Home position return by the dog cradle type(1) Dog cradle type (2) Home position return by the dog cradle type Fig. 6.40 Home position return operation by the dog cradle type 357 6.23.10 Home position return by the stopper type(1) Stopper type (2) Home position return by the stopper type Fig. 6.41 Home position return operation by the stopper type 359 6.23.11 Home position return by the stopper typeFig. 6.42 Home position return operation by the stopper type 361 6.23.12 Home position return by the limit switch combined type(1) Limit switch combined type (2) Home position return by the limit switch combined type Fig. 6.43 Home position return operation by the limit switch combined type 363 6.23.13 Home position return retry function[Data Setting] Table 6.4 Home position return data Fig. 6.44 Operation for home position return retry (proximity dog type) 365 Fig. 6.45 Dwell time setting at the home position return retry367 6.23.14 Home position shift functionTable 6.5 Home position return data 368 Fig. 6.46 Operation for home position shift369 Fig. 6.47 Setting range of home position shift amountFig. 6.48 Operation for home position shift with the home position return speed 370 Fig. 6.49 Operation for home position shift with the creep speed371 6.23.15 Condition selection of home position setTable 6.6 Servo parameter (expansion setting parameter) 372 6.23.16 Servo program for home position return373 (2)Servo program example374 6.24 High-SpeedOscillation376 7. AUXILIARY AND APPLIED FUNCTIONS377 (3) Resetting of M-codes378 7AUXILIARY AND APPLIED FUNCTIONS(4)Program example 379 7.2 Backlash Compensation FunctionFig.7.1 Backlash compensation amount (1) Setting of the backlash compensation amount 380 (2)Backlash compensation processingTable 7.2 Details of backlash compensation processing 381 7.3 Torque Limit Function383 7.4 Skip Function in which Disregards Stop Command385 7.5 Cancel of the Servo Program386 7.5.1 Cancel/start388 APPENDICES389 Table 1.1 Error code storage registers, error detection signals390 APPENDIX 1.1 Servo program setting errors (Stored in D9190)Table 1.2 Servo program setting error list 391 Table 1.2 Servo program setting error list (Continued)394 APPENDIX 1.2 Minor errors(1) Setting data errors (1 to 99) Table 1.3 Setting data error (1 to 99) list 395 (2) Positioning control start errors (100 to 199)Table 1.4 Positioning control start error (100 to 199) list 396 Table 1.4 Positioning control start error (100 to 199) list (Continued)399 (3) Positioning control errors (200 to 299)Table 1.5 Positioning control error (200 to 299) list 400 Table 1.5 Positioning control error (200 to 299) list (Continued)402 (4) Current value/speed change errors (300 to 399)Table 1.6 Current value/speed change error (300 to 399) list 403 (5) System errors (900 to 999)Table 1.7 System error (900 to 999) list 404 APPENDIX 1.3 Major errors(1) Positioning control start errors (1000 to 1099) Table 1.8 Positioning control start error (1000 to 1099) list 405 (2) Positioning control errors (1100 to 1199)Table 1.9 Positioning control error (1100 to 1199) list 406 (3) Absolute position system errors (1200 to 1299)Table 1.10 Absolute position system error (1200 to 1299) list 407 (4) System errors (1300 to 1399)Table 1.11 System error (1300 to 1399) list 408 APPENDIX 1.4 Servo errors(1) Servo amplifier errors (2000 to 2899) 409 Table 1.12 Servo error (2000 to 2899) list410 Table 1.12 Servo error (2000 to 2899) list (Continued)427 APPENDIX 1.5 PC link communication errorsTable 1.13 PC link communication error codes list 428 APPENDIX 2 Special Relays/special registersAPPENDIX 2.1 Special relays 429 Table 2.1 Special relay list430 Table 2.1 Special relay list (continued)431 APPENDIX 2.2 Special registers432 Table 2.2 Special register list433 Table 2.2 Special register list (continued)435 APPENDIX 3 Example ProgramsAPPENDIX 3.1 Reading M-code 436 APPENDIX 3.2 Reading error code438 APPENDIX 4 Setting Range for Indirect Setting Devices(1) Device range 439 (2) Inputting device data440 APPENDIX 5 Processing Times of the Motion CPU(1) Motion operation cycle [ms] (Default) (2) CPU processing time [ms] 442 (4) Axis command signal list446 (6) Special relay allocated device list (Status)447 (7) Common device list (Command signal)(8) Special relay allocated device list (Command signal) 448 (9) Axis monitor device list449 (10) Control change register list450 (11) Common device list451 (12) Motion register list (#)452 (13) Special relay list(14) Special register list
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