Mitsubishi Electronics Q172HCPU, Q173HCPU manual 13

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-16
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- 5
2. POSITIONING CONTROL BY THE MOTION CPU		2- 1 to 2-14
2.1	Positioning Control by the Motion CPU...................................................................................................	2-	1
3. POSITIONING DEDICATED SIGNALS		3- 1 to 3-66
3.1	Internal Relays .........................................................................................................................................	3-	2
3.1.1 Axis statuses .....................................................................................................................................		3-12
3.1.2 Axis command signals ......................................................................................................................		3-22
3.1.3 Common devices ..............................................................................................................................		3-29
3.2	Data Registers..........................................................................................................................................	3-42
3.2.1 Axis monitor devices .........................................................................................................................		3-46
3.2.2 Control change registers...................................................................................................................		3-52
3.2.3 Common devices ..............................................................................................................................		3-53
3.3	Motion Registers(#)..................................................................................................................................	3-57
3.4	Special Relays (SP.M) .............................................................................................................................	3-58
3.5	Special Registers (SP.D) .........................................................................................................................	3-60
4. PARAMETERS FOR POSITIONING CONTROL		4- 1 to 4-14
4.1	System Settings .......................................................................................................................................	4-	1
4.2	Fixed Parameters.....................................................................................................................................	4- 2
4.2.1 Number of pulses/travel value per rotation.......................................................................................		4-	3
4.2.2 Backlash compensation amount.......................................................................................................		4- 5
4.2.3 Upper/lower stroke limit value...........................................................................................................		4-	5
4.2.4 Command in-position range..............................................................................................................		4- 7
4.2.5 Speed control 10 multiplier setting for degree axis........................................................................		4-	8
4.3	Parameter Block.......................................................................................................................................	4-11
4.3.1 Relationships between the speed limit value, acceleration time, deceleration time and rapid stop
	deceleration time...............................................................................................................................	4-13
4.3.2 S-curve ratio ......................................................................................................................................		4-13
	A - 12