Mitsubishi MOTION CONTROLLERS Q172DCPU Manual de instrucciones descargar pdf (Pagina 13)

A - 12

INTRODUCTION

Thank you for choosing the Mitsubishi Motion controller Q173DCPU/Q172DCPU.

Before using the equipment, please read this manual carefully to develop full familiarity with the functions

and performance of the Motion controller you have purchased, so as to ensure correct use.

CONTENTS

Safety Precautions .........................................................................................................................................A- 1

Revisions ........................................................................................................................................................A-11

Contents .........................................................................................................................................................A-12

About Manuals ...............................................................................................................................................A-15

1. OVERVIEW 1- 1 to 1- 4

1.1 Overview................................................................................................................................................... 1- 1

1.2 Features ................................................................................................................................................... 1- 3

1.2.1 Performance Specifications .............................................................................................................. 1- 3

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 3-64

3.1 Internal Relays ......................................................................................................................................... 3- 3

3.1.1 Axis statuses ..................................................................................................................................... 3-10

3.1.2 Axis command signals ...................................................................................................................... 3-20

3.1.3 Common devices .............................................................................................................................. 3-27

3.2 Data Registers.......................................................................................................................................... 3-40

3.2.1 Axis monitor devices ......................................................................................................................... 3-44

3.2.2 Control change registers................................................................................................................... 3-50

3.2.3 Common devices .............................................................................................................................. 3-51

3.3 Motion Registers(#).................................................................................................................................. 3-54

3.4 Special Relays (SM) ................................................................................................................................ 3-56

3.5 Special Registers (SD)............................................................................................................................. 3-59

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

1 2 ... 8 9 10 11 12 13 14 15 16 17 18 ... 447 448

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Mitsubishi MOTION CONTROLLERS Q172DCPU Manual de instrucciones Pagina 13

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