User ManualTable of ContentsSAFETY PRECAUTIONS2REVISIONS12INTRODUCTION13CONTENTS13About Manuals171. OVERVIEW201.1 Overview201.2 Features221.2.1 Performance Specifications221.2.2 Differences between Q173HCPU/Q172HCPU and Q173CPU(N)/Q172CPU(N)242. POSITIONING CONTROL BY THE MOTION CPU262.1 Positioning Control by the Motion CPU263. POSITIONING DEDICATED SIGNALS403.1 Internal Relays413.1.1 Axis statuses513.1.2 Axis command signals613.1.3 Common devices683.2 Data Registers813.2.1 Axis monitor devices853.2.2 Control change registers913.2.3 Common devices923.3 Motion Registers (#)963.4 Special Relays (SP.M)973.5 Special Registers (SP.D)994. PARAMETERS FOR POSITIONING CONTROL1064.1 System Settings1064.2 Fixed Parameters1074.2.1 Number of pulses/travel value per rotation1084.2.2 Backlash compensation amount1104.2.3 Upper/lower stroke limit value1104.2.4 Command in-position range1124.2.5 Speed control 10 multiplier setting for degree axis1134.3 Parameter Block1164.3.1 Relationships between the speed limit value, acceleration time, deceleration time and rapid stop deceleration time1184.3.2 S-curve ratio1184.3.3 Allowable error range for circular interpolation1195. SERVO PROGRAMS FOR POSITIONING CONTROL1205.1 Servo Program Composition Area1205.1.1 Servo program composition1205.1.2 Servo program area1215.2 Servo Instructions1225.3 Positioning Data1355.4 Setting Method for Positioning Data1415.4.1 Setting method by specifying numerical values1415.4.2 Indirect setting method by word devices (D, W and #)1426. POSITIONING CONTROL1446.1 Basics of Positioning Control1446.1.1 Positioning speed1446.1.2 Positioning speed at the interpolation control1456.1.3 Control units for 1 axis positioning control1506.1.4 Control units for interpolation control1506.1.5 Control in the control unit "degree"1526.1.6 Stop processing and restarting after stop1546.1.7 Acceleration/deceleration processing1606.2 1 Axis Linear Positioning Control1626.3 2 Axes Linear Interpolation Control1656.4 3 Axes Linear Interpolation Control1706.5 4 Axes Linear Interpolation Control1766.6 Auxiliary Point-Specified Circular Interpolation Control1816.7 Radius-Specified Circular Interpolation Control1866.8 Central Point-Specified Circular Interpolation Control1926.9 Helical Interpolation Control1986.9.1 Circular interpolation specified method by helical interpolation1996.10 1 Axis Fixed-Pitch Feed Control2206.11 Fixed-Pitch Feed Control Using 2 Axes Linear Interpolation2246.12 Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation2286.13 Speed Control (I)2326.14 Speed Control (II)2366.15 Speed/Position Switching Control2396.15.1 Speed/position switching control start2396.15.2 Re-starting after stop during control2466.16 Speed-Switching Control2516.16.1 Speed-switching control start, speed-switching points and end specification2516.16.2 Specification of speed-switching points using repetition instructions2576.17 Constant-Speed Control2636.17.1 Specification of pass points by repetition instructions2676.17.2 Speed-switching by instruction execution2726.17.3 1 axis constant-speed control2776.17.4 2 to 4 axes constant-speed control2816.17.5 Constant speed control for helical interpolation2886.17.6 Pass point skip function2916.17.7 FIN signal wait function2936.18 Position Follow-Up Control3026.19 Speed control with fixed position stop3086.20Simultaneous Start3136.21 JOG Operation3166.21.1 JOG operation data3166.21.2 Individual start3176.21.3 Simultaneous start3226.22 Manual Pulse Generator Operation3256.23 Home Position Return3316.23.1 Home position return data3336.23.2 Home position return by the proximity dog type 13416.23.3 Home position return by the proximity dog type 23446.23.4 Home position return by the count type 13466.23.5 Home position return by the count type 23486.23.6 Home position return by the count type 33496.23.7 Home position return by the data set type 13516.23.8 Home position return by the data set type 23526.23.9 Home position return by the dog cradle type3536.23.10 Home position return by the stopper type 13576.23.11 Home position return by the stopper type 23596.23.12 Home position return by the limit switch combined type3616.23.13 Home position return retry function3636.23.14 Home position shift function3676.23.15 Condition selection of home position set3716.23.16 Servo program for home position return3726.24 High-Speed Oscillation3747. AUXILIARY AND APPLIED FUNCTIONS3767.1 M-code Output Function3767.2 Backlash Compensation Function3797.3 Torque Limit Function3817.4 Skip Function in which Disregards Stop Command3837.5 Cancel of the Servo Program3857.5.1 Cancel/start386APPENDICES388APPENDIX 1 Error Codes Stored Using The Motion CPU388APPENDIX 1.1 Servo program setting errors (Stored in D9190)390APPENDIX 1.2 Minor errors394APPENDIX 1.3 Major errors404APPENDIX 1.4 Servo errors408APPENDIX 1.5 PC link communication errors427APPENDIX 2 Special Relays/special registers428APPENDIX 2.1 Special relays428APPENDIX 2.2 Special registers431APPENDIX 3 Example Programs435APPENDIX 3.1 Reading M-code435APPENDIX 3.2 Reading error code436APPENDIX 4 Setting Range for Indirect Setting Devices438APPENDIX 5 Processing Times of the Motion CPU440WARRANTY453Size: 4.55 MBPages: 454Language: EnglishOpen manual