Manuais de utilizador para Mitsubishi Electronics Q173HCPU

índice analítico

• SAFETY PRECAUTIONS

  2
• REVISIONS

  12
• INTRODUCTION

  13
• CONTENTS

  13
• About Manuals

  17
• 1. OVERVIEW

  20
  • 1.1 Overview

    20
  • 1.2 Features

    22
    • 1.2.1 Performance Specifications

      22
    • 1.2.2 Differences between Q173HCPU/Q172HCPU and Q173CPU(N)/Q172CPU(N)

      24
• 2. POSITIONING CONTROL BY THE MOTION CPU

  26
  • 2.1 Positioning Control by the Motion CPU

    26
• 3. POSITIONING DEDICATED SIGNALS

  40
  • 3.1 Internal Relays

    41
    • 3.1.1 Axis statuses

      51
    • 3.1.2 Axis command signals

      61
    • 3.1.3 Common devices

      68
  • 3.2 Data Registers

    81
    • 3.2.1 Axis monitor devices

      85
    • 3.2.2 Control change registers

      91
    • 3.2.3 Common devices

      92
  • 3.3 Motion Registers (#)

    96
  • 3.4 Special Relays (SP.M)

    97
  • 3.5 Special Registers (SP.D)

    99
• 4. PARAMETERS FOR POSITIONING CONTROL

  106
  • 4.1 System Settings

    106
  • 4.2 Fixed Parameters

    107
    • 4.2.1 Number of pulses/travel value per rotation

      108
    • 4.2.2 Backlash compensation amount

      110
    • 4.2.3 Upper/lower stroke limit value

      110
    • 4.2.4 Command in-position range

      112
    • 4.2.5 Speed control 10 multiplier setting for degree axis

      113
  • 4.3 Parameter Block

    116
    • 4.3.1 Relationships between the speed limit value, acceleration time, deceleration time and rapid stop deceleration time

      118
    • 4.3.2 S-curve ratio

      118
    • 4.3.3 Allowable error range for circular interpolation

      119
• 5. SERVO PROGRAMS FOR POSITIONING CONTROL

  120
  • 5.1 Servo Program Composition Area

    120
    • 5.1.1 Servo program composition

      120
    • 5.1.2 Servo program area

      121
  • 5.2 Servo Instructions

    122
  • 5.3 Positioning Data

    135
  • 5.4 Setting Method for Positioning Data

    141
    • 5.4.1 Setting method by specifying numerical values

      141
    • 5.4.2 Indirect setting method by word devices (D, W and #)

      142
• 6. POSITIONING CONTROL

  144
  • 6.1 Basics of Positioning Control

    144
    • 6.1.1 Positioning speed

      144
    • 6.1.2 Positioning speed at the interpolation control

      145
    • 6.1.3 Control units for 1 axis positioning control

      150
    • 6.1.4 Control units for interpolation control

      150
    • 6.1.5 Control in the control unit "degree"

      152
    • 6.1.6 Stop processing and restarting after stop

      154
    • 6.1.7 Acceleration/deceleration processing

      160
  • 6.2 1 Axis Linear Positioning Control

    162
  • 6.3 2 Axes Linear Interpolation Control

    165
  • 6.4 3 Axes Linear Interpolation Control

    170
  • 6.5 4 Axes Linear Interpolation Control

    176
  • 6.6 Auxiliary Point-Specified Circular Interpolation Control

    181
  • 6.7 Radius-Specified Circular Interpolation Control

    186
  • 6.8 Central Point-Specified Circular Interpolation Control

    192
  • 6.9 Helical Interpolation Control

    198
    • 6.9.1 Circular interpolation specified method by helical interpolation

      199
  • 6.10 1 Axis Fixed-Pitch Feed Control

    220
  • 6.11 Fixed-Pitch Feed Control Using 2 Axes Linear Interpolation

    224
  • 6.12 Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation

    228
  • 6.13 Speed Control (I)

    232
  • 6.14 Speed Control (II)

    236
  • 6.15 Speed/Position Switching Control

    239
    • 6.15.1 Speed/position switching control start

      239
    • 6.15.2 Re-starting after stop during control

      246
  • 6.16 Speed-Switching Control

    251
    • 6.16.1 Speed-switching control start, speed-switching points and end specification

      251
    • 6.16.2 Specification of speed-switching points using repetition instructions

      257
  • 6.17 Constant-Speed Control

    263
    • 6.17.1 Specification of pass points by repetition instructions

      267
    • 6.17.2 Speed-switching by instruction execution

      272
    • 6.17.3 1 axis constant-speed control

      277
    • 6.17.4 2 to 4 axes constant-speed control

      281
    • 6.17.5 Constant speed control for helical interpolation

      288
    • 6.17.6 Pass point skip function

      291
    • 6.17.7 FIN signal wait function

      293
  • 6.18 Position Follow-Up Control

    302
  • 6.19 Speed control with fixed position stop

    308
  • 6.20Simultaneous Start

    313
  • 6.21 JOG Operation

    316
    • 6.21.1 JOG operation data

      316
    • 6.21.2 Individual start

      317
    • 6.21.3 Simultaneous start

      322
  • 6.22 Manual Pulse Generator Operation

    325
  • 6.23 Home Position Return

    331
    • 6.23.1 Home position return data

      333
    • 6.23.2 Home position return by the proximity dog type 1

      341
    • 6.23.3 Home position return by the proximity dog type 2

      344
    • 6.23.4 Home position return by the count type 1

      346
    • 6.23.5 Home position return by the count type 2

      348
    • 6.23.6 Home position return by the count type 3

      349
    • 6.23.7 Home position return by the data set type 1

      351
    • 6.23.8 Home position return by the data set type 2

      352
    • 6.23.9 Home position return by the dog cradle type

      353
    • 6.23.10 Home position return by the stopper type 1

      357
    • 6.23.11 Home position return by the stopper type 2

      359
    • 6.23.12 Home position return by the limit switch combined type

      361
    • 6.23.13 Home position return retry function

      363
    • 6.23.14 Home position shift function

      367
    • 6.23.15 Condition selection of home position set

      371
    • 6.23.16 Servo program for home position return

      372
  • 6.24 High-Speed Oscillation

    374
• 7. AUXILIARY AND APPLIED FUNCTIONS

  376
  • 7.1 M-code Output Function

    376
  • 7.2 Backlash Compensation Function

    379
  • 7.3 Torque Limit Function

    381
  • 7.4 Skip Function in which Disregards Stop Command

    383
  • 7.5 Cancel of the Servo Program

    385
    • 7.5.1 Cancel/start

      386
• APPENDICES

  388
  • APPENDIX 1 Error Codes Stored Using The Motion CPU

    388
    • APPENDIX 1.1 Servo program setting errors (Stored in D9190)

      390
    • APPENDIX 1.2 Minor errors

      394
    • APPENDIX 1.3 Major errors

      404
    • APPENDIX 1.4 Servo errors

      408
    • APPENDIX 1.5 PC link communication errors

      427
  • APPENDIX 2 Special Relays/special registers

    428
    • APPENDIX 2.1 Special relays

      428
    • APPENDIX 2.2 Special registers

      431
  • APPENDIX 3 Example Programs

    435
    • APPENDIX 3.1 Reading M-code

      435
    • APPENDIX 3.2 Reading error code

      436
  • APPENDIX 4 Setting Range for Indirect Setting Devices

    438
  • APPENDIX 5 Processing Times of the Motion CPU

    440
• WARRANTY

  453