Mitsubishi Q172CPU User Manual page 49

2 SYSTEM CONFIGURATION
Item
Teaching unit
Internal current
consumption(5VDC) [A]
Mass [kg]
Exterior dimensions
[mm(inch)]
Item
Number of control axes
SV13
Operation cycle
(default)
SV22
Interpolation functions
Control modes
Acceleration/
deceleration control
Compensation
Programming language
Servo program capacity
Number of positioning
points
Programming tool
Peripheral I/F
Teaching operation
function
Home position return
function
JOG operation function
Manual pulse generator
operation function
(4) Basic specifications of Q173CPU(N)/Q172CPU(N)
(a) Module specifications
Q173CPUN Q173CPUN-T
—— Usable
(Note)
1.25 1.56
0.23 0.24
98(3.86)(H) 27.4(1.08)(W)
114.3(4.50)(D)
(5) SV13/22 Motion control specifications/performance specifications
(a) Motion control specifications
Q173CPUN(-T)
Up to 32 axes
0.88ms/ 1 to 8 axes
1.77ms/ 9 to 16 axes
3.55ms/17 to 32 axes
0.88ms/ 1 to 4 axes
1.77ms/ 5 to 12 axes
3.55ms/13 to 24 axes
7.11ms/25 to 32 axes
Linear interpolation (Up to 4 axes), Circular interpolation (2 axes),
PTP(Point to Point) control, Speed control, Speed-position control, Fixed-pitch feed,
Constant speed control, Position follow-up control, Speed switching control,
High-speed oscillation control, Synchronous control (SV22)
Automatic trapezoidal acceleration/deceleration,
Motion SFC, dedicated instruction, Mechanical support language (SV22)
Provided (Q173CPUN-T/Q172CPUN-T, SV13 use)
Proximity dog type (2 types), Count type (3 types), Data set type (2 types), Dog cradle type,
Stopper type(2 types), Limit switch combined type
(Home position return re-try function provided, home position shift function provided)
Q173CPU Q172CPUN
——
1.75
0.22
118(4.65)(H)
98(3.86)(H)
27.4(1.08)(W)
89.3(3.52)(D)
(Note) : Current consumption 0.26[A] of the teaching unit is included.
Q173CPU
Helical interpolation (3 axes)
S-curve acceleration/deceleration
Backlash compensation, Electronic gear
14k steps
3200 points
(Positioning data can be designated indirectly)
IBM PC/AT
USB/RS-232/SSCNET
Provided
Possible to connect 3 modules
2 - 30
Q172CPUN-T
—— Usable
(Note)
1.14 1.45
0.22 0.23
27.4(1.08)(W)
114.3(4.50)(D)
Q172CPUN(-T)
Up to 8 axes
0.88ms/1 to 8 axes
0.88ms/1 to 4 axes
1.77ms/5 to 8 axes
Q172CPU
——
1.62
0.21
118(4.65)(H)
27.4(1.08)(W)
89.3(3.52)(D)
Q172CPU