Mitsubishi Electric Q173DSCPU Programming Manual page 41

4 POSITIONING DEDICATED SIGNALS
The positioning dedicated devices are shown below.
It indicates the device refresh cycle of the Motion CPU for status signal with the
positioning control, and the device fetch cycle of the Motion CPU for command signal
with the positioning control.
The operation cycle and main cycle of the Motion CPU are shown below.
(a) Operation cycle
Item
Number of control axes
Operation cycle
SV22
(Default)
(b) Main cycle is not fixed-cycle as operation cycle. The cycle is dozens[ms] to
hundreds[ms].
REMARK
(1) In the positioning dedicated signals, "n" in "M3200+20n", etc. indicates a value
corresponding to axis No. such as the following tables.
Axis No. n
1 0
2 1
3 2
4 3
5 4
6 5
7 6
8 7
• Calculate as follows for the device No. corresponding to each axis.
(Example) For axis 32
• The range of axis No.1 to 16 is valid in the Q172DSCPU.
(2) In the positioning dedicated signals, "n" in "M10440+10n", etc. of the
"Synchronous encoder axis status", "Synchronous encoder axis command
signal", "Synchronous encoder axis monitor device" and "Synchronous encoder
axis control device" indicates a value corresponding to synchronous encoder No.
such as the following tables.
Synchronous encoder No.
P1
P2
P3
P4
• Calculate as follows for the device No. corresponding to each synchronous encoder.
(Example) For synchronous encoder No.12
M10440+10n ([St.320] Synchronous encoder axis setting valid flag)
= M10440+10 11=M10550
D13240+20n ([Md.320] Synchronous encoder axis current value)
= D13240+20 11= D13460
Q173DSCPU
Up to 32 axes
0.44ms/ 1 to 6 axes
0.44ms/ 1 to 6 axes
0.88ms/ 7 to 16 axes
0.88ms/ 7 to 16 axes
1.77ms/ 17 to 32 axes
Axis No. n Axis No.
9 8
10 9
11 10
12 11
13 12
14 13
15 14
16 15
M3200+20n (Stop command)=M3200+20 31=M3820
M3215+20n (Servo OFF command)=M3215+20 31=M3835
n Synchronous encoder No.
0 P5
1 P6
2 P7
3 P8
4 - 2
Q172DSCPU
Up to 16 axes
n Axis No.
17 16 25
18 17 26
19 18 27
20 19 28
21 20 29
22 21 30
23 22 31
24 23 32
n Synchronous encoder No.
4 P9
5 P10
6 P11
7 P12
n
24
25
26
27
28
29
30
31
n
8
9
10
11