Mitsubishi Q170MCPU User Manual page 23

1 OVERVIEW
Item
Number of control axes
SV13
Operation cycle
(default)
SV22
SV43
Interpolation functions
Control modes
Acceleration/deceleration control
Compensation
Programming language
Servo program capacity
Number of positioning points
USB/RS-232
Peripheral I/F
PERIPHERAL I/F
Home position return function
JOG operation function
Manual pulse generator
operation function
Synchronous encoder operation
function
M-code function
Limit switch output function
ROM operation function
Absolute position system
External input signal
Number of SSCNET systems
(Note-1)
High-speed reading function
Forced stop
Clock data setting
PLC module which can be control
by Motion CPU (area)
(2) Comparison of Motion control specifications
Q170MCPU
Up to 16 axes
0.44ms/ 1 to 6 axes
0.88ms/ 7 to 16 axes
0.44ms/ 1 to 4 axes
0.88ms/ 5 to 12 axes
1.77ms/13 to 16 axes
—
Linear interpolation (Up to 4 axes), Circular interpolation (2 axes), Helical interpolation (3 axes)
PTP(Point to Point) control, Speed control, Fixed-pitch feed, Constant speed control,
Position follow-up control, Speed control with fixed position stop, Speed switching control,
High-speed oscillation control, Synchronous control (SV22)
Speed-position control
(External input signal (DOG) of servo
amplifier usable)
Automatic trapezoidal acceleration/deceleration, S-curve acceleration/deceleration
Backlash compensation, Electronic gear, Phase compensation (SV22)
Motion SFC, Dedicated instruction, Mechanical support language (SV22)
3200 points (Positioning data can be designated indirectly)
PLC CPU area control
Motion CPU area control
Proximity dog type (2 types), Data set type (2 types), Dog cradle type,
Count type (3 types)
(External input signal (DOG) of servo
amplifier usable)
Home position return re-try function provided, home position shift function provided
Possible to connect 8 modules
(SV22 use),
ABS synchronous encoder unusable
(Possible to select the absolute data method or incremental method for each axis)
Q172DLX or External input signals (FLS/RLS/DOG) of servo amplifier
1 system
EMI terminal of Motion controller, Forced stop input setting in the system setting,
Interrupt module, Input module, Output module, Input/Output composite module,
Q173DCPU
Up to 32 axes
0.44ms/ 1 to 6 axes
0.88ms/ 7 to 18 axes
1.77ms/19 to 32 axes
0.44ms/ 1 to 4 axes
0.88ms/ 5 to 12 axes
1.77ms/13 to 28 axes
3.55ms/29 to 32 axes
16k steps
Stopper type (2 types), Limit switch combined type
Provided
Possible to connect 3 modules
Possible to connect 12
modules (SV22 use)
M-code output function provided
M-code completion wait function provided
Number of output points 32 points
Watch data: Motion control data/Word device
Provided
Made compatible by setting battery to servo amplifier.
2 systems
Via I/O module, Via tracking of Q173DPX
Forced stop signal (EM1) of the servo amplifier
Clock synchronization between Multiple CPU
Analogue input module, Analogue output module
(Note-1) : The servo amplifiers for SSCNET cannot be used.
1 - 4
Q172DCPU
Up to 8 axes
0.44ms/ 1 to 6 axes
0.88ms/ 7 to 8 axes
0.44ms/ 1 to 4 axes
0.88ms/ 5 to 8 axes
Speed-position control
PLC CPU module control
None
Count type (3 types)
Possible to connect 8 modules
(SV22 use)
1 system