Mechanical Module List - Mitsubishi Electric Q172CPU Programming Manual

5 MECHANICAL SYSTEM PROGRAM

5.2 Mechanical Module List

Mechanical Module
Classifi-
cation
Name Appearance
Virtual
servomotor
Drive
module
Synchronous
encoder
Virtual main
–-
shaft
Virtual
Virtual
axis
–-
auxiliary
input axis
Gear
Direct clutch
Trans-
Smoothing
mission clutch
module
Speed change
gear
Differential
gear
Roller
Ball
screw
Output
module
Rotary
table
Cam
An overview of the mechanical modules used at the mechanical module connection
diagrams in the virtual mode is shown in Tables 5.1.
Refer to Chapter 6 to 8 for details of the each mechanical module.
Table 5.1 Mechanical Module List
Maximum Number of Usable
Q173CPU(N)
Number
Number Per Block
Per Number
Auxiliary
Motion Per
Connection
CPU System
Shaft Side
Axis Side
module
–-
32 32
Total Total
44 34
12 –-
12
–-
32 32
Total
64
–-
32 32
64 64 1
64 64 1
64 64 1
32 32 1
–-
32 1
32 32
32 32
Total Total
1
32 32
32 32
32 32
Q172CPU(N)
Number
Number Per Block
Per Number
Motion Per
Connection
Input
CPU System
Axis Side
module
–- –-
8 8
Total Total
16 10
–- 8 8 –-
–- –-
8 8
Total
16
8 8
–- –-
1 16 16 1
1 16 16 1
1 16 16 1
8 8 1
–-
–-
8 1
8 8
8 8
Total Total
1 1
8 8
8 8
8 8
5 - 5
Function Description
Auxiliary
Input
Axis Side
• It is used to drive the virtual axis of
mechanical system program by the
–-
servo program or JOG operation.
• It is used to drive the virtual axis by the
input pulses from the external
–-
synchronous encoder.
• This is a virtual "link shaft".
• Drive module rotation is transferred to
–-
the transmission module.
• This is the auxiliary input axis for input
to the differential gear of transmission
module.
–-
• It is automatically displayed when a
differential gear and gear are
connected.
• The drive module rotation is transmitted
to the output axis.
• A setting gear ratio is applied to the
travel value (pulse) input from the drive
1
module, and then transmits to the
output axis that it becomes in the setting
rotation direction.
• Transmit or separate the drive module
rotation to the output module.
• There are a direct clutch transmitted
directly and the smoothing clutch which
performs the acceleration/deceleration
and transmission by the smoothing time
constant setting at the switching
1
ON/OFF of the clutch.
• It can be selected the ON/OFF mode,
address mode or the external input
mode depending on the application.
• Time constant system or slippage
system can be selected as a smoothing
method.
• It is used to change the speed of output
module (roller).
• The setting speed change ratio is
1
applied to input axis speed, and
transmits to the output axis.
• Auxiliary input axis rotation is
subtracted from virtual main shaft
rotation and the result is transmitted to
the output axis.
–-
• Auxiliary input axis rotation is
subtracted from virtual main shaft
rotation, and the result is transmitted
to the output axis. (Connected to the
virtual main shaft)
• It is used to perform the speed control
at the final output.
• It is used to perform the linear
positioning control at the final output.
1
• It is used to perform the angle control
at the final output.
• It is used to control except the above.
Position control is executed based on
the cam pattern setting data.
• There are 2 cam control modes: the
two-way cam and feed cam.
Section
Section
6.1
Section
6.2
–-
–-
Section
7.1
Section
7.2
Section
7.3
Section
7.4
Section
8.1
Section
8.2
Section
8.3
Section
8.4