Table Of Contents - Mitsubishi Electric Q172CPU Programming Manual

Thank you for choosing the Q173CPU(N)/Q172CPU(N) Motion Controller.
Please read this manual carefully so that equipment is used to its optimum.
Safety Precautions .........................................................................................................................................A- 1
Revisions ........................................................................................................................................................A-11
Contents .........................................................................................................................................................A-12
About Manuals ...............................................................................................................................................A-15
1. OVERVIEW
1.1 Overview................................................................................................................................................... 1- 1
1.2 Motion Control in SV13/SV22 Real Mode............................................................................................... 1- 3
1.3 Motion Control in SV22 Virtual Mode ...................................................................................................... 1- 4
2. STARTING UP THE MULTIPLE CPU SYSTEM
2.1 Starting Up the System ............................................................................................................................ 2- 1
2.2 Differences Between Incremental System and Absolute System .......................................................... 2 - 3
2.2.1 Operation for incremental system..................................................................................................... 2 - 3
2.2.2 Operation for absolute (absolute position) system........................................................................... 2 - 4
2.3 Differences Between Real Mode and Virtual Mode................................................................................ 2 - 5
2.3.1 Positioning data................................................................................................................................. 2 - 5
2.3.2 Positioning devices............................................................................................................................ 2 - 5
2.3.3 Servo programs................................................................................................................................. 2 - 6
2.3.4 Control change (Current value change/speed change)................................................................... 2 - 7
3. PERFORMANCE SPECIFICATIONS
4. POSITIONING DEDICATED SIGNALS
4.1 Internal Relays ......................................................................................................................................... 4- 2
4.1.1 Axis statuses ..................................................................................................................................... 4-17
4.1.2 Axis command signals ...................................................................................................................... 4-23
4.1.3 Virtual servomotor axis statuses....................................................................................................... 4-27
4.1.4 Virtual servomotor axis command signals ...................................................................................... 4-32
4.1.5 Synchronous encoder axis statuses ............................................................................................... 4-37
4.1.6 Synchronous encoder axis command signals.................................................................................. 4-39
4.1.7 Cam axis command signals.............................................................................................................. 4-40
4.1.8 Smoothing clutch complete signals .................................................................................................. 4-41
4.1.9 Common devices .............................................................................................................................. 4-43
4.2 Data Registers.......................................................................................................................................... 4-57
4.2.1 Axis monitor devices ......................................................................................................................... 4-65
4.2.2 Control change registers................................................................................................................... 4-67
4.2.3 Virtual servomotor axis monitor devices........................................................................................... 4-68
INTRODUCTION
CONTENTS
A - 12
1- 1 to 1- 4
2- 1 to 2- 8
3- 1 to 3- 2
4- 1 to 4-88