Mitsubishi Electric Q Series Programming Manual page 39

3 PERFORMANCE SPECIFICATIONS
Table 3.1 Motion CPU Performance Specifications (Virtual Mode) (Continued)
Item
Interpolation functions
Control methods
Method
Positioning
Position command
Speed command
Trapezoidal
acceleration/
deceleration
Acceleration/
deceleration
S-curve
control
acceleration/
deceleration
Advanced S-curve
acceleration/
deceleration
JOG operation function
M-code function
Manual pulse generator operation
function
(Test mode only)
(Note-1): When the TREN input signal is used as "external input mode clutch", the high speed reading function cannot be used.
(Note-2): Capacity matching the servo program for real mode.
(Note-3): Relation between a resolution per cycle of cam and type are shown below.
Resolution per cycle
Type
Q173DSCPU
Linear interpolation (2 to 4 axes), circular interpolation (2 axes)
PTP (Point to Point) control, speed control, fixed-pitch feed, constant-speed control,
PTP control
Fixed-pitch feed
Constant-speed control : Both absolute and incremental data method can be used together
Position follow-up control : Absolute data method
Address setting range : –2147483648 to 2147483647 [PLS]
Speed setting range : 1 to 2147483647 [PLS/s]
Acceleration-fixed acceleration/deceleration
Acceleration time : 1 to 65535 [ms]
Deceleration time : 1 to 65535 [ms]
M-code output function provided, M-code complete wait function provided
Up to 3 units can be connected.
Up to 3 axes can be operated simultaneously.
Setting of magnification : 1 to 10000
Setting of smoothing magnification provided.
256 512
256 128
3 - 2
Q172DSCPU Q173DCPU(-S1)
position follow-up control
: Selection of absolute or incremental data method
: Incremental data method
Time-fixed acceleration/deceleration
Acceleration/deceleration time: 1 to 5000 [ms]
(Only constant-speed control is possible.)
S-curve ratio: 0 to 100[%]
Acceleration section ratio: 0.0 to 100.0[%]
Deceleration section ratio: 0.0 to 100.0[%]
Provided
1024 2048
64 32
Q172DCPU(-S1)