Table Of Contents - Mitsubishi Electric Q Series Programming Manual

Thank you for choosing the Mitsubishi Motion controller Q173DCPU/Q172DCPU.
Before using the equipment, please read this manual carefully to develop full familiarity with the functions
and performance of the Motion controller you have purchased, so as to ensure correct use.
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- 3
4.1.1 Axis statuses ..................................................................................................................................... 4-14
4.1.2 Axis command signals ...................................................................................................................... 4-21
4.1.3 Virtual servomotor axis statuses....................................................................................................... 4-26
4.1.4 Virtual servomotor axis command signals ...................................................................................... 4-30
4.1.5 Synchronous encoder axis statuses ............................................................................................... 4-35
4.1.6 Synchronous encoder axis command signals.................................................................................. 4-36
4.1.7 Common devices .............................................................................................................................. 4-37
4.2 Data Registers.......................................................................................................................................... 4-51
4.2.1 Axis monitor devices ......................................................................................................................... 4-59
4.2.2 Control change registers................................................................................................................... 4-61
4.2.3 Virtual servomotor axis monitor devices........................................................................................... 4-62
4.2.4 Current value after virtual servomotor axis main shaft's differential gear ....................................... 4-64
INTRODUCTION
CONTENTS
A - 12
1- 1 to 1- 4
2- 1 to 2- 8
3- 1 to 3- 2
4- 1 to 4-84