Pcpu Performance Specifications - Mitsubishi Electric A173UHCPU Programming Manual

2. PERFORMANCE SPECIFICATIONS
2.2

PCPU Performance Specifications

Item
Number of control axes
Interpolation functions
Control modes
Control units
Programming language
Capacity
Motion
Number of points
program
for positioning
Program setting method
Method
Position
commands
Positioning
Speed command
(command unit)
High speed
oscillation function
Automatic
trapezoidal
acceleration/
Acceleration/
deceleration deceleration
control
S-curve
acceleration/
deceleration
Backlash
compensation
Compensation
Electronic gear
Zeroing function
JOG operation function
Table 2.2 PCPU Performance Specifications
A273UHCPU
32 axes (simultaneous: 2 to 4 axes, independent: 32 axes)
Linear interpolation (max. 4 axes), circular interpolation (2 axes)
PTP(point to point), speed control, speed/position control, fixed-pitch feed, constant-speed
control, position follow-up control, speed switching control, high-speed oscillation control
Dedicated instructions (sequence ladders + servo programs)
SFC programming of servo programs is also possible.
(These values vary depending on the programs. Positioning data can be designated indirectly.)
Setting with an IBM PC A30TU-E/A31TU-E (SV13 only), running the GSV
PTP
Speed/positioning control, fixed-pitch feed
Constant-speed control, speed switching
control
Position follow-up control, high-speed
oscillation control
Commands can be selected for each axis.
Control Unit Command Unit
− 1
× 10 µm
mm
− 5
× 10
inch inch
− 5
× 10
degree degree
× 1 PULSE
PULSE
Control Unit
mm 0.01 to 6000000.00
inch 0.001 to 600000.00
degree 0.001 to 2147483.647
PULSE 1 to 10000000
One specified axis can be reciprocated in sine waveform.
Acceleration-fixed acceleration/deceleration
Acceleration time: 1 to 65535ms
Deceleration time: 1 to 65535ms
(0 to 65535) × position command unit (units converted to PULSE : 0 to 65535 PULSE)
Compensation function for error in actual travel value with respect to command value
When an absolute position system is not used : Selection of proximity dog type or count type
When an absolute position system is used
2 − 3
mm • inch • degree • PULSE
14334 steps
Approx. 100 points/axis
: Selection of absolute data method or
incremental method
: Incremental method
: The absolute method and incremental method
can be used together
: Absolute data method
Address Setting Range
−2147483648 to 2147483647
0 to 35999999
−2147483648 to 2147483647
Speed Setting range
(mm/min)
(inch/min)
(Note-1)
(degree/min)
(Note-1)
(PLS/s)
S-curve ratio setting : 0 to 100%
: Selection of data set type, proximity dog type or
count type
Provided
A173UHCPU(-S1)
PE software
Travel Value Setting
Range
0 to ±2147483647