Table Of Contents - Mitsubishi Electric SV13/22 Programming Manual

1. GENERAL DESCRIPTION ...................................................................................................... 1- 1 to 1-14
1.1 System Configuration ....................................................................................................................... 1- 3
1.1.1 A172SHCPUN/A171SHCPUN System overall configuration .................................................... 1- 3
1.1.2 System configuration precautions ............................................................................................. 1- 4
1.2 Table of Software Package .............................................................................................................. 1- 6
1.3 Positioning Control by the Servo System CPU ................................................................................ 1- 7
2. PERFORMANCE SPECIFICATIONS ....................................................................................... 2- 1 to 2- 5
2.1 SCPU Performance Specifications .................................................................................................. 2- 1
2.2 PCPU Performance Specifications .................................................................................................. 2- 3
2.3 Differences between A172SHCPUN/A171SHCPUN and A171S(S3).............................................. 2- 5
3. POSITIONING SIGNALS......................................................................................................... 3- 1 to 3-51
3.1 Internal Relays ................................................................................................................................. 3- 2
3.1.1 Axis status ................................................................................................................................. 3- 5
3.1.2 Axis command signals.............................................................................................................. 3-13
3.1.3 Common devices...................................................................................................................... 3-19
3.2 Data Registers ................................................................................................................................ 3-27
3.2.1 Monitoring data area................................................................................................................. 3-30
3.2.2 Data shortage area for control change..................................................................................... 3-36
3.2.3 Common devices...................................................................................................................... 3-38
3.3 Special Relays (SP.M) .................................................................................................................... 3-41
3.4 Special Registers (SP.D) ................................................................................................................ 3-44
4. PARAMETERS FOR POSITIONING CONTROL .................................................................... 4- 1 to 4-24
4.1 System Settings ............................................................................................................................... 4- 1
4.2 Fixed Parameters............................................................................................................................. 4- 2
4.2.1 Setting the number of pulses per revolution/travel value per revolution/unit magnification....... 4- 3
4.2.2 Upper stroke limit value/lower stroke limit value ....................................................................... 4- 5
4.2.3 Command in-position range ...................................................................................................... 4- 6
4.3 Servo Parameters ............................................................................................................................ 4- 6
4.3.1 MR- -B servo parameters........................................................................................................ 4- 7
4.3.2 Position control gain 1, 2 .......................................................................................................... 4-12
4.3.3 Position control gain 1, 2 .......................................................................................................... 4-13
4.3.4 Speed integral compensation ................................................................................................... 4-14
4.3.5 In-position range....................................................................................................................... 4-14
4.3.6 Feed forward gain..................................................................................................................... 4-14
4.3.7 Load inertia ratio....................................................................................................................... 4-15
4.3.8 Automatic tuning....................................................................................................................... 4-15
4.3.9 Servo responsiveness setting................................................................................................... 4-16
4.3.10 Notch filter .............................................................................................................................. 4-17
4.3.11 Electromagnetic brake sequence ........................................................................................... 4-17
4.3.12 Monitor output mode............................................................................................................... 4-17
4.3.13 Optional function 1.................................................................................................................. 4-17
4.3.14 Optional function 2.................................................................................................................. 4-18
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