Mitsubishi Electric A173UHCPU Controller Manuals

Manuals and User Guides for Mitsubishi Electric A173UHCPU Controller. We have 3 Mitsubishi Electric A173UHCPU Controller manuals available for free PDF download: Programming Manual, User Manual

Mitsubishi Electric A173UHCPU Programming Manual (389 pages)

MOTION CONTROLLER

Brand: Mitsubishi Electric | Category: Controller | Size: 3 MB

Table of Contents
11
1 General Description

15
2 Performance Specifications

28
- SCPU Performance Specifications
  28
- PCPU Performance Specifications
  30
3 Positioning Signals

32
- Internal Relays
  33
  - Axis Status
    38
  - Axis Command Signals
    47
  - Common Device
    53
- Data Registers
  64
  - Monitoring Data Area
    67
  - Control Change Registers
    72
  - Common Devices
    73
- Special Relays (SP.M)
  79
- Special Register (SP.D)
  82
4 Parameters for Positioning Control

85
- System Settings
  85
- Fixed Parameters
  87
- Servo Parameters
  91
  - Servo Parameters of ADU (Only When A273UHCPU Is Used)
    92
  - MR- -B Servo Parameters
    94
  - Position Control Gain 1, 2
    99
  - Speed Integral Compensation
    100
  - In-Position Range
    101
  - Feed Forward Gain
    101
  - Load Inertia Ratio
    101
  - Automatic Tuning
    101
  - Servo Responsiveness Setting
    102
  - Notch Filter
    103
  - Electromagnetic Brake Sequence
    103
  - Monitor Output Mode
    103
  - Optional Function 1 (Carrier Frequency Selection)
    103
  - Optional Function 2 (No-Motor Operation Selection)
    104
  - Monitor Output 1, 2 Offset
    105
  - Pre-Alarm Data Selection
    105
  - Zero Speed
    106
  - Excessive Error Alarm Level
    106
  - Optional Function 5
    106
  - PI-PID Switching Position Droop
    106
  - Torque Control Compensation Factor
    106
  - Speed Differential Compensation
    106
- Parameter Block
  107
5 Sequence Programs and Sfc Programs

111
- Cautions on Creating a Sequence Program or SFC Program
  111
- Servo Program Start Request Instruction (SVST)
  112
  - Start Request Instruction for 1 to 32 Axes (SVST)
    112
- Current Value Change Instructions (CHGA)
  115
  - CHGA Instructions
    115
- Speed Change Instructions (CHGV)
  118
  - CHGV Instructions
    118
- 5.5 Retracing During Positioning
  121
- Torque Limit Value Change Request (CHGT)
  124
  - CHGT Instructions
    124
- 5.7 SFC Programs
  126
  - Starting and Stopping SFC Programs
    126
  - Servo Program Start Request
    127
6 Servo Programs for Positioning Control

131
7 Positioning Control

148
- Basics of Positioning Control
  148
- 1-Axis Linear Positioning Control
  166
- 7.3 2-Axes Linear Interpolation Control
  170
- 3-Axes Linear Interpolation Control
  174
- 4-Axes Linear Interpolation Control
  179
- Circular Interpolation Using Auxiliary Point Designation
  183
- Circular Interpolation Using Radius Designation
  187
- 7.8 Circular Interpolation Using Center Point Designation
  193
- 7.9 1-Axis Fixed-Pitch Feed Control
  198
- Fixed-Pitch Feed Control Using 2-Axes Linear Interpolation
  201
- Fixed-Pitch Feed Control Using 3-Axes Linear Interpolation
  204
- Speed Control (I)
  207
- Speed Control (II)
  211
- Speed/Position Switching Control
  214
  - Starting Speed/Position Switching Control
    214
  - Restarting Speed/Position Switching Control
    222
- Speed-Switching Control
  227
  - Starting Speed-Switching Control, Speed-Switching Points, End Designation
    227
  - Setting Speed-Switching Points Using Repeat Instructions
    233
- Constant-Speed Control
  240
- Position Follow-Up Control
  266
- Simultaneous Start
  270
- JOG Operation
  273
  - JOG Operation Data
    273
  - Individual Start
    274
  - Simultaneous Start
    278
- Manual Pulse Generator Operation
  281
- Home Position Return
  288
  - Zeroing Data
    288
  - Zeroing by the Proximity Dog Method
    290
  - Zeroing by the Count Method
    292
  - Zeroing by the Data Set Method
    293
  - Zeroing Servo Program
    294
- High-Speed Oscillation
  296
8 Auxiliary and Applied Functions

298
- Limit Switch Output Function
  299
  - Limit Switch Output Data
    299
- M-Code Output Function
  301
- Backlash Compensation Function
  303
- Torque Limit Function
  305
- Electronic Gear Function
  307
- Absolute Positioning System
  309
- Skip Function
  312
- Teaching Function
  313
- High−Speed Reading of Designated Data
  313
- High-Speed Reading of Designated Data
  313
- Servo Program Cancel/Start Function
  314
- Enhanced Current Value Control
  316
Appendices

318
- Appendix1 Scpu Error Code List
  318
  - SCPU Error Code List
    318
- Appendix2 Error Codes Stored by the Pcpu
  322
  - Servo Program Setting Errors (Stored in D9190)
    324
  - Minor Errors
    327
  - Major Errors
    334
  - Servo Errors
    338
  - PC Link Communication Errors
    352
  - LED Indications When Errors Occur at the PCPU
    353
- Appendix3 Special Relays and Special Registers
  355
  - Special Relays (SP, M)
    355
  - Special Registers (SP.D)
    360
- Appendix4 Example Programs
  370
- Appendix 5 Setting Range of Indirectly Designated Devices
  
  374
- Appendix 6 Processing Times
  
  376
- Appendix 7 Electronic Gear Setting Examples
  
  385

Mitsubishi Electric A173UHCPU User Manual (163 pages)

MOTION CONTROLLER

Brand: Mitsubishi Electric | Category: Controller | Size: 25 MB

Motion Controller
2
Precautions for Safety
3
System Structure
5
Transportation and Installation
7
Trial Operation and Adjustment
8
Usage Methods
9
General Cautions
10
Table of Contents
12
Specifications of Motion System Components
14
Overview of the Motion System
14
Overall Configuration of Motion System
16
A172SHCPUN/A171SHCPUN System Overall Configuration
16
A173UHCPU System Overall Configuration
18
Equipment in System
20
General Specifications
23
Specifications and Settings of Components
24
A173Uhcpu/A172Shcpun/A171Shcpun
24
Switch Settings
32
Power Supply Module Specifications
38
Base Units and Extension Cables
41
Manual Pulse Generator/Synchronous Encoder Interface Module
51
Specifications
51
Description of Parts
52
Teaching Unit
62
SSCNET Cables and Termination Resistor and Their Connection Method
66
Performance Specifications
66
Battery
70
Design
71
System Designing Procedure
71
System Design
74
External Circuit Design
75
Power Supply Circuit Design
80
Safety Circuit Design
82
Instructions for External Circuit Wiring Design
86
Layout Design Within Enclosure
87
Location Environment
87
Installing the Base Units
88
Installation
89
Calculating Heat Generated by A173UHCPU/A172SHCPUN/A171SHCPUN
90
Design Checklist
92
Mounting and Wiring
93
Mounting and Wiring Methods
93
Mounting the Base Unit
93
Mounting Without DIN Rail
93
Mounting with DIN Rail
93
Mounting and Removing Modules
96
Removing Modules
97
Mounting the Serial Absolute Synchronous Encoder
99
Wiring
101
How to Run the Power Supply and I/O Wires
101
Example of Routing the Power Supply and I/O Wires
103
Mounting/Wiring Checklist
104
Trial Run and Adjustment
105
Checklist before Trial Operation
105
Trial Run and Adjustment Procedure
107
Operating System Installation Procedure
111
Trial Run and Adjustment Checklist
112
Inspection and Maintenance
113
Maintenance Works
113
Daily Inspections
115
Scheduled Inspections
116
Replacing the Battery
117
Troubleshooting
119
Troubleshooting for CPU Module and I/O Modules
121
Appendices
136
Appendix 1 Cables
136
Appendix 1.1 SSCNET Cables
136
Appendix 1.2 Encoder Cables
140
Appendix 1.3 A31TU-E Teaching Unit Cable
147
Appendix 2 Outside Dimensions
149
Appendix 2.1 CPU Modules
149
Appendix 2.2 Pulse Generator/Synchronous Encoder Interface Module (A172SENC)
151
Appendix 2.3 Main Base Unit
152
Appendix 2.4 Extension Base Units
154
Appendix 2.5 Teaching Unit
156
Appendix 2.6 Connector
158
Appendix 2.7 Manual Pulse Generator Specifications
160
Appendix 2.8 Serial Absolute Synchronous Encoder Specifications
161

Mitsubishi Electric A173UHCPU User Manual (161 pages)

motion controller

Brand: Mitsubishi Electric | Category: Control Unit | Size: 2 MB

Table of Contents
11
1 Specifications of Motion System Components

13
2 Design

70
- System Designing Procedure
  70
- System Design
  73
- External Circuit Design
  74
- Layout Design Within Enclosure
  86
- Design Checklist
  91
3 Mounting and Wiring

92
- Mounting and Wiring Methods
  92
- Mounting the Base Unit
  92
  - Mounting Without DIN Rail
    92
  - Mounting with DIN Rail
    92
- Mounting and Removing Modules
  95
- Mounting the Serial Absolute Synchronous Encoder
  98
- Wiring
  100
  - How to Run the Power Supply and I/O Wires
    100
  - Example of Routing the Power Supply and I/O Wires
    102
- Mounting/Wiring Checklist
  103
4 Trial Run and Adjustment

104
5 Inspection and Maintenance

112
- Maintenance Works
  112
- Daily Inspections
  114
- Scheduled Inspections
  115
  - Replacing the Battery
    116
- Troubleshooting
  118
  - Troubleshooting for CPU Module and I/O Modules
    120
- Appendices
  135
- Appendix 1 Cables
  
  135
- Appendix 1.1 SSCNET Cables
  
  135
- Appendix 1.2 Encoder Cables
  
  139
- Appendix 1.3 A31TU-E Teaching Unit Cable
  
  146
- Appendix 2 Outside Dimensions
  
  148
- Appendix 2.1 CPU Modules
  
  148
- Appendix 2.2 Pulse Generator/Synchronous Encoder Interface Module (A172SENC)
  
  150
- Appendix 2.3 Main Base Unit
  
  151
- Appendix 2.4 Extension Base Units
  
  153
- Appendix 2.5 Teaching Unit
  
  155
- Appendix 2.6 Connector
  
  157
- Appendix 2.7 Manual Pulse Generator Specifications
  
  159
- Appendix 2.8 Serial Absolute Synchronous Encoder Specifications
  
  160

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Mitsubishi Electric A173UHCPU Controller Manuals

Mitsubishi Electric A173UHCPU Programming Manual (389 pages)

Table of Contents

1 General Description

2 Performance Specifications

3 Positioning Signals

4 Parameters for Positioning Control

5 Sequence Programs and Sfc Programs

6 Servo Programs for Positioning Control

7 Positioning Control

8 Auxiliary and Applied Functions

Appendices

Appendix 5 Setting Range of Indirectly Designated Devices

Appendix 6 Processing Times

Appendix 7 Electronic Gear Setting Examples

Mitsubishi Electric A173UHCPU User Manual (163 pages)

Table of Contents

Mitsubishi Electric A173UHCPU User Manual (161 pages)

Table of Contents

1 Specifications of Motion System Components

2 Design

3 Mounting and Wiring

4 Trial Run and Adjustment

5 Inspection and Maintenance

Appendix 1 Cables

Appendix 1.1 SSCNET Cables

Appendix 1.2 Encoder Cables

Appendix 1.3 A31TU-E Teaching Unit Cable

Appendix 2 Outside Dimensions

Appendix 2.1 CPU Modules

Appendix 2.2 Pulse Generator/Synchronous Encoder Interface Module (A172SENC)

Appendix 2.3 Main Base Unit

Appendix 2.4 Extension Base Units

Appendix 2.5 Teaching Unit

Appendix 2.6 Connector

Appendix 2.7 Manual Pulse Generator Specifications

Appendix 2.8 Serial Absolute Synchronous Encoder Specifications

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