Mitsubishi electric A173UHCPU Manuals

Table of Contents

11

1 General Description

15

2 Performance Specifications

28

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

6 Servo Programs for Positioning Control

131

7 Positioning Control

148

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

Mitsubishi Electric A173UHCPU Manuals

Manuals and User Guides for Mitsubishi Electric A173UHCPU. We have 2 Mitsubishi Electric A173UHCPU manuals available for free PDF download: Programming Manual, User Manual

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 (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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