Mitsubishi Electric A273UHCPU Manuals

Table of Contents

• • 11

    Table of Contents

• 15

  1 General Description

  • 17

    System Configuration
    • 17

      A273UHCPU System Overall Configuration
    • 18

      A173UHCPU(-S1) System Overall Configuration
  • 19

    Table of Software Package
  • 20

    Positioning Control By the Servo System CPU

• 28

  2 Performance Specifications

  • 28

    SCPU Performance Specifications
  • 30

    PCPU Performance Specifications

• 32

  3 Positioning Signals

  • 33

    Internal Relays
    • 38

      Axis Status
    • 47

      Axis Command Signals
    • 53

      Common Device
  • 64

    Data Registers
    • 67

      Monitoring Data Area
    • 72

      Control Change Registers
    • 73

      Common Devices
  • 79

    Special Relays (SP.M)
  • 82

    Special Register (SP.D)

• 85

  4 Parameters for Positioning Control

  • 85

    System Settings
  • 87

    Fixed Parameters
    • 88

      Setting the Number of Pulses Per Revolution / Travel Value Per Revolution / Unit Magnification
    • 90

      Upper Stroke Limit Value/Lower Stroke Limit Value
    • 91

      Command In-Position Range
  • 91

    Servo Parameters
    • 92

      Servo Parameters of ADU (Only When A273UHCPU Is Used)
    • 94

      MR- -B Servo Parameters
    • 99

      Position Control Gain 1, 2
    • 100

      Speed Integral Compensation
    • 101

      In-Position Range
    • 101

      Feed Forward Gain
    • 101

      Load Inertia Ratio
    • 101

      Automatic Tuning
    • 102

      Servo Responsiveness Setting
    • 103

      Notch Filter
    • 103

      Electromagnetic Brake Sequence
    • 103

      Monitor Output Mode
    • 103

      Optional Function 1 (Carrier Frequency Selection)
    • 104

      Optional Function 2 (No-Motor Operation Selection)
    • 105

      Monitor Output 1, 2 Offset
    • 105

      Pre-Alarm Data Selection
    • 106

      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
  • 107

    Parameter Block
    • 109

      Relationships Among the Speed Limit Value, Acceleration Time, Deceleration Time, and Rapid Stop Deceleration Time
    • 109

      S-Curve Ratio
    • 110

      Allowable Error Range for Circular Interpolation

• 111

  5 Sequence Programs and Sfc Programs

  • 111

    Cautions On Creating a Sequence Program or SFC Program
  • 112

    Servo Program Start Request Instruction (SVST)
    • 112

      Start Request Instruction for 1 to 32 Axes (SVST)
  • 115

    Current Value Change Instructions (CHGA)
    • 115

      CHGA Instructions
  • 118

    Speed Change Instructions (CHGV)
    • 118

      CHGV Instructions
  • 121

    5.5 Retracing During Positioning
  • 124

    Torque Limit Value Change Request (CHGT)
    • 124

      CHGT Instructions
  • 126

    5.7 SFC Programs
    • 126

      Starting and Stopping SFC Programs
    • 127

      Servo Program Start Request

• 131

  6 Servo Programs for Positioning Control

  • 131

    Servo Program Composition and Area
    • 131

      Servo Program Composition
    • 132

      Servo Program Area
  • 133

    Servo Instructions
  • 139

    Positioning Data
  • 143

    Method for Setting Positioning Data
    • 143

      Setting By Designating Numerical Values
    • 144

      Setting By Using Word Devices (D, W)
  • 145

    Creating Sequence Programs to Start Servo Programs
    • 145

      Case Where the Servo Program Is Executed Once Only
    • 146

      Case Where Different Servo Programs Are Executed Consecutively
    • 147

      Case Where the Same Servo Program Is Executed Repeatedly

• 148

  7 Positioning Control

  • 148

    Basics of Positioning Control
    • 148

      Positioning Speed
    • 149

      Positioning Speed Under Interpolation Control
    • 154

      Control Units for 1-Axis Positioning Control
    • 154

      Control Units for Interpolation Control
    • 156

      Control Using Degrees As Control Units
    • 158

      Stop Processing and Restarting After a Stop
    • 164

      Acceleration and Deceleration Processing
  • 166

    1-Axis Linear Positioning Control
  • 170

    7.3 2-Axes Linear Interpolation Control
  • 174

    3-Axes Linear Interpolation Control
  • 179

    4-Axes Linear Interpolation Control
  • 183

    Circular Interpolation Using Auxiliary Point Designation
  • 187

    Circular Interpolation Using Radius Designation
  • 193

    7.8 Circular Interpolation Using Center Point Designation
  • 198

    7.9 1-Axis Fixed-Pitch Feed Control
  • 201

    Fixed-Pitch Feed Control Using 2-Axes Linear Interpolation
  • 204

    Fixed-Pitch Feed Control Using 3-Axes Linear Interpolation
  • 207

    Speed Control (I)
  • 211

    Speed Control (II)
  • 214

    Speed/Position Switching Control
    • 214

      Starting Speed/Position Switching Control
    • 222

      Restarting Speed/Position Switching Control
  • 227

    Speed-Switching Control
    • 227

      Starting Speed-Switching Control, Speed-Switching Points, End Designation
    • 233

      Setting Speed-Switching Points Using Repeat Instructions
  • 240

    Constant-Speed Control
    • 242

      Setting Pass Points Using Repeated Instructions
    • 247

      Speed Switching During Instruction Execution
    • 251

      1-Axis Constant-Speed Control
    • 255

      To 4-Axes Constant-Speed Control
    • 262

      Pass Point Skip Function
    • 264

      FIN Signal Wait Function
  • 266

    Position Follow-Up Control
  • 270

    Simultaneous Start
  • 273

    JOG Operation
    • 273

      JOG Operation Data
    • 274

      Individual Start
    • 278

      Simultaneous Start
  • 281

    Manual Pulse Generator Operation
  • 288

    Home Position Return
    • 288

      Zeroing Data
    • 290

      Zeroing By the Proximity Dog Method
    • 292

      Zeroing By the Count Method
    • 293

      Zeroing By the Data Set Method
    • 294

      Zeroing Servo Program
  • 296

    High-Speed Oscillation

• 298

  8 Auxiliary and Applied Functions

  • 299

    Limit Switch Output Function
    • 299

      Limit Switch Output Data
  • 301

    M-Code Output Function
  • 303

    Backlash Compensation Function
  • 305

    Torque Limit Function
  • 307

    Electronic Gear Function
  • 309

    Absolute Positioning System
  • 312

    Skip Function
  • 313

    Teaching Function
  • 313

    High−Speed Reading of Designated Data
    • 313

      High-Speed Reading of Designated Data
  • 314

    Servo Program Cancel/Start Function
  • 316

    Enhanced Current Value Control
  • 318

    Appendices
  • 318

    Appendix1 Scpu Error Code List
    • 318

      SCPU Error Code List
  • 322

    Appendix2 Error Codes Stored By the Pcpu
    • 324

      Servo Program Setting Errors (Stored in D9190)
    • 327

      Minor Errors
    • 334

      Major Errors
    • 338

      Servo Errors
    • 352

      PC Link Communication Errors
    • 353

      LED Indications When Errors Occur at the PCPU
  • 355

    Appendix3 Special Relays and Special Registers
    • 355

      Special Relays (SP, M)
    • 360

      Special Registers (SP.D)
  • 370

    Appendix4 Example Programs
    • 370

      Reading M-Codes
    • 371

      Error Code Reading
    • 372

      Magnitude Comparison and Four Fundamental Operations of 32-Bit Monitor Data

• 374

  Appendix 5 Setting Range of Indirectly Designated Devices

• 376

  Appendix 6 Processing Times

• 385

  Appendix 7 Electronic Gear Setting Examples