User Manuals: Mitsubishi Electric A273UHCPU Module

Manuals and User Guides for Mitsubishi Electric A273UHCPU Module. We have 1 Mitsubishi Electric A273UHCPU Module manual available for free PDF download: Programming Manual

Mitsubishi Electric A273UHCPU Programming Manual

Mitsubishi Electric A273UHCPU Programming Manual (389 pages)

MOTION CONTROLLER

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

Table of Contents

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

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