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A273UHCPU
Mitsubishi Electric A273UHCPU Manuals
Manuals and User Guides for Mitsubishi Electric A273UHCPU. We have
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Mitsubishi Electric A273UHCPU manual available for free PDF download: Programming Manual
Mitsubishi Electric A273UHCPU Programming Manual (389 pages)
MOTION CONTROLLER
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 3.51 MB
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
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