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Q172HCPU
Mitsubishi Electric Q172HCPU Manuals
Manuals and User Guides for Mitsubishi Electric Q172HCPU. We have
3
Mitsubishi Electric Q172HCPU manuals available for free PDF download: Programming Manual, User Manual
Mitsubishi Electric Q172HCPU Programming Manual (524 pages)
Motion Controller
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 4.33 MB
Table of Contents
Safety Precautions
2
Revisions
12
Table of Contents
13
About Manuals
18
Overview
20
Features
22
Performance Specifications
22
Differences between Q173HCPU/Q172HCPU and Q173CPU(N)/Q172CPU(N)
25
Positioning Control by the Motion Cpu
26
Motion Dedicated Plc Instruction
36
Restriction Item of the Motion Dedicated PLC Instruction
36
Motion Program (Control Program) Start Request from the PLC CPU to the Motion CPU:S(P).SFCS (PLC Instruction: S(P).SFCS )
43
Motion Program (Axis Designation Program) Start Request from the PLC CPU to the Motion CPU:S(P).SVST (PLC Instruction: S(P).SVST )
48
Home Position Return Instruction from the PLC CPU to the Motion CPU: S(P).CHGA (PLC Instruction: S(P).CHGA )
54
Speed Change Instruction from the PLC CPU to the Motion CPU: S(P).CHGV (PLC Instruction: S(P).CHGV )
59
Torque Limit Value Change Request Instruction from the PLC CPU to the Motion CPU
67
Write from the PLC CPU to the Motion CPU: S(P).DDWR (PLC Instruction: S(P).DDWR )
71
Read from the Devices of the Motion CPU: S(P).DDRD (PLC Instruction: S(P).DDRD )
75
Positioning Signals
80
Internal Relays
81
Axis Statuses
92
Axis Command Signals
105
Axis Statuses 2
112
Axis Command Signals 2
115
Common Devices
124
Data Registers
135
Axis Monitor Devices
143
Control Change Registers
146
Control Program Monitor Devices
151
Control Change Registers 2
153
Tool Length Offset Data Setting Registers
154
Common Devices
155
Motion Registers (#)
158
Special Relays (SP.M)
159
Special Registers (SP.D)
162
System Settings
166
Fixed Parameters
169
Number of Pulses/Travel Value Per Rotation
170
Backlash Compensation Amount
172
Upper/Lower Stroke Limit Value
172
Command In-Position Range
174
High-Speed Feed Rate Setting
175
Speed Control 10 Multiplier Setting for Degree Axis
176
Parameter Block
180
Relationships between the Speed Limit Value, Acceleration Time, Deceleration Time and Rapid Stop Deceleration Time
183
S-Curve Ratio
185
Allowable Error Range for Circular Interpolation
186
Work Coordinate Data
187
Motion Programs for Positioning Control
188
Motion Program Composition
190
Type of the Motion Program
191
G-Code List
192
M-Code List
194
Control Instruction List
195
Start/End Method
197
Number of Maximum Nesting for Program Call and Multi Startable Program
199
Motion Parameter
200
Caution at the Axis Designation Program Creation
201
Instruction Symbols/Characters List
206
Setting Method for Command Data
210
Direct Setting (Numerical Value)
210
Indirect Setting
211
Operational Data
218
Setting Range of Instruction Symbols List
228
Positioning Control Unit for 1 Axis
230
Control Units for Interpolation Control
231
Control in the Control Unit "Degree
233
About Coordinate Systems
235
G-Code
236
G00 Point-To-Point Positioning at the High-Speed Feed Rate
239
G01 Constant-Speed Positioning at the Speed Specified in F
241
G02 Circular Interpolation CW (Central Coordinates-Specified)
243
G03 Circular Interpolation CCW (Central Coordinates-Specified)
246
G02 Circular Interpolation CW (Radius-Specified)
249
G03 Circular Interpolation CCW (Radius-Specified)
251
G04 Dwell
253
G09 Exact Stop Check
255
G12 Helical Interpolation CW (Helical Central Coordinates-Specified)
257
G13 Helical Interpolation CCW (Helical Central Coordinates-Specified)
260
G12 Helical Interpolation CW (Helical Radius-Specified)
262
G13 Helical Interpolation CCW (Helical Radius-Specified)
264
G23 Cancel, Cancel Start Invalid
266
G24 Cancel, Cancel Start
267
G25 High-Speed Oscillation
270
G26 High-Speed Oscillation Stop
272
G28 Home Position Return
273
G30 Second Home Position Return
275
G32 Skip
277
G43 Tool Length Offset (+)
281
G44 Tool Length Offset
283
G49 Tool Length Offset Cancel
285
G53 Mechanical Coordinate System Selection
286
G54 to G59 Work Coordinate System Selection
288
G61 Exact Stop Check Mode
291
G64 Cutting Mode
293
G90 Absolute Value Command
295
G91 Incremental Value Command
297
G92 Coordinates System Setting
299
G98, G99 Preread Disable/Enable
301
G100, G101 Time-Fixed Acceleration/Deceleration, Acceleration-Fixed Acceleration/Deceleration Switching Command
303
M-Code
307
Special M-Code
308
M00 Program Stop
309
M01 Optional Program Stop
310
M02 Program End
311
M30 Program End
312
M98, M99 Subprogram Call, Subprogram End
313
M100 Preread Disable
315
Miscellaneous
316
Program Control Function (IF, GOTO Statement)
317
Program Control Function (IF, THEN, ELSE, END Statements)
319
Program Control Function (WHILE, DO, END Statements)
321
Four Fundamental Operators, Assignment Operator (+, -, *, /, MOD, =)
323
Trigonometric Functions (SIN, COS, TAN, ASIN, ACOS, ATAN)
325
Real Number to bin Value Conversion (INT)
326
BIN Value to Real Number Conversion (FLT)
327
32-Bit Real Number and 64-Bit Real Number Data Conversion (DFLT, SFLT)
328
Functions (SQRT, ABS, BIN, BCD, LN, EXP, RND, FIX, FUP)
329
Logical Operators (AND, OR, XOR, NOT, <<, >>)
330
Move Block Wait Functions (WAITON, WAITOFF)
332
Block Wait Functions (EXEON, EXEOFF)
334
Bit Set and Reset for Word Devices (BSET, BRST)
337
Parameter Block Change (PB)
338
Torque Limit Value Change (TL)
340
Home Position Return (CHGA)
342
Speed Change (CHGV)
343
Torque Limit Value Change (CHGT)
344
Bit Device Set, Reset Functions (SET, RST)
345
Bit Device Operation on Condition (IF, THEN, SET/RST/OUT)
346
Program Start (CALL)
348
Program Call 1 (GOSUB)
350
Program Call 2 (GOSUBE)
351
Control Program End (CLEAR)
354
Time to Wait (TIME)
356
Block Transfers (BMOV : 16-Bit Unit)
357
Block Transfer (BDMOV : 32-Bit Unit)
359
Identical Data Block Transfers (FMOV)
361
Write Device Data to Shared CPU Memory (MULTW)
363
Read Device Data from Shared CPU Memory of the Other CPU (MULTR)
365
Write Words Data to Intelligent Function Module/Special Function Module (TO)
367
Read Words Data from Intelligent Function Module/Special Function Module (FROM)
369
Conditional Branch Using Bit Device (ON, OFF)
371
Auxiliary and Applied Functions
374
Backlash Compensation Function
374
Torque Limit Function
376
Home Position Return
378
Home Position Return Data
379
Home Position Return by the Proximity Dog Type 1
389
Home Position Return by the Proximity Dog Type 2
389
Home Position Return by the Count Type 1
394
Home Position Return by the Count Type 2
394
Home Position Return by the Count Type 3
396
Home Position Return by the Data Set Type 1
400
Home Position Return by the Data Set Type 2
400
Home Position Return by the Dog Cradle Type
402
Home Position Return by the Stopper Type 1
406
Home Position Return by the Stopper Type 2
406
Home Position Return by the Limit Switch Combined Type
410
Home Position Return Retry Function
412
Home Position Shift Function
416
Condition Selection of Home Position Set
420
Execution of Home Position Return
421
Speed Change (CHGV Instruction)
422
JOG Operation
426
JOG Operation Data
426
Individual Start
427
Manual Pulse Generator Operation
435
Override Ratio Setting Function
441
FIN Signal Wait Function
443
Single Block Operation
447
Control Program Stop Function from the PLC CPU
452
User Files
454
Projects
454
User File List
455
Appendices
456
APPENDIX 1 Error Codes Stored Using the Motion CPU
456
APPENDIX 1.1 Motion Program Setting Errors (Stored in D9190)
458
APPENDIX 1.2 Minor Errors
459
APPENDIX 1.3 Major Errors
475
APPENDIX 1.4 Servo Errors
479
APPENDIX 1.5 PC Link Communication Errors
496
APPENDIX 2 Motion Dedicated Signal
497
APPENDIX 2.1 Internal Relay (M)
497
APPENDIX 2.2 Data Registers (D)
507
APPENDIX 2.3 Motion Registers (#)
514
APPENDIX 2.4 Special Relays
515
APPENDIX 2.5 Special Registers
518
APPENDIX 3 Processing Times of the Motion CPU
522
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Mitsubishi Electric Q172HCPU Programming Manual (344 pages)
Q series Motion Controller
Brand:
Mitsubishi Electric
| Category:
Control Unit
| Size: 3.53 MB
Table of Contents
Safety Precautions
2
Revisions
12
Table of Contents
13
About Manuals
18
1 Overview
20
Features
22
Features of Motion SFC Programs
22
Performance Specifications
23
Operation Control/Transition Control Specifications
25
Differences between Q173HCPU/Q172HCPU and Q173CPU(N)/Q172CPU(N)
29
Restrictions by the Version
30
Positioning Dedicated Devices/Special Relays/Special Registers
31
2 Structure of the Motion Cpu Program
70
Motion Control in SV13/SV22 Real Mode
71
Motion Control in SV22 Virtual Mode
72
3 Motion Dedicated Plc Instruction
74
Restriction Item of the Motion Dedicated PLC Instruction
74
Motion SFC Start Request from the PLC CPU to the Motion CPU: S(P).SFCS (PLC Instruction: S(P).SFCS )
81
Servo Program Start Request from the PLC CPU to the Motion CPU: S(P).SVST (PLC Instruction: S(P).SVST )
84
Current Value Change Instruction from the PLC CPU to the Motion CPU: S(P).CHGA (PLC Instruction: S(P).CHGA )
89
Speed Change Instruction from the PLC CPU to the Motion CPU: S(P).CHGV (PLC Instruction: S(P).CHGV )
103
Torque Limit Value Change Request Instruction from the PLC CPU to the Motion CPU: S(P).CHGT (PLC Instruction: S(P).CHGT )
107
Write from the PLC CPU to the Motion CPU: S(P).DDWR (PLC Instruction: S(P).DDWR )
111
Setting Data
111
Read from the Devices of the Motion CPU: S(P).DDRD (PLC Instruction: S(P).DDRD )
115
Interrupt Instruction to the Other CPU: S(P).GINT (PLC Instruction: S(P).GINT )
119
4 Motion Sfc Programs
122
Motion SFC Program Configuration
122
Motion SFC Chart Symbol List
123
Branch and Coupling Chart List
126
Motion SFC Program Name
130
Steps
131
Motion Control Step
131
Operation Control Step
132
Subroutine Call/Start Step
133
Clear Step
135
Transitions
136
Jump, Pointer
138
End
138
Branches, Couplings
139
Series Transition
139
Selective Branch, Selective Coupling
140
Parallel Branch, Parallel Coupling
141
Y/N Transitions
143
Motion SFC Comments
147
5 Operation Control Programs
150
Device Descriptions
156
Constant Descriptions
158
Binary Operations
159
Substitution
159
Addition
161
Subtraction
162
Multiplication
163
Division
164
Remainder
165
Bit Operations
166
Bit Inversion(Complement)
166
Bit Logical and
167
Bit Logical or
168
Bit Exclusive Logical or
169
Bit Right Shift
170
Bit Left Shift
171
Sign Inversion(Complement of 2)
172
Standard Functions
173
Sine : sin
173
Cosine : COS
174
Tangent : tan
175
Arcsine : ASIN
176
Arccosine : ACOS
177
Arctangent : ATAN
178
Square Root : SQRT
179
Natural Logarithm : LN
180
Exponential Operation : EXP
181
Absolute Value : ABS
182
Round-Off : RND
183
Round-Down : FIX
184
Round-Up : FUP
185
Bcd
186
Bin
187
Type Conversions
188
Signed 16-Bit Integer Value Conversion : SHORT
188
Unsigned 16-Bit Integer Value Conversion : USHORT
189
Signed 32-Bit Integer Value Conversion : LONG
190
Unsigned 32-Bit Integer Value Conversion : ULONG
191
Signed 64-Bit Floating-Point Value Conversion : FLOAT
192
Unsigned 64-Bit Floating-Point Value Conversion : UFLOAT
193
Bit Device Statuses
194
ON (Normally Open Contact) : (None)
194
OFF (Normally Closed Contact)
195
Bit Device Controls
196
Device Set : SET
196
Device Reset : RST
198
Device Output : DOUT
200
Device Input : DIN
201
Bit Device Output : out
202
Logical Operations
203
Logical Acknowledgement : (None)
203
Logical Negation
204
Logical and
205
Logical or
206
Comparison Operations
207
Equal to
207
Not Equal to
208
Less than
209
Less than or Equal to
210
More than
211
More than or Equal to
212
Motion-Dedicated Functions(CHGV, CHGT)
213
Speed Change Request : CHGV
213
Torque Limit Value Change Request : CHGT
219
Other Instructions
221
Event Task Enable : EI
221
Event Task Disable : DI
222
No Operation : NOP
223
Block Transfer : BMOV
224
Same Data Block Transfer : FMOV
227
Read Device Data from Shared CPU Memory of the Other CPU: MULTR
232
Write Device Data to Intelligent Function Module/Special Function Module : to
235
Read Device Data from Intelligent Function Module/Special Function Module : from
238
Time to Wait : TIME
241
Comment Statement
243
6 Transition Programs
244
7 Motion Control Programs
246
Servo Instruction List
247
Servomotor/Virtual Servomotor Shaft Current Value Change
259
Synchronous Encoder Shaft Current Value Change Control (SV22 Only)
262
Cam Shaft Within-One-Revolution Current Value Change Control (SV22 Only)
265
Programming Instructions
267
Cancel • Start
267
Indirect Designation Using Motion Devices
267
8 Motion Devices
268
Motion Registers (#0 to #8191)
268
Coasting Timer (FT)
273
9 Motion Sfc Parameter
274
Task Definitions
274
Number of Consecutive Transitions and Task Operation
275
Number of Consecutive Transitions
275
Task Operation
276
Execution Status of the Multiple Task
280
Task Parameters
281
Program Parameters
283
How to Start the Motion SFC Program
289
Automatic Start
289
Start from the Motion SFC Program
289
Start from PLC (PLC Instruction S(P).SFCS )
289
How to End the Motion SFC Program
289
How to Change from One Motion SFC Program to Another
290
How to Manage the Executing Program
290
Operation Performed at CPU Power-Off or Reset
290
Operation Performed When CPU Is Switched from RUN/STOP
290
Operation Performed When PLC Ready Flag (M2000) Turns OFF/ON
291
Operation at the Error Occurrence
291
10 User Files
292
Projects
292
User File List
293
Online Change in the Motion SFC Program
294
Operating Method for the Online Change
295
Transfer of Program
298
11 Error Code Lists
300
Reading Procedure for Error Codes
300
Motion SFC Error Code List
301
Motion SFC Parameter Errors
310
Appendices
312
APPENDIX 1 Processing Times
312
APPENDIX 1.1 Processing Time of Operation Control/Transition Instruction
312
APPENDIX 2 Sample Program
320
APPENDIX 2.1 Program Example to Execute the Multiple CPU Dedicated Instruction Continuously.app- 9
322
APPENDIX 2.2 the Program Example to Execute Plural Multiple CPU Instruction by the Instructions of One Time
322
APPENDIX 2.3 Motion Control Example by Motion SFC Program
324
APPENDIX 2.4 Continuation Execution Example at the Subroutine Re-Start by the Motion SFC Program
335
APPENDIX 2.5 Continuation Execution Example after the Stop by the Motion SFC Program
339
Mitsubishi Electric Q172HCPU User Manual (204 pages)
Q series Motion Controller
Brand:
Mitsubishi Electric
| Category:
Control Unit
| Size: 3.57 MB
Table of Contents
Safety Precautions
2
Revisions
12
Table of Contents
13
About Manuals
16
1 Overview
18
2 System Configuration
20
Motion System Configuration
20
Q173HCPU System Overall Configuration
22
Q172HCPU System Overall Configuration
24
Function Explanation of the Q173HCPU/Q172HCPU Motion CPU Modules
26
Restrictions on Motion Systems
28
System Configuration Equipment
30
General Specifications
37
Specifications of Equipment and Settings
39
Name of Parts for CPU Module
39
Power Supply Module
48
Base Unit and Extension Cable
57
Q172LX Servo External Signals Interface Module
60
Q172EX Serial Absolute Synchronous Encoder Interface Module
65
Q173PX Manual Pulse Generator Interface Module
74
Manual Pulse Generator/Serial Absolute Synchronous Encoder
83
A31Tu-D3 /A31Tu-Dn
85
Teaching Unit (Japanese Version Only
85
SSCNET Cables and Connection Method
93
External Battery
98
3 Design
100
System Designing Procedure
100
External Circuit Design
103
Power Supply Circuit Design
111
Safety Circuit Design
112
Layout Design Within the Control Panel
114
Installation Environment
114
Layout Design of the Base Units
115
Calculating Heat Generation by Motion Controller
116
Design Checklist
119
4 Installation and Wiring
120
Module Installation
120
Instructions for Handling
120
Instructions for Installation of the Base Unit
122
Installation and Removal of Module
124
Installation and Removal of Cable
126
SSCNET Cable
126
SSC I/F Communication Cable
129
Battery Cable
130
Cable for Teaching Unit
131
Installation of the Serial Absolute Synchronous Encoder
133
Wiring
135
Instructions for Wiring
135
Wiring to the Power Supply Module
138
Precautions of SSCNET Cable Wiring
139
Installation/Wiring Checklist
141
5 Trial Operation and Adjustment
142
Checklist before Trial Operation
142
Trial Operation and Adjustment Procedure
143
Operating System Software Installation Procedure
147
Trial Operation and Adjustment Checklist
148
6 Inspection and Maintenance
150
Maintenance Works
151
Instruction of Inspection Works
151
Daily Inspection
153
Periodic Inspection
154
External Battery
155
Battery Service Life Time
156
Battery Replacement Procedure
157
Discard of Internal Rechargeable Battery
159
Troubleshooting
160
Basics of Troubleshooting
160
Troubleshooting of Motion CPU Module and I/O Modules
161
I/O Modules Troubleshooting
172
Confirm Method of Error Code
175
Appendices
176
APPENDIX 1 Cables
176
APPENDIX 1.1 SSCNET Cables
176
APPENDIX 1.2 Serial Absolute Synchronous Encoder Cable
180
APPENDIX 1.3 Cable for the Teaching Unit
182
APPENDIX 1.4 Battery Cable
188
APPENDIX 2 Exterior Dimensions
189
APPENDIX 2.1 CPU Module
189
APPENDIX 2.2 Servo External Signals Interface Module (Q172LX)
192
APPENDIX 2.3 Serial Absolute Synchronous Encoder Interface Module (Q172EX-S2/Q172EX-S3).App-17
192
APPENDIX 2.4 Manual Pulse Generator Interface Module (Q173PX/Q173PX-S1)
193
APPENDIX 2.5 Power Supply Module (Q61P-A1, Q61P-A2, Q62P, Q63P, Q64P)
194
APPENDIX 2.6 Battery Holder Unit (Q170HBATC)
195
APPENDIX 2.7 Connector
196
APPENDIX 2.8 Manual Pulse Generator (MR-HDP01)
201
APPENDIX 2.9 Serial Absolute Synchronous Encoder (Q170ENC)
201
APPENDIX 2.10 Teaching Unit (A31TU-D3 /A31TU-DN )
202
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