Mitsubishi Electric R16MTCPU Manuals

Manuals and User Guides for Mitsubishi Electric R16MTCPU. We have 4 Mitsubishi Electric R16MTCPU manuals available for free PDF download: Programming Manual, User Manual, Migration Manual

Mitsubishi Electric R16MTCPU Programming Manual (354 pages)

Brand: Mitsubishi Electric | Category: Controller | Size: 2.53 MB

Safety Precautions
3
Conditions of Use for the Product
11
Introduction
11
Table of Contents
12
Relevant Manuals
17
Terms
18
Manual Page Organization
19
Chapter 1 Overview

21
Performance Specifications

21
- Motion SFC Performance Specifications
  21
- Operation Control/Transition Control Specifications
  22
Structure of the Motion CPU Program

30
Chapter 2 Motion Dedicated Plc Instruction

31
Outline of Motion Dedicated PLC Instruction

31
- Motion Dedicated PLC Instruction
  32
Precautions

84
Chapter 3 Motion Sfc Programs

94
Motion SFC Program Configuration

94
Motion SFC Chart Symbol List

95
Branch and Coupling Chart List

97
Motion SFC Program Name

100
Steps

101
- Motion Control Step
  101
- Operation Control Step
  102
- Subroutine Call/Start Step
  103
- Clear Step
  104
Transitions

105
Jump, Pointer

107
End

108
Branches, Couplings

109
- Series Transition
  109
- Selective Branch, Selective Coupling
  110
- Parallel Branch, Parallel Coupling
  111
Y/N Transitions

113
Motion SFC Comments

117
Chapter 4 Operation Control Programs

119
- Operation Control Programs
  119
Device Descriptions

124
Constant Descriptions

127
Labels

128
- Types
  128
- Data Types
  128
- Arrays
  129
- Structures
  130
- Precautions
  132
Binary Operations

133
- Substitution
  133
- Addition
  135
- Subtraction
  136
- Multiplication
  137
- Division
  138
- Remainder
  139
Bit Operations

140
- Bit Inversion (Complement)
  140
- Bit Logical and
  141
- Bit Logical or
  142
- Bit Exclusive Logical or
  143
- Bit Right Shift
  144
- Bit Left Shift
  145
- Sign Inversion (Complement of 2)
  146
Standard Functions

147
- Sine: sin
  147
- Cosine: COS
  148
- Tangent: tan
  149
- Arcsine: ASIN
  150
- Arccosine: ACOS
  151
- Arctangent: ATAN
  152
- Square Root: SQRT
  153
- Natural Logarithm: LN
  154
- Exponential Operation: EXP
  155
- Absolute Value: ABS
  156
- Round-Off: RND
  157
- Round-Down: FIX
  158
- Round-Up: FUP
  159
- BCD -> bin Conversion: bin
  160
- BIN -> BCD Conversion: BCD
  161
Data Control

162
- 16-Bit Integer Type Scaling: SCL
  162
- 32-Bit Integer Type Scaling: DSCL
  166
Type Conversions

169
Bit Device Statuses

179
- ON (Normally Open Contact): (None)
  179
- OFF (Normally Closed Contact)
  180
Bit Device Controls

181
- Device Set: SET
  181
- Device Reset: RST
  182
- Device Output: DOUT
  183
- Device Input: DIN
  184
- Bit Device Output: out
  185
Logical Operations

186
- Logical Acknowledgement: (None)
  186
- Logical Negation
  187
- Logical and
  188
- Logical or
  189
Comparison Operations

190
- Equal to
  190
- Not Equal to
  191
- Less than
  192
- Less than or Equal to
  193
- More than
  194
- More than or Equal to
  195
Program Control

196
Motion-Dedicated Functions

203
Advanced Synchronous Control Dedicated Function

223
- Cam Data Read: CAMRD
  223
- Cam Data Write: CAMWR
  228
- Cam Auto-Generation: CAMMK
  232
- Cam Position Calculation: CAMPSCL
  244
Vision System Dedicated Function

247
- Open Line: MVOPEN
  247
- Load a Program: MVLOAD
  248
- Send an Image Acquisition Trigger: MVTRG
  249
- Start a Program: MVPST
  250
- Input Data: MVIN
  252
- Output Data: MVOUT
  254
- Reset a Status Storage Device: MVFIN
  256
- Close Line: MVCLOSE
  257
- Send a Command for Native Mode: MVCOM
  258
Add-On Dedicated Function

261
- Call Add-On Module: MCFUN
  261
Other Instructions

263
- Event Task Enable: EI
  263
- Event Task Disable: DI
  264
- No Operation: NOP
  265
- Block Transfer: BMOV
  266
- Same Data Block Transfer: FMOV
  268
- Write Device Data to Buffer Memory: to
  270
- Read Device Data from Buffer Memory: from
  272
- Write Buffer Memory Data to Head Module: RTO
  275
- Read Buffer Memory Data from Head Module: RFROM
  278
- Time to Wait: TIME
  281
Comment Statement

283
Chapter 5 Transition Programs

284
- Transition Programs
  284
Chapter 6 Operation for Motion Sfc and Parameter

286
Task Definitions

286
Number of Consecutive Transitions and Task Operation

286
- Number of Consecutive Transitions
  286
- Task Operation
  287
Execution Status of the Multiple Task

290
How to Start the Motion SFC Program

292
How to End the Motion SFC Program

293
How to Change from One Motion SFC Program to Another

293
Operation Performed at Multiple CPU System Power-Off or Reset

293
Task Parameters

294
Program Parameters

296
Task and Interrupt Processing

300
Chapter 7 Motion Sfc Functions

302
Online Change in the Motion SFC Program

302
- Operating Method for the Online Change
  303
- Reading/Writing of Program
  306
Motion SFC Program Monitor and Debug Mode

308
- Motion SFC Program Monitor
  308
- Debug Mode
  308
Appendices

309
Appendix 1 Processing Times

309
Appendix 2 Sample Program

337

Mitsubishi Electric R16MTCPU Programming Manual (188 pages)

Advanced Synchronous Control

Brand: Mitsubishi Electric | Category: Controller | Size: 14.54 MB

Safety Precautions
3
Conditions of Use for the Product
11
Introduction
11
Compliance with Emc and Low Voltage Directives
12
Table of Contents
13
Relevant Manuals
16
Terms
17
Manual Page Organization
18
Chapter 1 Overview

19
Overview of Synchronous Control

19
Performance Specifications

20
Chapter 2 Starting up the System

22
Starting up the Advanced Control System

22
Starting/Ending for Synchronous Control

23
Stop Operation of Output Axis

26
Chapter 3 Synchronous Control Module

28
List of Synchronous Control Module

28
Chapter 4 Input Axis Module

31
Servo Input Axis

31
Command Generation Axis

37
Synchronous Encoder Axis

52
Chapter 5 Cam Function

75
Control Details for Cam Function

75
- Type of Cam Data
  76
- Overview of Cam Operation
  79
Create Cam Data

81
Chapter 6 Synchronous Control

84
Main Shaft Module

84
Auxiliary Shaft Module

93
Clutch

101
- Overview of Clutch
  101
- Control Method for Clutch
  101
- Smoothing Method for Clutch
  106
- Use Example of Clutch
  111
Speed Change Gear Module

112
- Overview of Speed Change Gear Module
  112
- Speed Change Gear Parameters
  113
Output Axis Module

115
- Overview of Output Axis Module
  115
- Output Axis Parameters
  117
Synchronous Control Change Function

122
Synchronous Control Monitor Data

126
- Synchronous Control Monitor Data (Word Device)
  127
- Synchronous Control Monitor Data (Bit Device)
  130
Chapter 7 Auxiliary and Applied Functions

131
Phase Compensation Function

131
Relationship between the Output Axis and each Function

133
Speed-Torque Control

134
Synchronous Control Initial Position

139
Synchronous Control Initial Position Parameters

143
Cam Axis Position Restoration Method

146
Synchronous Control Analysis Mode

151
Cam Position Calculation Function

152
Method to Restart Synchronous Control

153
Multiple CPU Advanced Synchronous Control

154
Appendices

174
Appendix 1 Sample Program of Synchronous Control

174
Appendix 2 Advanced Synchronous Control Device List

177
- Revisions
  184
- Warranty
  185
- Trademarks
  186

Mitsubishi Electric R16MTCPU User Manual (90 pages)

Motion Controller, MELSEC iQ-R series

Brand: Mitsubishi Electric | Category: Controller | Size: 1.04 MB

Safety Precautions
3
Conditions of Use for the Product
11
Introduction
11
Compliance with Emc and Low Voltage Directives
12
Table of Contents
13
Relevant Manuals
15
Terms
16
Manual Page Organisation
17
Chapter 1 System Configuration

18
Motion System Configuration

18
System Configuration Equipment

24
- Configuration Equipment List
  24
- Software Packages
  28
Checking Production Information and Operating System Software Version

29
- Checking Production Information
  29
- Checking Operating System Software Version
  30
Restrictions by the Software's Version

31
Engineering Software Version

32
Chapter 2 Equipment Specifications

33
General Specifications

33
Motion CPU Module

34
- Name of Parts
  34
- LED Display
  36
- Rotary Switch Setting and Operation Mode
  38
- Specifications
  41
Serial Absolute Synchronous Encoder

44
- Specifications
  44
SSCNETIII Cables

45
Chapter 3 Installation and Wiring

52
Mounting Environment

52
Module Installation

52
Installation and Removal of SD Memory Card

53
Mounting of Serial Absolute Synchronous Encoder

55
Wiring

56
- Power Supply Circuit
  56
- Safety Circuit
  56
Chapter 4 Start-Up Procedures

58
Start-Up Adjustment Procedure

58
Chapter 5 Inspection and Maintenance

61
Daily Inspection

61
Periodic Inspection

62
Life

63
Chapter 6 Troubleshooting

64
Troubleshooting Basics

64
Troubleshooting Procedure

65
Checking LED Display

66
- Checking LED Display of the Motion CPU Module
  66
Checking with Engineering Tools

67
Troubleshooting by Circumstance

68
Chapter 7 Emc Directives

70
Requirements for Compliance with the EMC Directive

70
Appendices

76
Appendix 1 Cables

76
Appendix 2 Exterior Dimensions

82
- Motion CPU Module
  82
- Connector
  84
- Serial Absolute Synchronous Encoder (Q171ENC-W8)
  85
- Revisions
  86
- Warranty
  87
- Trademarks
  88

Mitsubishi Electric R16MTCPU Migration Manual (84 pages)

SERVO SYSTEM CONTROLLER Motion Controller

Brand: Mitsubishi Electric | Category: Controller | Size: 5.32 MB

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Mitsubishi Electric R16MTCPU Manuals

Mitsubishi Electric R16MTCPU Programming Manual (354 pages)

Table of Contents

Chapter 1 Overview

Performance Specifications

Structure of the Motion CPU Program

Chapter 2 Motion Dedicated Plc Instruction

Outline of Motion Dedicated PLC Instruction

Precautions

Chapter 3 Motion Sfc Programs

Motion SFC Program Configuration

Motion SFC Chart Symbol List

Branch and Coupling Chart List

Motion SFC Program Name

Steps

Transitions

Jump, Pointer

End

Branches, Couplings

Y/N Transitions

Motion SFC Comments

Chapter 4 Operation Control Programs

Device Descriptions

Constant Descriptions

Labels

Binary Operations

Bit Operations

Standard Functions

Data Control

Type Conversions

Bit Device Statuses

Bit Device Controls

Logical Operations

Comparison Operations

Program Control

Motion-Dedicated Functions

Advanced Synchronous Control Dedicated Function

Vision System Dedicated Function

Add-On Dedicated Function

Other Instructions

Comment Statement

Chapter 5 Transition Programs

Chapter 6 Operation for Motion Sfc and Parameter

Task Definitions

Number of Consecutive Transitions and Task Operation

Execution Status of the Multiple Task

How to Start the Motion SFC Program

How to End the Motion SFC Program

How to Change from One Motion SFC Program to Another

Operation Performed at Multiple CPU System Power-Off or Reset

Task Parameters

Program Parameters

Task and Interrupt Processing

Chapter 7 Motion Sfc Functions

Online Change in the Motion SFC Program

Motion SFC Program Monitor and Debug Mode

Appendices

Appendix 1 Processing Times

Appendix 2 Sample Program

Mitsubishi Electric R16MTCPU Programming Manual (188 pages)

Table of Contents

Chapter 1 Overview

Overview of Synchronous Control

Performance Specifications

Chapter 2 Starting up the System

Starting up the Advanced Control System

Starting/Ending for Synchronous Control

Stop Operation of Output Axis

Chapter 3 Synchronous Control Module

List of Synchronous Control Module

Chapter 4 Input Axis Module

Servo Input Axis

Command Generation Axis

Synchronous Encoder Axis

Chapter 5 Cam Function

Control Details for Cam Function

Create Cam Data

Chapter 6 Synchronous Control

Main Shaft Module

Auxiliary Shaft Module