Mitsubishi MOTION CONTROLLERS Q172DCPU Manuale delle Istruzioni Pagina 155
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6 POSITIONING CONTROL
[Processing in the Motion SFC Program]
1. Transfer the start address to word devices of the Motion CPU before
starting.
2. Calculate the target address by applying the travel value to the address
before starting.
3. Calculate the residual travel value by subtracting the stop address from
the target address.
4. Store the residual travel value in the servo program for travel value
register.
5. Perform the servo program.
Axis 2
Axis 1
Stop position by stop command
[Address 2 (start address after stop)]
Address 1
(start address)
Travel value from
Address 2
(Note)
Travel
value from
Address 1
Travel value from Address 1
(Note): Store in registers for travel value.
Travel value from
Address 2
(Note)
- Q173DCPU 1
- Q172DCPU 1
- SAFETY PRECAUTIONS 2
- For Safe Operations 3
- 2. For fire prevention 3
- 3. For injury prevention 4
- 4. Various precautions 4
- (4) Wiring 8
- (6) Usage methods 9
- Electro 10
- (10) General cautions 11
- 1. OVERVIEW 18
- (Note-2) : SSCNET: S 19
- PLC program 23
- Start request of the 23
- Motion SFC program 23
- Motion CPU 24
- Servo program 26
- PLC program 27
- Servomotor 30
- (2) Servo program 33
- (4) PLC program 34
- (1) Internal signals 36
- (2) External signals 36
- 3.1 Internal Relays 38
- (1) Internal relay list 38
- (2) Axis status list 39
- (4) Common device list 41
- (Note-1), (Note-2) 44
- 3.1.1 Axis statuses 45
- CAUTION 46
- 3.1.2 Axis command signals 55
- ......... Command signal 58
- 3.1.3 Common devices 62
- ....………. Status signal 72
- 3.2 Data Registers 75
- (1) Data register list 75
- ....…….. Monitor device 82
- 3.3 Motion Registers (#) 89
- 3.4 Special Relays (SM) 91
- Table 3.2 Special relay list 91
- .………...... Status signal 93
- 3.5 Special Registers (SD) 94
- ........... Monitor device 96
- Faulty SSCNET No 97
- 0 : SSCNET 1 97
- 1 : SSCNET 2 97
- ……………………..…… Command device 99
- 4.1 System Settings 100
- 4.2 Fixed Parameters 101
- Servo amplifier 102
- Fig. 4.2 For ball screw 103
- 4.3 Parameter Block 110
- 4.3.2 S-curve ratio 112
- Positioning 114
- 5.2 Servo Instructions 116
- Forward 121
- Reverse 121
- Position 123
- FOR-TIMES 127
- (Note-5) 129
- (Note-4) 130
- (Note-1) 130
- (Note-2) 130
- (Note-3) 130
- 6. POSITIONING CONTROL 140
- 1 to V2) 141
- 1 = 10000[PLS] 141
- 2 = 15000[PLS] 141
- 6 POSITIONING CONTROL 142
- 1 to V3) 144
- 1 to D4) 144
- 1 = 10000 [PLS] 145
- 2 = 15000 [PLS] 145
- 3 = 5000 [PLS] 145
- 4 = 20000 [PLS] 145
- Remarks 147
- 359.99999 359.99999 148
- 315.00000 149
- 345.00000 149
- Clockwise positioning 149
- (1) Stop processing 150
- (Note-1) 152
- (2) Re-starting after stop 153
- (a) Direct specification 157
- (b) Indirect specification 157
- (1) System configuration 159
- (3) Operation timing 160
- (4) Servo program 160
- (5) Motion SFC program 160
- (3) Positioning conditions 164
- (4) Operation timing 164
- (5) Servo program 165
- (6) Motion SFC program 165
- 1, Y1 or Z1) based on 167
- 2, Y2, Z2) is executed 167
- Fig.6.7 Axis configuration 173
- Fig.6.10 Maximum arc 178
- Fig.6.12 Maximum arc 179
- (2) Positioning details 179
- Fig.6.14 Maximum arc 184
- Fig.6.16 Maximum arc 184
- Fig.6.19 Maximum arc 189
- Positioning path 197
- Central point 197
- End point 197
- Start point 197
- Radius R 197
- (1) Servo program 198
- (2) Motion SFC program 203
- 6.13 Speed Control ( ) 228
- Fig.6.26 Speed control ( ) 228
- (Note) 229
- 6.14 Speed Control ( ) 232
- (2) Positioning conditions 239
- 6.16 Speed-Switching Control 247
- 6.17 Constant-Speed Control 259
- (1) CPSTART1 273
- (2) CPEND 273
- (1) ABS-1/INC-1 273
- (6) ABS/INC , ABS/INC 279
- (1) Skip signal devices 287
- 6.20 Simultaneous Start 311
- No.14 Axis 3 Speed control 312
- 6.21 JOG Operation 314
- 6.21.1 JOG operation data 314
- 6.21.2 Individual start 315
- (3) Motion SFC program 319
- 6.21.3 Simultaneous start 320
- Input from manual 326
- Manual pulse generator P1 328
- Manual pulse generator P2 328
- 6.23 Home Position Return 330
- (4) Cautions 340
- (1) Count type 3 347
- [Cautions] 364
- [Data Setting] 366
- [Control details] 367
- (2) Servo program example 372
- 7.1 M-code Output Function 376
- (1) Setting of M-codes 376
- (3) Resetting of M-codes 377
- (4) Program example 378
- Feed screw 379
- Workpiece 379
- Backlash compensation amount 379
- 7.3 Torque Limit Function 381
- Torque limit value 382
- . . . . . . 383
- 7.5.1 Cancel/start 386
- APPENDICES 388
- PPENDICES 389
- APPENDIX 1.3 Major errors 405
- APPENDIX 1.4 Servo errors 409
- APPENDIX 2 Example Programs 428
- APPENDIX 2.1 Reading M-code 428
- System configuration 430
- (Note-2) 431
- (2) Inputting device data 432
- APPENDIX 5 Device List 434
- (1) Axis status list 434
- (3) Common device list 436
- (7) Common device list 442
- (8) Motion register list (#) 443
- (9) Special relay list 444
- (10) Special register list 444
- WARRANTY 445
- MOTION CONTROLLER Qseries 446
- (Q173DCPU/Q172DCPU) 446
- MITSUBISHI ELECTRIC 448
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