Instruction manual

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CONTENTS
1. GENERAL DESCRIPTION ....................................................................................................... 1- 1 to 1- 6
1.1 System Configuration........................................................................................................................ 1- 2
1.1.1 A273UHCPU System overall configuration ................................................................................ 1- 2
1.1.2 A173UHCPU(-S1) System overall configuration ........................................................................ 1- 4
1.2 Summary of REAL and VIRTUAL Modes ......................................................................................... 1- 5
2. PROCEDURE FOR VIRTUAL MODE POSITIONING CONTROL........................................... 2- 1 to 2- 8
2.1 System Start-Up............................................................................................................................... 2- 1
2.2 Operation.......................................................................................................................................... 2- 4
2.2.1 Operation with incremental system ........................................................................................... 2- 4
2.2.2 Operation with an absolute (absolute position) system ............................................................. 2- 5
2.3 Differences Between the REAL and VIRTUAL Modes..................................................................... 2- 6
2.3.1 Positioning data ......................................................................................................................... 2- 6
2.3.2 Positioning device...................................................................................................................... 2- 6
2.3.3 Servo program........................................................................................................................... 2- 7
2.3.4 Control change (current value change & speed change) .......................................................... 2- 8
3. PERFORMANCE SPECIFICATIONS....................................................................................... 3- 1 to 3- 2
4. SERVO SYSTEM CPU DEVICES ........................................................................................... 4- 1 to 4-46
4.1 Internal Relays ................................................................................................................................. 4- 1
4.1.1 Internal relay list......................................................................................................................... 4- 1
4.1.2 Axis statuses ............................................................................................................................. 4- 3
4.1.3 Axis command signals............................................................................................................... 4- 4
4.1.4 Virtual servo motor axis statuses .............................................................................................. 4- 5
4.1.5 Virtual servo motor axis command signals................................................................................ 4- 6
4.1.6 Synchronous encoder axis statuses.......................................................................................... 4- 7
4.1.7 Synchronous encoder axis command signals........................................................................... 4- 7
4.1.8 Common devices....................................................................................................................... 4- 8
4.2 Data Registers ................................................................................................................................ 4-26
4.2.1 Data register list........................................................................................................................ 4-26
4.2.2 Axis monitor devices................................................................................................................. 4-27
4.2.3 Control change registers .......................................................................................................... 4-28
4.2.4 Virtual servo motor axis monitor devices.................................................................................. 4-29
4.2.5 Current values after virtual servo motor axis main shaft's differential gear.............................. 4-30
4.2.6 Synchronous encoder axis monitor devices............................................................................. 4-31
4.2.7 Current values after synchronous encoder axis main shaft's differential gear......................... 4-31
4.2.8 Cam axis monitor devices ........................................................................................................ 4-32
4.2.9 Common devices...................................................................................................................... 4-33
4.3 Special Relays/Special Registers List............................................................................................. 4-40
4.3.1 Special relays ........................................................................................................................... 4-40
4.3.2 Special registers....................................................................................................................... 4-42