Instruction manual

3. PERFORMANCE SPECIFICATIONS
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Table 3.1 PCPU Performance Specifications (VIRTUAL Mode) (Continued)
Item A273UHCPU A173UHCPU A173UHCPU-SI
Interpolation functions Linear interpolation (2 to 4-axes), circular interpolation (2-axes)
Control modes
PTP (point to point), speed control, fixed-pitch feed, constant-speed control, position follow-up
control
Method
PTP :Selection of absolute data method or incremental method
Fixed pitch feed :Selection of incremental method
Constant speed control :The absolute method and incremental method can be used together
Position follow-up control :Absolute data method
Position command Address setting range
−
2147483648 to 2147483648 (PLS)
Positioning
Speed command Speed setting range 1 to 10000000 (PLS/s)
Acceleration
−
fixed
acceleration/deceleration
Time
−
fixed acceleration/deceleration
Acceleration time: 1 to 65535 ms
Deceleration time: 1 to 65535 ms
Acceleration/deceleration time: 1 to 5000 ms
(Only constant-speed control is possible)
Automatic
trapezoidal
acceleration/
deceleration
Acceleration/
deceleration
control
S-curve
acceleration/
deceleration
S-curve ratio setting: 0 to 100%
JOG operation function Provided
M-function M-code output function provided, and M-code completion wait function provided
Skip function Provided
Virtual servo motor
Manual pulse generator operation
function(test mode only)
•
A maximum of three manual pulse
generator can be connected.
•
A maximum of three manual pulse
generators can be operated.
•
Setting of magnification : 1 to 100. It is
possible to set the smoothing
magnification.
•
A maximum of three manual pulse
generator can be connected.
•
One A172SENC is required per piece.
•
A maximum of three manual pulse
generators can be operated.
•
Setting of magnification : 1 to 100. It is
possible to set the smoothing
magnification.
Number of output points 8 points/axis
Number of ON/OFF setting
points
10 points/axis
Limit
switch
output
function
Control mode Real current value mode/Cam axis current value in one revolution mode
Number of input
points (Note-2)
Max. 11 points
(TRA input of A273EX (3 point)
+
one motion
slot PLC input module (8 points))
Max. 9 points
(TRA input of A172SENC (1 point)
+
one
motion slot PLC input module (8 points))
High-speed reading
of designated data
Data latch
timing
At leading edge of the TRA input signal
Within 0.8ms of the signal leading edge for the PLC input module
Absolute position system
Made compatible by fitting battery to servo amplifier.
(Possible to select the absolute method or incremental method for each axis)
(Note-1) When the cam is used in the virtual mode, only the following memory cassettes are usable.
For A273UHCPU
•
A3NMCA16 (128k bytes)
•
A3NMCA24 (192k bytes)
•
A3NMCA40 (320k bytes)
•
A3NMCA56 (448k bytes)
•
A3AMCA96 (768k bytes)
Note that the A3NMCA16 is unusable when cam axis one-revolution mode limit switch output is provided in the virtual mode of
SV22. (The A3NMCA24 or higher is required.)
(Note-2) When a TRA input signal is used as an "External input mode clutch" the high speed reading function can not be used.