Instruction manual

A - 12
INTRODUCTION
Thank you for choosing the Mitsubishi Motion controller Q173DCPU/Q172DCPU.
Before using the equipment, please read this manual carefully to develop full familiarity with the functions
and performance of the Motion controller you have purchased, so as to ensure correct use.
CONTENTS
Safety Precautions .........................................................................................................................................A- 1
Revisions ........................................................................................................................................................A-11
Contents .........................................................................................................................................................A-12
About Manuals ...............................................................................................................................................A-15
1. OVERVIEW 1- 1 to 1- 4
1.1 Overview................................................................................................................................................... 1- 1
1.2 Features ................................................................................................................................................... 1- 3
1.2.1 Performance Specifications .............................................................................................................. 1- 3
2. POSITIONING CONTROL BY THE MOTION CPU 2- 1 to 2-14
2.1 Positioning Control by the Motion CPU................................................................................................... 2- 1
3. POSITIONING DEDICATED SIGNALS 3- 1 to 3-64
3.1 Internal Relays ......................................................................................................................................... 3- 3
3.1.1 Axis statuses ..................................................................................................................................... 3-10
3.1.2 Axis command signals ...................................................................................................................... 3-20
3.1.3 Common devices .............................................................................................................................. 3-27
3.2 Data Registers.......................................................................................................................................... 3-40
3.2.1 Axis monitor devices ......................................................................................................................... 3-44
3.2.2 Control change registers................................................................................................................... 3-50
3.2.3 Common devices .............................................................................................................................. 3-51
3.3 Motion Registers(#).................................................................................................................................. 3-54
3.4 Special Relays (SM) ................................................................................................................................ 3-56
3.5 Special Registers (SD)............................................................................................................................. 3-59
4. PARAMETERS FOR POSITIONING CONTROL 4- 1 to 4-14
4.1 System Settings ....................................................................................................................................... 4- 1
4.2 Fixed Parameters..................................................................................................................................... 4- 2
4.2.1 Number of pulses/travel value per rotation....................................................................................... 4- 3
4.2.2 Backlash compensation amount....................................................................................................... 4- 5
4.2.3 Upper/lower stroke limit value........................................................................................................... 4- 5
4.2.4 Command in-position range.............................................................................................................. 4- 7
4.2.5 Speed control 10
multiplier setting for degree axis ........................................................................ 4- 8
4.3 Parameter Block....................................................................................................................................... 4-11
4.3.1 Relationships between the speed limit value, acceleration time, deceleration time and rapid stop
deceleration time............................................................................................................................... 4-13
4.3.2 S-curve ratio ...................................................................................................................................... 4-13