Mitsubishi Electric Q173CPU Manuals

Manuals and User Guides for Mitsubishi Electric Q173CPU. We have 4 Mitsubishi Electric Q173CPU manuals available for free PDF download: Programming Manual, User Manual

Mitsubishi Electric Q173CPU Programming Manual (634 pages)

MELSECQ series motion controller SV43

Brand: Mitsubishi Electric | Category: Controller | Size: 4.03 MB

Safety Precautions
2
Revisions
12
Table of Contents
13
About Manuals
20
1 Overview

22
2 Starting up the Multiple Cpu System

76
- Startup Flow of the Multiple CPU System
  76
3 Communication between the Plc Cpu and the Motion Cpu in the Multiple Cpu System

78
- Automatic Refresh Function of the Shared CPU Memory
  78
- Shared CPU Memory
  96
4 Motion Dedicated Plc Instruction

100
5 Positioning Dedicated Signals

142
- Internal Relays
  143
  - Axis Statuses
    154
  - Axis Command Signals
    166
  - Axis Statuses 2
    173
  - Axis Command Signals 2
    176
  - Common Devices
    185
- Data Registers
  196
  - Axis Monitor Devices
    204
  - Control Change Registers
    207
  - Axis Monitor Devices 2
    208
  - Control Program Monitor Devices
    212
  - Control Change Registers 2
    214
  - Tool Length Offset Data Setting Registers
    215
  - Common Devices
    216
- Motion Registers (#)
  220
- Special Relays (SP.M)
  221
- Special Registers (SP.D)
  224
6 Parameters for Positioning Control

227
- System Settings
  227
- System Settings
  230
- Fixed Parameters
  231
  - Number of Pulses/Travel Value Per Rotation
    232
  - Backlash Compensation Amount
    234
  - Upper/Lower Stroke Limit Value
    234
    
    Command In-Position Range
    235
    
    High-Speed Feed Rate Setting
    236
  - Servo Parameters/Vector Inverter Parameters
    237
    
    Servo Parameters of Servo Amplifier
    237
    
    Position Control Gain 1, 2
    239
    
    Speed Control Gain 1, 2
    239
    
    Speed Integral Compensation
    239
    
    In-Position Range
    247
    
    Feed Forward Gain
    247
    
    Load Inertia Ratio
    247
    
    Automatic Tuning
    247
    
    Servo Responsiveness Setting
    247
    
    Notch Filter
    248
    
    Electromagnetic Brake Sequence
    249
    
    Monitor Output Mode
    249
    
    Optional Function 1
    249
    
    Optional Function 2
    251
    
    Monitor Output 1, 2 Offset
    251
    
    Pre-Alarm Data Selection
    251
    
    Zero Speed
    252
    
    Error Excessive Alarm Level
    252
    
    Optional Function 5
    252
    
    PI-PID Control Switching Position Droop
    252
    
    Torque Control Compensation Factor
    252
    
    Speed Differential Compensation
    252
    
    Servo Parameters of Vector Inverter (FR-V500)
    253
- Parameter Block
  254
7 Motion Programs for Positioning Control

262
8 Auxiliary and Applied Functions

448
- Limit Switch Output Function
  448
  - Limit Output Setting Data
    451
- Backlash Compensation Function
  455
- Torque Limit Function
  457
- Absolute Position System
  459
- Home Position Return by the Dog Cradle Type
  482
- Home Position Return by the Stopper Type 1
  486
- Home Position Return by the Stopper Type 2
  488
- Home Position Return by the Limit Switch Combined Type
  490
- Home Position Return Retry Function
  492
- Home Position Shift Function
  496
- Condition Selection of Home Position Set
  500
- Execution of Home Position Return
  502
- Speed Change (CHGV Instruction)
  503
- JOG Operation
  507
  - Individual Start
    508
  - Simultaneous Start
    513
- Manual Pulse Generator Operation
  516
- Override Ratio Setting Function
  522
- FIN Signal Wait Function
  524
- Single Block Operation
  528
- High-Speed Reading of Specified Data
  533
- Control Program Stop Function from the PLC CPU
  534
9 User Files

536
- Projects
  536
- User File List
  537
- Specifications of LED • Switch
  540
- ROM Operation Function Details
  542
- Operating Procedure of "ROM Writing"
  547
11 Communications Via Network

549
- Specifications of the Communications Via Network
  549
- Access Range of the Communications Via Network
  550
13 Servo Parameter Reading Function

560
- About the Servo Parameter Read Request Devices
  560
- APPENDIX 1 Multiple CPU Error Codes
  
  562
- APPENDIX 1.1 Self-Diagnosis Error Code
  
  567
- APPENDIX 1.2 Release of Self-Diagnosis Error
  
  567
- APPENDIX 2 Error Codes Stored Using the Motion CPU
  
  568
- APPENDIX 2.1 Motion Program Setting Errors (Stored in D9190)
  
  570
- APPENDIX 2.2 Minor Errors
  
  571
- APPENDIX 2.3 Major Errors
  
  587
- APPENDIX 2.4 Servo Errors
  
  591
- APPENDIX 2.5 PC Link Communication Errors
  
  606
- APPENDIX 3 Motion Dedicated Signal
  
  607
- APPENDIX 3.1 Internal Relay (M)
  
  617
- APPENDIX 3.2 Data Registers (D)
  
  617
- APPENDIX 3.3 Motion Registers (#)
  
  624
- APPENDIX 3.4 Special Relays
  
  625
- APPENDIX 3.5 Special Registers
  
  629

Mitsubishi Electric Q173CPU Programming Manual (472 pages)

Q Series Motion Controller

Brand: Mitsubishi Electric | Category: Controller | Size: 4.42 MB

Safety Precautions
2
Revisions
12
Table of Contents
13
About Manuals
19
1 Overview

22
2 Starting up the Multiple Cpu System

118
- Startup Flow of the Multiple CPU System
  118
3 Communication between the Plc Cpu and the Motion Cpu in the Multiple Cpu System

120
4 Structure of the Motion Cpu Program

146
- Motion Control in SV13/SV22 Real Mode
  147
- Motion Control in SV22 Virtual Mode
  148
5 Motion Dedicated Plc Instruction

150
6 Motion Sfc Programs

198
- Motion SFC Program Configuration
  198
- Motion SFC Chart Symbol List
  199
- Branch and Coupling Chart List
  202
- Motion SFC Program Name
  206
- Steps
  207
  - Motion Control Step
    207
  - Operation Control Step
    208
  - Subroutine Call/Start Step
    209
  - Clear Step
    211
- Transitions
  212
- Program Parameters
  214
- Jump, Pointer
  214
- End
  214
- Branches, Couplings
  215
  - Series Transition
    215
  - Selective Branch, Selective Coupling
    216
  - Parallel Branch, Parallel Coupling
    217
- Y/N Transitions
  219
- Motion SFC Comments
  223
7 Operation Control Programs

226
- Device Descriptions
  232
- Constant Descriptions
  234
- Binary Operations
  235
  - Substitution
    235
  - Addition
    237
  - Subtraction
    238
  - Multiplication
    240
  - Division
    241
  - Remainder
    242
- Bit Operations
  243
  - Bit Inversion(Complement)
    243
  - Bit Logical and
    244
  - Bit Logical or
    245
  - Bit Exclusive Logical or
    246
  - Bit Right Shift
    247
  - Bit Left Shift
    248
  - Sign Inversion(Complement of 2)
    249
- Standard Functions
  250
  - Sine : sin
    250
  - Cosine : COS
    251
  - Tangent : tan
    252
  - Arcsine : ASIN
    253
  - Arccosine : ACOS
    254
  - Arctangent : ATAN
    255
  - Square Root : SQRT
    256
  - Natural Logarithm : LN
    257
  - Exponential Operation : EXP
    258
  - Absolute Value : ABS
    259
  - Round-Off : RND
    260
  - Round-Down : FIX
    261
  - Round-Up : FUP
    262
  - Bcd
    263
  - Bin
    264
- Type Conversions
  265
- Bit Device Statuses
  271
  - ON (Normally Open Contact) : (None)
    271
  - OFF (Normally Closed Contact)
    272
- Bit Device Controls
  273
  - Device Set : SET
    273
  - Device Reset : RST
    275
  - Device Output : DOUT
    277
  - Device Input : DIN
    278
  - Bit Device Output : out
    279
- Logical Operations
  281
  - Logical Acknowledgement : (None)
    281
  - Logical Negation
    282
  - Logical and
    283
  - Logical or
    284
- Comparison Operations
  285
  - Equal to
    285
  - Not Equal to
    286
  - Less than
    287
  - Less than or Equal to
    288
  - More than
    289
  - More than or Equal to
    290
- Motion-Dedicated Functions(CHGV, CHGT)
  291
  - Speed Change Request : CHGV
    291
  - Torque Limit Value Change Request : CHGT
    297
- Other Instructions
  299
- Comment Statement
  321
8 Transition Programs

322
9 Motion Control Programs

324
10 Motion Devices

346
- Motion Registers (#0 to #8191)
  346
- Coasting Timer (FT)
  351
11 Motion Sfc Parameter

352
12 User Files

372
- Projects
  372
- User File List
  373
- Online Change in the Motion SFC Program
  374
  - Operating Method for the Online Change
    375
  - Transfer of Program
    378
13 Limit Switch Output Function

380
- Operations
  380
- Limit Output Setting Data
  383
14 Rom Operation Function

388
15 Security Function

400
- Password Registration/Change
  400
- Password Clearance
  402
- Password Check
  403
- Password Save
  404
- Clear All
  405
16 Communications Via Network

406
- Specifications of the Communications Via Network
  407
- Access Range of the Communications Via Network
  408
17 Monitor Function of the Main Cycle

416
18 Servo Parameter Reading Function

418
- About the Servo Parameter Read Request Devices
  418
- Operating Procedure of the Servo Parameter Reading Function
  419
19 Error Code Lists

420

Mitsubishi Electric Q173CPU Programming Manual (322 pages)

Motion Controller, VIRTUAL MODE

Brand: Mitsubishi Electric | Category: Controller | Size: 2.87 MB

Safety Precautions
2
Revisions
12
Table of Contents
13
About Manuals
16
1 Overview

18
- Motion Control in SV13/SV22 Real Mode
  20
- Motion Control in SV22 Virtual Mode
  21
2 Starting up the Multiple Cpu System

22
3 Performance Specifications

30
4 Positioning Dedicated Signals

32
- Internal Relays
  33
- Data Registers
  88
- Motion Registers (#)
  111
- Special Relays (SP.M)
  112
- Special Registers (SP.D)
  114
5 Mechanical System Program

120
- Mechanical Module Connection Diagram
  121
- Mechanical Module List
  124
6 Drive Module

126
- Virtual Servomotor
  126
- Synchronous Encoder
  141
- Virtual Servomotor/Synchronous Encoder Control Change
  147
  - Virtual Servomotor Control Change
    147
  - Synchronous Encoder Control Change
    149
7 Transmission Module

150
- Gear
  152
  - Operation
    152
  - Parameters
    152
- Clutch
  154
  - Operation
    160
  - Parameters
    177
- Speed Change Gear
  183
  - Operation
    183
  - Parameters
    184
- Differential Gear
  186
  - Operation
    186
  - Parameters (Must be Not Set)
    186
8 Output Module

188
- Rollers
  191
  - Operation
    191
  - Parameter List
    192
- Ball Screw
  196
  - Operation
    196
  - Parameter List
    197
- Rotary Tables
  200
  - Operation
    200
  - Parameter List
    201
- Cam
  208
  - Operation
    209
  - Settings Items at Cam Data Creating
    212
  - Parameter List
    216
  - Cam Curve List
    224
9 Real/Virtual Mode Switching and Stop/Re-Start

226
10 Auxiliary and Applied Functions

238

Mitsubishi Electric Q173CPU User Manual (234 pages)

Q series Motion Controller

Brand: Mitsubishi Electric | Category: Controller | Size: 4.61 MB

Safety Precautions
2
Revisions
12
Table of Contents
13
About Manuals
16
1 Overview

18
2 System Configuration

20
3 Design

120
- System Designing Procedure
  120
- External Circuit Design
  123
  - Power Supply Circuit Design
    131
  - Safety Circuit Design
    132
- Layout Design Within the Control Panel
  134
- Design Checklist
  139
4 Installation and Wiring

140
- Module Installation
  140
- Installation and Removal of Cable
  146
  - SSCNET Cable
    146
  - SSC I/F Communication Cable
    147
  - Battery Cable
    148
  - Cable for Teaching Unit
    149
- Installation of the Serial Absolute Synchronous Encoder
  151
- Replacement of the Cooling Fan Unit (Q170FAN) (Q173CPU/Q172CPU Only)
  153
- Wiring
  154
  - Instructions for Wiring
    154
  - Wiring to the Power Supply Module
    157
- Installation/Wiring Checklist
  158
5 Trial Operation and Adjustment

160
6 Inspection and Maintenance

168

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Mitsubishi Electric Q173CPU Manuals

Mitsubishi Electric Q173CPU Programming Manual (634 pages)

Table of Contents

1 Overview

2 Starting up the Multiple Cpu System

3 Communication between the Plc Cpu and the Motion Cpu in the Multiple Cpu System

4 Motion Dedicated Plc Instruction

5 Positioning Dedicated Signals

6 Parameters for Positioning Control

7 Motion Programs for Positioning Control

8 Auxiliary and Applied Functions

9 User Files

11 Communications Via Network

13 Servo Parameter Reading Function

APPENDIX 1 Multiple CPU Error Codes

APPENDIX 1.1 Self-Diagnosis Error Code

APPENDIX 1.2 Release of Self-Diagnosis Error

APPENDIX 2 Error Codes Stored Using the Motion CPU

APPENDIX 2.1 Motion Program Setting Errors (Stored in D9190)

APPENDIX 2.2 Minor Errors

APPENDIX 2.3 Major Errors

APPENDIX 2.4 Servo Errors

APPENDIX 2.5 PC Link Communication Errors

APPENDIX 3 Motion Dedicated Signal

APPENDIX 3.1 Internal Relay (M)

APPENDIX 3.2 Data Registers (D)

APPENDIX 3.3 Motion Registers (#)

APPENDIX 3.4 Special Relays

APPENDIX 3.5 Special Registers

Mitsubishi Electric Q173CPU Programming Manual (472 pages)

Table of Contents

1 Overview

2 Starting up the Multiple Cpu System

3 Communication between the Plc Cpu and the Motion Cpu in the Multiple Cpu System

4 Structure of the Motion Cpu Program

5 Motion Dedicated Plc Instruction

6 Motion Sfc Programs

7 Operation Control Programs

8 Transition Programs

9 Motion Control Programs

10 Motion Devices

11 Motion Sfc Parameter

12 User Files

13 Limit Switch Output Function

14 Rom Operation Function

15 Security Function

16 Communications Via Network

17 Monitor Function of the Main Cycle

18 Servo Parameter Reading Function

19 Error Code Lists

APPENDIX 1 Processing Times

APPENDIX 1.1 Processing Time of Operation Control/Transition Instruction

APPENDIX 2 Sample Program

APPENDIX 2.1 Program Example to Execute the Multiple CPU Dedicated Instruction Continuously.app- 9

APPENDIX 2.2 the Program Example to Execute Plural Multiple CPU Instruction by the Instructions of One Time

APPENDIX 2.3 Motion Control Example by Motion SFC Program

APPENDIX 2.4 Continuation Execution Example at the Subroutine Re-Start by the Motion SFC Program

APPENDIX 2.5 Continuation Execution Example after the Stop by the Motion SFC Program

Mitsubishi Electric Q173CPU Programming Manual (322 pages)

Table of Contents

1 Overview

2 Starting up the Multiple Cpu System

3 Performance Specifications

4 Positioning Dedicated Signals

5 Mechanical System Program

6 Drive Module

7 Transmission Module

8 Output Module

9 Real/Virtual Mode Switching and Stop/Re-Start

10 Auxiliary and Applied Functions

APPENDIX 1 Cam Curves

APPENDIX 2 Error Codes Stored Using the Motion CPU

APPENDIX 2.1 Expression Method for Word Data Axis no

APPENDIX 2.2 Related Systems and Error Processing

APPENDIX 2.3 Servo Program Setting Errors (Stored in D9190)

APPENDIX 2.4 Drive Module Errors

APPENDIX 2.5 Servo Errors

APPENDIX 2.6 PC Link Communication Errors

APPENDIX 2.7 Output Module Errors

APPENDIX 2.8 Errors at Real/Virtual Mode Switching