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A173UHCPU
Mitsubishi Electric A173UHCPU Programming Manual
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MOTION CONTROLLER
(SV13/22)
(REAL MODE)
Programming Manua
l
type
A173UHCPU, A273UHCPU
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Table of Contents
Default Chapter
11
Table of Contents
11
1 General Description
15
System Configuration
17
A273UHCPU System Overall Configuration
17
A173UHCPU(-S1) System Overall Configuration
18
Table of Software Package
19
Positioning Control by the Servo System CPU
20
2 Performance Specifications
28
SCPU Performance Specifications
28
PCPU Performance Specifications
30
3 Positioning Signals
32
Internal Relays
33
Axis Status
38
Axis Command Signals
47
Common Device
53
Data Registers
64
Monitoring Data Area
67
Control Change Registers
72
Common Devices
73
Special Relays (SP.M)
79
Special Register (SP.D)
82
4 Parameters for Positioning Control
85
System Settings
85
Fixed Parameters
87
Setting the Number of Pulses Per Revolution / Travel Value Per Revolution / Unit Magnification
88
Upper Stroke Limit Value/Lower Stroke Limit Value
90
Command In-Position Range
91
Servo Parameters
91
Servo Parameters of ADU (Only When A273UHCPU Is Used)
92
MR- -B Servo Parameters
94
Position Control Gain 1, 2
99
Speed Integral Compensation
100
In-Position Range
101
Feed Forward Gain
101
Load Inertia Ratio
101
Automatic Tuning
101
Servo Responsiveness Setting
102
Notch Filter
103
Electromagnetic Brake Sequence
103
Monitor Output Mode
103
Optional Function 1 (Carrier Frequency Selection)
103
Optional Function 2 (No-Motor Operation Selection)
104
Monitor Output 1, 2 Offset
105
Pre-Alarm Data Selection
105
Zero Speed
106
Excessive Error Alarm Level
106
Optional Function 5
106
PI-PID Switching Position Droop
106
Torque Control Compensation Factor
106
Speed Differential Compensation
106
Parameter Block
107
Relationships Among the Speed Limit Value, Acceleration Time, Deceleration Time, and Rapid Stop Deceleration Time
109
S-Curve Ratio
109
Allowable Error Range for Circular Interpolation
110
5 Sequence Programs and Sfc Programs
111
Cautions on Creating a Sequence Program or SFC Program
111
Servo Program Start Request Instruction (SVST)
112
Start Request Instruction for 1 to 32 Axes (SVST)
112
Current Value Change Instructions (CHGA)
115
CHGA Instructions
115
Speed Change Instructions (CHGV)
118
CHGV Instructions
118
5.5 Retracing During Positioning
121
Torque Limit Value Change Request (CHGT)
124
CHGT Instructions
124
5.7 SFC Programs
126
Starting and Stopping SFC Programs
126
Servo Program Start Request
127
6 Servo Programs for Positioning Control
131
Servo Program Composition and Area
131
Servo Program Composition
131
Servo Program Area
132
Servo Instructions
133
Positioning Data
139
Method for Setting Positioning Data
143
Setting by Designating Numerical Values
143
Setting by Using Word Devices (D, W)
144
Creating Sequence Programs to Start Servo Programs
145
Case Where the Servo Program Is Executed Once Only
145
Case Where Different Servo Programs Are Executed Consecutively
146
Case Where the same Servo Program Is Executed Repeatedly
147
7 Positioning Control
148
Basics of Positioning Control
148
Positioning Speed
148
Positioning Speed under Interpolation Control
149
Control Units for 1-Axis Positioning Control
154
Control Units for Interpolation Control
154
Control Using Degrees as Control Units
156
Stop Processing and Restarting after a Stop
158
Acceleration and Deceleration Processing
164
1-Axis Linear Positioning Control
166
7.3 2-Axes Linear Interpolation Control
170
3-Axes Linear Interpolation Control
174
4-Axes Linear Interpolation Control
179
Circular Interpolation Using Auxiliary Point Designation
183
Circular Interpolation Using Radius Designation
187
7.8 Circular Interpolation Using Center Point Designation
193
7.9 1-Axis Fixed-Pitch Feed Control
198
Fixed-Pitch Feed Control Using 2-Axes Linear Interpolation
201
Fixed-Pitch Feed Control Using 3-Axes Linear Interpolation
204
Speed Control (I)
207
Speed Control (II)
211
Speed/Position Switching Control
214
Starting Speed/Position Switching Control
214
Restarting Speed/Position Switching Control
222
Speed-Switching Control
227
Starting Speed-Switching Control, Speed-Switching Points, End Designation
227
Setting Speed-Switching Points Using Repeat Instructions
233
Constant-Speed Control
240
Setting Pass Points Using Repeated Instructions
242
Speed Switching During Instruction Execution
247
1-Axis Constant-Speed Control
251
To 4-Axes Constant-Speed Control
255
Pass Point Skip Function
262
FIN Signal Wait Function
264
Position Follow-Up Control
266
Simultaneous Start
270
JOG Operation
273
JOG Operation Data
273
Individual Start
274
Simultaneous Start
278
Manual Pulse Generator Operation
281
Home Position Return
288
Zeroing Data
288
Zeroing by the Proximity Dog Method
290
Zeroing by the Count Method
292
Zeroing by the Data Set Method
293
Zeroing Servo Program
294
High-Speed Oscillation
296
8 Auxiliary and Applied Functions
298
Limit Switch Output Function
299
Limit Switch Output Data
299
M-Code Output Function
301
Backlash Compensation Function
303
Torque Limit Function
305
Electronic Gear Function
307
Absolute Positioning System
309
Skip Function
312
Teaching Function
313
High−Speed Reading of Designated Data
313
High-Speed Reading of Designated Data
313
Servo Program Cancel/Start Function
314
Enhanced Current Value Control
316
Appendices
318
Appendix1 Scpu Error Code List
318
SCPU Error Code List
318
Appendix2 Error Codes Stored by the Pcpu
322
Servo Program Setting Errors (Stored in D9190)
324
Minor Errors
327
Major Errors
334
Servo Errors
338
PC Link Communication Errors
352
LED Indications When Errors Occur at the PCPU
353
Appendix3 Special Relays and Special Registers
355
Special Relays (SP, M)
355
Special Registers (SP.D)
360
Appendix4 Example Programs
370
Reading M-Codes
370
Error Code Reading
371
Magnitude Comparison and Four Fundamental Operations of 32-Bit Monitor Data
372
Appendix 5 Setting Range of Indirectly Designated Devices
374
Appendix 6 Processing Times
376
Appendix 7 Electronic Gear Setting Examples
385
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Mitsubishi Electric A173UHCPU Specifications
General
Brand
Mitsubishi Electric
Model
A173UHCPU
Category
Control Unit
Language
English
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