Mitsubishi Electric Q Series, Руководство по программированию

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A - 12
INTRODUCTION
Thank you for choosing the Mitsubishi Motion controller Q173D(S)CPU/Q172D(S)CPU.
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
Manual Page Organization ............................................................................................................................A-17
1. OVERVIEW 1- 1 to 1-10
1.1 Overview................................................................................................................................................... 1- 1
1.2 Motion Control in SV13/SV22 Real Mode............................................................................................... 1- 4
1.3 Motion Control in SV22 Virtual Mode ...................................................................................................... 1- 5
1.4 Restrictions by the Software's Version.................................................................................................... 1- 6
1.5 Programming Software Version .............................................................................................................. 1-10
2. STARTING UP THE SYSTEM 2- 1 to 2- 8
2.1 Starting Up the Virtual Mode System ...................................................................................................... 2- 1
2.2 Starting Up the Incremental System and Absolute System ................................................................... 2- 3
2.2.1 Operation for incremental system..................................................................................................... 2- 3
2.2.2 Operation for absolute (absolute position) system........................................................................... 2- 4
2.3 Differences Between Real Mode and Virtual Mode................................................................................ 2- 5
2.3.1 Positioning data................................................................................................................................. 2- 5
2.3.2 Positioning devices............................................................................................................................ 2- 5
2.3.3 Servo programs................................................................................................................................. 2- 6
2.3.4 Control change (Current value change/speed change/target position change) ............................. 2- 7
2.3.5 Switching of control mode (Speed-torque control)........................................................................... 2- 8
3. PERFORMANCE SPECIFICATIONS 3- 1 to 3- 2
4. POSITIONING DEDICATED SIGNALS 4- 1 to 4-90
4.1 Internal Relays ......................................................................................................................................... 4- 3
4.1.1 Axis statuses ..................................................................................................................................... 4-14
4.1.2 Axis command signals ...................................................................................................................... 4-22
4.1.3 Virtual servomotor axis statuses....................................................................................................... 4-27
4.1.4 Virtual servomotor axis command signals ...................................................................................... 4-31
4.1.5 Synchronous encoder axis statuses ............................................................................................... 4-36
4.1.6 Synchronous encoder axis command signals.................................................................................. 4-37
4.1.7 Common devices .............................................................................................................................. 4-38
4.2 Data Registers.......................................................................................................................................... 4-53