Mitsubishi Electric Q Series, Руководство по программированию

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A - 13
4.2.1 Axis monitor devices ......................................................................................................................... 4-61
4.2.2 Control change registers................................................................................................................... 4-63
4.2.3 Virtual servomotor axis monitor devices........................................................................................... 4-64
4.2.4 Current value after virtual servomotor axis main shaft's differential gear ....................................... 4-66
4.2.5 Synchronous encoder axis monitor devices..................................................................................... 4-68
4.2.6 Current value after synchronous encoder axis main shaft's differential gear ................................. 4-69
4.2.7 Cam axis monitor devices................................................................................................................. 4-71
4.2.8 Common devices .............................................................................................................................. 4-72
4.3 Motion Registers(#).................................................................................................................................. 4-75
4.4 Special Relays (SM) ................................................................................................................................ 4-80
4.5 Special Registers (SD)............................................................................................................................. 4-83
5. MECHANICAL SYSTEM PROGRAM 5- 1 to 5-10
5.1 Mechanical Module Connection Diagram ............................................................................................... 5- 2
5.2 Mechanical Module List ........................................................................................................................... 5- 6
6. DRIVE MODULE 6- 1 to 6-24
6.1 Virtual Servomotor ................................................................................................................................... 6- 2
6.1.1 Operation description ........................................................................................................................ 6- 2
6.1.2 Parameter list .................................................................................................................................... 6- 8
6.1.3 Virtual servomotor axis devices (Internal relays, data registers)..................................................... 6-13
6.2 Synchronous Encoder.............................................................................................................................. 6-14
6.2.1 Operation description ........................................................................................................................ 6-14
6.2.2 Parameter list .................................................................................................................................... 6-19
6.2.3 Synchronous encoder axis devices (Internal relays, data registers)............................................... 6-20
6.3 Virtual Servomotor/Synchronous Encoder Control Change................................................................... 6-21
6.3.1 Virtual servomotor control change.................................................................................................... 6-21
6.3.2 Synchronous encoder control change.............................................................................................. 6-23
7. TRANSMISSION MODULE 7- 1 to 7-38
7.1 Gear.......................................................................................................................................................... 7- 3
7.1.1 Operation........................................................................................................................................... 7- 3
7.1.2 Parameters ........................................................................................................................................ 7- 3
7.2 Clutch........................................................................................................................................................ 7- 5
7.2.1 Operation........................................................................................................................................... 7-11
7.2.2 Parameters ........................................................................................................................................ 7-25
7.3 Speed Change Gear ................................................................................................................................ 7-34
7.3.1 Operation........................................................................................................................................... 7-34
7.3.2 Parameters ........................................................................................................................................ 7-35
7.4 Differential Gear ....................................................................................................................................... 7-37
7.4.1 Operation........................................................................................................................................... 7-37
7.4.2 Parameters ....................................................................................................................................... 7-37
8. OUTPUT MODULE 8- 1 to 8-44
8.1 Rollers....................................................................................................................................................... 8- 5
8.1.1 Operation........................................................................................................................................... 8- 5