Mitsubishi Electric A172SHCPUN Manuals

Manuals and User Guides for Mitsubishi Electric A172SHCPUN. We have 3 Mitsubishi Electric A172SHCPUN manuals available for free PDF download: Programming Manual, User Manual

Mitsubishi Electric A172SHCPUN Programming Manual (372 pages)

Brand: Mitsubishi Electric | Category: Controller | Size: 3.37 MB

Table of Contents
11
General Description
15
System Configuration
17
A172SHCPUN/A171SHCPUN System Overall Configuration
17
System Configuration Precautions
18
Table of Software Package
20
Positioning Control by the Servo System CPU
21
Performance Specifications
29
SCPU Performance Specifications
29
PCPU Performance Specifications
31
Differences between A172SHCPUN/A171SHCPUN and A171S(S3)
33
Positioning Signals
34
Internal Relays
35
Axis Status
38
Axis Command Signals
46
Common Devices
62
Monitoring Data Area
63
Special Relays (SP.M)
74
Special Registers (SP.D)
77
Parameters for Positioning Control
85
System Settings
85
Fixed Parameters
86
Setting the Number of Pulses Per Revolution/Travel Value Per Revolution/Unit Magnification
87
Upper Stroke Limit Value/Lower Stroke Limit Value
89
Command In-Position Range
90
Servo Parameters
90
MR- -B Servo Parameters
91
Position Control Gain 1, 2
96
Speed Integral Compensation
98
In-Position Range
98
Feed Forward Gain
98
Load Inertia Ratio
99
Automatic Tuning
99
Servo Responsiveness Setting
100
Notch Filter
101
Electromagnetic Brake Sequence
101
Monitor Output Mode
101
Optional Function 1
101
Optional Function 2
102
Monitor Output 1, 2 Offset
103
Pre-Alarm Data Selection
103
Zero Speed
104
Excessive Error Alarm Level
104
Optional Function 5
104
PI-PID Switching Position Droop
104
Torque Control Compensation Factor
104
Speed Differential Compensation
104
Parameter Block
105
Relationships Among the Speed Limit Value, Acceleration Time
107
Deceleration Time, and Rapid Stop Deceleration Time
107
S-Curve Ratio
107
Allowable Error Range for Circular Interpolation
108
Sequence Programs and Sfc Programs
109
Cautions on Creating a Sequence Program or SFC Program
109
Servo Program Start Request Instruction (DSFRP/SVST)
110
Start Request Instruction for 1 to 3 Axes (DSFRP)
110
Start Request Instruction for 1 to 4/1 to 8 Axes (SVST)
113
Current Value Change Instructions (DSFLP/CHGA)
116
DSFLP Instruction
116
CHGA Instruction
119
Speed Change Instructions (DSFLP/CHGV)
122
DSFLP Instruction
122
CHGV Instruction
125
Retracing During Positioning
128
Torque Limit Value Change Request (CHGT)
131
SFC Program
133
Starting and Stopping SFC Programs
133
Servo Program Start Request
134
Servo Programs for Positioning Control
138
Servo Program Composition and Area
138
Servo Program Composition
138
Servo Program Area
139
Servo Instructions
140
Positioning Data
144
Method for Setting Positioning Data
148
Setting by Designating Numerical Values
148
Setting by Using Word Devices (D, W)
149
Creating Sequence Programs to Start Servo Programs
150
Case Where the Servo Program Is Executed Once Only
150
Case Where Different Servo Programs Are Executed Consecutively
151
Case Where the same Servo Program Is Executed Repeatedly
152
Basics of Positioning Control
153
Positioning Speed
153
Positioning Speed under Interpolation Control
154
Control Units for 1-Axis Positioning Control
159
Control Units for Interpolation Control
159
Control Using Degrees as Control Units
161
Stop Processing and Restarting after a Stop
163
Acceleration and Deceleration Processing
169
1-Axis Linear Positioning Control
170
2-Axes Linear Interpolation Control
175
3-Axes Linear Interpolation Control
179
4-Axes Linear Interpolation Control
184
Circular Interpolation Using Auxiliary Point Designation
188
Circular Interpolation Using Radius Designation
192
7.8 Circular Interpolation Using Center Point Designation
198
7.9 1-Axis Fixed-Pitch Feed Control
203
Fixed-Pitch Feed Control Using 2-Axes Linear Interpolation
206
Fixed-Pitch Feed Control Using 3-Axes Linear Interpolation
209
Speed Control (I)
212
Speed Control (II)
216
Speed/Position Switching Control
219
Starting Speed/Position Switching Control
219
Restarting Speed/Position Switching Control
226
Speed-Switching Control
231
Starting Speed-Switching Control, Speed-Switching Points, End Designation
231
Setting Speed-Switching Points Using Repeat Instructions
237
Constant-Speed Control
242
Setting Pass Points Using Repeated Instructions
246
Speed Switching During Instruction Execution
251
1-Axis Constant-Speed Control
255
2- to 4-Axes Constant-Speed Control
259
Pass Point Skip Function
266
FIN Signal Wait Function
268
Position Follow-Up Control
270
Simultaneous Start
274
JOG Operation
277
JOG Operation Data
277
Individual Start
278
Simultaneous Start
281
Manual Pulse Generator Operation
283
Zeroing
289
Zeroing Data
289
Zeroing by the Proximity Dog Method
291
Zeroing by the Count Method
293
Zeroing by the Data Set Method
294
Zeroing Servo Program
295
High-Speed Oscillation
297
Auxiliary and Applied Functions
300
Limit Switch Output Function
300
Limit Switch Output Data
300
M-Code Output Function
302
Backlash Compensation Function
304
Torque Limit Function
306
Electronic Gear Function
308
Absolute Positioning System
310
Skip Function
313
Teaching Function
314
High-Speed Reading of Designated Data
315
Servo Program Cancel/Start Function
316
Enhanced Current Value Control
318
Appendices
319
Appendix 1 Scpu Error Code List
319
SCPU Error Code List
319
Appendix2 Error Codes Stored by the Pcpu
323
Servo Program Setting Errors (Stored in D9190)
325
Minor Errors
327
Major Errors
334
Servo Errors
337
PC Link Communication Errors
344
2.6 LED Indications When Errors Occur at the PCPU
345
Appendix3 Special Relays and Special Registers
346
Special Relays (SP.M)
346
Special Registers (SP.D)
349
Appendix4 Example Programs
357
Word Data 1 Word Shift to Left
357
Word Data 1 Word Shift to Right
359
Reading M-Codes
361
Error Code Reading
362
Appendix 5 Setting Range of Indirectly Designated Devices
365
Appendix 6 Processing Times
367

Mitsubishi Electric A172SHCPUN User Manual (161 pages)

motion controller

Brand: Mitsubishi Electric | Category: Control Unit | Size: 2.96 MB

Table of Contents
11
1 Specifications of Motion System Components

13
2 Design

70
- System Designing Procedure
  70
- System Design
  73
- External Circuit Design
  74
- Layout Design Within Enclosure
  86
- Design Checklist
  91
3 Mounting and Wiring

92
- Mounting and Wiring Methods
  92
- Mounting the Base Unit
  92
  - Mounting Without DIN Rail
    92
  - Mounting with DIN Rail
    92
- Mounting and Removing Modules
  95
- Mounting the Serial Absolute Synchronous Encoder
  98
- Wiring
  100
  - How to Run the Power Supply and I/O Wires
    100
  - Example of Routing the Power Supply and I/O Wires
    102
- Mounting/Wiring Checklist
  103
4 Trial Run and Adjustment

104
5 Inspection and Maintenance

112
- Maintenance Works
  112
- Daily Inspections
  114
- Scheduled Inspections
  115
  - Replacing the Battery
    116
- Troubleshooting
  118
  - Troubleshooting for CPU Module and I/O Modules
    120
- Appendices
  135
- Appendix 1 Cables
  
  135
- Appendix 1.1 SSCNET Cables
  
  135
- Appendix 1.2 Encoder Cables
  
  139
- Appendix 1.3 A31TU-E Teaching Unit Cable
  
  146
- Appendix 2 Outside Dimensions
  
  148
- Appendix 2.1 CPU Modules
  
  148
- Appendix 2.2 Pulse Generator/Synchronous Encoder Interface Module (A172SENC)
  
  150
- Appendix 2.3 Main Base Unit
  
  151
- Appendix 2.4 Extension Base Units
  
  153
- Appendix 2.5 Teaching Unit
  
  155
- Appendix 2.6 Connector
  
  157
- Appendix 2.7 Manual Pulse Generator Specifications
  
  159
- Appendix 2.8 Serial Absolute Synchronous Encoder Specifications
  
  160

Mitsubishi Electric A172SHCPUN User Manual (163 pages)

MOTION CONTROLLER

Brand: Mitsubishi Electric | Category: Controller | Size: 25.02 MB

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Mitsubishi Electric A172SHCPUN Programming Manual (372 pages)

Table of Contents

Mitsubishi Electric A172SHCPUN User Manual (161 pages)

Table of Contents

1 Specifications of Motion System Components

2 Design

3 Mounting and Wiring

4 Trial Run and Adjustment

5 Inspection and Maintenance

Appendix 1 Cables

Appendix 1.1 SSCNET Cables

Appendix 1.2 Encoder Cables

Appendix 1.3 A31TU-E Teaching Unit Cable

Appendix 2 Outside Dimensions

Appendix 2.1 CPU Modules

Appendix 2.2 Pulse Generator/Synchronous Encoder Interface Module (A172SENC)

Appendix 2.3 Main Base Unit

Appendix 2.4 Extension Base Units

Appendix 2.5 Teaching Unit

Appendix 2.6 Connector

Appendix 2.7 Manual Pulse Generator Specifications

Appendix 2.8 Serial Absolute Synchronous Encoder Specifications

Mitsubishi Electric A172SHCPUN User Manual (163 pages)

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