Mitsubishi Electric Q172CPU Programming Manual page 14

4.2.4 Current value after virtual servomotor axis main shaft's differential gear ....................................... 4-70
4.2.5 Synchronous encoder axis monitor devices..................................................................................... 4-72
4.2.6 Current value after synchronous encoder axis main shaft's differential gear ................................. 4-73
4.2.7 Cam axis monitor devices................................................................................................................. 4-75
4.2.8 Common devices .............................................................................................................................. 4-76
4.3 Motion registers (#) .................................................................................................................................. 4-80
4.4 Special relays (SP.M) .............................................................................................................................. 4-81
4.5 Special registers (SP.D)........................................................................................................................... 4-83
5. MECHANICAL SYSTEM PROGRAM
5.1 Mechanical Module Connection Diagram ............................................................................................... 5- 2
5.2 Mechanical Module List ........................................................................................................................... 5- 5
6. DRIVE MODULE
6.1 Virtual Servomotor ................................................................................................................................... 6- 1
6.1.1 Operation description ........................................................................................................................ 6- 1
6.1.2 Parameter list .................................................................................................................................... 6-11
6.1.3 Virtual servomotor axis devices (Internal relays, data registers)..................................................... 6-15
6.2 Synchronous Encoder.............................................................................................................................. 6-16
6.2.1 Operation description ........................................................................................................................ 6-16
6.2.2 Parameter list .................................................................................................................................... 6-20
6.2.3 Synchronous encoder axis devices (Internal relays, data registers)............................................... 6-21
6.3 Virtual Servomotor/Synchronous Encoder Control Change................................................................... 6-22
6.3.1 Virtual servomotor control change.................................................................................................... 6-22
6.3.2 Synchronous encoder control change.............................................................................................. 6-24
7. TRANSMISSION MODULE
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 ........................................................................................................................................ 7-28
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 (Must be not set) ........................................................................................................... 7-37
8. OUTPUT MODULE
8.1 Rollers....................................................................................................................................................... 8- 4
8.1.1 Operation ........................................................................................................................................... 8- 4
8.1.2 Parameter list .................................................................................................................................... 8- 5
8.2 Ball Screw................................................................................................................................................. 8- 9
8.2.1 Operation ........................................................................................................................................... 8- 9
A - 13
5- 1 to 5- 6
6- 1 to 6-24
7- 1 to 7-38
8- 1 to 8-38