Table Of Contents - Mitsubishi Electric MELSEC Q Series Programming Manual

Thank you for choosing the Mitsubishi Electric 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.
Safety Precautions ......................................................................................................................................... A- 1
Revisions ........................................................................................................................................................ A-11
Contents ......................................................................................................................................................... A-13
About Manuals ............................................................................................................................................... A-17
Manual Page Organization ............................................................................................................................ A-19
1. OVERVIEW
1.1 Overview ................................................................................................................................................... 1- 1
1.2 Features ................................................................................................................................................... 1- 4
1.2.1 Performance Specifications .............................................................................................................. 1- 4
1.3 Restrictions by the Software's Version .................................................................................................... 1- 8
1.4 Programming Software Version............................................................................................................... 1-14
2. POSITIONING CONTROL BY THE MOTION CPU
2.1 Positioning Control by the Motion CPU ................................................................................................... 2- 1
3. POSITIONING DEDICATED SIGNALS
3.1 Internal Relays ......................................................................................................................................... 3- 3
3.1.1 Axis statuses ..................................................................................................................................... 3-11
3.1.2 Axis command signals ...................................................................................................................... 3-23
3.1.3 Common devices .............................................................................................................................. 3-31
3.2 Data Registers .......................................................................................................................................... 3-44
3.2.1 Axis monitor devices ......................................................................................................................... 3-49
3.2.2 Control change registers ................................................................................................................... 3-55
3.2.3 Common devices .............................................................................................................................. 3-56
3.3 Motion Registers(#) .................................................................................................................................. 3-59
3.4 Special Relays (SM) ................................................................................................................................ 3-65
3.5 Special Registers (SD) ............................................................................................................................. 3-68
4. PARAMETERS FOR POSITIONING CONTROL
4.1 System Settings ....................................................................................................................................... 4- 1
4.2 Fixed Parameters ..................................................................................................................................... 4- 2
4.2.1 Number of pulses/travel value per rotation....................................................................................... 4- 3
4.2.2 Backlash compensation amount ....................................................................................................... 4- 6
4.2.3 Upper/lower stroke limit value ........................................................................................................... 4- 6
4.2.4 Command in-position range .............................................................................................................. 4-10
4.2.5 Speed control 10 multiplier setting for degree axis ........................................................................ 4-11
4.3 Parameter Block ....................................................................................................................................... 4-14
INTRODUCTION
CONTENTS
A - 13
1- 1 to 1-14
2- 1 to 2-14
3- 1 to 3-72
4- 1 to 4-40