Mitsubishi Electric MELSEC-Q Series - 2 Positioning Control by the Motion Cpu

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2 POSITIONING CONTROL BY THE MOTION CPU
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2. POSITIONING CONTROL BY THE MOTION CPU
2.1 Positioning Control by the Motion CPU
The following positioning controls are possible in the Motion CPU.
• Q173DSCPU/Q173DCPU(-S1) : Up to 32 axes
• Q172DSCPU : Up to 16 axes
• Q172DCPU(-S1) : Up to 8 axes
There are following five functions as controls toward the servo amplifier/servo motor.
(1) Servo operation by the positioning instructions.
There are following two methods for execution of the positioning instruction.
(a) Programming using the motion control step "K" of Motion SFC.
The starting method of Motion SFC program is shown below.
1) Motion SFC start request of PLC CPU
2) Automatic start setting of Motion SFC program
(Note): Step "K" of the positioning instruction cannot be programmed to
NMI task and event task.
3) Start by the Motion SFC program
(b) Execution of servo program by the servo program start request of PLC CPU.
(2) JOG operation by each axis command signal of Motion CPU.
(3) Manual pulse generator operation by the positioning dedicated device of Motion
CPU.
(4) Speed change, torque limit value change, torque limit value individual change and
target position change during positioning control by the Motion dedicated PLC
instruction and Motion dedicated function of operation control step "F".
(Note): Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller
(SV13/SV22)Programming Manual (Motion SFC)" for the Motion dedicated
PLC instruction.
(5) Current value change by the Motion dedicated PLC instruction or servo
instructions.