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7 AUXILIARY AND APPLIED FUNCTIONS
A part of speed-torque control data can be executed the indirect setting by the word
devices of Motion CPU
• Word devices for indirect setting
The word devices for indirect setting are the data registers (D), link registers (W),
motion registers (#) and Multiple CPU area device (U
\G). Word devices except the
above devices cannot be used.
The usable setting range of word devices is shown below.
Word device Setting range
D 0 to 8191
W 0 to 1FFF
# 0 to 7999
U \G
10000 to (10000+p-1)
(Note-1)
(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for
each CPU.
(Note-2): Refer to Chapter 2 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual
(COMMON)" for the user setting area points of the Multiple CPU high speed transmission area.
• Bit devices for indirect setting
The bit devices for indirect setting are the input (X), output (Y), internal relay (M), link
relay (B), annunciator (F) and Multiple CPU area device (U
\G).
Bit devices except the above devices cannot be used.
The usable setting range of bit devices is shown below.
Bit device Setting range
X
0000 to 1FFF
(Note-1)
Y 0000 to 1FFF
M 0 to 8191
B 0000 to 1FFF
F 0 to 2047
U \G
10000.0 to (10000+p-1).F
(Note-2)
(Note-1): The range of "PXn+4 to PXn+F" cannot be used (fixed at 0) for the input device (PXn+0 to
PXn+F) allocated to the built-in interface in Motion CPU (DI). (n: First input No.)
(Note-2): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for
each CPU.
(Note-3): Refer to Chapter 2 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual
(COMMON)" for the user setting area points of the Multiple CPU high speed transmission area.
• Input of speed-torque control data
Input timing of each setting device is shown below.
Setting item Input timing of device
Control mode switching request device Operation cycle
Control mode setting device
Control mode switching
Speed limit value at speed-torque control
Torque limit value at speed-torque control
Speed command device Operation cycle
Command speed acceleration time
Control mode switching
Command speed deceleration time
Torque command device Operation cycle
Command torque time constant (positive direction)
Control mode switching
Command torque time constant (negative direction)
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