Mitsubishi Electric Q170MSCPU-S1 - Page 54

2 - 23
2 SYSTEM CONFIGURATION
(2) Motion control specifications/performance specifications
(a) Motion control specifications
Item Specification
Number of control axes Up to 16 axes
Operation cycle
(default)
SV13
0.22ms/ 1 to 4 axes
0.44ms/ 5 to 10 axes
0.88ms/ 11 to 16 axes
SV22
0.44ms/ 1 to 6 axes
0.88ms/ 7 to 16 axes
Interpolation functions Linear interpolation (Up to 4 axes), Circular interpolation (2 axes), Helical interpolation (3 axes)
Control modes
PTP (Point to Point) control, Speed control, Speed-position switching control, Fixed-pitch feed,
Constant speed control, Position follow-up control, Speed control with fixed position stop,
Speed switching control, High-speed oscillation control, Speed-torque control,
Synchronous control (SV22 (Virtual mode switching method/Advanced synchronous control method))
Acceleration/deceleration control
Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration,
Advanced S-curve acceleration/deceleration
Compensation Backlash compensation, Electronic gear, Phase compensation (SV22)
Programming language
Motion SFC, Dedicated instruction, Mechanical support language (SV22)
(Note-1)
Servo program capacity 16k steps
Number of positioning points 3200 points (Positioning data can be designated indirectly)
Peripheral I/F USB/RS-232 (PLC CPU area control), PERIPHERAL I/F (Motion CPU area control)
Home position return function
Proximity dog method (2 types), Count method (3 types), Data set method (2 types),
Dog cradle method, Stopper method (2 types), Limit switch combined method,
Scale home position signal detection method, Dogless home position signal reference method,
Driver home position return method
Home position return re-try function provided, home position shift function provided
JOG operation function Provided
Manual pulse generator operation
function
Possible to connect 3 modules (Q173DPX use)
Possible to connect 1 module (Q170MSCPU's internal I/F use)
(Note-2), (Note-3)
Synchronous encoder operation
function
Possible to connect 12 modules (SV22 use, Incremental only)
(Note-4)
(Q173DPX + Internal I/F + Via device
(Note-5)
+ Via servo amplifier
(Note-5), (Note-6)
)
M-code function M-code output function provided, M-code completion wait function provided
Limit switch
output function
SV13
Number of output points 32 points
Watch data: Motion control data/Word device
SV22
Virtual mode switching method : Number of output points 32 points
Advanced synchronous control method : Number of output points 64 points  2 settings
Output timing compensation
Watch data: Motion control data/Word device
ROM operation function Provided
External input signal Q172DLX, External input signals (FLS/RLS/DOG) of servo amplifier, Internal I/F (DI), Bit device
High-speed reading function
(Note-7)
Provided (Via internal I/F/input module, Via tracking of Q173DPX)
Forced stop Motion controller forced stop (EMI connector, System setting), Forced stop terminal of servo amplifier
Number of I/O points
Total 256 points
(Internal I/F (Input 4 points, output 2 points) + I/O module + Intelligent function module)
Mark detection
function
Mark detection
mode setting
Continuous detection mode, Specified number of detection mode, Ring buffer mode
Mark detection
signal
Internal I/F (DI), Bit device
Mark detection
setting
32 settings
Clock data setting Clock synchronization between Multiple CPU