A - 13
INTRODUCTION
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.
CONTENTS
Safety Precautions ......................................................................................................................................... A- 1
Revisions ........................................................................................................................................................ A-11
Contents ......................................................................................................................................................... A-13
About Manuals ............................................................................................................................................... A-19
Manual Page Organization ............................................................................................................................ A-21
1. OVERVIEW 1- 1 to 1-84
1.1 Overview ................................................................................................................................................... 1- 1
1.2 Features ................................................................................................................................................... 1- 3
1.2.1 Features of Motion SFC programs ................................................................................................... 1- 3
1.2.2 Performance specifications ............................................................................................................... 1- 4
1.2.3 Operation control/transition control specifications ........................................................................... 1- 8
1.2.4 Positioning dedicated devices .......................................................................................................... 1-13
1.3 Restrictions by the Software's Version .................................................................................................... 1-78
1.4 Programming Software Version............................................................................................................... 1-84
2. STRUCTURE OF THE MOTION CPU PROGRAM 2- 1 to 2- 4
2.1 Motion Control in SV13/SV22 Real Mode ............................................................................................... 2- 2
2.2 Motion Control in SV22 Virtual Mode ...................................................................................................... 2- 3
2.3 Motion Control in SV22 Advanced Synchronous Control ....................................................................... 2- 4
3. MOTION DEDICATED PLC INSTRUCTION 3- 1 to 3-82
3.1 Outline of Motion Dedicated PLC Instruction .......................................................................................... 3- 1
3.2 Motion Dedicated PLC Instruction ........................................................................................................... 3- 2
3.2.1 Motion SFC start request from the PLC CPU to the Motion CPU:
D(P).SFCS (PLC instruction: D(P).SFCS
) ................................................................................... 3- 3
3.2.2 Servo program start request from the PLC CPU to the Motion CPU:
D(P).SVST (PLC instruction:
D(P).SVST
) .................................................................................... 3- 7
3.2.3 Current value change instruction from the PLC CPU to the Motion CPU:
D(P).CHGA (PLC instruction: D(P).CHGA
) .................................................................................. 3-13
3.2.4 Current value change instruction of command generation axis from the
PLC CPU to the Motion CPU: D(P).CHGAS (PLC instruction: D(P).CHGAS
)
(SV22 advanced synchronous control only) .................................................................................... 3-27
3.2.5 Speed change instruction from the PLC CPU to the Motion CPU:
D(P).CHGV (PLC instruction: D(P).CHGV
) .................................................................................. 3-33
3.2.6 Speed change instruction of command generation axis from the PLC CPU to the Motion CPU:
D(P).CHGVS (PLC instruction: D(P).CHGVS
) (SV22 advanced synchronous control only) ..... 3-39
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