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Applicable mode
Signal name
Real Virtual
Positioning start completed
Positioning completed
–
Unusable ––
Command in-position –
Speed control in progress
–
Unusable
––
Error detection
–
Unusable
––
M code output in progress
–
Error detection
External signal TREN detection
Virtual mode continuous operation disabled
warning signal
Unusable ––
Stop command
Sudden stop command
Forward JOG start
Reverse JOG start
End signal OFF command
–
Unusable
––
Error reset
Unusable
External STOP input valid/invalid when
starting
–
Unusable
––
FIN signal
–
Error reset
–
Unusable
––
P1 to P8 : Increment synchronization encoder connected to the Q173PX
manual pulse generator input I/F.
E1 to E8 : Absolute synchronous encoder connected to the Q172EX
serial synchronization encoder.
External signal TERN : Detection signal that turns ON when signal is input in Q173PX
tracking I/F.
- Q172CPU(N) 1
- Q173CPU(N) 1
- MOTION CONTROLLER 1
- SCHOOL TEXTBOOK 1
- • SAFETY INSTRUCTIONS • 3
- Revision History 4
- Introduction 10
- Chapter 1 Outline 11
- 1.2 Outline of control 14
- Parameters for oisitioning 15
- 2.1 List of specifications 17
- 2.2.1 Q172CPU(N) system 19
- 2.2.2 Q173CPU(N) system 20
- 2.3 Names of each part 21
- Functions of each part 22
- Chapter 3 Q-PLC Multi-CPU 25
- 3.1 Multi-CPU system 26
- 3.1.3 Input/output numbers 28
- No. of points (*) 30
- Other machine interrupt 33
- SP.DDRD 35
- SP.DDWR 37
- Chapter 4 Q Motion CPU 39
- 4.2 Servo data 40
- 4.2.1 Basic system setting 41
- 4.2.2 Multi-CPU setting 42
- 4.2.3 Fixed parameters 43
- 4.2.4 Servo parameters 44
- [Option] 46
- [Extended servo parameters] 47
- 4.2.5 Zero point return data 48
- 4.2.6 JOG operation data 49
- 4.2.7 Parameter block 50
- (2) List of M4000 to M5471 54
- Applicable mode 56
- 4.4.2 Coast timer (FT) 67
- Execution of 69
- Program name 70
- 5.4 SFC program name 73
- 5.5 Steps 74
- 5.5.2 Operation control step 75
- 5.5.4 Clear step 77
- 5.6 Transition 78
- 5.7 Jump/pointer 79
- 5.8 END 79
- 5.9 Branch/connection 80
- 5.10 Y/N transition 83
- 5.11 Task operation 85
- 5.12 SFC parameters 87
- 5.14 SFC program end method 88
- 6.1 Servo program 89
- 6.1.2 List of servo commands 90
- : Item set as necessary 92
- – : Item that cannot be set 92
- * : Possible 92
- 6.1.3 Linear control 96
- 6.1.8 Speed control 100
- Positioning 101
- 6.1.13 Simultaneous start 105
- 6.1.14 Zero point return 106
- 6.1.20 Current value change 113
- 7.4 Other commands 120
- TIME K60000 122
- MULTW HA00, D0, K2, M0 123
- MULTR #0, H3E0, HC00, K2 124
- SW6RN-SNETP 125
- RS-232C cable 126
- RS-232C 126
- Q172CPU 126
- Q02HCPU 126
- OFF ← ON 130
- DIP switch 130
- Set to OFF and then 130
- 8.3 Setting the Q-PLC CPU 131
- 8.3.2 Setting the multi-CPU 132
- Continued from previous page 134
- RS-2320 cable 135
- 8.4 Starting up SW6RN-GSV22P 137
- 9.1 Details of practice 141
- VIRTUA 143
- Y20 to Y2F 144
- 9.3 System setting 145
- 9.4 Setting the servo data 152
- 9.5 Practice SFC programs 155
- Initial setting 156
- Real mode main 156
- JOG operation 156
- Servo pro 156
- Servo program continuation 157
- Zero point return 157
- 9.6 Creating SFC programs 159
- 9.8 Test operation 180
- 9.8.1 JOG operation 180
- button 182
- 9.9 Program for operation 184
- (2) Q02HCPU sequence program 185
- 9.9.2 JOG operation 186
- X0 X1 X2 188
- X3 X4 X5 188
- X6 X7 X8 188
- Waiting point 190
- Servo program continuous 191
- 9.10.1 Operation 193
- • Press 194
- • Is the servo ON? 194
- 9.10.2 Monitor operation 196
- 9.10.3 Monitor trace graph 199
- (Continued on next page) 200
- Enlargement/reduction 207
- Downward 207
- 9.11 Ending the operations 208
- 10.1 Details of practice 209
- VIRTUAL 211
- Y2F to Y20 212
- Y30 Y31 Y32 Y33 212
- X20 X21 X22 X23 212
- [Servo program continuation] 213
- Servo program execution 214
- Waiting point positioning 214
- Current value change 216
- Start/sudden stop 217
- Error detection_Reset_EMG 217
- • Q02H sequence program 218
- 10.5 Program for operation 224
- Servo Pro 227
- Address 227
- COMPOSITE VELOCITY 228
- Waiting position 228
- Axis 1 1, 12, 30, 31 229
- Axis 2 2, 14 229
- 10.5.4 Stopping 232
- 10.5.5 Error reset 233
- 10.5.7 Speed change (CHGV) 236
- REFERENCE 238
- VELOCITY 242
- Indirect address designation 245
- '1' is added to #0 245
- 10.6.1 Operation 246
- Push-button 249
- Stop/sudden stop 249
- Speed change 250
- • Turn ON 253
- • When the speed change 253
- Transmission module 255
- Connection 256
- Auxiliary input 256
- 11.1.3 Virtual servomotor 257
- 11.1.4 Synchronous encoder 257
- 11.1.5 Virtual axis 257
- 11.1.6 Gears 257
- 11.1.7 Clutch 258
- 11.1.8 Transmission 259
- 11.1.9 Differential gears 259
- 11.1.10 Rollers 259
- 11.1.11 Ball screw 260
- 11.1.12 Rotary table 260
- 11.1.13 Cam 261
- • Feed cam mode 262
- 11.2 Details of practice 263
- 1 0.0 80.0 30.00 266
- 2 180.0 100.00 266
- 30.00.00 266
- Virtual axis current value 270
- Virtual mode JOG operation 271
- Virtual error detection 271
- Virtual servo program 276
- 11.5 Editing the mechanism 280
- • Servo programs 284
- • Mechanism programs 284
- • Cam data 284
- SFC program 289
- Virtual servo 290
- Virtual stop/sudden stop 290
- Clutch ON/OFF 292
- • When the 293
- 298
- Appendix 299
- SYN. SPEE 305
- Appendix 2 Sample motion SFC 308
- (4) SFC program list 311
- Positioning device 312
- Automatic machine 321
- Open hard disk capacity 321
- J1 to J8 328
- Command start accept 329
- Device of status display 329
- CPU interrupt 334
- END END END END 335
- ON: For abnormal 335
- Acceleration 337
- Obstacle 338
- You can also use pulses! 339
- Electro 342
- MR- B-So 344
- Interface 350
- Movement distance 351
- Toothed gear 351
- Resolver 351
- Sudden stop 356
- → P1 → P2 358
- → A1 → A2 → A3 → 358
- Zero point 359
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