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INTRODUCTION
Thank you for choosing the Q173HCPU/Q172HCPU Motion Controller.
Please read this manual carefully so that equipment is used to its optimum.
CONTENTS
Safety Precautions .........................................................................................................................................A- 1
Revisions ........................................................................................................................................................A-11
Contents .........................................................................................................................................................A-12
About Manuals ...............................................................................................................................................A-17
1. OVERVIEW 1- 1 to 1- 6
1.1 Overview................................................................................................................................................... 1- 1
1.2 Features ................................................................................................................................................... 1- 3
1.2.1 Performance specifications............................................................................................................... 1- 3
1.2.2 Differences between Q173HCPU/Q172HCPU and Q173CPU(N)/Q172CPU(N)......................... 1- 6
2. POSITIONING CONTROL BY THE MOTION CPU 2- 1 to 2-10
2.1 Positioning Control by the Motion CPU................................................................................................... 2- 1
3. MOTION DEDICATED PLC INSTRUCTION 3- 1 to 3-44
3.1 Motion Dedicated PLC Instruction........................................................................................................... 3- 1
3.1.1 Restriction item of the Motion dedicated PLC instruction ................................................................3- 1
3.2 Motion program (Control program) Start Request from The PLC CPU to The Motion CPU:
S(P).SFCS (PLC instruction:
S(P).SFCS
)............................................................................................ 3- 8
3.3 Motion Program (Axis designation program) Start Request from The PLC CPU to The Motion CPU:
S(P).SVST (PLC instruction:
S(P).SVST
)............................................................................................ 3-13
3.4 Home position return instruction from The PLC CPU to The Motion CPU:
S(P).CHGA (PLC instruction:
S(P).CHGA
)........................................................................................... 3-19
3.5 Speed Change Instruction from The PLC CPU to The Motion CPU:
S(P).CHGV (PLC instruction:
S(P).CHGV
)........................................................................................... 3-24
3.6 Torque Limit Value Change Request Instruction from The PLC CPU to The Motion CPU:
S(P).CHGT (PLC instruction:
S(P)
.CHGT
).......................................................................................... 3-32
3.7 Write from The PLC CPU to The Motion CPU: S(P).DDWR (PLC instruction:
S(P).DDWR
) .............. 3-36
3.8 Read from The Devices of The Motion CPU: S(P).DDRD (PLC instruction:
S(P).DDRD
) .................3-40
4. POSITIONING SIGNALS 4- 1 to 4-88
4.1 Internal Relays ......................................................................................................................................... 4- 2
4.1.1 Axis statuses ..................................................................................................................................... 4-13
4.1.2 Axis command signals ...................................................................................................................... 4-26
4.1.3 Axis statuses 2 .................................................................................................................................. 4-33
4.1.4 Axis command signals 2 ................................................................................................................... 4-36
4.1.5 Common devices ..............................................................................................................................4-45
4.2 Data Registers..........................................................................................................................................4-56