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Mitsubishi Electric R16MTCPU Manuals
Manuals and User Guides for Mitsubishi Electric R16MTCPU. We have
4
Mitsubishi Electric R16MTCPU manuals available for free PDF download: Programming Manual, User Manual, Migration Manual
Mitsubishi Electric R16MTCPU Programming Manual (354 pages)
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 2.53 MB
Table of Contents
Safety Precautions
3
Conditions of Use for the Product
11
Introduction
11
Table of Contents
12
Relevant Manuals
17
Terms
18
Manual Page Organization
19
Chapter 1 Overview
21
Performance Specifications
21
Motion SFC Performance Specifications
21
Operation Control/Transition Control Specifications
22
Structure of the Motion CPU Program
30
Chapter 2 Motion Dedicated Plc Instruction
31
Outline of Motion Dedicated PLC Instruction
31
Motion Dedicated PLC Instruction
32
Motion SFC Start Request from the PLC CPU to the Motion CPU: M(P).SFCS/D(P).SFCS
33
Servo Program Start Request from the PLC CPU to the Motion CPU: M(P).SVST/D(P).SVST
36
Direct Positioning Start Instruction from the PLC CPU to the Motion CPU: M(P).SVSTD/D(P).SVSTD
41
Current Value Change Instruction from the PLC CPU to the Motion CPU: M(P).CHGA/D(P).CHGA
53
M(P).Chgas/D(P).Chgas
57
Speed Change Instruction from the PLC CPU to the Motion CPU: M(P).CHGV/D(P).CHGV
61
Speed Change Instruction of Command Generation Axis from the PLC CPU to the Motion CPU: M(P).CHGVS/D(P).CHGVS
66
Torque Limit Value Change Request Instruction from the PLC CPU to the Motion CPU: M(P).CHGT/D(P).CHGT
71
Machine Program Operation Start Request from the PLC CPU to the Motion CPU: M(P).MCNST/D(P).MCNST
74
Write Bit Device to the Motion CPU: M(P).BITWR/D(P).BITWR
78
Interrupt Instruction to the Other CPU: M(P).GINT/D(P).GINT
81
Precautions
84
CPU Buffer Memory Address Used in Motion Dedicated Instruction
84
Number of Blocks Used for Motion Dedicated PLC Instruction
86
Execution of Motion Dedicated PLC Instruction
90
Complete Status Information
91
Order of Instruction Execution
92
Chapter 3 Motion Sfc Programs
94
Motion SFC Program Configuration
94
Motion SFC Chart Symbol List
95
Branch and Coupling Chart List
97
Motion SFC Program Name
100
Steps
101
Motion Control Step
101
Operation Control Step
102
Subroutine Call/Start Step
103
Clear Step
104
Transitions
105
Jump, Pointer
107
End
108
Branches, Couplings
109
Series Transition
109
Selective Branch, Selective Coupling
110
Parallel Branch, Parallel Coupling
111
Y/N Transitions
113
Motion SFC Comments
117
Chapter 4 Operation Control Programs
119
Operation Control Programs
119
Device Descriptions
124
Constant Descriptions
127
Labels
128
Types
128
Data Types
128
Arrays
129
Structures
130
Precautions
132
Binary Operations
133
Substitution
133
Addition
135
Subtraction
136
Multiplication
137
Division
138
Remainder
139
Bit Operations
140
Bit Inversion (Complement)
140
Bit Logical and
141
Bit Logical or
142
Bit Exclusive Logical or
143
Bit Right Shift
144
Bit Left Shift
145
Sign Inversion (Complement of 2)
146
Standard Functions
147
Sine: sin
147
Cosine: COS
148
Tangent: tan
149
Arcsine: ASIN
150
Arccosine: ACOS
151
Arctangent: ATAN
152
Square Root: SQRT
153
Natural Logarithm: LN
154
Exponential Operation: EXP
155
Absolute Value: ABS
156
Round-Off: RND
157
Round-Down: FIX
158
Round-Up: FUP
159
BCD -> bin Conversion: bin
160
BIN -> BCD Conversion: BCD
161
Data Control
162
16-Bit Integer Type Scaling: SCL
162
32-Bit Integer Type Scaling: DSCL
166
Type Conversions
169
Signed 16-Bit Integer Value Conversion: SHORT
169
Unsigned 16-Bit Integer Value Conversion: USHORT
170
Signed 32-Bit Integer Value Conversion: LONG
172
Unsigned 32-Bit Integer Value Conversion: ULONG
173
Signed 64-Bit Floating-Point Value Conversion: FLOAT
175
Unsigned 64-Bit Floating-Point Value Conversion: UFLOAT
176
Floating-Point Value Conversion 32-Bit into 64-Bit: DFLT
177
Floating-Point Value Conversion 64-Bit into 32-Bit: SFLT
178
Bit Device Statuses
179
ON (Normally Open Contact): (None)
179
OFF (Normally Closed Contact)
180
Bit Device Controls
181
Device Set: SET
181
Device Reset: RST
182
Device Output: DOUT
183
Device Input: DIN
184
Bit Device Output: out
185
Logical Operations
186
Logical Acknowledgement: (None)
186
Logical Negation
187
Logical and
188
Logical or
189
Comparison Operations
190
Equal to
190
Not Equal to
191
Less than
192
Less than or Equal to
193
More than
194
More than or Equal to
195
Program Control
196
Conditional Branch Control: if - else - IEND
196
Selective Branch Control: SELECT - CASE - SEND
198
Repeat Control with Specified Count: for - NEXT
200
Forced Termination of Repeat Control: BREAK
202
Motion-Dedicated Functions
203
Speed Change Request: CHGV
203
Command Generation Axis Speed Change Request: CHGVS
207
Torque Limit Value Change Request: CHGT
211
Target Position Change Request: CHGP
213
Machine Program Operation Start Request: MCNST
221
Advanced Synchronous Control Dedicated Function
223
Cam Data Read: CAMRD
223
Cam Data Write: CAMWR
228
Cam Auto-Generation: CAMMK
232
Cam Position Calculation: CAMPSCL
244
Vision System Dedicated Function
247
Open Line: MVOPEN
247
Load a Program: MVLOAD
248
Send an Image Acquisition Trigger: MVTRG
249
Start a Program: MVPST
250
Input Data: MVIN
252
Output Data: MVOUT
254
Reset a Status Storage Device: MVFIN
256
Close Line: MVCLOSE
257
Send a Command for Native Mode: MVCOM
258
Add-On Dedicated Function
261
Call Add-On Module: MCFUN
261
Other Instructions
263
Event Task Enable: EI
263
Event Task Disable: DI
264
No Operation: NOP
265
Block Transfer: BMOV
266
Same Data Block Transfer: FMOV
268
Write Device Data to Buffer Memory: to
270
Read Device Data from Buffer Memory: from
272
Write Buffer Memory Data to Head Module: RTO
275
Read Buffer Memory Data from Head Module: RFROM
278
Time to Wait: TIME
281
Comment Statement
283
Chapter 5 Transition Programs
284
Transition Programs
284
Chapter 6 Operation for Motion Sfc and Parameter
286
Task Definitions
286
Number of Consecutive Transitions and Task Operation
286
Number of Consecutive Transitions
286
Task Operation
287
Execution Status of the Multiple Task
290
How to Start the Motion SFC Program
292
Automatic Start
292
Start from the Motion SFC Program
292
Start from the Motion Dedicated PLC Instruction of Other CPU (PLC Instruction: M(P).SFCS/D(P).SFCS)
292
How to End the Motion SFC Program
293
How to Change from One Motion SFC Program to Another
293
Operation Performed at Multiple CPU System Power-Off or Reset
293
Task Parameters
294
Program Parameters
296
Task and Interrupt Processing
300
Chapter 7 Motion Sfc Functions
302
Online Change in the Motion SFC Program
302
Operating Method for the Online Change
303
Reading/Writing of Program
306
Motion SFC Program Monitor and Debug Mode
308
Motion SFC Program Monitor
308
Debug Mode
308
Appendices
309
Appendix 1 Processing Times
309
Processing Time of Operation Control/Transition Instruction
309
Processing Time of Advanced Synchronous Control Dedicated Functions
333
Deploying Time for Cam Data
335
Processing Time of Motion Dedicated PLC Instruction
336
Appendix 2 Sample Program
337
Motion Control Example by Motion SFC Program
337
Continuation Execution Example at the Subroutine Re-Start by the Motion SFC Program
344
Continuation Execution Example after the Stop by the Motion SFC Program
347
Revisions
350
Warranty
351
Trademarks
352
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Mitsubishi Electric R16MTCPU Programming Manual (188 pages)
Advanced Synchronous Control
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 14.54 MB
Table of Contents
Safety Precautions
3
Conditions of Use for the Product
11
Introduction
11
Compliance with Emc and Low Voltage Directives
12
Table of Contents
13
Relevant Manuals
16
Terms
17
Manual Page Organization
18
Chapter 1 Overview
19
Overview of Synchronous Control
19
Performance Specifications
20
Chapter 2 Starting up the System
22
Starting up the Advanced Control System
22
Starting/Ending for Synchronous Control
23
Stop Operation of Output Axis
26
Chapter 3 Synchronous Control Module
28
List of Synchronous Control Module
28
Chapter 4 Input Axis Module
31
Servo Input Axis
31
Overview of Servo Input Axis
31
Servo Input Axis Parameters
33
Servo Input Axis Monitor Data
36
Command Generation Axis
37
Overview of Command Generation Axis
37
Command Generation Axis Parameters
41
Command Generation Axis Control Data (Word Device)
45
Command Generation Axis Control Data (Bit Device)
45
Command Generation Axis Monitor Data (Word Device)
47
Command Generation Axis Monitor Data (Bit Device)
49
Synchronous Encoder Axis
52
Overview of Synchronous Encoder Axis
52
Setting Method for Synchronous Encoder
55
Synchronous Encoder Axis Parameters
62
Synchronous Encoder Axis Control Data (Word Device)
68
Synchronous Encoder Axis Control Data (Bit Device)
69
Synchronous Encoder Axis Monitor Data (Word Device)
71
Synchronous Encoder Axis Monitor Data (Bit Device)
73
Chapter 5 Cam Function
75
Control Details for Cam Function
75
Type of Cam Data
76
Overview of Cam Operation
79
Create Cam Data
81
Memory Operation of Cam Data
81
Cam Data Operation by Motion SFC Program
83
Cam Data Operation by File Transmission Function
83
Chapter 6 Synchronous Control
84
Main Shaft Module
84
Overview of Main Shaft Module
84
Main Shaft Parameters
85
Main Shaft Clutch Parameters
87
Main Shaft Clutch Control Data
92
Auxiliary Shaft Module
93
Overview of Auxiliary Shaft Module
93
Auxiliary Shaft Parameters
93
Auxiliary Shaft Clutch Parameters
95
Auxiliary Shaft Clutch Control Data
100
Clutch
101
Overview of Clutch
101
Control Method for Clutch
101
Smoothing Method for Clutch
106
Use Example of Clutch
111
Speed Change Gear Module
112
Overview of Speed Change Gear Module
112
Speed Change Gear Parameters
113
Output Axis Module
115
Overview of Output Axis Module
115
Output Axis Parameters
117
Synchronous Control Change Function
122
Overview of Synchronous Control Change Function
122
Synchronous Control Change Control Data (Bit Device)
122
Synchronous Control Change Control Data (Word Device)
123
Synchronous Control Monitor Data
126
Synchronous Control Monitor Data (Word Device)
127
Synchronous Control Monitor Data (Bit Device)
130
Chapter 7 Auxiliary and Applied Functions
131
Phase Compensation Function
131
Relationship between the Output Axis and each Function
133
Speed-Torque Control
134
Synchronous Control Initial Position
139
Synchronous Control Initial Position Parameters
143
Cam Axis Position Restoration Method
146
Cam Axis Current Value Per Cycle Restoration
146
Cam Reference Position Restoration
149
Cam Axis Current Feed Value Restoration
150
Synchronous Control Analysis Mode
151
Cam Position Calculation Function
152
Method to Restart Synchronous Control
153
Multiple CPU Advanced Synchronous Control
154
Multiple CPU Advanced Synchronous Control Overview
154
Setting for Multiple CPU Advanced Synchronous Control
157
Fixed Scan Communication Setting/Inter-Module Synchronization Setting
165
Selection of Slave CPU Input Axis Type
166
Multiple CPU Advanced Synchronous Control Monitor Device
170
Example Programs
171
Appendices
174
Appendix 1 Sample Program of Synchronous Control
174
Appendix 2 Advanced Synchronous Control Device List
177
Revisions
184
Warranty
185
Trademarks
186
Mitsubishi Electric R16MTCPU User Manual (90 pages)
Motion Controller, MELSEC iQ-R series
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 1.04 MB
Table of Contents
Safety Precautions
3
Conditions of Use for the Product
11
Introduction
11
Compliance with Emc and Low Voltage Directives
12
Table of Contents
13
Relevant Manuals
15
Terms
16
Manual Page Organisation
17
Chapter 1 System Configuration
18
Motion System Configuration
18
Equipment Configuration in System
18
Peripheral Device Configuration
19
R64MTCPU/R32MTCPU/R16MTCPU System Overall Configuration
20
Function Explanation of the Motion CPU Modules
21
Restrictions on Motion Systems
21
System Configuration Equipment
24
Configuration Equipment List
24
Software Packages
28
Checking Production Information and Operating System Software Version
29
Checking Production Information
29
Checking Operating System Software Version
30
Restrictions by the Software's Version
31
Engineering Software Version
32
Chapter 2 Equipment Specifications
33
General Specifications
33
Motion CPU Module
34
Name of Parts
34
LED Display
36
Rotary Switch Setting and Operation Mode
38
Specifications
41
Serial Absolute Synchronous Encoder
44
Specifications
44
SSCNETIII Cables
45
Specifications
45
Connection between the Motion CPU Module and Servo Amplifiers
46
Setting of the Axis No. and Switch of Servo Amplifier
47
Precautions for SSCNETIII Cables
49
Chapter 3 Installation and Wiring
52
Mounting Environment
52
Module Installation
52
Mounting Position
52
Installation of the Base Unit
52
Installation and Removal of Module
52
Installation and Removal of SD Memory Card
53
Mounting of Serial Absolute Synchronous Encoder
55
Wiring
56
Power Supply Circuit
56
Safety Circuit
56
Chapter 4 Start-Up Procedures
58
Start-Up Adjustment Procedure
58
Chapter 5 Inspection and Maintenance
61
Daily Inspection
61
Periodic Inspection
62
Life
63
Chapter 6 Troubleshooting
64
Troubleshooting Basics
64
Troubleshooting Procedure
65
Checking LED Display
66
Checking LED Display of the Motion CPU Module
66
Checking with Engineering Tools
67
Troubleshooting by Circumstance
68
When the READY LED of the Motion CPU Module Has Turned off
68
When an Error Is Displayed or Flickering in the Dot Matrix LED
68
When Cannot Write to Motion CPU
69
When Cannot Read from Motion CPU
69
When the Servo Amplifier Does Not Start
69
Chapter 7 Emc Directives
70
Requirements for Compliance with the EMC Directive
70
Standards Relevant to the EMC Directive
71
Installation Instructions for EMC Directive
72
Parts of Measure against Noise
74
Measure against Noise
75
Appendices
76
Appendix 1 Cables
76
SSCNETIII Cables
76
Serial Absolute Synchronous Encoder Cable
79
SSCNETIII Cables (SC-J3BUS□M-C) Manufactured by Mitsubishi Electric System & Service
81
Appendix 2 Exterior Dimensions
82
Motion CPU Module
82
Connector
84
Serial Absolute Synchronous Encoder (Q171ENC-W8)
85
Revisions
86
Warranty
87
Trademarks
88
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Mitsubishi Electric R16MTCPU Migration Manual (84 pages)
SERVO SYSTEM CONTROLLER Motion Controller
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 5.32 MB
Table of Contents
Safety Precautions
3
Revisions
12
Table of Contents
13
1 OVERVIEW of MIGRATION from Q17Ncpun(-T) to Rnmtcpu
15
Benefits of Migration
15
Main Target Models for Migration
16
System Configuration
20
System Configuration Using Q17Ncpun(-T) before Migration
20
System Configuration Using Rnmtcpu after Migration
21
Case Study on Migration
22
Whole System Migration (Recommended)
22
Phased Migration
24
Separate Repair
25
Precautions for Powering off Only a Desired Servo Amplifier
26
Configuration When the MR-MV200 Optical Hub Unit Is Used
27
Project Diversion
28
Introduction of R64MTCPU
29
Relevant Documents
30
Relevant Catalogs
30
Relevant Manuals
31
2 DETAILS of MIGRATION from Q17Ncpun(-T) to Rnmtcpu
33
Table of Components and Software
33
Servo Amplifiers and Servo Motors
36
Operating System Software
37
Engineering Environment (Required)
37
Differences between Q17Ncpun(-T) and Rnmtcpu
38
Comparison of Devices
53
Motion Registers
53
Special Relays
55
Special Registers
56
Other Devices
58
Project Diversion
60
Module Control with Rnmtcpu
60
List of Divertible/Not Divertible Data (SV13/SV22)
62
Project Diversion Procedures by Engineering Environment
63
Replacement of Mechanical System Program with Advanced Synchronization
77
Auto Refresh Settings in MELSOFT GX Works3
78
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