Mitsubishi MOTION CONTROLLERS Q172DCPU Instrukcja Obsługi Strona 224
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8 OUTPUT MODULE
8.4.4 Cam curve list
This section describes the cam curves which can be used in the virtual mode.
(1) Cam curve characteristics comparison
The cam curve characteristics comparison is shown below.
Table 8.6 Cam Curve Characteristics Comparison Table
Class
Cam curve
name
Acceleration
curve shape
Vm Am (A • V)m (V • V)m (S • V)m Remark
Constant -
speed
1.00 1.00 1.00
Discontinuity curves
Constant-
acceleration
2.00 ± 4.00 ± 8.00 4.00 1.09
5
th
curve
1.88 ± 5.77 ± 6.69 3.52 1.19
Cycloid
2.00 ± 6.28 ± 8.16 4.00 1.26
Distorted
trapezoid
2.00 ± 4.89 ± 8.09 4.00 1.20 Ta = 1 / 8
Distorted
sine
1.76 ± 5.53 ± 5.46 3.10 1.13 Ta = 1 / 8
Symmetrical
curves
Distorted
constant-
speed
1.28 ± 8.01 ± 5.73 1.63 1.07
Ta = 1 / 16
Ta = 1 / 4
Trapecloid
2.18 ± 6.17 ± 10.84 4.76 1.28 m = 1
Two-
dwelling
curve
Asymmetrical
curves
Reverse
trapecloid
2.18 ± 6.17 ± 10.84 4.76 1.28 m = 1
One-dwelling curve
Double
hypotenuse
2.04
+ 5.55
- 9.87
+ 7.75
- 9.89
4.16 1.39
Non-dwelling curve
Single
hypotenuse
1.57 ± 4.93 ± 3.88 2.47 1.02
(2) Free-form curve
The spline interpolation function can be used to create free-form cam curves.
- Q173DCPU 1
- Q172DCPU 1
- SAFETY PRECAUTIONS 2
- For Safe Operations 3
- 2. For fire prevention 3
- 3. For injury prevention 4
- 4. Various precautions 4
- (4) Wiring 8
- (6) Usage methods 9
- Electro 10
- (10) General cautions 11
- 1. OVERVIEW 18
- (Note-2) : SSCNET: S 19
- 1 OVERVIEW 20
- 2.1 Starting Up the System 22
- MT Developer 23
- Real mode 24
- Virtual mode 24
- 2.3.3 Servo programs 27
- : Used, : Unusable 28
- (1) Internal signals 32
- (2) External signals 32
- 4.1 Internal Relays 34
- (1) Internal relay list 34
- (8) Common device list 41
- 4.1.1 Axis statuses 45
- (8) RLS signal (M2412+20n) 48
- ..….... Command signal 53
- .......…….. Status signal 57
- ...…... Command signal 64
- 4.1.7 Common devices 68
- "0" 70
- .....…..….. Status signal 78
- 4.2 Data Registers 82
- (1) Data register list 82
- (7) Common device list 89
- Feed current value 93
- execution 101
- .......... Command signal 102
- 4.3 Motion registers (#) 104
- 4.5 Special registers (SD) 109
- System Settings 111
- Mounted Not mounted 111
- Unused 0 is stored 111
- Servo amplifier 111
- ........... Monitor device 112
- Faulty SSCNET No 113
- 0 : SSCNET 1 113
- 1 : SSCNET 2 113
- .........….. Monitor device 115
- ..……..…… Command device 115
- 5. MECHANICAL SYSTEM PROGRAM 116
- (1) Block 118
- (2) System 118
- 5.2 Mechanical Module List 120
- 6. DRIVE MODULE 122
- 6 DRIVE MODULE 123
- (Note-3) 124
- (Note-1) 125
- 6.1.2 Parameter list 132
- CAUTION 138
- 6.2.2 Parameter list 142
- (2) Current value change 145
- 7. TRANSMISSION MODULE 148
- Q173DCPU Q172DCPU 149
- (Note-2) 150
- 7 TRANSMISSION MODULE 151
- (1) Gear ratio 151
- 7.2 Clutch 152
- VA, VB : Drive module speed 153
- 7.2.1 Operation 158
- (1) ON/OFF mode 158
- (2) Address mode 159
- (3) Address mode 2 161
- (Note-2) 163
- (5) External input mode 168
- 7.2.2 Parameters 172
- (Note-1), (Note-2) 174
- (Note-3), (Note-4) 174
- (Note-3) 175
- 7.3 Speed Change Gear 181
- 7.3.1 Operation 181
- (Note-1) 182
- Ball screw 186
- Rotary table 186
- 8 OUTPUT MODULE 188
- 8.1 Rollers 190
- 8.1.1 Operation 190
- (1) Operation 190
- (2) Control details 191
- 8.1.2 Parameter list 191
- (1) Output unit 191
- Number of pulses per roller 192
- Roller diameter (L) 192
- Speed limit value 193
- Drive module 194
- Gear(Gear ratio) 194
- Ball screw pitch (P) 195
- Number of pulses per ball 195
- 8.3 Rotary Tables 198
- 8.3.1 Operation 198
- 8.4 Cam 206
- (5) Control details 209
- (6) Control change 209
- (7) Program example 210
- (1) Cam No 211
- (2) Resolution 211
- (4) Operation mode 211
- (5) Cam data table 213
- Number of pulses per cam 215
- (4) Output unit 216
- C-1) [PLS] 219
- C-1) [PLS] in the 219
- 8.4.4 Cam curve list 224
- (1) Parameter list 225
- (2) Operating method 227
- OFF ON even if 1 axis 232
- 9.4 Stop and re-start 236
- (1) Virtual axis stop 236
- <Real mode> 240
- <Virtual mode> 240
- [Real Mode Axis Setting] menu 241
- APPENDIX 1 Cam Curves 246
- PPENDICES 247
- APP - 22 267
- 1 293
- WARRANTY 313
- MOTION CONTROLLER Qseries 314
- (Q173DCPU/Q172DCPU) 314
- MITSUBISHI ELECTRIC 316
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