2. PERFORMANCE SPECIFICATIONS
2.1 SCPU Performance Specifications
Table 2.1 gives the performance specifications of the SCPU.
Table 2.1 SCPU Performance Specifications
Item A273UHCPU A173UHCPU(-S1)
Control method Stored program repeated operation
I/O control method Refresh mode/direct mode (selectable)
Programming language Sequence control dedicated language
(Relay symbol language, logic symbol language, MELSAP II (SFC))
Sequence instructions 22
Basic instructions 252
Special instructions 204
Number of instructions
Motion dedicated instructions 4
Processing speed (µs)
(Sequence instruction) Refresh method 0.15 µs/step
Number of I/O points 8192 (X/Y0 to X/Y1FFF)
Number of real I/O points 2048 (X/Y0 to X/Y7FF) 2048 (X/Y0 to X/Y7FF)
Watchdog timer (WDT) 2000ms
Standard 192k bytes(Equivalent to A3NMCA-24)
Memory capacity (internal RAM) Max. 1024k bytes
-S1 768k bytes(Equivalent to A3AMCA-96)
Main sequence program Max. 30 k steps
Program capacity
Sub-sequence program Max. 30 k steps
Number of internal relays (M) (Note-1) 8191 points
(M0 to M999, M2048 to M8191) Number of latch relays (L) 1048 points (M1000 to M2047) Number of step relays (S) 0 point (none at initial status)
Total 8191 points common to M, L, S
(set with parameters)
Number of link relays (B) 8192 points (B0 to B1FFF)
Points 2048 points (256 points at initial status)
Time setting Device 100 ms timer 0.1 to 3276.7s T0 to T199
10 ms timer 0.01 to 327.67s T200 to T255 100 ms elapsed time indicator 0.1 to 3276.7s none at initial
status
Expansion timer
Word device (D, W, R) is used to
set time.
T256 to T2047 Specifications
Timers (T)
Set with parameters
Points 1024 points (256 points at initial status)
Setting range Device Normal counter 1 to 32767 C0 to C255
Interrupt program counter
Can be set within the range C244 to C255.
none at initial status Word device (D,
Specifications
Device
Counters (C)
2. PERFORMANCE SPECIFICATIONS
Table 2.1 SCPU Performance Specifications (Continued)
Item A273UHCPU A173UHCPU(-S1)
Number of data registers (D) (Note-1) 8192 points (D0 to D8191)
Number of link registers (W) 8192 points (W0 to W1FFF)
Number of annunciators (F) 2048 points (F0 to F2047)
Number of file registers (R) Max. 8192 points (R0 to R8191) (set with parameters)
Number of accumulators (A) 2 points (A0, A1)
Number of index registers (V, Z) 14 points (V, V1 to V6, Z, Z1 to Z6)
Number of pointers (P) 256 points (P0 to P255)
Number of interrupt pointers (I) 32 points (I0 to I31)
Device
Number of special-function relays (M) 256 points (M9000 to M9255)
Number of special-function registers (D) 256 points (D9000 to D9255)
Standard Max. 10 blocks Number of expansion file register block (Note-2) Max. 46 blocks
(set by memory capacity) -S1 Max. 46 blocks
Number of comments Max. 4032 (64k bytes), 1 point = 16 bytes
(Set in 64-point unit)
Number of expansion comments (Note-3) Max. 3968 points (63k bytes), 1 point = 16 bytes (Set in 64-point unit)
Self-diagnostic function
Watchdog error monitoring, memory/CPU/input/output/battery, etc error detection
Watchdog error monitoring (Watchdog timer fixed to 200ms)
Operation mode on error Select stop/continue
Output mode selection when switching from STOP to RUN
Select re-output operation status before STOP (default) or output after operation execution.
Clock function (Note-4) Year, month, day, hour, minute, day of the week (leap year automatic distinction)
Program/parameter storage in ROM Max. 64 kbytes Not possible
RUN-time start method Initial start
Latch (power failure compensation) range L1000 to L2047 (default) (Latch range can be set for L, B, T, C, D, W) Remote run/pause contact Using X0 to X1FFF, one point can be set for each of the RUN and
PAUSE contacts.
I/O assignment Number of occupied I/O points and module type can be registered.
Step run Sequence program operation can be executed and stopped.
Interrupt processing Using interrupt or fixed-cycle interrupt signal, interrupt program can be executed.
Data link MELSECNET/10, MELSECNET
(Note-1): Range of positioning dedicated devices differs depending on the OS. For details, see Chapter 3.
(Note-2): No. of extension fide register blocks varies depending on the setting of program capacity, No. of file registers, or No. of comments.
(Note-3): The expansion comments are not stored in the internal memory of the CPU.
(Note-4): The year data by the clock element is only the lower two digits of the year.
When used in sequence control, the data must be compensated for the sequence program in some applications of using the data.
2. PERFORMANCE SPECIFICATIONS
2.2 PCPU Performance Specifications
Table 2.2 PCPU Performance Specifications
Item A273UHCPU A173UHCPU(-S1)
Number of control axes 32 axes (simultaneous: 2 to 4 axes, independent: 32 axes) Interpolation functions Linear interpolation (max. 4 axes), circular interpolation (2 axes)
Control modes PTP(point to point), speed control, speed/position control, fixed-pitch feed, constant-speed control, position follow-up control, speed switching control, high-speed oscillation control
Control units mm • inch • degree • PULSE
Programming language Dedicated instructions (sequence ladders + servo programs) SFC programming of servo programs is also possible.
Capacity 14334 steps
Motion
program Number of points for positioning
Approx. 100 points/axis
(These values vary depending on the programs. Positioning data can be designated indirectly.) Program setting method Setting with an IBM PC A30TU-E/A31TU-E (SV13 only), running the GSV PE software
PTP : Selection of absolute data method or
incremental method Speed/positioning control, fixed-pitch feed : Incremental method Constant-speed control, speed switching
control
: The absolute method and incremental method can be used together
Method
Position follow-up control, high-speed oscillation control
: Absolute data method
Commands can be selected for each axis.
Control Unit Command Unit Address Setting Range Travel Value Setting Range mm × 10−1 µm
inch × 10−5 inch −2147483648 to 2147483647 degree × 10−5 degree 0 to 35999999 PULSE × 1 PULSE −2147483648 to 2147483647
0 to ±2147483647 Position
commands
Control Unit Speed Setting range mm 0.01 to 6000000.00 (mm/min) inch 0.001 to 600000.00 (inch/min) degree 0.001 to 2147483.647 (degree/min) (Note-1) PULSE 1 to 10000000 (PLS/s) (Note-1) Speed command
(command unit) Positioning
High speed
oscillation function One specified axis can be reciprocated in sine waveform.
Acceleration-fixed acceleration/deceleration Acceleration time: 1 to 65535ms Deceleration time: 1 to 65535ms Automatic
S-curve ratio setting : 0 to 100%
Backlash
compensation (0 to 65535) × position command unit (units converted to PULSE : 0 to 65535 PULSE) Compensation
Electronic gear Compensation function for error in actual travel value with respect to command value
Zeroing function
When an absolute position system is not used : Selection of proximity dog type or count type When an absolute position system is used : Selection of data set type, proximity dog type or
2. PERFORMANCE SPECIFICATIONS
Table 2.2 PCPU Performance Specifications (Continued)
Item A273UHCPU A173UHCPU(-S1)
Manual pulse generator operation function
• A maximum of three manual pulse generator can be connected.
• A maximum of three manual pulse generators can be operated.
• Setting of magnification : 1 to 100. It is possible to set the smoothing magnification.
• A maximum of three manual pulse generator can be connected.
• A maximum of three manual pulse generators can be operated.
• Setting of magnification : 1 to 100. It is possible to set the smoothing magnification.
• One A172SENC is required per piece.
M-function M-code output function provided
Limit switch output function Number of output points 8 point/axis Number of ON/OFF setting points 10 points/axis Number of input
points
Max. 11 points
(TRA input of A273EX (3 points) + one motion slot sequencer input module (8 points))
Max. 9 points
(TRA input of A172SENC (1 points) + one motion slot sequencer input module (8 points)) High-speed
reading of designated
data Data latch timing At leading edge of the TRA input signal
Within 0.8ms of the signal leading edge for the sequencer input module.
Absolute position system Possible with a motor equipped with an absolute position detector.
(Possible to select the absolute data method or incremental method for each axis)
PBUS I/O module 256 points
(Note-1) : A setting range has been extended with a high resolution encoder.