Contents

INTORODUCTION
Precautions for Safety
For Sate Operations
Revisions
CONTENTS
1. GENERAL DESCRIPTION
- 1.1 System Configuration
  - 1.1.1 A172SHCPUN/A171SHCPUN System overall configuration
  - 1.1.2 System configuration precautions
- 1.2 Table of Software Package
- 1.3 Positioning Control by the Servo System CPU
2. PERFORMANCE SPECIFICATIONS
- 2.1 SCPU Performance Specifications
- 2.2 PCPU Performance Specifications
- 2.3 Differences between A172SHCPUN/A171SHCPUN and A171S(S3)
3. POSITIONING SIGNALS
- 3.1 Internal Relays
  - 3.1.1 Axis status
  - 3.1.2 Axis command signals
  - 3.1.3 Common Device
- 3.2 Data Registers
  - 3.2.1 Monitoring data area
  - 3.2.2 Data storage area for control change
  - 3.2.3 Common device
- 3.3 Special Relays (SP.M)
- 3.4 Special Register (SP.D)
4. PARAMETERS FOR POSITIONING CONTROL
- 4.1 System Settings
- 4.2 Fixed Parameters
  - 4.2.1 Setting the number of pulses per revolution / travel value per revolution / unit magnification
  - 4.2.2 Upper stroke limit value/lower stroke limit value
  - 4.2.3 Command in-position range
- 4.3 Servo Parameters
  - 4.3.1 MR-[ ]-B servo parameters
  - 4.3.2 Position control gain 1, 2
  - 4.3.3 Position control gain 1, 2
  - 4.3.4 Speed integral compensation
  - 4.3.5 In-position range
  - 4.3.6 Feed forward gain
  - 4.3.7 Load inertia ratio
  - 4.3.8 Automatic tuning
  - 4.3.9 Servo responsiveness setting
  - 4.3.10 Notch filter
  - 4.3.11 Electromagnetic brake sequence
  - 4.3.12 Monitor output mode
  - 4.3.13 Optional function 1 (carrier frequency selection)
  - 4.3.14 Optional function 2 (no-motor operation selection)
  - 4.3.15 Monitor output 1, 2 offset
  - 4.3.16 Pre-alarm data selection
  - 4.3.17 Zero speed
  - 4.3.18 Excessive error alarm level
  - 4.3.19 Optional function 5
  - 4.3.20 PI-PID switching position droop
  - 4.3.21 Torque control compensation factor
  - 4.3.22 Speed differential compensation
- 4.4 Parameter Block
  - 4.4.1 Relationships among the speed limit value, acceleration time, deceleration time, and rapid stop deceleration time
  - 4.4.2 S-curve ratio
  - 4.4.3 Allowable error range for circular interpolation
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
- 5.1 Cautions on Creating a Sequence Program or SFC Program
- 5.2 Servo Program Start Request Instruction (DSFRP/SVST)
  - 5.2.1 Start request instruction for 1 to 3 axes (DSFRP)
  - 5.2.2 Start request instruction for 1 to 4/1 to 8 axes (SVST)
- 5.3 Current Value Change Instructions (DSFLP/CHGA)
  - 5.3.1 DSFLP instruction
  - 5.3.2 CHGA instructions
- 5.4 Speed Change Instructions (DSFLP/CHGV)
  - 5.4.1 DSFLP instruction
  - 5.4.2 CHGV instructions
- 5.5 Retracing during Positioning
- 5.6 Torque Limit Value Change Request (CHGT)
- 5.7 SFC Programs
  - 5.7.1 Starting and stopping SFC programs
  - 5.7.2 Servo program start request
6. SERVO PROGRAMS FOR POSITIONING CONTROL
- 6.1 Servo Program Composition and Area
  - 6.1.1 Servo program composition
  - 6.1.2 Servo program area
- 6.2 Servo Instructions
- 6.3 Positioning Data
- 6.4 Method for Setting Positioning Data
  - 6.4.1 Setting by designating numerical values
  - 6.4.2 Setting by using word devices (D, W)
- 6.5 Creating Sequence Programs to Start Servo Programs
  - 6.5.1 Case where the servo program is executed once only
  - 6.5.2 Case where different servo programs are executed consecutively
  - 6.5.3 Case where the same servo program is executed repeatedly
7. POSITIONING CONTROL
- 7.1 Basics of Positioning Control
  - 7.1.1 Positioning speed
  - 7.1.2 Positioning speed under interpolation control
  - 7.1.3 Control units for 1-axis positioning control
  - 7.1.4 Control units for interpolation control
  - 7.1.5 Control using degrees as control units
  - 7.1.6 Stop processing and restarting after a stop
  - 7.1.7 Acceleration and deceleration processing
- 7.2 1-Axis Linear Positioning Control
- 7.3 2-Axes Linear Interpolation Control
- 7.4 3-Axes Linear Interpolation Control
- 7.5 4-Axes Linear Interpolation Control
- 7.6 Circular Interpolation Using Auxiliary Point Designation
- 7.7 Circular Interpolation Using Radius Designation
- 7.8 Circular Interpolation Using Center Point Designation
- 7.9 1-Axis Fixed-Pitch Feed Control
- 7.10 Fixed-Pitch Feed Control Using 2-Axis Linear Interpolation
- 7.11 Fixed-Pitch Feed Control Using 3-Axes Linear Interpolation
- 7.12 Speed Control (I)
- 7.13 Speed Control (II)
- 7.14 Speed/Position Switching Control
  - 7.14.1 Starting speed/position switching control
  - 7.14.2 Restarting speed/position switching control
- 7.15 Speed-Switching Control
  - 7.15.1 Starting speed-switching control, speed-switching points, end designation
  - 7.15.2 Setting speed-switching points using repeat instructions
- 7.16 Constant-Speed Control
  - 7.16.1 Setting Pass points using Repeated Instructions
  - 7.16.2 Speed switching during instruction execution
  - 7.16.3 1-axis constant-speed control
  - 7.16.4 2- to 4-axes constant-speed control
  - 7.16.5 Pass point skip function
  - 7.16.6 FIN signal wait function
- 7.17 Position Follow-Up Control
- 7.18 Simultaneous Start
- 7.19 JOG Operation
  - 7.19.1 JOG operation data
  - 7.19.2 Individual start
  - 7.19.3 Simultaneous start
- 7.20 Manual Pulse Generator Operation
- 7.21 Zeroing
  - 7.21.1 Zeroing data
  - 7.21.2 Zeroing by the proximity dog method
  - 7.21.3 Zeroing by the count method
  - 7.21.4 Zeroing by the data set method
  - 7.21.5 Zeroing servo program
- 7.22 High-Speed Oscillation
8. AUXILIARY AND APPLIED FUNCTIONS
- 8.1 Limit Switch Output Function
  - 8.1.1 Limit switch output data
  - 8.1.2 Limit switch output function
- 8.2 M-Code Output Function
- 8.3 Backlash Compensation Function
- 8.4 Torque Limit Function
- 8.5 Electronic Gear Function
- 8.6 Absolute Positioning System
- 8.7 Skip Function
- 8.8 Teaching Function
- 8.9 High-Speed Reading of Designated Data
- 8.10 Servo Program Cancel ///Start Function
- 8.11 Enhanced Current Value Control
APPENDICES
- APPENDIX1 SCPU ERROR CODE LIST
  - 1.1 SCPU Error Code List
- APPENDIX2 ERROR CODES STORED BY THE PCPU
  - 2.1 Servo Program Setting Errors (Stored in D9190)
  - 2.2 Minor Errors
  - 2.3 Major Errors
  - 2.4 Servo Errors
  - 2.5 PC Link Communication Errors
  - 2.6 LED Indications when Errors Occur at the PCPU
- APPENDIX3 SPECIAL RELAYS AND SPECIAL REGISTERS
  - 3.1 Special Relays (SP, M)
  - 3.2 Special Registers (SP.D)
- APPENDIX4 EXAMPLE PROGRAMS
  - 4.1 Word Data 1 Word Shift to Left
  - 4.2 Word Data 1 Word Shift to Right
  - 4.3 Reading M-Codes
  - 4.4 Error Code Reading
  - 4.5 Magnitude Comparison and Four Fundamental Operations of 32-Bit Monitor Data
- APPENDIX5 SETTING RANGE OF INDIRECTLY DESIGNATED DEVICES
- APPENDIX 6 PROCESSING TIMES

Mitsubishi Electric A172SHCPUN Programming Manual

Mitsubishi Electric A172SHCPUN manual cover

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Mitsubishi Electric A172SHCPUN Specification

The Mitsubishi Electric A172SHCPUN is a sophisticated, high-performance programmable logic controller (PLC) designed for advanced industrial automation applications. This model is part of Mitsubishi's renowned MELSEC series, known for its reliability and versatility in various demanding environments. The A172SHCPUN features a robust processing unit capable of executing complex control tasks efficiently. It supports a wide range of I/O configurations, offering flexibility in system design and scalability for future expansion. The PLC is equipped with advanced communication capabilities, including support for multiple networking protocols, which facilitate seamless integration into existing industrial networks and enable real-time data exchange and remote monitoring. Its user-friendly programming environment is compatible with Mitsubishi's GX Developer or GX Works software, providing engineers with a powerful toolset for developing and debugging control logic. The A172SHCPUN also includes comprehensive diagnostic and maintenance features, designed to minimize downtime and enhance system reliability. Additionally, it supports various memory capacities and offers robust data handling capabilities to ensure optimal performance in data-intensive applications. Built with Mitsubishi Electric's stringent quality standards, the A172SHCPUN is designed to deliver long-term durability and consistent performance, making it a reliable choice for automation needs across diverse sectors, including manufacturing, process control, and infrastructure management.

Mitsubishi Electric A172SHCPUN F.A.Q.

How do I perform a factory reset on the Mitsubishi Electric A172SHCPUN?

To perform a factory reset, power off the unit, press and hold the reset button, and then power the unit back on while continuing to hold the button for 10 seconds.

What should I do if the A172SHCPUN is not powering on?

First, check the power supply and ensure all cables are securely connected. If the issue persists, inspect the fuses and replace any that are blown.

How can I update the firmware on my A172SHCPUN?

Download the latest firmware from the Mitsubishi Electric website, transfer it to a USB drive, and follow the on-screen instructions after inserting the drive into the unit.

What is the recommended maintenance schedule for the A172SHCPUN?

It is recommended to perform a maintenance check every 6 months, including cleaning the unit, checking connections, and updating software.

How do I troubleshoot communication errors on the A172SHCPUN?

Verify all network connections and settings. Use diagnostic tools to check for any faults in the communication lines or network configuration.

Can the A172SHCPUN be integrated with other Mitsubishi Electric systems?

Yes, the A172SHCPUN can be integrated with other Mitsubishi Electric systems using compatible communication protocols and interfaces.

What is the procedure for replacing the battery in the A172SHCPUN?

Turn off the unit and remove the cover. Replace the old battery with a new compatible battery, ensuring correct polarity, and then replace the cover.

How can I optimize the performance of my A172SHCPUN?

Regularly update the software, maintain clean and secure connections, and ensure the unit is operated within specified environmental conditions.

What do the status LED indicators on the A172SHCPUN mean?

Refer to the user manual for a complete guide on LED indicators. Typically, green indicates normal operation, yellow signifies a warning, and red indicates an error.

How can I access technical support for my A172SHCPUN?

Contact Mitsubishi Electric technical support through their official website or via the customer service hotline for assistance.