Mitsubishi Electric A173UHCPU, Programming Manual

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4. PARAMETERS FOR POSITIONING CONTROL
4
−
22
4.4 Parameter Block
(1) The parameter blocks serve to make setting changes easy by allowing data
such as the acceleration/deceleration control to be set for each positioning
processing.
(2) A maximum of 16 blocks can be set as parameter blocks.
(3) Parameter blocks can be set at a peripheral device.
(4) The parameter block settings to be made are shown in Table 4.9.
Table 4.9 Parameter Block Settings
Setting Range Default
mm inch degree PULSE
No. Item
Setting
Range
Units
Setting
Range
Units
Setting
Range
Units
Setting
Range
Units
Initial Value Units
Remarks
Expla-
natory
Section
1
Interpolation
control unit
0

1

2

3

3

•
Set the units for
compensation control.
•
Can also be used as the
units for the command speed
and allowable error range for
circular interpolation set in
the servo program.
7.1.4
2
Speed limit
value
0.01 to
6000000.00
mm/
min
0.001 to
600000.000
inch/
min
0.001 to
2147483.647
degree
/min
1 to
1000000
PLS/s
200000
PLS/s
•
Set the maximum speed for
positioning/zeroing.
•
If the positioning speed or
zeroing speed setting
exceeds the speed limit
value, control is executed at
the speed limit value.
4.4.1
3
Acceleration
time
1 to 65535ms 1000 ms
•
Set the time taken to reach
the speed limit value from
the start of motion.
4
Deceleration
time
1 to 65535ms 1000 ms
•
Set the time taken to stop
from the speed limit value.,
5
Rapid stop
deceleration
time
1 to 65535ms 1000 ms
•
Set the time taken to stop
from the speed limit value
when a rapid stop is
executed.
6 S-curve ratio 0 to 100% 0 %
•
Set the S-curve ratio for S-
pattern processing.
•
When the S-curve ratio is
0%, trapezoidal
acceleration/deceleration
processing is executed.
4.4.2
7
Torque limit
value
1 to 500% 300 %
•
Set the torque limit value in
the servo program.

8
Deceleration
processing
on STOP
input
0: Deceleration stop executed based on the deceleration time.
1: Deceleration stop executed based on the rapid stop deceleration time.
0

•
Set the deceleration
processing when external
signals (STOP, FLS, RLS)
are input.

9
Allowable
error range
for circular
interpolation
0 to 10000.0
µ
m 0 to 1.00000 inch 0 to 1.00000 degree 0 to 100000 PLS 100 PLS
•
Set the permissible range for
the locus of the arc and the
set end point coordinates.
4.4.3
POINTS
(1) Parameter blocks are designated in the zeroing data, JOG operation
data, or servo program.
(2) The various parameter block data can be changed in the servo program.
(See Section 6.3.)