Mitsubishi Electric MELSEC iQ-R RD75P4, User Manual

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2 OPR CONTROL
2.2 Machine OPR
Stopper method 1
The following shows an operation overview of the stopper method 1, one of the OPR methods.
Operation chart
Restrictions
Always limit the servomotor torque after the speed reaches the speed set in [Pr.47] Creep speed.
Otherwise the servomotor may be damaged when the workpiece hits to the stopper. (
 Page 232 Torque limit function)
(1) The machine OPR is started.
(The machine starts accelerating according to the setting of [Pr.51] OPR acceleration time selection in the direction specified in [Pr.44] OPR direction, and
moves at the speed set in [Pr.46] OPR speed when the acceleration is completed.)
(2) When the on state of the near-point dog is detected, the machine starts decelerating.
(3) The machine decelerates to the speed set in [Pr.47] Creep speed and moves at the creep speed after that.
(The torque must be limited for this operation. Otherwise the servomotor may be damaged in step (4).)
(4) The machine presses the workpiece against the stopper at the creep speed and stops.
(5) When the time set in [Pr.49] OPR dwell time has elapsed after the near-point dog was turned on, the RD75 stops outputting pulses and produces Deviation
counter clear output to the drive unit.
(Deviation counter clear signal output time is set in [Pr.55].)
(6) After Deviation counter clear output is completed, OPR complete flag ([Md.31] Status: b4) turns on and OPR request flag ([Md.31] Status: b3) turns off.
0
t
ON
OFF
ON
OFF
OFF
ON
V
OFF
Pr.46
Pr.47
Md.34
Md.20
Md.21
Md.26
Md.31
Md.31
Pr.55
Md.35
ON
(1) (2) (3) (4) (5)(6)
Range in which the servomotor rotation is
forcibly stopped with a stopper
Standby
OPR
Standby
Inconsistent
Inconsistent
A value of the movement amount is stored. OP address
Inconsistent
Torque limit setting value OPR torque limit value
Current feed value
OPR speed
Creep speed
Stops with a stopper.
Torque limit
OPR request flag
OPR complete flag
Near-point dog
Deviation counter clear output
Machine feed value
Dwell time
measurement
Machine OPR start
(Positioning start signal)
[Y10, Y11, Y12, Y13]
Status: b3
Status: b4
Axis operation status
Movement amount
after near-point dog
ON
Torque limit stored
value
Deviation counter clear signal
output time
Time out of dwell time
Torque limit valid range