Mitsubishi Electric MELSEC iQ-R RD75P4, User Manual

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1 STARTING AND STOPPING
1.1 Starting
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Restrictions
• The range of the positioning data Nos. used for the quick start is between 1 and 600. If a number other than 1 to 600 is set
for [Cd.3] Positioning start No., Pre-analysis not possible (Warning code: 09A8H) occurs and the pre-analysis of positioning
data is not performed. However, by inputting a start trigger signal, positioning data is analyzed before the positioning is
started, just as in the normal analysis mode. In this case, the setting in [Cd.43] Analysis mode setting remains 1: Pre-
analysis mode.
• In the pre-analysis mode, restarting is not allowed. To allow restarting, turn on a stop signal and change the analysis mode
to the normal analysis mode. If the analysis mode is changed again to the pre-analysis mode after changed to the pre-
analysis mode and restarting is attempted, Restart not possible (Error code: 090BH) occurs and restarting cannot be
executed.
• In the pre-analysis mode, the step function cannot be used. Even if [Cd.35] Step valid flag is 1: Carry out step operation
while positioning data is being analyzed, Step start disabled (Warning code: 09A6H) occurs and the normal operation is
performed with the setting ignored. (The step operation does not stop.)
• In the pre-analysis mode, the pre-reading start function cannot be used. The setting of Execution prohibition flag [Y14, Y15,
Y16, Y17] is ignored.
• In the pre-analysis mode, the manual control cannot be used. Starting the manual control causes Manual control start in
pre-analysis mode (Warning code: 09A4H), and the manual control does not start.
• The machine OPR, the fast OPR, the speed switching control using the positioning control (block start) and External
command signal, the position-speed switching control, the speed change, and the skip command cannot be used because
External command signal is invalid for a maximum of 1.77ms after the start. However, the speed-position switching control,
the position-speed switching control, and the speed change with the buffer memory can be performed.
Precautions
• If a start trigger is input while [Md.61] Analysis complete flag is 0: Analysis not completed, Pre-analysis incomplete start
(Warning code: 09A2H) occurs and the positioning will be started after the analysis of the positioning data is completed.
• When [Md.61] Analysis complete flag is set to 1: Analysis completed, errors are detected at intervals of 0.88ms. Thus, if a
start trigger is input within 0.88ms after the occurrence of an error, the operation may be started. In this case, the error is
detected immediately after the start, and the operation stops.
• The data reflected to basic parameter 2, detailed parameter 2, and positioning data is the one in the buffer memory at the
start of the analysis of positioning data. Therefore, even if a set value of basic parameter 2 and other data is changed after
the analysis of positioning data has been completed (When [Md.61] Analysis complete flag is 1: Analysis completed), the
value is not reflected to the control. To reflect the set value, conduct a reanalysis by changing the setting of [Cd.3]
Positioning start No. or using other methods.
The analysis of positioning data is performed by checking the settings of [Cd.43] Analysis mode setting and
[Cd.3] Positioning start No. at intervals of 0.88ms. Thus, set [Cd.43] Analysis mode setting and [Cd.3]
Positioning start No. beforehand so that the analysis starts 0.88ms earlier than the desired start timing and
earlier than a length of time longer than the analysis time for the positioning data. The analysis time for the
positioning data is approximately equal to the start time.
• For all the axes to which the quick start is performed, set [Cd.43] Analysis mode setting to 1: Pre-analysis mode. If 1: Pre-
analysis mode is set for the reference axis and 0: Normal analysis mode is set for the interpolation axes, Pre-analysis not
possible (Warning code: 09A9H) occurs and the pre-analysis of positioning data is not performed. However, by inputting a
start trigger signal, positioning data is analyzed before the positioning is started, just as in the normal analysis mode. In this
case, the setting in [Cd.43] Analysis mode setting remains 1: Pre-analysis mode.
• In the pre-analysis mode, the analysis of positioning data is performed in ascending order of axis numbers. For axes that do
not require the analysis of positioning data, such as an axis to be interpolated, setting [Cd.3] Positioning start No. to 0 is
recommended. Because the analysis of positioning data is not performed for the axes for which 0 is set, the time that
elapses until the positioning start is cut off.