Mitsubishi Electric MELSEC iQ-R16MTCPU, Programming Manual

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3 PARAMETERS FOR POSITIONING CONTROL
3.3 Fixed Parameters
Command in-position range
The command in-position is the difference between the positioning address (command position) and feed current value.
Once the value for the command in-position has been set, the "[St.1063] Command in-position (R: 32n/Q:
M2403+20n)" turns on when the difference between the command position and the feed current value enters the set range
"(command position - feed current value)

(command in-position range)".
The command in-position range check is executed continuously during position control.
• Command in-position can be set within the following range.
1

Command in-position range

2147483647
Speed control 10 x multiplier setting for degree axis
The setting range of command speed is 0.001 to 2147483.647 [degree/min] normally in the axis of control unit [degree].
However, when the "speed control 10

multiplier setting for degree axis" is set to "valid" in the fixed parameter the speed
setting range increases 10

multiplier "0.01 to 21474836.47 [degree/min]".
• When the "speed control 10

multiplier setting for degree axis" is set to "valid", the positioning control is executed by the
speed increased 10

multiplier command speed set in the servo program or servo parameter, and speed limit value.
• In the interpolation control for the axis of "control unit [degree] and [except degree]", if the interpolation control unit of
parameter block is set as [degree]," the positioning control is executed by the speed increased 10

multiplier command
speed and speed limit value.
• When the "speed control 10

multiplier setting for degree axis" is set as "valid", 2 figures below the decimal point of "***.**
[degree/min]" is displayed on the screen of MT Developer2.
• Speed setting range in the interpolation operation is shown below.
Command speed Details
Vector speed specification/Long-axis
speed specification If the "speed control 10

multiplier setting for degree axis" is set to "valid" even by one axis among interpolation axes,
the speed setting range is "0.01 to 21474836.47 [degree/min]"
Reference-axis speed specification If the "speed control 10

multiplier setting for degree axis" is set to "valid" in the specified reference axis, the speed
setting range is "0.01 to 21474836.47 [degree/min]"
ON
t
V
OFF
Command in-position
setting value
Speed
position
control
start
Position
control
start
Command in-position
setting value
Speed/position switching
Execution of command in-position check Execution of command
in-position check
[St.1063]Command in-position
(R: 32n/Q: M2403+20n)
When the "control 10
×
multiplier
setting for degree axis" is set to "valid",
2 figures below the decimal point
is displayed.
<K 10>
INC-1
Axis
Speed
1, 360.00000 degree
180.00 degree/min