Mitsubishi Electric MELSEC-L LD75D, User Manual

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(2) Current feed value during 4-axis speed control
The following table shows the "[Md.20] Current feed value" during 4-axis speed control corresponding to the
"[Pr.21] Current feed value during speed control" settings. (Note that the reference axis setting values are used
for parameters.)
(3) Restrictions
• Set "Positioning complete" in "[Da.1] Operation pattern". The axis error "Continuous path control not
possible" (error code: 516) will occur and the operation cannot start if "continuous positioning control" or
"continuous path control" is set in "[Da.1] Operation pattern". ("Continuous positioning control" and
"continuous path control" cannot be set in speed control.)
• Set the WITH mode in "[Pr.18] M code ON signal output timing" when using an M code. The M code will not
be output, and the M code ON signal will not turn ON if the AFTER mode is set.
• Set the "reference axis speed" in "[Pr.20] Interpolation speed designation method". The error "Interpolation
mode error" (error code: 523) will occur and the operation cannot start if a composite speed is set.
• When either of four axes exceeds the speed limit, that axis is controlled with the speed limit value. The
speeds of the other axes are limited at the ratios of "[Da.8] Command speed".
(Examples)
With the settings shown above, the operation speed in speed control is as follows.
Axis 1: 4000.00 mm/min (Speed is limited by [Pr.8]).
Axis 2: 3000.00mm/min (Speed is limited at ratios in axes 1, 2, 3 and 4 command speeds).
Axis 3: 2000.00mm/min (Speed is limited at ratios in axes 1, 2, 3 and 4 command speeds).
Axis 4: 750.00mm/min (Speed is limited at ratios in axes 1, 2, 3 and 4 command speeds).
Note: Operation runs at speed 1 when a reference axis speed is less than 1 as a result of speed limit. In addition,
when a bias speed is set, it will be the minimum speed.
• The error "No command speed" (error code: 503) will occur if "current speed (-1)" is set in "[Da.8] Command
speed".
• The software stroke limit check is not carried out when the control unit is set to "degree".
"[Pr.21] Current feed value during speed control" setting [Md.20] Current feed value
0: Do not update current feed value The current feed value at speed control start is maintained.
1: Update current feed value The current feed value is updated.
2: Zero clear current feed value The current feed value is fixed at 0.
Setting item Axis 1 setting Axis 2 setting Axis 3 setting Axis 4 setting
[Pr.8] Speed limit value 4000.00mm/min 5000.00mm/min 6000.00mm/min 8000.00mm/min
[Da.8] Command speed 8000.00mm/min 6000.00mm/min 4000.00mm/min 1500.00mm/min
Speed
t
In speed control
Current feed value during speed control start is maintained
(a) Current feed value not updated
t
Current feed value is updated
(b) Current feed value updated
(c) Current feed value zero cleared
t
0
Speed
In speed control
In speed control
Speed