Mitsubishi Electric MELSEC Q Series, User Manual

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5 - 7
Chapter 5 Data Used for Positioning Control
5.1.3 Setting items for HPR parameters
When carrying out "HPR control", the "HPR parameters" must be set. The setting
items for the "HPR parameters" are shown below.
The "HPR parameters" are set for each axis.
Refer to Chapter 8 "HPR control" for details on the "HPR control", and refer to Section
5.2 "List of parameters" for details on each setting item.
HPR control
HPR parameters
Machine HPR control
Fast
HPR
control
HP
R bas
ic
param
et
ers
[Pr.43] HPR method
[RJ010 mode]
[CiA402
mode]
–
P
rox
im
ity dog
m
et
hod
Count
m
et
hod 1)
Count
m
et
hod 2)
Dat
a s
et
m
et
hod
S
cal
e ori
gi
n s
ignal
det
ec
tion m
et
hod
Dri
ver HP
R
m
et
hod
[Pr.44] HPR direction
(Note-1)
–
[Pr.45] HP address
[Pr.46] HPR speed – –
[Pr.47] Creep speed [RJ010 mode] – – –
[Pr.48] HPR retry [RJ010 mode] R R R – – – –
HP
R det
ai
led par
am
et
ers
[Pr.50]
Setting for the movement amount after
proximity dog ON [RJ010 mode]
– – – – –
[Pr.51] HPR acceleration time selection – –
[Pr.52] HPR deceleration time selection – –
[Pr.53]
HP shift amount [RJ010 mode]
S S S – S
– –
[Pr.54]
HPR torque limit value [RJ010 mode] – –
[Pr.55]
Operation setting for incompletion of HPR –
[Pr.56]
Speed designation during HP shift
[RJ010 mode]
S S S – S – –
[Pr.57] Dwell time during HPR retry [RJ010 mode] R R R – – – –
: Always set
: Set as required
– : Setting not required (If the value is the default value or within the setting range, there is no problem.)
R : Set when using the "13.2.1 HPR retry function". ("–" when not set.)
S : Set when using the "13.2.2 HP shift function". ("–" when not set.)
(Note-1): The HPR operation follows the HPR direction set in the driver (servo amplifier) and does not refer to
"[Pr.44] HPR direction". However, "[Pr.44] HPR direction" must be set when using the backlash
compensation function.
When the positioning is executed in the reverse direction against "[Pr.44] HPR direction", the backlash
compensation is executed in the axis operation such as positioning after the driver HPR. Set the same
direction to "[Pr.44] HPR direction" of the Simple Motion module and the last HPR direction of the driver
(servo amplifier).