Mitsubishi Electric MELSEC Q Series, User Manual

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Chapter 9 Major Positioning Control
Restrictions
(1) The 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".
(2) "Speed-position switching control" cannot be set in "[Da.2] Control method" of
the positioning data when "continuous path control" has been set in "[Da.1]
Operation pattern" of the immediately prior positioning data. (For example, if
the operation pattern of positioning data No. 1 is "continuous path control",
"speed-position switching control" cannot be set in positioning data No. 2.) The
error "Continuous path control not possible" (error code: 516) will occur and
the machine will carry out a deceleration stop if this type of setting is carried
out.
(3) The error "No command speed" (error code: 503) will occur if "current speed (-
1)" is set in "[Da.8] Command speed".
(4) The software stroke limit range check during speed control is made only when
the following (a) and (b) are satisfied:
(a) "[Pr.21] Feed current value during speed control" is "1: Update feed current
value".
If the movement amount exceeds the software stroke limit range during
speed control in case of the setting of other than "1: Update feed current
value", the error "Software stroke limit +" (error code: 507) or "Software
stroke limit -" (error code: 508) will occur as soon as speed control is
changed to position control and the axis will decelerate to a stop.
(b) When "[Pr.1] Unit setting" is other than "2: degree"
If the unit is "degree", the software stroke limit range check is not performed.
(5) If the value set in "[Da.6] Positioning address/movement amount" is negative,
the error "Outside address range" (error code: 530) will occur.
(6) Deceleration processing is carried out from the point where the speed-position
switching signal is input if the position control movement amount set in "[Da.6]
Positioning address/movement amount" is smaller than the deceleration
distance from the "[Da.8] Command speed".
(7) Turn ON the speed-position switching signal in the speed stabilization region
(constant speed status). The warning "Speed-position switching (during
acceleration) signal ON" (warning code: 508) will occur because of large
deviation in the droop pulse amount if the signal is turned ON during
acceleration.
During use of the servo motor, the movement amount is "[Da.6] Positioning
address/movement amount" from the assumed motor position based on
"[Md.101] Real current value" at switching of speed control to position control.
Therefore, if the signal is turned ON during acceleration/deceleration, the stop
position will vary due to large variation of the droop pulse amount. Even
though "[Md.29] Speed-position switching control positioning movement
amount" is the same, the stop position will change due to a change in droop
pulse amount when "[Da.8] Command speed" is different.