Mitsubishi Electric MELSERVO-JET MR-JET-G-N1 Series, User Manual

Page: 133 / 162

4 APPLICABLE FUNCTIONS
4.5 Software position limit
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4
4.5
Software position limit
Specify the upper and lower limits of the command position and current position. If a command position exceeding the limit
position is specified, the command position is clamped at the limit position. Specify the limit position relative to the machine
home position (position address = 0).
The limit position includes [Home offset (Obj. 607Ch)]. Specify the limit position in consideration of the value in [Home offset
(Obj. 607Ch)]. Refer to [Pr. PT08 Homing position data] for details.
[AL. 098 Software position limit warning] occurs when clamp processing is being performed with the command position
exceeding the limit value. Operation can be resumed by giving a position command in the reverse direction of the reached
software position limit.
In the cyclic synchronous position mode (csp), stop the command when the software position limit is detected. When the
command position exceeds 32 bits (-2147483648 to 2147483647), [AL. 069 Command error] occurs. When the command
position exceeds the limit range by 30 bits (-536870912 to 536870911), [AL. 069 Command error] also occurs.
If [AL. 069 Command error] occurs, the home position is erased. Perform homing again.
• This function is enabled in the cyclic synchronous position mode and the profile position mode. This function
is disabled during homing.
Precautions
• At factory setting, the software position limit is disabled.
• Change the settings of this function during servo off, homing mode, velocity mode, and torque mode. When the setting is
changed during servo-on in the position mode, [AL. 035 Command frequency error], [AL. 069 Command error], and [AL.
098 Software position limit warning] may occur.
Setting method
Servo parameter setting
Related objects
The following table shows the related objects.
[Pr. PT15 Software position limit +] is used for [Max position limit (Obj. 607Dh: 02h)]. [Pr. PT17 Software Position Limit -] is
used for [Min position limit (Obj. 607Dh: 01h)].
For details on the objects, refer to the User's Manual (Object Dictionary).
*1 When [Min position limit (Obj. 607Dh: 01h)] is set to a value greater than [Max position limit (Obj. 607Dh: 02h)], the function of [Software
position limit (Obj. 607Dh)] is disabled.
Servo
parameter Symbol Name Outline
PT15 LMP Software position limit + Set the software position limit + value.
Initial value: 0
PT17 LMN Software position limit - Set software position limit - value.
Initial value: 0
Index Sub Object Name Description
607Dh 0 ARRAY Software position limit Number of entries
1 Min position limit
*1
Specify the minimum value of the command position and current position
relative to the machine home position (position address = 0). If the
command position is below the minimum value, it is clamped to the
minimum value which is used as the command position.
2 Max position limit
*1
Specify the maximum value of the command position and current position
relative to the machine home position (position address = 0). If the
command position exceeds the maximum value, it is clamped to the
maximum value which is used as the command position.