Mitsubishi Electric MR-MQ100, User Manual

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9 SERVO PROGRAMS FOR POSITIONING CONTROL
9.3 Positioning Data
The positioning data set in the servo programs is shown in Table 9.3.
Refer to "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming
Manual (REAL MODE)" for details.
Table 9.3 Positioning data
Setting value using MT Developer2
Setting range
Name Explanation
Default
value
mm inch degree PLS
Parameter block
No.
• Set based on which parameter block to use
during both acceleration/ deceleration
processing and STOP input.
1 1 to 64
Axis
• Set the starting axis.
• The interpolation starting axis No. during
interpolation.
1 to 32
(Note-6)
Absolute data
method
Address
Set the positioning address as an
absolute address.
-214748364.8
to 214748364.7
[µm]
-21474.83648
to
21474.83647
0 to 359.99999
-2147483648
to
2147483647
Expect for the speed/position switching control
0 to 2147483647
Speed/position switching control
Address/tr
avel
valu
e
Incremental
data method
Travel
value
Set the positioning address as an
incremental travel value. Travel
direction is indicated by the sign.
Only positive settings can be made
during speed/position control.
Positive : Forward rotation
(address increase direction)
Negative: Reverse rotation
(address decrease direction)
0 to
214748364.7
[µm]
0 to
21474.83647
0 to
21474.83647
0 to
2147483647
Command speed
• Sets the positioning speed.
• Units for speed are the "control units" set in
the parameter block.
• Becomes either vector speed long-axis
reference speed or reference axis speed
during interpolation moves. (PTP control
only)
0.01 to
6000000.00
[mm/min]
0.001 to
600000.000
[inch/min]
0.001 to
2147483.647
[degree/min]
(Note-5)
1 to
2147483647
[PLS/s]
Dwell time
• The time until the positioning complete signal
(M2401+20n) is output after reaching the
positioning address.
0[ms] 0 to 5000[ms]
M-code
• Set the M-code.
• Set for each point at the speed-switching
control and constant-speed control.
• Updated it at the start or at a specified point.
0 0 to 32767
Common Setting
s
Torque limit value
• Set the torque limit value.
• The torque limit is performed based on the
starting parameter block data. Speed-
switching control can be set for each point
and torque limit values can be set at specific
points.
Torque limit
setting
valued [%]
in the
parameter
block
1 to 1000[%]