Mitsubishi A1SD75M1, User Manual

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9 - 58
MELSEC-A
9 MAIN POSITIONING CONTROL
Restrictions
(1) An error "Current value change not possible" (error code: 515) will occur and
the operation cannot start if "continuous path control" is set in " Da.1
Operation pattern". ("Continuous path control" cannot be set in current value
change.)
(2) "Current value change" 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",
"Current value change" cannot be set in positioning data No. 2.) An error
"Current value change not possible" (error code: 515) will occur and the
machine will carry out a deceleration stop if this type of setting is carried out.
(3) An error "Outside current value change range" (error code: 514) will occur and
the operation cannot start if "degree" is set in " Pr.1 Unit setting" and the
value set in " Da.5 Positioning address/movement amount" is outside the
setting range (0 to 359.99999 [degree]).
(4) If the value set in " Da.5 Positioning address/movement amount" is outside
the software stroke limit ( Pr.13 , Pr.14 ) setting range, an error "start outside
stroke limit +/-" (error code: 507/508) will occur at the positioning start, and the
operation will not start.
(5) When the absolute position restoration mode is the "infinite length mode", an
error "control method setting error" (error code: 524) occurs, disabling a start.
Positioning data setting examples
The following table shows setting examples when "Current value change" is set in
positioning data No. 1 of axis 1.
Setting item Setting example Setting details
Da.1
Operation pattern
Positioning
complete
Set "Positioning complete" assuming the next positioning data will not
be executed. ("Continuous path control" cannot be set in current value
change.)
Da.2
Control method
Current value
change
Set the current value change.
Da.3
Acceleration time No.
1
Designate the value set in " Pr.26 Acceleration time 1" as the
acceleration time at start.
Da.4
Deceleration time No.
0
Designate the value set in " Pr.9 Deceleration time 0" as the
deceleration time at deceleration.
Da.5
Positioning address/
movement amount
10000.0
µ
m
Set the movement amount after the changeover to position control.
(Assuming that the "
Pr.1 Unit setting" is set to "mm".)
Da.6
Arc address
– Setting not required. (Setting value is ignored.)
Da.7
Command speed
6000.00mm/min Set the speed to be controlled.
Da.8
Dwell time
– Setting not required. (Setting value is ignored.)
Positioning data N
o
. 1
Da.9
M code
10
Set this when other auxiliary operation commands are issued in
combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.