Mitsubishi A1SD75P1-S3, User Manual

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MELSEC-A
9 MAIN POSITIONING CONTROL
Restrictions
(1) If “continuous path control” is specified for “
Da.1
Operation pattern,” an error
“continuous path control not possible” (error code: 516) occurs, resulting in a
failure to start. (In the speed or position changeover control mode, “continuous
path control” cannot be set.)
(2) If “continuous path control” is specified for “
Da.1
Operation pattern” of the
positioning data immediately before, “speed/position changeover control”
cannot be specified for “
Da.2
Control method” in the positioning data. (For
example, if the operation pattern of positioning data No. 1 is “continuous path
control,” “speed/position changeover control” cannot be specified for
positioning data No. 2.) If this setting is given, an error “continuous path
control not possible” (error code: 516) occurs, resulting in deceleration and
stop.
(3) If the position control movement amount specified for “
Da.5
Positioning
address/movement amount” is smaller than the deceleration distance from
“
Da.7
Command speed,” deceleration occurs when the speed/position
changeover signal is supplied.
(4) Turn on the speed/position changeover signal in a stable-speed area
(constant-speed state). If it is turned on during acceleration, a warning
“speed/position changeover signal ON during acceleration” (warning code:
508) occurs due to large variation in the accumulating pulses.
(5) The software stroke limit range check under speed control is performed only if
“1: update current feed value” is specified for “
Pr.22
Current feed value during
speed control.” At this time, if the movement amount exceeds the software
stroke limit range during speed control, an error “start outside stroke limit +/-”
(error code: 507/508) occurs at the timing of the change to position control,
resulting in deceleration and stop.
If the “degree” unit is selected, the software stroke limit range check is not
performed.
(6) Do not turn ON the speed/position changeover signal during speed change if
the servomotor is used. (Turn the speed/position changeover signal ON in the
stable-speed area (constant-speed state).) The actual movement amount after
switching is the “set movement amount of accumulated pulses.” If
the signal is turned on during acceleration or deceleration, there is variation in
the stopping position due to a large variation in the amount of accumulated
pulses. If “
Da.7
Command speed” varies even if “
Md.38
Speed/position
changeover control positioning amount” is the same, the amount of
accumulated pulses varies and therefore the stopping position varies.
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