Mitsubishi Melsec-Q QD75D1, User Manual

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5 - 24
MELSEC-Q
5 DATA USED FOR POSITIONING CONTROL
Setting value, setting range
Setting value buffer memory
address
Item
Value set with peripheral device
Value set with sequence
program
Default
value
Axis 1 Axis 2 Axis 3 Axis 4
Pr.7
Bias speed at start
The setting range differs depending on the "
Pr.1
Unit setting".
Here, the value within the [Table 1] range is set.
[Table 1] on next page
0
6
7 156
157 306
307 456
457
Pr.7 Bias speed at start
Set the bias speed (minimum speed) upon starting. The bias speed has to be
defined to allow the motor to start smoothly especially when a stepping motor is
used. (A stepping motor will not start smoothly if a low rotation speed is instructed
at the beginning.)
The specified "bias speed at start" will be valid during the following operations:
• Positioning operation
• OPR operation
• JOG operation
Note that the bias speed should not exceed "
Pr.8
Speed limit value".
Precautions for using a stepping motor
(1) For the system that uses a stepping motor, executing the S-curve
acceleration/deceleration may cause step-out.
Before using the S-curve acceleration/deceleration, confirm that step-out does
not occur.
(2) In the system that uses a stepping motor, the circular interpolation control
cannot be carried out.
Although setting the bias speed at start is required by the characteristics of the
stepping motor, the setting of the bias speed at start is disabled for circular
interpolation control.
Ensure to use a servomotor for both 2 axes when the circular interpolation
control is carried out.
5.2.2 Basic parameters 2
Setting value, setting range
Setting value buffer memory
address
Item
Value set with peripheral device
Value set with sequence
program
Default
value
Axis 1 Axis 2 Axis 3 Axis 4
Pr.8
Speed limit value
The setting range differs depending on the "
Pr.1
Unit setting".
Here, the value within the [Table 2] range is set.
[Table 2] on next page
200000
10
11 160
161 310
311 460
461
Pr.9
Acceleration time 0
1 to 8388608 (ms) 1 to 8388608 (ms) 1000
12
13 162
163 312
313 462
463
Pr.10
Deceleration time 0
1 to 8388608 (ms) 1 to 8388608 (ms) 1000
14
15 164
165 314
315 464
465