Mitsubishi Melsec-Q QD75D1, User Manual

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8 - 16
MELSEC-Q
8 OPR CONTROL
Restrictions
(1) Always limit the servomotor torque after the "
Pr.47
Creep speed" is reached. If the
torque is not limited, the servomotor may fail when the machine presses against the
stopper. (Refer to Section 12.4.2 "Torque limit function".)
(2) Use an external input signal as the zero signal.
(3) The OPR retry function cannot be used in "stopper stop method 3)".
Precautions during operation
(1) If the zero signal is input before the workpiece stops at the stopper, the workpiece
will stop at that position, and that position will become the OP.
At this time an error will not occur.
Creep speed
t
ON
OFF
ON
OFF
OPR request flag
OFF
OPR complete flag
ON
V
Valid torque limit range
Torque limit
Zero signal
Deviation counter clear output
Standby OPR
Standby
Inconsistent 0
Movement amount
after near-point dog
ON
Inconsistent Value the machine moved is stored OP address
Inconsistent OPR torque limit value
Current feed value
Md.34
Torque limit stored
value Md.35
Md.20
Md.21
Pr.47
Md.31
Md.31
Md.26
Pr.55
Machine feed value
Stopper
Machine OPR start
(Positioning start signal)
[Y10,Y11,Y12,Y13]
Status : b3
Status : b4
Axis operation status
Deviation counter clear
signal output time
Fig. 8.11 When the zero signal is input before the stop at the stopper
(2) When a machine OPR is stopped with the stop signal, perform a machine OPR again.
If the restart command is turned ON after a stop with the stop signal, an error "OPR
restart not possible" (error code: 209) occurs.