Mitsubishi Melsec-Q QD75D1, User Manual

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CHAPTER 12 CONTROL SUB FUNCTIONS
The details and usage of the "sub functions" added and used in combination with
the main functions are explained in this chapter.
A variety of sub functions are available, including functions specifically for machine
OPR and generally related functions such as control compensation, etc.
More appropriate, finer control can be carried out by using these sub functions.
Each sub function is used together with a main function by creating matching
parameter settings and sequence programs. Read the execution procedures and
settings for each sub function, and set as required.
12.1 Outline of sub functions ...........................................................................................12- 2
12.1.1 Outline of sub functions .............................................................................12- 2
12.2 Sub functions specifically for machine OPR...........................................................12- 4
12.2.1 OPR retry function......................................................................................12- 4
12.2.2 OP shift function ........................................................................................12- 8
12.3 Functions for compensating the control.................................................................12- 12
12.3.1
Backlash compensation function..............................................................12- 12
12.3.2 Electronic gear function ............................................................................12- 14
12.3.3 Near pass function ....................................................................................12- 20
12.3.4 Output timing selection of near pass control............................................12- 22
12.4 Functions to limit the control...................................................................................12- 26
12.4.1 Speed limit function...................................................................................12- 26
12.4.2 Torque limit function..................................................................................12- 28
12.4.3 Software stroke limit function....................................................................12- 32
12.4.4 Hardware stroke limit function ..................................................................12- 38
12.5 Functions to change the control details .................................................................12- 40
12.5.1
Speed change function .............................................................................12- 40
12.5.2 Override function.......................................................................................12- 47
12.5.3 Acceleration/deceleration time change function ......................................12- 50
12.5.4 Torque change function ............................................................................12- 55
12.5.5 Target position change function ...............................................................12- 57
12.6 Absolute position restoration function ....................................................................12- 61
12.7 Other
functions........................................................................................................12- 72
12.7.1 Step function .............................................................................................12- 72
12.7.2 Skip function..............................................................................................12- 77
12.7.3 M code output function..............................................................................12- 80
12.7.4 Teaching function......................................................................................12- 84
12.7.5 Command in-position function ..................................................................12- 91
12.7.6 Acceleration/deceleration processing function.........................................12- 94
12.7.7 Pre-reading start function..........................................................................12- 97
12.7.8 Deceleration start flag function ................................................................12-102
12.7.9 Stop command processing for deceleration stop function......................12-106