Mitsubishi MELSEC-Q QD77MS, User Manual

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Chapter 5 Data Used for Positioning Control
When "
Pr.1
Unit Setting" is "inch"
The table below lists the control systems that require the setting of the arc address
and shows the setting range.
(With any control system excluded from the table below, the arc address does not
need to be set.)
Da.2
setting value
Value set with GX Works2
(inch)
Value set with sequence program 1
(
×
10
-5
inch)
ABS circular sub : 0DH
ABS circular right : 0FH
ABS circular left : 10H
◊
Set the address
-21474.83648 to 21474.83647 2
◊
Set the address
-2147483648 to 2147483647
INC circular sub : 0EH
INC circular right : 11H
INC circular left : 12H
◊
Set the movement amount
-21474.83648 to 21474.83647 2
◊
Set the movement amount
-2147483648 to 2147483647 2
1: Set an integer because the sequence program cannot handle fractions.
(The value will be converted properly within the system.)
2: Note that the maximum radius that circular interpolation control is possible is 536870912 (
×
10
-5
inch), although the
setting value can be input within the range shown in the above table, as an arc address.
Da.8 Command speed
Set the command speed for positioning.
(1) If the set command speed exceeds "
Pr.8
Speed limit value", positioning will
be carried out at the speed limit value.
(2) If "-1" is set for the command speed, the current speed (speed set for previous
positioning data No.) will be used for positioning control. Use the current
speed for uniform speed control, etc. If "-1" is set for continuing positioning
data, and the speed is changed, the following speed will also change.
(Note that when starting positioning, if the "-1" speed is set for the positioning
data that carries out positioning control first, the error "Command speed is
not set"(error code: 503) will occur, and the positioning will not start.
Refer to Section 16.5 "List of errors" for details on the errors.)
Pr.1 setting value
Value set with GX Works2
(unit)
Value set with sequence program
(unit)
0 : mm 0.01 to 20000000.00 (mm/min)
1 to 2000000000 (
×
10
-2
mm/min)
1 : inch 0.001 to 2000000.000 (inch/min) 1 to 2000000000 (
×
10
-3
inch/min)
2 : degree
0.001 to 2000000.000 (degree/min)
1
1 to 2000000000 (
×
10
-3
degree/min)
2
3 : PLS 1 to 1000000000 (PLS/s) 1 to 1000000000 (PLS/s)
1: The command speed setting range is 0.001 to 2000000.000[degree/min], but it will be decupled
and become 0.01 to 20000000.00[degree/min] by setting " Pr.83 Speed control 10 x multiplier
setting for degree axis" to valid.
2: The command speed setting range is 1 to 2000000000(
×
10
-3
degree/min), but it will be decupled
and become 1 to 2000000000 (
×
10
-2
degree/min) by setting " Pr.83 Speed control 10 x multiplier
setting for degree axis" to valid.