Mitsubishi MELSEC-Q QD77MS, User Manual

Page: 551 / 976

9 - 118
Chapter 9 Major Positioning Control
Restrictions
(1) An axis error (error code: 516) will occur and the operation cannot start if
"continuous positioning control" or "continuous path control" is set in
"
Da.1
Operation pattern".
(2) "Position-speed switching control" cannot be set in " Da.2 Control system" of
the positioning data when "continuous path control" has been set in
"
Da.1 Operation pattern" of the immediately prior positioning data. (For
example, if the operation pattern of positioning data No. 1 is "continuous path
control", "position-speed switching control" cannot be set in positioning data
No. 2.) An axis error (error code: 516) will occur and the machine will carry out
a deceleration stop if this type of setting is carried out.
(3) The software stroke limit range is only checked during speed control if the "1:
Update current feed value" is set in " Pr.21 Current feed value during speed
control".
The software stroke limit range is not checked when the control unit is set to
"degree".
(4) An error (error code: 507 or 508) will occur and the operation cannot start if the
start point address or end point address for position control exceeds the
software stroke limit range.
(5) Deceleration stop will be carried out if the position-speed switching signal is
not input before the machine is moved by a specified movement amount.
When the position-speed switching signal is input during automatic
deceleration by positioning control, acceleration is carried out again to the
command speed to continue speed control.
When the position-speed switching signal is input during deceleration to a stop
with the stop signal, the control is switched to the speed control to stop the
machine.
Restart is carried out by speed control using the restart command.
(6) A warning (warning code: 501) will occur and control is continued by
" Pr.8 Speed limit value" if a new speed exceeds " Pr.8 Speed limit value" at
the time of change of the command speed.
(7) If the value set in " Da.6 Positioning address/movement amount" is negative, an
error (error code: 530) will occur.
(8) Set WITH mode in "Pr.18 M code ON signal output timing" at M code use. The
M code will not be output, and the M code ON signal will not turn ON if the
AFTER mode is set.