Mitsubishi MELSEC-Q QD77MS, User Manual

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Chapter 11 Manual Control
Normal timing times Unit : [ms]
Operation cycle t1 t2 t3 t4
QD77MS2
QD77MS4
0.88 0.6 to 0.9 10.0 to 13.7 18.0 to 25.0 9.6
0.88 0.6 to 0.9 10.0 to 13.7 18.0 to 25.0 9.6
QD77MS16
1.77 0.8 to 1.8 10.0 to 14.8 18.0 to 25.0 9.6
• Delays may occur in the t1 timing time due to the operation status of other axes.
Position control by manual pulse generator operation
In manual pulse generator operation, the position is moved by a "manual pulse
generator 1 pulse movement amount" per pulse.
The current feed value in the positioning control by manual pulse generator
operation can be calculated using the expression shown below.
Current feed value = Number of input pulses × Cd.20 Manual pulse generator 1
pulse input magnification × Manual pulse generator 1 pulse
movement amount
Pr.1 Unit setting
mm inch degree PLS
Manual pulse generator
1 pulse movement
amount
0.1µm 0.00001inch 0.00001degree 1PLS
For example, when " Pr.1 Unit setting" is mm and " Cd.20 Manual pulse
generator 1 pulse input magnification" is 2, and 100 pulses are input from the
manual pulse generator, the current feed value is as follows.
100 × 2 × 0.1 = 20 [µm] ("
Md.20
Current feed value
"=200)
The number of pulses output actually to the servo amplifier is "Manual pulse
generator 1pulse movement amount/movement amount per pulse
(Note)
". For
example, when "
Pr.1
Unit setting
" is mm and the movement amount per pulse is
1 μ m, 0.1/1 = 1/10, i.e., the output to the servo amplifier per pulse from the manual
pulse generator is 1/10pulse. Thus, the QD77MS outputs 1pulse to the servo
amplifier after receiving 10pulses from the manual pulse generator.
(Note): Movement amount per pulse =
"
Pr.3
Movement amount per rotation(AL)
"
"
Pr.2
Number of pulses per rotation(AP)"
×
"
Pr.4
Unit magnification(AM)
"
Speed control by manual pulse generation operation
The speed during positioning control by manual pulse generator operation is a
speed corresponding to the number of input pulses per unit time, and can be
obtained using the following equation.
Output command frequency = Input frequency
×
Cd.20 Manual pulse generator
1 pulse input magnification