Mitsubishi MELSEC-Q QD77MS, User Manual

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Chapter 3 Specifications and Functions
3.2.3 QD77MS sub functions
The functions that assist positioning control using the QD77MS are described below.
(Refer to "Section 2" for details on each function.
Sub function Details
Reference
section
OPR retry function
This function retries the machine OPR with the upper/lower limit
switches during OPR. This allows machine OPR to be carried
out even if the axis is not returned to before the near-point dog
with JOG operation, etc.
13.2.1 Functions
characteristic
to machine
OPR
OP shift function
After returning to the machine OP, this function compensates the
position by the designated distance from the machine OP
position and sets that position as the OP address.
13.2.2
Backlash compensation
function
This function compensates the mechanical backlash amount.
Feed commands equivalent to the set backlash amount are
output each time the movement direction changes.
13.3.1
Electronic gear function
By setting the movement amount per pulse, this function can
freely change the machine movement amount per commanded
pulse.
When the movement amount per pulse is set, a flexible
positioning system that matches the machine system can be
structured.
13.3.2
Functions that
compensate
control
Near pass function 1
This function suppresses the machine vibration when the
positioning data is switched during continuous path control in the
interpolation control.
13.3.3
Speed limit function
If the command speed exceeds "
Pr.8
Speed limit value" during
control, this function limits the commanded speed to within the
"
Pr.8
Speed limit value" setting range.
13.4.1
Torque limit function
If the torque generated by the servomotor exceeds "
Pr.17
Torque limit setting value" during control, this function limits the
generated torque to within the "
Pr.17
Torque limit setting
value" setting range.
13.4.2
Software stroke limit
function
If a command outside of the upper/lower limit stroke limit setting
range, set in the parameters, is issued, this function will not
execute positioning for that command.
13.4.3
Hardware stroke limit
function This function carries out deceleration stop with the hardware
stroke limit switch.
13.4.4
Functions that
limit control
Forced stop function
This function is stopped the all axis of the servo amplifier when
the forced stop input signal of the QD77MS external input signal
connector is turned ON.
13.4.5
Speed change function
This function changes the speed during positioning.
Set the new speed in the speed change buffer memory
(
Cd.14
New speed value), and change the speed with the
Speed change request (
Cd.15
).
13.5.1
Override function
This function changes the speed within a percentage of 1 to
300% during positioning. This is executed using "
Cd.13
Positioning operation speed override".
13.5.2
Acceleration/deceleration
time change function
This function changes the acceleration/deceleration time during
speed change. (Functions added to the speed change function
and override function)
13.5.3
Torque change function This function changes the "torque limit value" during control.
13.5.4
Functions that
change control
details
Target position change
function This function changes the target position during positioning.
Position and speed can be changed simultaneously.
13.5.5