4. PARAMETERS FOR POSITIONING CONTROL
4
−
5
Here, since the setting range of A
P
is 1 to 65535 [PLS] and that of A
L
is
0.1 to 6553.5 [
µ
m], reduce them to within their setting ranges.
A
P
19968
A
L
×
A
M
=
1587.5
Thus,
A
P
= 19968 [PLS]
A
L
(Note)
= 1587.5 [
µ
m] .... and set the following values.
A
M
= 1
A
P
= 19968 [PLS]
A
L
(Note)
= 1587.5 [
µ
m] .... and set the following values.
A
M
= 1
(Note) :
When actually setting A
L
, calculate it as indicated in the table
below.
4.2.2
Upper stroke limit value/lower stroke limit value
These are the settings for the upper limit value and lower limit value in the travel
range of the mechanical system.
RLS
(Travel range of the machine)
Lower stroke limit
Upper stroke limit
Limit switch for
emergency stop
FLS
Fig. 4.1 Travel Range When Setting the Upper Stroke Limit Value and Lower Stroke Limit Value
(1) Stroke limit range check
The stroke limit range check is executed when the operations indicated in the
table below are started or while they are in progress.
Operation Started
Check Executed/
Not Executed
Remarks
Positioning control
Executed
•
When positioning is started, it is checked whether the feed current value
is within the stroke limit range or not. If it outside the range, an error
occurs (error code 106) and positioning is not executed.
•
When circular interpolation is in progress, if the interpolation path goes
outside the stroke limit range, an error occurs (error codes: 207, 208)
and axis motion decelerates to a stop.
Fixed-pitch feed control
Executed
Speed control (I)
Speed control (II)
Not executed
•
The current value becomes "0", and motion continues until the external
limit signal (FLS, RLS, STOP) is received.
Speed/position switching control
(including restart)
Executed
•
The check is executed after the switch to position control.
JOG operation
Executed
•
If the current value goes outside the stroke limit range, motion stops.
Travel in the direction that returns the axes into the stroke range is
possible.
Speed switching control
Executed
Constant speed control
Executed
Position follow-up control
Executed
•
While positioning is in progress, it is checked whether the feed current
value is within the stroke limit range. If it outside the range, an error
occurs (error code 106) and positioning is not executed.
Manual pulse generator operation
Executed
•
If the current value goes outside the stroke limit range, motion stops.
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