Mitsubishi Electric A173UHCPU, Руководство по программированию

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7. POSITIONING CONTROL
7
−
64
7.13 Speed Control (II)
(1) Speed control of the axis designated in the sequence program positioning
commands.
(2) Control does not include positioning loops for control of servo amplifiers.
Use stopper control to current errors becoming excessive.
(3) Speed control (II) uses the VVF (forward) and VVR (reverse) servo instructions.
Items Set by Peripherals
Common Arc Parameter Block Others
Servo
Instruction
Positioning
Method
Number of
Controllable
Axes
Pa
ra
me
te
r B
lo
c
k
N
o
.
Ax
is
A
d
d
ress/T
rav
el V
a
lu
e
C
o
m
m
a
n
d
ed
S
p
eed
Dwell T
im
e
M
-C
ode
T
o
rq
ue
L
imi
t Va
lu
e
A
u
xiliar
y
P
o
in
t
Ra
d
iu
s
Cen
ter
P
o
in
t
Co
n
tr
o
l Un
it
S
p
e
e
d Li
m
it V
a
lu
e
A
c
c
e
le
ra
ti
o
n
T
ime
D
e
c
e
le
ra
ti
o
n
T
ime
R
a
p
id
S
to
p
D
eceler
atio
n
T
im
e
T
o
rq
ue
L
imi
t Va
lu
e
D
e
c
e
le
ra
ti
on
P
roc
e
s
s
in
g
on
S
top I
n
pu
t
A
ll
o
w
a
b
le
Erro
r R
a
ng
e
f
o
r C
irc
ul
a
r I
n
te
rp
o
la
ti
o
n
S-
Cu
rv
e
Ra
ti
o
C
a
n
cel
St
a
rt
S
p
eed
C
h
an
g
e
VVF
VVR

1
∆
! !
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
OK
!
: Must be set
∆
: Set if required
[Control Details]
(1) Controls the axis at the designated speed between the start of servomotor
operation and the input of the stop command.
•
VVF .......movement in forward direction
•
VVR.......movement in reverse direction
(2) The current value or deviation counter do not change at zero.
(3) When the setting for "torque" is set in a servo program and an indirect
designation is made, the torque limit value can be changed during operation by
changing the value of the indirect device.
(4) The stop command and stop processing are the same as for speed control(I).
[Cautions]
(1) After running speed control using the absolute data system, the feed current
value cannot be set to zero by resetting with the RUN key.
(2) The dwell time cannot be set.