Mitsubishi Electric MELSEC iQ-R RD75P4, Руководство пользователя

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3 MAJOR POSITIONING CONTROL
3.2 Positioning Data Setting
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3
Restrictions
• If Continuous path control is set in [Da.1] Operation pattern, Continuous path control not possible (Error code: 1A1FH)
occurs and the control will not start.
• Speed-position switching control cannot be set in [Da.2] Control method in the positioning data when Continuous path
control is set in [Da.1] Operation pattern of the immediately previous positioning data. (For example, if the operation pattern
of the positioning data No.1 is Continuous path control, the speed-position switching control cannot be set to the positioning
data No.2.) If this setting is configured, Continuous path control not possible (Error code: 1A20H) occurs and the
deceleration stop is performed.
• If Current speed (-1) is set to [Da.8] Command speed, No command speed (Error code: 1A14H) occurs.
• Is the value set in [Da.6] Positioning address/movement amount is negative, Outside address range (Error code: 1A30H)
occurs.
• In the speed-position switching control (ABS mode), the axis control data [Cd.23] Speed-position switching control
movement amount change register is not enabled even if it is set. The set value is ignored.
• To perform the speed-position switching control (ABS mode), the following conditions must be satisfied.
• When the conditions 1) to 3) are not satisfied in the condition 5), Speed-position function selection error (Error code:
1AAEH) occurs when PLC READY signal [Y0] is turned off and on.
• The operation does not stop immediately at the positioning address when the positioning target reaches the positioning
address during the deceleration even if the automatic deceleration is started after Speed-position switching signal is input.
To decelerate automatically, the positioning target stops at the positioning address after the rotation is performed for N (N:
natural number) times. In the following example, the positioning target passes the positioning address twice when the
deceleration is performed in the dot-line path. Thus, the deceleration stop is performed to stop at the positioning address at
the third time.
1) [Pr.1] Unit setting is 2: degree.
2) The software stroke limit function is disabled (Upper limit value = Lower limit value)
3) [Pr.21] Current feed value during speed control is 1: Current feed value is updated.
4) The setting range of [Da.6] Positioning address/movement amount is 0 to 359.99999 (degree).
If the amount is out of the range between 0 and 359.99999 (degree), Outside address range (Error code: 1A31H) occurs at the start.
5) [Pr.150] Speed-position function selection is 2: speed-position switching control (ABS mode).
Speed-position switching signal
Positioning address
360° is added. 360° is added.
Positioning address Positioning address