Mitsubishi Electric MELSEC iQ-R RD75P4, Руководство пользователя

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3 MAJOR POSITIONING CONTROL
3.2 Positioning Data Setting
Restrictions
• If Continuous positioning control or Continuous path control is set in [Da.1] Operation pattern, Continuous path control not
possible (Error code: 1A1EH, 1A1FH) occurs and the control will not start.
• Position-speed switching control cannot be set to [Da.2] Control method of the positioning data when Continuous path
control is set to [Da.1] Operation pattern of the previous positioning data. For example, if the operation pattern of the
positioning data No.1 is Continuous path control, Position-speed 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.
• The software stroke limit range during the speed control is checked only when 1: Current feed value is updated is set to
[Pr.21] Current feed value during speed control. When the unit is degree, the software stroke limit check range is not
checked.
• If the start point address of the position control exceeds the software stroke limit range, Software stroke limit (+) (Error
code: 1A18H) or Software stroke limit (-) (Error code: 1A1AH) occurs and the operation will not start.
• If the end point address of the position control exceeds the software stroke limit range, Software stroke limit (+) (Error code:
1A18H) or Software stroke limit (-) (Error code: 1A1AH) occurs and the operation will not start.
• The control decelerates and stops when Position-speed switching signal is not input until the positioning target moves for
the movement amount specified. When Position-speed switching signal is input during the automatic deceleration in the
position control, the speed is accelerated again to the command speed the speed control continues. When Position-speed
switching signal is input during the deceleration stop by Stop signal, the control is switched to the speed control and stops.
Restart the speed control using a restart command.
• If the changed command speed is equal to or greater than the value set in [Pr.8] Speed limit value, Speed limit value over
(Warning code: 0991H) occurs and the control continues at the speed set in [Pr.8] Speed limit value.
• Is the value set in [Da.6] Positioning address/movement amount is negative, Outside address range (Error code: 1A30H)
occurs.
Positioning data to be set
To use the position-speed switching control, set the following positioning data.

: Always set,

: Set as required,

: Setting not required
For details on the settings, refer to the following.

Page 420 Positioning Data
Setting item Setting requirement
[Da.1] Operation pattern

[Da.2] Control method

(Set Forward run position-speed or Reverse run position-speed.)
[Da.3] Acceleration time No. 
[Da.4] Deceleration time No.

[Da.5] Axis to be interpolated

[Da.6] Positioning address/movement amount

[Da.7] Arc address 
[Da.8] Command speed

[Da.9] Dwell time

[Da.10] M code

[Da.27] M code ON signal output timing 
[Da.28] ABS direction in degrees

[Da.29] Interpolation speed specification method
