Mitsubishi Electric MELSEC iQ-R16MTCPU, Руководство по программированию

Страница: 174 / 482

172
3 PARAMETERS FOR POSITIONING CONTROL
3.3 Fixed Parameters
Backlash compensation amount
The machine backlash amount is set in the backlash compensation amount. Whenever the positioning direction changes
during positioning control, compensation is performed using the backlash compensation amount.
Refer to the Backlash Compensation Function for details. (

Page 427 Backlash Compensation Function)
Upper/lower stroke limit value
The upper/lower limit value for the travel range of mechanical system is set.
Stroke limit range check
The stroke limit range is checked at the following start or during operation.
*1 When "[Rq.1152] Feed current value update command (R: 32n/Q: M3212+20n)" is ON
*2 When "[Rq.1152] Feed current value update command (R: 32n/Q: M3212+20n)" is OFF
Operation start Check Remarks
Position follow-up control
Continuous trajectory control
Positioning control
Fixed-pitch feed control
Speed control (
 )
*1
Check • It is checked whether the feed current value is within the stroke limit range or not at the positioning start. If
it outside the range, a minor error occurs (error code: 1993H,1995H) and positioning is not executed.
• When positioning is outside of the stroke limit range, a minor error (error code: 1A18H, 1A1AH) occurs,
and positioning is not executed.
• If the interpolation path exceeds the stroke limit range during circular interpolation start, a minor error
occurs (error codes: 1993H, 1995H, 19EDH) and deceleration stop is executed.
• If the current value exceeds the stroke limit range, deceleration stop is executed.
Speed control (

)
*2
Speed control (

)
Not check The current value becomes "0", and operation continues until the external limit signal (FLS, RLS, STOP) is
received.
Speed/position switching control
(including restart) Check It is checked after the switch to position control without checking the stroke limit range while executing speed
control.
JOG operation When the current value is executed a deceleration stop from current command speed, if the current value
exceeds the stroke limit range, a minor error occurs (error code: 1993H, 1995H), and deceleration stop is
made before a stroke limit.
Travel from outside the stroke range to the direction that returns the axis into the stroke range is possible.
For a degree axis, depending on the stroke limit setting, the direction that can return the axis into the stroke
range is different.
• When upper stroke limit value > lower stroke limit value
When "Feed current value > upper stroke limit value", movement in the reverse direction is possible.
When "Feed current value < lower stroke limit value", movement in the forward direction is possible.
• When upper stroke limit value < lower stroke limit value
Movement in both the forward and reverse direction is possible.
Manual pulse generator operation If the current value exceeds the stroke limit range, a minor error occurs (error code: 1993H, 1995H), and it
stops at stroke limit.
In this case, a deceleration stop is not made.
Travel from outside the stroke range to the direction that returns the axis into the stroke range is possible.
For a degree axis, depending on the stroke limit setting, the direction that can return the axis into the stroke
range is different.
• When upper stroke limit value > lower stroke limit value
When "Feed current value > upper stroke limit value", movement in the reverse direction is possible.
When "Feed current value < lower stroke limit value", movement in the forward direction is possible.
• When upper stroke limit value < lower stroke limit value
Movement in both the forward and reverse direction is possible.
Speed-torque control If the current feed value exceeds the stroke limit range, a minor error occurs (error code: 1993H, 1995H), and
the mode is switched to position control.
Pressure control
RLS FLS
External limit signal
(Travel range of the machine)
Stroke limit
(lower)
Stroke limit
(upper)