Mitsubishi Electric MELSEC-L Series, Руководство пользователя

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9 - 101
Chapter 9 Major Positioning Control
Restrictions
(1) The error "Continuous path control not possible" (error code: 516) will occur
and the operation cannot start if "continuous positioning control" or
"continuous path control" is set in "
Da.1
Operation pattern
".
(2) "Speed-position switching control" cannot be set in "
Da.2
Control method
" of the
positioning data when "continuous path control" has been set in "
Da.1
Operation pattern
" of the immediately prior positioning data. (For example, if the
operation pattern of positioning data No. 1 is "continuous path control",
"speed-position switching control" cannot be set in positioning data No. 2.) The
error "Continuous path control not possible" (error code: 516) will occur and
the machine will carry out a deceleration stop if this type of setting is carried
out.
(3) The error "No command speed" (error code: 503) will occur if "current speed (-
1)" is set in "
Da.8
Command speed
".
(4) The software stroke limit range check during speed control is made only when
the following (a) and (b) are satisfied:
(a) "
Pr.21
Current feed value during speed control
" is "1: Update current feed value".
If the movement amount exceeds the software stroke limit range during
speed control in case of the setting of other than "1: Update current feed
value", the error "Software stroke limit +" (error code: 507) or "Software
stroke limit -" (error code: 508)
will occur as soon as speed control is
changed to position control and the axis will decelerate to a stop.
(b) When "
Pr.1
Unit setting
" is other than "2: degree"
If the unit is "degree", the software stroke limit range check is not performed.
(5) If the value set in "
Da.6
Positioning address/movement amount
" is negative, the
error "Outside address range" (error code: 530) will occur.
(6) Deceleration processing is carried out from the point where the speed-position
switching signal is input if the position control movement amount set in "
Da.6
Positioning address/movement amount
" is smaller than the deceleration distance
from the "
Da.8
Command speed
".
(7) Turn ON the speed-position switching signal in the speed stabilization region
(constant speed status). The warning "Speed-position switching (during
acceleration) signal ON" (warning code: 508) will occur because of large
deviation in the droop pulse amount if the signal is turned ON during
acceleration.
During use of the servo motor, the movement amount is "
Da.6
Positioning
address/movement amount" from the assumed motor position based on
"
Md.101
Real current value" at switching of speed control to position control.
Therefore, if the signal is turned ON during acceleration/deceleration, the stop
position will vary due to large variation of the droop pulse amount. Even
though "
Md.29
Speed-position switching control positioning movement amount
" is
the same, the stop position will change due to a change in droop pulse amount
when "
Da.8
Command speed
" is different.