Mitsubishi Electric MELSEC Q Series, Руководство пользователя

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Chapter 8 HPR Control
8.1 Outline of HPR control
8.1.1 Two types of HPR control
In "HPR control", a position is established as the starting point (or "HP") when carrying
out positioning control, and positioning is carried out toward that starting point.
It is used to return a machine system at any position other than the HP to the HP when
the Simple Motion module issues an "HPR request"
(Note-1)
with the power turned ON or
others, or after a positioning stop.
In the Simple Motion module, the two types of controls shown below are defined as
"HPR control", following the flow of the HPR work.
These two types of HPR control can be executed by setting the "HPR parameters",
setting "Positioning start No. 9001" and "positioning start No. 9002" prepared
beforehand in the Simple Motion module to "[Cd.3] Positioning start No.", and turning
ON the positioning start signal.
(1) Establish a positioning control HP
– "Machine HPR" (positioning start No. 9001)
(2) Carry out positioning toward the HP
– "Fast HPR" (positioning start No. 9002).
The "machine HPR" above must always be carried out before executing the "fast HPR".
CAUTION
When using the absolute position system function, on starting up, and when the controller or
absolute position motor has been replaced, always perform an HPR.
In the case of the absolute position system, use the sequence program to check the HPR
request before performing the positioning control.
Failure to observe this could lead to an accident such as a collision.
REMARK
HPR request
(Note-1)
The "HPR request flag" ([Md.31] Status: b3) must be turned ON in the Simple
Motion module, and a machine HPR must be executed in the following cases.
(1) When not using an absolute position system
(a) This flag turns on in the following cases:
• System's power supply on or reset
• Servo amplifier power supply on
• Machine HPR start
(Unless a machine HPR is completed normally, the HPR request flag does
not turn off.)
(b) This flag turns off by the completion of machine HPR.