Mitsubishi Electric Q Series, Руководство по программированию

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8 OUTPUT MODULE
(5) Control details
(a) The cam feed current value is continued at switching from the real mode to
virtual mode/from the virtual mode to real mode.
(b) Backlash compensation processing is continued with the settings value of
fixed parameters, even if switches the real mode/virtual mode.
(c) Upper/lower stroke limit value and speed limit value are not checked.
(6) Control change
The current value within 1 cam shaft revolution can be changed to optional value
for the cam as the control change during the virtual mode operation.
Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22)
Programming Manual (Motion SFC)" for details of current value change.
Motion SFC program for which executes the current value change (CHGA-C) is
shown below.
CHGA-C
Axis 1, 1000PLS
END
!PX000*!M2001
Current value change CHGA-C
PX000*M2043*M2044*!M2001
G10
G20
K10
Current value change
Wait until PX000, real mode/virtual mode
switching request and switching status
turn on, and axis 1 start accept flag turn off.
Current value within 1 cam shaft revolution
change control
Axis used ............................... Axis 1
Current value to be changed ... 1000[PLS]
Wait until PX000 and axis 1 start accept flag
turn off.
(Note): Example of the above Motion SFC program is started using the automatic start or sequence program.
[Operation]
1000
Stroke
Current value within 1 cam shaft revolution
Change
Current value within 1 cam shaft revolution after the change
This stroke amount of lower stroke limit value
is changed so that the motor may not rotate even
if the current value is changed.