4 PARAMETERS FOR POSITIONING CONTROL

4.3Parameter Block

(1)The parameter blocks serve to make setting changes easy by allowing data such as the acceleration/deceleration control to be set for each positioning processing.

(2)A maximum 64 blocks can be set as parameter blocks.

(3)Parameter blocks can be set using a peripheral device.

(4)Parameter block to be set are shown in Table 4.2.

Table 4.2 Parameter Block Setting List

 

 

 

 

 

 

 

Setting range

 

 

 

 

 

 

 

 

Initial

 

 

 

 

 

 

 

No.

Item

mm

 

 

 

inch

 

 

 

degree

PLS

 

 

 

Units

Remarks

Section

 

 

 

 

 

 

 

 

 

value

 

 

Setting range

Units

Setting range

Units

Setting range

Units

Setting range

Units

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

• Set the units for compensation

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

control.

 

 

 

1

Interpolation

0

 

 

 

1

 

 

 

2

 

 

 

3

 

 

 

 

3

 

 

 

• It can be also used as the units for

6.1.4

control unit

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

the command speed and allowable

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

error range for circular interpolation

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

set in the servo program.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

• Set the maximum speed for

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

positioning/home position return.

 

 

 

 

Speed limit

0.01 to

mm/

0.001 to

inch/

0.001 to

degree/

1 to

 

 

 

 

 

 

 

• If the positioning speed or home

 

 

 

2

2147483.647

PLS/s

200000

PLS/s

position return speed setting

 

 

 

value

6000000.00

min

600000.000

min

min

2147483647

 

 

 

 

 

 

 

 

 

 

 

 

 

 

(Note-1)

 

 

 

 

 

 

 

 

 

 

 

 

exceeds the speed limit value,

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

control is executed at the speed

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

limit value.

 

 

 

 

Acceleration

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

• Set the time taken to reach the

4.3.1

3

 

 

 

 

 

1 to 65535[ms]

 

 

 

 

 

 

 

 

1000

ms

speed limit value from the start of

 

 

 

time

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

motion.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

4

Deceleration

 

 

 

 

 

1 to 65535[ms]

 

 

 

 

 

 

 

 

1000

ms

• Set the time taken to stop from

 

 

 

time

 

 

 

 

 

 

 

 

 

 

 

 

 

the speed limit value.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Rapid stop

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

• Set the time taken to stop from

 

 

 

5

deceleration

 

 

 

 

 

1 to 65535[ms]

 

 

 

 

 

 

 

 

1000

ms

the speed limit value when a rapid

 

 

 

 

time

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

stop is executed.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

• Set the S-curve ratio for S-pattern

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

processing.

 

 

 

6

S-curve ratio

 

 

 

 

 

 

0 to 100[%]

 

 

 

 

 

 

 

 

0

%

• When the S-curve ratio is 0[%],

4.3.2

 

 

 

 

 

 

 

 

 

 

 

 

 

 

trapezoidal

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

acceleration/deceleration

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

processing is executed.

 

 

 

7

Torque limit

 

 

 

 

 

1 to 1000[%]

 

 

 

 

 

 

 

 

300

%

• Set the torque limit value in the

 

 

 

value

 

 

 

 

 

 

 

 

 

 

 

 

 

servo program.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Deceleration

0 : Deceleration stop is executed based on the deceleration time.

 

 

 

 

 

 

 

• Set the deceleration processing

 

 

 

8

processing on

 

 

 

0

 

 

 

when external signals (STOP, FLS,

 

 

 

1 : Deceleration stop is executed based on the rapid stop deceleration time.

 

 

 

 

 

 

 

 

 

 

STOP input

 

 

 

 

 

 

 

RLS) are input.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Allowable

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

• Set the permissible range for the

 

 

 

9

error range

0 to 10000.0

µm

0 to 1.00000

inch

0 to 1.00000

degree

0 to 100000

 

PLS

100

PLS

locus of the arc and the set end

4.3.3

for circular

 

point coordinates.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

interpolation

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

(Note-1): When the "speed control 10multiplier setting for degree axis" is set to "valid", the setting range is 0.01 to 21474836.47[degree/min]. However, setting range of 0.001 to 2147483.647[degree/min] is displayed in the parameter block setting screen of programming software.

POINTS

(1)Parameter blocks are specified in the home position return data, JOG operation data or servo program.

(2)The various parameter block data can be changed using the servo program. (Refer to Section 5.3.)

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