Mitsubishi Electronics QD75P, QD75D user manual Restrictions, Speed-position switching signal Added

9 MAJOR POSITIONING CONTROL

MELSEC-Q

Restrictions

(1)An axis error (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 system" 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.) An axis error (error code: 516) will occur and the machine will carry out a deceleration stop if this type of setting is carried out.

(3) An error (error code: 503) will occur if "current speed (-1)" is set in "

Da.8

command speed".

(4)If the value set in " Da.6 Positioning address/movement amount" is negative, an error (error code: 530) will occur.

(5)Even though the axis control data " Cd.23 Speed-position switching control movement amount change register" was set in speed-position switching control (ABS mode), it would not function. The set value is ignored.

(6)To exercise speed-position switching control (ABS mode), the following conditions must be satisfied:

(a) "

Pr.1

Unit setting" is "2: degree"

(b)The software stroke limit function is invalid (upper limit value = lower limit value)

(c) "

Pr.21

Current feed value during speed control" is "1: Update current

feed value"

(d)The " Da.6 Positioning address/movement amount" setting range is 0 to 359.99999 (degree)

If the value is outside of the range 0 to 359.99999 (degree), an error (error code: 530) will occur at a start.

(e)The " Pr.150 Speed-position function selection" setting is "2: Speed- position switching control (ABS mode)".

(7)If any of the conditions in (6)(a) to (6)(c) is not satisfied in the case of (6)(e), an error (error code: 935) will occur when the PLC READY signal [Y0] turns from OFF to ON.

(8)If the axis reaches the positioning address midway through deceleration after automatic deceleration started at the input of the speed-position switching signal, the axis will not stop immediately at the positioning address. The axis will stop at the positioning address after N revolutions so that automatic deceleration can always be made. (N: Natural number)

In this case, make the movement amount after speed-position switching signal input within 21474.83647 (degree). If the movement amount exceeds 21474.83647 (degree), make the movement amount smaller by reducing the command speed or shortening the deceleration time, for example.

In the following example, since making deceleration in the path of dotted line will cause the axis to exceed the positioning addresses twice, the axis will decelerate to a stop at the third positioning address.

Speed-position switching signal
360 added		360 added
positioning address	positioning address		positioning address
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