Servo Motor Maximum Speed Check Parameter - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Servo motor maximum speed check parameter

Setting the servo motor maximum speed avoids an incorrect command value being sent to the servo amplifier, and shortens
the braking distance when the servo motor stops. The servo motor maximum speed check parameter is enabled only on axes
set as "Joint axis structure" in the machine parameter. Refer to the following for details on machine parameter.
MELSEC iQ-R Motion Controller Programming Manual (Machine Control)
The servo motor maximum speed check parameter checks that the command value to the servo amplifier is within the servo
3
motor maximum speed settings during machine program operation and machine JOG operation. When the servo motor
maximum speed setting value is exceeded a minor error (error code: 1FE2H (details code: 0007H) occurs, and a deceleration
stop is executed according to the stop deceleration time set in the parameter block, or a separate deceleration time.
(Page 259 Stop processing and restarting after stop)
Servo motor maximum speed
Set the maximum speed determined by the mechanical system, etc. for each of the controlled axes as the servo motor
maximum speed.
The servo motor maximum speed is used in the joint interpolation speed restriction function, and servo motor maximum speed
check. Refer to the following for details of joint interpolation speed restriction function, and servo motor maximum speed
check.
MELSEC iQ-R Motion Controller Programming Manual (Machine Control)
When the servo motor maximum speed value is set to "0", the maximum speed check is disabled.
When the servo motor maximum speed is set by indirect setting, the settings are imported at the start of machine operation
(machine program operation, machine JOG operation). When the servo motor maximum speed is outside of the setting range,
a warning (error code: 0EE0H (details code: 00F0H)) occurs, and the servo motor maximum speed check becomes the
maximum value for the servo motor maximum speed.
When used in conjunction with coordinate transformation, because operation stops temporarily use the smoothing filter of the
vibration suppression command filter function. When smoothing filter is not set during machine program operation, a warning
(error code: 0EE0H (details code: 00F1H)) occurs. Refer to vibration suppression command filter for vibration suppression
command filter function. (Page 467 Vibration Suppression Command Filter)
■Settings when using linear servo motor
When using a linear servo motor, use the number of pulses set in servo parameter "(Linear servo motor function selection
1(PL01)(stop interval selection at the home position return))" to convert to number of revolutions. Use the following formula to
calculate the value to be set servo motor maximum speed.
Linear servo motor restriction value[mm/min]×AP[pulse]×1000
Set value[rpm]=
AL[μm]×Number of pulses for stop interval selection at home position return[pulse]
AP: Number of pulses per revolution, AL: Travel value per revolution, 1000: [m] converted to [mm]
Deceleration time constant
Set the time it takes from servo motor maximum speed to stop when the command value to the servo amplifier exceeds the
servo motor maximum speed set value.
The deceleration time constant is used in the servo motor maximum speed check. Refer to the following for details on the
servo motor maximum speed check.
MELSEC iQ-R Motion Controller Programming Manual (Machine Control)
When deceleration time constant is set to "0", a deceleration stop is executed according to the stop deceleration time set in
the parameter block.
3 PARAMETERS FOR POSITIONING CONTROL
195
3.7 Expansion Parameters