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

• Because the joint interpolation speed restriction function adjusts the command speed set at program analysis, when
override function is used, the joint interpolation speed restriction function operation is as follows.
Command speed
Automatically adjusted by joint
interpolation speed restriction function
Not automatically adjusted by joint
interpolation speed restriction function
• When speed is adjusted by the joint interpolation speed limit function, "[St.2123] Joint interpolation velocity limiting
(M43907+32m)" turns ON during positioning point execution.

Servo motor maximum speed check

During machine program operation or machine JOG operation, the servo motor speeds of joint axes are monitored, and when
the setting value for servo motor maximum speed is exceeded, all joint axes come to a deceleration stop.
The servo motor speed of each joint axis is set in [Motion Control Parameter]  [Axis Setting Parameter]  "Expansion
Parameter"  "Servo Motor Max. Speed Check Parameter"  "Servo Motor Maximum Speed" of each axis. Refer to the
following for details on servo motor maximum speed check parameter.
MELSEC iQ-R Motion Controller Programming Manual (Positioning Control)
• When the command value to the servo amplifier exceeds the setting value of servo motor maximum speed, a minor error
(error code: 1FE2H(details code: 0007H)) occurs and operation stops. The time from the servo motor maximum speed until
stopping is set in [Motion Control Parameter]  [Axis Setting Parameter]  "Expansion Parameter"  "Servo Motor Max.
Speed Check Parameter"  "Deceleration Time Constant" (0 to 20000[ms]). When deceleration time constant value is set
to "0", the deceleration stop is performed according to the deceleration time constant set in the parameter block.
• When using a linear servo motor, the speed limit is converted from [mm/min] to [rpm] units.
• When used together with coordinate transformation, operation stops temporarily, therefore use the smoothing filter of the
vibration suppression command filter function. When the smoothing filter is not set during machine program operation, a
warning (error code: 0EE0H(details code: 00F0H)) occurs. Refer to the following for details on the vibration suppression
command filter function.
MELSEC iQ-R Motion Controller Programming Manual (Positioning Control)
• The operation for when joint axis 1 and 2 are in interpolation operation, and a servo motor maximum speed over is detected
for joint axis 1 is shown below. When one joint axis exceeds the "servo motor maximum speed", all joint axes are stopped.
Servo motor speed
of joint axis
Motor maximum speed
(Joint axis 2)
[St.2120] Machine error detection
(M43904+32m)
Machine error code
• When the setting value of the servo motor maximum speed check parameter (servo motor maximum speed) is "0", this
function is invalid.
9 AUXILIARY AND APPLIED FUNCTIONS
100
9.3 Speed Restriction Function
Operation
Automatically adjusted speed operates at a speed for override ratio 100.0[%]. If a value exceeding 100.0[%] is set to
the override ratio, a warning (error code: 0EE0H) occurs, and operation is at override ratio of 100.0[%].
The command speed operates at a speed for override ratio 100.0[%]. The joint interpolation speed restriction is not
performed for speeds changed by the override function therefore if a value exceeding 100.0[%] is set to the override
ratio, the operation is stopped by error with the servo motor maximum speed check.
When one joint axis exceeds the motor maximum speed,
all joint axes perform a deceleration stop.
Joint axis 2
Joint axis 1
0
1FE2H
: Operation when "Motor maximum speed
: Operation when "Motor maximum speed=0"
Joint axis 2
Joint axis 1
t
º
0"