Chapter 9 Auxiliary And Applied Functions; Relationship Between Machine Control And Each Function - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

9
AUXILIARY AND APPLIED FUNCTIONS
9.1
Relationship between Machine Control and Each
Function
The relationship between machine control and each function is shown below.
: Valid, : Invalid
Function
Torque limit function
Hardware stroke limit
Forced stop
Control change Current value change
Speed change
Torque limit value
Target position change
Absolute position system
M-code output function
Backlash compensation function
Speed control ()
Speed-torque control
Pressure control
Advanced synchronous control
File transmission at boot function
Parameter change function
Override function
Vibration suppression command filter
Servo motor maximum speed check
Each axis device
9 AUXILIARY AND APPLIED FUNCTIONS
90

9.1 Relationship between Machine Control and Each Function

Machine Details
control
 Torque limit value can be changed by torque limit value change instruction(M(P).CHGT/
D(P).CHGT, CHGT).

The same as positioning control.
 The same as other positioning methods.

The same as other positioning methods.
 Ignored.

The same as positioning control.

Ignored.

The same as other positioning methods.

M-code is stored in "[Md.2080] Machine M-code (D53273+128m)" and "[Md.25] M-code (R:
D32013+48n/Q: D13+20n)" of the machine configuration axis.

The same as other positioning methods.
 When machine configuration axes are in positioning control mode machine coordinates are
refreshed.

*: For modes other than positioning control mode, the position of joint axes becomes an

abnormal value, coordinates for the machine cannot be created correctly, and the updating
of machine coordinates stops.

Advanced synchronous control can be used.
During advanced synchronous control, machine coordinates are updated according to the
values of the joint axis.
 Machine common parameter, and machine parameter can be transmitted at boot.

Machine common parameter, and machine parameter can be changed.

Speed change by override is available.

The same as other positioning methods.

The servo motor maximum speed is checked for each axis during machine JOG operation,
and machine program operation.

• At the start completion of machine program operation "[St.1060] Positioning start complete
(R: M32400+32n/Q: M2400+20n)" turns ON. It does not turn ON at start of machine JOG
operation.
• At the command output completion to the positioning address of machine program operation
"[St.1061] Positioning complete (R: M32401+32n/Q: M2401+20n)" turns ON. It does not turn
ON when stopped midway.
• At the start of machine JOG operation or when stopped, "[St.1061] Positioning complete (R:
M32401+32n/Q: M2401+20n)" does not turn ON.
• During machine program operation, "[St.1062] In-position (R: M32402+32n/Q: M2402+20n)"
is always updated.
• From start of machine JOG operation until start of deceleration, "[St.1062] In-position (R:
M32402+32n/Q: M2402+20n)" is turned OFF.
• During machine program operation "[St.1063] Command in-position (R: M32403+32n/Q:
M2403+20n)" is not output.
• When executing the end positioning point in machine program operation, "[St.1048]
Automatic decelerating flag (R: M30208+n/Q: M2128+n)" is ON while automatic
deceleration is processing.