Sub Functions - Mitsubishi Electric MELSEC iQ-RD77MS2 User Manual

Sub functions

When the main functions are executed, this function compensates and limits controls, or adds functions.
The outline of the functions that assist positioning control using the Simple Motion module is described below.
Sub function
Functions Home position return retry
characteristic to function [RD77MS]
machine home
position return
Home position shift function
[RD77MS]
Functions that Backlash compensation
compensate function
control
Electronic gear function
Near pass function
Functions that Speed limit function
limit control
Torque limit function
Software stroke limit function
Hardware stroke limit function
Forced stop function
Functions that Speed change function
change control
details
Override function
Acceleration/deceleration
time change function
Torque change function
Target position change
function
Functions Pre-reading start function
related to
positioning start
Absolute position system
Functions Stop command processing for
related to deceleration stop function
positioning stop
Continuous operation
interrupt function
Step function
3 FUNCTION LIST
34
3.1 Control Functions
Details
This function retries the home position return with the upper/lower limit switches during the machine home
position return. This allows machine home position return to be carried out even if the axis is not returned
to before the proximity dog with JOG operation, etc.
After returning to the machine home position, this function compensates the position by the designated
distance from the machine home position and sets that position as the home position address.
This function compensates the mechanical backlash amount. Feed commands equivalent to the set
backlash amount are output each time the movement direction changes.
By setting the movement amount per pulse, this function can freely change the machine movement
amount per commanded pulse.
When the movement amount per pulse is set, a flexible positioning system that matches the machine
system can be structured.
*1
This function suppresses the machine vibration when the speed is changed during continuous path control
in the interpolation control.
If the command speed exceeds "[Pr.8] Speed limit value" during control, this function limits the
commanded speed to within the "[Pr.8] Speed limit value" setting range.
If the torque generated by the servomotor exceeds "[Pr.17] Torque limit setting value" during control, this
function limits the generated torque to within the "[Pr.17] Torque limit setting value" setting range.
If a command outside of the upper/lower limit stroke limit setting range, set in the parameters, is issued,
this function will not execute positioning for that command.
This function carries out deceleration stop with the hardware stroke limit switch.
This function stops all axes of the servo amplifier with the forced stop signal.
This function changes the speed during positioning.
Set the new speed in the speed change buffer memory ([Cd.14] New speed value), and change the speed
with the speed change request ([Cd.15]).
This function changes the speed within a percentage of 0 to 300% during positioning. This is executed
using "[Cd.13] Positioning operation speed override".
This function changes the acceleration/deceleration time during speed change.
This function changes the "torque limit value" during control.
This function changes the target position during positioning.
Position and speed can be changed simultaneously.
This function shortens the virtual start time.
This function restores the absolute position of designated axis.
Function that selects a deceleration curve when a stop cause occurs during deceleration stop processing
to speed 0.
This function interrupts continuous operation. When this request is accepted, the operation stops when the
execution of the current positioning data is completed.
This function temporarily stops the operation to confirm the positioning operation during debugging, etc.
The operation can be stopped at each "automatic deceleration" or "positioning data".