Control Details - Mitsubishi Electric MELSEC iQ-R Series User Manual

Control details

MC_MoveVelocity switches the driver control mode to csv and executes control. This function controls the set velocity based
on the specified acceleration, deceleration, and jerk. To finish this FB, start MC_Stop.
Velocity initial value selection
Set the "velocity initial value selection (options bit16, 17)" when switching the following control mode.
• Position controlVelocity control
Setting value
0: Set velocity
1: Actual velocity
2: Automatic selection
*1 When Velocity actual value is not mapped, motor speed received from the drive unit at switching is not used.
becomes "0".)
*2 When Velocity actual value is not mapped, velocity commanded to the drive unit immediately after switching becomes "0: Set velocity".
Operation at stop cause occurrence
The following shows stop causes during the velocity control mode and the process when each cause occurs.
Cause Stop cause
No.
1 "Forced stop input" is FALSE
2 Drive unit power supply is FALSE
Drive unit network disconnection detection
Drive unit
Forced stop input to the drive unit
Enable of MC_Power is FALSE
ServoON of MC_Power is FALSE (When
AxisName.Pr.StopMode_ServoOff is
"4:ServoOffAfterImmediateStop")
3 Hardware stroke limit upper/lower limit
error occurrence
4 CPU module error occurrence
PLC READY [Y0] is OFF
5 Software stroke limit upper/lower limit error
occurrence
6 Axis error detection
7 Execute of MC_Stop is TRUE
8 "Stop signal" of external input signal is
TRUE
*1 The servo turns OFF in the driver side and immediate stop is performed, and also the motion side command is stopped.
*2 Operation differs depending on the setting value selected in AxisName.Pr.StopMode_ServoOff. For details, refer to the following.
Page 130 Relevant variables/FB
*3 If an axis error (the error that transits the state into the "1: ErrorStop" status) occurs in the FB which can be linked by the buffer mode,
deceleration stop will be performed from the error occurrence.
*4 When Execute of MC_Stop is FALSE at stop completion, the axis status (AxisName.Md.AxisStatus) after stop will be "4: Standstill".
*5 After the stop, the control returns to csp.
7 DIRECT CONTROL
246
7.1 Velocity Control
Description
The velocity during command is used as the velocity commanded to the drive unit immediately after switching.
Motor speed received from the drive unit at switching is used.
The lower velocity between "0: Set velocity" and "1: Actual velocity" is used as the velocity commanded to the
drive unit immediately after switching.
Axis status
(AxisName.Md.AxisStatus)
During
deceleration
stop


*2
1: ErrorStop
1: ErrorStop
1: ErrorStop
*3
1: ErrorStop
2: Stopping
No change
*1
*2
Stop process
After stop
1: ErrorStop Immediate stop
1: ErrorStop Immediate stop
1: ErrorStop Deceleration stop/Immediate stop
(Follows AxisName.Pr.StopMode_HwStrokeLimit)
1: ErrorStop Deceleration stop/Immediate stop
(Follows System.Pr.StopMode_All)
1: ErrorStop Deceleration stop/Immediate stop
(Follows AxisName.Pr.StopMode_SwStrokeLimit)
1: ErrorStop Deceleration stop/Immediate stop
(Follows AxisName.Pr.StopMode_General)
*4
2: Stopping Deceleration stop
(Follows the deceleration speed set in the FB)
4: Standstill Deceleration stop/Immediate stop
(Follows AxisName.Pr.StopMode_General)
(Speed initial value selection
*1
*1
*5
*5
*5
*5
*5
*5