Mitsubishi Electric MELSEC iQ-R Series User Manual page 120

• The following table shows the items that must be set to use "[Cd.46] Speed-position switching command" as speed-position
switching signals.
n: Axis No. - 1
Setting item
[Cd.45] Speed-position switching device
selection
The setting is not required for "[Pr.42] External command function selection" and "[Cd.8] External command valid". Refer to
the following for information on the setting details.
Page 512 Control Data
Restrictions
• The error "Continuous path control not possible" (error code: 1B1EH to 1B20H) will occur and the operation cannot start if
"continuous path control" is set in "[Da.1] Operation pattern".
• "Speed-position switching control" cannot be set in "[Da.2] Control method" of the positioning data when "continuous path
control" has been set in "[Da.1] Operation pattern" of the immediately prior positioning data. (For example, if the operation
pattern of positioning data No.1 is "continuous path control", "speed-position switching control" cannot be set in positioning
data No.2.) The error "Continuous path control not possible" (error code: 1B1EH to 1B20H) will occur and the machine will
carry out a deceleration stop if this type of setting is carried out.
• The error "No command speed" (error code: 1B12H to 1B14H) will occur if the current speed (-1) is set in "[Da.8] Command
speed".
• If the value set in "[Da.6] Positioning address/movement amount" is negative, the error "Outside address range" (error
code: 1B30H, 1B31H) will occur.
• Even though the axis control data "[Cd.23] Speed-position switching control movement amount change register" was set in
speed-position switching control (ABS mode), it would not function. The set value is ignored.
• To exercise speed-position switching control (ABS mode), the following conditions must be satisfied:
1) "[Pr.1] Unit setting" is "2: degree"
2) The software stroke limit function is invalid (upper limit value = lower limit value)
3) "[Pr.21] Feed current value during speed control" is "1: Update feed current value"
4) The "[Da.6] Positioning address/movement amount" setting range is 0 to 359.99999 (degree). If the value is outside of the range, the error "Outside address
range" (error code: 1B30H, 1B31H) will occur at a start.
5) The "[Pr.81] Speed-position function selection" setting is "2: Speed-position switching control (ABS mode)".
• If any of the conditions in 1) to 3) is not satisfied in the case of 5), the error "Speed-position function selection error" (error
code: 1BAEH) will occur when the PLC READY signal [Y0] turns from OFF to ON.
• If the axis reaches the positioning address midway through deceleration after automatic deceleration started at the input of
the speed-position switching signal, the axis will not stop immediately at the positioning address. The axis will stop at the
positioning address after N revolutions so that automatic deceleration can always be made. (N: Natural number) In the
following example, since making deceleration in the path of dotted line will cause the axis to exceed the positioning
addresses twice, the axis will decelerate to a stop at the third positioning address.
Speed-position switching signal
Positioning
address
3 MAJOR POSITIONING CONTROL
118
3.2 Setting the Positioning Data
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Setting Setting details
value
2 Use "[Cd.46] Speed-position switching command" for switching
from speed control to position control.
360 added
Positioning
address
search engine
360 added
Positioning
address
Buffer memory address
Axis 1 to axis 16
4366+100n