Mitsubishi A1SD75M3 User Manual page 413

9 MAIN POSITIONING CONTROL
Restrictions
(1) If "continuous path control" is specified for "
"continuous path control not possible" (error code: 516) occurs, resulting in a
failure to start. (In the speed or position changeover control mode, "continuous
path control" cannot be set.)
(2) If "continuous path control" is specified for "
positioning data immediately before, "speed/position changeover control"
cannot be specified for "
example, if the operation pattern of positioning data No. 1 is "continuous path
control," "speed/position changeover control" cannot be specified for
positioning data No. 2.) If this setting is given, an error "continuous path
control not possible" (error code: 516) occurs, resulting in deceleration and
stop.
(3) If the current speed (-1) is specified for "
command speed" (error code: 503) occurs.
(4) If the position control movement amount specified for "
address/movement amount" is smaller than the deceleration distance from
Da.7
" Command speed," deceleration occurs when the speed/position
changeover signal is supplied.
(5) Turn on the speed/position changeover signal in a stable-speed area
(constant-speed state). If it is turned on during acceleration, a warning
"speed/position changeover signal ON during acceleration" (warning code:
508) occurs due to large variation in the accumulating pulses.
(6) The software stroke limit range check under speed control is performed only if
"1: update current feed value" is specified for "
speed control." At this time, if the movement amount exceeds the software
stroke limit range during speed control, an error "start outside stroke limit +/-"
(error code: 507/508) occurs at the timing of the change to position control,
resulting in deceleration and stop.
If the "degree" unit is selected, the software stroke limit range check is not
performed.
(7) Do not turn ON the speed/position changeover signal during speed change if
the servomotor is used. (Turn the speed/position changeover signal ON in the
stable-speed area (constant-speed state).) The actual movement amount after
switching is the "set movement amount + amount of accumulated pulses." If
the signal is turned on during acceleration or deceleration, there is variation in
the stopping position due to a large variation in the amount of accumulated
pulses. If " Command speed" varies even if "
Da.7
changeover control positioning amount" is the same, the amount of
accumulated pulses varies and therefore the stopping position varies.
(8) When the absolute position restoration mode is the "infinite length mode", an
error "control method setting error" (error code: 524) occurs, disabling a start.
Control method" in the positioning data. (For
Da.2
Da.7
9 - 55
MELSEC-A
Operation pattern, " an error
Da.1
Operation pattern" of the
Da.1
Command speed," an error "no
Da.5
Positioning
Current feed value during
Pr.22
Speed/position
Md.38