Setting Items For Opr Parameters; Checking The Opr Parameters - Mitsubishi Electric QD77MS User Manual

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5.1.3 Setting items for OPR parameters

OPR parameters

OPR direction

Setting for the movement amount after

near-point dog ON

OPR acceleration time selection

OPR deceleration time selection

OP shift amount

OPR torque limit value

Operation setting for incompletion of OPR

Speed designation during OP shift

Dwell time during OPR retry

: Always set

: Set as required

: Setting not required (When the value is the default value or within the setting range, there is no problem.)

R : Set when using the "13.2.1 OPR retry function" ("–" when not set)

S : Set when using the "13.2.2 OP shift function" ("–" when not set)

(Note-1): The OPR operation follows the OPR direction set in the driver and does not refer to "[Pr.44] OPR direction".

However, "[Pr.44] OPR direction" must be set when using the backlash compensation function.

When the positioning is executed in the reverse direction against "[Pr.44] OPR direction", the backlash

compensation is executed in the axis operation such as positioning after the driver OPR. Set the same

direction to "[Pr.44] OPR direction" of the Simple Motion module and the last OPR direction of the driver.

When carrying out "OPR control", the "OPR parameters" must be set. The setting

items for the "OPR parameters" are shown below.

The "OPR parameters" are set for each axis.

Refer to Chapter 8 "OPR control" for details on the "OPR control", and refer to Section

5.2 "List of parameters" for details on each setting item.

[Pr.43] to [Pr.57] are checked with the following timing.

When the "PLC READY signal [Y0]" output from the PLC CPU to the Simple

Motion module changes from OFF to ON.

When the positioning test of GX Works2 is executed.

Chapter 5 Data Used for Positioning Control

Machine OPR control

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