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Mitsubishi Electric RD77MS2 User Manual Page 112

Melsec iq-r simple motion module.
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  • Contents

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Current feed value
The following table shows the "[Md.20] Current feed value" during speed control corresponding to the "[Pr.21] Current feed
value during speed control" settings. (However, the parameters use the set value of the reference axis.)
"[Pr.21] Current feed value during speed control" setting
0: Do not update current feed value
1: Update current feed value
2: Zero clear current feed value
V
In speed control
Current feed value during speed
control start is maintained
(a) Current feed value not updated
Restrictions
• Set "Positioning complete" in "[Da.1] Operation pattern". The error "Continuous path control not possible" (error code:
1A1EH to 1A20H) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is
set in "[Da.1] Operation pattern". ("Continuous positioning control" and "continuous path control" cannot be set in speed
control.)
• Set the WITH mode in the output timing when using an M code. The M code will not be output, and the M code ON signal
will not turn ON if the AFTER mode is set.
• The error "No command speed" (error code: 1A12H to 1A14H) will occur if the current speed (-1) is set in "[Da.8] Command
speed".
• Set "1: Reference axis speed" in "[Pr.20] Interpolation speed designation method". If "0: Composite speed" is set, the error
"Interpolation mode error" (Error code: 199AH) occurs and the positioning will not start.
• The software stroke limit check is not carried out if the control unit is set to "degree".
■Restriction for the speed limit value
When either of control axes (1 to 4 axes) exceeds the speed limit, that axis is controlled with the speed limit value. The
speeds of the other axes are limited at the ratios of "[Da.8] Command speed".
Ex.
When the axis 1 and the axis 2 are used
Setting item
[Pr.8]
Speed limit value
[Da.8]
Command speed
With the settings shown above, the operation speed in speed control is as follows.
• Axis 1: 4000.00 mm/min (Speed is limited by [Pr.8].)
• Axis 2: 3000.00 mm/min (Speed is limited at a ratio of an axis 1 command speed to an axis 2 command speed.)
Operation runs at speed 1 when a reference axis speed is less than 1 as a result of speed limit. In addition, when the bias
speed is set, the set value will be the minimum speed.
3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
V
In speed control
t
Current feed value is updated
(b) Current feed value updated
Axis 1 setting
4000.00 mm/min
8000.00 mm/min
[Md.20] Current feed value
The current feed value at speed control start is maintained.
The current feed value is updated.
The current feed value is fixed at 0.
V
In speed control
t
0
(c) Current feed value zero cleared
Axis 2 setting
5000.00 mm/min
6000.00 mm/min
t

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