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Restrictions
• 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".
• "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: 1A1EH to 1A20H) 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: 1A12H to 1A14H) will occur if "current speed (-1)" is set in "[Da.8] Command
speed".
• The software stroke limit range check during speed control is made only when the followings are satisfied:
"[Pr.21] Current feed value
during speed control" is "1:
Update current feed value".
When "[Pr.1] Unit setting" is
other than "2: degree"
• If the value set in "[Da.6] Positioning address/movement amount" is negative, the error "Outside address range" (error
code: 1A30H, 1A31H) will occur.
• Deceleration processing is carried out from the point where the speed-position switching signal is input if the position
control movement amount set in "[Da.6] Positioning address/movement amount" is smaller than the deceleration distance
from the "[Da.8] Command speed".
• Turn ON the speed-position switching signal in the speed stabilization region (constant speed status). The warning "Speed-
position switching (during acceleration) signal ON" (warning code: 0993H) will occur because of large deviation in the droop
pulse amount if the signal is turned ON during acceleration. During use of the servo motor, the movement amount is "[Da.6]
Positioning address/movement amount" from the assumed motor position based on "[Md.101] Real current value" at
switching of speed control to position control. Therefore, if the signal is turned ON during acceleration/deceleration, the
stop position will vary due to large variation of the droop pulse amount. Even though "[Md.29] Speed-position switching
control positioning movement amount" is the same, the stop position will change due to a change in droop pulse amount
when "[Da.8] Command speed" is different.
Setting positioning data
When using speed-position switching control (INC mode), set the following positioning data.
: Always set, : Set as required, : Setting not required
Setting item
[Da.1]
Operation pattern
[Da.2]
Control method
[Da.3]
Acceleration time No.
[Da.4]
Deceleration time No.
[Da.6]
Positioning address/movement amount
[Da.7]
Arc address
[Da.8]
Command speed
[Da.9]
Dwell time/JUMP destination positioning data No.
[Da.10]
M code/Condition data No./Number of LOOP to LEND repetitions/
Number of pitches
[Da.20]
Axis to be interpolated No.1
[Da.21]
Axis to be interpolated No.2
[Da.22]
Axis to be interpolated No.3
[Da.27]
M code ON signal output timing
[Da.28]
ABS direction in degrees
[Da.29]
Interpolation speed designation method
*1 Refer to the following for information on the setting details.
Page 445 Positioning Data
3 MAJOR POSITIONING CONTROL
118
3.2 Setting the Positioning Data
If the movement amount exceeds the software stroke limit range during speed control in case of the setting of other than "1:
Update current feed value", the error "Software stroke limit +" (error code: 1993H) or "Software stroke limit -" (error code: 1995H)
will occur as soon as speed control is changed to position control and the axis will decelerate to a stop.
If the unit is "degree", the software stroke limit range check is not performed.
Setting required/not required
(Set "Forward run: speed/position" or "Reverse run: speed/position".)
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Table of Contents
Troubleshooting
