Mitsubishi Electric MELSEC-L LD75P User Manual page 435

(8) Restrictions
(a) The axis error "Continuous path control not possible" (error code: 516) will occur
and the operation cannot start if "continuous path control" is set in "[Da.1]
Operation pattern".
(b) "Speed-position switching control" cannot be set in "[Da.2] Control system" 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 axis error
"Continuous path control not possible" (error code: 516) will occur and the machine
will carry out a deceleration stop if this type of setting is carried out.
(c) The error "No command speed" (error code: 503) will occur if "current speed (-1)" is
set in "[Da.8] Command speed".
(d) The software stroke limit range check during speed control is made only when the
following are satisfied:
• When "[Pr.21] Current feed value during speed control" is "1: Update current feed value"
If the movement amount exceeds the software stroke limit range during speed control in cases of settings
other than the one above, the error "Software stroke limit+" (error code: 507) or "Software stroke limit-"
(error code: 508) will occur as soon as speed control is changed to position control, and the axis will
decelerate to a stop.
• When "[Pr.1] Unit setting" is other than "2: degree"
If the unit is "degree", the software stroke limit range check is not performed.
(e) If the value set in "[Da.6] Positioning address/movement amount" is negative, the
error "Outside address range" (error code: 530) will occur.
(f) 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".
(g) 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: 508) will occur because of large deviation in
the droop pulse amount if the signal is turned ON during acceleration. During use of
the servomotor, the actual movement amount after switching of speed control to
position control is the "preset movement amount + droop pulse amount". 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 amount" is the same, the stop position will change
due to a change in droop pulse amount when "[Da.8] Command speed" is different.
CHAPTER 9 MAJOR POSITIONING CONTROL
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