Mitsubishi Electric MELSEC-L LD75P User Manual page 441

(7) Restrictions
(a) The axis error "Continuous path control not possible" (error code: 516) will occur
and the operation cannot start if "continuous positioning control" or "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) If the value set in "[Da.6] Positioning address/movement amount" is negative, the
error "Outside address range" (error code: 530) will occur.
(e) Even though the axis control data "[Cd.23] Speed-position switching control
movement amount change register" was set in speed-position switching control
(ABS mode), it would not function. The set value is ignored.
(f) To exercise speed-position switching control (ABS mode), the following conditions
must be satisfied:
• "[Pr.1] Unit setting" is "2: degree"
• The software stroke limit function is invalid (upper limit value = lower limit value)
• When "[Pr.21] Current feed value during speed control" is "1: Update current feed value"
• The setting range of "[Da.6] Positioning address/movement amount" is within 0 to 359.99999 (degree)
(If the value is outside of the range, the error "Outside address range" (error code: 530) will occur at the
start.)
• The "[Pr.150] Speed-position function selection" setting is "2: Speed-position switching control (ABS
mode)".
(g) With speed-position switching control (ABS mode) and the "[Pr.150] Speed-position
function selection" being set to "2: Speed-position switching control (ABS mode)",
if the conditions ("[Pr.1] Unit setting" set to "2: degree", software stroke limit
function invalid (upper limit value = lower limit value), "[Pr.21] Current feed value
during speed control" set to "1: Update current feed value) are not satisfied, the
error "Speed-position function selection error" (error code: 935) will occur when the
PLC READY signal [Y0] turns from OFF to ON.
CHAPTER 9 MAJOR POSITIONING CONTROL
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