Mitsubishi Electric QD70D4 User Manual page 73

4 DATA USED FOR POSITIONING CONTROL
OPR method
0 : Near-point dog method
(1) Start machine OPR control.
(Start movement at the " OPR. 4 OPR speed" in the
" OPR. 2 OPR direction".)
(2) Detect the near-point dog ON, and start deceleration.
(3) Decelerate to " OPR. 5 Creep speed", and move with the
creep speed.
(At this time, the near-point dog must be ON.)
(4) When the first zero signal (one pulse of which is output
when the motor turns one revolution) after near-point dog
OFF is detected, the pulse output from the QD70D stops
and machine OPR control is completed.
1 : Stopper 1
(1) Start machine OPR control.
(Start movement at the " OPR. 4 OPR speed" in the
" OPR. 2 OPR direction".)
(2) Detect the near-point dog ON, and start deceleration.
(3) Decelerate to " OPR. 5 Creep speed", and move with the
creep speed.
(At this time, a torque limit is needed for the motor. If there is
no torque limit, the motor may fail at (4).)
(4) The axis contacts against the stopper at " OPR. 5 Creep
speed", and then stops.
(5) When the near-point dog turns ON and the " OPR. 9 OPR
dwell time" is passed, the pulse output from the QD70D
stops, and machine OPR control is completed.
2 : Stopper 2
(1) Start machine OPR control.
(Start movement at the " OPR. 4 OPR speed" in the
" OPR. 2 OPR direction".)
(2) Detect the near-point dog ON, and start deceleration.
(3) Decelerate to " OPR. 5 Creep speed", and move with the
creep speed.
(At this time, a torque limit is needed for the motor. If there is
no torque limit, the motor may fail at (4).)
(4) The axis contacts against the stopper at " OPR. 5 Creep
speed", and then stops.
(5) When the zero signal (signal output on detection of contact
with the stopper) is detected after a stop, the pulse output
from the QD70D stops and machine OPR control is
completed.
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V
OPR. 4 OPR speed
(2)
Pr. 6 Bias speed
at start
(3)
(1)
ON
Near-point dog OFF
Zero signal
V
OPR. 4 OPR speed
(2)
Pr. 6 Bias speed
at start
(3) (4)
(1)
ON
Near-point dog OFF
Dwell time
counting
V
OPR. 4 OPR speed
(2)
Pr. 6 Bias speed
at start
(3)
(1)
Zero signal
ON
Near-point dog OFF
MELSEC-Q
OPR. 5 Creep speed
(4)
t
First zero after
near-point dog OFF
OPR. 5 Creep speed
(5)
t
Range where motor
rotation is forcibly
stopped by stopper
Dwell time out
OPR. 5 Creep speed
Stopped by stopper
(4)
t
(5)
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