Mitsubishi Electric R32MTCPU Programming Manual page 39

Units for the command generation axis
The position units and speed units for the command generation axis are shown below for the setting "[Pr.341] Command
generation axis type".
■Command generation axis position units
Setting value of "[Pr.341] Command
generation axis type"
0: mm
1: inch
2: degree
3: pulse
■Command generation axis speed units
Setting value of "[Pr.341] Command
generation axis type"
0: mm
1: inch
2: degree
3: pulse
*1 When "[Pr.345] Command generation axis speed control 10multiplier setting for degree axis" is valid, this will be the speed unit
-2
"10 degree/min" (Range: -21474836.48 to 21474836.47 [degree/min]).
Speed control with fixed position stop for command generation axis
Speed control with fixed position stop can be performed for the command generation axis.
Speed control with fixed position stop is started using the PVF (forward rotation) or PVR (reverse rotation) of servo program
instruction.
■Control details
• After starting of command generation axis, control at the specified speed is executed until the fixed position stop command
turns on.
Servo instruction Description
PVF Forward rotation direction (Address increase direction) start
PVR Reverse rotation direction (Address decrease direction) start
• When the fixed position stop command turns on, a positioning control to the specified address is executed.
• Speed control with fixed position stop can be executed in the command generation axis with all the control units where
"[Pr.346] Command generation axis length per cycle" is set to 1 to 2147483647. When "[Pr.346] Command generation axis
length per cycle" is "0", the minor error (error code: 19EAH) will occur, and the control will not start.
• Address setting range is "0 to ("[Pr.346] Command generation axis length per cycle"-1)" in the indirect setting of positioning
address. If it is set outside the setting range, a minor error (error code: 1A31H) occurs and it does not start. Positioning
address is input at the program start.
• It is controlled in the fixed position stop acceleration/deceleration time set in the servo program at positioning start, speed
change request (CHGVS) and fixed position stop command ON. The fixed acceleration/deceleration time method is used
as an acceleration/deceleration processing in this case.
• The setting range of fixed position stop acceleration/deceleration time is 1 to 8388608[ms].
• In the case of indirect setting, the fixed position stop acceleration/deceleration time is input in the following timing.
• Positioning start
• Speed change request (CHGVS)
• Fixed position stop command ON
• When the positioning to specified address completes, the "[St.341] Command generation axis positioning complete signal
(M9801+20n)" turns ON. It does not turn on at the time of stop by the "[Rq.341] Command generation axis stop command
(M10960+20n)"/"[Rq.342] Command generation axis rapid stop command (M10961+20n)". The "[St.341] Command
generation axis positioning complete signal (M9801+20n)" turns off at leading edge of "[Rq.345] Command generation axis
complete signal OFF command (M10964+20n)" or positioning start.
Command generation axis position unit
-1
10 m
-5
10
inch
-5
10
degree
pulse
Command generation axis position unit
-2
10
mm/min
-3
10
inch/min
-3 *1
10
degree/min
pulse/s
Range
-214748364.8 to 214748364.7[m]
-21474.83648 to 21474.83647[inch]
-21474.83648 to 21474.83647[degree]
-2147483648 to 2147483647[pulse]
Range
-21474836.48 to 21474836.47[mm/min]
-2147483.648 to 2147483.647[inch/min]
-2147483.648 to 2147483.647[degree/min]
-2147483648 to 2147483647[pulse/s]
4 INPUT AXIS MODULE
4.2 Command Generation Axis
4
*1
37