Backlash Compensation Amount; Upper/Lower Stroke Limit Value - Mitsubishi Electric Q172CPU Programming Manual

6 PARAMETERS FOR POSITIONING CONTROL

6.2.2 Backlash compensation amount

6.2.3 Upper/lower stroke limit value

(1) Backlash compensation amount can be set within the following range.
(Refer to Section "8.2 Backlash Compensation Function" for details.)
Backlash compensation amount
0
Travel value per rotation
(2) The servo error may occur depending on the type of the servo amplifier
(servomotor) or operation cycle even if the backlash compensation amount which
fulfill the above condition. Set the backlash compensation amount within the
following range in order for servo error may not occur.
Maximum motor speed [r/min] × 1.2 × operation cycle [ms]
A
The upper/lower limit value for the travel range of the mechanical system is set.
RLS
Stroke limit
(lower)
Fig. 6.3 Travel range at the upper/lower stroke limit value setting
(1) Stroke limit range check
The stroke limit range is checked at the following start or during operation.
Operation start
• Positioning control
(PTP, Constant-speed)
• JOG operation
• Manual pulse
generator operation
(Note) : The operating system software is valid with SW5RN-SV43Q
If the current value exceeds the stroke limit range, a deceleration stop is made with
SW5RN-SV43Q
60[s] × 1000[ms]
(Travel range of the machine)
Check
• It is checked whether the positioning address is within the stroke
limit range or not at the positioning start. If it outside the range,
an error occurs (error code: 580) and positioning is not executed.
• If the interpolation path exceeds the stroke limit range during
circular interpolation start, an error occurs (error codes: 207,
208) and deceleration stop is executed.
• When the current value is executed a deceleration stop from
Check current command speed, if the current value exceeds the
stroke limit range, a deceleration stop is made before a stroke
limit. (Error code: 207) Travel to the direction that returns the
axis into the stroke range is possible.
• If the current value exceeds the stroke limit range, it stops at
stroke limit. (Error code: 207) In this case, a deceleration stop
is not made. Travel to the direction that returns the axis into
the stroke range is possible
(Ver.00B or before).
6 - 5
(=A) 65535[PLS]
FLS
Stroke limit
(upper)
Remarks
(Note)
.
(Note)
.
(Ver.00C or later).
[PLS]
Limit switch for
emergency stop