Mitsubishi Electric MELSEC iQ-R-RD75P4 User Manual page 126

Restrictions
• Set Positioning complete to [Da.1] Operation pattern. If Continuous positioning control or Continuous path control is set,
Continuous path control not possible (Error code: 1A1EH, 1A1FH) occurs and the control will not start. (Continuous
positioning control and Continuous path control cannot be set for the speed control.)
• If Current speed (-1) is set to [Da.8] Command speed, No command speed (Error code: 1A13H) occurs.
• When the unit is degree, the software stroke limit is not checked.
• Set Reference axis speed to [Pr.20] Interpolation speed specification method. If Composite speed is set, Interpolation mode
error (Error code: 199AH) occurs and the positioning will not start.
■Restriction on speed limit value
If any axis of the control axes (1 to 4 axes) exceeds the value in [Pr.8] Speed limit value, the axis exceeding the speed limit
value is controlled with the speed limit value. In this case, the speeds of the other axes are limited by the ratio of [Da.8]
Command speed.
Ex.
When the axis 1 and 2 are used
Setting item
[Pr.8] Speed limit value
[Da.8] Command speed
When the values above are set, the operating speed during the speed control is as follows.
• Axis 1: 4000.00mm/min (the speed is limited by [Pr.8].)
• Axis 2: 3000.00mm/min (the speed is limited by the ratio of the command speeds of the axis 1 and 2.)
When the reference axis speed is less than 1 as the result of the speed limit, the operation is performed at the speed 1. When
the bias speed is set, the lowest speed is the bias speed.
Positioning data to be set
To use the speed control (Forward run speed 1 to 4, Reverse run speed 1 to 4), set the following positioning data.
: Always set, : Set as required, : Setting not required
Setting item
[Da.1] Operation pattern
[Da.2] Control method
[Da.3] Acceleration time No.
[Da.4] Deceleration time No.
[Da.5] Axis to be interpolated
[Da.6] Positioning address/movement amount
[Da.7] Arc address
[Da.8] Command speed
[Da.9] Dwell time
[Da.10] M code
[Da.27] M code ON signal output timing
[Da.28] ABS direction in degrees
[Da.29] Interpolation speed specification method
*1 To use the 2-axis speed control (interpolation), the axis to be used as the interpolation axis needs to be set.
*2 To use the 1-axis speed control, the setting is not required.
For details on the settings, refer to the following.
Page 420 Positioning Data
3 MAJOR POSITIONING CONTROL
124
3.2 Positioning Data Setting
Axis 1
4000.00mm/min
8000.00mm/min
Setting requirement of
reference axis




*1








*2

Axis 2
5000.00mm/min
6000.00mm/min
Setting requirement of
interpolation axis












