Backlash Compensation Amount; Upper/Lower Stroke Limit Value - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Backlash compensation amount

The machine backlash amount is set in the backlash compensation amount. Whenever the positioning direction changes
during positioning control, compensation is performed using the backlash compensation amount.
Refer to the Backlash Compensation Function for details. (Page 427 Backlash Compensation Function)

Upper/lower stroke limit value

The upper/lower limit value for the travel range of mechanical system is set.
RLS
Stroke limit
(lower)
Stroke limit range check
The stroke limit range is checked at the following start or during operation.
Operation start
Position follow-up control
Continuous trajectory control
Positioning control
Fixed-pitch feed control
*1
Speed control ()
*2
Speed control ()
Speed control ()
Speed/position switching control
(including restart)
JOG operation
Manual pulse generator operation
Speed-torque control
Pressure control
*1 When "[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)" is ON
*2 When "[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)" is OFF
3 PARAMETERS FOR POSITIONING CONTROL
172
3.3 Fixed Parameters
(Travel range of the machine)
Check Remarks
Check • It is checked whether the feed current value is within the stroke limit range or not at the positioning start. If
it outside the range, a minor error occurs (error code: 1993H,1995H) and positioning is not executed.
• When positioning is outside of the stroke limit range, a minor error (error code: 1A18H, 1A1AH) occurs,
and positioning is not executed.
• If the interpolation path exceeds the stroke limit range during circular interpolation start, a minor error
occurs (error codes: 1993H, 1995H, 19EDH) and deceleration stop is executed.
• If the current value exceeds the stroke limit range, deceleration stop is executed.
Not check The current value becomes "0", and operation continues until the external limit signal (FLS, RLS, STOP) is
received.
Check It is checked after the switch to position control without checking the stroke limit range while executing speed
control.
When the current value is executed a deceleration stop from current command speed, if the current value
exceeds the stroke limit range, a minor error occurs (error code: 1993H, 1995H), and deceleration stop is
made before a stroke limit.
Travel from outside the stroke range to the direction that returns the axis into the stroke range is possible.
For a degree axis, depending on the stroke limit setting, the direction that can return the axis into the stroke
range is different.
• When upper stroke limit value > lower stroke limit value
When "Feed current value > upper stroke limit value", movement in the reverse direction is possible.
When "Feed current value < lower stroke limit value", movement in the forward direction is possible.
• When upper stroke limit value < lower stroke limit value
Movement in both the forward and reverse direction is possible.
If the current value exceeds the stroke limit range, a minor error occurs (error code: 1993H, 1995H), and it
stops at stroke limit.
In this case, a deceleration stop is not made.
Travel from outside the stroke range to the direction that returns the axis into the stroke range is possible.
For a degree axis, depending on the stroke limit setting, the direction that can return the axis into the stroke
range is different.
• When upper stroke limit value > lower stroke limit value
When "Feed current value > upper stroke limit value", movement in the reverse direction is possible.
When "Feed current value < lower stroke limit value", movement in the forward direction is possible.
• When upper stroke limit value < lower stroke limit value
Movement in both the forward and reverse direction is possible.
If the current feed value exceeds the stroke limit range, a minor error occurs (error code: 1993H, 1995H), and
the mode is switched to position control.
External limit signal
FLS
Stroke limit
(upper)