Expansion Parameters - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual
Melsec iq-r series, positioning control
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- Programming manual (460 pages) ,
- Programming manual (124 pages) ,
- Programming manual (216 pages)
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3.7
Expansion Parameters
The expansion parameters are data to execute the following operation by the parameters set in each axis.
• Monitor individually the positive and negative direction torque limit value.
• Change the acceleration/deceleration time when changing speed.
• When performing positioning control in the absolute data method on a degrees axis, specify the positioning direction.
[Motion Control Parameter] [Axis Setting Parameter] [Axis Setting Parameter]
No.
Item
1
Positive direction torque
limit value monitor
*3
device
2
Negative direction
torque limit value
*3
monitor device
3
Accelerati
Accelerati
on/
on/
deceleratio
deceleratio
n time
n time
change
change
parameter
enable
device
4
New
acceleratio
n time
value
device
5
New
deceleratio
n time
value
device
6
Servo
Maximum
motor
servo
maximum
motor
speed
speed
check
Decelerati
parameter
on time
constant
7
ABS direction in degrees
*3*5
device
*1 For direct setting using MT Developer2, use the decimal format instead of the exponential format.
*2 Refer to the indirect setting method by devices for parameters for the range of devices used for indirect setting. (Page 168 Indirect
Setting Method by Devices for Parameters)
*3 This setting can be omitted.
*4 When 0 is set, a deceleration stop is executed according to the stop deceleration time set in the parameter block.
*5 Can be set when the unit setting of the fixed parameter is "degree".
*6 During position follow-up control, the values of devices that were indirectly set at the change of the positioning address are input again.
*7 For continuous trajectory control, operation is by the settings at the start, even if the settings were changed during operation.
3 PARAMETERS FOR POSITIONING CONTROL
192
3.7 Expansion Parameters
Default
Setting range
value
mm
inch
*3
*3
*3
0 (10-2
0 to 10000000(10
[r/min])
0[ms]
0 to 20000[ms]
Direct
setting
1
degree
pulse
Valid/
invalid
-2
[r/min])
*4
*2
Indirect setting
Refresh
*
cycle
Valid/
Fetch
invalid
cycle
(Required
size)
(1 word)
Operation
cycle
(1 word)
(1 bit)
At request
of speed
change
(2 word)
(2 word)
(2 word)
At
machine
operation
start
(1 word)
At
program
*6*7
start
Reference
section
Page
193
Page
194
Page
195
Page
197
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