Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 249

Parameter block
Set when changing the parameter block (if not set, the default value) set in the servo program. (The data of the parameter
block is not changed.)
Only the data in the specified parameter block that is changed can be set.
Refer to Parameter block for details. (Page 215 Parameter Block)
• Interpolation control unit
• Speed limit value
• Acceleration time
• Deceleration time
• Rapid stop deceleration time
• S-curve ratio
• Advanced S-curve acceleration/deceleration (acceleration/deceleration system, acceleration section 1 ratio, acceleration
section 2 ratio, deceleration section 1 ratio, deceleration section 2 ratio)
• Torque limit value
• Deceleration processing on STOP input
• Allowable error range for circular interpolation
• Bias speed at start
Others
■Repeat condition
• Number of repetitions
Set the repeat conditions between FOR-TIMES instruction and NEXT instruction.
• ON/OFF
Set the repeat conditions between FOR-ON/OFF instruction and NEXT instruction.
■Program No.
Set the program No. for simultaneous start.
■Command speed (continuous trajectory)
Set the speed for points on the way in the servo program.
■Skip
Set to cancel positioning to pass point and execute the positioning to the next point by turning on the specified bit device
during positioning at each pass point for continuous trajectory control instruction.
■FIN acceleration/deceleration
Set to execute positioning to each pass point for continuous trajectory control instruction by turning on the FIN signal.
■WAIT-ON/OFF
Set to make state of the waiting for execution by continuous trajectory control and execute the positioning immediately by
turning on/off the command bit device.
■Fixed position stop acceleration/deceleration time
Set the acceleration/deceleration time used in the starting of speed control with fixed position stop, speed change request
(CHGV) or fixed position stop command ON.
■Fixed position stop
Set the command bit device of fixed position stop.
4 SERVO PROGRAMS FOR POSITIONING CONTROL
247
4.3 Positioning Data
4