Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 442

Speed control mode
■Operation for speed control mode
The speed control is executed at speed set in "Speed command device" in the speed control mode.
Set a positive value for forward rotation and a negative value for reverse rotation. "Speed command device" can be changed
any time during speed control mode.
Acceleration/deceleration is a trapezoidal acceleration/deceleration processing. Set acceleration/deceleration time toward
"Speed limit value at speed-torque control" in "Command speed acceleration time" and "Command speed deceleration time".
The value when the control mode switching request device turns OFF to ON is valid.
The command speed during speed control mode is limited with "Speed limit value at speed-torque control". If the speed
exceeds speed limit value is set, a warning (error code: 0A5FH) will occur, and the operation is controlled with speed limit
value.
Confirm the command speed to servo amplifier the "[Md.28] Command speed (R: D32024+48n, D32025+48n/Q: #8004+20n,
#8005+20n)".
Speed change request (CHGV, M(P).CHGV/D(P).CHGV) is invalid (no operation).
Torque limit value can be changed within the range of "Torque limit value at speed-torque control" by torque limit value change
request (CHGT, M(P).CHGT/D(P).CHGT). If the change outside the range of "Torque limit value at speed-torque control" is
requested by torque limit value change request, a warning (error code: 0A5EH) will occur, and the torque limit value is not
changed.
■Current feed value during speed control mode
"[Md.20] Feed current value (R: D32000+48n, D32001+48n/Q: D0+20n, D1+20n)" and "[Md.101] Real current value (R:
D32002+48n, D32003+48n/Q: D2+20n, D3+20n)" are updated even during speed control mode.
If the current feed value exceeds the software stroke limit, a minor error (error code: 1993H, 1995H) will occur and the
operation is switched to position control mode. Invalidate the software stroke limit to execute one-way feed.
■Stop cause during speed control mode
The operation for stop cause during speed control mode is shown below.
Item
The "[Rq.1140] Stop command (R: M34480+32n/Q: M3200+20n)"
turned ON.
The "[Rq.1141] Rapid stop command (R: M34481+32n/Q:
M3201+20n)" turned ON.
The external stop input turned ON.
The "[Rq.1123] All axis servo ON (R: M30042/Q: M2042)" turned
OFF.
The "[Rq.1155] Servo OFF command (R: M34495+32n/Q:
M3215+20n)" turned ON.
The current value reached to software stroke limit.
The position of motor reached to hardware stroke limit
The "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" turned OFF.
The forced stop input to Motion CPU.
The forced stop input to servo amplifier.
The servo error occurred.
The servo amplifier's control circuit power supply turned OFF.
7 AUXILIARY AND APPLIED FUNCTIONS
440
7.5 Speed-Torque Control
Operation during speed control mode
The motor decelerates to speed "0" by setting value of "command speed deceleration
time".
The mode is switched to position control mode when "ZERO speed (b3)" of "[Md.1022]
Servo status2 (R: D32033+48n/Q: #8011+20)" turns ON, and the operation stops.
The servo OFF is not executed during speed control mode. The command status at that
time becomes valid when the mode is switched to position control mode.
A minor error (error code: 1900H, 1905H, 1907H, 1993H, 1995H) will occur, and the
motor decelerates to speed "0" by setting value of "Command speed deceleration time".
The mode is switched to position control when "ZERO speed (b3)" of "[Md.1022] Servo
status2 (R: D32033+48n/Q: #8011+20n) turns ON, and the operation stops.
The mode is switched to position control mode when the servo OFF (The "[St.1075]
Servo ready (R: M32415+32n/Q: M2415+20n)" turns OFF) is executed. (While the servo
amplifier is servo OFF, even if the mode is switched to position control mode, the
servomotor occurs to the free run. (The operation stops with dynamic brake.))
The motor occurs to the free run. (The operation stops with dynamic brake.) (The mode
is to position control mode at the servo amplifier's power supply ON again.)