Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 460

Processing details
• Feed/dwell operation starts by turning ON the feed/dwell startup device from the sequence program or Motion SFC
program. When feed/dwell operation is started, a check of set data, change speed switching point, and speed zero check is
performed.
• Based on the mode switching information set in the feed to dwell switching conditions, the Motion CPU automatically
determines the switching point to dwell mode.
• After starting operation, control is performed with the values that were set.
• Upon reaching the end address, the mode is reset. (Switch from pressure control to positioning control)
• Speed/pressure changes can be ended at the number of feed/dwell steps that are set.
• The switching timer is ignored, and the end pressure of the dwell operation continues until the feed/dwell startup device is
turned OFF. This setting can also be changed to mode reset at the passing of the switching timer in the mode reset
selection after passing dwell time. The dwell time passed (b4) of the pressure control status device turns ON after the
passing of the switching timer for the end pressure, and turns OFF with the feed/dwell startup device turning OFF to ON.
• The feed start step operates at "pressure command time constant = 0" without referring to the settings. Step 2 and after,
operates at the set time constant.
• The execution point No. is stored as the execution step in bits.
• The pressure release operation cannot be executed during feed/dwell operation.
• When the required setting values at the startup of pressure control are outside the range, the pressure control status device
(feed/dwell (b0)) does not turn ON, and a minor error (error code: 19E1H) occurs.
• When the required setting values are changed to values outside the range during pressure control, the setting values are
ignored, operation continues with the present setting values, and a warning (error code: 09E3H) occurs.
• Abnormal pressure switching forcibly switches from feed mode to dwell mode when the time in an abnormal state exceeds
the time that was set to abnormal pressure. Selecting the abnormal pressure switching mode beforehand is necessary.
When "[Rq.2000] PLC ready flag (R: M30000/Q: M2000)" turns OFF at feed or pressure release operation, pressure control
mode ends. Set the "Stop function at forward/reverse side" of the servo parameter "Pressure control function selection 1
(PT12)" to "1 (Stop at forward side: Valid, stop at reverse side: Invalid)". When stop at reverse side is set to "Valid", a minor
error (error code: 19DFH) occurs. Set a software stroke limit in a mode where the pressure control axis will continue
reversing due to a failure in the load cell during pressure control.
• When an axis that has pressure control set to valid does not support pressure control, a minor error (error code: 1CB1H)
occurs.
Mode selection
By setting the mode selection, "0: The time constant is valid for the second step and after", or "1: The time constant is invalid
and pressure command points for the second step and after are connected with a straight line" can be selected for the
pressure command of the second step of dwell operation and after.
Pressure
32767
6000
Change by the
pressure command
5000
time constant
at switching
4000
3000
2000
1000
0
0
Feed Dwell
operation step 1
7 AUXILIARY AND APPLIED FUNCTIONS
458
7.7 Pressure Control
Connect two points
with a straight line
Change by the pressure
command time constant
1000 2000 3000 4000
Dwell Dwell Dwell
step 2 step 3 step 4
: Mode selection "0"
: Mode selection "1"
Time [ms]
5000 6000
Dwell
step 5