Precautions When Using Vibration Suppression Command Filter - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Monitor values when using vibration suppression command filter
Although the positioning complete signal is turned ON after positioning control, because of the delay caused by the filter, the
actual positioning operation may not be complete. To check the completion of command outputs to the positioning address,
check the command output complete signal after the filter.
Each monitor value is as follows when filter is set.
Monitor value for before filter
• [St.1040] Start accept flag (R: M30080+n/Q: M20001+n)
• [St.1061] Positioning complete (R: M32401+32n/Q: M2401+20n)
• [St.1063] Command in-position (R: M32403+32n/Q: M2403+20n)
• [Md.20] Feed current value (R: D32000+48n, D32001+48n/Q: D0+20n,
D1+20n)
• [Pr.300] Servo input axis type (feed current value, servo command value)
• [St.1048] Automatic decelerating flag (R: M30208+n/Q: M2128+n)

Precautions when using vibration suppression command filter

• The filter is performed when processing send commands to the servo amplifier and the results are reflected in "[Md.28]
Command speed (R: D32024+48n, D32025+48n/Q: #8004+20n, #8005+20n)", "feed current value monitor device after
filter", and "servo command value" in the optional data monitor, but values before filter are reflected in "[Md.20] Feed
current value (R: D32000+48n, D32001+48n/Q: D0+20n, D1+20n)", "[St.1063] Command in-position (R: M32403+32n/Q:
M2403+20n)", "[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)", "[St.1061] Positioning complete (R: M32401+32n/
Q: M2401+20n)" etc. When checking the actual completion of positioning operation, use "[St.1062] In-position (R:
M32402+32n/Q: M2402+20n)" and "command output complete signal after filter" together.
• When using vibration suppression command filter 1, FIN acceleration/deceleration cannot be used. With mode selection
device set , and FIN acceleration/deceleration set in continuous trajectory control, a warning (error code: 0A39H) occurs
and FIN acceleration/deceleration is disabled. When using FIN acceleration/deceleration, do not set the mode selection
device of vibration suppression command filter 1.
• "[Md.20] Feed current value (R: D32000+48n, D32001+48n/Q: D0+20n, D1+20n)" is updated with the value before filter,
and "[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)", "[St.1061] Positioning complete (R: M32401+32n/Q:
M2401+20n)", and "[St.1063] Command in-position (R: M32403+32n/Q: M2403+20n)" operate based on "[Md.20] Feed
current value (R: D32000+48n, D32001+48n/Q: D0+20n, D1+20n)". Check the positioning command being sent to the
servo amplifier with "feed current value monitor device after filter", or "servo command value" in the optional data monitor.
"[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)" turns OFF with the value before filter, however at this stage the
command being sent to the servo amplifier may not have reached the target position. To confirm if the command has
reached the target position, check that the "command output complete signal after filter" is turned ON.
7 AUXILIARY AND APPLIED FUNCTIONS
470
7.9 Vibration Suppression Command Filter
Monitor value for after filter
• Feed current value monitor device after filter
• Command output complete signal after filter
• [Md.101] Real current value (R: D32002+48n, D32003+48n/Q: D2+20n,
D3+20n)
• [Md.102] Deviation counter value (R: D32004+48n, D32005+48n/Q:
D4+20n, D5+20n)
• [Md.28] Command speed (R: D32024+48n, D32025+48n/Q: #8004+20n,
#8005+20n)
• [Pr.300] Servo input axis type (real current value, feedback value)
• Optional data monitor (registered monitor: Servo command value)
• Mark detection data (servo command value)
• Limit output data (Watch data: Servo command value)