Mitsubishi Electric A173UHCPU Programming Manual page 108

4. PARAMETERS FOR POSITIONING CONTROL
POINT
(1) The data set in the parameter block is used for positioning control, zeroing,
and JOG operation.
(a) The parameter block No. used in positioning control is set from a
peripheral device when creating a servo program. If no parameter
block No. is set, control is executed in accordance with the contents
of parameter block No.1. It is also possible to set parameter block
data individually in the servo program.
[Servo program creation screen]
F1 COMMAND SELECTION
ITEM SET
1 : DWELL
2 : M CODE
3 :TORQUE
4 : P.B.
5 : UNIT
6 : S.R.
7 :
8 :
9 : E
A : P.TORQ.
B : STOP
C :
D : SPEED
E : S RATIO
(* : CAN SET)
1 COMM READ DELET AUX 2 3 4
UNIT: Interpolation control unit, S.R.: Speed limit value,
time, : Deceleration time, E
P-TORQ: Torque limit value, STOP: Deceleration processing on STOP
input,
: Allowable error range for circular interpolation, SPEED: Change speed
when constant-speed control is executed,
S RATIO: S-curve ratio when S-pattern processing is executed
(b) The parameter block No. used for zeroing is set when setting the
" zeroing data" with a peripheral device.
[Zeroing data setting screen]
[HOME POSITION RETURN DATA]
<mm>
AXIS SET DATA
METHOD
ADDRESS
SPEED
CREEP SPEED
MOVEMENT AFTER DOG
P .B.NO.
5
1 2 3 4
(c) The parameter block No. used for JOG operation is set when setting
the "JOG operation data" with a peripheral device.
[JOG operation data setting screen]
[JOG OPERATION DATA]
<mm>
AXIS SET DATA
1 200.00
2 P .B.NO.
1 2 3 4 5
<K 3>
POINT
BS-3
1
AXIS 1, 300000
(PLS)
AXIS 2, 550000
(PLS)
AXIS 3, -250000
(PLS)
SYN.SPEED 1500
(PLS/s)
P.B. 3
100
(ms)
700
(ms)
PROGRAM STEPS 10
USED PROGRAM 0/4096
5 6 7 PRE 8 NEXT 9 0
Parameter block setting
: Rapid stop deceleration time,
SETTING RANGE
0 0:REVERSE 1:FORWARD
0 0:DOG 1:COUNT 2:DATA SET
−214748364.8 – 214748364.7 ( µ m)
0.0
0.01 0.01 - 6000000.00 ( mm/min)
0.01 0.01 - 6000000.00 ( mm/min)
1 1 - 16
End:SET Esc:STOP
6 7 8 9 0
SETTING RANGE
0.01 - 6000000.00 ( mm/min)
1 1 - 16
End:SET Esc:STOP
6 7 8 9 0
4 − 23
Parameter block No. setting
Individual parameter block
setting
STOR
: Acceleration
Parameter block No. setting
Parameter block No. setting