Mitsubishi Electric MELSEC Q Series Programming Manual page 128

4 PARAMETERS FOR POSITIONING CONTROL
Operation start
• Position follow-up control
• Constant-speed control
• Speed switching control
• Positioning control
• Fixed-pitch feed control
(Note-1)
• Speed control ( )
(Note-2)
• Speed control ( )
• Speed control ( )
• Speed-position switching
control (including restart)
• JOG operation
• Manual pulse generator
operation
• Speed-torque control
QDS
(1) Stroke limit range check
The stroke limit range is checked at the following start or during operation.
Check
• Checks whether or not the feed current value is within the stroke limit range at the
positioning start. If the value is outside the range, a minor error occurs (error code: 106)
and positioning is not executed.
Check
• If the interpolation path exceeds the stroke limit range during circular interpolation
start, a minor error occurs (error codes: 207, 208) and deceleration stop is executed.
• If the current value exceeds the stroke limit range, deceleration stop is executed.
• The current value becomes "0", and operation continues until the external limit signal
Not check
(FLS, RLS, STOP) is received.
• Checks the stroke limit range after the switch to position control, but not while
executing speed control.
• When the current value executes a deceleration stop from the current command
speed, if the current value exceeds the stroke limit range, a minor error occurs (error
code: 207), and deceleration stop is made before reaching the stroke limit. Travel from
outside the stroke limit range to the direction that returns the axis into the stroke limit
range is possible.
• For a degree axis, depending on the stroke limit setting, the direction that can return
the axis into the stroke limit range is different.
1) When upper stroke limit value > lower stroke limit value
When "Feed current value > upper stroke limit value", movement in the negative
direction is possible.
When "Feed current value < lower stroke limit value", movement in the positive
direction is possible.
2) When upper stroke limit value < lower stroke limit value
Movement in both the positive and negative direction is possible.
Check
• If the current value exceeds the stroke limit range, a minor error occurs (error code:
207), and it stops at stroke limit. In this case, a deceleration stop is not made. Travel
from outside the stroke limit range to the direction that returns the axis into the stroke
range is possible.
• For a degree axis, depending on the stroke limit setting, the direction that can return
the axis into the stroke limit range is different.
1) When upper stroke limit value > lower stroke limit value
When "Feed current value > upper stroke limit value", movement in the negative
direction is possible.
When "Feed current value < lower stroke limit value", movement in the positive
direction is possible.
2) When upper stroke limit value < lower stroke limit value
Movement in both the positive and negative direction is possible.
• If the current feed value exceeds the software stroke limit range, a minor error occurs
(error code: 207), and the mode is switched to position control.
POINTS
(1) Besides setting the upper/lower stroke limit value in the fixed parameters, the
range of mechanical system can also be controlled by using the external limit
signals (FLS, RLS).
(2) When the external limit signal turns off, a deceleration stop is executed.
"Deceleration time" and "Rapid stop deceleration time" can be used in the
parameter block for deceleration stop time.
Remarks
(Note-1): When feed current value update command (M3212+20n) is ON.
(Note-2): When feed current value update command (M3212+20n) is OFF.
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