Opr Control; Outline Of Opr Control; Data Used For Control - Mitsubishi Electric MELSEC Q Series User Manual

7 OPR CONTROL

7. OPR CONTROL

7.1 Outline of OPR Control

In OPR control, a position is established as the starting point when executing
positioning control. The six methods of OPR control are shown below.
Through use of any of the methods, the current position becomes the value set in
"
turns ON. "OPR complete" turns OFF at the next operation start.
The OPR retry in the negative direction is executed at the hardware stroke limit
detection for some OPR methods. Presence/absence of retry is also shown below.
Method
Proximity dog type
Data set type
Stopper type
Dog cradle type
Limit switch combined type
Scale origin signal detection type

7.1.1 Data used for control

The parameters and control data used for OPR are shown below.
Refer to Section 6.3 to 6.8 for the buffer memory address and details.
Symbol
Pr.50 OPR method
Pr.51 OPR direction
Pr.52 OP address
Pr.54 OPR speed
Parameter
Pr.56 Creep speed
Pr.58 OPR acceleration time
Pr.59 OPR deceleration time
Pr.60 OP shift amount
Pr.62 OP search limit
Control data Cd.2 Start method
OP address" at OPR completion, and the "OPR complete (
Pr.52
Table 7.1 OPR method list
A method where deceleration being when the proximity dog turns ON and then the OP is
defined as the first zero point after the proximity dog turns back OFF.
A method which uses the JOG operation to move to any arbitrary position and then sets
that position as the home position. A proximity dog is unnecessary.
To set the OP, first set the torque limit to a value in which the stopper will not be
damaged. Next, perform a JOG operation and continue to JOG until the torque limit is
reached due to the stopper. The stopper type OPR is now set.
The dog cradle method performs a deceleration when the proximity dog turns ON. Then,
movement direction is reversed until the dog turns back OFF. At this point, movement is
again towards the dog sensor but at the set creep speed. As soon as the dog turns back
ON again, movement stops and the OP is defined.
The limit switch sensor in the opposite direction of the home sensor is used for OPR.
This method moves towards the limit switch and beings decelerating when the sensor
turns on. Movement then reverses and the home position is the first Z pulse after the
sensor turns back off.
The scale origin signal detection method beings deceleration upon the dog sensor ON.
Then, movement is reversed and the system detects for the linear scale's OP signal.
Once detected, the system decelerates to a stop and then returns to the scale's OP at
the set creep speed.
Items
Details
Select the OPR method.
Set the direction to execute the OPR.
Set the OP address at the OPR completion.
Set the movement speed for OPR.
Set the creep speed after proximity dog ON.
Set the acceleration time at the OPR.
Set the deceleration at the OPR.
Set the shift amount at the OP shift.
Set the limit on the movement amount at the OP search movement.
Set the start method (9000: OPR).
7 - 1
MELSEC-Q
Status 1: b1)"
Md.9
Retry
: Possible : Not possible
Details
7