Current Value Changing - Mitsubishi Electric MELSEC iQ-R Series User Manual

Current value changing

When the current value is changed to a new value, control is carried out in which "[Md.20] Feed current value" of the stopped
axis is changed to a random address set by the user. ("[Md.21] Machine feed value" is not changed when the current value is
changed.)
The two methods for changing the current value are shown below.
• Changing to a new current value using the positioning data
• Changing to a new current value using the start No. (No.9003) for a current value changing
The current value changing using method [1] is used during continuous positioning of multiple blocks, etc.
Changing to a new current value using the positioning data
In "current value changing" ("[Da.2] Control method" = current value changing), "[Md.20] Feed current value" is changed to
the address set in "[Da.6] Positioning address/movement amount".
■Operation chart
The following chart shows the operation timing for a current value changing. "[Md.20] Feed current value" is changed to the
value set in "[Da.6] Positioning address/movement amount" when the positioning start signal turns ON.
■4-axis module operation example
Positioning start signal
[Y10, Y11, Y12, Y13]
[Md.20] Feed current value
■Restrictions
• The error "New current value not possible" (error code: 1B1CH, 1B1DH) will occur and the operation cannot start if
"continuous path control" is set in "[Da.1] Operation pattern". ("Continuous path control" cannot be set in current value
changing.)
• "Current value changing" cannot be set in "[Da.2] Control method" of the positioning data when "continuous path control"
has been set in "[Da.1] Operation pattern" of the immediately prior positioning data. (For example, if the operation pattern of
positioning data No.1 is "continuous path control", "current value changing" cannot be set in positioning data No.2.) The
error "New current value not possible" (error code: 1B1CH, 1B1DH) will occur and the machine will carry out a deceleration
stop if this type of setting is carried out.
• The error "Outside new current value range" (error code: 1A97H) will occur and the operation cannot start if "degree" is set
in "[Pr.1] Unit setting" and the value set in "[Da.6] Positioning address/movement amount (0 to 359.99999 [degree])" is
outside the setting range.
• If the value set in "[Da.6] Positioning address/movement amount" is outside the software stroke limit ([Pr.12], [Pr.13]) setting
range, the error "Software stroke limit +" (error code: 1B18H) or "Software stroke limit -" (error code: 1B1AH) will occur at
the positioning start, and the operation will not start.
• The error "Software stroke limit +" (error code: 1A94H) or "Software stroke limit -" (error code: 1A96H) will occur if the new
current value is outside the software stroke limit range.
• The new current value using the positioning data (No.1 to 600) cannot be changed, if "0: Positioning control is not
executed" is set in "[Pr.55] Operation setting for incompletion of home position return" and "home position return request
flag" ON. The error "Start at home position return incomplete" (error code: 1AA6H) will occur.
• When using an absolute position system, "[Md.20] Feed current value" returns to the value of "[Md.21] Machine feed value"
at the start of communication with the servo amplifier after cycling the power or resetting the CPU module.
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The feed current value is changed to the positioning address
designated by the positioning data of the current value change.
The above chart shows an example
when the positioning address is "0".
3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
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