Chapter 8 Control Sub Functions; Outline Of Sub Functions - Mitsubishi Electric MELSEC iQ-R Series User Manual

8
CONTROL SUB FUNCTIONS
The details and usage of the "sub functions" added and used in combination with the main functions are explained in this
chapter.
A variety of sub functions are available, including functions specifically for machine home position return and generally related
functions such as control compensation, etc. More appropriate, finer control can be carried out by using these sub functions.
Each sub function is used together with a main function by creating matching parameter settings and programs. Read the
execution procedures and settings for each sub function, and set as required.
8.1
"Sub functions" are functions that compensate, limit, add functions, etc., to the control when the main functions are executed.
These sub functions are executed by parameter settings, operation from the engineering tool, sub function programs, etc.

Outline of sub functions

The following table shows the types of sub functions available.
Sub function
Functions that
compensate control
Functions that limit
control
Functions that change
control details
Functions related to
positioning start
Absolute position system function
Functions related to
positioning stop
8 CONTROL SUB FUNCTIONS
222
8.1 Outline of Sub Functions
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Outline of Sub Functions
Backlash compensation
function
Electronic gear function
*1
Near pass function
Speed limit function
Torque limit function
Software stroke limit
function
Hardware stroke limit
function
Forced stop function
Speed change function
Override function
Acceleration/deceleration
time change function
Torque change function
Target position change
function
Pre-reading start function
Stop command processing
for deceleration stop
function
Continuous operation
interrupt function
Step function
search engine
Details
This function compensates the mechanical backlash. Feed command equivalent to the set backlash
amount are output each time the movement direction changes.
By setting the movement amount per pulse, this function can freely change the machine movement
amount per commanded pulse.
When the movement amount per pulse is set, a flexible positioning system that matches the machine
system can be structured.
This function suppresses the machine vibration when the speed is changed during continuous path
control in the interpolation control.
If the command speed exceeds "[Pr.8] Speed limit value" during control, this function limits the
commanded speed to within "[Pr.8] Speed limit value" setting range.
If the torque generated by the servo motor exceeds "[Pr.17] Torque limit setting value" during control,
this function limits the generated torque to within "[Pr.17] Torque limit setting value" setting range.
If a command outside of the upper/lower limit stroke limit setting range, set in the parameters, is
issued, this function will not execute positioning for that command.
This function carries out deceleration stop with the hardware stroke limit switch.
This function stops all axes of the servo amplifier with the forced stop signal.
This function changes the speed during positioning.
Set the changed speed in the speed change buffer memory ([Cd.14] New speed value), and change
the speed with the speed change request ([Cd.15] Speed change request).
This function changes the speed within a percentage of 0 to 300% during positioning. This is
executed using "[Cd.13] Positioning operation speed override".
This function changes the acceleration/deceleration time during speed change.
This function changes the "torque limit value" during control.
This function changes the target position during the execution of positioning. At the same time, this
also can change the speed.
This function shortens the virtual start time.
This function restores the absolute position of designated axis.
This function selects a deceleration curve when a stop cause occurs during deceleration stop
processing to speed 0.
This function interrupts continuous operation. When this request is accepted, the operation stops
when the execution of the current positioning data is completed.
This function temporarily stops the operation to confirm the positioning operation during debugging,
etc.
The operation can be stopped at each "automatic deceleration" or "positioning data".