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4. PARAMETERS FOR POSITIONING CONTROL
4.4
Parameter Block
No.
Item
Interpolation
1
control unit
Speed limit
2
value
Acceleration
3
time
Deceleration
4
time
Rapid stop
5
deceleration
time
6
S-curve ratio
Torque limit
7
value
Deceleration
processing
8
on STOP
input
Allowable
error range
9
for circular
interpolation
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(1) The parameter blocks serve to make setting changes easy by allowing data
such as the acceleration/deceleration control to be set for each positioning
processing.
(2) A maximum of 16 blocks can be set as parameter blocks.
(3) Parameter blocks can be set at a peripheral device.
(4) The parameter block settings to be made are shown in Table 4.7.
Table 4.7 Parameter Block Settings
Setting Range
mm
inch
Setting
Setting
Units
Units
Range
Range
0
1
0.01 to
mm/
0.001 to
inch/
6000000.00
min
600000.000
min
1 to 65535ms
1 to 65535ms
1 to 65535ms
0 to 100%
1 to 500%
0: Deceleration stop executed based on the deceleration time.
1: Deceleration stop executed based on the rapid stop deceleration time.
µ m
0 to 10000.0
0 to 1.00000
inch
POINTS
(1) Parameter blocks are designated in the zeroing data, JOG operation
data, or servo program.
(2) The various parameter block data can be changed in the servo program.
(See Section 6.3.)
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degree
PULSE
Setting
Setting
Units
Units
Range
Range
2
3
0.001 to
degree
1 to
PLS/s
2147483.647
/min
1000000
0 to 1.00000
degree
0 to 100000
PLS
4 − 21
Default
Remarks
Initial Value
Units
• Set the units for
compensation control.
• Can also be used as the
units for the command
3
speed and allowable error
range for circular
interpolation set in the servo
program.
• Set the maximum speed for
positioning/zeroing
• If the positioning speed or
200000
PLS/s
zeroing speed setting
exceeds the speed limit
value, control is executed at
the speed limit value.
• Set the time taken to reach
1000
ms
the speed limit value from
the start of motion.
• Set the time taken to stop
1000
ms
from the speed limit value.,
• Set the time taken to stop
from the speed limit value
1000
ms
when a rapid stop is
executed.
• Set the S curve ratio for S
pattern processing.
• When the S curve ratio is
0
%
0%, trapezoidal
acceleration/deceleration
processing is executed.
• Set the torque limit value in
300
%
the servo program.
• Set the deceleration
processing when external
0
signals (STOP, FLS, RLS)
are input.
• Set the permissible range
for the locus of the arc and
100
PLS
the set end point
coordinates.
Expla-
natory
Section
7.1.4
4.4.1
4.4.2
4.4.3
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