Mitsubishi Electric SV13/22 Programming Manual page 12

4.3.15 Monitor output 1, 2 offset........................................................................................................ 4-19
4.3.16 Pre-alarm data selection......................................................................................................... 4-19
4.3.17 Zero speed ............................................................................................................................. 4-20
4.3.18 Excessive error alarm level .................................................................................................... 4-20
4.3.19 Optional function 5.................................................................................................................. 4-20
4.3.20 PI-PID switching position droop.............................................................................................. 4-20
4.3.21 Torque control compensation factor....................................................................................... 4-20
4.3.22 Speed differential compensation ............................................................................................ 4-20
4.4 Parameter Block.............................................................................................................................. 4-21
4.4.1 Relationships among the speed limit value, acceleration time,
deceleration time, and rapid stop deceleration time ................................................................. 4-23
4.4.2 S-curve ratio ............................................................................................................................. 4-23
4.4.3 Allowable error range for circular interpolation ......................................................................... 4-24
5. SEQUENCE PROGRAMS AND SFC PROGRAMS................................................................ 5- 1 to 5-29
5.1 Cautions on Creating a Sequence Program or SFC Program ......................................................... 5- 1
5.2 Servo Program Start Request Instruction (DSFRP/SVST) .............................................................. 5- 2
5.2.1 Start request instruction for 1 to 3 axes (DSFRP) ..................................................................... 5- 2
5.2.2 Start request instruction for 1 to 4/1 to 8 axes (SVST).............................................................. 5- 5
5.3 Current Value Change Instructions (DSFLP/CHGA)........................................................................ 5- 8
5.3.1 DSFLP instruction...................................................................................................................... 5- 8
5.3.2 CHGA instruction...................................................................................................................... 5-11
5.4 Speed Change Instructions (DSFLP/CHGV) .................................................................................. 5-14
5.4.1 DSFLP instruction..................................................................................................................... 5-14
5.4.2 CHGV instruction...................................................................................................................... 5-17
5.5 Retracing during Positioning ........................................................................................................... 5-20
5.6 Torque Limit Value Change Request (CHGT) ................................................................................ 5-23
5.7 SFC Program .................................................................................................................................. 5-25
5.7.1 Starting and stopping SFC programs ....................................................................................... 5-25
5.7.2 Servo program start request..................................................................................................... 5-26
6. SERVO PROGRAMS FOR POSITIONING CONTROL .......................................................... 6- 1 to 6-15
6.1 Servo Program Composition and Area ............................................................................................ 6- 1
6.1.1 Servo program composition ...................................................................................................... 6- 1
6.1.2 Servo program area................................................................................................................... 6- 2
6.2 Servo Instructions ............................................................................................................................ 6- 3
6.3 Positioning Data ............................................................................................................................... 6- 7
6.4 Method for Setting Positioning Data................................................................................................ 6-11
6.4.1 Setting by designating numerical values .................................................................................. 6-11
6.4.2 Setting by using word devices (D, W)....................................................................................... 6-12
6.5 Creating Sequence Programs to Start Servo Programs ................................................................. 6-13
6.5.1 Case where the servo program is executed once only............................................................. 6-13
6.5.2 Case where different servo programs are executed consecutively.......................................... 6-14
6.5.3 Case where the same servo program is executed repeatedly ................................................. 6-15
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