Mitsubishi Electric A173UHCPU - Page 12

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4.3.15 Optional function 2 (no-motor operation selection) ................................................................. 4-19
4.3.16 Monitor output 1, 2 offset......................................................................................................... 4-20
4.3.17 Pre-alarm data selection.......................................................................................................... 4-20
4.3.18 Zero speed .............................................................................................................................. 4-21
4.3.19 Excessive error alarm level ..................................................................................................... 4-21
4.3.20 Optional function 5................................................................................................................... 4-21
4.3.21 PI-PID switching position droop............................................................................................... 4-21
4.3.22 Torque control compensation factor........................................................................................ 4-21
4.3.23 Speed differential compensation............................................................................................. 4-21
4.4 Parameter Block............................................................................................................................... 4-22
4.4.1 Relationships among the speed limit value, acceleration time, deceleration time, and
rapid stop deceleration time ...................................................................................................... 4-24
4.4.2 S-curve ratio .............................................................................................................................. 4-24
4.4.3 Allowable error range for circular interpolation.......................................................................... 4-25
5. SEQUENCE PROGRAMS AND SFC PROGRAMS.................................................................5- 1 to 5-20
5.1 Cautions on Creating a Sequence Program or SFC Program .......................................................... 5- 1
5.2 Servo Program Start Request Instruction (SVST) ............................................................................ 5- 2
5.2.1 Start request instruction for 1 to 32 axes (SVST)....................................................................... 5- 2
5.3 Current Value Change Instructions (CHGA) ..................................................................................... 5- 5
5.3.1 CHGA instructions...................................................................................................................... 5- 5
5.4 Speed Change Instructions (CHGV)................................................................................................. 5- 8
5.4.1 CHGV instructions...................................................................................................................... 5- 8
5.5 Retracing during Positioning ............................................................................................................ 5-11
5.6 Torque Limit Value Change Request (CHGT) ................................................................................. 5-14
5.6.1 CHGT instructions..................................................................................................................... 5-14
5.7 SFC Programs ................................................................................................................................. 5-16
5.7.1 Starting and stopping SFC programs ........................................................................................ 5-16
5.7.2 Servo program start request...................................................................................................... 5-17
6. SERVO PROGRAMS FOR POSITIONING CONTROL ...........................................................6- 1 to 6-17
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- 9
6.4 Method for Setting Positioning Data................................................................................................. 6-13
6.4.1 Setting by designating numerical values ................................................................................... 6-13
6.4.2 Setting by using word devices (D, W)........................................................................................ 6-14
6.5 Creating Sequence Programs to Start Servo Programs.................................................................. 6-15
6.5.1 Case where the servo program is executed once only.............................................................. 6-15
6.5.2 Case where different servo programs are executed consecutively........................................... 6-16
6.5.3 Case where the same servo program is executed repeatedly.................................................. 6-17
7. POSITIONING CONTROL......................................................................................................7- 1 to 7-150
7.1 Basics of Positioning Control ............................................................................................................ 7- 1
7.1.1 Positioning speed ....................................................................................................................... 7- 1
7.1.2 Positioning speed under interpolation control............................................................................. 7- 2