Mitsubishi Electric Q173CPUN - Backlash Compensation Amount; Upper;Lower Stroke Limit Value

6 - 5
6 PARAMETERS FOR POSITIONING CONTROL
6.2.2 Backlash compensation amount
(1) Backlash compensation amount can be set within the following range.
(Refer to Section "8.2 Backlash Compensation Function" for details.)
Backlash compensation amount
0
Travel value per rotation
(=A)
65535[PLS]
(2) The servo error may occur depending on the type of the servo amplifier
(servomotor) or operation cycle even if the backlash compensation amount which
fulfill the above condition. Set the backlash compensation amount within the
following range in order for servo error may not occur.
Maximum motor speed [r/min] × 1.2 × operation cycle [ms]
A
60[s] × 1000[ms]
[PLS]
6.2.3 Upper/lower stroke limit value
The upper/lower limit value for the travel range of the mechanical system is set.
RLS
Stroke limit
(lower)
Stroke limit
(upper)
(Travel range of the machine)
Limit switch for
emergency stop
FLS
Fig. 6.3 Travel range at the upper/lower stroke limit value setting
(1) Stroke limit range check
The stroke limit range is checked at the following start or during operation.
Operation start Check Remarks
• Positioning control
(PTP, Constant-speed)
• It is checked whether the positioning address is within the stroke
limit range or not at the positioning start. If it outside the range,
an error occurs (error code: 580) and positioning is not executed.
• If the interpolation path exceeds the stroke limit range during
circular interpolation start, an error occurs (error codes: 207,
208) and deceleration stop is executed.
• JOG operation
• When the current value is executed a deceleration stop from
current command speed, if the current value exceeds the
stroke limit range, a deceleration stop is made before a stroke
limit. (Error code: 207) Travel to the direction that returns the
axis into the stroke range is possible.
(Note)
.
• Manual pulse
generator operation
Check
• If the current value exceeds the stroke limit range, it stops at
stroke limit. (Error code: 207) In this case, a deceleration stop
is not made. Travel to the direction that returns the axis into
the stroke range is possible
(Note)
.
(Note) : The operating system software is valid with SW5RN-SV43Q
(Ver.00C or later).
If the current value exceeds the stroke limit range, a deceleration stop is made with
SW5RN-SV43Q
(Ver.00B or before).