Mitsubishi MELSEC-A series - Page 26

(4) Jog speed limit value
Sptxifies the maximum speed for jog operation.
0 The jog sped limit value must be within the range shown in
Table 3.5 and must not exceed the speed limit value.
0 When the jog speed set using the A6GPP or sequence program is
greater than the jog speed limit value, the jog speed is kept to the
limit value.
*For jog operation, refer to Section 6.3.4 (page 6-23).
(5) Starting bias speed
0 A minimum starting speed is required for the smooth operation
of some motors (e.g. stepping motors). This may be set as a
starting bias speed.
0 The starting bias speed is used for positioning, jog operation, and
zeroing. See Fig. 3.3.
,
Positioning speed
Zeroing return speed
\ has been set
-.
. if starting bias sped
\
Starting
\
\
\
- - - Aseleration and dcelrration
speeds if starting bias spa&
=o
\
t
I
Fig. 3.3 spnd Change When Starting Bias W Is kt
For positioning with interpolation between axes, the starting bias
speed set for the axis with the shorter distance to travel is ignored.
(6) Backlash compensation
0 Allows a backlash compensation (see Fig. 3.4) to be programmed
in for accurate positioning.
Note that there is also an error compensation facility to allow for
tolerances within the mechanical drive, see note (9).
0 The backlash compensation facility allows extra feed pulses to
be generated every time the direction of movement changes
during positioning.
During manual pulser inching, pulse output begins as soon as the
number of input pulses exceeds the backlash compensation
amount each time the direction of movement changes. (If the
inched distance is less than the backlash compensation, feed
pulses are not generated but the AD71 calculates subsequent
positions according to the updated data.)
During jog operation, backlash compensation is made for the
first movement after a change of direction only.
k
/
i
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