Mitsubishi Electric MELSEC iQ-R Series User Manual page 113

Restrictions
• The error "Continuous path control not possible" (error code: 1B1EH to 1B20H) will occur and the operation cannot start if
"continuous path control" is set in "[Da.1] Operation pattern".
• "Speed-position switching control" cannot be set in "[Da.2] Control method" of the positioning data when "continuous path
control" has been set in "[Da.1] Operation pattern" of the immediately prior positioning data. (For example, if the operation
pattern of positioning data No.1 is "continuous path control", "speed-position switching control" cannot be set in positioning
data No.2.) The error "Continuous path control not possible" (error code: 1B1EH to 1B20H) will occur and the machine will
carry out a deceleration stop if this type of setting is carried out.
• The error "No command speed" (error code: 1B12H to 1B14H) will occur if the current speed (-1) is set in "[Da.8] Command
speed".
• The software stroke limit range check during speed control is made only when the followings are satisfied:
"[Pr.21] Feed current value during
speed control" is "1: Update feed
current value".
When "[Pr.1] Unit setting" is other
than "2: degree"
• If the value set in "[Da.6] Positioning address/movement amount" is negative, the error "Outside address range" (error
code: 1B30H, 1B31H) will occur.
• Deceleration processing is carried out from the point where the speed-position switching signal is input if the position
control movement amount set in "[Da.6] Positioning address/movement amount" is smaller than the deceleration distance
from "[Da.8] Command speed".
• Turn ON the speed-position switching signal in the speed stabilization region (constant speed status). The warning "Speed-
position switching (during acceleration) signal ON" (warning code: 0D53H) will occur because of large deviation in the
droop pulse amount if the signal is turned ON during acceleration. During use of the servo motor, the movement amount is
"[Da.6] Positioning address/movement amount" from the assumed motor position based on "[Md.101] Real current value"
at switching of speed control to position control. Therefore, if the signal is turned ON during acceleration/deceleration, the
stop position will vary due to large variation of the droop pulse amount. Even though "[Md.29] Speed-position switching
control positioning movement amount" is the same, the stop position will change due to a change in droop pulse amount
when "[Da.8] Command speed" is different.
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If the movement amount exceeds the software stroke limit range during speed control in case of the setting of other
than "1: Update feed current value", the error "Software stroke limit +" (error code: 1A93H) or "Software stroke limit -"
(error code: 1A95H) will occur as soon as speed control is changed to position control and the axis will decelerate to a
stop.
If the unit is "degree", the software stroke limit range check is not performed.
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3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
3
111