Mitsubishi Electric MELSEC iQ-R Series User Manual page 181

Operations when stroke limit error occurs
When the hardware stroke limit error or the software stroke limit error is detected
decelerate to a stop. However, in case of "[Md.26] Axis operation status", "Manual pulse generator operation" will continue
After stopping, input pulses from a manual pulse generator to the outside direction of the limit range are not accepted, but
operation can be executed within the range.
*1 Only when the feed current value or the machine feed value overflows or underflows during deceleration, the manual pulse generator
operation will terminate as "error occurring". To carry out manual pulse generator operation again, "[Cd.21] Manual pulse generator
enable flag" must be turned OFF once and turn ON.
Upper/lower limit signal
Operation timing and processing time
The following drawing shows details of the manual pulse generator operation timing and processing time.
■4-axis module operation example
[Cd.21] Manual pulse generator
enable flag
Input pulses from manual
pulse generator
BUSY signal
[X10, X11, X12, X13]
Start complete signal
([Md.31] Status: b14)
[Md.26] Axis operation status
Positioning operation
• Normal timing time (Unit: [ms])
Operation cycle
0.25
0.50
1.00
2.00
4.00
*1 Delays may occur in the t1 timing time due to the operation status of other axes.
*2 The t2 and t3 timing time depends on the setting of the acceleration time, servo parameter, etc.
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V
Manual pulse generator operation
Manual pulse generator
operation possible
ON
OFF
0 1
t1
The start complete signal does not turn ON in manual pulse generator operation.
Standby (0)
*1
t1
0.24 to 0.26
0.49 to 0.50
0.98 to 0.99
1.97 to 1.99
3.98 to 3.99
search engine
Manual pulse generator
operation not possible
t3
Manual pulse generator operation (4)
t2
*2
t2 t3
3.13 to 10.80 16.00 to 24.00
5.06 to 10.74 16.00 to 24.00
6.12 to 12.05 16.00 to 24.00
6.55 to 14.25 16.00 to 24.00
13.81 to 18.50 16.00 to 24.00
*1
during operation, the operation will
0
t4
Standby (0)
*2
t4
8.06 to 9.76
8.06 to 9.76
8.06 to 9.76
8.06 to 9.76
8.06 to 9.76
5 MANUAL CONTROL
5.4 Manual Pulse Generator Operation
*1
.
5
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