Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 41

Units for the command generation axis
The position units and speed units for the command generation axis are shown below for the setting "[Pr.341] Command
generation axis type".
■Command generation axis position units
Setting value of "[Pr.341] Command
generation axis type"
0: mm
1: inch
2: degree
3: pulse
■Command generation axis speed units
Setting value of "[Pr.341] Command
generation axis type"
0: mm
1: inch
2: degree
3: pulse
*1 When "[Pr.345] Command generation axis speed control 10 × multiplier setting for degree axis" is valid, this will be the speed unit
-2
"×10 degree/min" (Range: -21474836.48 to 21474836.47 [degree/min]).
Speed control with fixed position stop for command generation axis
Speed control with fixed position stop can be performed for the command generation axis.
Speed control with fixed position stop is started using the PVF (forward rotation) or PVR (reverse rotation) of servo program
instruction.
■Control details
• After starting of command generation axis, control at the specified speed is executed until the fixed position stop command
turns on.
Servo instruction
PVF
PVR
• When the fixed position stop command turns on, a positioning control to the position of the address specified by "[Md.347]
Command generation axis current value per cycle (R: D36490+32n, D36491+32n/Q: D12610+20n, D12611+20n)" is
executed.
• Speed control with fixed position stop can be executed in the command generation axis with all the control units where
"[Pr.346] Command generation axis length per cycle" is set to 1 to 2147483647. When "[Pr.346] Command generation axis
length per cycle" is "0", the minor error (error code: 19EAH) will occur, and the control will not start.
• Address setting range is "0 to ("[Pr.346] Command generation axis length per cycle"-1)" in the indirect setting of positioning
address. If it is set outside the setting range, a minor error (error code: 1A31H) occurs and it does not start. Positioning
address is input at the program start.
• It is controlled in the fixed position stop acceleration/deceleration time set in the servo program at positioning start, speed
change request (CHGVS) and fixed position stop command ON. The fixed acceleration/deceleration time method is used
as an acceleration/deceleration processing in this case.
• The setting range of fixed position stop acceleration/deceleration time is "1 to 8388608[ms]
*1 When the number of words used is set to 1 word in the MT Developer2 options screen, the setting range is "1 to 65535[ms]". Refer to
"Acceleration/Deceleration Time and Command Torque Time Constant 1 Word Setting Function" in the following manual for details on
the 1 word setting.
MELSEC iQ-R Motion Controller Programming Manual (Common)
Command generation axis position unit
-1
×10 μm
-5
inch
×10
-5
degree
×10
pulse
Command generation axis position unit
-2
mm/min
×10
-3
inch/min
×10
-3 *1
degree/min
×10
pulse/s
Description
Forward rotation direction (Address increase direction) start
Reverse rotation direction (Address decrease direction) start
Range
-214748364.8 to 214748364.7[μm]
-21474.83648 to 21474.83647[inch]
-21474.83648 to 21474.83647[degree]
-2147483648 to 2147483647[pulse]
Range
-21474836.48 to 21474836.47[mm/min]
-2147483.648 to 2147483.647[inch/min]
-2147483.648 to 2147483.647[degree/min]
-2147483648 to 2147483647[pulse/s]
*1
".
4 INPUT AXIS MODULE
4.2 Command Generation Axis
4
*1
39