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Chapter 9 Major Positioning Control
Restrictions
(1) The error "Continuous path control not possible" (error code: 516) will occur
and the operation cannot start if "continuous positioning control" or
"continuous path control" is set in "[Da.1] Operation pattern".
(2) "Speed-position switching control" cannot be set in "[Da.2] Control system" 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: 516) will occur and
the machine will carry out a deceleration stop if this type of setting is carried
out.
(3) The error "No command speed" (error code: 503) will occur if "current speed
(-1)" is set in "[Da.8] Command speed".
(4) If the value set in "[Da.6] Positioning address/movement amount" is negative,
the error "Outside address range" (error code: 530) will occur.
(5) Even though the axis control data "[Cd.23] Speed-position switching control
movement amount change register" was set in speed-position switching
control (ABS mode), it would not function. The set value is ignored.
(6) To exercise speed-position switching control (ABS mode), the following
conditions must be satisfied:
(a) "[Pr.1] Unit setting" is "2: degree"
(b) The software stroke limit function is invalid (upper limit value = lower limit
value)
(c) "[Pr.21] Current feed value during speed control" is "1: Update current feed
value"
(d) The "[Da.6] Positioning address/movement amount" setting range is 0 to
359.99999 (degree)
If the value is outside of the range 0 to 359.99999 (degree), the error
"Outside address range" (error code: 530) will occur at a start.
(e) The "[Pr.81] Speed-position function selection" setting is "2: Speed-position
switching control (ABS mode)".
(7) If any of the conditions in (6) (a) to (6) (c) is not satisfied in the case of (6) (e),
the error "Speed-position function selection error" (error code: 935) will occur
when the PLC READY signal [Y0] turns from OFF to ON.
(8) If the axis reaches the positioning address midway through deceleration after
automatic deceleration started at the input of the speed-position switching
signal, the axis will not stop immediately at the positioning address. The axis
will stop at the positioning address after N revolutions so that automatic
deceleration can always be made. (N: Natural number)
In the following example, since making deceleration in the path of dotted line
will cause the axis to exceed the positioning addresses twice, the axis will
decelerate to a stop at the third positioning address.
Speed-position switching signal
positioning address
360 added
360 added
positioning address positioning address