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Chapter 3 Specifications and Functions
3.2.3 QD77MS sub functions
The outline of the functions that assist positioning control using the Simple Motion
module is described below. (Refer to "Section 2" for details on each function.)
Sub function Details
Reference
section
Functions
characteristic
to machine
OPR
OPR retry function
This function retries the machine OPR with the upper/lower limit
switches during the machine OPR. This allows machine OPR to
be carried out even if the axis is not returned to before the near-
point dog with JOG operation, etc.
13.2.1
OP shift function
A
fter returning to the machine OP, this function compensates the
position by the designated distance from the machine OP
position and sets that position as the OP address.
13.2.2
Functions that
compensate
control
Backlash compensation
function
This function compensates the mechanical backlash amount.
Feed commands equivalent to the set backlash amount are
output each time the movement direction changes.
13.3.1
Electronic gear function
By setting the movement amount per pulse, this function can
freely change the machine movement amount per commanded
pulse.
When the movement amount per pulse is set, a flexible
positioning system that matches the machine system can be
structured.
13.3.2
Near pass function 1
This function suppresses the machine vibration when the
positioning data is switched during continuous path control in the
interpolation control.
13.3.3
Functions that
limit control
Speed limit function
If the command speed exceeds "[Pr.8] Speed limit value" during
control, this function limits the commanded speed to within the
"[Pr.8] Speed limit value" setting range.
13.4.1
Torque limit function
If the torque generated by the servomotor exceeds "[Pr.17]
Torque limit setting value" during control, this function limits the
generated torque to within the "[Pr.17] Torque limit setting value"
setting range.
13.4.2
Software stroke limit
function
If a command outside of the upper/lower limit stroke limit setting
range, set in the parameters, is issued, this function will not
execute positioning for that command.
13.4.3
Hardware stroke limit
function
This function carries out deceleration stop with the hardware
stroke limit switch.
13.4.4
Forced stop function
This function stops all axes of the servo amplifier with the forced
stop input signal connected to the external input connection
connector on the Simple Motion module.
13.4.5
Functions that
change control
details
Speed change function
This function changes the speed during positioning.
Set the new speed in the speed change buffer memory ([Cd.14]
New speed value), and change the speed with the speed
change request ([Cd.15]).
13.5.1
Override function
This function changes the speed within a percentage of 1 to
300% during positioning. This is executed using "[Cd.13]
Positioning operation speed override".
13.5.2
Acceleration/deceleration
time change function
This function changes the acceleration/deceleration time during
speed change. (Functions added to the speed change function
and override function)
13.5.3
Torque change function This function changes the "torque limit value" during control.
13.5.4
Target position change
function
This function changes the target position during positioning.
Position and speed can be changed simultaneously.
13.5.5