Parameter Block - Mitsubishi Electric A173UHCPU Programming Manual

4. PARAMETERS FOR POSITIONING CONTROL
4.4

Parameter Block

mm
No. Item
Setting
Range
Interpolation
1 0
control unit
Speed limit 0.01 to
2
value 6000000.00
Acceleration
3
time
Deceleration
4
time
Rapid stop
5 deceleration
time
6 S-curve ratio
Torque limit
7
value
Deceleration
processing 0: Deceleration stop executed based on the deceleration time.
8
on STOP 1: Deceleration stop executed based on the rapid stop deceleration time.
input
Allowable
error range
9 0 to 10000.0
for circular
interpolation
(1) The parameter blocks serve to make setting changes easy by allowing data
such as the acceleration/deceleration control to be set for each positioning
processing.
(2) A maximum of 16 blocks can be set as parameter blocks.
(3) Parameter blocks can be set at a peripheral device.
(4) The parameter block settings to be made are shown in Table 4.9.
Table 4.9 Parameter Block Settings
Setting Range
inch
Setting Setting
Units Units
Range Range
 
1 2
mm/ 0.001 to inch/ 0.001 to
min 600000.000 min 2147483.647
1 to 65535ms
1 to 65535ms
1 to 65535ms
0 to 100%
1 to 500%
µ m
0 to 1.00000 inch 0 to 1.00000
POINTS
(1) Parameter blocks are designated in the zeroing data, JOG operation
data, or servo program.
(2) The various parameter block data can be changed in the servo program.
(See Section 6.3.)
degree PULSE
Setting
Units Units
Range
 
3
degree 1 to
PLS/s
/min 1000000
degree 0 to 100000 PLS
4 − 22
Default
Remarks
Initial Value Units
• Set the units for
compensation control.
• Can also be used as the

3 units for the command speed
and allowable error range for
circular interpolation set in
the servo program.
• Set the maximum speed for
positioning/zeroing.
• If the positioning speed or
200000 zeroing speed setting
PLS/s
exceeds the speed limit
value, control is executed at
the speed limit value.
• Set the time taken to reach
1000 ms the speed limit value from
the start of motion.
• Set the time taken to stop
1000 ms
from the speed limit value.,
• Set the time taken to stop
from the speed limit value
1000 ms
when a rapid stop is
executed.
• Set the S-curve ratio for S-
pattern processing.
• When the S-curve ratio is
0 %
0%, trapezoidal
acceleration/deceleration
processing is executed.
• Set the torque limit value in
300 %
the servo program.
• Set the deceleration
processing when external

0
signals (STOP, FLS, RLS)
are input.
• Set the permissible range for
100 PLS the locus of the arc and the
set end point coordinates.
Expla-
natory
Section
7.1.4
4.4.1
4.4.2


4.4.3