Mitsubishi Electric MELSEC iQ-R Series User Manual page 355

■List of the parameters to be used during positioning operation
Parameter item
Movement amount
Command speed
Acceleration time constant
Deceleration time constant
Rapid stop deceleration time
constant
*1
S-curve ratio
Torque limit value
Stop process at error
occurrence
Stroke limit valid/invalid
setting
Operation permission for
incompletion of home
position return
*1 During the test mode operation, the operation differs depending on the S-curve ratio setting.
0%: Trapezoidal acceleration/deceleration, 1 to 100%: S-curve acceleration/deceleration
Precautions
• Parameters not described above operate with the value set in the buffer memory before the shift to the test mode.
• The torque limit value cannot be changed during JOG/positioning operation that is started from the test mode.
Request of the shift to/cancel of the test mode
The data transmission process of parameters is executed when the shift to the test mode is requested.
Refer to the following for the parameters whose data is transferred.
Page 554 (3) Valid parameters when PLC READY signal [Y0] changes from OFF to ON
The operation cannot be shifted to the test mode in the following cases.
• When the PLC READY signal [Y0] is ON
• When any of axes is in operation
• When a parameter error occurs during the shift to the test mode
When canceling the test mode, execute the cancel request after stopping all axes. The test mode cannot be canceled if any of
axes is in operation.
Precautions
• When the data transmission process is executed, "b0: READY ON" is turned ON and "b1: Servo ON" is turned OFF in
"[Md.108] Servo status1".
• When the cancel request of the test mode is executed, "b0: READY ON" ([Md.108] Servo status1) and "b1: Servo ON"
([Md.108] Servo status1) are turned ON/OFF following to the setting of all axis servo ON [Y1] and "[Cd.100] Servo OFF
command".
Downloaded from ManualsNet.com
During test mode
The setting values on the positioning
operation display
search engine
During normal operation
The value set in the positioning data
The value set in the positioning parameters
The value set in "[Pr.34] Acceleration/deceleration process selection" and
"[Pr.35] S-curve ratio"
The value set in "[Pr.17] Torque limit setting value" or "[Cd.101] Torque output
setting value"
The value set in "[Pr.37] Stop group 1 rapid stop selection", "[Pr.38] Stop group 2
rapid stop selection", "[Pr.39] Stop group 3 rapid stop selection"
The software stroke limit upper/lower limit value set with the fixed parameter The
FLS/RLS signal set with the external input signal parameters
The operation setting for incompletion of home position return set in the home
position return data
9 COMMON FUNCTIONS
353
9.11 Test mode
9