Mitsubishi Electric MELSEC-Q Series User Manual page 179

[Pr.54] HPR torque limit value [RJ010 mode]
Set the value to limit the servomotor torque after reaching the creep speed during
machine HPR.
Refer to Section 13.4.2 "Torque limit function" for details on the torque limits.
[Pr.55] Operation setting for incompletion of HPR
Set whether the positioning control is executed or not (When the HPR request flag
is ON.).
0: Positioning control is not executed.
1: Positioning control is executed.
(1) When HPR request flag is ON, selecting "0: Positioning control is not
(2) The following shows whether the positioning control is possible to start/restart
(3) When HPR request flag is ON, starting Fast HPR will result in the error "HPR
Do not execute the positioning control in home position return request signal ON for the axis
which uses in the positioning control.
Failure to observe this could lead to an accident such as a collision.
executed" will result in the error "Start at HPR incomplete" (error code: 547),
and positioning control will not be performed. At this time, operation with the
manual control (JOG operation, inching operation, manual pulse generator
operation) is available.
The positioning control can be executed even if the HPR request flag is ON
when selecting "1: Positioning control is executed".
or not when selecting "0: Positioning control is not executed".
(a) Start possible
Machine HPR, JOG operation, inching operation, manual pulse
generator operation, and current value changing using current value
changing start No. (9003)
(b) Start/restart impossible control
The positioning control is impossible to start/restart in the following cases.
1-axis linear control, 2/3/4-axis linear interpolation control, 1/2/3/4-axis
fixed-feed control, 2-axis circular interpolation control with sub point
designation, 2-axis circular interpolation control with center point
designation, 1/2/3/4-axis speed control, speed-position switching control
(INC mode/ ABS mode), position-speed switching control, and current
value changing using current value changing (No.1 to 600)
request ON" (error code: 207) despite the setting value of "Operation setting
for incompletion of HPR", and Fast HPR will not be executed.
CAUTION
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Chapter 5 Data Used for Positioning Control