Expaned Parameters

Software Limits

Open

Set the lower/upper limit for the machine’s movement range during positioning control. The software limit is verified all the time during system running except for following special cases :
When the unit is ‘degree’, the software limit check is invalid during speed control or during manual control.
During manual operation, software limit checking is performed according to the setting of ‘Software limit detection during manual operation’
To invalidate the software limit, set the setting value to ‘upper limit value = lower limit value’. (The setting value can be anything.)

Software limit is verified when the positioning instruction is issued and during running. With the control unit set to ‘degree’, the software upper and lower limit values are 0 to 359.99999. To validate the software limit checking, set the lower and the upper limit value in a clockwise direction.

Example
To set the movement range A :
lower limit : 315 upper limit : 90
To set the movement range B :
lower limit : 90 upper limit : 315

Open

In absolute positioning system with unit of ‘degree’, software limit setting influences the actual movement :
When the software limit checking is allowed : The positioning is carried out in a clockwise/counterclockwise direction depending on the software limit range setting method. Because of this, positioning with ‘shortcut control’ may not be possible.
When the software limit checking is forbidden : Positioning is carried out in the nearest direction to the designated address, using the current value as a reference. This is called ‘shortcut control’.

Backlash compensation amount

The error that occurs due to backlash when moving the machine via gears can be compensated. When the Backlash compensation amount amount is set, pulses equivalent to the compensation amount will be output each time the direction changes during positioning.

Positioning Complete Signal Output Time

Set the output time of the positioning complete signal output from PSnnX. A positioning completes when the specified dwell time has passed after the PSnnX terminated the output.

S-Pattern Ratio

This parameter is effective when the ‘Acc/Dec pattern’ is configured as S-Pattern (1). S-Pattern reduces the burden of motor during starting and stopping. This is a method in which acceleration/deceleration is carried out gradually, based on the acceleration time, deceleration time, speed limit value, and S-Pattern ratio set by the user.
When the stepping motor is used, the S-Pattern acceleration/deceleration processing method cannot be carried out. When using this processing method, ensure to use a servo motor.
Followings explain the concept of S-Pattern ratio. S-Pattern acceleration/deceleration is composed with 3 different acceleration/deceleration stages.

1st Stage : Increase the acceleration/deceleration value
2nd Stage : retain a constant acceleration/deceleration value
3rd Stage : decrease the acceleration/deceleration value

S-Pattern ratio is a time ratio of 2nd stage compared to the total acceleration/deceleration time (T). It can be presented as a following formula.

S-Pattern Ratio (%) = ((T – Δt) / T) x 100

When Δt is ‘0’, the S-Pattern ratio will be 100%. In that case, the 2nd stage will be skipped and as a result, the variation of speed will be large most. When Δt is T, the S-Pattern ratio will be 0%. As a result, the S-Pattern acceleration/deceleration will be the same pattern with the trapezoidal.

Acceleration / Deceleration Pattern

Set whether to use automatic trapezoid acceleration/deceleration or S-Pattern acceleration/deceleration for the acceleration/deceleration process.

Trapezoidal
The acceleration and deceleration are linear.

The acceleration and deceleration follow a sine curve

M Code ON Timing

This parameter sets the M code ON signal output timing. Choose either WITH mode or AFTER mode as the M code ON signal output timing.

With Mode : An M code is output and the M code ON signal is turned ON when a positioning operation starts.
After Mode : An M code is output and the M code ON signal is turned ON when a positioning operation completes.

If the M code is set as zero, the M code ON signal will not be issued.

Sudden Stop Group (#1~#3)

Set the method to stop when the stop causes in the following stop groups occur.

Stop Group 1 : Stop with hardware stroke limit
Stop Group 2 : PLC Ready Signal OFF
Stop Group 3 : External stop signal, Stop signal from PLC CPU, Error occurrence such as software limit, Stop made when the near point DOG signal turns ON in OPR.

Logical Input selection

Set the I/O signal logic that matches the signaling specification of the connected external device. A mismatch in the signal logic will disable normal operation. Be careful of this when you change from the default value.