Mitsubishi Electric MELSEC iQ-R RD75P4, User Manual

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3 MAJOR POSITIONING CONTROL
3.1 Overview of the Major Positioning Controls
65
3
• In the continuous path control, the positioning may be completed before the set address/movement amount by the distance

d, and the data to be controlled may be switched to the next positioning data No. The range of the value of the distance

d
is as follows.
The distance

d is output when the next positioning data No. is executed at the constant speed. Therefore, the execution time
of the next positioning data may be extended longer than the set execution time of the positioning control.
*1
If the extension of
the execution time is a problem, perform the following actions.
*1 For the continuous path control, when the command speed V1 of the positioning data and the command speed V2 of the next
positioning data is different significantly, and V1 > V2
For the positioning data in which the automatic deceleration is performed, the positioning is completed at the set address.
Therefore, in the continuous path control, the address where the positioning is completed may be different from the set value.
However, the address will be the specified one at the completion of the automatic deceleration by Continuous path control
(01) or Positioning complete (00).
In the continuous path control, the speed is not changed when the positioning data No. is switched by the near
pass function. (
 Page 226 Near pass function)
0
 
d < (Moving distance in 0.88ms at the command speed)
Corrective action Description
Use the near pass control output timing selection
function. By setting the output timing to At deceleration, the execution time of the next positioning is
equivalent to the set execution time of the positioning control. (

Page 228 Output timing
selection of near pass control)
Use the speed change function. Change the speed using the speed change function instead of the continuous path control.
(

Page 243 Speed change function)
V V
t t
V1
V2
V1
V2
Positioning
data No.1 Positioning
data No.2
Acceleration/deceleration (actual one)
Positioning
data No.1 Positioning
data No.2
Acceleration/deceleration (setting)
The object reached
the address specified
in the positioning data No.1. The object reached
the address specified
in the positioning data No.1.
Distance ∆d
Less than 0.88ms
Distance ∆d
0.88ms or more