Mitsubishi Electric MELSEC iQ-R RD75P4, User Manual

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3 MAJOR POSITIONING CONTROL
3.1 Overview of the Major Positioning Controls
61
3
Data required for major positioning control
The following table lists Positioning data required for performing Major positioning control.
The settings of [Da.1] to [Da.10] and [Da.27] to [Da.29] differ depending on the setting of [Da.2] Control method. (

Page 82
Positioning Data Setting)
Sub functions for major positioning control
For details on the sub functions that can be combined with the major positioning control, refer to the following.
 MELSEC iQ-R Positioning Module User's Manual (Startup)
For details on each sub function, refer to the following.

MELSEC iQ-R Positioning Module User's Manual (Startup)
Major positioning control from an engineering tool
Major positioning controls can be executed using the positioning test of the engineering tool. For details on the positioning
test, refer to the following.

Page 332 Positioning Test
Up to 600 positioning data (Positioning data No.1 to 600) can be set for each axis.
Setting item Setting detail
Positioning
data [Da.1] Operation pattern Set an operation pattern for the continuous positioning data (example: Positioning data No.1 to 3).
(

Page 62 Operation pattern of major positioning control)
[Da.2] Control method Set a control method defined for Major positioning control used. (

Page 59 Overview of the
Major Positioning Controls)
[Da.3] Acceleration time No. Select and set an acceleration time at the start of the control. (Select one from four values set in
[Pr.9], [Pr.25], [Pr.26], and [Pr.27] as the acceleration time.)
[Da.4] Deceleration time No. Select and set a deceleration time at the stop of the control. (Select one from four values set in
[Pr.10], [Pr.28], [Pr.29], and [Pr.30] as the deceleration time.)
[Da.5] Axis to be interpolated Set a target axis (partner axis) for the 2-axis interpolation control, and a circular interpolation axis
for the 3-axis helical interpolation control. (

Page 77 Interpolation control)
[Da.6] Positioning address/movement
amount Set a target value for the position control. (

Page 71 Specifying the positioning address)
[Da.7] Arc address Set a sub point or a center point address for the circular interpolation control.
[Da.8] Command speed Set the speed at the execution of the control.
[Da.9] Dwell time The time from when the command pulse output is completed to when Positioning complete signal
is turned on. Set this time to absorb the delay of machine systems to the command, such as the
delay (deviation) of the servo system.
[Da.10] M code Set an M code to issue a command for a subsidiary work (such as stopping clamps or drills and
changing tools) corresponding to each M code number that can be related to the execution of the
positioning data.
[Da.27] M code ON signal output timing Set the M code ON signal output timing for each positioning data.
[Da.28] ABS direction in degrees Set the ABS direction in degrees for each positioning data.
[Da.29] Interpolation speed specification
method Set the interpolation speed specification method for each positioning data.