Mitsubishi Electric MELSEC iQ-R RD75P4, User Manual

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3 MAJOR POSITIONING CONTROL
3.1 Overview of the Major Positioning Controls
• Front-loading speed switching mode
[When the speed cannot be changed in P2] [When the movement amount is small during the automatic deceleration]
When the relation of the speeds is P1 = P4, P2 = P3, P1 < P2 Since the movement amount required to perform the automatic deceleration cannot be
secured, the machine immediately stops in the status of the speed

0.
1) If the command speed of the positioning data currently being executed and that of the next positioning data differ, the speed will change over to the speed
set in the next positioning data at the end of the positioning data currently being executed.
2) The parameters used in the acceleration/deceleration processing to the command speed set in the next positioning data to be executed are those of the
next positioning data to be executed.
If the command speeds are the same, the speed changed will not be performed.
3) Speed switching condition
If the movement amount is small to the target speed and may not reach the target speed even if the acceleration/deceleration is performed, the machine is
accelerated or decelerated to get close to the target speed.
If the movement amount will be exceeded when the automatic deceleration needs to be performed (such as when the operation pattern is 00 or 01), the
machine will immediately stop at the specified positioning address, and Insufficient movement amount (Warning code: 0998H) occurs.
[When the speed cannot be changed to the P2
speed in P1] [When the movement amount is small during the automatic deceleration]
When the relation of the speeds is P1 = P4, P2 = P3, P1 < P2 Since the movement amount required to perform the automatic deceleration cannot be
secured, the machine immediately stops in the status of the speed

0.
P1
V
t
P2 P3 P4
Pn Pn+1
t
V
Positioning address
OFF
ON
OFF
ON
OFF
ON
OFF
ON
11 11 11 01 00
V
t
Da. 1
[Y10, Y11, Y12, Y13]
[X10, X11, X12, X13]
[XC, XD, XE, XF]
[X14, X15, X16, X17]
Positioning
Operation pattern
Dwell time
Positioning start signal
Start complete signal
BUSY signal
Positioning complete signal
Dwell time
P1 P2 P3 P4
V
t
Pn Pn+1
t
V
Positioning address