Mitsubishi Electric MELSEC iQ-R16MTCPU, Programming Manual

Page: 371 / 482

5 POSITIONING CONTROL
5.18 Position Follow-Up Control
369
5
5.18
Position Follow-Up Control
Positioning to the address set in the word device of the Motion CPU specified with the servo program at one start is executed.
Position follow-up control is started using the PFSTART servo program instruction.

: Must be set,

: Set if required
*1 Only when the reference axis speed is specified
Processing details
■ Control using PFSTART instruction
• Positioning to the address set in the word device of the Motion CPU specified with the servo program is executed.
• Position follow-up control is executed until the stop instruction is input. If the word device value changes during operation,
positioning is executed to the changed address.
Precautions
• Number of control axes is 1 axis.
• Only the absolute data method (ABS
 ) is used for positioning control to the pass points.
• The speed can be changed during the start. The changed speed is effective until the stop command is input.
• Set the positioning address in the servo program using indirect setting with the word devices.
• Use only even-numbered devices for indirect setting of positioning address in the servo program.
• Positioning speeds can be set in the servo program using indirect setting with the word devices. However, this data is
effective only at the position follow-up control start (servo program start) and the speed does not change if the indirect
setting are changed during the start.
Positioning data set in servo instructions
Common Servo
instruction
Positioning
method
Number
of
control
axes
Arc OSC Parameter block Others
Parameter block No. Acceleration time Deceleration time Rapid Stop deceleration time Torque limit value Deceleration processing on stop input Allowable error range for circular interpolation S-curve ratio Advanced S-curve acceleration/deceleration Bias speed at start Repeat condition Program No. Command speed (Continuous trajectory) Skip FIN acceleration/deceleration WAIT-ON/OFF Fixed position stop Axis Address/travel value Command speed Dwell time M-code Torque limit value Auxiliary point Radius Central point Number of pitches Starting angle Amplitude Frequency Interpolation control unit Speed limit value Reference axis No.
*1
Fixed position stop acceleration/deceleration time
PFSTART
Absolute
1
© © © © © © © © © © ¨ ¨ ¨ ©
V
t
B
Positioning address
A
Positioning address has not change
using PFSTART instruction
Before reaching A, positioning address
changed to B (return direction)