Mitsubishi Electric MELSEC-L LD75D, User Manual

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CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL
6
6.
5 Pr
ogram Det
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ils
6.5.2
Start details setting program
This program sets which control, out of "OPR", "major positioning control" or "high-level positioning control" to execute.
For "high-level positioning control", "fast OPR", "speed-position switching control" and "position-speed switching
control", add the respectively required program.
(Refer to

Page 456, CHAPTER 10 for details on starting the "high-level positioning control".)
(1) Procedures for setting the starting details
1.
Set the "positioning start No." corresponding to the control to be started in "[Cd.3] Positioning
start No.".
Refer to  Page 211, Section 5.7 for the information on detail settings.
2.
For "high-level positioning control", set the "positioning start point No." of the block to be started
in "[Cd.4] Positioning start pointing No.".
Refer to

Page 211, Section 5.7 for the information on detail settings.
3.
Set the following control data for "speed-position switching control (INC mode)".
Set "[Cd.23] Speed-position switching control movement amount change register" as required. Setting is
not required in the ABS mode.
Refer to

Page 211, Section 5.7 for the information on detail settings.
4.
For "position-speed switching control", set the control data shown below.
As required, set the "[Cd.25] Position-speed switching control speed change register".
Refer to

Page 211, Section 5.7 for the information on detail settings.
Setting item
Setting
value
Setting details
Buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
[Cd.3] Positioning start No.

1 to 600: Positioning data No.
9001: Machine OPR
9002: Fast OPR
9003: Current value changing
9004: Simultaneous start
7000 to 7004: Block No. (For "high-level positioning
control")
1500 1600 1700 1800
Setting item
Setting
value
Setting details
Buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
[Cd.4] Positioning start pointing No.

1 to 50: Point No. of block start data 1501 1601 1701 1801
Setting item
Setting
value
Setting details
Buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
[Cd.23]
Speed-position switching control
movement amount change
register

Set the new value when the position control's
movement amount is to be changed during speed
control.
1526
1527 1626
1627 1726
1727 1826
1827
[Cd.24]
Speed-position switching enable
flag
1
When "1" is set, the speed-position switching signal will
be validated.
1528 1628 1728 1828
Setting item
Setting
value
Setting details
Buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
[Cd.25]
Position-speed switching control
speed change register

Used to set a new value when speed is changed during
positioning control. 1530
1531 1630
1631 1730
1731 1830
1831
[Cd.26]
Position-speed switching enable
flag
1
To validate position-speed switching signal, this is set to
1.
1532 1632 1732 1832