Mitsubishi Electric MELSEC-L LD75D, User Manual

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CHAPTER 9 MAJOR POSITIONING CONTROL
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f Major Pos
itioning
Cont
rols
(3) Starting the interpolation control
The positioning data Nos. of the reference axis (axis in which interpolation control was set in "[Da.2] Control
system") are started when starting the interpolation control. (Starting of the interpolation axis is not required.)
The following errors or warnings will occur and the positioning will not start if both reference axis and the
interpolation axis are started.
• Reference axis: The error "Interpolation while interpolation axis BUSY" (error code: 519)
• Interpolation axis: The error "Control system setting error" (error code: 524), The warning "Start during
operation" (warning code: 100)
(4) Interpolation control continuous positioning
When carrying out interpolation control in which "continuous positioning control" and "continuous path control"
are designated in the operation pattern, the positioning method for all positioning data from the started positioning
data to the positioning data in which "positioning complete" is set must be set to interpolation control.
The number of the interpolation axes and axes to be interpolated cannot be changed from the intermediate
positioning data. The error "Control system setting error" (error code: 524) will occur and the positioning will stop
if setting, which changes the number of the interpolation axes and axes to be interpolated, is carried out.
(5) Speed during interpolation control
Either the "composite speed" or "reference axis speed" can be designated as the speed during interpolation
control.
([Pr.20] Interpolation speed designation method)
Only the "Reference axis speed" can be designated in the following interpolation control.
When a "composite speed" is set and positioning is started, the error "Interpolation mode error" (error code: 523)
occurs, and the system will not start.
• 4-axis linear interpolation
• 2-axis speed control
• 3-axis speed control
• 4-axis speed control
(6) Cautions in interpolation control
• If a stepping motor is used, the circular interpolation control and 3-axis helical interpolation control cannot be
carried out. Make sure to use a servomotor when the circular interpolation control or 3-axis helical
interpolation control is carried out.
• If either of the axes exceeds the "[Pr.8] Speed limit value" in the 2-to 4-axis speed control, the axis which
exceeded the speed limit value is controlled by the speed limit value. For the other axes which perform
interpolation, the speed can be suppressed by the ratio of a command speed.
• If any axis exceeds "[Pr.8] Speed limit value" during 2- to 4-axis linear interpolation control, 2- to 4-axis fixed-
feed control, 2-axis circular interpolation control, or 3-axis helical interpolation control, the axis exceeding the
speed limit value is controlled at the speed limit value. For the other axes performing interpolation, the speed
can be suppressed by the ratio of a movement distance.
• In 2- to 4-axis linear interpolation control or 2- to 4-axis fixed-feed control, the speed limit value for the
interpolation axis may not function under the following condition: "1: Reference axis speed" is set in "[Pr.20]
Interpolation speed designation method" or "[Da.29] Interpolation speed designation method", and the
reference axis is the minor axis and the interpolation axis is the major axis.
• In 3-axis helical interpolation control, control the composite speed of the circular interpolation axis or the
speed of the linear interpolation axis so that the speeds do not exceed "[Pr.8] Speed limit value".
• In 2-axis interpolation, you cannot change the combination of interpolated axes midway through operation.