Mitsubishi Electric MELSEC-L Series, User Manual

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9 - 2
Chapter 9 Major Positioning Control
9.1 Outline of major positioning controls
"Major positioning controls" are carried out using the "positioning data" stored in the
Simple Motion module.
The basic controls such as position control and speed control are executed by setting
the required items in this "positioning data", and then starting that positioning data.
The control method for the "major positioning controls" is set in setting item "
Da.2
Control method
" of the positioning data.
Control defined as a "major positioning control" carries out the following types of
control according to the "
Da.2
Control method
" setting.
However, the position loop is included for commanding to servo amplifier in the speed
control set in "
Da.2
Control method
".
Use the "speed-torque control" (Refer to Section 12.1 "Speed-torque control") to
execute the speed control not including position loop.
Major positioning control Details
Da.2
Control method
Position contro
l
Linear control
1-axis linear
control ABS Linear 1
INC Linear 1
Positioning of the designated 1 axis is carried out from the
start address (current stop position) to the designated
position.
2-axis linear
interpolation
control
(Note-1)
ABS Linear 2
INC Linear 2
Using the designated 2 axes, linear interpolation control is
carried out from the start address (current stop position) to
the designated position.
3-axis linear
interpolation
control
(Note-1)
ABS Linear 3
INC Linear 3
Using the designated 3 axes, linear interpolation control is
carried out from the start address (current stop position) to
the designated position.
4-axis linear
interpolation
control
(Note-1)
ABS Linear 4
INC Linear 4
Using the designated 4 axes, linear interpolation control is
carried out from the start address (current stop position) to
the designated position.
Fixed-feed
control
1-axis fixed-
feed control
Fixed-feed 1
Positioning of the designated 1 axis is carried out for a
designated movement amount from the start address
(current stop position).
(The "
Md.20
Current feed value
" is set to "0" at the start.)
2-axis fixed-
feed control
(Note-1)
Fixed-feed 2
Using the designated 2 axes, linear interpolation control is
carried out for a designated movement amount from the
start address (current stop position).
(The "
Md.20
Current feed value
" is set to "0" at the start.)
3-axis fixed-
feed control
(Note-1)
Fixed-feed 3
Using the designated 3 axes, linear interpolation control is
carried out for a designated movement amount from the
start address (current stop position).
(The "
Md.20
Current feed value
" is set to "0" at the start.)
4-axis fixed-
feed control
(Note-1)
Fixed-feed 4
Using the designated 4 axes, linear interpolation control is
carried out for a designated movement amount from the
start address (current stop position).
(The "
Md.20
Current feed value
" is set to "0" at the start.)
2-axis circular
interpolation
control
(Note-1)
Sub point
designation ABS Circular sub
INC Circular sub
Using the designated 2 axes, positioning is carried out in
an arc path to a position designated from the start point
address (current stop position).
Center point
designation
ABS Circular right
ABS Circular left
INC Circular right
INC Circular left