Mitsubishi Electric MELSEC-L Series, User Manual

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Chapter 9 Major Positioning Control
Positioning data setting examples
[When "speed-position switching control (ABS mode) by forward run" is set in
positioning data No. 1 of axis 1]
Setting item
Setting example
Setting details
LD77MS2
LD77MS4
LD77MS16
Axis 1
Pos
itioning d
ata N
o. 1
Da.1 Operation pattern Positioning complete
Set "Positioning complete" assuming the next positioning data
will not be executed. ("Continuous path control" cannot be set
in "speed-position switching control (ABS mode)".)
Da.2 Control method
Forward run:
speed/position
Set speed-position switching control by forward run.
Da.3 Acceleration time No.
1
Designate the value set in "
Pr.25
Acceleration time 1
" as the
acceleration time at start.
Da.4 Deceleration time No.
0
Designate the value set in "
Pr.10
Deceleration time 0
" as the
deceleration time at deceleration.
Da.5
Axis to be interpolated
LD77MS2 LD77MS4
– Setting not required. (Setting value is ignored.)
Da.6
Positioning address/
movement amount
270.00000degree
ABS mode (
Pr.81
= 2)
Set the address after the switching to position control.
(Assuming that the "
Pr.1
Unit setting
" is set to "degree".)
Da.7 Arc address – Setting not required. (Setting value is ignored.)
Da.8 Command speed
6000.000degree/min
Set the speed to be controlled.
Da.9
Dwell time/JUMP
destination
positioning data No.
500ms
Set a time from the positioning stop (command stop) by
position control until the positioning complete signal is output.
When the system is stopped by speed control, ignore the
setting value.
Da.10
M code/Condition
data No./Number of
LOOP to LEND
repetitions
10
Set this when other sub operation commands are issued in
combination with the No. 1 positioning data.
Da.20
Axis to be interpolated
No.1
LD77MS16
–
Setting not required (setting value is ignored).
Da.21
Axis to be interpolated
No.2
LD77MS16
–
Da.22
Axis to be interpolated
No.3
LD77MS16
–
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.