Mitsubishi Electric MELSEC Q Series, User Manual

Page: 130 / 834

5 - 10
Chapter 5 Data Used for Positioning Control
Major positioning control
Positioning data
Position control
1
to
4 axi
s
sp
ee
d co
nt
ro
l
S
peed
-p
os
iti
on
sw
itch
in
g
co
nt
ro
l
P
os
iti
on
-s
pee
d s
w
itch
in
g
co
nt
ro
l
Other control
1-
axi
s l
ine
ar
c
ont
rol
2/
3/
4-
axi
s l
ine
ar
in
te
rp
ol
at
io
n co
nt
ro
l
1-
axi
s fi
xe
d-
fe
ed
co
nt
rol
2/
3/
4-
axi
s fi
xe
d-
fe
ed
co
nt
ro
l
2-
axi
s ci
rc
ul
ar
in
te
rp
ol
at
io
n co
nt
ro
l
N
O
P
in
st
ru
ct
ion
C
urre
nt
va
lu
e ch
ang
ing
JUM
P
in
st
ru
cti
on
LO
OP
LE
N
D
[Da.20] Axis to be interpolated 1
: 2 axes, 3 axes, 4 axes –: 1 axis – – – – – – –
[Da.21] Axis to be interpolated 2 : 3 axes, 4 axes –: 1 axis, 2 axes – – – – – – –
[Da.22] Axis to be interpolated 3 : 4 axes –: 1 axis, 2 axes, 3 axes – – – – – – –
: Always set
: Set as required ("–" when not required)
: Setting not possible (If set, the error "Continuous path control not possible" (error code: 516) will occur at start.)
– : Setting not required (If the value is the default value or within the setting range, there is no problem.)
: Two control systems are available: the absolute (ABS) system and incremental (INC) system.
Checking the positioning data
[Da.1] to [Da.10], [Da.20] to [Da.22] are checked at the following timings:
 Startup of a positioning operation
5.1.7 Setting items for block start data
The "block start data" must be set when carrying out "high-level positioning control".
The setting items for the "block start data" are shown below.
Up to 50 points of "block start data" can be set for each axis.
Refer to Chapter 10 "High-Level Positioning Control" for details on the "high-level
positioning control", and to Section 5.4 "List of block start data" for details on each
setting item.
High-level positioning
control
Block start data
Block start
(Normal start)
Condition
start
Wait start
Simultaneous
start
Repeated
start
(FOR loop)
Repeated
start
(FOR
condition)
[Da.11] Shape (end/continue)
[Da.12] Start data No.
[Da.13] Special start instruction –
[Da.14] Parameter –
: Set as required ("–" when not required)
– : Setting not required (If the value is the default value or within the setting range, there is no problem.)
Checking the block start data
[Da.11] to [Da.14] are checked with the following timing.
 When "Block start data" starts