Mitsubishi Melsec-Q QD75D1, User Manual

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MELSEC-Q
9 MAJOR POSITIONING CONTROL
[3] Continuous path control
(1) Continuous path control
(a) The speed is changed without deceleration stop between the
command speed of the running positioning data and the command
speed of the positioning data that will run next.
The speed is not changed if the current speed and the next speed are
equal.
OFF
ON
OFF
ON
OFF
ON
OFF
ON
Time
Positioning continue (11)
Dwell time
Positioning continue (11)
Start complete signal
BUSY signal
Positioning complete signal
Positioning start signal
Positioning
complete (00)
Address (+) direction
Address (-) direction
[Y10, Y11, Y12, Y13]
[X10, X11, X12, X13]
[XC, XD, XE, XF]
[X14, X15, X16, X17]
Fig. 9.3 Operation during continuous path control (Standard speed switching mode)
(b) The speed will become the speed used in the previous positioning
operation if the command speed is set to "-1".
(c) Dwell time will be ignored, even if set.
(d) The next positioning No. is executed automatically in operations by
continuous path control (operation pattern "11"). Always complete the
positioning by setting operation pattern "00" in the last positioning data.
If the operation pattern is set to positioning continue ("01" or "11"), the
operation will continue until operation pattern "00" is found.
If the operation pattern "00" cannot be found, the operation may be
carried out until the positioning data No. 600. If the operation pattern of
the positioning data No. 600 is not completed, the operation will be
started again from the positioning data No. 1.
(e) The speed switching patterns include the "front-loading speed
switching pattern" in which the speed is changed at the end of the
current positioning side, and the "standard speed switching pattern" in
which the speed is at the start of the next positioning side. (Refer to
"
Pr.19
Speed switching mode".)
Continuous path control Standard speed switching mode
Front-loading speed switching mode