Mitsubishi Melsec-Q QD75D1, User Manual

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MELSEC-Q
9 MAJOR POSITIONING CONTROL
Restrictions
An error will occur and the positioning will not start in the following cases. The
machine will immediately stop if the error is detected during a positioning control.
• If the movement amount of each axis exceeds "1073741824 (=2
30
)" when "0:
Composite speed" is set in "
Pr.20 Interpolation speed designation method"
... The error "Outside linear movement amount range" (error code: 504) occurs
at a positioning start.
(The maximum movement amount that can be set in "
Da.6
Positioning
address/movement amount" is "1073741824 (=2
30
)".)
Positioning data setting example
[Reference axis and interpolation axis are designated as axis 1 and axis 2,
respectively.]
The following table shows setting examples when "2-axis linear interpolation
control (ABS linear 2)" is set in positioning data No. 1 of axis 1. (The required
values are also set in positioning data No. 1 of axis 2.)
Axis
Setting item
Axis 1
(reference
axis) setting
example
Axis 2
(interpolation
axis) setting
example
Setting details
Da.1 Operation pattern
Positioning
complete
–
Set "Positioning complete" assuming the next positioning
data will not be executed.
Da.2 Control system ABS linear 2 – Set absolute system 2-axis linear interpolation control.
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
Axis 2 –
Set the axis to be interpolated (partner axis).
If the self-axis is set, an error will occur.
Da.6
Positioning address/
movement amount 10000.0
μ
m 4000.0
μ
m
Set the end point address. (Assuming "mm" is set in
" Pr.1 Unit setting".)
Da.7 Arc address – – Setting not required (setting value will be ignored).
Da.8 Command speed
6000.00
mm/min
– Set the speed during movement to the end point address.
Da.9 Dwell time 500ms –
Set the time the machine dwells after the positioning stop
(pulse output stop) to the output of the positioning complete
signal.
Axis 1 Positioning data N
o. 1
Da.10 M code 10 –
Set this when other sub operation commands are issued in
combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
POINT
• When the "reference axis speed" is set during 2-axis linear interpolation control,
set so the major axis side becomes the reference axis. If the minor axis side is set
as the reference axis, the major axis side speed may exceed the "
Pr.8
Speed
limit value".