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 is designated as axis 1.]
The following table shows setting examples when "3-axis linear interpolation
control (ABS linear 3)" is set in positioning data No. 1 of axis 1. (The required
values are also set in positioning data No. 1 of axis 2 and axis 3.)
Axis
Setting item
Axis 1
(reference
axis) setting
example
Axis 2
(interpolation
axis) setting
example
Axis 3
(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 3 – –
Set absolute system 3-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
– – –
Setting not required (setting value will be
ignored).
When axis 1 is used as a reference axis, the
interpolation axes are axes 2 and 3.
Da.6
Positioning address/
movement amount
4000.0
μ
m 8000.0
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.