Mitsubishi MELSEC-Q QD77MS, User Manual

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Chapter 6 Sequence Program Used for Positioning Control
6.5.2 Start details setting program
This program sets which control, out of "OPR", "major positioning control", "high-level
positioning control" or "expansion control" to execute. For "high-level positioning
control", "fast OPR", "speed-position switching control" and "position-speed switching
control", add the respectively required sequence program.
(Refer to "Chapter 10" for details of " high-level positioning control" and "Chapter 12"
for details on the "expansion control".)
Procedures for setting the starting details
(1) Set the "positioning start No." corresponding to the control to be started in
"
Cd.3
Positioning start No.".
Buffer memory address
Setting item
Setting
value
Setting details
QD77MS2
QD77MS4
QD77MS16
Cd.3
Positioning start No.
1 to 600 : Positioning data No.
9001 : Machine OPR
9002 : Fast OPR
9003 : Current value changing
9004 : Simultaneous start
7000 to 7004 : Block No.
(For "high-level positioning
control")
1500+100n 4300+100n
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for details on the setting details.
(2) For "high-level positioning control", set the "positioning start point No." of the
block to be started in "
Cd.4
Positioning starting point No.".
Buffer memory address
Setting item
Setting
value
Setting details
QD77MS2
QD77MS4
QD77MS16
Cd.4
Positioning starting point
No.
1 to 50 : Point No. of block start data 1501+100n 4301+100n
n: Axis No.-1
:
Refer to Section 5.7 "List of control data" for details on the setting details.
(3) Set the following control data for "speed-position switching control (INC
mode)".
(Set "
Cd.23
Speed-position switching control movement amount change
register" as required. Setting is not required in the ABS mode.)
Buffer memory address
Setting item
Setting
value
Setting details
QD77MS2
QD77MS4
QD77MS16
Cd.23
Speed-position switching
control movement amount
change register Set the new value when the position control's
movement amount is to be changed during
speed control.
1526+100n
1527+100n 4326+100n
4327+100n
Cd.24
Speed-position switching
enable flag
1
When "1" is set, the speed-position switching
signal will be validated.
1528+100n 4328+100n
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for details on the setting details.