Mitsubishi MELSEC-Q QD77MS, User Manual

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9 - 3
Chapter 9 Major Positioning Control
Major positioning control
Da.2 Control system
Details
1-axis speed
control Forward run speed 1
Reverse run speed 1
The speed control of the designated 1 axis is carried out.
2-axis speed
control
(Note-1)
Forward run speed 2
Reverse run speed 2
The speed control of the designated 2 axes is carried out.
3-axis speed
control
(Note-1)
Forward run speed 3
Reverse run speed 3
The speed control of the designated 3 axes is carried out.
Speed control
4-axis speed
control
(Note-1)
Forward run speed 4
Reverse run speed 4
The speed control of the designated 4 axes is carried out.
Speed-position switching control
Forward run speed/position
Reverse run speed/position
The control is continued as position control (positioning for
the designated address or movement amount) by turning
ON the "speed-position switching signal" after first
carrying out speed control.
Position-speed switching control
Forward run position/speed
Reverse run position/speed
The control is continued as speed control by turning ON
the "position-speed switching signal" after first carrying out
position control.
NOP
instruction
NOP instruction
A nonexecutable control system. When this instruction is
set, the operation is transferred to the next data operation,
and the instruction is not executed.
Current value
changing
Current value changing
"
Md.20
Current feed value
" is changed to an address set in
the positioning data.
This can be carried out by either of the following 2
methods.
("
Md.21
Machine feed value
" cannot be changed.)
•
Current value changing using the control system
•
Current value changing using the current value
changing start No. (No. 9003).
JUMP
instruction
JUMP instruction
An unconditional or conditional JUMP is carried out to a
designated positioning data No.
LOOP LOOP A repeat control is carried out by repeat LOOP to LEND.
Other control
LEND LEND
Control is returned to the top of the repeat control by
repeat LOOP to LEND. After the repeat operation is
completed specified times, the next positioning data is
run.
(Note-1): Control is carried out so that linear and arc paths are drawn using a motor set in two or more axes directions.
This kind of control is called "interpolation control". (Refer to Section 9.1.6 "Interpolation control" for details.)
(Note-2): In the QD77MS2, when 3- or 4-axis interpolation is carried out, or axis 3 or axis 4 is designated to the axis to be
interpolated for 2-axis interpolation, an error "Illegal interpolation description command" (error code: 521) will
occur and the positioning control does not start.