Mitsubishi MELSEC-Q QD77MS, User Manual

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Chapter 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 positioning data currently being run and the
speed of the positioning data that will be run next.
The speed is not changed if the current speed and the next speed are
equal.
(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 complete, 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
(f) In the continuous path control, the positioning may be completed
before the set address/movement amount and the current data may be
switched to the "positioning data that will be run next".
This is because a preference is given to the positioning at a command
speed. In actuality, the positioning is completed before the set
address/movement amount by an amount of remaining distance at
speeds less than the command speed. The remaining distance (
)
at speeds less than the command speed is 0 (distance
moved in operation cycle at a speed at the time of completion of the
positioning).
The remaining distance (
) is output at the next positioning data
No.