Mitsubishi MELSEC-Q QD77MS, User Manual

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Chapter 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 "Outside linear movement amount range error (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
[When "2-axis linear interpolation control (ABS linear 2)" is set in positioning data
No. 1 of axis 1]
• Reference axis............. Axis 1
• Interpolation axis.......... Axis 2 (The required values are also set in positioning
data No. 1 of axis 2.)
QD77MS2/QD77MS4
setting example
QD77MS16
setting example
Axis
Setting item
Axis 1
(reference
axis)
Axis 2
(interpolation
axis)
Axis 1
(reference
axis)
Axis 2
(interpolation
axis)
Setting details
Da.1
Operation pattern
Positioning
complete
–
Positioning
complete
–
Set "Positioning complete" assuming the next
positioning data will not be executed.
Da.2
Control system
ABS
linear 2
–
ABS
linear 2
–
Set absolute system 2-axis linear interpolation
control.
Da.3
Acceleration time No.
1 – 1 –
Designate the value set in "
Pr.25
Acceleration
time 1
" as the acceleration time at start.
Da.4
Deceleration time No.
0 – 0 –
Designate the value set in "
Pr.10
Deceleration
time 0
" as the deceleration time at deceleration.
Da.5
Axis to be interpolated
QD77MS2 QD77MS4
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
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 is ignored).
Da.8
Command speed
6000.00
mm/min
–
6000.00
mm/min
–
Set the speed during movement to the end
point address.
Da.9
Dwell
time 500ms – 500ms –
Set the time the machine dwells after the
positioning stop (command stop) to the output
of the positioning complete signal.
Da.10
M code 10 – 10 –
Set this when other sub operation commands
are issued in combination with the No.1
positioning data.
Da.20
Axis to be interpolated
No.1
QD77MS16
Axis 2 –
Set the axis to be interpolated.
If the self-axis is set, an error will occur.
Da.21
Axis to be interpolated
No.2
QD77MS16
– –
A
xi
s 1 P
os
iti
oni
ng dat
a No.
1
Da.22
Axis to be interpolated
No.3
QD77MS16
– –
Setting not required (setting value is ignored).
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.