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 "3-axis linear interpolation control (ABS linear 3)" is set in positioning data
No. 1 of axis 1]
• Reference axis............. Axis 1
• Interpolation axis.......... Axis 2, Axis3 (The required values are also set in
positioning data No. 1 of axis 2 and axis 3.)
QD77MS4 setting example QD77MS16 setting example
Axis
Setting item
Axis 1
(reference
axis)
Axis 2
(interpolation
axis)
Axis 3
(interpolation
axis)
Axis 1
(reference
axis)
Axis 2
(interpolation
axis)
Axis 3
(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 3
– –
ABS
linear 3
– –
Set absolute system 3-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
QD77MS4
–
– –
Setting not required (setting value is
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
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 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 – –
Da.21
Axis to be interpolated
No.2
QD77MS16
Axis 3 – –
Set the axis to be interpolated.
If the self-axis is set, an error will
occur.
A
xi
s 1 P
osi
tioni
ng data N
o. 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.