Mitsubishi MELSEC-Q QD77MS, User Manual

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Chapter 13 Control Sub Functions
13.3.3 Near pass function
When continuous pass control is carried out using interpolation control, the near pass
function is carried out.
The "near pass function" is a function to suppress the mechanical vibration occurring at
the time of switching the positioning data when continuous pass control is carried out
using interpolation control.
[Near pass function]
The extra movement amount occurring at the end of each positioning data unit being
continuously executed is carried over to the next positioning data unit. Alignment is not
carried out, and thus the output speed drops are eliminated, and the mechanical
vibration occurring during speed changes can be suppressed. Because alignment is
not carried out, the operation is controlled on a path that passes near the position set
in "
Da.6 Positioning address/movement amount".
The details shown below explain about the "near pass function".
[1] Control details
[2] Precautions during control
[1] Control details
The following drawing shows the path of the continuous path control by the 2-
axis linear interpolation control.
[The path of the near pass]
Da. 6 Positioning address
Path of positioning data No. 4
V
t
Positioning data No. 3
Speed dropping does not occur.
Path of positioning data No.3
Positioning data No. 4
Fig. 13.9 The path of the continuous path control