№
SX-DCT00221 -
19-
Panasonic Corporation
②
Combined block operation
When block setting parameter (Pr06 and 16) is set to “2”, and run start command is given to the 1st or 3rd point in
any procedure, combined block operation of the 1st point
2nd point (or the 3rd point
the 4th point) is executed.
Positioning operation completion position in combined block operation is determined by the 2nd point (or the 4th
point). Position for changing speed setting is determined by the 1st point (or the 3rd point).
Coordinate setting of each point can be either by relative travel or absolute travel.
When the 2nd point (or the 4th point) which is the positioning operation completion position is set by relative travel,
coordinate is calculated by target position of the 1st point (or the 3rd point), and by run start position in the case of
absolute travel.
When the 1st point (or the 3rd point) is set by absolute travel, if the motor passes the position designated by param-
eter, the motor speed changes to the speed set by the 2nd point (or the 4th point), and the motor runs to the target
position. In relative travel, the motor runs by the speed designated at the 1st point (or the 3rd point) for the distance
set by the 1st point (or the 3rd point) from run start, and then the motor speed changes to the speed designated at
the 2nd point (or the 4th point) and the motor runs to the target position.
e.g.) When the 1st point and the 2nd point are set to combined block operation (Pr06 = 2)
P1 P2
S1
S2
P1 P2
S1
S2
When the 1st
speed setting
Run start
signal (input)
In-motion signal
(output)
S1:The 1st speed setting set by the 1st point
S2: The 2nd speed setting set by the 2nd point
P1: The 1st position
P2: The 2nd position
Commanded speed
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
the 2nd speed
setting
<
①
When the 1st
speed setting
②
the 2nd speed
setting
>
･
When the 1st point position > the 2nd point position (when the target position is closer than the position to change
speed setting (P1)), the motor runs to the 2nd point position at the 1st speed setting and positioning operation is
completed.
･
When the motor run start position has already passed the position of the 1st point such as when the motor is
stopped halfway (or when the operation direction to the 1st point is different from that to the 2nd point), the motor
runs to the position of the 2nd point at the 2nd speed setting, and positioning operation is completed.
･
During combined block operation, data of the 1st point is applied to the setting of acceleration and deceleration
time. Setting at the 2nd point is made ineffective, and the motor operates with acceleration and deceleration time
set at the 1st point.
･
In combined block operation, acceleration and deceleration pattern is fixed to linearity. (It is the same when the
motor runs to the target position at a constant speed.)
･
In combined block operation (status where the 1st block setting is “2”), when the 2nd point positioning command is
executed, command execution error (E-rU) is found.
･
When using block setting “2” and “1” together, it is enabled by setting the block setting parameter at “1” and setting
the block timer at the 2nd point. (Operation at the 3rd point is started after completion of combined block opera-
tion at the 1st point
the 2nd point.)
