Mitsubishi Electric MELSEC iQ-R RD75P4, Руководство пользователя

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7 CONTROL SUB FUNCTIONS
7.3 Function to Compensate Control
Output timing selection of near pass control
This function allows the user to select the timing to output the difference (

d) between the actual and the set positioning end
addresses in the continuous path control, in which the difference (

d) is output during the execution of the next positioning
data.
Control details
At constant speed and At deceleration are available as the setting of the near pass output timing.
• At constant speed: The distance

d is output when the next positioning data is executed at the constant speed.
• At deceleration: The distance

d is output at the deceleration of V1 to V2.
In At constant speed, when V1, the command speed of the positioning data No. 1, is greater than V2, the command speed of
the positioning data No. 2, in the operation chart, the distance

d is output when the next positioning data is executed at the
constant speed and the execution time is extended.
In At deceleration, the execution time is not extended and is equivalent to the set execution time of the positioning control.
The following shows the operation chart of Output timing selection of near pass control.
V2
V1
V1
V1
V2
V2
V2'
T
1
T
21
T
22
• Acceleration/deceleration (setting)
Positioning data
No.1
Positioning data
No.2
Positioning data
No.1
Positioning data
No.1
Positioning data
No.2
Positioning data
No.2
Speed
Speed
Speed
Time
Time
Time
0.88ms
Less than 0.88ms
0.88ms or more
Positioning execution time
when "At constant speed" is
selected
T
21
≥T
1
V2': The speed of when the
workpiece moves the
distance ∆d in 0.88ms.
Positioning execution time
when "At deceleration" is
selected
T
22
=T
1
Distance ∆d
Distance ∆d
Distance ∆d
• Acceleration/deceleration with the near pass function (actual one)