Mitsubishi Electric MELSEC iQ-R RD75P4, Руководство пользователя

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12 DATA USED FOR POSITIONING CONTROL
12.1 Types of Data
12
DATA USED FOR POSITIONING CONTROL
This chapter describes the parameters and data used for performing the positioning control with the RD75.
In the positioning system using the RD75, the various parameters and data are used for the control. The parameters and data
include parameters set according to the device configuration, such as the system configuration, and parameters and data set
according to each control.
12.1
Types of Data
Parameters and data required for the control
The parameters and data required to perform the control using the RD75 include Setting data, Monitor data, and Control data
shown below.
Setting data
The data is set beforehand according to the machine and application. Set the data with programs or engineering tools. The
data set for the buffer memory can also be saved in the flash ROM in the RD75.
The setting data is classified as follows.
■
Valid timing of setting data
The following table lists the timings when each type of data is validated.
Classification Item Description
Module parameter Basic setting Basic parameter 1 Set the parameter according to the machine and applicable motor at
the system start-up.
Basic parameter 2
Detailed parameter 1 Set the parameter according to the system configuration at the system
start-up.
Detailed parameter 2
OPR basic parameter Set the required values for performing the OPR control.
OPR detailed parameter
Interrupt setting Interrupt setting data Set the setting data for the interrupt function.
Module extension
parameter Positioning data Positioning data Set the data for the major positioning control.
Block start data Block start data Set the block start data for the advanced positioning control.
Condition Data Set the condition data for the advanced positioning control.
Valid timing Applicable data Description
When PLC READY signal [Y0] is
turned off and on Basic parameter 1
Detailed parameter 1
OPR basic parameter
OPR detailed parameter
Interrupt setting data The only valid value of [Pr.5] Pulse output mode is the value at the moment when
PLC READY signal [Y0] is turned off and on for the first time after the power is
switched on or the CPU module is reset.
When the positioning starts Basic parameter 2
Detailed parameter 2
Positioning data
Block start data Once the operation has started, any modification to the data is ignored in the control.
The modification is valid at the next positioning start. Exceptionally, however,
modifications to the following data are valid even during positioning.
• Acceleration time 0 to 3 and deceleration time 0 to 3: Positioning data are pre-read
and pre-analyzed. Modifications to the data four or more steps after the current
step are valid.
• [Pr.42] External command function selection: The value at the time of detection is
valid.
When the multiple positioning data are continuously processed by using the
continuous positioning control or continuous path control, modifications to the data
four or more steps after the current step are valid. Modifications to the data three or
less steps before the current step may be invalid because the positioning data are
pre-read and pre-analyzed.