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5 POSITIONING CONTROL
5.1 Basics of Positioning Control
253
5
Speed limit value and positioning speed
• The setting speed limit value applies to the long-axis speed.
• Be careful that the vector speed may exceed the speed limit value at the long-axis speed specification.
(Example)
The following settings at the 2 axes linear interpolation, the vector speed exceeds the speed limit value.
In this example, since the reference-axis is axis 2 of the largest travel value, it is controlled with the speed limit
value specified with axis 2.
The positioning speed and vector speed for each axis are as follows:
The vector speed exceeds the speed limit value setting of 55.
Relationship between speed limit value, acceleration time, deceleration time and rapid stop deceleration time.
• The real acceleration time, deceleration time and rapid stop deceleration time are set by the setting long-
axis speed.
[pulse]
[pulse]
[pulse/s]
<K 2 >
1,
2,
100
200
50
INC-2
Axis
Axis
Long-axis speed
Setting item
Setting value
100 [pulse]
200 [pulse]
50 [pulse/s]
55 [pulse/s]
Axis 1 travel value
Axis 2 travel value
Long-axis speed
Speed limit value
Setting item
Speed
Axis 1 positioning speed
100 / 200
×
50 = 25 [pulse/s]
Axis 2 positioning speed
50 [pulse/s]
Vector speed
25
2
+ 50
2
= 55.9 [pulse/s]
Axis 1 positioning
speed
Axis 2 positioning speed
Vector speed
Speed
Speed limit value
Positioning speed (long-axis speed)
Rapid stop cause occurrence
Time
(1)
(2)
(4)
(6)
(5)
(3)
(1) Real acceleration time
(2) Setting acceleration time
(3) Real deceleration time
(4) Setting deceleration time
(5) Real rapid stop deceleration time
(6) Setting rapid stop deceleration time
Содержание MELSEC iQ-R16MTCPU
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