Mitsubishi Electric MELSEC iQ-R16MTCPU, Руководство по программированию

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5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
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• During a FOR-ON loop, or a FOR-OFF loop, if the time from satisfaction of trigger conditions until reaching end point of the
loop is shorter than the indicated time below, positioning operations are not normal. Set the trigger conditions so that the
time from satisfaction of trigger conditions until reaching end point of the loop is longer than the indicated time below.
Time required from satisfaction of trigger conditions until reaching end point of the loop = Main cycle + Time required for
deceleration stop
• At the end positioning address detection, an overrun occurs if the deceleration distance is insufficient for the output speed,
and a minor error (error code: 1A58H) occurs. If the end point has a movement amount 0, a minor error does not occur.
Program example
The program for repeating continuous trajectory control of Axis 2 and Axis 3 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■ Positioning conditions
• Continuous trajectory control conditions are shown below.
• Continuous trajectory control start command: X0 Leading edge (OFF

ON)
■ Operation timing
Operation timing for continuous trajectory control is shown below.
Item Setting
Servo program No. 510
Control axis Axis 2, Axis 3
Positioning speed 10000
Axis 2 [St.1075] Servo ready
(M2435)
Axis 3 [St.1075] Servo ready
(M2455)
Servo program start
t
V
1000
Vector
speed
[Rq.1120] PLC ready flag
(M2000)
[Rq.1123] All axes servo ON
command (M2042)
[St.1045] All axes servo ON
accept flag (M2049)
Start command (X0)
Axis 2 [St.1040] Start accept
flag (M2002)
Axis 3 [St.1040] Start accept
flag (M2003)
Axis 2
positioning
direction
Axis 3 positioning direction
20000
0
Radius
20000
40000
60000
80000
100000
50000 100000 150000 200000