Mitsubishi A1SD75M1, Руководство пользователя

Страница: 366 / 746

9 - 8
MELSEC-A
9 MAIN POSITIONING CONTROL
(b) Deceleration stop conditions during continuous path control
Deceleration stops are not carried out in continuous path control, but the
machine will carry out a deceleration stop to speed "0" in the following
cases 1) to 4).
1) When the operation pattern of the positioning data currently being
executed is "continuous path control: 11", and the movement direction
of the positioning data currently being executed differs from that of the
next positioning data. (Refer to the "Point" below.)
V
Positioning data No.2
Operation pattern : 00
Speed becomes 0
Positioning data No.1
Operation pattern : 11
2) When the operation pattern of the positioning data currently being
executed is "continuous path control: 11", and the movement amount
of the next positioning data is "0".
3) During operation by step operation. (Refer to section "12.7.1 Step
function".)
4) When there is an error in the positioning data to carry out the next
operation.
POINT
(1) Only the movement direction of the reference axis is checked during interpolation operations
Thus, automatic deceleration is not carried out if the movement direction does not change in the reference axis.
Because of this, the interpolation axis may suddenly reverse direction.
To avoid this sudden direction reversal in the interpolation axis, set the pass point to continuous positioning control
"01" instead of setting it to continuous positioning control "11".
[Positioning by interpolation] [Reference axis operation] [Interpolation axis operation]
Interpola-
tion axis
Positioning data
No.1
Reference axis
Positioning data
No.2
Positioning data No.1 • • • Continuous path control
V
Positioning data
No.1
t
Positioning data
No.2
V
Positioning data
No.1
t
Positioning data
No.2
(2) Automatic deceleration will not be carried out either the positioning data No. currently being executed or the next
positioning data No. uses circular interpolation control as a control method.
(3) In the continuous path control positioning data, assure a movement distance so that the execution time with that
data is 100 ms or longer, or lower the command speed.