Mitsubishi MELSEC-Q QD77MS, Руководство пользователя

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Chapter 9 Major Positioning Control
9.2.14 3-axis speed control
In "3-axis speed control" ("
Da.2
Control system" = Forward run: speed 3, Reverse
run: speed 3), control is carried out in the 3-axis direction in which the positioning data
has been set by continuously outputting pulses for the speed set in "
Da.8 Command
speed" until the input of a stop command.
The two types of 3-axis speed control are "Forward run: speed 3" in which the control
starts in the forward run direction, and "Reverse run: speed 3" in which control starts in
the reverse run direction.
(Refer to Section 9.1.6 "Interpolation control" for the combination of the reference axis
with the interpolation axes.)
Operation chart
The following chart shows the operation timing for 3-axis (axes 1, 2, and 3) speed
control with axis 1 as the reference axis.
The "in speed control" flag (
Md.31
Status: b0) is turned ON during speed control.
The "positioning complete signal" is not turned ON.
[QD77MS4 operation example]
t
V
BUSY signal
[XC,XD,XE]
OFF
ON
Positioning start signal
[Y10]
OFF
ON
Positioning complete signal
[X14,X15,X16]
OFF
Axis stop signal
(stop command)
(Either Y4,Y5 or Y6)
OFF
ON
Does not turn ON even
when control is stopped
by stop command.
OFF
ON
Da. 8
Referense axis (axis 1)
t
V
Da. 8
Interpolation axis (axis 2)
t
V
Command speed Da. 8
Interpolation axis (axis 3)
Command speed
Command speed
( Md.31 Status:b0)
In speed control flag
(Note): Refer to Section 3.3 for input/output signal of QD77MS16.
Fig. 9.11 3-axis speed control operation timing