Mitsubishi MELSEC-Q QD77MS, Руководство пользователя

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Chapter 13 Control Sub Functions
[2] Precautions during control
(1) If the movement amount designated by the positioning data is small when
the continuous path control is executed, the output speed may not reach the
designated speed.
(2) The movement direction is not checked during interpolation operation.
Therefore, a deceleration stops are not carried out even if the movement
direction changes. (See below) For this reason, the output will suddenly
reverse when the reference axis movement direction changes. To prevent
the sudden output reversal, assign not the continuous path control "11", but
the continuous positioning control "01" to the positioning data of the passing
point.
[Positioning by interpolation]
Positioning
data No.1 Positioning
data No.2
P
ar
tner axi
s
Reference
axis
Positioning data No.1 Continuous path control
[Operation of reference axis]
t
V
Positioning data No.1 Positioning data No.2
[Operation of partner axis for interpolation]
t
V
Positioning data No.1 Positioning data No.2
Suddenly reverse
direction
Fig. 13.10 Path and output speed of various axes when movement direction varies during continuous path
control