Chapter 1 Positioning Control By The Motion Cpu; Positioning Control By The Motion Cpu; Parameters And Programs Used For Positioning Control - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual
Melsec iq-r series, positioning control
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Also See for MELSEC iQ-R16MTCPU:
- Programming manual (460 pages) ,
- Programming manual (216 pages) ,
- Programming manual (124 pages)
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1
POSITIONING CONTROL BY THE MOTION CPU
1.1
Positioning Control by the Motion CPU
The following positioning controls are possible in the Motion CPU.
Motion CPU
R64MTCPU
R32MTCPU
R16MTCPU
There are the following six functions as controls toward the servo amplifier/servomotor.
• Servo operation by the servo program positioning instructions.
• Servo operation by the Motion dedicated PLC instruction (Direct positioning start request: M(P).SVSTD/D(P).SVSTD)
• JOG operation by each axis command signal of Motion CPU.
• Manual pulse generator operation by the positioning dedicated device of Motion CPU.
• Speed change, torque limit value change, and target position change during positioning control by the Motion dedicated
PLC instruction and Motion dedicated function of operation control step "F".
• Current value change by the Motion dedicated PLC instruction or servo instructions.
Parameters and programs used for positioning control
Positioning control parameters
Positioning control parameters are used for positioning control of the Motion CPU.
Parameter data can be set and corrected using MT Developer2.
Refer to the parameters for positioning control for details of positioning control parameters. (Page 166 PARAMETERS
FOR POSITIONING CONTROL)
Servo program
The servo program is used for the positioning control. It comprises a program No., servo instructions and positioning data.
Refer to the servo programs for positioning control for details of servo program. (Page 236 SERVO PROGRAMS FOR
POSITIONING CONTROL)
Motion SFC program
Motion SFC program is used to program an operation sequence or transition control combining servo programs, "Step",
"Transition", or "End" to perform Motion CPU control.
Refer to the following for details of Motion SFC program.
MELSEC iQ-R Motion controller Programming Manual (Program Design)
Sequence program
The Motion CPU control can be performed using the Motion dedicated PLC instruction in the sequence program of PLC CPU.
Refer to the following for details of the Motion dedicated PLC instruction.
MELSEC iQ-R Motion controller Programming Manual (Program Design)
1 POSITIONING CONTROL BY THE MOTION CPU
20
1.1 Positioning Control by the Motion CPU
Control axes
Up to 64 axes
Up to 32 axes
Up to 16 axes
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