Chapter 5 Positioning Control; Basics Of Positioning Control; Positioning Speed - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

5
POSITIONING CONTROL
This section describes the positioning control methods.
5.1

Basics of Positioning Control

This section describes the common items for positioning control, which is described in detail after Section 5.2. (Page 270
1 Axis Linear Positioning Control)

Positioning speed

The positioning speed is set using the servo program.
Refer to servo programs for positioning control for details of the servo programs. (Page 236 SERVO PROGRAMS FOR
POSITIONING CONTROL)
The real positioning speed is set in the positioning speed and speed limit value using the servo program is shown below:
• If the positioning speed setting is less than speed limit value, the positioning is executed with the set positioning speed.
• If the positioning speed setting is greater than speed limit value, the positioning is executed with the speed limit value.
Ex.
(Example 1) If the speed limit value is 120000 [mm/min] and the positioning speed setting is 100000 [mm/min]
V
120000
100000
Parameter block
acceleration time
(Example 2) If the speed limit value is 100000 [mm/min] and the positioning speed setting is 120000 [mm/min]
V
120000
100000
Parameter block
acceleration time
5 POSITIONING CONTROL
250
5.1 Basics of Positioning Control
Speed limit value
Positioning speed
t
Parameter block
deceleration time
Positioning speed
Speed limit value
(Real positioning speed)
t
Parameter block
deceleration time