Positioning Speed At The Interpolation Control - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Positioning speed at the interpolation control

The positioning speed of the Motion CPU sets the travel speed of the control system.
1 axis linear control
Travel speed is the positioning speed of the specified axis at the 1 axis positioning control.
Linear interpolation control
Positioning is controlled with the speed which had the control system specified at the interpolation control.
The positioning speed can be set using one of the following three methods at the 2 to 4 axes linear interpolation control:
• Vector speed specification
• Long-axis speed specification
• Reference-axis speed specification
Control method of the Motion CPU control for every specified method is shown below.
■Vector speed specification
The Motion CPU calculates the positioning speed of each axis (V
on the positioning speed (V) of the setting control system.
Positioning speed of the control system is called the vector speed.
Set the vector speed and the travel value of each axis in the servo program.
Ex.
2 axes linear interpolation control
Axis 2
(10000, 15000)
V
V
2
V
1
Axis 1
0
Setting item
Axis 1 travel value (D )
1
Axis 2 travel value (D )
2
Vector speed (V)
The Motion CPU calculates the positioning speed of each axis using the following calculation formulas in the above condition:
Axis
Axis 1 positioning speed
Axis 2 positioning speed
[Program example]
<K 50>
ABS-2
Axis 1, 10000
Axis 2, 15000
Vector speed 7000
Setting value
10000 [pulse]
15000 [pulse]
7000 [pulse/s]
Calculation expression
= V × D
V / D 2 + D 2
1 1 1 2
= V × D
2 2
V / D + D
2 2 1 2
to V ) using the travel value (D
1 2
[pulse]
[pulse]
[pulse/s]
5 POSITIONING CONTROL
5.1 Basics of Positioning Control
to D ) of each axis based
1 2
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