Continuous Trajectory Control - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

5.17

Continuous Trajectory Control

• Positioning to the pass point beforehand set by one starting is executed with the specified positioning method and
positioning speed.
• The positioning method and positioning speed can be changed for each pass point.
• The following parameters is set in the servo program.
• Pass point
• Positioning method from any pass point to the next pass point.
• Positioning speed from any pass point to the next pass point.
• Repetition control between any pass points can be performed by using repetition instructions.
• M-codes and torque limit values can be changed at each speed-switching point.
• 1 to 4 axes can be controlled.
Procedure to write servo programs
The method to write the servo programs for continuous trajectory control is shown below.
■Example servo program for 2 axes continuous trajectory control
Start
Set the continuous trajectory
control axis and speed
Set each pass point
Set the positioning method
Set the positioning address
(travel value)
Set the speed-switching
NO
All pass points are set?
YES
End continuous trajectory control
End
5 POSITIONING CONTROL
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5.17 Continuous Trajectory Control
<K 1>
Point
4
CPSTART2
Axis 2
Axis 3
Speed 10000
1 ABS-2
Axis 2, 40000
Axis 3, 60000
2
ABS-2
Axis 2, 60000
Axis 3, 60000
Speed 15000
3
ABS-2
Axis 2, 100000
Axis 3, 80000
4
CPEND
[pulse/s]
[pulse]
[pulse]
[pulse]
[pulse]
[pulse/s]
[pulse]
[pulse]