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 movement speed of the control system.
In machine control, the unit for the positioning speed is determined by the interpolation control unit of the parameter block
specified in the machine parameter.
When there is movement amount in the XYZ space
The specified positioning speed is the composite speed on the XYZ space. The speed of A, B, and C coordinates is
determined so that they operate in the movement time for that speed.
Positioning speed V=Vx+Vy+Vz
Linear interpolation control of the X and Y axes is as follows.
Y axis
(100000.0, 150000.0)
V
V
Y
V
X
X axis
0
Setting item
Movement amount of the X axis (D
1
Movement amount of the Y axis (D
2
Composite speed (V)
For the above conditions, the Motion CPU calculates the positioning speed of each axis with the following formulas.
Setting axis
Positioning speed of the X axis
Positioning speed of the Y axis
In the case of using the machine library when there is no movement amount of the XYZABC coordinate axes
and only changing the attitude flag (FL1), use the servo instruction for linear interpolation control (ABS-2 to
ABS-4(Absolute method)).
CAUTION
• Because the composite speed is calculated in the XYZ space, when the movement amount is minute on the XYZ space and large on the rotating coordinate
axes, the rotating coordinate axes movement speed can be excessive. To avoid excessive speeds, set a maximum speed on the joint axes with the servo
motor maximum speed check parameter.
When there is no movement amount in the XYZ space
The specified positioning speed[mm/min] unit is converted from the units of the A, B, and C coordinates. The positioning
speed is converted to [degree/min] by the formula below.
Positioning speed[degree/min]=(specified positioning speed)0.1
Ex.
When the machine type interpolation control unit is [mm]
When 30.00[mm/min] is set to positioning speed and the A coordinate is operated, it operates at 3.000[degree/min].
Setting value
) 100000.0[m]
) 150000.0[m]
42000.00[mm/min]
Formula
V =V×D / D 2 +D 2
X 1 1 2
2 2
V =V×D / D +D
Y 2 1 2
7 POSITIONING CONTROL
7.1 Basics of Positioning Control
7
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