Sequential Coordinate Command Control - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Sequential coordinate command control

Sequential coordinate command control performs positioning by making the coordinate values specified in the point block No.
as the target position, and outputting the command for the movement amount from the current position in one operation cycle.
From the start of the sequential coordinate command control positioning point until the leading edge (OFFON) of "[Rq.2247]
Execute point switching command (M43623+32m)" the operation is in a follow-up state, and if any values of the word devices
assigned to a point block No. are changed during this time, the successively changed coordinate values are made the target
position for positioning. The command speed is ignored even if set to a positioning point. From the leading edge (OFFON)
of "[Rq.2247] Execute point switching command (M43623+32m)", the execute point is switched after moving from the current
position to the target position.
By setting the sequential coordinate command control smoothing time constant, a moving average filter for the command to
the target position can smoothen the command. However, a delay equivalent to the set time constant in [ms] occurs.
Coordinate value
Word device X
(command coordinate value X)
assigned to point block
Coordinate value
Word device Y
(command coordinate value Y)
assigned to point block
Coordinate value
[Md.2025] Feed current value
(World coordinate system) (X)
(D53176+128m, D53177+128m)
Coordinate value
[Md.2026] Feed current value
(World coordinate system) (Y)
(D53178+128m, D53179+128m)
[Md.2078] Machine execute
point No. (D53271+128m)
Interpolation control method
[Rq.2247] Execute point switching
OFF
command (M43623+32m)
Follow-up operation
Follow-up
delay
1 2
Sequential coordinate command control
Linear interpolation
Follow-up delay sweeping
Dwelling
Follow-up
delay
3
Linear interpolation
ON
7.2 Continuous Trajectory Control (Machine Program Operation)
t
t
: Feed current value with
smoothing time constant setting
: Feed current value without
smoothing time constant setting
t
t
7 POSITIONING CONTROL
7
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