Relative Positioning Control - Mitsubishi Electric MELSEC iQ-R Series User Manual

Relative Positioning Control

In MC_MoveRelative, Distance, Velocity, Acceleration, Deceleration, Jerk, and BufferMode can be set, and positioning of
movement amount set in Distance is executed from the current position at start (start point address). The movement direction
is determined by the sign of the movement amount. The axis status (AxisName.Md.AxisStatus) becomes "5: DiscreteMotion".
Ex.
When the start point address is 5000, and the movement amount is -7000, positioning is carried out to -2000.
Stop address after the positioning control
-3000 -2000 -1000 0
Positioning control in the negative direction
Details of setting items
■Distance (Movement amount)
Set the signed movement amount.
Positive movement amount: Move to positive direction (Address increase direction)
Negative movement amount: Move to negative direction (Address decrease direction)
When movement amount is 0, the axis is not operated, however, the execution completion (Done) will be TRUE.
If "the current value + the movement amount" overflows or underflows the software stroke limit upper/lower limit value when
the software stroke limit is valid, the warning "Out of Software Stroke Limit Upper Limit Value/Lower Limit Value Setting
Range" (warning code: 0D2AH) will occur and the FB will not start.
For details of movement amount range, refer to the following.
Page 67 Positioning Range
■Velocity (Velocity)
Set the set velocity at positioning control. For details, refer to the following.
Page 71 Velocity set range
■Acceleration (Acceleration)
Set time from speed 0 to the speed limit value. For details, refer to the following.
Page 293 Acceleration/deceleration Processing Function
■Deceleration (Deceleration)
Set time from the speed limit value to speed 0. For details, refer to the following.
Page 293 Acceleration/deceleration Processing Function
■Jerk (Jerk)
Set Jerk. For details, refer to the following.
Page 293 Acceleration/deceleration Processing Function
■BufferMode (Buffer mode)
Select a buffer mode. Aborting, Buffered, BlendingLow, BlendingPrevious, BlendingNext, and BlendingHigh can be set. For
details, refer to the following.
Page 107 Buffer mode type
1000 2000 3000 4000
(movement amount -7000)
Start point address
(current stop position)
5000 6000
6 AXIS CONTROL FUNCTION
6.1 Single Axis Positioning Control
6
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