Positioning Controller; Command Pulse Control Method - Mitsubishi Electric MELSEC iQ-F Series User Manual

FX Series Programmable Controllers
Introduction to FX Positioning Control Systems
3.1

Positioning controller

Positioning controllers use programs and parameters to send positioning commands to the servo amplifier.
Contents related to programs and parameters are described below.
3.1.1

Command pulse control method

There are two types of control formats used for outputting command pulses from an FX Series positioning
controller:
• PLS/DIR (Pulse/Direction) method
• FP/RP (Forward Pulse/Reverse Pulse) method
Each method requires two outputs from the controller to control specific signals for direction and pulse
control. A third method, known as the A phase/B phase method, uses overlapping pulse signals to specify
direction.
1. PLS/DIR method
In the PLS/DIR method, one output sends pulses to the drive unit while the other output specifies the direction
of travel.
Output #1 Pulse train
Output #2 Direction
*1. "ON" and "OFF" represent the status of the controller's output.
"H" and "L" respectively represent the HIGH status and the LOW status of the waveform. The
command pulse pattern in the figure assumes negative logic.
2. FP/RP method
In the FP/RP method, each output has a different direction and operates individually to send pulses to the
drive unit.
Output #1 Forward rotation
pulse train (FP)
Output #2 Reverse rotation
pulse train (RP)
*2. "ON" and "OFF" represent the status of the controller's output.
"H" and "L" respectively represent the HIGH status and the LOW status of the waveform. The
command pulse pattern in the figure assumes negative logic.
18
Forward rotation Reverse rotation
H
L
H
1
ON*
L
Forward rotation
H
L
H
2
L OFF *
3 Components of Positioning Control and Their Roles
OFF 1
*
Reverse rotation
2
OFF
*
3.1 Positioning controller