Constant-Speed Control - Mitsubishi Electric MELSEC Q Series Programming Manual

6 POSITIONING CONTROL

6.17 Constant-Speed Control

[Procedure to write servo programs]
(1) Positioning to the pass point beforehand set by one starting is executed with the
specified positioning method and positioning speed.
(2) The positioning method and positioning speed can be changed for each pass
point.
(3) 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.
(4) Repetition control between any pass points can be performed by using repetition
instructions.
(5) M-codes and torque limit values can be changed at each speed-switching point.
(6) 1 to 4 axes can be controlled.
The method to write the servo programs for constant-speed control is shown below.
[Procedure]
Start
Set the constant-speed 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 constant-speed control
End
[Example : Servo program for 2 axes
constant-speed control]
Point
4
1
2
3
4
6 - 125
<K 1>
CPSTART
Axis 2
Axis 3
Speed 10000
ABS-2
Axis 2, 40000
Axis 3, 60000
ABS-2
Axis 2, 60000
Axis 3, 60000
Speed 15000
ABS-2
Axis 2, 100000
Axis 3, 80000
CPEND
[pulse/s]
[pulse]
[pulse]
[pulse]
[pulse]
[pulse/s]
[pulse]
[pulse]