High-Level Positioning Control Execution Procedure - Mitsubishi Electric MELSEC iQ-R Series User Manual

4.2
High-level positioning control is carried out using the following procedure.
Preparation
Starting
the control
Monitoring
the control
Stopping
the control
4 HIGH-LEVEL POSITIONING CONTROL
140

4.2 High-level Positioning Control Execution Procedure

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High-level Positioning Control Execution
Procedure
STEP 1
Carry out the "major positioning control" setting.
STEP 2
Set the "block start data" corresponding to each control.
([Da.11] to [Da.14]) × required data amount
STEP 3
([Da.15] to [Da.19] and [Da.23] to [Da.26]) ×
STEP 4
Create a program in which block No. is set in
"[Cd.3] Positioning start No.".
Create a program in which the "block start data point
No. to be started" (1 to 50) is set in
"[Cd. 4] Positioning starting point No.".
Create a program in which the "positioning start signal"
is turned ON by a positioning start command.
STEP 5
Write the programs created in STEP 4 to the
STEP 6
Turn ON the "positioning start command" of
STEP 7
Monitor the high-level positioning control.
STEP 8
Stop when control is completed
Control end
• Five sets of "block start data (50 points)" and "condition data (10 items)" corresponding to "No.7000 to
7004" are set with a program.
• Five sets corresponding to "7000" to "7004" can be set with an engineering tool as well. When writing to the
Motion module after setting the "block start data" and "condition data" corresponding to "7000" to "7004"
using an engineering tool, "7000" to "7004" can be set in "[Cd.3] Positioning start No." on STEP4.
search engine
Set the "condition data".
required data amount
(Control data setting)
CPU module.
the axis to be started.
"High-level positioning control" executes each control
("major positioning control") set in the positioning data
with the designated conditions, so first carry out
preparations so that "major positioning control"
can be executed.
The "block start data" from 1 to 50 points can be set.
Set the "condition data" for designation with
the "block start data". Up to 10 condition data
items can be set.
The Motion module recognizes that the control is
high-level positioning control using "block start data"
by designating "7000".
Use the engineering tool to create a program
to execute the "high-level positioning control".
Write the program created in STEP 4 to the
CPU module using the engineering tool.
Same procedure as for the
"major positioning control" start.
Monitor using the engineering tool.
Same procedure as for
the "major positioning control" stop.