Mitsubishi Electric MELSEC iQ-R Series User Manual page 430

[Pr.19] Speed switching mode
Set whether to switch the speed switching mode with the standard switching or front-loading switching mode.
• Speed of positioning data No.n > Speed of positioning data No.n + 1 Decelerates at deceleration time No. of Positioning
data No.n + 1
• Speed of positioning data No.n < Speed of positioning data No.n + 1 Accelerates at acceleration time No. of Positioning
data No.n + 1
Setting value
0: Standard switching
1: Front-loading switching
Speed
n: Positioning
data No.
<For standard switching>
■Buffer memory address
Refer to the following for the buffer memory address in this area.
Page 398 Positioning parameters: Detailed parameters 1
[Pr.20] Interpolation speed designation method
When carrying out linear interpolation/circular interpolation, set whether to designate the composite speed or reference axis
speed.
Setting value
0: Composite speed
1: Reference axis speed
X axis
Calculated by Motion module
<When composite speed is designated>
When the 4-axis linear interpolation or 2 to 4-axis speed control is performed, specify the reference axis
speed.
If "composite speed" is specified for the 4-axis linear interpolation and 2 to 4-axis speed control, "Interpolation
mode error" (error code: 1A9AH) will occur when the positioning operation is started.
Specify "composite speed" when performing the 2-axis circular interpolation control and 3-axis helical
interpolation control. When "reference axis speed" is specified for the 2-axis circular interpolation control and
3-axis helical interpolation control, "Interpolation mode error" (error code: 1A9BH) will occur when the
positioning operation is started.
12 DATA USED FOR POSITIONING CONTROL
428
12.3 Basic Setting
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Details
Switch the speed when executing the next positioning data.
The speed switches at the end of the positioning data currently being executed.
Switch the speed when
executing the next positioning data
n n + 1
Details
The movement speed for the control target is designated, and the speed for each axis is calculated by the Motion
module.
The axis speed set for the reference axis is designated, and the speed for the other axis carrying out interpolation is
calculated by the Motion module.
Designate composite speed
Designate speed
for reference axis
Y axis
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The next positioning data starts
positioning at the designated speed
Speed
t
n
<For front-loading switching>
X axis
Calculated by Motion module
<When reference axis speed is designated>
t
n + 1
Y axis