Data Required For Major Positioning Control - Mitsubishi Electric MELSEC iQ-R Series User Manual

Data required for major positioning control

The following table shows an outline of the "positioning data" configuration and setting details required to carry out the "major
positioning controls".
Setting item
Positioning [Da.1]
data
[Da.2]
[Da.3]
[Da.4]
[Da.6]
[Da.7]
[Da.8]
[Da.9]
[Da.10]
[Da.20]
[Da.21]
[Da.22]
[Da.27]
[Da.28]
[Da.29]
The settings and setting requirement for the setting details of [Da.1] to [Da.10], [Da.20] to [Da.22] and [Da.27] to [Da.29] differ
according to "[Da.2] Control method". Refer to the following for details.
Page 61 Setting the Positioning Data
Major positioning control sub functions
Refer to "Combination of Main Functions and Sub Functions" in the following manual for details on "sub functions" that can be
combined with the major positioning control.
MELSEC iQ-R Motion Module User's Manual (Startup)
Also refer to the following for details on each sub function.
Page 222 CONTROL SUB FUNCTIONS
600 positioning data (positioning data No.1 to 600) items can be set per axis.
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Operation pattern
Control method
Acceleration time No.
Deceleration time No.
Positioning address/movement
amount
Arc address
Command speed
Dwell time/JUMP destination
positioning data No.
M code/Condition data No./
Number of LOOP to LEND
repetitions/Number of pitches
Axis to be interpolated No.1
Axis to be interpolated No.2
Axis to be interpolated No.3
M code ON signal output timing
ABS direction in degrees
Interpolation speed designation
method
search engine
Setting details
Set the method by which the continuous positioning data (Ex: positioning data No.1, No.2,
No.3) will be controlled. (Page 44 Operation patterns of major positioning controls)
Set the control method defined as a "major positioning control".
(Page 41 Outline of Major Positioning Controls)
Select and set the acceleration time at control start. (Select one of the four values set in
[Pr.9], [Pr.25], [Pr.26], and [Pr.27] for the acceleration time.)
Select and set the deceleration time at control stop. (Select one of the four values set in
[Pr.10], [Pr.28], [Pr.29], and [Pr.30] for the deceleration time.)
Set the target value during position control. (Page 51 Designating the positioning
address)
Set the sub point or center point address during 2-axis circular interpolation control or 3-axis
helical interpolation control.
Set the speed during the control execution.
The time between the command pulse output is completed to the positioning completed
signal is turned ON. Set it for absorbing the delay of the mechanical system to the instruction,
such as the delay of the servo system (deviation).
Set this item when carrying out sub work (clamp and drill stops, tool replacement, etc.)
corresponding to the code No. related to the positioning data execution.
Set an axis to be interpolated during the 2- to 4-axis interpolation operation.
(Page 57 Interpolation control)
Set the M code ON signal output timing to each positioning data.
Set the ABS direction in degrees to each positioning data.
Set the interpolation speed designation method to each positioning data.
3 MAJOR POSITIONING CONTROL
3.1 Outline of Major Positioning Controls
3
43