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9 MAJOR POSITIONING CONTROL
Major positioning control
Speed-position switching control
Position-speed switching control
NOP
instruction
Current value
changing
Other control
JUMP
instruction
LOOP
LEND
In "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "2-axis
fixed-feed control", "3-axis fixed-feed control", "4-axis fixed-feed control", "2-axis circular interpolation control", "2-axis
speed control", "3-axis speed control" and "4-axis speed control", control is carried out so that linear and arc paths are
drawn using a motor set in two or more axes directions. This kind of control is called "interpolation control". (Refer to
Section 9.1.6 "Interpolation control" for details.)
Da.2 Control system
Forward run
The control is continued as position control (positioning for
speed/position
the designated address or movement amount) by turning
Reverse run
ON the "speed-position switching signal" after first carrying
speed/position
out speed control.
Forward run
The control is continued as speed control by turning ON
position/speed
the "position-speed switching signal" after first carrying out
Reverse run
position control.
position/speed
A nonexecutable control system. When this instruction is
NOP instruction
set, the operation is transferred to the next data operation,
and the instruction is not executed.
The current feed value (
set in the positioning data.
This can be carried out by either of the following 2
methods.
Current value changing
(The machine feed value cannot be changed.)
An unconditional or conditional JUMP is carried out to a
JUMP instruction
designated positioning data No.
LOOP
A repeat control is carried out by repeat LOOP to LEND.
Control is returned to the top of the repeat control by
LEND
repeat LOOP to LEND. After the repeat operation is
completed specified times, the next positioning data is run.
9 - 3
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Details
Md.20
•
Current value changing using the control system
•
Current value changing using the current value
changing start No. (No. 9003).
MELSEC-Q
) is changed to an address
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