High-Level Positioning Control Execution Procedure - Mitsubishi Electric RD77MS2 User Manual

4.2
High-level Positioning Control Execution
Procedure
High-level positioning control is carried out using the following procedure.
Preparation
Starting the control
Monitoring
the control
Stopping the control
• 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
Simple Motion module after setting the "block start data" and the "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.
4 HIGH-LEVEL POSITIONING CONTROL
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4.2 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 Set the "condition data".
([Da.15] to [Da.19] and [Da.23] to [Da.26]) ×
required data amount
STEP 4
Create a program in which block No. is set in
the"[Cd.3] Positioning start No."
(Control data setting)
Create a program in which the "block start data point
No. to be started" (1 to 50) is set in the
"[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 STEP4
to the CPU module.
STEP 6
Turn ON the "positioning start command" of
the axis to be started.
STEP 7
Monitor the high-level positioning control.
STEP 8
Stop when control is completed
Control termination
"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 Simple Motion module recognizes that
the control is high-level positioning control
using "block start data" by the "7000"
designation.
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.