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Chapter 3 Major Positioning Control; Outline Of Major Positioning Controls - Mitsubishi Electric RD77MS2 User Manual

Melsec iq-r simple motion module.
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  • Contents

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3
MAJOR POSITIONING CONTROL
The details and usage of the major positioning controls (control functions using the "positioning data") are explained in this
chapter.
The major positioning controls include such controls as "positioning control" in which positioning is carried out to a designated
position using the address information, "speed control" in which a rotating object is controlled at a constant speed, "speed-
position switching control" in which the operation is shifted from "speed control" to "position control" and "position-speed
switching control" in which the operation is shifted from "position control" to "speed control".
Execute the required settings to match each control.
3.1

Outline of Major Positioning Controls

"Major positioning controls" are carried out using the "positioning data" stored in the Simple Motion module.
The basic controls such as position control and speed control are executed by setting the required items in this "positioning
data", and then starting that positioning data.
The control method for the "major positioning controls" is set in setting item "[Da.2] Control method" of the positioning data.
Control defined as a "major positioning control" carries out the following types of control according to the "[Da.2] Control
method" setting. However, the position loop is included for commanding to servo amplifier in the speed control set in "[Da.2]
Control method". Use the "speed-torque control" to execute the speed control not including position loop. (Page 193
Speed-torque Control)
Major positioning control
Position
Linear control
1-axis linear
control
control
2-axis linear
interpolation
control
3-axis linear
interpolation
control
4-axis linear
interpolation
control
Fixed-feed
1-axis fixed-
control
feed control
2-axis fixed-
feed control
3-axis fixed-
feed control
4-axis fixed-
feed control
2-axis circular
Sub point
interpolation
designation
*1
control
Center point
designation
3-axis helical
Sub point
interpolation
designation
*1
control
Center point
designation
3 MAJOR POSITIONING CONTROL
3.1 Outline of Major Positioning Controls
[Da.2] Control method
ABS Linear 1
INC Linear 1
ABS Linear 2
INC Linear 2
*1
ABS Linear 3
INC Linear 3
*1
ABS Linear 4
INC Linear 4
*1
Fixed-feed 1
Fixed-feed 2
*1
Fixed-feed 3
*1
Fixed-feed 4
*1
ABS Circular sub
INC Circular sub
ABS Circular right
ABS Circular left
INC Circular right
INC Circular left
ABS helical sub
INC helical sub
ABS helical right
ABS helical left
INC helical right
INC helical left
Details
Positioning of the designated 1 axis is carried out from the start address (current
stop position) to the designated position.
Using the designated 2 axes, linear interpolation control is carried out from the
start address (current stop position) to the designated position.
Using the designated 3 axes, linear interpolation control is carried out from the
start address (current stop position) to the designated position.
Using the designated 4 axes, linear interpolation control is carried out from the
start address (current stop position) to the designated position.
Positioning of the designated 1 axis is carried out for a designated movement
amount from the start address (current stop position).
(The "[Md.20] Current feed value" is set to "0" at the start.)
Using the designated 2 axes, linear interpolation control is carried out for a
designated movement amount from the start address (current stop position).
(The "[Md.20] Current feed value" is set to "0" at the start.)
Using the designated 3 axes, linear interpolation control is carried out for a
designated movement amount from the start address (current stop position).
(The "[Md.20] Current feed value" is set to "0" at the start.)
Using the designated 4 axes, linear interpolation control is carried out for a
designated movement amount from the start address (current stop position).
(The "[Md.20] Current feed value" is set to "0" at the start.)
Using the designated 2 axes, positioning is carried out in an arc path to a
position designated from the start point address (current stop position).
Using two axes of the three axes, the circular interpolation control is carried out.
The remaining axis is used for the positioning of the helical, tangent line, or
normal line control to follow the circular interpolation control.

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