Mitsubishi Electric RD77MS2 User Manual page 56

■Deceleration stop conditions during continuous path control
Deceleration stops are not carried out in continuous path control, but the machine will carry out a deceleration stop to speed
"0" in the following 3 cases.
• When the operation pattern of the positioning data currently being executed is "continuous path control: 11", and the
movement direction of the positioning data currently being executed differs from that of the next positioning data. (Only for
1-axis positioning control (Refer to the next point.))
V
Positioning data No.1
Operation pattern: 11
Positioning data No.2
Operation pattern: 00
• During operation by step operation. (Page 273 Step function)
• When there is an error in the positioning data to carry out the next operation.
• The movement direction is not checked during interpolation operations. Thus, automatic deceleration to a
stop will not be carried out even if the movement direction is changed (See the figures below). Because of
this, the interpolation axis may suddenly reverse direction. To avoid this sudden direction reversal in the
interpolation axis, set the pass point to continuous positioning control "01" instead of setting it to continuous
path control "11".
[Positioning by interpolation]
Positioning
data No.1
Positioning data No.1 • • • Continuous path control
• When a "0" is set in the "[Da.6] Positioning address/movement amount" of the continuous path control
positioning data, the command speed is reduced to 0 in an operation cycle. When a "0" is set in the "[Da.6]
Positioning address/movement amount" to increase the number of speed change points in the future,
change the "[Da.2] Control method" to the "NOP" to make the control nonexecutable. (Page 138 NOP
instruction)
• In the continuous path control positioning data, assure a movement distance so that the execution time with
that data is 100 ms or longer, or lower the command speed.
3 MAJOR POSITIONING CONTROL
54
3.1 Outline of Major Positioning Controls
Speed becomes 0
Positioning
data No.2
Reference axis
[Reference axis operation]
v
Positioning data No.1
[Interpolation axis operation]
V
Positioning data No.1
t
Positioning data No.2
Suddenly reverse
direction
t
Positioning data No.2