Mitsubishi Electric RD77MS2 User Manual page 87

When the movement amount is converted to the actual number of command pulses, a fraction appears after
the decimal point, according to the movement amount per pulse. This fraction is normally retained in the
Simple Motion module and reflected at the next positioning. For the fixed-feed control, since the movement
distance is maintained constant (= the command number of pulses is maintained constant), the control is
carried out after the fraction pulse is cleared to zero at start.
[Accumulation/cutoff for fractional pulses]
When movement amount per pulse is 1.0 [m] and movement for 2.5 [m] is executed two times.
 Conversion to command pulses: 2.5 [m]/1.0 = 2.5 [pulse]
Movement
amount
INC Linear 1
2 pulses
Fixed-feed 1
2 pulses
When the "reference axis speed" is set in 2- to 4-axis fixed-feed control, set so the major axis side becomes
the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed
the "[Pr.8] Speed limit value".
Refer to the following for the combination of the reference axis and the interpolation axis.
Page 64 Interpolation control
2.5 μm
0.5 pulses hold by the Simple Motion
module is carried to next positioning.
3 pulses ( = 2.5 + 0.5 )
2 pulses
0.5 pulses hold by the Simple Motion
module is cleared to 0 at start and
not carried to next positioning.
2.5 μm
3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
3
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