Mitsubishi Electric MELSEC-L LD75P User Manual page 342

MAJOR POSITIONING CONTROL
Speed control
Speed-position switching control
Position-speed switching control
Other control
*1 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", "3-axis
helical 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 axis directions.
This kind of control is called "interpolation control". ( Page 359, Section 9.1.6)
340
[Da.2] Control
system
Forward run speed 1
1-axis speed control
Reverse run speed 1
Forward run speed 2
*1
2-axis speed control
Reverse run speed 2
Forward run speed 3
*1
3-axis speed control
Reverse run speed 3
Forward run speed 4
*1
4-axis speed control
Reverse run speed 4
Forward run
speed/position
Reverse run
speed/position
Forward run
position/speed
Reverse run
position/speed
NOP instruction NOP instruction
Current value Current value
changing changing
JUMP instruction JUMP instruction
LOOP LOOP
LEND LEND
Description
The speed control of the designated 1 axis is carried out.
The speed control of the designated 2 axis is carried out.
The speed control of the designated 3 axis is carried out.
The speed control of the 4 axes is carried out.
The control is continued as position control (positioning for the
designated address or movement amount) by turning ON the
"speed-position switching signal" after first carrying out speed
control.
The control is continued as speed control by turning ON the
"position-speed switching signal" after first carrying out position
control.
A nonexecutable control system. When this instruction is set, the
operation is transferred to the next data operation, and the
instruction is not executed.
The current feed value ([Md.20]) is changed to an address set in
the positioning data.
This can be carried out by either of the following 2 methods.
(The machine feed value cannot be changed.)
• Current value changing using the control system
• Current value changing using the current value changing start
No. (No. 9003).
An unconditional or conditional JUMP is carried out to a designated
positioning data No.
A repeat control is carried out by repeat LOOP to LEND.
Control is returned to the top of the repeat control by repeat LOOP
to LEND. After the repeat operation is completed specified times,
the next positioning data is run.