Mitsubishi Electric QD75P1N User Manual page 136

5 DATA USED FOR POSITIONING CONTROL
Pr.19 Speed switching mode
Set whether to switch the speed switching mode with the standard switching or
front-loading switching mode.
0 : Standard switching............... Switch the speed when executing the next
1 : Front-loading switching ........ The speed switches at the end of the positioning
Speed
Switch the speed when
executing the next positioning data
n: Positioning
data No.
n
<For standard switching>
Pr.20 Interpolation speed designation method
When carrying out linear interpolation/circular interpolation, set whether to
designate the composite speed or reference axis speed.
0: Composite speed .................. The movement speed for the control target is
1: Reference axis speed ........... The axis speed set for the reference axis is
X axis
Designate composite speed
Calculated by QD75
<When composite speed is designated>
Note: Always specify the reference axis speed if the 4-axis linear interpolation or 2 to 4 axis
speed control has to be performed.
If you specify the composite speed for a positioning operation that involves the 4-axis
linear interpolation or 2 to 4 axis speed control, the error "Interpolation mode error"
(error code 523) will be output when the positioning operation is attempted.
For a positioning operation that involves the circular interpolation or 3-axis helical
interpolation control, specify the composite speed.
The interpolation speed designation method can be set for each positioning data with
the positioning option (" Da.29 Interpolation speed designation method") of the
positioning data.
positioning data.
data currently being executed.
t
n+1
designated, and the speed for each axis is
calculated by the QD75.
designated, and the speed for the other axis
carrying out interpolation is calculated by the
QD75.
Designate speed
for reference axis
Y axis
<When reference axis speed is designated>
5 - 32
MELSEC-Q
Speed
The next positioning data starts
positioning at the designated speed
n n+1
<For front-loading switching>
X axis
Calculated by QD75
t
Y axis