Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 254

■Long-axis speed specification
It is controlled based on the positioning speed (Long-axis speed: V) of the largest travel value axis among address set as
each axis.
The Motion CPU calculates the positioning speed of other axes (V
Set the long-axis speed and the travel value of each axis using the servo program.
Ex.
4 axes linear interpolation control
[Program example]
<K 51>
ABS-4
Axis 1,
Axis 2,
Axis 3,
Axis 4,
Long-axis speed
Setting item
Axis 1 travel value (D )
1
Axis 2 travel value (D )
2
Axis 3 travel value (D )
3
Axis 4 travel value (D
4)
Long-axis speed (V)
In this example, since the reference axis is axis 4 of the largest travel value, it is controlled with the positioning speed
specified with axis 4.
The Motion CPU calculates the positioning speed of other axes using the following calculation formulas:
Axis
Axis 1 positioning speed
Axis 2 positioning speed
Axis 3 positioning speed
The following conversions are performed if the control units of each axis differ.
• Combination of axes set in [mm] and [inch]
Interpolation Item
control unit
mm Travel value
Speed
inch Travel value
Speed
• Discrepancy between interpolation control units and control units
Item Description
Travel value The travel value of each axis is converted into [pulse] unit with the electronic gear of self axis.
Speed The largest travel value axis is controlled with the long-axis speed and the other axes are controlled with the speed based on the long-axis
speed, as the result of conversion. The positioning speed is converted into [pulse/s] unit as the long-axis speed with the electronic gear that
the interpolation control units correspond to control units.
5 POSITIONING CONTROL
252
5.1 Basics of Positioning Control
10000 [pulse]
15000 [pulse]
5000 [pulse]
20000 [pulse]
7000 [pulse/s]
Setting value
10000 [pulse]
15000 [pulse]
5000 [pulse]
20000 [pulse]
7000 [pulse/s]
Calculation expression
 V
V = D / D
1 1 4
 V
V = D / D
2 2 4
 V
V = D / D
3 3 4
Description
Convert the travel value of axis set in [inch] into [mm] using the formula: inch setting value  25.4.
The largest travel value axis is controlled with the long-axis speed and the other axes are controlled with the speed
based on the long-axis speed, as the result of conversion.
Convert the travel value of axis set in [mm] into [inch] using the formula: mm setting value  25.4.
The largest travel value axis is controlled with the long-axis speed and the other axes are controlled with the speed
based on the long-axis speed, as the result of conversion.
to V ) using each axis travel value (D
1 3
to D ).
1 4