Position Follow-Up Control - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

5.18

Position Follow-Up Control

Positioning to the address set in the word device of the Motion CPU specified with the servo program at one start is executed.
Position follow-up control is started using the PFSTART servo program instruction.
: Must be set, : Set if required
Servo Positioning Number
instruction method of
control
axes
Absolute 1
PFSTART
*1 Only when the reference axis speed is specified
Processing details
■Control using PFSTART instruction
• Positioning to the address set in the word device of the Motion CPU specified with the servo program is executed.
• Position follow-up control is executed until the stop instruction is input. If the word device value changes during operation,
positioning is executed to the changed address.
V
Positioning address
A
Precautions
• Number of control axes is 1 axis.
• Only the absolute data method (ABS) is used for positioning control to the pass points.
• The speed can be changed during the start. The changed speed is effective until the stop command is input.
• Set the positioning address in the servo program using indirect setting with the word devices.
• Use only even-numbered devices for indirect setting of positioning address in the servo program.
• Positioning speeds can be set in the servo program using indirect setting with the word devices. However, this data is
effective only at the position follow-up control start (servo program start) and the speed does not change if the indirect
setting are changed during the start.
Positioning data set in servo instructions
Common Arc
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Positioning address has not change
using PFSTART instruction
t
Before reaching A, positioning address
changed to B (return direction)
B
OSC Parameter block
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5.18 Position Follow-Up Control
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5 POSITIONING CONTROL
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