Feed Function; Fast Forward Speed - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

6.3

Feed Function

Fast forward speed

Fast forward speed is the positioning speed when positioning by the G00 command.
Set the fast forward speed in [Motion Control Parameter][G-code Control Parameter][G-code Control Axis
Parameter]"Speed/Time Constant""Fast Forward Speed".
For the path when positioning, there is the "interpolation type" which is a straight line from the start to the end point, and the
"non-interpolation type" which moves at the fast forward speed for each axis. Set the interpolation type/non-interpolation type
in [Motion Control Parameter][G-code Control Parameter][G-code Control System Parameter]"Control Setting""G00
Non-Interpolation". The positioning time is the same regardless of which type is set.
Set the acceleration/deceleration time constant in [Motion Control Parameter][G-code Control Parameter][G-code Control
Axis Parameter]"Speed/Time Constant""G0 Time Constant (Linear)".
During fast forward, the speed stored in "[Md.3018] Speed (D54502+128s, D54503+128s)" differs depending on the setting of
the G-code system parameter "G00 Non-Interpolation".
G00 Non-interpolation
0: Move to the end point in a straight line. (Interpolation type)
1: Move to the end point of each axis, at the fast forward speed of
each axis. (Non-interpolation type)
The feed speed during high-accuracy control mode is set in [Motion Control Parameter][G-code Control Parameter][G-
code Control Axis Parameter]"High-accuracy Control""Rapid Traverse Rate During High-accuracy Control Mode".
However, when rapid traverse rate during high-accuracy control mode is set to "0", the speed set in [Motion Control
Parameter][G-code Control Parameter][G-code Control Axis Parameter]"Speed/Time Constant""Fast Forward Speed"
is used for movement.
The rapid traverse rate during high-accuracy control mode can be set for each axis.
The G00 command processes acceleration/deceleration by the time constant acceleration/deceleration method regardless of
whether in cutting mode/high-accuracy control mode.
When interpolation distance is long, and speed reaches the fast forward speed
L
Speed
rapid
θ
Ts
T
When interpolation distance is short, and speed does not reach fast forward speed
Speed
rapid
L
F1
θ
Ts1 Ts1
Ts
T
[Md.3018] Speed (D54502+128s, D54503+128s)
Stores the speed of the vector direction currently moving.
Stores the speed of the axis that has the highest speed of all axes currently moving.
÷
T=L
θ
=tan
rapid : Fast forward speed
Ts
T
L
θ
Time
Ts
F1 =L
Ts1=Ts
Ts1=L
T =Ts1+Ts
T =L
θ
=tan
rapid : Fast forward speed
F1
Ts
Time
Ts1 : Acceleration/deceleration time taken to reach actual feed speed
T
L
θ
rapid+Ts
-1 ÷
(rapid Ts)
: Acceleration/deceleration time constant
: Interpolation time
: Interpolation distance
: Acceleration/deceleration angle
÷
Ts
× ÷
F1 rapid
÷
rapid
÷
rapid+Ts
-1 ÷
(rapid Ts)
: Actual speed
: Acceleration/deceleration time constant
: Interpolation time
: Interpolation distance
: Acceleration/deceleration angle
6 AUXILIARY AND APPLIED FUNCTIONS
173
6.3 Feed Function
6