Mitsubishi Electric MELSEC iQ-RD77MS2 User Manual page 34

The outline of the main functions for positioning control with the Simple Motion module is described below.
Main functions
Home position Machine home position return control
return control
Fast home position return control
Major Position
positioning control
control
Speed
control
Speed-position switching control
Position-speed switching control
Other
control
High-level Block start (Normal start)
positioning
Condition start
control
Wait start
Simultaneous start
Repeated start (FOR loop)
Repeated start (FOR condition)
3 FUNCTION LIST
32
3.1 Control Functions
Details
Mechanically establishes the positioning start point using a proximity dog, etc.
In the data setting method, no axis movement occurs since the current position is set as the home
position.
(Positioning start No. 9001)
Positions a target to the home position address ([Md.21] Machine feed value) stored in the Simple
Motion module using machine home position return. (Positioning start No. 9002)
Linear control Positions a target using a linear path to the address set in the positioning data or to the position
(1-axis linear control) designated with the movement amount.
(2-axis linear
interpolation control)
(3-axis linear
interpolation control)
(4-axis linear
interpolation control)
Fixed-feed control Positions a target by the movement amount designated with the amount set in the positioning data.
(1-axis fixed-feed control) (With fixed-feed control, the "[Md.20] Feed current value" is set to "0" when the control is started.
(2-axis fixed-feed control) With 2-, 3-, or 4-axis fixed-feed control, the fixed-feed is fed along a linear path obtained by
(3-axis fixed-feed control) interpolation.)
(4-axis fixed-feed control)
2-axis circular Positions a target using an arc path to the address set in the positioning data, or to the position
interpolation control designated with the movement amount, sub point or center point.
3-axis helical Positions a target using a helical path to a specified position. (Specify the position by specifying the
interpolation control end point address directly or by specifying the relative distance from the current position (movement
amount).)
Speed control Continuously outputs the command corresponding to the command speed set in the positioning
(1-axis speed control) data.
(2-axis speed control)
(3-axis speed control)
(4-axis speed control)
First, carries out speed control, and then carries out position control (positioning with designated
address or movement amount) by turning the "speed-position switching signal" ON.
First, carries out position control, and then carries out speed control (continuous output of the
command corresponding to the designated command speed) by turning the "position-speed
switching signal" ON.
Current value changing Changes the feed current value ([Md.20]) to the address set in the positioning data.
The following two methods can be used.
(The machine feed value ([Md.21]) cannot be changed.)
• Current value changing using positioning data
• Current value changing using current value changing start No. (No. 9003)
NOP instruction No execution control method. When NOP instruction is set, this instruction is not executed and the
operation of the next data is started.
JUMP instruction Unconditionally or conditionally jumps to designated positioning data No.
LOOP Carries out loop control with repeated LOOP to LEND.
LEND Returns to the beginning of the loop control with repeated LOOP to LEND.
With one start, executes the positioning data in a random block with the set order.
Carries out condition judgment set in the "condition data" for the designated positioning data, and
then executes the "block start data".
When the condition is established, the "block start data" is executed. When not established, that
"block start data" is ignored, and the next point's "block start data" is executed.
Carries out condition judgment set in the "condition data" for the designated positioning data, and
then executes the "block start data".
When the condition is established, the "block start data" is executed. When not established, stops
the control until the condition is established. (Waits.)
Simultaneously executes the designated positioning data of the axis designated with the "condition
data". (Outputs commands at the same timing.)
Repeats the program from the block start data set with the "FOR loop" to the block start data set in
"NEXT" for the designated number of times.
Repeats the program from the block start data set with the "FOR condition" to the block start data set
in "NEXT" until the conditions set in the "condition data" are established.