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3.
" .
SPECIFICATIONS
~
,
.
. e
I
MEL8W-A
(2) Positioning speed
Specifies the speed at which the next position is to be approached.
Before operation, the parameter speed limit
is checked and
if
the
positioning speed exceeds the speed limit value, the parameter speed
limit value is used.
Positioning speed for linear interpolation
During linear interpolation positioning, the speed
set for the axis with the
fuFthest to travel takes precedence and the speed of the other axis is derived
as follows.
(Short travel axis speed)
=
(long travel axis speed) x
(
short
travel distance)
(
long travel distance)
An example of this is given in Fig. 3.20 which uses the following data:
X Axis
Y Axis
I
Parameter set value
:
speed limit value
I
20
KPLSlsec
I
50 KPLSlsec
I
I
Positioning data set value
:
positioning speed
I
20 KPLSlsec
1
50 KPLSlsec
I
To move from point A (address 0, 0) to point B (100 kp, 200 kp), X-axis travel
is less than Y-axis travel so
Vy
=
50 kp/s has precedence.
X-axis positioning speed
=
50 x
-
=
25 KPLS/sec
100
200
(This speed exceeds the speed limit value which is ignored in this case.)
(kP)
i'
T
z
l
0
A O
100
X
I
-
W k P )
I
Fig. 3.20 Linear interpolation
I
1
travel distance is smaller
is ignored.
I
In the case of linear interpolation, the setting speed
of the axis whose
Therefore, when the combination of travel distance and speed differs
greatly between the X and Y axes, the travel speed of either X or Y may
be larger than the setting speed. (The speed limit value is ignored.)
In the case of linear interpolation, Mitsubishi recommends setting the
same positioning speed and speed limit value to both the X and
Y
axes.
3-35
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