Positioning Speed In Multiple Axes Positioning Control - Mitsubishi Electric MELSEC iQ-R Series User Manual

Positioning speed in multiple axes positioning control

Positioning speed at multiple axes positioning control can be set in the Velocity input of the motion control FB. In the multiple
axes positioning control, a control target is controlled at the specified positioning speed.
Linear interpolation control
To specify the positioning speed for the linear interpolation control, the following three methods can be used.
• Vector speed
• Long axis speed
• Reference axis speed
The motion system control methods for each set method are described in the following.
■Vector speed specification
0: VectorSpeed
The positioning speed (V1 to V2) of each axis is calculated from the movement amount (D1 to D2) of each axis by the motion
system based on the positioning speed of the set control target.
The positioning speed of the control target is called the vector speed.
Set the Position input or the Distance input as the movement amount of each axis and set the Velocity input as the vector
speed.
Ex.
The following shows the case for 2-axis linear interpolation control.
Axis 2
(10000, 15000)
V
V
2
V
1
0
Program example
Setting item
Axis 1 movement amount
(D1)
Axis 2 movement amount
(D2)
Velocity unit of axes group
Vector speed (V)
For the above conditions, the positioning speed of each axis is calculated by the motion system with the following calculation
formulas.
Setting item
Axis 1 positioning speed
Axis 2 positioning speed
For the vector speed specification, the set speed limit value is valid to the Velocity input which is as the vector
speed. For details, refer to the following.
Page 318 Speed Limit
6 AXIS CONTROL FUNCTION
210
6.4 Multiple Axes Positioning Control
Axis 1
Setting value
10000 [pulses]
15000 [pulses]
[s]
7000 [pulses/s]
Setting value
2 2
V1 = V  D1 / (D1
+ D2 )
2 2
V2 = V  D2 / (D1
+ D2 )