Mitsubishi Electric MELSEC-L02SCPU User Manual page 49

(6) Principles of position control and speed control
(a) Position control
The total No. of pulses needed to move a specified distance can be obtained by the formula below.
Total number of pulses
required to move designated distance
*1 Encoder resolution
Give the calculated total No. of pulses to the drive unit from the LCPU, and the workpiece will be controlled to
move the specified distance. Note that the movement amount of the machine when one pulse is output to the
drive unit is called "movement amount per pulse." This value corresponds to the minimum movement of the
workpiece and determines the accuracy of electrical positioning control.
(b) Speed control
The speed is controlled by the "pulse frequency" output to the drive unit from the LCPU.
Pulse frequency (pulse/s)
● The value of "movement amount per pulse" is determined by the machine.
● The LCPU controls the position and speed based on the "total No. of pulses" and "pulse frequency," respectively.
Designated distance
=
Movement amount of
machine (load) side
when motor rotates once
This trapezoid area is equal
to the total number of pulses.
t
Moving time
CHAPTER 7 POSITIONING FUNCTION
Number of pulses required for
1
motor to rotate once *
7
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