Mitsubishi Electric MELSEC Q Series Programming Manual page 190

6 POSITIONING CONTROL
(b) Long-axis speed specification
It is controlled based on the positioning speed (Long-axis speed: V) of the
largest travel value axis among address set as each axis.
The Motion CPU calculates the positioning speed of other axes (V
using each axis travel value (D
Set the long-axis speed and the travel value of each axis using the servo
program.
Example
4 axes linear interpolation control is shown below.
Axis 1 travel value : D
1
Axis 2 travel value : D
2
Axis 3 travel value : D
3
Axis 4 travel value : D
4
Long-axis speed : V = 7000[pulse/s]
In this example, since the reference axis is
axis 4 of the largest travel value, it is
controlled with the positioning speed
specified with axis 4.
The Motion CPU calculates the positioning
speed of other axes using the following
calculation formulas:
Axis 1 positioning speed :
Axis 2 positioning speed :
Axis 3 positioning speed :
The following conversions are performed if the control units of each axis
differ.
1) Combination of axes set in [mm] and [inch]
a) If the interpolation control units are [mm]
• Travel value: Convert the travel value of axis set in [inch] into [mm]
• Speed
b) If the interpolation control units are [inch]
• Travel value: Convert the travel value of axis set in [mm] into [inch]
• Speed
to D
1
= 10000[pulse]
= 15000[pulse]
= 5000[pulse]
= 20000[pulse]
V = D / D V
1 1 4
V = D / D V
2 2 4
V = D / D V
3 3 4
using the formula: inch setting value
: The largest travel value axis is controlled with the long-
axis speed and the other axes are controlled with the
speed based on the long-axis speed, as the result of
conversion.
using the formula: mm setting value
: The largest travel value axis is controlled with the long-
axis speed and the other axes are controlled with the
speed based on the long-axis speed, as the result of
conversion.
6 - 3
.
4)
[Program example]
<K 51>
ABS-4
Axis 1,
Axis 2,
Axis 3,
Axis 4,
Long-axis speed
to V )
1 3
10000 [pulse]
15000 [pulse]
5000 [pulse]
20000 [pulse]
7000 [pulse/s]
25.4.
25.4.