Outline Of Main Positioning Controls - Mitsubishi A1SD75P1-S3 User Manual

9 MAIN POSITIONING CONTROL

9.1 Outline of main positioning controls

"Main positioning controls" are carried out using the "positioning data" stored in the
AD75.
The basic controls such as position control and speed control are executed by setting
the required items in this "positioning data", and then starting that positioning data.
The control method for the "main positioning controls" is set in setting item " Da.2
Control method" of the positioning data.
Control defined as a "main positioning control" carries out the following types of control
according to the " Da.2 Control method" setting.
Main positioning control
1-axis linear
control
Linear control
2-axis linear
interpolation
control *
1-axis fixed-
dimension
feed control
Fixed-
dimension
feed control
2-axis fixed-
dimension
feed control *
Auxiliary point
designation
2-axis circular
interpolation
Center point
control *
designation
Speed control
Speed/position changeover
control
Current value
change
Other control
JUMP
command
* In "2-axis linear interpolation control", "2-axis fixed-dimension feed control", and "2-axis circular interpolation control",
control is carried out so that linear and arc paths are drawn using a motor set in two axis directions. This kind of control
is called "interpolation control". (Refer to section "9.1.6 Interpolation control" for details.)
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Da.2 Control method
Positioning is carried out in a linear path to a position
ABS Linear 1
designated by the address and movement amount set in
INC Linear 1
the positioning data.
The axis in which the interpolation control method is set is
regarded as the reference axis. Positioning is carried out in
ABS Linear 2
a linear path to a designated position, while controlling the
INC Linear 2
other axis (interpolation axis) to match the positioning data
set in the reference axis.
The workpiece is positioned the movement amount
designated by the movement amount set in the positioning
Fixed-dimension feed 1
data.
(The " Md.29 Current feed value" is set to "0" at the start.)
The axis in which the interpolation control method is set is
regarded as the reference axis. Positioning is carried out in
a linear path for the designated movement amount, while
Fixed-dimension feed 2
controlling the other axis (interpolation axis) to match the
positioning data set in the reference axis.
(The " Md.29 Current feed value" is set to "0" at the start.)
ABS Circular interpolation
The axis in which the interpolation control method is set is
INC Circular interpolation
regarded as the reference axis. Positioning is carried out in
ABS Circular right
an arc path to a designated position, while controlling the
ABS Circular left
other axis (interpolation axis) to match the positioning data
INC Circular right
set in the reference axis.
INC Circular left
Forward run
Speed control Pulses are continuously output corresponding to the
Reverse run command speed set in the positioning data.
Speed control
Forward run The control is continued as position control (positioning for
speed/position the designated movement amount) by turning ON the
Reverse run "speed/position changeover signal" after first carrying out
speed/position speed control.
The " Md.29 Current feed value" is changed to an address
set in the positioning data.
This can be carried out by either of the following 2
methods.
Current value change
(The machine feed value cannot be changed.)
An unconditional or conditional JUMP is carried out to a
JUMP command
designated positioning data No.
9 - 2
Details
•
Current value change using the positioning data
•
Current value change using the current value change
start No. (No. 9003).
MELSEC-A