Chapter 3 Major Positioning Control; Outline Of Major Positioning Controls - Mitsubishi Electric MELSEC iQ-R Series User Manual

3
MAJOR POSITIONING CONTROL
The details and usage of the major positioning controls (control functions using the "positioning data") are explained in this
chapter.
The major positioning controls include such controls as "positioning control" in which positioning is carried out to a designated
position using the address information, "speed control" in which a rotating object is controlled at a constant speed, "speed-
position switching control" in which the operation is shifted from "speed control" to "position control" and "position-speed
switching control" in which the operation is shifted from "position control" to "speed control".
Execute the required settings to match each control.
3.1
"Major positioning control" is carried out using the "positioning data" stored in the Motion module.
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 "major positioning controls" is set in setting item "[Da.2] Control method" of the positioning data.
Control defined as a "major positioning control" carries out the following types of control according to the "[Da.2] Control
method" setting. However, the position loop is included for commanding to servo amplifier in the speed control set in "[Da.2]
Control method". Use the "speed-torque control" to execute the speed control not including position loop. (Page 191
Speed-torque Control)
Major positioning control
Position Linear control
control
Fixed-feed
control
2-axis circular
interpolation
*1
control
3-axis helical
interpolation
*1
control
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Outline of Major Positioning Controls

[Da.2] Control
method
1-axis linear control ABS Linear 1
INC Linear 1
2-axis linear ABS Linear 2
interpolation INC Linear 2
*1
control
3-axis linear ABS Linear 3
interpolation INC Linear 3
*1
control
4-axis linear ABS Linear 4
interpolation INC Linear 4
*1
control
1-axis fixed-feed Fixed-feed 1
control
2-axis fixed-feed
Fixed-feed 2
*1
control
3-axis fixed-feed Fixed-feed 3
*1
control
4-axis fixed-feed Fixed-feed 4
*1
control
Sub point ABS Circular sub
designation INC Circular sub
Center point ABS Circular right
designation ABS Circular left
INC Circular right
INC Circular left
Sub point ABS helical sub
designation INC helical sub
Center point ABS helical right
designation ABS helical left
INC helical right
INC helical left
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Details
Positioning of the designated 1 axis is carried out from the start address (current
stop position) to the designated position.
Using the designated 2 axes, linear interpolation control is carried out from the
start address (current stop position) to the designated position.
Using the designated 3 axes, linear interpolation control is carried out from the
start address (current stop position) to the designated position.
Using the designated 4 axes, linear interpolation control is carried out from the
start address (current stop position) to the designated position.
Positioning of the designated 1 axis is carried out for a designated movement
amount from the start address (current stop position).
("[Md.20] Feed current value" is set to "0" at the start.)
Using the designated 2 axes, linear interpolation control is carried out for a
designated movement amount from the start address (current stop position).
("[Md.20] Feed current value" is set to "0" at the start.)
Using the designated 3 axes, linear interpolation control is carried out for a
designated movement amount from the start address (current stop position).
("[Md.20] Feed current value" is set to "0" at the start.)
Using the designated 4 axes, linear interpolation control is carried out for a
designated movement amount from the start address (current stop position).
("[Md.20] Feed current value" is set to "0" at the start.)
Using the designated 2 axes, positioning is carried out in an arc path to a position
designated from the start point address (current stop position).
Using two axes of the three axes, the circular interpolation control is carried out.
The remaining axis is used for the positioning of the helical, tangent line, or normal
line control to follow the circular interpolation control.
3 MAJOR POSITIONING CONTROL
3.1 Outline of Major Positioning Controls
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