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7. POSITIONING CONTROL
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(b) Long-axis speed designation
The control of each axis is based on the positioning speed (long-axis speed:
V) set for the axis whose positioning address is the greatest distance from
the current position.
The servo system CPU uses the travel value of each of the other axes (D
to D
) to calculate the positioning speed of each axis (V
4
Set the long-axis speed and the travel value of each axis in the servo
program.
Example
4-axes linear interpolation control
Axis 1 travel value:
D
= 10,000 PLS
1
Axis 2 travel value:
D
= 15,000 PLS
2
Axis 3 travel value:
D
= 5,000 PLS
3
Axis 4 travel value:
D
= 20,000 PLS
4
Long-axis speed:
V = 7,000 PLS /s
In this example, the reference axis is
Axis 4, which has the greatest travel
value. The positioning speed of Axis 4
is the set long-axis positioning speed.
The servo system CPU calculates the
positioning speed of each of the other
axes using the following calculation
formulas:
Axis 1 positioning speed: V
Axis 2 positioning speed: V
Axis 3 positioning speed: V
Conversions are conducted as follows if the control units are not identical
for each axis.
1) Combination of axes set in millimeters and inches
a) If interpolation control units are millimeters
• Travel value
• Speed
b) If interpolation control units are inches
• Travel value
• Speed
2) Discrepancy between interpolation control units and control units
• Travel value
• Speed
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[Program Example]
<K 51>
ABS-4
Axis
Axis
Axis
Axis
Long-axis speed
×
= D
/D
V
1
1
4
×
= D
/D
V
2
2
4
×
= D
/D
V
3
3
4
: For axes set to inches, the travel value is converted
to millimeters using the formula:inch set value ×
25.4 = mm set value.
: Speed control of each axis is based on the long-
axis speed, which is the positioning speed of the
axis with the greatest travel value after conversion.
: For axes set to millimeters, the travel value is
converted to inches using the formula: mm set
value ÷ 25.4
: Speed control of each axis is based on the long-
axis speed, which is the positioning speed of the
axis with the greatest travel value after conversion.
: The electronic gear converts the travel value for the
axis to pulses.
: Speed control of each axis is based on the long-
axis speed, which is the positioning speed of the
axis with the greatest travel value after conversion.
For axes where interpolation control units and
control units match, the electronic gear converts the
positioning speed to units of [PLS/s] and this speed
is used as the long-axis speed.
7 − 3
to V
).
1
4
1,
10000
(PLS)
2,
15000
(PLS)
3,
5000
(PLS)
4,
20000
(PLS)
7000
(PLS/s)
1
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