Mitsubishi Electric MELSEC-LD77MS2 User Manual page 470

POINTS
(1) The movement direction is not checked during interpolation operations. Thus, automatic deceleration to a stop will
not be carried out even if the movement direction is changed (See the figures below).
Because of this, the interpolation axis may suddenly reverse direction.
To avoid this sudden direction reversal in the interpolation axis, set the pass point to continuous positioning control
"01" instead of setting it to continuous path control "11".
[Positioning by interpolation]
Positioning data
No.1
Interpola-
tion axis
Positioning data No.1 • • • Continuous path control
(2) When a "0" is set in the "
the command speed is reduced to 0 in an operation cycle.
When a "0" is set in the "
in the future, change the "
(Refer to Section 9.2.20 "NOP instruction".)
(3) In the continuous path control positioning data, assure a movement distance so that the execution time with that
data is 100 ms or longer, or lower the command speed.
(b) During operation by step operation. (Refer to Section 13.7.1 "Step
function".)
(c) When there is an error in the positioning data to carry out the next
operation.
[Reference axis operation]
Positioning data
No.2
Reference axis
Positioning address/movement amount
Da.6
Positioning address/movement amount
Da.6
" to the "NOP" to make the control nonexecutable.
Control method
Da.2
V
Positioning data Positioning data
No.1 No.2
" of the continuous path control positioning data,
" to increase the number of speed change points
9 - 10
Chapter 9 Major Positioning Control
[Interpolation axis operation]
V
t
Positioning data Positioning data
No.1 No.2
Suddenly
reverse
direction
t