Mitsubishi Electric MELSEC iQ-R RD78G4 User Manual page 153

Example
The following shows an example of restarting the cam (a cam similar to a cam with a linear feed where two identical
positioning points do not exist on the cam) from the command position value after a forced stop, when the forced stop has
stopped operation.
If the following settings are used in a two-way cam or a cam where identical positioning points exist on the same cam, similar
to the cam axis position value per cycle restoration operation(Page 148 Cam axis position value per cycle restoration
operation), the first matching command position value (outward route) is restored, therefore restoration may start from an
unintended cam pattern position. To avoid restoring the first matching command position value, use "Cam axis command
position value restoration (Page 154 Cam axis command position value restoration)".
Setting item
[Pr.439] Cam axis length per cycle
[Pr.441] Cam stroke amount
[Pr.462] Cam axis position restoration object
[Pr.463] Setting method of cam reference position
[Pr.464] Setting method of cam axis position value per cycle
[Pr.467] Cam reference position (Initial setting)
[Pr.468] Cam axis position value per cycle (Initial setting)
• Advanced synchronous control operation
Command position value[pulse]
123
0
Forced stop occurred during operation, and the cam decelerates to a stop. (Advanced synchronous control mode is cancelled.)
• Restore operation at restart of advanced synchronous control
Command position value[pulse]
200
123
Cam reference position
= 0[pulse]
0
Cam axis position
value per cycle[pulse]
1000
0
• Cam operation
Command position value[pulse]
200 (peak)
123
0
Cam axis position
value per cycle[pulse]
1000
0
Command position value after free run
Time[ms]
Time[ms]
Cam is determined to restart at the position where cam axis
position value per cycle is "Command position value = 123[pulse]".
Time[ms]
Cam operation restarts from "Command position value = 123[pulse]"
when the previous forced stop occurred.
Time[ms]
Time[ms]
Setting value
1000[pulse]
200[pulse]
0: Cam axis position value per cycle restoration
1: Initial setting value of cam reference position
0: Previous value
0[pulse]
0[pulse]
5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION
5.3 Cam Axis Position Restoration Method
5
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