Mitsubishi Electric A1SD75P1-S3 User Manual page 338

9 MAIN POSITIONING CONTROL
Setting item
Operation pattern
Da.1
Control method
Da.2
Acceleration time
Da.3
No.
Deceleration time
Da.4
No.
Positioning address/
Da.5
movement amount
Arc address
Da.6
Command speed
Da.7
Dwell time
Da.8
M code
Da.9
* Refer to section "5.3 List of positioning data" for information on the setting details.
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Restrictions
(1) 2-axis circular interpolation control cannot be set in the following cases.
•
When "degree" is set in " Pr.1 Unit setting"
•
When the units set in " Pr.1 Unit setting" are different for the reference axis
and interpolation axis. ("mm" and "inch" combinations are possible.)
•
When "stepping motor mode" is set in " Pr.11 Stepping motor mode
selection"
•
When "reference axis speed" is set in " Pr.21 Interpolation speed
designation method"
(2) An error will occur and the positioning start will not be possible in the following
cases. The machine will immediately stop if the error is detected during
positioning control.
•
When the radius exceeds "536870912 (2
circular interpolation control is possible is "536870912 (2
... An error "outside radius range" (error code: 544) will occur at positioning
start.
•
When the start point address is the same as the center point address
... An error "center point setting error" (error code: 527) will occur.
•
When the end point address is the same as the center point address
... An error "center point setting error" (error code: 527) will occur.
Positioning data setting examples
The following table shows setting examples when "2-axis circular interpolation
control with center point designation (ABS right arc, ABS left arc)" is set in
positioning data No. 1 of axis 1. (The required values are also set in positioning
data No. 1 of axis 2.)
Axis 1 Axis 2
Axis
(reference (interpolation
axis) setting axis) setting
example example
Positioning
–
complete
ABS right
arc –
ABS left arc
1 –
0 –
80000.0 60000.0
µ m µ m
40000.0 30000.0
µ m µ m
6000.00
–
mm/min
500ms –
10 –
29
)". (The maximum radius for which
Setting details
Set "Positioning complete" assuming the next positioning
data will not be executed.
Set absolute system, 2-axis circular interpolation control with
center point designation. (Select clockwise or
counterclockwise according to the control.)
Designate the value set in " Pr.26 Acceleration time 1" as
the acceleration time at start.
Designate the value set in " Pr.9 Deceleration time 0" as
the deceleration time at deceleration.
Set the positioning address. (Assuming "mm" is set in
" Pr.1 Unit setting".)
Set the arc address. (Assuming that the " Pr.1 Unit
setting" is set to "mm".)
Set the speed when moving to the end point address.
(Designate the composite speed in " Pr.21 Interpolation
speed designation method".)
Set the time the machine dwells after the positioning stop
(pulse output stop) to the output of the positioning complete
signal.
Set this when other auxiliary operation commands are
issued in combination with the No. 1 positioning data.
9 - 42
MELSEC-A
29
)"