Mitsubishi Electric MELSEC iQ-R16MTCPU Manuals

Manuals and User Guides for Mitsubishi Electric MELSEC iQ-R16MTCPU. We have 4 Mitsubishi Electric MELSEC iQ-R16MTCPU manuals available for free PDF download: Programming Manual

Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual (482 pages)

MELSEC iQ-R Series, Positioning Control

Brand: Mitsubishi Electric | Category: Controller | Size: 4.1 MB

SAFETY PRECAUTIONS 3

CONDITIONS OF USE FOR THE PRODUCT 11

INTRODUCTION 11

Table Of Contents 12

RELEVANT MANUALS 17

TERMS 18

MANUAL PAGE ORGANIZATION 19

CHAPTER 1 POSITIONING CONTROL BY THE MOTION CPU 22

Positioning Control By The Motion CPU 22

Parameters And Programs Used For Positioning Control 22

Starting A Servo Program 23

Direct Positioning Start From The PLC CPU 23

JOG Operation 23

Manual Pulse Generator Operation 23

CHAPTER 2 POSITIONING DEDICATED SIGNALS 24

Internal Relays 26

Axis Status 29

Axis Command Signals 39

Command Generation Axis Status 48

Command Generation Axis Command Signal 51

Synchronous Encoder Axis Status 54

Synchronous Encoder Axis Command Signal 55

Output Axis Status 56

Output Axis Command Signal 58

Synchronous Control Signal 60

Synchronous Analysis Complete Signal 62

Synchronous Control Start Signal 64

Synchronous Analysis Request Signal 66

Machine Common Command Signals 68

Machine Command Signals 69

Machine Status 71

Common Devices 73

Data Registers 90

Axis Monitor Devices 93

JOG Speed Setting Registers 106

Servo Input Axis Monitor Device 108

Servo Input Axis Control Device 110

Command Generation Axis Monitor Device 112

Command Generation Axis Control Device 115

Synchronous Encoder Axis Monitor Device 117

Synchronous Encoder Axis Control Device 119

Output Axis Monitor Device 120

Output Axis Control Device 123

Machine Control Device 130

Machine Monitor Device 132

G-code Control Common Command Signal 136

G-code Control Common Control Device 137

G-code Control Common Status 138

G-code Control Common Monitor Device 139

G-code Control Line Command Signal 140

G-code Control Line Control Device 141

G-code Control Line Status 142

G-code Control Line Monitor Device 144

G-code Control Line Monitor Device (expansion) 148

G-code Control Axis Status 153

G-code Control Axis Monitor Device 155

Common Devices 157

Motion Registers (#) 163

Monitor Devices 2 Of Each Axis 164

Special Relays (SM) 167

Special Registers (SD) 167

CHAPTER 3 PARAMETERS FOR POSITIONING CONTROL 168

Parameters Used By The Motion CPU 168

Indirect Setting Method By Devices For Parameters 170

Fixed Parameters 170

Unit Setting 171

Number Of Pulses Per Rotation/Travel Value Per Rotation 171

Backlash Compensation Amount 174

Upper/lower Stroke Limit Value 174

Command In-position Range 176

Speed Control 10 X Multiplier Setting For Degree Axis 176

Home Position Return Data 180

Home Position Return Direction 181

Home Position Return Method 182

Home Position Address 182

Home Position Return Speed 182

Creep Speed 182

Travel Value After Proximity Dog ON 183

Parameter Block Setting 184

Home Position Return Retry Function/dwell Time At The Home Position Return Retry 185

Home Position Shift Amount/speed Set At The Home Position Shift 186

Torque Limit Value At The Creep Speed 187

Operation Setting For Incompletion Of Home Position Return 187

Setting Items For Home Position Return Data 189

JOG Operation Data 190

External Signal Parameter 191

Expansion Parameters 194

Positive Direction Torque Limit Value Monitor Device/negative Direction Torque Limit Value Monitor Device 195

Acceleration/deceleration Time Change Parameter 196

Servo Motor Maximum Speed Check Parameter 197

ABS Direction In Degrees Device 199

Speed-torque Control Data 203

Control Mode Switching Request Device 205

Control Mode Setting Device 205

Speed Limit Value At Speed-torque Control 205

Torque Limit Value At Speed-torque Control 205

Command Speed Acceleration Time, Command Speed Deceleration Time 206

Torque Command Device 206

Command Torque Time Constant (positive Direction), Command Torque Time Constant (negative Direction) 207

Speed Initial Value Selection At Control Mode Switching 208

Torque Initial Value Selection At Control Mode Switching 208

Invalid Selection During Zero Speed At Control Mode Switching 208

Pressure Control Data 209

Pressure Control Selection 210

Feed/dwell Startup Device 210

Dwell Forced Switching Device 210

Pressure Release Startup Device 210

Abnormal Pressure Setting Time 211

Mode Reset Selection After Passing Dwell Time 211

Pressure Profile Start Device 211

Pressure Control Status Device 211

Override Data 212

Override Ratio Setting Device 212

Vibration Suppression Command Filter Data 213

Vibration Suppression Command Filter 1 214

Vibration Suppression Command Filter 2 215

Feed Current Value Monitor Device After Filter 215

Command Output Complete Signal After Filter 215

Servo Parameters 216

Parameter Block 217

Interpolation Control Unit 219

Speed Limit Value, Acceleration Time, Deceleration Time And Rapid Stop Deceleration Time 220

S-curve Ratio 222

Advanced S-curve Acceleration/deceleration 223

Torque Limit Value 235

Deceleration Processing On STOP Input 235

Allowable Error Range For Circular Interpolation 236

Bias Speed At Start 236

CHAPTER 4 SERVO PROGRAMS FOR POSITIONING CONTROL 238

Servo Program Composition Area 238

Servo Program Composition 238

Servo Instructions 240

Positioning Data 244

Setting Method For Positioning Data 250

Setting Method For Direct Setting By Numerical Values 250

Indirect Setting Method By Devices 250

CHAPTER 5 POSITIONING CONTROL 252

Basics Of Positioning Control 252

Positioning Speed 252

Positioning Speed At The Interpolation Control 253

Control Units For 1 Axis Positioning Control 257

Control Units For Interpolation Control 258

Control In The Control Unit "degree 259

Stop Processing And Restarting After Stop 261

Acceleration/deceleration Processing 268

Axis Linear Positioning Control 272

Axes Linear Interpolation Control 275

5.4 3 Axes Linear Interpolation Control 278

5.5 4 Axes Linear Interpolation Control 282

Auxiliary Point-Specified Circular Interpolation Control 285

Radius-Specified Circular Interpolation Control 289

Central Point-Specified Circular Interpolation Control 293

Helical Interpolation Control 297

Circular Interpolation Specified Method By Helical Interpolation 298

Axis Fixed-Pitch Feed Control 311

Fixed-Pitch Feed Control Using 2 Axes Linear Interpolation 314

Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation 317

Speed Control (I) 320

Speed Control (II) 323

Speed/Position Switching Control 326

Speed/position Switching Control Start 326

Re-starting After Stop During Control 332

Speed Control With Fixed Position Stop 336

Continuous Trajectory Control 340

Specification Of Pass Points By Repetition Instructions 343

Speed-switching By Instruction Execution 347

Axis Continuous Trajectory Control 350

To 4 Axes Continuous Trajectory Control 353

Continuous Trajectory Control For Helical Interpolation 357

Pass Point Skip Function 362

FIN Signal Wait Function 364

Position Follow-Up Control 371

High-Speed Oscillation 375

Simultaneous Start 377

Home Position Return 379

Servo Program For Home Position Return 380

Home Position Return By The Proximity Dog Method 1 382

Home Position Return By The Proximity Dog Method 2 384

Home Position Return By The Count Method 1 386

Home Position Return By The Count Method 2 387

Home Position Return By The Count Method 3 388

Home Position Return By The Data Set Method 1 390

Home Position Return By The Data Set Method 2 391

Home Position Return By The Data Set Method 3 392

Home Position Return By The Dog Cradle Method 393

Home Position Return By The Stopper Method 1 396

Home Position Return By The Stopper Method 2 397

Home Position Return By The Limit Switch Combined Method 398

Home Position Return By The Scale Home Position Signal Detection Method 400

Home Position Return By The Dogless Home Position Signal Reference Method 402

Home Position Return By The Driver Home Position Return Method 407

Home Position Return Retry Function 408

Home Position Shift Function 411

Condition Selection Of Home Position Set 414

Current Value Change 415

CHAPTER 6 MANUAL CONTROL 417

JOG Operation 417

Individual Start 417

Simultaneous Start 420

Manual Pulse Generator Operation 422

CHAPTER 7 AUXILIARY AND APPLIED FUNCTIONS 427

M-code Output Function 427

Backlash Compensation Function 429

Torque Limit Function 430

Skip Function In Which Disregards Stop Command 432

Speed-Torque Control 433

Operation Of Speed-torque Control 434

Acceleration/Deceleration Time Change Function 447

Pressure Control 452

System Configuration 453

Outline Of Pressure Control 454

Pressure Profile 455

Feed/dwell Operation 459

Pressure Release Operation 461

Operation By Stroke Limit 461

Using Point No. To Substitute M-code 461

Pressure Control Settings 462

Mode Reset After Passing Dwell Time 463

Stop Causes During Pressure Control Mode 463

Override Function 464

Vibration Suppression Command Filter 469

Vibration Suppression Command Filter Operation 469

Precautions When Using Vibration Suppression Command Filter 472

APPENDICES 475

Appendix 1 Processing Times Of The Motion CPU 475

REVISIONS 478

WARRANTY 479

TRADEMARKS 480

Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual (460 pages)

MELSEC iQ-R Series Motion Controller

Brand: Mitsubishi Electric | Category: Controller | Size: 4.13 MB

SAFETY PRECAUTIONS 3

CONDITIONS OF USE FOR THE PRODUCT 11

INTRODUCTION 11

Table Of Contents 12

RELEVANT MANUALS 17

TERMS 18

MANUAL PAGE ORGANIZATION 19

CHAPTER 1 MULTIPLE CPU SYSTEM 22

Multiple CPU System 22

Overview 22

Restrictions On Multiple CPU Systems Using Motion CPUs 23

Module Control With Motion CPUs 25

Setting Operation For Multiple CPU System 32

Setting Operation For CPU Module Stop Error 32

Multiple CPU Synchronous Startup Setting 32

Clock Synchronization Between Multiple CPU 32

Data Communication Between CPU Modules In The Multiple CPU System 33

Used Memory 33

Data Communication By Refreshing At Motion CPUs 35

Fixed Scan Data Transmission Section Over Check 40

Inter-module Synchronization Function 41

Relationship Between Fixed Scan Communication And Inter-module Synchronization 49

Control Instruction From PLC CPU To Motion CPU 50

CHAPTER 2 COMMON PARAMETERS 51

Parameters Used By The Motion CPU 51

R Series Common Parameter 54

System Parameter 55

CPU Parameter 57

Module Parameter 60

Motion CPU Common Parameter 61

Basic Setting 63

Servo Network Setting 66

Manual Pulse Generator Connection Setting 72

Motion CPU Operating Status 73

Initial Processing 73

RUN/STOP Status Control 75

CHAPTER 3 DEVICES 77

Device List 77

Devices That Can Be Used With Each Function 79

User Device 81

Input (X) 81

Output (Y) 81

Internal Relay (M) 81

System Device 82

Special Relay (SM) 82

Special Register (SD) 82

CPU Buffer Memory Access Device 82

Module Access Device 83

Constants 83

Device Setting 84

Device Assignment Method 84

Device Points Setting 86

Latch Function 88

CHAPTER 4 AUXILIARY AND APPLIED FUNCTIONS 90

Limit Switch Output Function 90

Operations 90

Limit Output Data Setting 92

External Input Signal 96

External Signal 96

High-speed Input Request Signal 97

Mark Detection Function 102

Operations 103

Mark Detection Setting 104

Servo ON/OFF 110

Follow Up Function 111

Absolute Position System 112

Synchronous Control Absolute Position System 114

Saving And Recovering Backup Data 114

Clock Function 115

File Transfer Function 116

File Transmission At Boot Function 120

File Transmission At Boot Files 120

File Transmission At Boot Procedure 124

Operation When Security Function Is Set 125

File Transmission Via FTP Server 127

Parameter Change Function 130

Parameters Used With Parameter Change 132

Mixed Operation Cycle Function 162

Control Details 165

Precautions During Control 168

CHAPTER 5 FUNCTIONS USED WITH SSCNET COMMUNICATION 171

Servo Parameter Management 171

Transmission Of Servo Parameters 171

Servo Parameter Read/Change Function 173

Optional Data Monitor Function 175

Optional Data Monitor Setting 177

Example Of Using Transient Commands 182

SSCNET Control Function 185

Connect/disconnect Function Of SSCNET Communication 186

Amplifier-less Operation Function 189

Virtual Servo Amplifier Function 193

Driver Communication Function 195

Control Details 195

Precautions During Control 196

Servo Parameter 199

Connection Of SSCNETIII/H Head Module 200

System Configuration 200

SSCNETIII/H Head Module Parameters 201

Data Operation Of Intelligent Function Module By Motion SFC Program 206

Data Of Refresh Device 206

Precautions When Using SSCNETIII/H Head Module 206

Connection Of Sensing Module 207

Sensing Module Parameters 208

Data Of Refresh Device 217

Link Data (station Mode) 218

Link Data (axis Mode) 240

Sensing Module Functions (station Mode) 241

Sensing Module Functions (axis Mode) 245

Errors Detected By Sensing Module 252

Precautions When Using Sensing Module 252

Compatible Devices With SSCNETIII(/H) 253

Servo Driver VCII Series/VPH Series Manufactured By CKD Nikki Denso Co., Ltd 253

Inverter FR-A700 Series 263

Inverter FR-A800 Series 270

Optical Hub Unit 276

AlphaStep/5-phase Stepping Motor Driver Manufactured By ORIENTAL MOTOR Co., Ltd 281

IAI Electric Actuator Controller Manufactured By IAI Corporation 288

CHAPTER 6 COMMUNICATION FUNCTIONS 295

Communication Function List 295

Security Function 296

File Password 296

Software Security Key Authentication 298

IP Filter Function 303

Remote Operation 304

Remote RUN/STOP 304

Communication Function Via PERIPHERAL I/F 306

Direct Connection 306

Connection Via HUB 309

Vision System Connection Function 313

Vision System Parameter Setting 317

Flow Of Vision System Control 326

Sample Program 327

Test Mode 330

Test Mode Specifications 330

Differences Between Normal Operation And Test Operation 331

Parameters Used During Test Mode 331

Test Mode Transition/cancellation 332

Stop Processing Of Axes Operating In Test Mode 333

Positioning Control Monitor Function 334

Scroll Monitor 334

Current Value History Monitor 335

Speed Monitor 336

Label Access From External Devices 337

CHAPTER 7 DIGITAL OSCILLOSCOPE 339

Features 339

Function Overview 339

Digital Oscilloscope Specifications 340

Digital Oscilloscope Operating Procedure 341

Sampling Settings File 341

Sampling Functions 342

Sampling Type 342

Sampling Start Settings 342

Sampling Interval 342

Sampling Target 343

Trigger Settings 343

Saving Sampling Results 345

Digital Oscilloscope Status 346

Digital Oscilloscope Errors 347

CHAPTER 8 MOTION CPU MEMORY STRUCTURE 348

Memory And Files 348

Standard ROM/SD Memory Card Specifications 348

File Handling Precautions 349

Stored Files 350

SD Memory Card 352

SD Memory Card Handling 352

SD Memory Card Forced Stop 352

Memory Initialization 354

Installing The Operating System Software 355

Installation Procedure Using MT Developer2 356

Installation Procedure Using SD Memory Card 357

Add-on Function 359

Add-on Module Structure 360

Installing Add-on Library 360

Add-on Function Load Error 360

Add-on Library License Authentication 360

CHAPTER 9 RAS FUNCTIONS 368

Self-Diagnostics Function 368

Self-diagnostics Timing 368

Error Checking Methods 368

Operations At Error Detection 370

Cancelling Errors 371

Safety Functions 372

Processing Time Monitor And Check 372

Event History Function 375

Event History Settings 375

Saving Event History 375

Viewing The Event History 377

Clearing The Event History 377

APPENDICES 378

Appendix 1 Error Codes 378

Error Codes System 378

Operations At Error Occurrence 379

Error Codes Stored Using The Motion CPU 379

Warning (0800H To 0FFFH) 381

Minor Error (1000H To 1FFFH) 387

Minor Error (SFC) (3100H To 3BFFH) 400

Moderate Error (2000H To 3BFFH) 413

Major Error (3C00H To 3FFFH) 422

Add-on License Error Details Codes 423

Appendix 2 Event List 424

Guide For Reference Of Event List 424

Event History List 425

Appendix 3 Special Relays 428

Appendix 4 Special Registers 433

REVISIONS 456

WARRANTY 457

TRADEMARKS 458

Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual (250 pages)

Motion Controller, G-Code Control, MELSEC iQ-R Series

Brand: Mitsubishi Electric | Category: Controller | Size: 1.87 MB

SAFETY PRECAUTIONS 3

CONDITIONS OF USE FOR THE PRODUCT 11

INTRODUCTION 11

Table Of Contents 12

RELEVANT MANUALS 16

TERMS 17

MANUAL PAGE ORGANIZATION 18

CHAPTER 1 OVERVIEW 21

G-Code Control Overview 21

Performance Specifications 22

G-Code Control Add-On Library Configuration 23

G-code Control Add-on Library 23

Files Size/Memory Usage 23

CHAPTER 2 STARTING UP THE SYSTEM 24

Starting Up The G-Code Control System 24

2.2 License Authentication Of G-Code Control Add-On Library 26

Control Cycle Of G-Code Control 26

G-Code Control System Device Assignment Method 27

G-Code Control System Start/End 27

G-Code Control System Stop Operation 28

Immediate Stop 29

Deceleration Stop 29

CHAPTER 3 G-CODE CONTROL DEDICATED SIGNALS 30

G-Code Control Common Command Signal 31

G-Code Control Common Control Device 32

G-Code Control Common Status 33

G-Code Control Common Monitor Device 34

G-Code Control Line Command Signal 36

G-Code Control Line Control Device 39

G-Code Control Line Status 40

G-Code Control Line Monitor Device 47

G-Code Control Line Monitor Device (Expansion) 57

G-Code Control Axis Status 63

G-Code Control Axis Monitor Device 65

Internal Relay (M)/Data Register (D) Availability 69

Internal Relays 69

Data Registers 72

CHAPTER 4 G-CODE CONTROL PARAMETERS 74

G-Code Control System Parameter 75

Line Basic Setting 78

Modal Initial Setting 78

Control Setting 78

Override Setting 80

Plane Composition 81

Normal Line Control 81

Auxiliary Function 82

Polar Coordinate Interpolation 82

High-accuracy Control 82

G-Code Control Axis Parameter 84

Line Axis Information 85

Stored Stroke Limit 86

Speed/time Constant 87

Rotation Axis Information 88

Tandem Function 89

G-Code Control ProcessWork Parameter 91

Tool Radius Compensation 91

Tool Compensation Data 92

Workpiece Coordinate Offset 92

Program Coordinate Rotation 92

CHAPTER 5 G-CODE CONTROL PROGRAMS 93

G-Code Control Program Composition 93

G-code Program Format 94

Fetching G-Code Program Files 96

Fetching G-code Program File During Operation 96

Pre-read Buffer 97

Decimal Point Input 98

Coordinate System 99

Basic Machine Coordinate System 99

Work Coordinate System 99

Local Coordinate System 100

Automatic Coordinate System Setting 100

Coordinate System For Rotation Axes 100

G-Code 101

G-code List 101

Modal/Unmodal 102

G-code Priority 102

G00: Positioning (Fast Forward) 105

G01: Linear Interpolation 106

G02: Circular Interpolation CW (center Specified) 107

G03: Circular Interpolation CCW (center Specified) 109

G02: Circular Interpolation CW (R-specified) 111

G03: Circular Interpolation CCW (R-specified) 113

G04: Dwell (time Specified) 115

G09: Exact Stop Check 116

G12.1: Polar Coordinate Interpolation Mode Start 117

G13.1: Polar Coordinate Interpolation Mode Cancel 122

G17 To G19: Plane Selection 123

G38: Tool Radius Compensation Vector Setting 124

G39: Tool Radius Compensation Corner Arc 126

G40: Tool Radius Compensation Cancel 128

G41: Tool Radius Compensation - Left 129

G42: Tool Radius Compensation - Right 130

G40.1: Normal Line Control Cancel 131

G41.1: Normal Line Control - Left ON 132

G42.1: Normal Line Control - Right ON 133

G43: Tool Length Compensation (+) 134

G44: Tool Length Compensation 136

G49: Tool Length Compensation Cancel 138

G52: Local Coordinate System Setting 139

G53: Basic Machine Coordinate System Selection 143

G54 To G59: Work Coordinate System 1 Selection To Work Coordinate System 6 Selection 144

G61: Exact Stop Check Mode 147

G61.1: High-accuracy Control Mode 148

G62: Automatic Corner Override 149

G64: Cutting Mode 152

G68: Program Coordinate Rotation Mode Start 153

G69: Program Coordinate Rotation Mode Cancel 158

G90: Absolute Value Command 159

G91: Incremental Value Command 161

G94: Feed Per Minute (non-synchronized Feed) 163

M-Code 164

M00: Program Stop 165

M01: Optional Stop 166

M02: Program End 167

M30: Program End 168

CHAPTER 6 AUXILIARY AND APPLIED FUNCTIONS 169

Relationship Between G-Code Control And Each Function 169

Auxiliary Function (M Function) 171

M-code Output 171

Auxiliary Function Complete 173

Feed Function 175

Fast Forward Speed 175

Cutting Feed Speed 176

Feed Speed Specification And The Effects On Each Control Axis 177

Deceleration Check 180

Tool Compensation Function 184

Tool Compensation 184

Tool Length Compensation 185

Tool Radius Compensation 185

Operation Supporting Functions 209

Automatic Operation Start (cycle Start) 209

Automatic Operation Hold (feed Hold) 210

Reset 211

Single Block 212

Normal Line Control Function 213

High-Accuracy Control 226

Acceleration/deceleration Before Interpolation 228

Optimum Speed Control 230

Vector Accuracy Interpolation 236

Arc Entrance/exit Speed Control 236

Tandem Function 237

G-Code Program Operation By GOT 238

GOT Program Input/output Function 238

GOT Program Edit Function 238

APPENDICES 239

Appendix 1 G-Code Control Error/G-Code Control Event Details Codes 239

G-code Control Error Details Codes 239

Add-on License Error Details Codes 244

Appendix 2 G-code Control Event Details Codes 245

G-code Control Event Details Codes 245

REVISIONS 246

WARRANTY 247

TRADEMARKS 248

Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual (124 pages)

MELSEC iQ-R series Motion Controller (Machine Control)

Brand: Mitsubishi Electric | Category: Controller | Size: 1.59 MB

SAFETY PRECAUTIONS 3

CONDITIONS OF USE FOR THE PRODUCT 11

INTRODUCTION 11

Table Of Contents 12

RELEVANT MANUALS 14

TERMS 15

MANUAL PAGE ORGANIZATION 16

CHAPTER 1 OVERVIEW 19

Machine Control Overview 19

Performance Specifications 21

CHAPTER 2 STARTING UP THE SYSTEM 22

Starting Up The Machine Control System 22

Machine Control System Positioning Controls 23

Machine Program Operation Start 23

Machine JOG Operation 23

Machine Control System Stop Operation 24

Machine Control System Device Assignment Method 24

CHAPTER 3 MACHINES 25

Overview Of A Machine 25

Machine Position 25

CHAPTER 4 MACHINE CONTROL DEDICATED SIGNALS 27

Internal Relays 28

Machine Common Command Signals 28

Machine Command Signals 29

Machine Status 34

Data Registers 37

Machine Control Device 37

Machine Monitor Device 40

CHAPTER 5 MACHINE CONTROL PARAMETERS 49

Machine Common Parameter 49

Point Block Setting 49

Machine Parameter 50

Machine Basic Setting 52

Joint Axis Structure 52

Arm Length Setting 52

Machine Speed Setting 52

XYZ Stroke Limit Setting 53

Base Transformation (install Coordinate Offset) 53

Tool Transformation 55

Option Setting A 55

Option Setting B 55

Motion Control Parameter Of Machine Configuration Axes 56

Axis Setting Parameter 56

CHAPTER 6 MACHINE CONTROL DATA 57

Machine Positioning Data 57

Point Block Data 65

Structure Of Point Block Data 65

CHAPTER 7 POSITIONING CONTROL 68

Basics Of Positioning Control 68

Positioning Speed 68

Positioning Speed At The Interpolation Control 69

Interpolation Operation And Acceleration/deceleration Processing 73

Control Units During Machine Control 75

Control When Control Unit Is "degree 76

Stop Processing And Restarting After Stop 77

Operation At Home Position Return Incomplete 77

Continuous Trajectory Control (Machine Program Operation) 78

PTP Control 78

Linear Interpolation/joint Interpolation 79

Circular Interpolation 80

Sequential Coordinate Command Control 83

Speed Switching During Instruction 87

CHAPTER 8 MANUAL CONTROL 88

JOG Operation 88

Manual Pulse Generator Operation 88

Machine JOG Operation 89

CHAPTER 9 AUXILIARY AND APPLIED FUNCTIONS 92

Relationship Between Machine Control And Each Function 92

Proximity Pass Function 93

JOINT Remaining Distance Method (end Point Distance) 93

Speed Restriction Function 101

Joint Interpolation Speed Limit 101

Servo Motor Maximum Speed Check 102

Base/Tool Transformation Change Function 103

WAIT-ON/OFF 106

Point Arrival Notification 108

APPENDICES 110

Appendix 1 Sample Program Of Machine Control 110

Appendix 2 Machine Control Error Details Codes 115

Machine Error Details Codes 115

Appendix 3 Machine Control Event Details Codes 119

Machine Event Details Codes 119

REVISIONS 120

WARRANTY 121

TRADEMARKS 122

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Mitsubishi Electric MELSEC iQ-R16MTCPU Manuals

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Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual (482 pages)

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