Mitsubishi Electric MELSEC iQ-F Series FX5 User Manual page 99

• In the operation by the continuous path control (operation pattern: 11), the positioning of the next positioning No. is
automatically implemented. Always set Operation pattern: 00 to the last positioning data to complete the positioning. If the
operation pattern is Positioning continue (01 or 11), the operation continues until Operation pattern: 00 is found.
Consequently, if positioning in the operations pattern is not finished, operations are implemented until positioning data No.
600, and if the operations pattern for positioning data No. 600 is not positioning complete, operations are implemented
again from positioning data No. 1.
• The speed switching is classified into two modes: the front-loading speed switching mode in which the speed is changed at
the end of the current positioning side and the standard speed switching mode in which the speed is changed at the start of
the next positioning side. (Page 387 [Pr.19] Speed switching mode)
• In the continuous path control, the positioning may be completed before the set address/movement amount by the distance
Δd, and the data to be controlled may be switched to the next positioning data No. The range of the value of the distance Δd
is as follows.
0 ≤ Δd < (Moving distance in 0.88 ms at the command speed)
■Set acceleration and deceleration speeds
V
No.1
V1
V2
(1) Positioning data No. 1 set address reached
(2) Less than 0.88 ms
The distance Δd is output when the next positioning data No. is executed at the constant speed. Therefore, the execution time
of the next positioning data may be extended longer than the set execution time of the positioning control
the execution time is a problem, perform the following actions.
Corrective action
Use the near pass control output timing selection
function.
Use the speed change function.
*1 For the continuous path control, when the command speed V1 of the positioning data and the command speed V2 of the next
positioning data is different significantly, and V1 > V2
For the positioning data in which the automatic deceleration is performed, the positioning is completed at the set address.
Consequently, the positioning data completion address using continuous path control may differ from the set address, but this
will become the address as set when auto deceleration using either continuous positioning control (01) or positioning finished
(00) is complete.
In the continuous path control, the speed is not changed when the positioning data No. is switched by the near
pass function. (Page 224 Near pass function)
No.2
d
t
(1)
(2)
Description
By setting the output timing to At deceleration, the execution time of the next positioning is equivalent to
the set execution time of the positioning control. (Page 226 Output timing selection of near pass
control)
Change the speed using the speed change function instead of the continuous path control. (Page
228 Speed limit function)
■Actual acceleration and deceleration speeds
V
No.1
V1
V2
(1)
(1) Positioning data No. 1 set address reached
(2) 0.88 ms min.
9 MAJOR POSITIONING CONTROL
9.1 Overview of the Major Positioning Controls
No.2
d
t
(2)
*1
. If the extension of
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