Chapter 3 Major Positioning Control; Outline Of Major Positioning Controls - Mitsubishi Electric MELSEC iQ-FX5 User Manual

3
MAJOR POSITIONING CONTROL
The details and usage of the major positioning controls (control functions using the "positioning data") are explained in this
chapter.
The major positioning controls include such controls as "positioning control" in which positioning is carried out to a designated
position using the address information, "speed control" in which a rotating object is controlled at a constant speed, "speed-
position switching control" in which the operation is shifted from "speed control" to "position control" and "position-speed
switching control" in which the operation is shifted from "position control" to "speed control".
Execute the required settings to match each control.
3.1

Outline of Major Positioning Controls

"Major positioning controls" are carried out using the "positioning data" stored in the Simple Motion module.
The basic controls such as position control and speed control are executed by setting the required items in this "positioning
data", and then starting that positioning data.
The control method for the "major positioning controls" is set in setting item "[Da.2] Control method" of the positioning data.
Control defined as a "major positioning control" carries out the following types of control according to the "[Da.2] Control
method" setting. However, the position loop is included for commanding to servo amplifier in the speed control set in "[Da.2]
Control method". Use the "speed-torque control" to execute the speed control not including position loop. (Page 177
Speed-torque Control)
Major positioning control
Position Linear control
control
Fixed-feed
control
2-axis circular
interpolation
*1
control
Speed control
3 MAJOR POSITIONING CONTROL
48
3.1 Outline of Major Positioning Controls
[Da.2] Control method
1-axis linear ABS Linear 1
control INC Linear 1
2-axis linear ABS Linear 2
interpolation INC Linear 2
*1
control
3-axis linear ABS Linear 3
interpolation INC Linear 3
*1
control
4-axis linear ABS Linear 4
interpolation INC Linear 4
*1
control
1-axis fixed- Fixed-feed 1
feed control
2-axis fixed- Fixed-feed 2
*1
feed control
3-axis fixed- Fixed-feed 3
*1
feed control
4-axis fixed- Fixed-feed 4
*1
feed control
Sub point ABS Circular sub
designation INC Circular sub
Center point ABS Circular right
designation ABS Circular left
INC Circular right
INC Circular left
1-axis speed Forward run speed 1
control Reverse run speed 1
2-axis speed Forward run speed 2
*1
control Reverse run speed 2
3-axis speed Forward run speed 3
*1
control Reverse run speed 3
4-axis speed Forward run speed 4
*1
control Reverse run speed 4
Details
Positioning of the designated 1 axis is carried out from the start address (current
stop position) to the designated position.
Using the designated 2 axes, linear interpolation control is carried out from the
start address (current stop position) to the designated position.
Using the designated 3 axes, linear interpolation control is carried out from the
start address (current stop position) to the designated position.
Using the designated 4 axes, linear interpolation control is carried out from the
start address (current stop position) to the designated position.
Positioning of the designated 1 axis is carried out for a designated movement
amount from the start address (current stop position).
(The "[Md.20] Feed current value" is set to "0" at the start.)
Using the designated 2 axes, linear interpolation control is carried out for a
designated movement amount from the start address (current stop position).
(The "[Md.20] Feed current value" is set to "0" at the start.)
Using the designated 3 axes, linear interpolation control is carried out for a
designated movement amount from the start address (current stop position).
(The "[Md.20] Feed current value" is set to "0" at the start.)
Using the designated 4 axes, linear interpolation control is carried out for a
designated movement amount from the start address (current stop position).
(The "[Md.20] Feed current value" is set to "0" at the start.)
Using the designated 2 axes, positioning is carried out in an arc path to a
position designated from the start point address (current stop position).
The speed control of the designated 1 axis is carried out.
The speed control of the designated 2 axes is carried out.
The speed control of the designated 3 axes is carried out.
The speed control of the designated 4 axes is carried out.