Mitsubishi Electric MELSEC Q Series Programming Manual page 15

4.3.1 Relationships between the speed limit value, acceleration time, deceleration time and rapid stop
deceleration time ............................................................................................................................... 4-17
4.3.2 S-curve ratio ...................................................................................................................................... 4-19
4.3.3 Advanced S-curve acceleration/deceleration ................................................................................... 4-21
4.3.4 Allowable error range for circular interpolation ................................................................................. 4-35
4.4 Expansion Parameters............................................................................................................................. 4-36
4.4.1 Positive direction torque limit value monitor device/negative direction torque limit value monitor
device ................................................................................................................................................ 4-38
4.4.2 Acceleration/deceleration time change parameter .......................................................................... 4-39
5. SERVO PROGRAMS FOR POSITIONING CONTROL
5.1 Servo Program Composition Area ........................................................................................................... 5- 1
5.1.1 Servo program composition .............................................................................................................. 5- 1
5.1.2 Servo program area .......................................................................................................................... 5- 2
5.2 Servo Instructions .................................................................................................................................... 5- 3
5.3 Positioning Data ....................................................................................................................................... 5-16
5.4 Setting Method for Positioning Data ........................................................................................................ 5-22
5.4.1 Setting method by specifying numerical values ............................................................................... 5-22
5.4.2 Indirect setting method by devices ................................................................................................... 5-23
6. POSITIONING CONTROL
6.1 Basics of Positioning Control ................................................................................................................... 6- 1
6.1.1 Positioning speed .............................................................................................................................. 6- 1
6.1.2 Positioning speed at the interpolation control .................................................................................. 6- 2
6.1.3 Control units for 1 axis positioning control ........................................................................................ 6- 7
6.1.4 Control units for interpolation control ................................................................................................ 6- 7
6.1.5 Control in the control unit "degree" ................................................................................................... 6- 9
6.1.6 Stop processing and restarting after stop......................................................................................... 6-12
6.1.7 Acceleration/deceleration processing ............................................................................................... 6-18
6.2 1 Axis Linear Positioning Control ............................................................................................................. 6-22
6.3 2 Axes Linear Interpolation Control ......................................................................................................... 6-25
6.4 3 Axes Linear Interpolation Control ......................................................................................................... 6-30
6.5 4 Axes Linear Interpolation Control ......................................................................................................... 6-36
6.6 Auxiliary Point-Specified Circular Interpolation Control .......................................................................... 6-41
6.7 Radius-Specified Circular Interpolation Control ...................................................................................... 6-46
6.8 Central Point-Specified Circular Interpolation Control ............................................................................ 6-52
6.9 Helical Interpolation Control ..................................................................................................................... 6-58
6.9.1 Circular interpolation specified method by helical interpolation ....................................................... 6-59
6.10 1 Axis Fixed-Pitch Feed Control ............................................................................................................ 6-79
6.11 Fixed-Pitch Feed Control Using 2 Axes Linear Interpolation ............................................................... 6-83
6.12 Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation ............................................................... 6-87
6.13 Speed Control ( ) .................................................................................................................................... 6-91
6.14 Speed Control ( ) ................................................................................................................................... 6-96
6.15 Speed-Position Switching Control ....................................................................................................... 6-100
6.15.1 Speed-position switching control start .......................................................................................... 6-100
6.15.2 Re-starting after stop during control ............................................................................................. 6-108
6.16 Speed-Switching Control ..................................................................................................................... 6-113
A - 14
5- 1 to 5-26
6- 1 to 6-258