Mitsubishi Electric MELSEC Q Series Programming Manual page 193

6 POSITIONING CONTROL
(c) Reference-axis speed specification
The Motion CPU calculates the positioning speed of other axes (V
based on the positioning speed (reference-axis speed : V) of the setting
reference-axis using each axis travel value (D
Set the reference-axis No., reference-axis speed and each axis travel value
using the servo program.
Example
4 axes linear interpolation control is shown below.
Axis 1 travel value
Axis 2 travel value
Axis 3 travel value
Axis 4 travel value
Reference axis speed : V = 7000 [pulse/s]
Reference axis
In this example, since the reference-axis is
axis 4, it is controlled with the positioning
speed specified with axis 4.
The Motion CPU calculates the positioning
speed of other axes using the following
calculation formulas:
Axis 1 positioning speed :
Axis 2 positioning speed :
Axis 3 positioning speed :
POINTS
(1) Reference-axis speed and positioning speed of other axes
• Be careful that the positioning speed of an axis for a larger travel value than
the reference-axis may exceed the setting reference-axis speed.
(2) Indirect specification of the reference-axis
• The reference-axis can be set indirectly using the word devices.
(Refer to Section 5.4.2.)
(3) Relationship between speed limit value, acceleration time, deceleration time
and rapid stop deceleration time.
• The real acceleration time, deceleration time and rapid stop deceleration
time are set by the reference-axis speed setting.
Speed
1)
2)
: D = 10000 [pulse]
1
: D = 15000 [pulse]
2
: D = 5000 [pulse]
3
: D = 20000 [pulse]
4
: Axis 4
V = D / D V
1 1 4
V = D / D V
2 2 4
V = D / D V
3 3 4
Speed limit value
Positioning speed (reference-axis speed)
Rapid stop cause occurrence
Time
3)
5)
6)
4)
6 - 6
to D
1 4).
[Program example]
<K 52>
ABS-4
Axis 1, 10000
Axis 2, 15000
Axis 3,
Axis 4, 20000
Reference-axis speed
Reference-axis
1) Real acceleration time
2) Setting acceleration time
3) Real deceleration time
4) Setting deceleration time
5) Real rapid stop deceleration time
6) Setting rapid stop deceleration time
to V )
1 3
[pulse]
[pulse]
5000 [pulse]
[pulse]
7000 [pulse/s]
4