Mitsubishi Electric MELSECQ Series User Manual page 166

9 POSITIONING CONTROL
Positioning start signal
Start complete signal
BUSY signal
Positioning complete signal [X18 to X1F]
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[2] Continuous positioning control
(1) The machine always automatically decelerates each time the positioning
control is completed. Acceleration is then carried out after the QD70
command speed reaches 0 to carry out the next positioning data operation.
When the dwell time has been specified for position control, acceleration is
started after specified time has elapsed.
(2) In operation by continuous positioning control (operation pattern "1"), the
next positioning data No. is automatically executed. Always set operation
pattern "0" in the last positioning data to terminate the positioning control.
If the operation pattern is set to continue ("1" or "2"), the operation will
continue until operation pattern "0" is found.
If the operation pattern "0" cannot be found, the operation may be carried
out until the positioning data No. 10. If the operation pattern of the
positioning data No. 10 is not terminated, the operation will be started again
from the positioning data No. 1.
Address (+) direction
Address (-) direction
OFF
[Y8 to YF]
OFF
[X10 to X17]
OFF
[X8 to XF]
OFF
Fig. 9.2 Operation during continuous positioning control
POINT
The "Insufficient movement amount" warning (warning code: 41) occurs if the
movement amount of the currently executed positioning data is too small to reserve
the calculation processing time (approx. 2ms) of the next positioning data in the
operation pattern of "1: Continuous positioning control".
The execution of the next positioning data is started on completion of the
calculation. (The axis remains stopped until the calculation is completed. However,
the BUSY signal does not turn OFF.)
In this case, the warning can be avoided by adding 2ms to the setting value of
" Da. 7 Dwell time".
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Continuous positioning
control (1)
Continuous positioning
control (1)
Dwell time
not specified
ON
ON
ON
ON
MELSEC-Q
Dwell time
Time
Positioning
termination (0)
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