Mitsubishi Electric MELSEC Q Series Programming Manual page 47

2 POSITIONING CONTROL BY THE MOTION CPU
1 System settings
Fixed
2
parameters
Servo
3
parameters
Home position
4
return data
JOG operation
5
data
6 Parameter block
Limit switch
7
output data
(Note-1): Refer to Section 3.3 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming
(Note-2): Refer to Section 4.1 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming
(1) Positioning control parameters
There are following seven types as positioning control parameters.
Parameter data can be set and corrected using MT Developer2.
Item
Multiple system settings, Motion modules and axis No., etc. are set.
Data by such as the mechanical system are set for every axis.
They are used for calculation of a command position at the
positioning control.
Data by such as the servo amplifier and motor type with connected
servo motor are set for every axis.
They are set to control the servo motors at the positioning control.
Data such as the direction, method and speed of the home position
return used at the positioning control are set for every axis.
Data such as the JOG speed limit value and parameter block No.
used at the JOG operation are set for every axis.
Data such as the acceleration, deceleration time and speed control
value at the positioning control are set up to 64 parameter blocks.
They are set with the servo program, JOG operation data and home
position return data, and it is used to change easily the
acceleration/deceleration processing (acceleration/deceleration time
and speed limit value) at the positioning control.
Output device, watch data, ON section, output enable/disable bit and
forced output bit used for the limit output function for every limit
output are set.
Manual (COMMON)".
Manual (COMMON)".
(2) Servo program
The servo program is used for the positioning control in the Motion SFC program.
The positioning control by servo program is executed using the Motion SFC
program and Motion dedicated PLC instruction (Servo program start request
(D(P).SVST)) .
It comprises a program No., servo instructions and positioning data.
Refer to Chapter 5 for details.
Program No. ............... It is specified using the Motion SFC program and
•
Servo instruction ......... It indicates the type of positioning control.
•
Positioning data .......... It is required to execute the servo instructions.
•
Description
Motion dedicated PLC instruction.
The required data is fixed for every servo instruction.
2 - 12
Reference
Section
4.1
Section
4.2
(Note-1)
Section
6.23.1
Section
6.21.1
Section
4.3
(Note-2)