Positioning Control; Outline Of Positioning Controls; Data Required For Positioning Control - Mitsubishi Electric MELSECQ Series User Manual

9 POSITIONING CONTROL

CHAPTER 9 POSITIONING CONTROL

9.1 Outline of positioning controls

Positioning control
Position control (1-axis linear
control)
Speed-position switching
control
Current value changing

9.1.1 Data required for positioning control

Setting item
Da. 1 Operation pattern
Da. 2 Control method
Da. 3 ACC/DEC time
Da. 4 DEC/STOP time
Da. 5 Command speed
Positioning address/
Da. 6
movement amount
Da. 7 Dwell time
The setting details of Da. 1 to Da. 7 vary with " Da. 2 Control method" in whether setting is required or not and details.
(Refer to "Section 9.2 Setting the positioning data".)
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This chapter details the positioning control (control functions using positioning data) of
the QD70.
"Positioning control" uses the "positioning data" stored in the QD70.
Position control, speed-position switching control and current value changing are
executed by setting the necessary items of these "positioning data".
As the control method of "positioning control", set the " Da. 2 Control method" setting
item of the positioning data.
Any of the following controls can be defined as "positioning control" depending on the
setting of " Da. 2 Control method".
Da. 2 Control method
1-axis linear control (ABS)
1-axis linear control (INC)
Speed.Position Ctrl. (Forward)
Speed.Position Ctrl. (Reverse)
Current value changing
The following table shows an outline of the "positioning data" configuration and setting
details required to carry out the "positioning controls".
Set how consecutive positioning data (example: positioning data No. 1, No. 2, No. 3 ...)
will be controlled. (Refer to Section 9.1.2.)
Set the control method defined for "positioning control". (Refer to Section 9.1.)
Set the acceleration/deceleration time for positioning control.
Set the deceleration stop time for positioning control.
Set the speed for exercising control.
Set the target value or movement amount for position control, or the movement amount
or new current value for position control of speed-position switching control. (Refer to
Section 9.1.3.)
Set the time taken from when the workpiece has stopped on completion of position
control until the QD70 judges completion of position control.
REMARK
• 10 pieces of the positioning data (positioning data No. 1 to 10) can be set per axis.
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Description
Using the specified one axis, positioning control is
exercised from the starting point address (current stop
position) to the specified position.
Speed control is first carried out, and the "speed-position
switching signal" is then turned ON to perform position
control (positioning control of the specified movement
amount).
The current feed value ( Md. 1 ) is changed to the address
set to the positioning address.
Setting details
MELSEC-Q
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