6 POSITIONING CONTROL

6. POSITIONING CONTROL

This section describes the positioning control methods.

6.1 Basics of Positioning Control

This section describes the common items for positioning control, which is described in detail after Section 6.2.

6.1.1 Positioning speed

The positioning speed is set using the servo program. Refer to Chapter 5 for details of the servo programs.

The real positioning speed is set in the positioning speed and speed limit value using the servo program is shown below:

•If the positioning speed setting is less than speed limit value, the positioning is executed with the setting positioning speed.

•If the positioning speed setting is less than speed limit value, the positioning is executed with the positioning speed.

Examples

(1)If the speed limit value is 120000[mm/min] and the positioning speed setting is 100000[mm/min], the positioning speed is as follows.

 

V

 

 

Speed limit value

6

120000

 

 

 

 

 

 

 

 

 

 

 

 

Positioning speed

 

100000

 

 

 

 

 

 

 

 

t

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Acceleration time of

Deceleration time of

 

 

parameter block

parameter block

 

(2)If the speed limit value is 100000[mm/min] and the positioning speed setting is 120000[mm/min], the positioning speed is as follows.

 

V

Positioning speed

120000

 

 

 

 

 

 

 

 

 

 

Speed limit value

100000

 

 

 

 

 

 

 

 

 

 

 

 

(Real positioning speed)

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

t

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Acceleration time of

Deceleration time of

 

parameter block

parameter block

6 - 1