6 POSITIONING CONTROL

6.1.2 Positioning speed at the interpolation control

The positioning speed of the Motion CPU sets the travel speed of the control system.

(1) 1 axis linear control

Travel speed is the positioning speed of the specified axis at the 1 axis positioning control.

(2) Linear interpolation control

Positioning is controlled with the speed which had the control system specified at the interpolation control.

The positioning speed can be set using one of the following three methods at the

2 to 4 axes linear interpolation control:

•Combined-speed specification

•Long-axis speed specification

•Reference-axis speed specification

Control method of the Motion CPU control for every specified method is shown below.

(a) Combined-speed specification

The Motion CPU calculates the positioning speed of each axis (V1 to V2) using the travel value (D1 to D4) of each axis based on the positioning speed

(V) of the setting control system.

Positioning speed of the control system is called the combined-speed. Set the combined-speed and the travel value of each axis in the servo program.

Example

2 axes linear interpolation control is shown below.

Axis 2

[Program example]

V2

(10000, 15000)

V

<K 50>

 

 

 

 

 

 

 

 

ABS-2

1,

10000

 

Axis

[PLS]

Axis

2,

15000

[PLS]

Combined-speed

7000

[PLS/s]

0

V1

Axis 1

0

 

 

Axis 1 travel value: D1 = 10000[PLS]

Axis 2 travel value: D2 = 15000[PLS]

Combined speed: V = 7000[PLS/s]

The Motion CPU calculates the positioning speed of each axis using the following calculation formulas in the above condition:

Axis 1 positioning speed :

V1 = V

D1 /

D1 2 + D2 2

Axis 2 positioning speed :

V2 = V

D2 /

D1 2 + D2 2

6 - 2