6 POSITIONING CONTROL

(b)Long-axis speed specification

It is controlled based on the positioning speed (Long-axis speed: V) of the largest travel value axis among address set as each axis.

The Motion CPU calculates the positioning speed of other axes (V1 to V3) using the each axis travel value (D1 to D4).

Set the long-axis speed and the travel value of each axis using the servo program.

Example

4 axes linear interpolation control is shown below.

 

 

Axis 1 travel value: D1

= 10000[PLS]

[Program example]

Axis 2 travel value: D2

= 15000[PLS]

<K 51>

 

 

 

 

Axis 3 travel value: D3

= 5000[PLS]

 

 

 

 

 

 

 

Axis 4 travel value: D4

= 20000[PLS]

ABS-4

 

 

Long-axis speed: V = 7000[PLS/s]

Axis

1,

Axis

2,

In this example, since the reference axis

Axis

3,

Axis

4,

is axis 4 of the largest travel value, it is

Long-axis speed

 

controlled with the positioning speed

 

specified with axis 4.

 

The Motion CPU calculates the

 

positioning speed of other axes using the

 

following calculation formulas:

 

Axis 1 positioning speed : V1 = D1 / D4 V

Axis 2 positioning speed : V2 = D2 / D4 V

Axis 3 positioning speed : V3 = D3 / D4 V

10000 [PLS]

15000 [PLS]

5000 [PLS]

20000 [PLS]

7000 [PLS/s]

The following conversions are performed if the control units of each axis differ.

1)Combination of axes set in [mm] and [inch]

a)If the interpolation control units are [mm]

•Travel value: Convert the travel value of axis set in [inch] into [mm] using the formula: inch setting value 25.4.

• Speed

: The largest travel value axis is controlled with the long-

 

axis speed and the other axes are controlled with the

 

speed based on the long-axis speed, as the result of

 

conversion.

b)If the interpolation control units are [inch]

• Travel value: Convert the travel value of axis set in [mm] into [inch]

using the formula: mm setting value 25.4.

• Speed : The largest travel value axis is controlled with the long- axis speed and the other axes are controlled with the speed based on the long-axis speed, as the result of conversion.

2)Discrepancy between interpolation control units and control units

•Travel value: The travel value of each axis is converted into [PLS] unit with the electronic gear of self axis.

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