6 POSITIONING CONTROL

POINTS

(1)Speed limit value and positioning speed

•The setting speed limit value applies to the long-axis speed.

•Be careful that the combined-speed may exceed the speed limit value at the long-axis speed specification.

Example

The following settings at the 2 axes linear interpolation, the combined-speed

exceeds the speed limit value.

Axis 1 travel value : 100 [PLS]

Axis 2 travel value : 200 [PLS]

Long-axis speed : 50 [PLS/s]

Speed limit value : 55 [PLS/s]

In this example, since the reference-axis is axis 2 of the largest travel value, it is controlled with the speed limit value specified with axis 2.

The positioning speed and combined-speed for each axis are as follows:

Axis 1 positioning speed : 100/ 200 50 = 25 [PLS/s]

Axis 2 positioning speed : 50 [PLS/s]

Combined-speed : 252 + 502 = 55.9[PLS/s]

<K 2>

 

 

 

 

 

 

 

 

INC-2

 

 

 

 

Axis

1,

100

[PLS]

Axis

2,

200

[PLS]

Long-axis speed

50

[PLS/s]

Axis 1 positioning

 

 

 

Combined-speed

 

 

 

speed

 

 

 

 

 

 

 

 

 

Axis 2 positioning speed

The combined-speed exceeds the speed limit value setting of 55.

(2)Relationship between speed limit value, acceleration time, deceleration time and rapid stop deceleration time.

•The real acceleration time, deceleration time and rapid stop deceleration time are set by the setting long-axis speed.

 

 

 

 

 

 

 

 

Speed limit value

 

 

Speed

 

 

 

 

 

Positioning speed(long-axis speed)

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Rapid stop cause occurrence

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

1)

Real acceleration time

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

2)

Setting acceleration time

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Time

3) Real deceleration time

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

4)

Setting deceleration time

 

 

 

 

 

1)

 

 

 

 

3)

 

 

 

 

 

 

 

5)

 

 

 

5)

Real rapid stop deceleration time

 

 

 

 

 

 

 

6)

 

 

 

 

6)

Setting rapid stop deceleration time

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

2)

4)

 

 

 

 

 

 

 

 

 

 

 

(c) Reference-axis speed specification

The Motion CPU calculates the positioning speed of other axes (V1 to V3) based on the positioning speed (reference-axis speed : V) of the setting reference-axis using the each axis travel value (D1 to D4).

Set the reference-axis No., reference-axis speed and each axis travel value using the servo program.

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