6 POSITIONING CONTROL

Example

4 axes linear interpolation control is shown below.

Axis 1 travel value: D1 = 10000 [PLS]

Axis 2 travel value: D2 = 15000 [PLS]

Axis 3 travel value: D3 = 5000 [PLS]

Axis 4 travel value: D4 = 20000 [PLS]

Reference axis speed: V = 7000 [PLS/s]

Reference axis: Axis 4

In this example, since the reference-axis is axis 4, it is 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

[Program example]

<K 52>

 

 

 

 

 

 

 

 

 

 

 

 

ABS-4

 

 

 

 

 

Axis

1,

 

10000

[PLS]

Axis

2,

 

15000

[PLS]

Axis

3,

 

5000

[PLS]

Axis

4,

 

20000

[PLS]

Reference-axis speed

70000

[PLS/s]

Reference-axis

 

 

 

4

 

POINTS

(1)Reference-axis speed and positioning speed of other axes

•Be careful that the positioning speed of an axis for a larger travel value than the reference-axis may exceed the setting reference-axis speed.

(2)Indirect specification of the reference-axis

•The reference-axis can be set indirectly using the word devices D, W and #. (Refer to Section 5.4.2.)

(3)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 reference-axis speed setting

 

 

 

 

 

 

 

Speed limit value

 

 

Speed

 

 

 

 

Positioning speed (reference-axis speed)

 

 

 

 

 

 

 

 

 

 

Rapid stop cause occurrence

 

 

 

 

 

 

 

 

 

 

 

 

 

1)

Real acceleration time

 

 

 

 

 

 

 

 

 

 

 

 

 

2)

Setting acceleration time

 

 

 

 

 

 

 

 

 

 

 

 

Time

3) Real deceleration time

 

 

 

 

1)

 

 

 

3)

 

 

 

4)

Setting deceleration time

 

 

 

5)

 

 

 

5)

Real rapid stop deceleration time

 

 

 

 

 

 

6)

 

 

 

 

6)

Set rapid stop deceleration time

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

2)

4)

 

 

 

 

 

 

 

 

 

 

 

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