Mitsubishi Electronics Q172HCPU, Q173HCPU 6 POSITIONING CONTROL, 6.17Constant-SpeedControl

6 POSITIONING CONTROL

6.17Constant-Speed Control

(1)Positioning to the pass point beforehand set by one starting is executed with the specified positioning method and positioning speed.

(2)The positioning method and positioning speed can be changed for each pass point.

(3)The following parameters is set in the servo program.

•Pass point

•Positioning method from any pass point to the next pass point.

•Positioning speed from any pass point to the next pass point.

(4)Repetition control between any pass points can be performed by using repetition instructions.

(5)M-codes and torque limit values can be changed at each speed-switching point.

(6)1 to 4 axes can be controlled.

[Procedure to write servo programs]

The method to write the servo programs for constant-speed control is shown below.

[Procedure]		[Example : Servo program for 2 axes
			constant-speed control]
	Start
				Point	<K 1>
	Set the constant-speed control
		4			CPSTART
	axis and speed
					Axis	2
					Axis	3		[PLS/s]
	Set the each pass point				Speed		10000
		1			ABS-2		40000	[PLS]
					Axis	2,
	Set the positioning method
		2			Axis	3,	60000	[PLS]
	Set the positioning address				ABS-2		60000	[PLS]
					Axis	2,
	(travel value)				Axis	3,	60000	[PLS]
					Speed		15000	[PLS/s]
	Set the speed-switching	3
					ABS-2		100000	[PLS]
					Axis	2,
		4			Axis	3,	80000	[PLS]
					CPEND

NO

All pass points are set ?

YES

End constant-speed control

End

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