Mitsubishi Electronics Q172HCPU, Q173HCPU manual 264

6 POSITIONING CONTROL

[Operation timing]

Operation timing for constant-speed control is shown below.

[Example : Operation timing for 2 axes constant-speed control]

	Axis 3 positioning direction
	80000					P3
	60000			P1	P2
					100000		Axis2 positioning direction
	0
					60000
Positioning speed		V		40000		Change speed after speed-switching
for 2 axes linear
interpolation	15000
			Set
	10000		speed
							t
	0

[Caution]

(1)The number of control axes cannot be changed during control.

(2)The pass point can be specified the absolute data method (ABS) and incremental method (INC) by mixed use.

(3)The pass point can also be specified an address which change in travel direction. The acceleration processing at a pass point is executed for 1 axis constant-speed. However, the acceleration/deceleration processing at a pass point is not executed for 2 to 4 axes constant-speed, so be careful of the servo error occurrence, etc.

(4)Speed change is possible after the start.

Note the following points at the speed change.

(a)The central point-specified circular interpolation is included the constant- speed control.

When the arc path calculated from the start address and central-point address is differ (within the allowable error range for circular interpolation) from the setting end address, if the speed is changed, error compensation (Refer to Section 4.3.3) may not function normally.

When the central point-specified circular interpolation as positioning method is used at the constant-speed control, set the start address, central point address and end address becomes arc correctly.

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