Mitsubishi Electronics QD75P, QD75D user manual Outline of major positioning controls

9MAJOR POSITIONING CONTROL

9.1 Outline of major positioning controls

MELSEC-Q

"Major positioning controls" are carried out using the "positioning data" stored in the QD75.

The basic controls such as position control and speed control are executed by setting the required items in this "positioning data", and then starting that positioning data. The control system for the "major positioning controls" is set in setting item " Da.2 Control system" of the positioning data.

Control defined as a "major positioning control" carries out the following types of control according to the " Da.2 Control system" setting.

Position control

Major positioning control					Details
		Da.2 Control system
	1-axis linear	ABS Linear 1	Positioning of a designated 1 axis is carried out from the
			start address (current stop position) to the designated
	control	INC Linear 1
			position.
	2-axis linear	ABS Linear 2	Using a designated 2 axes, linear interpolation control is
	interpolation		carried out from the start address (current stop position) to
		INC Linear 2
	control		the designated position.
Linear control
	3-axis linear	ABS Linear 3	Using a designated 3 axes, linear interpolation control is
	interpolation		carried out from the start address (current stop position) to
		INC Linear 3
	control		the designated position.
	4-axis linear	ABS Linear 4	Using a designated 4 axes, linear interpolation control is
	interpolation		carried out from the start address (current stop position) to
		INC Linear 4
	control		the designated position.
	1-axis fixed-		Positioning of a designated 1 axis is carried out from the
		Fixed-feed 1	start address (current stop position).
	feed control		(The "		Current feed value" is set to "0" at the start.)
				Md.20
	2-axis fixed-		Using a designated 2 axes, linear interpolation control is
		Fixed-feed 2	carried out from the start address (current stop position).
	feed control		(The "		Current feed value" is set to "0" at the start.)
Fixed-feed				Md.20
			Using a designated 3 axes, linear interpolation control is
control	3-axis fixed-
		Fixed-feed 3	carried out from the start address (current stop position).
	feed control
			(The "	Md.20	Current feed value" is set to "0" at the start.)
			Using a designated 4 axes, linear interpolation control is
	4-axis fixed-	Fixed-feed 4	carried out from the start address (current stop position).
	feed control
			(The "	Md.20	Current feed value" is set to "0" at the start.)
	Sub point	ABS Circular sub	The axis in which the interpolation control system is set is
	designation	INC Circular sub
2-axis circular			regarded as the reference axis. Positioning is carried out in
		ABS Circular right
interpolation			an arc path to a designated position, while controlling the
	Center point	ABS Circular left
control	designation	INC Circular right	other axis (interpolation axis) to match the positioning data
			set in the reference axis.
		INC Circular left

Speed control

1-axis speed	Forward run speed 1	The speed control of the designated 1 axis is carried out.
control	Reverse run speed 1
2-axis speed	Forward run speed 2	The speed control of the designated 2 axes is carried out.
control	Reverse run speed 2
3-axis speed	Forward run speed 3	The speed control of the designated 3 axes is carried out.
control	Reverse run speed 3
4-axis speed	Forward run speed 4	The speed control of the 4 axes is carried out.
control	Reverse run speed 4

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