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MELSEC-
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9 MAIN POSITIONING CONTROL
Current feed value during speed control
The following table shows the "Current feed value (RWrn + 0 to 1, RWrn + 8 to 9)"
during speed control corresponding to the "
Pr.22 Current feed value during
speed control" settings.
" Pr.22 Current feed value during speed
control" setting
Current feed value
(RWrn + 0 to 1,RWrn + 8 to 9)
0: Do not update current feed value
The current feed value during speed control
start is maintained.
1: Update current feed value The current feed value is updated.
2: Zero clear current feed value The current feed value is fixed at 0.
Speed
t
In speed control
Current feed value during speed control start is maintained
(
a
)
Current feed value not u
p
dated
t
Current feed value is updated
(
b
)
Current feed value u
p
dated
(c) Current feed value zero cleared
t
0
Speed
In speed control
In speed control
Speed
Restrictions
(1) Set “Positioning complete” for “
Da.1 Operation pattern.” If “continuous
positioning control” or “continuous path control” is selected, an error
“continuous path control not possible” (error code: 516) occurs, resulting in a
failure to start. (In the speed control mode, “continuous positioning control” or
“continuous path control” cannot be selected.)
(2) To use M codes, set the “WITH” mode for “
Pr.19 M code ON signal output
timing.” If the “AFTER” mode is selected, the M codes are not output and the
“M code ON” signal does not turn ON.
(3) The software stroke limit check is not made with the “degree” unit.
Positioning data setting examples
The following table shows setting examples when "speed control (forward run:
speed control)" is set in positioning data No. 1 of axis 1.
Setting item Setting example Setting details
Positioning data No. 1
Da.1
Operation pattern
Positioning
complete
Setting other than "Positioning complete" is not possible in speed
control.
Da.2
Control method
Forward run:
speed control
Set speed control.
Da.3
Acceleration time No. 1
Designate the value set in "
Pr.26 Acceleration time 1" as the
acceleration time at start.
Da.4
Deceleration time No. 0
Designate the value set in "
Pr.9 Deceleration time 0" as the
deceleration time at deceleration.
Da.5
Positioning address/
movement amount
– Setting not required. (Setting value is ignored.)
Da.6
Arc address – Setting not required. (Setting value is ignored.)
Da.7
Command speed 6000.00mm/min Set the speed to be commanded.
Da.8
Dwell time – Setting not required. (Setting value is ignored.)
Da.9
M code 10
Set this when other auxiliary operation commands are issued in
combination with the No. 1 positioning data. ("
Pr.19 M code ON
signal output timing" setting only possible in the WITH mode.)
* Refer to section "5.3 List of positioning data" for information on the setting details.