Mitsubishi Electric MELSEC-F Series - Outline of Positioning Operation

6 Before Starting Positioning Operation
6.2 Outline of Positioning Operation
29
FX3U-1PG User's Manual
1
Introduction
2
Specification
3
System Configuration
4
Installation
5
Wiring
6
Before Starting Positioning Operation
7
Buffer Memory
8
Manual Control
9
Positioning Control
10
Program Example
6.2 Outline of Positioning Operation
The relationship between the operation speed, acceleration/deceleration time and travel distance of the
positioning operation is shown below.
Point
• Setting of the positioning parameter selection (BFM#32) determines whether the positioning parameter is
used or the extension positioning parameter is used. Set the buffer memories that correspond to the
selected positioning parameter.
• The gradient of acceleration/deceleration is determined by the maximum speed, bias speed, acceleration
time and deceleration time.
• Set the acceleration/deceleration time for approximate S-shaped acceleration/deceleration within the
range from 1 ms to 5000 ms.
• When the operation speed I, operation speed II, JOG speed, zero return speed (high speed), and zero
return speed (creep) is at the bias speed or slower, the operation is executed at the bias speed. However,
if the bias speed is 0, the operation is executed at 1 Hz.
• When the operation speed I, operation speed II, JOG speed, zero return speed (high speed), and zero
return speed (creep) is at the maximum speed or faster, the operation is executed at the maximum speed.
Item
BFM No.
Content
Positioning
parameter
Extension
positioning
parameter
Maximum speed #5, #4 #39, #38 Upper speed limit in each operation mode.
Bias speed #6 #41, #40 Lower speed limit in each operation mode.
Operation
speed
Operation speed Ι #20, #19 Operation speed in each operation mode.
Operation speed ΙΙ #24, #23
Operation speed for 2-speed positioning operation,
external command positioning operation and Interrupt 2-
speed positioning operation.
Acceleration/
deceleration
time
Acceleration/
deceleration time
#15 -
Time needed to reach the maximum speed from bias
speed (bias speed from the maximum speed).
Acceleration time - #51
Time needed to reach the maximum speed from bias
speed.
Deceleration time - #52
Time needed to reach bias speed from the maximum
speed.
Acceleration/deceleration mode
(Operation parameter)
#3 b6 #37 b6
Selection of a control method at the time of acceleration/
deceleration.
OFF: Operates in the trapezoidal acceleration/deceleration
ON: Operates in the approximate S-shaped acceleration/
deceleration
Travel
distance
Target address Ι #18, #17
Target position (absolute address) or travel distance
(relative address) in each positioning operation.
Target address ΙΙ #22, #21
Target position (absolute address) or travel distance
(relative address) for 2-speed positioning operation.
Trapezoidal
acceleration/deceleration
Operation speed
Bias speed
Maximum speed
Speed
Time
Acceleration/deceleration time
(Acceleration time)
Acceleration/deceleration time
(Deceleration time)
Approximate S-shaped
acceleration/deceleration