Mitsubishi Electric MELSEC iQ-F FX5 - 29.3 Positioning Control; 1-speed positioning; 2-speed positioning

360
29 POSITIONING CONTROL FUNCTION
29.3 Positioning Control
29.3 Positioning Control
This section describes details of the positioning control.
1-speed positioning
Acceleration is started at the bias speed when pulses are output by the positioning instruction. After the speed has reached
the specified speed, the operation will be performed at the specified speed up to the point that deceleration must be
performed. The operation decelerates in the vicinity of the target position and stops the pulse output at the position specified
by the positioning address.
Both the relative address and the absolute address can be used for 1-speed positioning.
The following table shows applicable positioning instructions and control methods of the table operation.
*1 Only CPU module is supported.
2-speed positioning
The 1-speed positioning of table 1 (excluding the deceleration stop) is performed by the table operation instruction. (Page
360 1-speed positioning) After the target position is reached, the 1-speed positioning of table 2 is performed from
acceleration/deceleration.
2-speed positioning is performed when two 1-speed positionings are operated continuously by the continuous operation of the
DRVTBL/DRVMUL instruction. Both relative address and absolute address can be used for the two 1-speed positionings.
(Page 551 Continuous operation)
The following table shows applicable control methods of the table operation.
Positioning instruction Table operation control method
Relative positioning (DRVI/DDRVI) instruction • 1: 1 Speed Positioning (Relative Address Specification)
• 2: 1 Speed Positioning (Absolute Address Specification)
Absolute positioning (DRVA/DDRVA) instruction
Table operation (TBL
*1
/DRVTBL/DRVMUL) instruction
Positioning instruction Table operation control method
Table operation (DRVTBL/DRVMUL) instruction • 1: 1 Speed Positioning (Relative Address Specification)
• 2: 1 Speed Positioning (Absolute Address Specification)
Acceleration
time
Deceleration
time
Maximum speed
Bias speed
Command speed
Bias speed
Current position Positioning address
Deceleration timeAcceleration time
Command
speed 1
Command
speed 1
Bias speed
Current position Positioning address 1 Positioning address 2
Bias speed
Control method of table 1:
1: 1 Speed Positioning
(Relative Address Specification)
2: 1 Speed Positioning
(Absolute Address Specification)
Maximum speed
Control method of table 2:
1: 1 Speed Positioning
(Relative Address Specification)
2: 1 Speed Positioning
(Absolute Address Specification)