Mitsubishi Electric RD77MS2 - Data Required for Major Positioning Control

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3 MAJOR POSITIONING CONTROL
3.1 Outline of Major Positioning Controls
Data required for major positioning control
The following table shows an outline of the "positioning data" configuration and setting details required to carry out the "major
positioning controls".
*1 The settings and setting requirement for the setting details of [Da.1] to [Da.10], [Da.20] to [Da.22] and [Da.27] to [Da.29] differ according
to the "[Da.2] Control method".
(Page 68 Setting the Positioning Data)
Major positioning control sub functions
Refer to the following for details on "sub functions" that can be combined with the major positioning control.
MELSEC iQ-R Simple Motion Module User's Manual (Startup)
Also refer to the following for details on each sub function.
Page 215 CONTROL SUB FUNCTIONS
600 positioning data (positioning data No. 1 to 600) items can be set per axis.
Setting item Setting details
Positioning
data No. 1
[Da.1] Operation pattern Set the method by which the continuous positioning data (Ex: positioning data No.1, No.2,
No.3) will be controlled. (Page 51 Operation patterns of major positioning controls)
[Da.2] Control method Set the control method defined as a "major positioning control".
(Page 48 Outline of Major Positioning Controls)
[Da.3] Acceleration time No. Select and set the acceleration time at control start. (Select one of the four values set in
[Pr.9], [Pr.25], [Pr.26], and [Pr.27] for the acceleration time.)
[Da.4] Deceleration time No. Select and set the deceleration time at control stop. (Select one of the four values set in
[Pr.10], [Pr.28], [Pr.29], and [Pr.30] for the deceleration time.)
[Da.6] Positioning address/movement
amount
Set the target value during position control. (Page 58 Designating the positioning
address)
[Da.7] Arc address Set the sub point or center point address during circular interpolation control or 3-axis helical
interpolation control.
[Da.8] Command speed Set the speed during the control execution.
[Da.9] Dwell time/JUMP destination
positioning data No.
The time between the command pulse output is completed to the positioning completed
signal is turned ON. Set it for absorbing the delay of the mechanical system to the instruction,
such as the delay of the servo system (deviation).
[Da.10] M code/Condition data No./
Number of LOOP to LEND
repetitions/Number of pitches
Set this item when carrying out sub work (clamp and drill stops, tool replacement, etc.)
corresponding to the code No. related to the positioning data execution.
[Da.20] Axis to be interpolated No.1 Set an axis to be interpolated during the 2- to 4-axis interpolation operation.
(Page 64 Interpolation control)
[Da.21] Axis to be interpolated No.2
[Da.22] Axis to be interpolated No.3
[Da.27] M code ON signal output timing Set the M code ON signal output timing to each positioning data.
[Da.28] ABS direction in degrees Set the ABS direction in degrees to each positioning data.
[Da.29] Interpolation speed designation
method
Set the interpolation speed designation method to each positioning data.