6.2 1 Axis Linear Positioning Control. Mitsubishi MOTION CONTROLLERS Q172DCPU

6 POSITIONING CONTROL

6.2 1 Axis Linear Positioning Control

Positioning control from the current stop position to the fixed position for specified axis is executed.

Positioning is controlled using ABS-1 (Absolute data method) or INC-1 (Incremental data method) servo instructions.

Items set using MT Developer

Servo instruction

Positioning method

Number of control axes

Speed change

ABS-1

INC-1

[Control details]

Absolute

Incremental

1 Valid

: Must be set

: Set if required

Control using ABS-1 (Absolute data method)

(1) Positioning control from the current stop address (pre-positioning address) based on the home position to the specified address is executed.

(2) The travel direction is set by the current stop address and the specified address.

Example

When the current stop address is 1000, and the specified address is 8000.

Current stop address Specified address

0 1000

Home position

Positioning control

8000

Fig.6.1 Positioning using absolute data method

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6 POSITIONING CONTROL

Control using INC-1 (Incremental data method)

(1) Positioning control of the specified travel value from the current stop position address is executed.

(2) The travel direction is set by the sign (+/ -) of the travel value, as follows:

• Positive travel value .............Positioning control to forward direction

(Address Increase direction)

• Negative travel value............Positioning control to reverse direction

(Address decrease direction)

Current stop address

Reverse direction

Forward direction

Travel direction for negative travel value

Travel direction for positive travel value

Example

When the current stop address is -3000, and the travel value is -5000.

Current stop address

-8000 -3000 -2000 -1000 0

Travel value = -5000 Home position

Fig.6.2 Positioning using incremental data method

[Program]

Servo program No. 0 for positioning control is shown as the following conditions.

(1) System configuration

1 axis linear positioning control of Axis 4.

Motion CPU control module

Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX

Positioning start command (PX000)

AMP

Axis

1

M

AMP

Axis

2

M

AMP

Axis

3

M

AMP

Axis

4

M

(2) Positioning operation details

Positioning using the servo program No.0 is shown below.

In this example, Axis 4 is used in servo program No.0.

Home position

Current stop address Positioning address using the servo program No.0

0 1000 80000

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6 POSITIONING CONTROL

(3) Operation timing

Operation timing for the servo program No.0 is shown below.

10000

V

Servo Program No.0

t

PLC ready flag (M2000)

All axes servo ON command

(M2042)

All axes servo ON accept flag

(M2049)

Axis 4 servo ready (M2475)

Start command (PX000)

Servo program start

Axis 4 start accept flag

(M2004)

(4) Servo program

Servo program No.0 for positioning control is shown below.

<K 0>

INC-1

Axis

Speed

4, 80000

10000

1 axis linear positioning control

Axis used . . . . . . . . . . . Axis 4

Travel value to . . . . . . . . 80000 stop position

Command speed . . . . . . 10000

(5) Motion SFC program

Motion SFC program for which executes the servo program is shown below.

1 axis linear positioning control

1 axis linear positioning control

[F10]

SET M2042

[G10]

PX000*M2475

Turn on all axes servo ON command.

Wait until PX000 and Axis 4 servo ready turn on.

[K0]

INC-1

Axis 4, 80000PLS

Speed 10000PLS/s

[G20]

!PX000

1 axis linear positioning control

Axis used . . . . . . . . . . Axis 4

Travel value to . . . . . . . 80000[PLS]

stop position

Command speed . . . . . 10000[PLS/s]

Wait until PX000 turn off after linear positioning completion.

END

(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.

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