6.12 Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation. Mitsubishi MOTION CONTROLLERS Q172DCPU

6 POSITIONING CONTROL

6.12 Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation

Fixed-pitch feed control using 3 axes linear interpolation from the current stop position with the specified 3 axes.

Fixed-pitch feed control using 3 axes linear interpolation uses the FEED-3 servo instruction.

Items set using MT Developer

Servo instruction

Positioning method

Number of control axes

Speed change

FEED-3

Incremental 3 Valid

: Must be set

: Set if required

[Control details]

(1) Positioning control from the current stop position "0" to the position which combined travel direction and travel value specified with each axis is executed.

Positioning direction

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

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

(Address increase direction)

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

(Address decrease direction)

Operation timing

Forward direction V

Fixed-pitch feed by FEED-3 instruction

Command speed

Forward direction

Z-axis travel value

Reverse direction

Y-axis travel value

Forwar directio

Servo program start

X-axis travel value

Reverse direction (Note) : Indicates setting data

Reverse direction

Fig. 6.25 Fixed-pitch feed control using 3 axes linear interpolation t

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6 POSITIONING CONTROL

POINT

Do not set the travel value to "0" for fixed-pitch feed control.

The following results if the travel value is set to "0":

(1) If the travel value of all axes are set to "0", fixed-pitch feed completion without fixed-pitch feed.

[Program]

Program for fixed-pitch feed control using 3 axes linear interpolation is shown as the following conditions.

(1) System configuration

Fixed-pitch feed control using 3 axes linear interpolation of Axis 1, Axis 2 and

Axis 3.

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) Fixed-pitch feed control

(a) Fixed-pitch feed control conditions are shown below.

Item Setting

Servo program No.

Positioning speed

Control axes

Travel value

Axis 1

50000

No.320

1000

Axis 2

40000

Axis 3

30000

(b) Fixed-pitch feed control start command ....... PX000 Leading edge

(OFF ON)

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(3) Operation timing

Operation timing for fixed-pitch feed control using 3 axes linear interpolation is shown below.

V Servo program No.320

1000 t

PLC ready flag (M2000)

All axes servo ON command

(M2042)

All axes servo ON accept flag

(M2049)

Axis 1 servo ready (M2415)

Axis 2 servo ready (M2435)

Axis 3 servo ready (M2455)

Start command (PX000)

Servo program start

Axis 1 start accept flag

(M2001)

Axis 2 start accept flag

(M2002)

Axis 3 start accept flag

(M2003)

(4) Servo program

Servo program No.320 for fixed-pitch feed control using 3 axes linear interpolation is shown below.

<K 320>

FEED-3

Axis 1,

Axis 2,

Axis 3,

Speed

50000

40000

30000

1000

Fixed-pitch feed using 3 axes linear interpolation

Axis used . . . . . . . . . Axis 1, Axis 2, Axis 3

Axis 1 . . . 50000

Travel value . . . . . Axis 2 . . . 40000

Axis 3 . . . 30000

Positioning speed . . . . . . . . . . . . 1000

(Note): Example of the Motion SFC program for positioning control is shown next page.

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(5) Motion SFC program

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

Fixed-pitch feed using 3 axes linear interpolation

Fixed-pitch feed using

3 axes linear interpolation

[F10]

SET M2042 Turn on all axes servo ON command.

[G10]

PX000*M2415*M2435*M2455

Wait until PX000, Axis 1 servo ready, Axis 2 servo ready and Axis 3 servo ready turn on.

P0

[K320]

FEED-3

Axis 1, 50000PLS

Axis 2, 40000PLS

Axis 3, 30000PLS

Speed 1000PLS/s

Fixed-pitch feed using 3 axes linear interpolation

Axis used . . . . . . . . . Axis 1, Axis 2, Axis 3

Travel value . . . . . .

Axis 1 . . . 500000[PLS]

Axis 2 . . . 400000[PLS]

Axis 3 . . . 300000[PLS]

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

[G20]

!PX000

P0

After fixed-pitch feed completion,

PX000 is ON : Fixed-pitch feed start again.

PX000 is OFF : Motion SFC program end.

END

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

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