MITSUBISHI ELECTRIC Mitsubishi Programmable Logic Controller QD75D - Manual (Page 121)

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MELSEC-Q
5 DATA USED FOR POSITIONING CONTROL
Pr.19 Speed switching mode
Set whether to switch the speed switching mode with the standard switching or
front-loading switching mode.
0 : Standard switching............... Switch the speed when executing the next
positioning data.
1 : Front-loading switching ........ The speed switches at the end of the positioning
data currently being executed.
t
n n+1
Switch the speed when
executing the next positioning data
Speed
n: Positioning
data No.
The next positioning data starts
positioning at the designated speed
t
n n+1
Speed
Pr.20 Interpolation speed designation method
When carrying out linear interpolation/circular interpolation, set whether to
designate the composite speed or reference axis speed.
0: Composite speed .................. The movement speed for the control target is
designated, and the speed for each axis is
calculated by the QD75.
1: Reference axis speed ........... The axis speed set for the reference axis is
designated, and the speed for the other axis
carrying out interpolation is calculated by the
QD75.
X axis
Y axis
Designate composite speed
Calculated by QD75
Designate speed
for reference axis
X axis
Y axis
Calculated by QD75
Note: Always specify the reference axis speed if the 4-axis linear interpolation or 2 to 4 axis
speed control has to be performed.
If you specify the composite speed for a positioning operation that involves the 4-axis
linear interpolation or 2 to 4 axis speed control, the error code 523 "interpolation mode
error" will be output when the positioning operation is attempted.
For a positioning operation that involves the circular interpolation, specify the composite
speed always.