MITSUBISHI ELECTRIC Mitsubishi Programmable Logic Controller QD75D - Manual (Page 245)

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MELSEC-Q
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
6.5.2 Start details setting program
This program sets which control, out of "OPR", "major positioning control" or "high-level
positioning control" to execute. For " high-level positioning control", "fast OPR", "speed-
position switching control" and "position-speed switching control", add the respectively
required sequence program.
(Refer to Chapter 10 for details on starting the " high-level positioning control.)
Procedures for setting the starting details
(1) Set the "positioning start No." corresponding to the control to be started in
" Cd.3 Positioning start No.".
Buffer memory address
Setting item
Setting
value
Setting details
Axis 1 Axis 2 Axis 3 Axis 4
Cd.3 Positioning start No.
1 to 600 : Positioning data No.
9001 : Machine OPR
9002 : Fast OPR
9003 : Current value changing
9004 : Simultaneous start
7000 to 7004 : Block No.
(For "high-level positioning
control")
1500 1600 1700 1800
Refer to Section 5.7 "List of control data" for details on the setting details.
(2) For " high-level positioning control", set the "positioning start point No." of the
block to be started in " Cd.4 Positioning start point No.".
Buffer memory address
Setting item
Setting
value
Setting details
Axis 1 Axis 2 Axis 3 Axis 4
Cd.4 Positioning start point No. 1 to 50 : Point No. of block start data 1501 1601 1701 1801
Refer to Section 5.7 "List of control data" for details on the setting details.
(3) Set the following control data for "speed-position switching control (INC
mode)".
(Set " Cd.23 Speed-position switching control movement amount change
register as required". Setting is not required in the ABS mode.)
Buffer memory address
Setting item
Setting
value
Setting details
Axis 1 Axis 2 Axis 3 Axis 4
Cd.23
Speed-position switching
control movement amount
change register Set the new value when the position control's
movement amount is to be changed during
speed control.
1526
1527
1626
1627
1726
1727
1826
1827
Cd.24
Speed-position switching
enable flag
1
When "1" is set, the speed-position switching
signal will be validated.
1528 1628 1728 1828
Refer to Section 5.7 "List of control data" for details on the setting details.