Download MELSEC iQ-R Positioning Module User`s Manual (Application)

■Conditions of deceleration stop during the continuous path control
The deceleration stop is not performed in the continuous path control. However, in the following three cases, the deceleration
stop is performed and the speed becomes 0 once.
• When the operation pattern of the positioning data currently being executed is Continuous path control: 11 and the
movement direction of the positioning data currently being executed differs from that of the next positioning data. (Only for
the positioning control of one axis. (Refer to Point.))
V
3
Positioning data No.1
Operation pattern: 11
The speed becomes 0.
Positioning data No.2
Operation pattern: 00
• During the operation with the step operation (Page 272 Step function)
• When an error exists in the next positioning data, the positioning may stop immediately depending on an error. (Page
31 Stopping)
• In the positioning data of the continuous path control, the command speed becomes 0 for about 0.88ms
when [Da.6] Positioning address/movement amount is set to 0. If [Da.6] Positioning address/movement
amount is set to 0 to increase the number of speed change points in the future, change the setting of [Da.2]
Control method to NOP instruction not to execute the positioning data No. (Page 148 NOP instruction)
• In the positioning data of the continuous path control, ensure the movement amount so that the execution
time of the data becomes 100ms or longer, or reduce the command speed.
■Operation for sudden direction reversal
• The movement direction is not checked during the interpolation control. Thus, the deceleration stop is not performed even if
the movement direction is changed. Therefore, the interpolation axis may suddenly reverse its direction. To avoid the
sudden direction reversal, set Continuous positioning control: 01 for the positioning data at the passing point instead of
Continuous path control: 11.
Positioning by interpolation
Partner axis operation
Reference axis operation
V
V
Positioning
data No.2
Partner axis
Positioning
data No.1
t
Reference axis
Positioning data No.1 ⋅ ⋅ ⋅ Continuous path control
t
Positioning
data No.1
Positioning
data No.2
Positioning
data No.1
Positioning
data No.2
3 MAJOR POSITIONING CONTROL
3.1 Overview of the Major Positioning Controls
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