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9 POSITIONING CONTROL
Positioning start signal
Start complete signal
BUSY signal
Positioning complete signal [X(n+1)8 to X(n+1)F]
9 - 7
V
Positioning control
Operation pattern
Da. 1
OFF
[Yn8 to YnF]
OFF
[X(n+1)0 to X(n+1)7]
OFF
[Xn8 to XnF]
OFF
Fig. 9.4 Speed changing operation
(4) Stopping method for continuous path control
When the axis stop signal is input during operation in the operation pattern of "2:
Continuous path control", select the stopping method in " Pr. 10 Stop mode
during path control".
(For details, refer to "Section 4.2 List of parameters".)
Continuous operation of more than 10 pieces of positioning data
Since the number of positioning data that can be executed by the QD70D axis-by-
axis is up to 10 pieces, perform continuous operation of more than 10 pieces of data
in the following procedure.
1) Initial setting
Set "1: Continuous positioning control" or "2: Continuous path control" in
" Da. 1 Operation pattern" of positioning data No. 1 to No. 10.
2) Positioning data rewrite during operation
During operation, read " Md. 9 Executing positioning data No." and rewrite
the positioning data of the "read value - 1" No. (However, when " Md. 9
Executing positioning data No." is "1", rewrite the positioning data No. 10.
(Refer to "Section 4.6 List of monitor data" for details of " Md. 9 Executing
positioning data No.".)
POINT
When the time required to execute the positioning data No. 1 to No. 10
continuously is assume to be "a", a maximum of delay "a" will occur if "a" is small,
until the new positioning data is made valid. Hence, set " Da. 5 Command speed"
and " Da. 6 Positioning address/movement amount" so that the execution time of
each positioning data is 2ms or more.
Speed
changing
2
2
2
ON
ON
ON
ON
MELSEC-Q
Dwell time
Dwell time
1
0
t
9 - 7
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