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Mitsubishi Electric MELSEC Q Series User Manual page 194

Positioning module
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(b) Positioning data setting
The following table lists the positioning data to be set, setting condition, and check timing.
Setting item
Positioning pattern
Da.1
Positioning address
P1 (movement
amount for the
Da.2
incremental
system)
Positioning speed
Da.3
V1
(2) Two-phase trapezoidal positioning control
Set positioning addresses (P1 and P2) and positioning speed (V1 and V2) for this type of control. Positioning of
the absolute system or the incremental system is executed first to the positioning address P1 at the positioning
speed V1, then to the positioning address P2 at the positioning speed V2 by one positioning start command.
(a) Operation of two-phase trapezoidal positioning control
The operation is as follows.
Positioning start signal
Positioning complete signal
192
Setting range
0: Positioning control
1: Two-phase trapezoidal
positioning control
Absolute system:
-2147483648 to
2147483647pulse
Incremental system:
0 to 2147483647pulse
1 to 4000000pulse/s
v
ON
(Y21 to Y23)
OFF
ON
BUSY signal
(X14)
OFF
(X15)
OFF
Executed by the QD73A1
Default
Setting condition
value
The data can be set anytime.
0
Note that the set data at the
rise (ON) of a positioning
start signal (Y21 to Y23) are
used for the operation. If the
0pulse
data are written when BUSY
signal (X14) is on, the data
will be accepted at the rise
(ON) of the next positioning
0pulse/s
start signal (Y21 to Y23).
Da.2
Positioning address P1
Da.4
Check timing
of the set data
When a
positioning start
signal (Y21 to
Y23) is turned on
Positioning address P2
Da.3
Positioning speed V1
Da.5
Positioning speed V2
t
ON
Buffer
memory
address
(decimal)
301
302
303
304
305

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