Motion Control 1 - Mitsubishi Electric MELSEC iQ-R RD78G4 User Manual

Functions

Start and stop

Start

Retrigger/continuous update

Multiple start (buffer mode)

Stop

Forced stop

Homing

Homing request

Driver homing method

Data set homing method

Operation setting for incompletion

of homing

Axis control function

Single axis positioning control

Single axis speed control

Single axis manual control

Multiple axes positioning control

Direct control

Velocity control

Torque control

Functions related to

Current position change function

position

Command in-position

Software stroke limit

Hardware stroke limit

Functions related to

Acceleration/deceleration

speed

processing function

Speed limit

Override function

Functions related to

Torque limit

torque

Torque limit value change function

Sub functions of

Compensation

control

function

Command filter

Input variable change in execution

Common functions

External signal selection

Touch probe

Slave emulate

3 FUNCTION LIST

24

3.1 Control Functions

Details

Starts motion control.

Changes the control of the on-going FB with a retrigger/continuous update.

Multiple motion control FBs execute continuously without stopping by executing the motion FB of

another instance to the axis and the axes group that are executing MCFB.

Stops motion cotrol.

Stops axes by the forced stop signal.

Establishes the start point for carrying out positioning control (home position), and carries out

positioning toward that start point. This is used to return a machine system, located at a position

other than the home position when the Motion module requires "homing request" such as when the

power is turned ON or after positioning stop, to the home position.

Selects whether the axis starts or not, when the homing request is TRUE.

Executes positioning to the specified position by using address information.

Executes the speed control for the specified axis with the specified speed.

Executes the random positioning operation by inputting a signal from an external device.

The following method is available.

• JOG operation: the machine is moved by only an movement amount.

Uses address information and executes positioning to the specified position using interpolation

control.

The driver control mode is switched to csv, and the control excluding the position loop is executed.

The driver control mode is switched to cst, and the control is carried out.

Changes the set position to an arbitrary address.

Checks the remaining distance to the target position, and turns the command in-position flag to

TRUE.

An address is set as the movable range. Even if a movement command to the address outside the

setting range is issued, the command will not be executed.

Limit switches are set at the upper/lower limit of the physical movable range, and the control is

stopped by the input of a signal from the limit switch.

Adjusts the acceleration/deceleration of each motion control to the acceleration/deceleration curve

suitable for device.

Limits the command speed to a value within the speed limit value setting range when the command

speed during control exceeds the speed limit value.

Changes the speed during control.

Limits the generated torque to a value within the torque limit value range when the torque

generated in the servomotor exceeds the torque limit value.

Changes the torque limit value during control.

Driver unit

Converts the cumulative current position to the driver command value and pass it to the target

conversion

position (Target Position). Also, it converts the current position of the driver and calculates the

function

actual position.

Smoothing filter

Uses to suppress load-side vibration, such as work-side vibration and base shake.

Changes input variables during control.

Sets I/O signals to be used in various control.

Records (latches) arbitrary data at trigger input signal detection.

Carries out axis control on the real axis without connecting the slave station.