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6 POSITIONING CONTROL
(b) Long-axis speed specification
It is controlled based on the positioning speed (Long-axis speed: V) of the
largest travel value axis among address set as each axis.
The Motion CPU calculates the positioning speed of other axes (V
1 to V3)
using the each axis travel value (D
1 to D4).
Set the long-axis speed and the travel value of each axis using the servo
program.
4 axes linear interpolation control is shown below.
[Program example]
Axis 1 travel value: D1 = 10000[PLS]
Axis 2 travel value:
D2 = 15000[PLS]
Axis 3 travel value:
D3 = 5000[PLS]
Axis 4 travel value:
D4 = 20000[PLS]
Long-axis speed: V = 7000[PLS/s]
In this example, since the reference axis
is axis 4 of the largest travel value, it is
controlled with the positioning speed
specified with axis 4.
The Motion CPU calculates the
positioning speed of other axes using the
following calculation formulas:
<K 51>
ABS-4
Axis
Axis
Axis
Axis
Long-axis speed
1,
2,
3,
4,
10000
15000
5000
20000
7000
[PLS]
[PLS]
[PLS]
[PLS]
[PLS/s]
V = D / D V
1
1Axis 1 positioning speed :
4
V = D / D V
2
2
Axis 2 positioning speed :
4
V = D / D V
3 34
Axis 3 positioning speed :
The following conversions are performed if the control units of each axis
differ.
1) Combination of axes set in [mm] and [inch]
a) If the interpolation control units are [mm]
• Travel value: Convert the travel value of axis set in [inch] into [mm]
using the formula: inch setting value
25.4.
• Speed : The largest travel value axis is controlled with the long-
axis speed and the other axes are controlled with the
speed based on the long-axis speed, as the result of
conversion.
b) If the interpolation control units are [inch]
• Travel value: Convert the travel value of axis set in [mm] into [inch]
using the formula: mm setting value
25.4.
• Speed : The largest travel value axis is controlled with the long-
axis speed and the other axes are controlled with the
speed based on the long-axis speed, as the result of
conversion.
2) Discrepancy between interpolation control units and control units
• Travel value: The travel value of each axis is converted into [PLS] unit
with the electronic gear of self axis.
Exam
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