Mitsubishi Electronics MR-MC241 ユーザーズマニュアル
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6. APPLICATION FUNCTIONS
In the example above, the current command position of the axis 1 exceeds the new position. The following
formulas provide the approximate calculation of the excessive travel distance (excessive position amount).
formulas provide the approximate calculation of the excessive travel distance (excessive position amount).
Deceleration quantity [speed unit/s] = Linear interpolation speed limit [speed unit]
Deceleration time constant [ms] 1000
Deceleration time [s] = Vector speed [speed unit] Deceleration quantity
Vector travel distance [command unit] =
Vector travel distance [command unit] =
(Axis 1 travel distance[command unit])
2
+ (Axis 2 travel distance[command unit])
2
Axis 1 moving speed [speed unit] = Axis 1 travel distance [command unit] Vector travel distance
Vector speed [speed unit]
Axis 1 excessive position amount [command unit] Axis 1 moving speed
Axis 1 speed units multiplication factor
Deceleration time 2
Deceleration time 2
Note. The same feature is applied to linear interpolation for more than 3 axes.
(4) When position change error occurs
During the following cases, the "position change error signal" (PCE) turns on, and the position will not
change.
• Operation stop
• JOG operation, home position return, home position reset
• Deceleration due to stop command, rapid stop command, alarm etc.
• The specified value is out of the software limit setting value.
• A position change command is input to an auxiliary axis in linear interpolation.
change.
• Operation stop
• JOG operation, home position return, home position reset
• Deceleration due to stop command, rapid stop command, alarm etc.
• The specified value is out of the software limit setting value.
• A position change command is input to an auxiliary axis in linear interpolation.