5. Implement positioning operation of axis 1 through sequential control program.
5.1 Operating Instructions
5.2 Manual Control
"Manual control " is control that performs arbitrary positioning actions based on external signal input without using positioning data. There are three control modes for "manual control": JOG operation, micro-motion operation, and manual pulse operation.
5.3 Origin Reset Control
5.4 Positioning Control
1) " Positioning control " is control performed using "positioning data" stored in the simple motion module.
2) Position control and speed control are performed by setting the necessary items in the "positioning data" and then starting the positioning data.
3) The control mode for "Main Positioning Control" is set in the "Da.2 Control Mode" setting item of the positioning data.
The control defined as "primary positioning control" is performed as shown below according to the "Da.2 control mode" settings. However, the speed control set in "Da.2 control mode" is speed control that includes the position loop in the servo amplifier's commands. When performing speed control that does not include the position loop, "speed-torque control" should be used.
Yellow: Interpolation axis side for interpolation control, therefore cannot be set.
Red: Items that must be configured; not configured or malfunctioning.
Grayed out: No settings required (settings are invalid).
-: No settings required (settings are invalid)
5.5M code output function
The "M-code output function" is used to perform auxiliary operations corresponding to the M-code number (stop clamping or drilling, change tools, etc.).
The function of the instructions. For each axis, the M code is numbered 0-65535 and appended to the positioning data.
5.6 Temporary Stop and Restart of Action
• Temporary stop: By sending the axis stop signal ON, the origin reset control, positioning control, and JOG operation are stopped.
Micro-motion operation, manual pulse operation, speed and torque control, etc.
• Restart command: When the positioning stops midway for some reason (when the axis movement status is "stopped"), if...
Setting "1" in Cd.6 will reposition the device from the stopped position to the end of the stopped positioning data.
5.7 Speed Change in Positioning Control
The "Speed Change Function" is a function that allows you to change the controlled speed to a newly specified speed at any time.
The changed speed is directly set in the buffer memory, and is determined according to the speed change instruction (Cd.15 speed change request).
Or the speed of external command signals is changed.
5.8 Fixed-length feed
• In "1-axis fixed-length feed control" ("Da.2 control mode" = fixed-length feed 1), the axis is set using one motor.
Fixed-length feed control in the direction.
5.9 Speed Control
Used for controlling endless movement in the same direction, such as conveyor belts and conveyors.
In "1-axis speed control" ("Da.2 control mode" = forward speed 1, reverse speed 1), pulses of the speed set in "Da.8 command speed" are continuously output along the axis direction where the positioning data is set to control the speed until a stop command is input.
There are two types of speed control for the 1-axis: "Forward Speed 1" which starts in the forward direction and "Reverse Speed 1" which starts in the reverse direction.
5.10 Speed/Position Switching Mode
5.11 Position/Speed Switching Mode
6. Two-axis positioning operation implemented through sequential control program
6.1 What is interpolation control?
Interpolation control precautions
1) When starting interpolation control, start the standard axis; there is no need to start the interpolation axis.
2) When the operating mode is specified as "continuous positioning control" or "continuous trajectory control" and interpolation control is performed, interpolation control must be set in the control mode of all positioning data.
3) The speed during interpolation control can be specified as either "composite speed" or "standard axis speed".
6.2 2-axis linear interpolation control
6.3 2-axis circular interpolation control
6.4 Comprehensive Application
·experiment
Experiment content: Draw the trajectory of the following figures.
• Experimental Objective: 1) To master block startup
2) Comprehensively master the application of linear and circular interpolation.
7. Synchronous operation implemented through sequential control procedures
7.1 Definition of Synchronous Execution
7.2 Introduction to Synchronous Control Modules
7.3 Cam Data
Cam action
The output shaft of the synchronously controlled system performs cam motion. There are three modes: reciprocating motion, feed motion, and linear motion.
• Reciprocating motion: The motion of moving back and forth within a certain range of cam stroke.
7.4 Automatic Cam Generation Function
7.5 Custom Cam Data
Cam data is divided into two formats: stroke ratio data format and coordinate data format.
7.6 Linear Motion Cam Data
Small
