Instruction manual

Various Optional Features for Point to Point Positioning Operation
[
Deceleration check system
]
When multiple points are specified, select the completion conditions of each point movement.
Ensuring passing the target position Not waiting for motor stabilization Not stopping at a point
In-position stop Smoothing stop Continuous operation
After In-position signal turns ON, operation
proceeds to the next point.
After completion of the position command
output, operation proceeds to the next point.
The current speed is changed to the command
speed of the next point.
[
Dwell time setting
]
Set the wait time between points
Wait time before the point movement operation starts Wait time after moving to the point
Pre-dwell Dwell
Operation starts after the specified wait time
Maximum acceleration is faster than trapezoidal acceleration/
deceleration.
Operation is completed when the specified time has elapsed after
moving to the point.
Maximum acceleration speed is roughly the same as trapezoidal
acceleration/deceleration.
[
S-curve acceleration/deceleration and smoothing filter
]
Vibration is suppressed with smooth speed changes
Same operation time duration Same maximum acceleration speed
S-curve acceleration/deceleration Smoothing filter
[
Position command system
]
Specify the reference position of position commands
Target position with reference to the home position Target position with reference to the current position
Absolute position command Relative position command
Moves to the target position, "100" away from the home position. Moves to the target position, "100" away from the current position.
[
Linear interpolation operation
]
Maximum of 8 groups (control cycle:0.88 ms), 2 to 4 axes per group in this operation
Interpolation operation with multiple axes
Linear interpolation operation
int
int
int
int
int
int
int
PNT_DATA_EX PntData[2] =
{
{ 1000, 200, 20, 20, 0, 0, { 0 }, { 0 }, 0, { 0 } },
{ 0, 200, 20, 20, 0, 0, { 0 }, { 0 }, 0, { 0 } },
};
/* Point data setting */
ans = sscSetPointDataEx( board_id, channel, axnum, start_pnt, &PntData[0] );
ans = sscSetPointDataEx( board_id, channel, axnum, end_pnt, &PntData[1] );
/* Operation start */
ans = sscAutoStart( board_id, channel, axnum, start_pnt, end_pnt );
/* Operation wait */
ans = sscWaitIntDriveFin( board_id, channel, axnum, SSC_FIN_TYPE_SMZ, &fin_status, 0 );
board_id
channel
axnum
start_pnt
end_pnt
fin_status;
ans;
/* Board ID */
/* Channel No.*/
/* Axis No.*/
/* Start point No.*/
/* End point No.*/
= 0;
= 1;
= 1;
= 0;
= 1;
void sample()
{
}
User program
C Controller Interface Module/Position Board
Point Data
The C language user program executes positioning operations by using the API library.
The operation is started with positioning data from the point data table and waits until an event occurs by interrupts.
Positioning Control
MR-J4(W)-B
Position data Feed speed
Acceleration
time constant
Deceleration
time constant
Dwell Auxiliary command
…
1000 200 20 20 0
Absolute position
command,
In-position stop
0
0
No.
0
1 200 20 20 0
Absolute position
command,
In-position stop
0
Position command: 100 Position command: 100
Axis 2 movement
amount
Composite
movement amount
Axis 1
movement amount
Composite speed
Axis 1 speed
Axis 2 speed
MR-MC21n
Q173SCCF
In-position signal
Time
Speed
Wait time
Point 1 Point 2
Wait time
Point 1 Point 2
Operation time
does not change
Acceleration
becomes faster
Operation time
becomes longer
Acceleration is
roughly the same
Home
position 0
Current
position 50
Home
position 0
Current
position 50
Target
position 100
Target
position 150
V
t
V
t
V
t
V
t
V
t
V
t
V
t
V
t
Axis 2
Axis 1
7
8