Mitsubishi Electric MELSEC iQ-R RD75P4, User Manual

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3 MAJOR POSITIONING CONTROL
3.2 Positioning Data Setting
Operation chart
The following shows the operation timing of the speed-position switching control (ABS mode).
During the speed control with the speed-position switching control (ABS mode), In speed control flag ([Md.31] Status: b0) is
on.
■ Operation example
The following figure shows the operation when Speed-position switching signal is input at the position where the current feed
value is 90.00000 (degree) during the execution of Forward run speed-position in [Da.2] Control method with the settings as
follows: [Pr.1] Unit setting is 2: degree and [Pr.21] Current feed value during speed control is 1: Current feed value is updated.
(The setting value of [Da.6] Positioning address/movement amount is 270.00000 (degree).)
t
V
OFF
ON
OFF
ON
OFF
ON
ON
OFF
OFF
OFF
ON
ON
Positioning start signal
[Y10, Y11, Y12, Y13]
BUSY signal
[XC, XD, XE, XF]
Positioning complete signal
[X14, X15, X16, X17]
Speed-position switching signal
Speed control Position control Dwell time
In speed control flag
Md. 31 Status: b0
Cd. 24 Speed-position switching
enable flag
Da. 8 Command speed
Address set in Positioning
address/movement amount
Da. 6
0.00000°
90.00000°
90.00000° 270.00000°
0.00000°
Stop at 270.00000 [degree]
Speed-position
switching signal ON