Mitsubishi Electric MELSEC iQ-R RD75P4, User Manual

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3 MAJOR POSITIONING CONTROL
3.2 Positioning Data Setting
Speed-position switching control (ABS mode)
In the speed-position switching control (ABS mode) ([Da.2] Control method = Forward run speed-position, Reverse run
speed-position), pulses are output continuously at the speed set in [Da.8] Command speed in the axis direction set to the
positioning data. When Speed-position switching signal is input, the position control to the address set in [Da.6] Positioning
address/movement amount is performed.
The speed-position switching control (ABS mode) has two control types including Forward run speed-position performed in
the forward run direction and Reverse run speed-position performed in the reverse run direction.
The speed-position switching control (ABS mode) is enabled only when 2: degree is set to [Pr.1] Unit setting.

: Setting possible,

: Setting not possible (if the item is set, Speed-position function selection error (Error code: 1AAEH)
occurs when PLC READY signal [Y0] is turned on.)
The speed-position switching control (ABS mode) can be set to [Pr.150] Speed-position function selection in the detailed
parameter 1.
If a value other than 0 and 2 is set, the control is performed in the INC mode with the setting value regarded as 0.
For details on the settings, refer to the following.

Page 399 [Pr.150] Speed-position function selection
Switching from the speed control to position control
• To switch the speed control to the position control, set Speed-position switching signal as External command signal.
• Select a method to switch from the speed control to position control setting the value of [Cd.45] Speed-position switching
device selection.
• To switch the speed control to the position control, [Cd.24] Speed-position switching enable flag must be turned on and
positioning data must be set. (When [Cd.24] Speed-position switching enable flag is turned on after Speed-position
switching signal is turned on, the speed control is not switched to the position control. The speed control is switched to the
position control when Speed-position switching signal is turned on again. If [Cd.24] Speed-position switching enable flag
and External command signal are turned on at the start of the control, only the position control is performed.)
Speed-position function selection mm inch degree pulse
INC mode
   
ABS mode
   
Setting item Setting
value Setting detail Buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
[Pr.150] Speed-position
function selection 2 Speed-position switching control (ABS mode) 34 184 334 484
Setting item Setting
value Setting detail Buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
[Cd.45] Speed-position
switching device
selection 0, 1, 2 Select the device used for the speed to position
switching.
• 0: Use External command signal
• 1: Use Near-point dog signal
• 2: Use [Cd.46] Speed-position switching
command
1566 1666 1766 1866
Setting item Setting
value Setting detail Buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
[Cd.24] Speed-position
switching enable flag 0, 1 Set whether to enable or disable Speed-position
switching signal.
• 0: Speed control is not switched to position
control even when Speed-position switching
signal is turned on.
• 1: Speed control is switched to position control
when Speed-position switching signal is turned
on.
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