Mitsubishi Electric MELSEC iQ-R RD75P4, User Manual

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3 MAJOR POSITIONING CONTROL
3.2 Positioning Data Setting
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3
Position-speed switching control
In Position-speed switching signal ([Da.2] Control method = Forward run speed-position, Reverse run speed-position), the
positioning control for the amount set in [Da.6] Positioning address/movement amount is performed in the axis direction set to
the positioning data before Position-speed switching signal is input. If Position-speed switching signal is input before the
positioning is completed, pulses are continuously output at the speed set in [Da.8] Command speed until a stop command is
input.
The position-speed switching control has two control types including Forward run position-speed performed in the forward run
direction and Reverse run position-speed performed in the reverse run direction.
Switching from the position control to speed control
• 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 position control to the speed control, [Cd.26] Position-speed switching enable flag must be turned on and
positioning data must be set. (When [Cd.26] Position-speed switching enable flag is turned on after Position-speed
switching signal is turned on, the position control is not switched to the speed control. The position control is switched to the
speed control when Position-speed switching signal is turned on again. If [Cd.26] Position-speed switching enable flag and
Position-speed switching signal are turned on at the start, only the speed control is performed.)
• The control decelerates and stops when Position-speed switching signal is not input until the positioning target moves for
the movement amount specified in the position control. When Position-speed switching signal is input during the automatic
deceleration in the position control, the speed is accelerated again to the command speed the speed control continues.
Position-speed switching signal setting
■ When External command signal (CHG) is used
To use External command signal (CHG) as Position-speed switching signal, set the following items.
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.26] Position-speed
switching enable flag 0, 1 Set whether to enable or disable Position-speed
switching signal.
• 0: Position control is not switched to speed
control even when Position-speed switching
signal is turned on.
• 1: Position control is switched to Speed control
when Position-speed switching signal is turned
on.
1532 1632 1732 1832
Setting item Setting
value Setting detail Buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
[Pr.42] External command
function selection 2 Set 2: Speed-position/position-speed switching
request. 62 212 362 512
[Cd.8] External command
valid 1 Set 1: Validate external command. 1505 1605 1705 1805
[Cd.45] Speed-position
switching device
selection 0 Set 0: Use External command signal. 1566 1666 1766 1866