Mitsubishi Electric MELSEC-L LD75D, User Manual

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9.2.18
Speed-position switching control (INC mode)
In "speed-position switching control (INC mode)" ("[Da.2] Control system" = Forward run: speed/position, Reverse run:
speed/position), the pulses of the speed set in "[Da.8] Command speed" are kept output on the axial direction set to
the positioning data. When the "speed-position switching signal" is input, position control of the movement amount set
in "[Da.6] Positioning address/movement amount" is exercised.
"Speed-position switching control (INC mode)" is available in two different types: "forward run: speed/position" which
starts the axis in the forward run direction and "reverse run: speed/position" which starts the axis in the reverse run
direction.
Use the detailed parameter 1 "[Pr.150] Speed-position function selection" with regard to the choice for "speed-position
switching control (INC mode)".
If the set value is other than 0 and 2, it is regarded as 0 and operation is performed in the INC mode.
Refer to

Page 118, Section 5.2 for the information on detail settings.
(1) Switching over from speed control to position control
• The control is switched over from speed control to position control by executing the external command signal
set in "speed-position switching signal".
• Besides setting the positioning data, the "[Cd.24] Speed-position switching enable flag" must also be turned
ON to switch over from speed control to position control. (If the "[Cd.24] Speed-position switching enable
flag" turns ON after the speed-position switching signal turns ON, the control will continue as speed control
without switching over to position control. The control will be switched over from speed control to position
control when the speed-position switching signal turns from OFF to ON again. Only position control will be
carried out when the "[Cd.24] Speed-position switching enable flag" and speed-position switching signal are
ON at the operation start.)
(2) Speed-position switching signal setting
The following table shows the items that must be set to use the external command signals (CHG) as speed-
position switching signals.
Refer to

Page 118, Section 5.2 and Page 211, Section 5.7 for the information on detail settings.
Setting item
Setting
value
Setting details
Buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
[Pr.150]
Speed-position
function selection
0 Speed-position switching control (INC mode) 34 184 334 484
Setting item
Setting
value
Setting details
Buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
[Cd.24]
Speed-position
switching enable
flag
1
Set "1: Switch from speed control to position
control when the external command signal
[CHG] turns ON.".
1528 1628 1728 1828
Setting item
Setting
value
Setting details
Buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
[Pr.42]
External command
function selection
2
Set the "2: speed-position and position-speed
switching requests".
62 212 362 512
[Cd.8]
External command
valid
1 Set "1: Validate external command". 1505 1605 1705 1805