Mitsubishi Electric MELSEC Q Series, User Manual

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Chapter 9 Major Positioning Control
9.2.13 2-axis speed control
In "2-axis speed control" ("[Da.2] Control method" = Forward run: speed 2, Reverse
run: speed 2), control is carried out in the 2-axis direction in which the positioning data
has been set by continuously outputting pulses for the speed set in "[Da.8] Command
speed" until the input of a stop command.
The two types of 2-axis speed control are "Forward run: speed 2" in which the control
starts in the forward run direction, and "Reverse run: speed 2" in which control starts in
the reverse run direction.
(Refer to Section 9.1.6 "Interpolation control" for the combination of the reference axis
with the interpolation axis.)
Operation chart
The following chart shows the operation timing for 2-axis (axes 1 and 2) speed
control with axis 1 as the reference axis. The "in speed control" flag ([Md.31]
Status: b0) is turned ON during speed control.
The "positioning complete signal" is not turned ON.
t
V
BUSY signal
[X10, X11]
OFF
ON
Positioning start signal
[Y10]
OFF
ON
OFF
OFF
ON
Does not turn ON even
when control is stopped
by stop command.
OFF
ON
( Md.31 Status:b0)
In speed control flag
Da. 8
Reference axis (axis 1)
t
V
Command speed Da. 8
Interpolation axis (axis 2)
Command speed
Positioning complete signal
( Md.31 Status:b15)
Cd.180 Axis stop
Fig. 9.10 2-axis speed control operation timing