Mitsubishi Electric MELSEC Q Series, User Manual

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Chapter 9 Major Positioning Control
Feed current value during speed-position switching control (INC mode)
The following table shows the "[Md.20] Feed current value" during speed-position
switching control (INC mode) corresponding to the "[Pr.21] Feed current value
during speed control" settings.
"[Pr.21] Feed current value during
speed control" setting
[Md.20] Feed current value
0: Do not update feed current value
The feed current value at control start is maintained during speed
control, and updated from the switching to position control.
1: Update feed current value
The feed current value is updated during speed control and position
control.
2: Zero clear feed current value
The feed current value is cleared (set to "0") at control start, and
updated from the switching to position control.
t
0
Updated from 0
t
V
t
Position control
Maintained
Updated
Speed control Position control
Speed control
Position control Speed control
Updated
(a) Feed current value not updated (b) Feed current value updated
(c) Feed current value zero cleared
V V
Feed
current
value Feed
current
value Feed
current
value
Switching time from speed control to position control
There is 1ms from the time the speed-position switching signal is turned ON to the
time the speed-position switching latch flag ([Md.31] Status: b1) turns ON.
Speed-position switching signal
OFF
ON
OFF
ON
1ms
Speed-position switching latch flag
Speed-position switching signal setting
(1) The following table shows the items that must be set to use the external
command signals [DI] as speed-position switching signals.
Setting item
Setting
value
Setting details Buffer memory address
[Pr.42]
External
command
function selection
2
Speed-position, position-speed
switching request.
62+150n
[Cd.8]
External
command valid
1
Validates an external
command.
4305+100n
[Cd.45]
Speed-position
switching device
selection
0
Use the external command
signal for switching from speed
control to position control.
4366+100n
(Note): Set the external command signal [DI] in "[Pr.95] External command signal selection".
Refer to Section 5.2 "List of parameters" and Section 5.7 "List of control data" for information on the
setting details.