Mitsubishi Electric MELSEC Q Series, User Manual

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Chapter 9 Major Positioning Control
Changing the position control movement amount
In "speed-position switching control (INC mode)", the position control movement
amount can be changed during the speed control section.
(1) The position control movement amount can be changed during the speed
control section of speed-position switching control (INC mode).
A movement amount change request will be ignored unless issued during the
speed control section of the speed-position switching control (INC mode).
(2) The "new movement amount" is stored in "[Cd.23] Speed-position switching
control movement amount change register" by the sequence program during
speed control.
When the speed-position switching signal is turned ON, the movement amount
for position control is stored in "[Cd.23] Speed-position switching control
movement amount change register".
(3) The movement amount is stored in the "[Md.29] Speed-position switching
control positioning movement amount" of the axis monitor area from the point
where the control changes to position control by the input of a speed-position
switching signal from an external device.
t
Movement amount
Speed-position switching signal
ON
OFF
Speed control
Position control
Position control start
Speed-position switching control (INC mode) start
0 P2
OFF
ON
ON
OFF
P3
P2 becomes the position control movement amount
Cd.23 Speed-position switching control
movement amount change register
Speed-position switching latch flag
( Md.31 Status : b1)
change possible
Setting after the speed-position
switching signal ON is ignored
Fig. 9.15 Position control movement amount change timing
POINT
 The machine recognizes the presence of a movement amount change request when the data is
written to "[Cd.23] Speed-position switching control movement amount change register" with the
sequence program.
 The new movement amount is validated after execution of the speed-position switching control (INC
mode), before the input of the speed-position switching signal.
 The movement amount change can be enable/disable with the interlock function in position control
using the "speed-position switching latch flag" ([Md.31] Status: b1) of the axis monitor area.