Mitsubishi Electric MELSEC Q Series, User Manual

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Chapter 9 Major Positioning Control
[Operation example]
The following operation assumes that the speed-position switching signal is input at the position of the
feed current value of 90.00000 [degree] during execution of "[Da.2] Control method" "Forward run:
speed/position" at "[Pr.1] Unit setting" of "2: degree" and "[Pr.21] Feed current value during speed
control" setting of "1: Update feed current value".
(The value set in "[Da.6] Positioning address/movement amount" is 270.00000 [degree])
Stop at 270.00000 [degree]
Speed-position
switching signal ON
0.00000
90.00000
0.00000
90.00000 270.00000
Operation timing and processing time during speed-position switching
control (ABS mode)
Standby
Speed control
t1
t2
t3
t5
t2
t7
Position control
Speed
control
Position
control
t6
Speed control carried out until speed-position switching
signal turns ON
Standby
t4
M code ON signal
( Md.31 Status: b12)
(WITH mode)
Positioning operation
Speed-position switching
command
Md.26 Axis operation status
Cd.7 M code OFF request
Cd.7 M code OFF request
Positioning start signal
[Y10 to Y1F]
BUSY signal
[X10 to X1F]
Start complete signal
( Md.31 Status: b14)
HPR complete flag
( Md.31 Status: b4)
Positioning complete signal
( Md.31 Status: b15)
M code ON signal (AFTER mode)
( Md.31 Status: b12)
Fig. 9.17 Operation timing and processing time during speed-position switching control (ABS mode)