Mitsubishi Electric MELSEC Q Series, User Manual

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Chapter 9 Major Positioning Control
Changing the speed control command speed
In "position-speed switching control", the speed control command speed can be
changed during the position control.
(1) The speed control command speed can be changed during the position control
of position-speed switching control.
A command speed change request will be ignored unless issued during the
position control of the position-speed switching control.
(2) The "new command speed" is stored in "[Cd.25] Position-speed switching
control speed change register" by the sequence program during position
control.
This value then becomes the speed control command speed when the
position-speed switching signal turns ON.
Stop signal
t
Speed change
enable
Position-speed switching
signal
ON
OFF
Position
control
Speed
control
Position control start Position-speed switching control start
0 V2
OFF
Position-speed switching
latch flag
( Status: b5)
ON ON
OFF
V3
V2 becomes the speed control command speed.
Setting after the position-speed
switching signal ON is ignored.
Position-speed
switching control
speed change register
Md.31
ON
Cd.25
OFF
Fig. 9.20 Speed control speed change timing
POINTS
 The machine recognizes the presence of a command speed change request when the data is
written to "[Cd.25] Position-speed switching control speed change register" with the sequence
program.
 The new command speed is validated after execution of the position-speed switching control before
the input of the position-speed switching signal.
 The command speed change can be enabled/disabled with the interlock function in speed control
using the "position-speed switching latch flag" ([Md.31] Status: b5) of the axis monitor area.