Mitsubishi Electric RD77MS16, User Manual

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3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
119
3
Speed-position switching control (ABS mode)
In case of "speed-position switching control (ABS mode)" ("[Da.2] Control method" = Forward run: speed/position, Reverse
run: speed/position), the pulses of the speed set in "[Da.8] Command speed" are kept output in the axial direction set to the
positioning data. When the "speed-position switching signal" is input, position control to the address set in "[Da.6] Positioning
address/movement amount" is exercised.
"Speed-position switching control (ABS mode)" is available in two different types: "forward run: speed/position" which starts
the axis in the forward run direction and "reverse run: speed/position" which starts the axis in the reverse run direction.
"Speed-position switching control (ABS mode)" is valid only when "[Pr.1] Unit setting" is "2: degree".

: Setting allowed,

: Setting disallowed (If setting is made, the error "Speed-position function selection error" (error code:
1AAEH) will occur when the PLC READY signal [Y0] turns ON.)
Use the detailed parameter 1 "[Pr.81] Speed-position function selection" to choose "speed-position switching control (ABS
mode)".
n: Axis No. - 1
*1 If the set value is other than 0 and 2, it is regarded as 0 and operation is performed in the INC mode. For details of the setting, refer to
the following.

Page 407 Basic Setting
Switching over from speed control to position control
• The control is selected the switching method from speed control to position control by the setting value of "[Cd.45] Speed-
position switching device selection".
n: Axis No. - 1
The switching is performed by using the following device when "2" is set.
n: Axis No. - 1
• "[Cd.24] Speed-position switching enable flag" must be turned ON to switch over from speed control to position control. (If
the "[Cd.24] Speed-position switching enable flag" turns ON after the speed-position switching signal turns ON, the control
will continue as speed control without switching over to position control. The control will be switched over from speed
control to position control when the speed-position switching signal turns from OFF to ON again. Only position control will
be carried out when the "[Cd.24] Speed-position switching enable flag" and speed-position switching signal are ON at the
operation start.)
n: Axis No. - 1
Speed-position function
selection [Pr.1] Unit setting
mm inch degree pulse
INC mode
   
ABS mode
   
Setting item Setting value Setting details Buffer memory address
[Pr.81] Speed-position function
selection
2 Speed-position switching control (ABS mode) 34+150n
Setting item Setting value Setting details Buffer memory address
[Cd.45] Speed-position switching
device selection

The device used for speed-position switching is selected.
0: Use the external command signal for switching from position
control to speed control
1: Use the near-point signal for switching from position control to
speed control
2: Use the "[Cd.46] Speed-position switching command" for
switching from position control to speed control
4366+100n
Setting item Setting value Setting details Buffer memory address
[Cd.46] Speed-position switching
command

The speed-position control switching is performed when "2" is set in
"[Cd.45] Speed-position switching device selection".
4367+100n
Setting item Setting value Setting details Buffer memory address
[Cd.24] Speed-position switching
enable flag
1 1: Speed control will be taken over by position control when the
external command signal [DI] comes ON.
4328+100n