Mitsubishi A1SD75M1, User Manual

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9 - 50
MELSEC-A
9 MAIN POSITIONING CONTROL
9.2.9 Speed/position changeover control
In "speed/position changeover control" (" Da.2 Control method" = Forward run:
speed/position, Reverse run: speed/position), position control is carried out for the
movement amount set in " Da.5 Positioning address/movement amount", in the axis
direction in which the positioning data has been set. The position control is carried out
by continuously outputting the speed set in " Da.7 Command speed" until the input of
a stop command, and inputting a "speed/position changeover signal".
The two types of speed/position changeover control are "Forward run: speed/position"
in which the control starts in the forward run direction, and "Reverse run:
speed/position" in which control starts in the reverse run direction.
Changing over from speed control to position control
(1) The control is changed over from speed control to position control by the
external signal "speed/position changeover signal".
(2) Besides setting the positioning data, the " Cd.20 Speed/position changeover
enable flag" must also be turned ON to change over from speed control to
position control. (If the " Cd.20 Speed/position changeover enable flag" turns
ON after the speed/position changeover signal turns ON, the control will
continue as speed control without changing over to position control. Only
position control will be carried out when the " Cd.20 Speed/position
changeover enable flag" and speed/position changeover signal are ON at the
operation start.)
Operation chart
The following chart (Fig.9.10) shows the operation timing for speed/position
changeover control. The "in speed control flag" ( Md.40 Status: b0) is turned ON
during speed control of speed/position changeover control.