Mitsubishi A1SD75M1, User Manual

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9 - 54
MELSEC-A
9 MAIN POSITIONING CONTROL
Changing the position control movement amount
In "speed/position changeover control", 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 changeover control.
A movement amount change request will be ignored unless issued during the
speed control section of the speed/position changeover control.
(2) The "new movement amount" is stored in " Cd.21 Speed/position changeover
control movement amount change register" by the sequence program during
speed control.
This value then becomes the position control movement amount when the
speed/position changeover signal turns ON.
(3) The movement amount is stored in the " Md.38 Speed/position changeover
control positioning amount" of the axis monitor area from the point where the
control changes to position control by the input of a speed/position changeover
signal from an external source.
t
Movement amount
Speed/position changeover signal
ON
OFF
Speed control Position control
Position control start
Speed/position changeover control start
0 P2
OFF
Speed/position changeover latch flag
ON
P3
P2 becomes the position control movement amount
Cd.21 Speed/position changeover control,
movement amount change register
Md.40 Status : b1
change possible
Setting after the speed/position
changeover signal ON is ignored
Fig. 9.12 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.21 Speed/position changeover control movement amount change register" with the
sequence program.
•
The new movement amount is validated after execution of the speed/position changeover control,
before the input of the speed/position changeover signal.
•
The movement amount change can be enabled/disabled with the interlock function in position
control using the "speed/position changeover latch flag" of the axis monitor area.