Mitsubishi Melsec-Q QD75D1, User Manual

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MELSEC-Q
5 DATA USED FOR POSITIONING CONTROL
Storage item Storage details
Md.31
Status
This area stores the states (ON/OFF) of various flags.
Information on the following flags is stored.
In speed control flag:
This signal that comes ON under the speed control can be used to judge whether the
operation is performed under the speed control or position control. The signal goes OFF
when the power is switched ON, under the position control, and during JOG operation or
manual pulse generator operation. During the speed-position or position-speed switching
control, this signal comes ON only when the speed control is in effect. During the speed-
position switching control, this signal goes OFF when the speed-position switching signal
executes a switching over from speed control to position control. During the position-
speed switching control, this signal comes ON when the position-speed switching signal
executes a switching over from position control to speed control.
Speed-position switching latch flag:
This signal is used during the speed-position switching control for interlocking the
movement amount change function. During the speed-position switching control, this
signal comes ON when position control takes over. This signal goes OFF when the next
positioning data is processed, and during JOG operation or manual pulse generator
operation.
Command in-position flag:
This signal is ON when the remaining distance is equal to or less than the command in-
position range (set by a detailed parameter). This signal remains OFF with data that
specify the continuous path control (P11) as the operation pattern. The state of this signal
is monitored every 0.9ms (QD75P N/QD75D N) or 1.8ms (QD75P /QD75D ) except
when the monitoring is canceled under the speed control or while the speed control is in
effect during the speed-position or position-speed switching control. While operations are
performed with interpolation, this signal comes ON only in respect of the starting axis.
(This signal goes OFF in respect of all axes upon starting.)
OPR request flag:
This signal comes ON when the power is switched ON, when the drive unit READY signal
goes OFF, when the PLC READY signal goes ON, when a machine OPR operation
starts. This signal goes OFF when a machine OPR operation completes.
OPR complete flag:
This signal comes ON when a machine OPR operation completes normally. This signal
goes OFF when the operation starts and when the drive unit READY signal goes OFF or
PLC READY signal goes ON.
Position-speed switching latch flag:
This signal is used during the position-speed switching control for interlocking the
command speed change function. During the position-speed switching control, this signal
comes ON when speed control takes over. This signal goes OFF when the next
positioning data is processed, and during JOG operation or manual pulse generator
operation.
Axis warning detection flag:
This signal comes ON when an axis warning is reported and goes OFF when the axis
error reset signal comes ON.
Speed change 0 flag:
This signal comes ON when a speed change request that specifies 0 as the new speed
value is issued. This signal comes OFF when a speed change request that specifies a
new speed value other than 0 is issued.
Md.32
Target value
This area stores the target value (
Da.6
Positioning address/movement amount)
for a positioning operation.
•
At the beginning of positioning control and current value changing
: Stores the value of "
Da.6
Positioning
address/movement amount".
•
At the OP shift operation of OPR control
: Stores the value of OP shift amount.
•
At other times : Stores "0".