Mitsubishi Melsec-Q QD75D1, User Manual

Page: 419 / 858

9 - 103
MELSEC-Q
9 MAJOR POSITIONING CONTROL
9.2.18 Position-speed switching control
In "position-speed switching control" (" Da.2 Control system" = Forward run:
position/speed, Reverse run: position/speed), before the position-speed switching
signal is input, position control is carried out for the movement amount set in
"
Da.6 Positioning address/movement amount" in the axis direction in which the
positioning data has been set. When the position-speed switching signal is input, the
position control is carried out by continuously outputting the pulses for the speed set in
"
Da.8 Command speed" until the input of a stop command.
The two types of position-speed switching control are "Forward run: position/speed" in
which the control starts in the forward run direction, and "Reverse run: position/speed"
in which control starts in the reverse run direction.
Switching over from position control to speed control
(1) The control is switched over from position control to speed control by
executing the external command signal set in "position-speed switching
signal".
(2) Besides setting the positioning data, the "
Cd.26
Position-speed switching
enable flag" must also be turned ON to switch over from position control to
speed control. (If the "
Cd.26 Position-speed switching enable flag" turns ON
after the position-speed switching signal turns ON, the control will continue as
position control without switching over to speed control. The control will be
switched over from position control to speed control when the position-speed
switching signal turns from OFF to ON again. Only speed control will be
carried out when the "
Cd.26 Position-speed switching enable flag" and
position-speed switching signal are ON at the operation start.)
Buffer memory address
Setting item
Setting
value
Setting details
Axis 1 Axis 2 Axis 3 Axis 4
Cd.26
Position-
speed
switching
enable
flag
1
Set "1: Switch from position
control to speed control when the
external command signal [CHG]
turns ON".
1532 1632 1732 1832
Position-speed switching signal setting
The following table shows the items that must be set to use the external command
signals (CHG) as position-speed switching signals.
Buffer memory address
Setting item
Setting
value
Setting details
Axis 1 Axis 2 Axis 3 Axis 4
Pr.42
External
command
function
selection
2
Set the "2: speed-position and
position-speed switching
requests".
62 212 362 512
Cd.8
External
command
valid
1
Set "1: Validate external
command".
1505 1605 1705 1805
Refer to Section 5.2 "List of parameters" and Section 5.7 "List of control data" for information on the
setting details.