Mitsubishi Melsec-Q QD75D1, User Manual

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9 - 105
MELSEC-Q
9 MAJOR POSITIONING CONTROL
Operation timing and processing time during position-speed switching
control
Standby Stopped
Axis operation status
M code OFF request
Positioning operation
t1
t2
t3
t4
t2
t6
Positioning start signal
[Y10,Y11,Y12,Y13]
BUSY signal [XC,XD,XE,XF]
M code ON signal [X4,X5,X6,X7]
(WITH mode)
Start complete signal
[X10,X11,X12,X13]
Output pulse to external source
(PULSE)
External position-speed switching
command
Positioning complete signal
[X14,X15,X16,X17]
M code ON signal [X4,X5,X6,X7]
(AFTER mode)
M code OFF request
OPR complete flag
Status: b4
Stop signal
[STOP]
Speed control command speed is from the input position of
the external position-speed switching signal.
Position control carried out until position-speed switching
signal turns ON.
Speed
control Position
control
Position control Speed control
Cd. 7
Md.31
Md.26
Cd. 7
Position-speed switching latch flag
Status: b5
Md.31
Fig. 9.19 Operation timing and processing time during position-speed switching control
Normal timing time
Model t1 t2 t3 t4 t5 t6
QD75P N/QD75D N 0.2 to 1.1ms 0 to 0.9ms 0 to 0.9ms 0.4 to 1.3ms - 1.0ms
QD75P /QD75D 1.0 to 1.4ms 0 to 1.8ms 0 to 1.8ms 2.7 to 4.4ms - 1.0ms
•
The t1 timing time could be delayed by the operation state of other axes.