Mitsubishi MELSEC-Q QD77MS, User Manual

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Chapter 9 Major Positioning Control
Current feed value during 4-axis speed control
The following table shows the " Md.20 Current feed value" during 4-axis speed
control corresponding to the "
Pr.21
Current feed value during speed control"
settings. (Note that the reference axis setting values are used for parameters.)
Pr.21 Current feed value during speed
control" setting
Md.20 Current feed value
0: Do not update current feed value
The current feed value at speed control start
is maintained.
1: Update current feed value The current feed value is updated.
2: Zero clear current feed value The current feed value is fixed at 0.
V
t
In speed control
Current feed value during speed control start is maintained
(a) Current feed value not updated
t
Current feed value is updated
(b) Current feed value updated
(c) Current feed value zero cleared
t
0
In speed control
In speed control
V V
Restrictions
(1) Set "Positioning complete" in " Da.1 Operation pattern". An axis error
"Continuous path control not possible (error code: 516)" will occur and the
operation cannot start if "continuous positioning control" or "continuous path
control" is set. ("Continuous positioning control" and "continuous path control"
cannot be set in speed control.)
(2) Set the WITH mode in "
Pr.18
M code ON signal output timing" when using
an M code. The M code will not be output, and the M code ON signal will not
turn ON if the AFTER mode is set.
(3) Set the "reference axis speed" in "
Pr.20
Interpolation speed designation
method". An "Interpolation mode error (error code: 523)" will occur and the
operation cannot start if a composite speed is set.