Mitsubishi MELSEC-Q QD77MS, User Manual

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Chapter 9 Major Positioning Control
Operation timing and processing time during position-speed switching
control
[QD77MS4 operation example]
Positioning start signal
[Y10,Y11,Y12,Y13]
BUSY signal [XC,XD,XE,XF]
M code ON signal
[X4,X5,X6,X7](WITH mode)
Standby Position control
Stopped Axis operation status
M code OFF request
Start complete signal
[X10,X11,X12,X13]
Positioning operation
t1
t2
t3
Positioning complete signal
[X14,X15,X16,X17]
Speed control
Position
control Speed
control
Position-speed switching command
t6
Speed control command speed is from the input position of
the external position-speed switching signal.
Md.26
Position-speed switching
control speed change register
Cd.25
Cd. 7
OPR complete flag
( Md.31 )
Status: b4
Axis stop signal
[Y4,Y5,Y6,Y7]
t4
Position control carried out until position-speed switching
signal turns ON.
(Note): Refer to Section 3.3 for input/output signal of QD77MS16.
Fig. 9.19 Operation timing and processing time during position-speed switching control
Normal timing time Unit: [ms]
Operation cycle t1 t2 t3 t4 t5 t6
QD77MS2
QD77MS4
0.88 0.2 to 0.3 0 to 0.9 0 to 0.9 1.8 to 2.7 – 0.2
0.88 0.3 to 1.4 0 to 0.9 0 to 0.9 1.8 to 2.7 – 0.2
QD77MS16
1.77 0.3 to 1.4 0 to 1.8 0 to 1.8 3.2 to 3.9 – 0.2
•
The t1 timing time could be delayed by the operation state of other axes.
• When using the near-point dog signal and "
Cd.46
Speed-position switching command
", the t6
timing time could be delayed or vary influenced by the PLC scan time or communication with
servo amplifier.