Mitsubishi MELSEC-Q QD77MS, User Manual

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Chapter 9 Major Positioning Control
Current feed value during position-speed switching control
The following table shows the " Md.20 Current feed value" during position-speed
switching control corresponding to the " Pr.21 Current feed value during speed
control" settings.
" 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 is updated during position control,
and the current feed value at the time of switching is
maintained as soon as position control is switched to
speed control.
1: Update current feed value
The current feed value is updated during position control
and speed control.
2: Zero clear current feed value
The current feed value is updated during position control,
and the current feed value is cleared (to "0") as soon as
position control is switched to speed control.
t
Speed control
Updated
(c) Current feed value zero cleared
0
Position control
(a) Current feed value not updated
V
t
Speed control
Updated Maintained
Position control
(b) Current feed value updated
t
Speed control
Updated
Position control
V V
Current
feed value Current
feed value Current
feed value
Switching time from position control to speed control
There is 1ms from the time the position-speed switching signal is turned ON to the
time the position-speed switching latch flag (
Md.31 Status: b5) turns ON.
Position-speed switching signal
Position-speed switching latch flag
OFF
ON
OFF
ON
1ms