Mitsubishi QD75M1, User Manual

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MELSEC-Q
9 MAJOR POSITIONING CONTROL
Speed-position switching signal setting
The following table shows the items that must be set to use the external command
signals (CHG) as speed-position 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 sections 5.2 "List of parameters" and 5.7 "List of control data" for information on the setting
details.
Changing the position control movement amount
In "speed-position switching control (INC mode)", the position control movement
amount can be changed during the speed control section.
(1) The position control movement amount can be changed during the speed
control section of speed-position switching control (INC mode).
A movement amount change request will be ignored unless issued during the
speed control section of the speed-position switching control (INC mode).
(2) The "new movement amount" is stored in "
Cd.23
Speed-position switching
control movement amount change register" by the sequence program during
speed control.
When the speed-position switching signal is turned ON, the movement amount
for position control is stored in "
Cd.23
Speed-position switching control
movement amount change register".
(3) The movement amount is stored in the "
Md.29
Speed-position switching
control positioning amount" of the axis monitor area from the point where the
control changes to position control by the input of a speed-position switching
signal from an external source.
t
Movement amount
Speed-position switching signal
ON
OFF
Speed control
Position control
Position control start
Speed-position switching control (INC mode) start
0 P2
OFF
Speed-position switching latch flag
ON ON
OFF
P3
P2 becomes the position control movement amount
Cd.23 Speed-position switching control,
movement amount change register
Md.31 Status : b1
change possible
Setting after the speed-position
switching signal ON is ignored
Fig. 9.15 Position control movement amount change timing