Mitsubishi QD75M1, User Manual

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9 - 93
MELSEC-Q
9 MAJOR POSITIONING CONTROL
Operation timing and processing time during speed-position switching
control (ABS mode)
Positioning start
signal [Y10,Y11,Y12,Y13]
BUSY signal
M code ON signal
[X4,X5,X6,X7](WITH mode)
Standing by
In speed control
Start complete signal
Positioning operation
Positioning complete signal
M code ON signal (AFTER mode)
t1
t2
t3
t4
t5
t2
t7
In position control
Speed
control
Position
control
External speed-position
switching command
t6
Speed control carried out until speed-position switching
signal turns ON
Position control movement amount is from the input position of
the external speed-position switching signal
Md.26 Axis operation status
Cd. 23 Speed-position switching
control movement amount
change register
OPR complete flag
Md.31 Status: b4
Cd.7 M code OFF request
Cd.7 M code OFF request
Standing by
[XC,XD,XE,XF]
[X10,X11,X12,X13]
[X14,X15,X16,X17]
[X4,X5,X6,X7]
Fig. 9.17 Operation timing and processing time during speed-position switching control (ABS mode)
Normal timing time Unit: ms
t1 t2 t3 t4 t5 t6 t7
1.1 0 to 3.5 0 to 3.5 5.5 to 7.9 0 to 3.5 1.0 Follows parameters
•
The t1 timing time could be delayed by the operation state of other axes.