Mitsubishi Electric QD77MS User Manual page 554

Operation timing and processing time during speed-position switching
control (INC mode)
[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)
Cd.7 M code OFF request
Start complete signal
[X10, X11, X12, X13]
Md.26 Axis operation status
Positioning operation
Speed-position switching
command
Cd. 23 Speed-position switching
control movement amount
change register
Positioning complete signal
[X14, X15, X16, X17]
M code ON signal (AFTER mode)
[X4, X5, X6, X7]
Cd.7 M code OFF request
OPR complete flag
( Md.31 Status: b4)
Fig. 9.14 Operation timing and processing time during speed-position switching control (INC mode)
t1
t2
Standby Speed control
Speed
control
t4
9 - 96
Chapter 9 Major Positioning Control
t3
Position control Standby
Position
control
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
t6
t5
t2
(Note): Refer to Section 3.3 for input/output signal of QD77MS16.
t7