Speed/Position Changeover Control - Mitsubishi A1SD75P1-S3 User Manual

9 MAIN POSITIONING CONTROL

9.2.9 Speed/position changeover control

In "speed/position changeover control" (" Da.2 Control method" = Forward run:
speed/position, Reverse run: speed/position), position control is carried out for the
movement amount set in " Da.5 Positioning address/movement amount", in the axis
direction in which the positioning data has been set. The position control is carried out
by continuously outputting pulses for the speed set in " Da.7 Command speed" until
the input of a stop command, and inputting a "speed/position changeover signal".
The two types of speed/position changeover control are "Forward run: speed/position"
in which the control starts in the forward run direction, and "Reverse run:
speed/position" in which control starts in the reverse run direction.
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Changing over from speed control to position control
(1) The control is changed over from speed control to position control by the
external signal "speed/position changeover signal".
(2) Besides setting the positioning data, the " Cd.20 Speed/position changeover
enable flag" must also be turned ON to change over from speed control to
position control. (If the " Cd.20 Speed/position changeover enable flag" turns
ON after the speed/position changeover signal turns ON, the control will
continue as speed control without changing over to position control. Only
position control will be carried out when the " Cd.20 Speed/position
changeover enable flag" and speed/position changeover signal are ON at the
operation start.)
Operation chart
The following chart (Fig.9.10) shows the operation timing for speed/position
changeover control. The "in speed control flag" ( Md.40 Status: b0) is turned ON
during speed control of speed/position changeover control.
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MELSEC-A