Mitsubishi Electric MELSEC iQ-R Series User Manual page 119

Feed current value
The following table shows "[Md.20] Feed current value" during speed-position switching control (ABS mode) corresponding to
the "[Pr.21] Feed current value during speed control" settings.
"[Pr.21] Feed current value during speed control" setting
1: Update feed current value
Only "1: Update current value" is valid for the setting of "[Pr.21] Feed current value during speed control" in speed-position
switching control (ABS mode).
The error "Speed-position function selection error" (error code: 1BAEH) will occur if the "[Pr.21] Feed current value during
speed control" setting is other than 1.
V
Speed control
Updated
Feed current value updated
Switching time from speed control to position control
It takes 1 ms from the time the speed-position switching signal is turned ON to the time the speed-position switching latch flag
([Md.31] Status: b1) turns ON.
Speed-position switching
signal
Speed-position switching
latch flag
Speed-position switching signal setting
• The following table shows the items that must be set to use the external command signals [DI] as speed-position switching
signals.
n: Axis No. - 1
Setting item
[Pr.42] External command function
selection
[Cd.8] External command valid
[Cd.45] Speed-position switching device
selection
Set the external command signal [DI] in "[Pr.95] External command signal selection". Refer to the followings for information on
the setting details.
Page 411 Basic Setting,Page 512 Control Data
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Position control
t
ON
OFF
OFF
1 ms
Setting
value
2
1
0
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[Md.20] Feed current value
The feed current value is updated during speed control and position control.
ON
Setting details
Speed-position, position-speed switching request.
Validates an external command.
Use the external command signal for switching from speed
control to position control
Buffer memory address
Axis 1 to axis 16
62+150n
4305+100n
4366+100n
3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
3
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