Mitsubishi Electric MELSEC iQ-R Series User Manual page 125

Feed current value
The following table shows "[Md.20] Feed current value" during position-speed switching control corresponding to the "[Pr.21]
Feed current value during speed control" settings.
"[Pr.21] Feed current value during speed control" setting
0: Do not update feed current value
1: Update feed current value
2: Zero clear feed current value
Position
V
control
Feed current Updated
value
(a) Feed current value not updated
Switching time from position control to speed control
It takes 1 ms from the time the position-speed switching signal is turned ON to the time the position-speed switching latch flag
([Md.31] Status: b5) turns ON.
Position-speed switching
signal
Position-speed switching
latch flag
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Speed
control
t
Maintained Feed current
value
ON
OFF
OFF
1 ms
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[Md.20] Feed current value
The feed current value is updated during position control, and the feed current
value at the time of switching is maintained as soon as position control is
switched to speed control.
The feed current value is updated during position control and speed control.
The feed current value is updated during position control, and the feed current
value is cleared (to "0") as soon as position control is switched to speed
control.
Position Speed
V
control control
Updated
(b) Feed current value updated
ON
Position Speed
V
control control
t
Feed current Updated
value
(c) Feed current value zero cleared
3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
3
t
0
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