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9 MAJOR POSITIONING CONTROL
Speed-position switching control (INC mode) start
Speed-position switching signal
Cd.23 Speed-position switching control,
movement amount change register
Speed-position switching latch flag
Md.31 Status : b1
Speed-position switching signal setting
The following table shows the items that must be set to use the external command
signals (CHG) as speed-position switching signals.
Setting
Setting item
value
External
command
Pr.42
function
selection
External
Cd.8
command
valid
Refer to Section 5.2 "List of parameters" and Section 5.7 "List of control data" for information on the
setting details.
Changing the position control movement amount
In "speed-position switching control (INC mode)", the position control movement
amount can be changed during the speed control section.
(1) The position control movement amount can be changed during the speed
control section of speed-position switching control (INC mode).
A movement amount change request will be ignored unless issued during the
speed control section of the speed-position switching control (INC mode).
(2) The "new movement amount" is stored in "
control movement amount change register" by the sequence program during
speed control.
When the speed-position switching signal is turned ON, the movement amount
for position control is stored in "
movement amount change register".
(3) The movement amount is stored in the "
control positioning amount" of the axis monitor area from the point where the
control changes to position control by the input of a speed-position switching
signal from an external source.
OFF
0
ON
Fig. 9.15 Position control movement amount change timing
Setting details
Set the "2: speed-position and
2
position-speed switching
requests".
Set "1: Validate external
1
command".
Cd.23
Speed-position switching control
Speed control
Position control
Movement amount
change possible
ON
Setting after the speed-position
switching signal ON is ignored
P2
P3
P2 becomes the position control movement amount
OFF
9 - 87
MELSEC-Q
Buffer memory address
Axis 1
Axis 2
62
212
1505
1605
Cd.23
Speed-position switching
Md.29
Speed-position switching
Position control start
Axis 3
Axis 4
362
512
1705
1805
t
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Troubleshooting
