Speed Switching; Standard Speed Switching Mode - Mitsubishi Electric QD77MS User Manual

[QD77MS4 operation example]
Positioning
Da. 1 O
Positioning start signal
[Y10, Y11, Y12, Y13]
Start complete signal
[X10, X11, X12, X13]
BUSY signal [XC, XD, XE, XF]
Positioning complete signal
[X14, X15, X16, X17]

(4) Speed switching

(Refer to "[Pr.19] Speed switching mode".)
The two modes for changing the speed are shown below.
• Standard speed switching.........Switch the speed when executing the
• Front-loading speed switching....The speed switches at the end of the
(a) Standard speed switching mode
1) If the respective command speeds differ in the "positioning data
currently being executed" and the "positioning data to carry out
the next operation", the machine will accelerate or decelerate
after reaching the positioning point set in the "positioning data
currently being executed" and the speed will change over to the
speed set in the "positioning data to carry out the next operation".
2) The parameters used in acceleration/deceleration to the
command speed set in the "positioning data to carry out the next
operation" are those of the positioning data to carry out
acceleration/deceleration.
Speed switching will not be carried out if the command speeds
are the same.
Speed
V
switching
peration pattern
11
ON
OFF
ON
OFF
ON
OFF
OFF
Fig. 9.4 Operation for the standard speed switching mode
Chapter 9 Major Positioning Control
next positioning data.
positioning data currently being executed.
11 11
ON
(Note): Refer to Section 3.3 for input/output signal of QD77MS16.
9 - 12
Dwell time Dwell time
01 00
t