Mitsubishi Electric AJ65BT-D75P2-S3 User Manual page 402

9 MAIN POSITIONING CONTROL
Positioning start signal
[RY(n+1)0, RY(n+1)1]
BUSY signal [RXn4, RXn5]
M code ON signal
[RXnD, RXnE](WITH mode)
M code OFF request
[RY(n+2)6, RY(n+4)6]
Start complete signal
[RXn1, RXn2]
Axis operation status
[RWrn+7, RWrn+15]
Output pulse to external source
(PULSE)
Positioning operation
External speed/position
changeover command
Cd. 21 Speed/position changeover
control movement amount
change register
Positioning complete signal
[RXn7, RXn8]
M code ON signal (AFTER mode)
[RXnD, RXnE]
M code OFF request
[RY(n+2)6, RY(n+4)6]
Zero point return complete flag
[RY(n+2)0, RY(n+5)0]
Fig. 9.11 Operation timing and processing time during speed/position changeover control
Normal timing time
t1
5 to 15
 The t1 timing time could be delayed by the following factors.
1) Operation state of other axes
2) Presence of intervention from peripheral device during start process
3) Details of positioning data to be started
Operation timing and processing time during speed/position changeover
control (Common to INC mode and ABS mode)
t1
t2
Standing by
In speed control
t4
Speed
control
*
*
*
t2 t3
0 to 60
t3
In position control Standing by
Position
control
* Speed control carried out until speed/position changeover
signal turns ON
Position control movement amount is from the input position of
the external speed/position changeover signal
t6
t5
t2
t4 t5
0 to 3.5
9 - 50
MELSEC-A
t7
Unit: [ms]
t6 t7
1 Follows parameters