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9 MAJOR POSITIONING CONTROL
9.2.18 Position-speed switching control
In "position-speed switching control" ("
position/speed, Reverse run: position/speed), before the position-speed switching
signal is input, position control is carried out for the movement amount set in
Da.6
"
Positioning address/movement amount" in the axis direction in which the
positioning data has been set. When the position-speed switching signal is input, the
position control is carried out by continuously outputting the pulses for the speed set in
Da.8
"
command speed" until the input of a stop command.
The two types of position-speed switching control are "Forward run: position/speed" in
which the control starts in the forward run direction, and "Reverse run: position/speed"
in which control starts in the reverse run direction.
Switching over from position control to speed control
(1) The control is switched over from position control to speed control by the
external signal "position-speed switching signal".
(2) Besides setting the positioning data, the "
enable flag" must also be turned ON to switch over from position control to
speed control. (If the "
after the position-speed switching signal turns ON, the control will continue as
position control without switching over to speed control. Only speed control will
be carried out when the "
position-speed switching signal are ON at the operation start.)
Da.2
Control system" = Forward run:
Cd.26
Cd.26
Position-speed switching enable flag" turns ON
Cd.26
Position-speed switching enable flag" and
9 - 98
MELSEC-Q
Position-speed switching
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