Mitsubishi Electric MELSEC-Q QD75M User Manual page 462

9 MAJOR POSITIONING CONTROL
Positioning start signal
[Y10,Y11,Y12,Y13]
BUSY signal [XC,XD,XE,XF]
M code ON signal
[X4,X5,X6,X7](WITH mode)
Cd. 7 M code OFF request
Start complete signal [X10,X11,X12,X13]
Axis operation status
Md.26
Positioning operation
External position-speed switching
command
Cd.25 Position-speed switching
control speed change register
Positioning complete signal
[X14,X15,X16,X17]
M code ON signal [X4,X5,X6,X7]
(AFTER mode)
Cd. 7 M code OFF request
OPR complete flag
Status: b4
Md.31
Stop signal
[STOP]
Fig. 9.19 Operation timing and processing time during position-speed switching control
Normal timing time
t1
1.0 to 1.4
•
The t1 timing time could be delayed by the operation state of other axes.
Operation timing and processing time during position-speed switching
control
t1
Standing by In position control
t4
t2 t3
0 to 3.5 0 to 3.5 5.5 to 7.9
t2
In speed control
Position Speed
control control
Position control carried out until position-speed switching
signal turns ON.
Speed control command speed is from the input position of
the external position-speed switching signal.
t6
Unit: ms
t4 t5
-
9 - 101
MELSEC-Q
t3
Standing by
t2
t6
1.0