Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 328

If it is started with "[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)" on,
leave "[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)" on until positioning
control is completed.
If it is turns off during control, the feed current value cannot be guaranteed.
■Change of the travel value during speed control
The travel value for position control can be changed during speed control after speed/position switching control start.
• The travel value is set in indirect specification by optional device (2-word data) in the servo program. When a negative
value is set in the travel value, a deceleration stop is made after switching to the position control.
Ex.
Servo program which performs the speed control for axis 4 to the forward direction at speed 50000, and the position control of
the travel value set in D3000, D3001 after the CHANGE signal from external source turns on.
<K 11>
VPF
Axis 4, D3000
Speed 50000
• The travel value is stored in the data register for travel value change during speed control in the Motion SFC program.
When the CHANGE signal turns on, the contents of the data register for travel value change are set as the travel value.
CHANGE signal input
from external source
Data register for travel
value change
■Travel value area after proximity dog ON
The travel value since the position mode was selected by the CHANGE signal input from external source is stored in the travel
value "[Md.34] After proximity dog ON (R: D32010+48n, D32011+48n/Q: D10+20n, D11+20n)".
Precautions
■Item check at the CHANGE signal ON from external source
When the external CHANGE signal turns on, speed control switches to position control if the following conditions are met:
• "[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)" is turning on.
• Speed control is executing after starting of the speed/position switching control.
• "[Rq.1145] Speed/position switching enable command (R: M34485+32n/Q: M3205+20n)" is turning on.
5 POSITIONING CONTROL
326
5.15 Speed/Position Switching Control
Indicates indirect specification of travel value
V
Speed Position
controlling controlling
Travel value
change possible
ON
OFF
P1 P2
P2 is reset as the travel value
t
P3