Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 329

■No speed control
Position control only is executed if "[Rq.1145] Speed/position switching enable command (R: M34485+32n/Q: M3205+20n)"
and CHANGE signal are turning on at the start. The "[Rq.1064] Speed controlling (R: M32404+32n/Q: M2404+20n)" does not
turn on.
[Rq.1145] Speed/position switching
enable command
(R: M34485+32n/Q: M3205+20n)
Speed switching signal
input (CHANGE)
Servo program start
[St.1064] Speed controlling
(R: M32404+32n/Q: M2404+20n)
[St.1065] Speed/position switching
latch
(R: M32405+32n/Q: M2405+20n)
■"Travel value for position control" is less than "deceleration distance"
• If the travel value for position control is less than the deceleration distance at controlling speed, deceleration processing
starts immediately when CHANGE is input.
• The difference between travel value for the deceleration stop and position control is the overrun. At this time, the "[St.1067]
Error detection signal (R: M32407+32n/Q: M2407+20n)" turns on and minor error (error code: 1A57H) is stored in the data
register.
• The "[St.1061] Positioning complete (R: M32401+32n/Q: M2401+20n)" does not turn on.
[Rq.1145] Speed/position switching
enable command
(R: M34485+32n/Q: M3205+20n)
Position switching signal
input (CHANGE)
[St.1067] Error detection
(R: M32407+32n/Q: M2407+20n)
[St.1061] Positioning complete
(R: M32401+32n/Q: M2401+20n)
■Stroke limit check
Stroke limit range is not checked during the speed mode. If the travel value exceeds the stroke limit range, a minor error (error
code: 19EEH) occurs when position mode is selected, and performs a deceleration stop.
■When "[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)" is
OFF
When "[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)" is OFF, the feed current value is
changed to "0" at the start. When speed-position switching control is executed in the absolute position system, the feed
current value that is restored when the control circuit power supply of the servo amplifier or the Multiple CPU system power
supply is turned ON again, may be different from the feed current value before the power supply was turned ON again.
Position control only is executed if "[Rq.1145] Speed/position
switching enable command (R: M34485+32n/Q: M3205+20n)"
and CHANGE signal are turning on at the start.
V
ON
OFF
ON
OFF
OFF
OFF
ON
OFF
V
ON
OFF
ON
OFF
OFF
OFF
t
Travel value for position control
Overrun
t
ON
5.15 Speed/Position Switching Control
5 POSITIONING CONTROL
5
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