Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 334

Melsec iq-r series, positioning control

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Table of Contents

■Operation timing

Operation timing for speed/position switching control and re-starting are shown below.

[Rq.1120] PLC ready flag (M2000)

[Rq.1123] All axes servo ON

command (M2042)

[St.1045] All axes servo ON accept

flag (M2049)

Axis 4 [St.1075] Servo ready (M2475)

Start command (X0)

Restart command (X1)

Servo program start

Axis 4 [St.1040] Start accept flag

[Rq.1145] Speed/position switching

enable command (M3265)

CHANGE signal input (External input)

[St.1065] Speed/position switching

latch (M2465)

Stop command (X2, [Rq.1140] (M3260))

5 POSITIONING CONTROL

5.15 Speed/Position Switching Control

CHANGE signal accept

Position control

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