Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 338

• When the fixed position stop command turns on, the command in-position check starts. When the absolute value of
difference between the setting address and feed current value below the "command in-position range" set in the fixed
parameter, the "[St.1063] Command in-position (R: M32403+32n/Q: M2403+20n)" turns on. The "[St.1063] Command in-
position (R: M32403+32n/Q: M2403+20n)" turns OFF by a positioning start.
• When speed control with fixed position stop is started with the fixed position stop command turned ON, or when the fixed
position stop command is turned ON after a speed change to "0", positioning is executed at the speed that was specified by
the speed limit value.
Program example
The program for performing speed control with fixed position stop of Axis 1 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■Positioning conditions
• Speed control with fixed position stop conditions are shown below.
Item
Servo program No.
Start direction
Control axis
Positioning address
Control speed
Acceleration/deceleration time
Fixed position stop command device
• Speed control with fixed position stop start command: X0 Leading edge (OFF  ON)
• Speed control with fixed position stop command: X0 Trailing edge (ON  OFF)
■Operation timing
Operation timing for speed control with fixed position stop is shown below.
Current value
[Rq.1120] PLC ready flag
(M2000)
[Rq.1123] All axes servo ON
command (M2042)
[St.1045] All axes servo ON
accept flag (M2049)
Axis 1 [St.1075] Servo ready
(M2415)
Start command (X0)
Servo program start
Axis 1 [St.1040] Start accept
flag (M2001)
Fixed position stop command
device (M100)
Axis 1 [St.1061] Positioning
complete (M2401)
Axis 1 [Rq.1144] Complete
signal OFF command (M3204)
Axis 1 [St.1063] Command
in-position (M2403)
5 POSITIONING CONTROL
336
5.16 Speed Control with Fixed Position Stop
Setting
55
Forward
Axis 1
120.00000 [degree]
30000 [degree/min]
20 ms
M100
359.99999 [degree]
0 [degree]
ON
OFF
ON
OFF
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
OFF
ON
OFF
ON
OFF
Stop command of speed control
with fixed position stop
(X0 Leading edge)
120.00000 [degree]
20 [ms]
ON
ON