Speed/Position Switching Control - Mitsubishi Electric MELSEC-L02SCPU User Manual

7.7.3

Speed/position switching control

After the start instruction has been executed, positioning control is started via speed control first. When the external
command signal turns on, speed control switches to position control and positioning control is implemented by the
movement amount set by "Positioning address/movement amount." Speed/position switching control is implemented in
forward and reverse directions. To switch from speed control to position control, the Axis 1 Speed/position switching
enable (SM1852) must be turned on beforehand.
(1) Speed/position switching control operations
(a) Operation timings
Start instruction
execution command
Axis 1 BUSY (SM1840)
Axis 1 positioning complete
(SM1841)
External command signal
Axis 1 speed/position
switching enable
(SM1852)
Axis 1 current feed value
(SD1840, SD1841)
(b) Axis 1 current feed value (SD1840, SD1841)
This value is cleared to 0 at the start of speed control. It is not refreshed during speed control, and refreshed
only after switching to position control.
98
V
Speed
control
Bias speed at start
ON
OFF
ON
OFF
OFF
OFF
ON
OFF
0
Command speed
Position
control
ON
(Will be updated)
Dwell time
t
ON