Mitsubishi Electric A173UHCPU Programming Manual page 215

7. POSITIONING CONTROL
REMARKS
(Note-1) : The external CHANGE signal is an external input to the
A278LX/A172SENC CHENGE terminal. When "normally open
contact input" is set in the system settings, CHANGE input occurs
when the CHANGE signal comes ON, and when "normally closed
contact input" is set, CHANGE input occurs when the CHANGE
signal goes OFF. (See the A173UHCPU/A273UHCPU Motion
Controller User's Manual for details.)
(3) Feed current value processing
The feed current value is determined in one of the following two ways according
to the ON/OFF status of M3212+20n (feed current value update request
command) when speed/position switching control is started.
(a) M3212+20n ........
OFF
(b) M3212+20n ........
ON
[M3212+20n OFF]
CHANGE input
Speed
control
Feed
Current **
0
value
Feed current value updated
Feed current value cleared
OFF
M3212
+20n
• The feed current value is cleared to zero at the start
of speed/position switching control.
• TheZ feed current value is updated from the start of
control (speed control).
• The feed current value after control is stopped is as
follows:
Feed current Travel value
=
value after under speed
stopping control
• The feed current value is not cleared at start of
speed/position switching control.
• The feed current value is updated from the start of
control (speed control).
• The axis makes a deceleration stop if the feed current
value exceeds the stroke limit.
• The feed current value after control is stopped is as
follows:
Feed current Address
=
value after before speed
stopping control
Position
contorol
Feed
Current
value
M3212
+20n
7 − 68
Travel value
under
+
position
control
Travel value Travel value
+ +
under speed under position
control
[M3212+20n ON]
CHANGE input
Speed Position
control contorol
**
**
Feed current value updated
Feed current value held
ON
OFF
control