Mitsubishi A1SD75P1-S3 User Manual page 351

9 MAIN POSITIONING CONTROL
Positioning start
signal [Y10,Y11,Y12]
[X4,X5,X6]
BUSY signal
M code ON signal
[XD,XE,XF](WITH mode)
Cd.14 M code OFF request
Start complete signal
[X1,X2,X3]
Md.35 Axis operation status
Output pulse to external source
(PULSE)
Positioning operation
External speed/position
changeover command
Cd. 21 Speed/position changeover
control movement amount
change register
Positioning complete signal
[X7,X8,X9]
M code ON signal (AFTER mode)
[XD,XE,XF]
Cd.14 M code OFF request
Zero point return complete flag
Md.40 Status: b4
Fig. 9.11 Operation timing and processing time during speed/position changeover control
Normal timing time
t1
5 to 15
• The t1 timing time could be delayed by the following factors.
1) Presence of FROM/TO command execution during start process
2) Operation state of other axes
3) Presence of intervention from peripheral device during start process
4) Details of positioning data to be started
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Operation timing and processing time during speed/position changeover
control
t1
t2
Standing by
In speed control
t4
Speed
control
*
*
*
t2 t3 t4
0 to 60 0 to 3.5
t3
In position control Standing by
Position
control
* Speed control carried out until speed/position changeover
signal turns ON
Position control movement amount is from the input position of
the external speed/position changeover signal
t6
t5
t2
Unit: ms
t5 t6
1
9 - 50
MELSEC-A
t7
t7
Follows parameters