Speed-Position Switching Control - Mitsubishi Electric MELSECQ Series User Manual

9 POSITIONING CONTROL

9.2.3 Speed-position switching control

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In "speed-position switching control" (" Da. 2 Control method" = Speed. Position Ctrl.
(Forward), Speed. Position Ctrl. (Reverse)), the pulses of the speed set in " Da. 5
Command speed" are kept output on the axial direction set to the positioning data.
When the "speed-position switching signal" is input, position control of the movement
amount set in " Da. 6 Positioning address/movement amount" is exercised.
"Speed-position switching control" is available in two different types: ": Speed. Position
Ctrl. (Forward)" which starts the axis in the forward direction and " Speed. Position Ctrl.
(Reverse)" which starts the axis in the reverse direction.
Switching over from speed control to position control
(1) The control is switched over from speed control to position control by the
external signal "speed-position switching signal (CHG)".
(2) To switch from speed control to position control, " Cd. 5 Speed-position
switching request" must be turned ON in addition to the setting of the
positioning data. If " Cd. 5 Speed-position switching request" and the speed-
position switching signal are ON at a start, only position control is carried out.
Operation chart
The following chart shows the operation timing for speed-position switching control.
Da.5
Command speed
Positioning start signal
[Y8 to YF]
BUSY signal
[X8 to XF]
Positioning complete signal
[X18 to X1F]
Speed-position switching signal
(CHG)
Cd.5 Speed-position switching request
Fig. 9.8 Speed-position switching control operation timing
search engine
V
Pr.6 Bias speed at start
Speed control Position control
ON
OFF
ON
OFF
OFF
ON
OFF
ON
OFF
MELSEC-Q
Movement amount set in " Da.6
Positioning address/movement amount"
t
Dwell time
ON
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