Speed-Position Switching Control (Inc Mode) - Mitsubishi Electric MELSEC iQ-R Series User Manual

Speed-position switching control (INC mode)

In "speed-position switching control (INC mode)" ("[Da.2] Control method" = Forward run: speed/position, Reverse run:
speed/position), the pulses of the speed set in "[Da.8] 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 (INC mode)" is available in two different types: "forward run: speed/position" which starts the
axis in the forward run direction and "reverse run: speed/position" which starts the axis in the reverse run direction.
Use the detailed parameter 1 "[Pr.81] Speed-position function selection" with regard to the choice for "speed-position
switching control (INC mode)".
n: Axis No. - 1
Setting item
[Pr.81] Speed-position function
selection
If the set value is other than 0 and 2, it is regarded as 0 and operation is performed in the INC mode.
For details of the setting, refer to the following.
Page 411 Basic Setting
Switching over from speed control to position control
• The control is selected the switching method from speed control to position control by the setting value of "[Cd.45] Speed-
position switching device selection".
n: Axis No. - 1
Setting item
[Cd.45] Speed-position switching
device selection
The switching is performed by using the following device when "2" is set.
n: Axis No. - 1
Setting item
[Cd.46] Speed-position switching
command
• "[Cd.24] Speed-position switching enable flag" must be turned ON to switch over from speed control to position control. (If
"[Cd.24] Speed-position switching enable flag" turns ON after the speed-position switching signal turns ON, the control will
continue as speed control without switching over to position control. The control will be switched over from position control
to speed control when the speed-position switching signal turns from OFF to ON again. Only position control will be carried
out when "[Cd.24] Speed-position switching enable flag" and speed-position switching signal are ON at the operation start.)
n: Axis No. - 1
Setting item
[Cd.24] Speed-position switching
enable flag
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Setting Setting details
value
0 Speed-position switching control (INC mode)
Setting Setting details
value

The device used for speed-position switching is selected.
0: Use the external command signal for switching from speed control
to position control
2: Use "[Cd.46] Speed-position switching command" for switching
from speed control to position control
Setting Setting details
value
1 Switch from speed control to position control
Setting Setting details
value
1 Speed control will be taken over by position control when the
switching signal set in "[Cd.45] Speed-position switching device
selection" turns ON.
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Buffer memory address
Axis 1 to axis 16
34+150n
Buffer memory address
Axis 1 to axis 16
4366+100n
Buffer memory address
Axis 1 to axis 16
4367+100n
Buffer memory address
Axis 1 to axis 16
4328+100n
3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
3
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