Mitsubishi Electric MELSEC iQ-R Series User Manual page 108

Operation chart
The following chart shows the operation timing for speed-position switching control (INC mode).
The "in speed control flag" ([Md.31] Status: b0) is turned ON during speed control of speed-position switching control (INC
mode).
■4-axis module
[Da.8] Command speed
Positioning start signal
[Y10, Y11, Y12, Y13]
BUSY signal
[X10, X11, X12, X13]
Positioning complete
signal
([Md.31] Status: b15)
Speed-position
switching signal
[Cd.24] Speed-position
switching enable
flag
In speed control flag
([Md.31] Status: b0)
[Cd.45] Speed-position
switching device
selection
■Operation example
The following operation assumes that the speed-position switching signal is input at the position of the feed current value of
90.00000 [degree] during execution of "[Da.2] Control method" "Forward run: speed/position" at "[Pr.1] Unit setting" of "2:
degree" and "[Pr.21] Feed current value during speed control" setting of "1: Update feed current value".
(The value set in "[Da.6] Positioning address/movement amount" is 270.00000 [degree])
0.00000
90.00000
3 MAJOR POSITIONING CONTROL
106
3.2 Setting the Positioning Data
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V
Speed Position
control control
ON
OFF
ON
OFF
OFF
ON
OFF
ON
OFF
ON
OFF
0
Setting details are taken in at positioning start.
Speed-position
0.00000
switching signal ON
search engine
Movement amount set in
"[Da.6] Positioning address/movement amount"
t
Dwell time
ON
90.00000
90.00000 + 270.00000
= 360.00000
= Stop at 0.00000 [degree]