Mitsubishi Electric FATEC MELSEC iQ-R Training Manual page 153

Forward run: speed/position, Reverse run: speed/position (Speed-position switching control (ABS mode))
The pulses of the speed set in "[Da.8] Command speed" are kept output in the axial direction
set to the positioning data. When the "speed-position switching signal" is input, position
control to the address set in "[Da.6] Positioning address/movement amount" is exercised.
"Speed-position switching control (ABS mode)" is valid only when "[Pr.1] Unit setting" is
"degree".
Ex.) When an external command signal (DI) is used as the speed-position switching signal:
[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
V
Speed control Position control
ON
OFF
ON
OFF
OFF
ON
OFF
ON
OFF
ON
OFF
0
Setting details are taken in at positioning start.
4-98
Address set in [Da.6]
Positioning address/
movement amount
t
Dwell time
ON