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9 MAJOR POSITIONING CONTROL
" Pr.21
1: Update current feed value
Current feed value during speed-position switching control (ABS mode)
The following table shows the "
switching control (ABS mode) corresponding to the "
during speed control" settings.
Current feed value during
speed control" setting
Only "1: Update current value" is valid for the setting of "
during speed control" in speed-position switching control (ABS mode).
An error (error code: 935) will occur if the "
speed control" setting is other than 1.
Speed control
Speed
Current feed value updated
Switching time from speed control to position control
There is 1ms from the time the speed-position switching signal is turned ON to the
time the speed-position switching latch flag (
Speed-position switching signal
Speed-position switching latch flag
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Md.20
Current feed value" during speed-position
Md.20 Current feed value
The current feed value is updated during speed control
and position control.
Pr.21
Position control
t
Updated
Md.31
ON
OFF
ON
OFF
1ms
9 - 94
MELSEC-Q
Pr.21
Current feed value
Pr.21
Current feed value
Current feed value during
Status: b1) turns ON.
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