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9 MAJOR POSITIONING CONTROL
Positioning start
signal
[Y10,Y11,Y12,Y13]
BUSY signal
[XC,XD,XE,XF]
M code ON signal
[X4,X5,X6,X7](WITH mode)
Cd.7 M code OFF request
Start complete signal
[X10,X11,X12,X13]
Md.26 Axis operation status
Positioning operation
External speed-position
switching command
Cd. 23 Speed-position switching
control movement amount
change register
Positioning complete signal
[X14,X15,X16,X17]
M code ON signal (AFTER mode)
[X4,X5,X6,X7]
Cd.7 M code OFF request
OPR complete flag
Md.31 Status: b4
Fig. 9.14 Operation timing and processing time during speed-position switching control (INC mode)
Normal timing time
t1
1.1
•
The t1 timing time could be delayed by the operation state of other axes.
Operation timing and processing time during speed-position switching
control (INC mode)
t1
Standing
In speed control
by
t4
t2
t3
0 to 1.3
0 to 1.8
2.8 to 4.5
t2
t3
In position control
Standing by
Speed
Position
control
control
Speed control carried out until speed-position switching
signal turns ON
Position control movement amount is from the input position of
the external speed-position switching signal
t6
t5
t4
t5
0 to 1.3
9 - 86
MELSEC-Q
t7
t2
Unit: ms
t6
t7
0.2
Follows parameters
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