Mitsubishi Electric A173UHCPU - Page 215

7. POSITIONING CONTROL
7 − 68
REMARKS
(Note-1) : The external CHANGE signal is an external input to the
A278LX/A172SENC CHENGE terminal. When "normally open
contact input" is set in the system settings, CHANGE input occurs
when the CHANGE signal comes ON, and when "normally closed
contact input" is set, CHANGE input occurs when the CHANGE
signal goes OFF. (See the A173UHCPU/A273UHCPU Motion
Controller User's Manual for details.)
(3) Feed current value processing
The feed current value is determined in one of the following two ways according
to the ON/OFF status of M3212+20n (feed current value update request
command) when speed/position switching control is started.
(a) M3212+20n ........
OFF
• The feed current value is cleared to zero at the start
of speed/position switching control.
• TheZ feed current value is updated from the start of
control (speed control).
• The feed current value after control is stopped is as
follows:
Feed current
value after
stopping
=
Travel value
under speed
control
+
Travel value
under
position
control
(b) M3212+20n ........
ON
• The feed current value is not cleared at start of
speed/position switching control.
• The feed current value is updated from the start of
control (speed control).
• The axis makes a deceleration stop if the feed current
value exceeds the stroke limit.
• The feed current value after control is stopped is as
follows:
Feed current
value after
stopping
=
Address
before speed
control
+
Travel value
under speed
control
+
Travel value
under position
control
OFF
**
Feed current value updated
Feed current value held
**
ON
CHANGE input
0
Feed current value updated
Feed current value cleared
**
Feed
Current
value
OFF
[M3212+20n OFF]
M3212
+20n
M3212
+20n
Position
contorol
Speed
control
CHANGE input
[M3212+20n ON]
Position
contorol
Speed
control
Feed
Current
value