Mitsubishi Electric MELSEC-Q Series - Page 290

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6 POSITIONING CONTROL
(4) Change of the travel value during speed control
The travel value for position control can be changed during speed control after
speed-position switching control start.
(a) The travel value is set in indirect specification by optional device (2-word
data) in the servo program. When a negative value is set in the travel value,
a deceleration stop is made after switching to the position control.
The following servo program which performs the speed control for axis 4 to the
forward direction at speed 50000, and the position control of the travel value set in
D3000, D3001 after the CHANGE signal from external source turns on.
<K 11>
VPF
Speed 50000
Axis 4, D3000
Indicates indirect specification of travel value
(b) The travel value is stored in the data register for travel value change during
speed control in the Motion SFC program. When the CHANGE signal turns
on, the contents of the data register for travel value change are set as the
travel value.
P2 is reset as the travel value
Travel value
Position
controlling
Speed
controlling
V
Data register for travel
value change
OFF
t
ON
P2
P1
P3
change possible
CHANGE signal input
from external source
(5) Travel value area after proximity dog ON
The travel value since the position mode was selected by the CHANGE signal
input from external source is stored in the travel value after proximity dog ON
storage register (D10+20n, D11+20n).
Example