Mitsubishi Electric MELSEC-Q Series - Page 292

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6 POSITIONING CONTROL
(4) Stroke limit check
Stroke limit range is not checked during the speed mode. If the travel value
exceeds the stroke limit range, a minor error (error code: 210) occurs when
position mode is selected, and performs a deceleration stop.
(5) When feed current value update command (M3212+20n) is OFF, the feed current
value is changed to "0" at the start.
When speed-position switching control is executed in the absolute position system,
the feed current value that is restored when the control circuit power supply of the
servo amplifier or the Multiple CPU system power supply is turned ON again, may
be different from the feed current value before the power supply was turned ON
again.
[Program]
Program for speed-position switching control is shown as the following conditions.
(1) System configuration
Speed-position switching control of Axis 4.
Start command (PX000)
Q172D
CPU
Q172D
LX
QX41 QY41PQ61P Q03UD
CPU
Motion CPU control module
AMP
M
Axis
1
AMP
M
Axis
2
AMP
M
Axis
4
AMP
M
Axis
3
(2) Positioning conditions
(a) Positioning conditions are shown below.
Item Positioning conditions
Servo program No. 101
Control axis Axis 4
Travel value for positioning control
40000
Command speed 1000
(b) Positioning start command .................................. PX000 Leading edge
(c) Speed/position switching enable command ........ M3265