Mitsubishi Electric MELSEC-Q Series - Page 293

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6 POSITIONING CONTROL
(3) Operation timing
Operation timing for speed-position switching control is shown below.
Speed/position switching enable
command (M3265)
t
Position control
Speed control
Servo program No.101
V
Speed/position switching latch
(M2465)
PLC ready flag (M2000)
All axes servo ON command
(M2042)
All axes servo ON accept flag
(M2049)
Axis 4 servo ready (M2475)
Start command (PX000)
Servo program start
Axis 4 start accept flag (M2004)
Axis 4 positioning completion
(M2461)
1second 1second
CHANGE signal input of the
Q172DLX
(4) Servo program
Servo program No.101 for speed-position switching control is shown below.
Speed
Axis 4, 40000
<K 101>
Dwell 1000
VPF
Speed . . . . . . . 1000
Speed-position switching control
Dwell . . . . . . . . 1000
1000
Axis used . . . . . Axis 4
Travel value . . . 40000
(Note): Example of the Motion SFC program for positioning control is shown next page.