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Chapter 9 Major Positioning Control
Operation timing and processing time during position-speed switching
control
Standby
Position control
Stopped
t1
t2
t3
Speed control
Position
control
Speed
control
t6
Speed control command speed is from the input position of
the external position-speed switching signal.
t4
Position control carried out until position-speed switching
signal turns ON.
Axis operation status
Positioning operation
Position-speed switching command
Md.26
Position-speed switching
control speed change register
Cd.25
M code OFF request
Cd. 7
M code ON signal (WITH mode)
( Md.31 Status: b12)
Positioning start signal
[Y10 to Y1F]
BUSY signal
[X10 to X1F]
Start complete signal
( Md.31 Status: b14)
HPR complete flag
( Md.31 Status: b4)
Positioning complete signal
( Md.31 Status: b15)
Cd.180 Axis stop
Fig. 9.19 Operation timing and processing time during position-speed switching control
Normal timing time Unit: [ms]
[Pr.132]
Communication
mode setting
Operation
cycle
t1 t2 t3 t4 t5 t6
MR-J4-B-RJ010
communication
mode
0.88 1.0 to 1.7 0 to 0.9 0 to 0.9 2.7 to 3.4 – 0.1 to 0.2
1.77 1.1 to 2.5 0 to 1.8 0 to 1.8 5.6 to 6.9 – 0.1 to 0.2
3.55 1.1 to 4.2 0 to 3.6 0 to 3.6 10.8 to 14.0 – 0.1 to 0.2
Communication
mode correspond
to CiA402
1.00 1.0 to 1.9 0 to 1.0 0 to 1.0 2.7 to 3.4 – 0.1 to 0.2
2.00 1.1 to 2.6 0 to 2.0 0 to 2.0 5.6 to 6.9 – 0.1 to 0.2
4.00 1.1 to 4.2 0 to 4.0 0 to 4.0 11.4 to 14.0 – 0.1 to 0.2
The t1 timing time could be delayed by the operation state of other axes.
When using the proximity dog signal and "[Cd.46] Speed-position switching command", the
t6 timing time could be delayed or vary influenced by the PLC scan time or communication
with servo amplifier.
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