Mitsubishi Electric MELSEC-Q Series - Page 512

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Chapter 9 Major Positioning Control
Feed current value during position-speed switching control
The following table shows the "[Md.20] Feed current value" during position-speed
switching control corresponding to the "[Pr.21] Feed current value during speed
control" settings.
"[Pr.21] Feed current value during
speed control" setting
[Md.20] Feed current value
0: Do not update feed current value
The feed current value is updated during position control,
and the feed current value at the time of switching is
maintained as soon as position control is switched to
speed control.
1: Update feed current value
The feed current value is updated during position control
and speed control.
2: Zero clear feed current value
The feed current value is updated during position control,
and the feed current value is cleared (to "0") as soon as
position control is switched to speed control.
t
Speed control
Updated
(c) Feed current value zero cleared
0
Position control
(a) Feed current value not updated
V
t
Speed control
Updated Maintained
Position control
(b) Feed current value updated
t
Speed control
Updated
Position control
VV
Feed
current
value
Feed
current
value
Feed
current
value
Switching time from position control to speed control
There is 1ms from the time the position-speed switching signal is turned ON to the
time the position-speed switching latch flag ([Md.31] Status: b5) turns ON.
Position-speed switching signal
Position-speed switching latch flag
OFF
ON
OFF
ON
1ms