Mitsubishi Electric RD77MS2 - Page 122

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3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
Operation chart
The following chart shows the operation timing for speed-position switching control (ABS mode).
The "in speed control flag" ([Md.31] Status: b0) is turned ON during speed control of speed-position switching control (ABS
mode).
■RD77MS4 operation example
• When using the external command signal [DI] as speed-position switching signal
■Operation example
The following operation assumes that the speed-position switching signal is input at the position of the current feed value of
90.00000 [degree] during execution of "[Da.2] Control method" "Forward run: speed/position" at "[Pr.1] Unit setting" of "2:
degree" and "[Pr.21] Current feed value during speed control" setting of "1: Update current feed value".
(The value set in "[Da.6] Positioning address/movement amount" is 270.00000 [degree])
t
V
OFF
ON
[Da.8] Command speed
OFF
ON
OFF
ON
OFF
ON
Speed
control
Position
control
Dwell time
OFF
ON
OFF
ON
Address set in [Da.6]
Positioning address/movement amount
Positioning start signal
[Y10, Y11, Y12, Y13]
BUSY signal
[X10, X11, X12, X13]
Positioning complete signal
([Md.31] Status: b15)
Speed-position switching signal
(External command signal [DI])
[Cd.45] Speed-position switching
device selection
[Cd.24] Speed-position
switching enable flag
In speed control flag
([Md.31] Status: b0)
0
Setting details are taken in at positioning start.
0.00000°
90.00000°
Speed-position
switching signal ON
0.00000°
90.00000°
Stop at 270.00000 [degree]
270.00000°