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3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
Current feed value
The following table shows the "[Md.20] Current feed value" during speed-position switching control (ABS mode)
corresponding to the "[Pr.21] Current feed value during speed control" settings.
Only "1: Update current value" is valid for the setting of "[Pr.21] Current feed value during speed control" in speed-position
switching control (ABS mode).
The error "Speed-position function selection error" (error code: 1AAEH) will occur if the "[Pr.21] Current feed value during
speed control" setting is other than 1.
Switching time from speed control to position control
It takes 1 ms from the time the speed-position switching signal is turned ON to the time the speed-position switching latch flag
([Md.31] Status: b1) turns ON.
"[Pr.21] Current feed value during speed control" setting [Md.20] Current feed value
1: Update current feed value The current feed value is updated during speed control and position control.
V
t
Speed control
Position control
Updated
Current feed value updated
Speed-position switching
signal
Speed-position switching
latch flag
OFF
ON
OFF
ON
1 ms
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