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MELSEC-A
9 MAIN POSITIONING CONTROL
Operation timing and processing time during speed/position changeover
control
Positioning start
signal [Y10,Y11,Y12]
BUSY signal
M code ON signal
[XD,XE,XF](WITH mode)
Standing by
In speed control
Start complete signal
Position/speed command
Positioning operation
Positioning complete signal
M code ON signal (AFTER mode)
t1
t2
t3
t4
t5
t2
t7
*
In position control
Speed
control
Position
control
External speed/position
changeover command
*
t6
* Speed control carried out until speed/position changeover
signal turns ON
Position control movement amount is from the input position of
the external speed/position changeover signal
Md.35 Axis operation status
Cd. 21 Speed/position changeover
control movement amount
change register
Zero point return complete flag
Md.40 Status: b4
Cd.14 M code OFF request
Cd.14 M code OFF request
*
Standing by
[X4,X5,X6]
[X1,X2,X3]
[X7,X8,X9]
[XD,XE,XF]
Fig. 9.11 Operation timing and processing time during speed/position changeover control
Normal timing time Unit: ms
t1 t2 t3 t4 t5 t6 t7
5 to 15 0 to 60 0 to 3.5 1 Follows parameters
•
The t1 timing time could be delayed by the following factors.
1) Presence of FROM/TO command execution during start process
2) Operation state of other axes
3) Presence of intervention from peripheral device during start process
4) Details of positioning data to be started
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