9 - 104
Chapter 9 Major Positioning Control
Operation chart
The following chart (Fig.9.16) 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).
[QD77MS4 operation example]
• When using the external command signal [DI] as speed-position switching signal
t
V
Positioning start signal
OFF
ON
BUSY signal
OFF
ON
Positioning complete signal
OFF
ON
ON
Speed control
Position control
Dwell time
In speed control flag
( Md. 31 Status: b0)
Cd. 24 Speed-position
switching enable flag
Da. 8 Command speed
OFF
OFF
OFF
ON
ON
[Y10,Y11,Y12,Y13]
[XC,XD,XE,XF]
[X14,X15,X16,X17]
Address set in Da. 6
Positioning address/movement
amount
Speed-position switching signal
(External command signal (DI))
Cd.45
Speed-position switching
device selection
Setting details are taken in at positioning start.
0
(Note): Refer to Section 3.3 for input/output signal of QD77MS16.
Fig. 9.16 Speed-position switching control (ABS mode) operation timing