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MELSEC-Q
9 MAJOR POSITIONING CONTROL
Operation timing and processing time during speed-position switching
control (INC mode)
Standby
Speed control
Standby
Axis operation status
M code OFF request
Positioning operation
t1
t2
t3
t4
t5
t2
t7
Position control
t6
Cd.7
Positioning start signal
[Y10,Y11,Y12,Y13]
BUSY signal [XC,XD,XE,XF]
M code ON signal [X4,X5,X6,X7]
(WITH mode)
Cd.7
Start complete signal [X10,X11,X12,X13]
Md.26
Output pulse to external source
(PULSE)
External speed-position
switching command
Positioning complete signal
[X14,X15,X16,X17]
M code ON signal [X4,X5,X6,X7]
(AFTER mode)
M code OFF request
Md.31
Status: b4
OPR complete flag
Md.31
Status: b1
Speed-position switching latch flag
Speed control carried out until speed-position switching
signal turns ON
Position control movement amount is from the input position of
the external speed-position switching signal
Speed
control
Position
control
Fig. 9.14 Operation timing and processing time during speed-position switching control (INC mode)
Normal timing time
Model t1 t2 t3 t4 t5 t6 t7
QD75P N/QD75D N 0.2 to 1.1ms 0 to 0.9ms 0 to 0.9ms 0.4 to 1.3ms 0 to 0.9ms 1.0ms
QD75P /QD75D 1.1ms 0 to 1.8ms 0 to 1.8ms 2.7 to 4.4ms 0 to 1.8ms 1.0ms
Follows
parameters
•
The t1 timing time could be delayed by the operation state of other axes.
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