Mitsubishi QD75P1N - Speed-Position Switching Control (ABS Mode)

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MELSEC-Q
9 MAJOR POSITIONING CONTROL
Changing the position control movement amount
In "speed-position switching control (INC mode)", the position control movement
amount can be changed during the speed control section.
(1) The "new movement amount" is stored in "
Cd.23
Speed-position switching
control movement amount change register" by the sequence program during
speed control.
When the speed-position switching signal is turned ON, the movement amount
for position control is stored in "
Cd.23
Speed-position switching control
movement amount change register".
(2) The movement amount is stored in the "
Md.29
Speed-position switching
control positioning amount" of the axis monitor area from the point where the
control changes to position control by the input of a speed-position switching
signal from an external source.
t
Movement amount
Speed-position switching signal
ON
OFF
Speed control
Position control
Position control start
Speed-position switching control (INC mode) start
0
P2
OFF
Speed-position switching latch flag
ON
P3
P2 becomes the position control movement amoun
t
Cd.23 Speed-position switching control,
movement amount change register
Md.31 Status : b1
change possible
Setting after the speed-position
switching signal ON is ignored
Fig. 9.15 Position control movement amount change timing