Mitsubishi Electric MELSEC iQ-R Series User Manual page 116

• "[Cd.24] Speed-position switching enable flag" must be turned ON to switch over from speed control to position control. (If
"[Cd.24] Speed-position switching enable flag" turns ON after the speed-position switching signal turns ON, the control will
continue as speed control without switching over to position control. The control will be switched over from position control
to speed control when the speed-position switching signal turns from OFF to ON again. Only position control will be carried
out when "[Cd.24] Speed-position switching enable flag" and speed-position switching signal are ON at the operation start.)
n: Axis No. - 1
Setting item
[Cd.24] Speed-position switching
enable flag
Operation chart
The following chart 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).
■4-axis module operation example
[Da.8] Command speed
Positioning start signal
[Y10, Y11, Y12, Y13]
BUSY signal
[X10, X11, X12, X13]
Positioning complete signal
([Md.31] Status: b15)
Speed-position switching signal
[Cd.24] Speed-position
switching enable flag
In speed control flag
([Md.31] Status: b0)
[Cd.45] Speed-position switching
device selection
3 MAJOR POSITIONING CONTROL
114
3.2 Setting the Positioning Data
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Setting Setting details
value
1 Speed control will be taken over by position control when the
switching signal set in "[Cd.45] Speed-position switching device
selection" turns ON.
V
Position
Speed
control
control
ON
OFF
ON
OFF
OFF
ON
OFF
ON
OFF
ON
OFF
0
Setting details are taken in at positioning start.
search engine
Movement amount set in "[Da.6]
Positioning address/movement amount"
t
Dwell time
ON
Buffer memory address
Axis 1 to axis 16
4328+100n