Mitsubishi Electric MELSEC Q Series Programming Manual page 293

6 POSITIONING CONTROL
(3) Operation timing
Operation timing for speed-position switching control is shown below.
PLC ready flag (M2000)
All axes servo ON command
(M2042)
All axes servo ON accept flag
(M2049)
Axis 4 servo ready (M2475)
Start command (PX000)
Servo program start
Axis 4 start accept flag (M2004)
Speed/position switching enable
command (M3265)
CHANGE signal input of the
Q172DLX
Speed/position switching latch
(M2465)
Axis 4 positioning completion
(M2461)
(4) Servo program
Servo program No.101 for speed-position switching control is shown below.
<K 101>
VPF
Axis
Speed
Dwell
(Note): Example of the Motion SFC program for positioning control is shown next page.
V
Servo program No.101
1second
Speed-position switching control
Axis used . . . . . Axis 4
4, 40000
1000 Travel value . . . 40000
Speed . . . . . . . 1000
1000
Dwell . . . . . . . . 1000
6 - 106
Speed control
Position control
t
1second