Mitsubishi Electric MELSEC Q Series Programming Manual page 298

6 POSITIONING CONTROL
(3) Operation timing
Operation timing for speed-position switching control and re-starting are 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)
Restart command (PX001)
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)
Stop command (PX002, M3260)
(4) Servo program
Servo program No.101 and No.2 for speed-position switching control and re-
starting are shown below.
<K 101>
VPF
Axis
Speed
<K 102>
VPSTART
Axis
(Note): Example of the Motion SFC program for positioning control is shown next page.
V
1000
Speed
control
Speed-position switching control
Axis used . . . . . Axis 4
4, 40000
Travel value . . . 40000
1000
Speed . . . . . . . . . .
Re-start
4
Axis used . . . . . . . Axis 4
6 - 111
CHANGE signal accept
Position control
t
1000