Mitsubishi Electric MELSECQ Series User Manual page 219

APPENDIX
Positioning start signal [Y8 to YF]
Pulse output to outside
(PULSE)
BUSY signal [X8 to XF]
Axis operation status
Md. 4
Start complete signal [X10 to X17]
Speed-position switching control
operation
External speed-position switching
command (CHG)
Positioning complete signal [X18 to X1F]
OPR complete flag
[ Status : b1]
Md. 7
App - 4
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(4) Operation timing and processing time of speed-position switching
control
t1
t2
Standby
t4
Speed control
t1 t2
0.3 to 0.5ms 0.2ms
A delay may occur in t1 depending on the operating conditions of the other axes.
search engine
t3
Speed.Position
Speed.Position Position
Speed
t5
Position control
Speed control is exercised until the speed-position
switching signal turns ON.
The movement amount of position control applies
when the external speed-position switching signal is input.
t3 t4
0 to 2ms 0 to 2ms 0 to 2ms
MELSEC-Q
Standby
t6
t7
t5 t6
As set in
0 to 2ms
parameter
t7
App - 4