Mitsubishi Electric MELSEC iQ-R Series User Manual page 112

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.
• The position control movement amount can be changed during the speed control section of speed-position switching
control (INC mode). A movement amount change request will be ignored unless issued during the speed control section of
the speed-position switching control (INC mode).
• The "new movement amount" is stored in "[Cd.23] Speed-position switching control movement amount change register" by
the 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".
• The movement amount is stored in "[Md.29] Speed-position switching control positioning movement 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 device.
Speed-position switching control
(INC mode) start
Speed-position
switching signal
[Cd.23] Speed-position
switching control
movement amount
change register
Speed-position
switching latch flag
([Md.31] Status: b1)
3 MAJOR POSITIONING CONTROL
110
3.2 Setting the Positioning Data
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Speed control
Movement amount
changeable
OFF
0 P2
ON
OFF
• The machine recognizes the presence of a movement amount change request when the data is written to
"[Cd.23] Speed-position switching control movement amount change register" with the program.
• The new movement amount is validated after execution of the speed-position switching control (INC mode),
before the input of the speed-position switching signal.
• The movement amount change can be enable/disable with the interlock function in position control using
the "speed-position switching latch flag" ([Md.31] Status: b1) of the axis monitor area.
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Position
control
Positioning control start
ON
Setting after the speed-position
switching signal ON is ignored.
P3
P2 becomes the position control movement amount.
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