Position-Speed Switching Control - Mitsubishi Electric MELSEC iQ-R Series User Manual

Position-speed switching control

In "position-speed switching control" ("[Da.2] Control method" = Forward run: position/speed, Reverse run: position/speed),
before the position-speed switching signal is input, position control is carried out for the movement amount set in "[Da.6]
Positioning address/movement amount" in the axis direction in which the positioning data has been set. When the position-
speed switching signal is input, the position control is carried out by continuously outputting the pulses for the speed set in
"[Da.8] Command speed" until the input of a stop command.
The two types of position-speed switching control are "Forward run: position/speed" in which the control starts in the forward
run direction, and "Reverse run: position/speed" in which control starts in the reverse run direction.
Switching over from position control to speed control
• The control is selected the switching method from position control to speed control by the setting value of "[Cd.45] Speed-
position switching device selection".
n: Axis No. - 1
Setting item
[Cd.45] Speed-position switching device
selection
The switching is performed by using the following device when "2" is set.
n: Axis No. - 1
Setting item
[Cd.46] Speed-position switching
command
• "[Cd.26] Position-speed switching enable flag" must be turned ON to switch over from position control to speed control. (If
"[Cd.26] Position-speed switching enable flag" turns ON after the position-speed switching signal turns ON, the control will
continue as position control without switching over to speed control. The control will be switched over from position control
to speed control when the position-speed switching signal turns from OFF to ON again. Only speed control will be carried
out when "[Cd.26] Position-speed switching enable flag" and position-speed switching signal are ON at the operation start.)
n: Axis No. - 1
Setting item
[Cd.26] Position-speed switching enable
flag
3 MAJOR POSITIONING CONTROL
120
3.2 Setting the Positioning Data
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Setting Setting details
value

The device used for speed-position switching is selected.
0: Use the external command signal for switching from position
2: Use "[Cd.46] Speed-position switching command" for
Setting Setting details
value
1 Switch from position control to speed control
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" comes ON.
search engine
control to speed control
switching from position control to speed control
Buffer memory address
Axis 1 to axis 16
4366+100n
Buffer memory address
Axis 1 to axis 16
4367+100n
Buffer memory address
Axis 1 to axis 16
4332+100n