Mitsubishi Electric MELSEC iQ-R Series User Manual page 123

Operation chart
The following chart shows the operation timing for position-speed switching control.
The "in speed control" flag ([Md.31] Status: b0) is turned ON during speed control of position-speed switching control.
■4-axis module operation example
[Da.8] Command speed
Positioning start signal
[Y10, Y11, Y12, Y13]
BUSY signal
[X10, X11, X12, X13]
Positioning complete signal
([Md.31] Status: b15)
Position-speed switching signal
[Cd.26] Position-speed
switching enable flag
[Cd.180] Axis stop
In speed control flag
([Md.31] Status: b0)
[Cd.45] Speed-position
switching device selection
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V
Position
control Speed control
ON
OFF
ON
OFF
OFF
ON
OFF
ON
OFF
OFF
ON
OFF
0
Setting details are taken in at positioning start.
search engine
t
Does not turn ON even
when control is stopped
by stop command.
ON
3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
3
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