Mitsubishi Electronics Q172HCPU, Q173HCPU manual 240

6 POSITIONING CONTROL

REMARK

(Note): "The external CHANGE signal input from external source" is inputted to CHANGE of the Q172LX from external source. When "normally open contact input" is set in the system settings, CHANGE input occurs at the CHANGE signal on, and when "normally closed contact input" is set, CHANGE input occurs at the CHANGE signal off. (Refer to the "Q173HCPU/Q172HCPU Motion controller User's Manual".)

(3)Feed current value processing

The feed current value is as follows by turning feed current value update request command (M3212+20n) on/off at the speed/position switching control start.

(a)M3212+20n OFF...... • The feed current value is cleared to "0" at the start.

•The feed current value is updated from the start (speed control).

•The feed current value after stop is as follows:

Feed current	=	Travel value	+	Travel value
		during speed		for position
value after stop
		control		control

(b)M3212+20n ON..….. • The feed current value is not cleared at the start.

•The feed current value is updated from the start (speed control).

•If the feed current value exceeds the stroke limit, a deceleration stop is executed.

•The feed current value after stop is as follows:

Feed current		Address		Travel value		Travel value
	=	before speed	+	during speed	+	for position
value after stop
		control start		control		control

[M3212+20n OFF]

CHANGE input

Speed	Position
controlling	controlling

Feed current * * 0

value

Update feed current value Clear feed current value

M3212 OFF

+20n

[M3212+20n ON] CHANGE input

	Speed	Position
	controlling	controlling
Feed
current * *	* *
value	Update feed current value

ON

M3212 OFF

+20n

POINT

If it is started with M3212+20n on, leave M3212+20n on until positioning control is completed. If it is turns off during control, the feed current value cannot be guaranteed.

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