9 MAJOR POSITIONING CONTROL

MELSEC-Q

Operation timing and processing time during position-speed switching control

Positioning start signal [Y10,Y11,Y12,Y13]

BUSY signal [XC,XD,XE,XF]

t1

M code ON signal [X4,X5,X6,X7](WITH mode)

Cd. 7 M code OFF request

t2

Start complete signal [X10,X11,X12,X13]

 

 

 

 

 

t3

Md.26 Axis operation status

Standing by

In position control

In speed control Standing by

 

 

t4

 

Output pulse to an external source

 

 

 

(PULSE)

 

 

 

 

 

Position

Speed

 

 

control

control

Positioning operation

 

 

 

 

 

 

Position control carried out until position-speed switching

External position-speed switching

 

 

signal turns ON.

command

 

 

Speed control command speed is from the input position of

 

 

 

 

 

t6

the external position-speed switching signal.

Cd.25 Position-speed switching

 

 

 

control speed change register

 

 

 

Positioning complete signal [X14,X15,X16,X17]

M code ON signal [X4,X5,X6,X7]

(AFTER mode)

t2

Cd. 7 M code OFF request

OPR complete flag

Md.31 Status: b4

Stop signal [STOP]

Fig. 9.19 Operation timing and processing time during position-speed switching control

Normal timing time

 

 

 

 

Unit: ms

 

 

 

 

 

 

 

 

 

 

t1

 

t2

t3

t4

 

t5

t6

 

1.0 to

1.4

0 to 1.8

0 to 1.8

2.7 to

4.4

-

1.0

The t1 timing time could be delayed by the operation state of other axes.

9 - 100

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Image 400
Mitsubishi Electronics QD75P, QD75D user manual Position control carried out until position-speed switching, Signal turns on