Mitsubishi Electronics QD75P, QD75D Position control carried out until position-speed switching

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.

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