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MELSEC-Q
9 MAJOR POSITIONING CONTROL
Operation timing and processing time during position-speed switching
control
Positioning start signal
[Y10,Y11,Y12,Y13]
BUSY signal [XC,XD,XE,XF]
M code ON signal
[X4,X5,X6,X7](WITH mode)
Standing by
In position control
Standing byAxis operation status
M code OFF request
Start complete signal [X10,X11,X12,X13]
Positioning operation
M code ON signal [X4,X5,X6,X7]
(AFTER mode)
M code OFF request
t1
t2
t3
t2
Positioning complete signal
[X14,X15,X16,X17]
In speed control
Position
control
Speed
control
External position-speed switching
command
t6
Speed control command speed is from the input position of
the external position-speed switching signal.
Md.26
Position-speed switching
control speed change register
Cd.25
Cd. 7
Cd. 7
Status: b4
OPR complete flag
Md.31
Stop signal
[STOP]
t4
Position control carried out until position-speed switching
signal turns ON.
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 1.7 3.0 to 4.0 - 0.2
•
The t1 timing time could be delayed by the operation state of other axes.