Mitsubishi Electric A173UHCPU Programming Manual page 219

7. POSITIONING CONTROL
[Program Example]
(3) If travel value under position control is less than deceleration distance
(a) If the position control travel value is less than the deceleration distance at
the controlled speed, deceleration processing starts immediately when
CHANGE is input.
(b) The difference between travel value for the deceleration stop and position
control is the overrun. If an overrun occurs, the error detection signal
(M2407+20n) turns ON and error code 209 is stored in the data register.
(c) The positioning completed signal (M2401+20n) does not turn ON.
Speed/position switching
enable signal(M3205+20n)
Speed/position switching
input (CHANGE)
Error detection (M2407+20n)
Positioning completed signal
(M2401+20n)
(4) Stroke limit check
No stroke limit range check is made during the speed mode. If the travel value
exceeds the stroke limit range, a minor error (error code: 210) occurs when
position mode is selected, and a deceleration stop occurs.
(5) Switching time from speed control to position control
Switching from speed control to position control takes 1 ms after the external
CHANGE signal turns ON.
This program executes speed/position switching control under the conditions
below.
(1) System configuration
Speed/position switching control of Axis 4.
A61P A273UH A278
LX
CPU
MR- -B MR- -B MR- -B MR- -B
Axis
Axis
M M
1
2
V
OFF
OFF
OFF
OFF
CHANGE signal
A61P AX41
Start command (X000)
Axis
Axis
M M
4
3
7 − 72
travel value under
position control
Overrun
t
ON
ON
ON