Mitsubishi Electric MELSEC Q Series Programming Manual page 362

6 POSITIONING CONTROL
Servo program start
Speed change
request (CHGV)
Fixed position stop
command device
Fixed position stop
accel./decel. time
(Indirect setting device)
(4) Address setting range is 0 to 35999999 (0 to 359.99999[degree]) in the indirect
setting of positioning address. If it is set outside the setting range, a servo
program setting error (error code: n03) occurs and it does not start. Positioning
address is input at the program start.
(5) It is controlled in the fixed position stop acceleration/deceleration time set in the
servo program at positioning start, speed change request (CHGV) and fixed
position stop command ON. The fixed acceleration/deceleration time method is
used as an acceleration/deceleration processing in this case.
(6) The setting range of fixed position stop acceleration/deceleration time is 1 to
65535[ms].
(7) In the case of indirect setting, the fixed position stop acceleration/deceleration time
is input in the following timing.
• Positioning start
• Speed change request (CHGV)
• Fixed position stop command ON
(8) When the positioning to specified address completes, the positioning complete
signal (M2401+20n) turns on. It does not turn on at the time of stop by the stop
command (M3200+20n)/rapid stop command (M3201+20n). The positioning
complete signal (M2401+20n) turns off at leading edge of complete signal OFF
command (M3204+20n) or positioning start.
(9) Prior to turning ON the fixed position stop command device, speed change can be
executed any number of times by the speed change request (CHGV) instruction
during operation.
The speed change request (CHGV) instruction is disabled after the fixed position
stop command device turns ON. If the fixed position stop command device turns
ON while changing the speed by the speed change request (CHGV) instruction,
the acceleration/deceleration is stopped and positioning is performed for the
specified address using the speed at that time.
V
ON
OFF
OFF
OFF
a b
ON
a
b
6 - 175
Change value by speed
change request (CHGV).
c d
Fixed position
stop accel./decel.
time
ON
c d
t