Mitsubishi Electric MELSEC-Q Series User Manual page 504

Feed current value during speed-position switching control (ABS mode)
The following table shows the "[Md.20] Feed current value" during speed-position
switching control (ABS mode) corresponding to the "[Pr.21] Feed current value
during speed control" settings.
"[Pr.21] Feed current value during
speed control" setting
1: Update feed current value
Only "1: Update current value" is valid for the setting of "[Pr.21] Feed current value
during speed control" in speed-position switching control (ABS mode).
The error "Speed-position function selection error" (error code: 935) will occur if
the "[Pr.21] Feed current value during speed control" setting is other than 1.
Speed
Switching time from speed control to position control
There is 1ms from the time the speed-position switching signal is turned ON to the
time the speed-position switching latch flag ([Md.31] Status: b1) turns ON.
Speed-position switching signal
Speed-position switching latch flag
The feed current value is updated during speed control
and position control.
Speed control
Position control
Updated
Feed current value updated
ON
OFF
OFF
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Chapter 9 Major Positioning Control
[Md.20] Feed current value
t
ON
1ms