Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 42

• In the case of indirect setting, the fixed position stop acceleration/deceleration time is input in the following timing.
• Positioning start
• Speed change request (CHGVS)
• Fixed position stop command ON
• When the positioning to specified address completes, the "[St.341] Command generation axis positioning complete signal
(R: M36561+32n/Q: M9801+20n)" turns ON. It does not turn on at the time of stop by the "[Rq.341] Command generation
axis stop command (R: M40160+32n/Q: M10960+20n)"/"[Rq.342] Command generation axis rapid stop command (R:
M40161+32n/Q: M10961+20n)". The "[St.341] Command generation axis positioning complete signal (R: M36561+32n/Q:
M9801+20n)" turns off at leading edge of "[Rq.345] Command generation axis complete signal OFF command (R:
M40164+32n/Q: M10964+20n)" or positioning start.
• Speed change can be executed any number of times by the speed change request (CHGVS) instruction during operation.
• Deceleration speed by the "[Rq.341] Command generation axis stop command (R: M40160+32n/Q: M10960+20n)"/
"[Rq.342] Command generation axis rapid stop command (R: M40161+32n/Q: M10961+20n)" is controlled with fixed
inclination (deceleration speed). Deceleration processing is executed using the speed limit value or deceleration/rapid stop
deceleration time set in the parameter block.
• When the fixed position stop command turns on, the command in-position check starts. When the absolute value of
difference between the setting address and feed current value below the "[Pr.344] Command generation axis command in-
position range" set in the command generation axis parameter, the "[St.342] Command generation axis command in-
position (R: M36563+32n/Q: M9803+20n)" turns on. The "[St.342] Command generation axis command in-position (R:
M36563+32n/Q: M9803+20n)" turns OFF by a positioning start.
• A positioning control is executed the speed specified with the speed limit value when the fixed position stop command turns
on with speed "0" (before PVF instruction execution/at speed change to speed "0" during PVF instruction execution).
4 INPUT AXIS MODULE
40
4.2 Command Generation Axis