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9 MAJOR POSITIONING CONTROL
Positioning start signal
[Y10,Y11,Y12,Y13]
BUSY signal [XC,XD,XE,XF]
M code ON signal
[X4,X5,X6,X7](WITH mode)
Cd. 7
M code OFF request
Start complete signal [X10,X11,X12,X13]
Md.26
Axis operation status
Positioning operation
External position-speed switching
command
Position-speed switching
Cd.25
control speed change register
Positioning complete signal
[X14,X15,X16,X17]
M code ON signal [X4,X5,X6,X7]
(AFTER mode)
Cd. 7
M code OFF request
OPR complete flag
Status: b4
Md.31
Stop signal
[STOP]
Fig. 9.19 Operation timing and processing time during position-speed switching control
Normal timing time
t1
1.0 to 1.4
•
The t1 timing time could be delayed by the operation state of other axes.
Operation timing and processing time during position-speed switching
control
t1
In position control
Standing by
t4
t2
t3
0 to 1.8
0 to 1.7
3.0 to 4.0
t2
In speed control
Position
Speed
control
control
Position control carried out until position-speed switching
signal turns ON.
Speed control command speed is from the input position of
the external position-speed switching signal.
t6
Unit: ms
t4
t5
-
9 - 101
MELSEC-Q
t3
Standing by
t2
t6
0.2
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