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MELSEC-Q
9 MAJOR POSITIONING CONTROL
Current feed value during speed-position switching control (INC mode)
The following table shows the "
Md.20
Current feed value" during speed-position
switching control (INC mode) corresponding to the "
Pr.21
Current feed value
during speed control" settings.
"
Pr.21
Current feed value during
speed control" setting
Md.20
Current feed value
0: Do not update current feed value
The current feed value at control start is maintained during
speed control, and updated from the switching to position
control.
1: Update current feed value
The current feed value is updated during speed control
and position control.
2: Zero clear current feed value
The current feed value is cleared (set to "0") at control
start, and updated from the switching to position control.
t
0
Updated from 0
t
Speed
t
Position control
Maintained
Updated
Speed control
Speed
Position control
Speed control
Speed Position control
Speed control
Updated
(a) Current feed value not updated (b) Current feed value updated
(c) Current feed value zero cleared
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
OFF
ON
OFF
ON
1ms
Speed-position switching latch flag