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MELSEC-Q
9 MAJOR POSITIONING CONTROL
9.2.17 Speed-position switching control (ABS mode)
In case of "speed-position switching control (ABS mode)" ("
Da.2
Control system" =
Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set
in "
Da.8
Command speed" are kept output in the axial direction set to the positioning
data. When the "speed-position switching signal" is input, position control to the
address set in "
Da.6
Positioning address/movement amount" is exercised.
"Speed-position switching control (ABS mode)" is available in two different types:
"forward run: speed/position" which starts the axis in the forward run direction and
"reverse run: speed/position" which starts the axis in the reverse run direction.
"Speed-position switching control (ABS mode)" is valid only when "
Pr.1
Unit setting"
is "2: degree".
Pr.1
Unit setting
Speed-position
function selection
mm inch degree pulse
INC mode
ABS mode
: Setting allowed,
: Setting disallowed (If setting is made, an error (error code: 935) will occur when the PLC
READY signal (Y0) turns ON.)
Use the detailed parameter 1 "
Pr.150
Speed-position function selection" to choose
"speed-position switching control (ABS mode)".
Buffer memory address
Setting item
Setting
value
Setting details
Axis 1 Axis 2 Axis 3 Axis 4
Pr.150
Speed-
position
function
selection
2
Speed-position switching control
(ABS mode)
34 184 334 484
If the set value is other than 0 and 2, it is regarded as 0 and operation is performed in the INC
mode.
For details of the setting, refer to Section 5.2 "List of parameters".
Switching over from speed control to position control
(1) The control is switched over from speed control to position control by the
external signal "speed-position switching signal".
(2) Besides setting the positioning data, the "
Cd.24
Speed-position switching
enable flag" must also be turned ON to switch over from speed control to
position control. (If the "
Cd.24
Speed-position switching enable flag" turns
ON after the speed-position switching signal turns ON, the control will continue
as speed control without switching over to position control. Only position
control will be carried out when the "
Cd.24
Speed-position switching enable
flag" and speed-position switching signal are ON at the operation start.)