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MELSEC-A

9   MAIN POSITIONING CONTROL 

 

t

V

Positioning start signal

OFF

ON

BUSY signal

OFF

ON

Positioning complete signal

OFF

ON

Speed/position changeover signal

ON

Speed control  Position control

Dwell time

In speed control flag

Speed/position
changeover enable flag

Da. 7 Command speed

Movement amount set in" Da. 5
Positioning address/movement 
amount" (In INC mode)

OFF

OFF

OFF

ON

ON

[RY(n+1)0, RY(n+1)1]

[RXn4, RXn5]

[RXn7, RXn8]

[RY(n+2)8, RY(n+4)8]

[RX(n+1)C, RX(n+4)C]

Address set in " Da. 5  Positioning
address/movement amount"
(In ABS mode)

Fig. 9.10 Speed/position changeover control operation timing 

 

 Operation example 

 

The following operation assumes that "

Pr.1  Unit setting" is "2: degree", " Pr.22  

Current feed value during speed control" setting is "1: Update current feed value", 

and the speed/position changeover signal is input in the position of 90.00000 

[degree] current feed value during execution of "forward run:  
speed/position" set in "  Da.2 Control method". 
(The " Da.5  Positioning address/movement amount" setting value is 

270.00000[degree].) 

0.00000

90.00000

270.00000

0.00000

90.00000

Stop at 270.00000
[degree]

[ABS mode]

0.00000

90.00000

90.00000+270.00000
=360.00000
=stop at 0.00000[degree]

[INC mode]

Speed/position
changeover signal ON