Mitsubishi-electric Mitsubishi Programmable Logic Controller QD75D User Manual Page 394
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MELSEC-Q
9 MAJOR POSITIONING CONTROL
Current feed value during speed-position switching control (ABS mode)
The following table shows the "
Md.20
Current feed value" during speed-position
switching control (ABS 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
1: Update current feed value
The current feed value is updated during speed control
and position control.
Only "1: Update current value" is valid for the setting of "
Pr.21
Current feed value
during speed control" in speed-position switching control (ABS mode).
An error (error code: 935) will occur if the "
Pr.21
Current feed value during
speed control" setting is other than 1.
t
Speed
Position control
Speed control
Updated
Current feed value updated
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
- Mitsubishi Programmable 1
- Logic Controller 1
- [Design Instructions] 3
- Component List 17
- Section 1 19
- Chapter 1 Product Outline 21
- Position control 28
- Speed control 28
- QD75 PLC CPU 33
- QD75 Peripheral device 33
- QD75 Drive unit 33
- QD75 External signal 34
- Pr.39 Sudden stop group3 40
- When " 41
- Restart command" is ON 41
- Reference 41
- No. of control axes 46
- QD75D4 only) 51
- Main functions 52
- Sub functions 52
- Common functions 52
- Input specifications 65
- Output specifications 66
- Module side 85
- Checking the OPR parameters 94
- Checking the condition data 99
- MELSEC-Q 100
- [Table 1] on right page 108
- [Table 2] on right page 114
- Speed limit value 115
- Acceleration time 0 115
- Deceleration time 0 115
- Torque limit setting value 119
- Speed switching mode 121
- Acceleration time 1 to 124
- Acceleration time 3 124
- Deceleration time 1 to 124
- Deceleration time 3 124
- JOG speed limit value 125
- S-pattern ratio 127
- Sudden stop deceleration time 128
- OPR speed 134
- OPR direction 137
- OP address 138
- Creep speed 139
- OPR retry 140
- OP shift amount 144
- OPR torque limit value 145
- Dwell time during OPR retry 145
- Operation pattern 149
- Control system 149
- Acceleration time No 149
- Deceleration time No 150
- Axis to be interpolated 150
- [Table 3] on right page 158
- Parameter 165
- Start data No 166
- Special start instruction 166
- Condition target 172
- Condition operator 172
- Parameter 1 173
- Parameter 2 173
- Axis warning occurrence 183
- Torque change value 211
- Positioning Control 221
- Data requiring setting 244
- Starting conditions 248
- Starting time chart 250
- Restrictions 256
- Data required to be set 256
- Details of areas 267
- Section 2 277
- Chapter 8 OPR Control 279
- OPR sub functions 281
- When an OPR is not required 281
- OPR from peripheral devices 281
- Near-point dog 282
- Machine OPR 282
- Precautions during operation 285
- Valid torque limit range 288
- Operation chart 289
- (Positioning start signal) 296
- Fast OPR operation 298
- Operating restrictions 299
- Da.2 Control system 302
- Positioning continue (11) 309
- Positioning complete signal 309
- Positioning 309
- Positioning address 314
- P1 P2 P3 P4 314
- Absolute system 315
- Incremental system 315
- Monitoring the current value 317
- Axis 2, Axis 3, Axis 4 321
- Axis 3, Axis 4, Axis 1 321
- Axis 4, Axis 1, Axis 2 321
- Axis 1, Axis 2, Axis 3 321
- Center point address 360
- Start point address 360
- End point address 360
- Position 385
- OPR complete flag 385
- Md.31 Status: b4 385
- Positioning start signal 400
- [Y10,Y11,Y12,Y13] 400
- Operation 411
- 7001 7004 419
- Da.12 Special start 429
- QD75 buffer memory 432
- Address 30000 432
- Start conditions 438
- Start time chart 439
- Creating the program 440
- Chapter 11 Manual Control 441
- JOG start signal 442
- Manual control sub functions 443
- Monitoring manual control 443
- Errors during operation 445
- Forward 451
- JOG run 451
- OFF (within 100ms) 456
- Inching operation 457
- (within 100 ms): 466
- Manual pulse 467
- Restricted items 468
- Worm gear 487
- Workpiece 487
- Workpiece moveable range 502
- Current value address 507
- External command 516
- No.15 Override program 519
- <Write override value> 519
- K1K3K62H0TOP 541
- K1 K1K1505H0TOP 541
- Velocity 561
- Cutter shaft 564
- Feed shaft 564
- Chapter 13 Common Functions 575
- 0:OFF, 1:ON 582
- Axis-by-axis external I/O 582
- ERR LEDs 582
- Chapter 15 605
- Troubleshooting 605
- Types of errors 606
- Error storage 607
- Types of warnings 607
- Warning storage 608
- Appendices 643
- Forward run stroke end 679
- Reverse run stroke end 679
- External emergency stop 679
- 12345678910111213141516 710
- This point is the reference 724
- Switching signal 730
- [Number] 751
- Index - 14 764
- WARRANTY 765
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