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Chapter 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
V
t
Position control
Maintained
Updated
Speed control
Position control
Speed control
Position control
Speed control
Updated
(a) Current feed value not updated (b) Current feed value updated
(c) Current feed value zero cleared
VV
Current
f
eed value
Current
feed value
Current
feed value
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
Speed-position switching signal setting
(1) The following table shows the items that must be set to use the external
command signals [DI] as speed-position switching signals.
Setting item
Setting
value
Setting details
Buffer memory address
QD77MS2
QD77MS4
QD77MS16
[Pr.42]
External
command
function selection
2
Speed-position, position-speed
switching request.
62+150n
[Cd.8]
External
command valid
1
Validates an external
command.
1505+100n 4305+100n
[Cd.45]
Speed-position
switching device
selection
0
Use the external command
signal for switching from speed
control to position control.
1566+100n 4366+100n
(Note): Set the external command signal [DI] in "[Pr.95] External command signal selection" at QD77MS16
use. Refer to Section 5.2 "List of parameters" and Section 5.7 "List of control data" for information
on the setting details.