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Chapter 9 Major Positioning Control
Operation chart
The following chart (Fig.9.16) shows the operation timing for speed-position
switching control (ABS mode). The "in speed control flag" ([Md.31] Status: b0) is
turned ON during speed control of speed-position switching control (ABS mode).
[QD77MS4 operation example]
• When using the external command signal [DI] as speed-position switching signal
t
V
Positioning start signal
OFF
ON
BUSY signal
OFF
ON
Positioning complete signal
OFF
ON
ON
Speed control
Position control
Dwell time
In speed control flag
( Md. 31 Status: b0)
Cd. 24 Speed-position
switching enable flag
Da. 8 Command speed
OFF
OFF
OFF
ON
ON
[Y10, Y11, Y12, Y13]
[XC, XD, XE, XF]
[X14, X15, X16, X17]
Address set in Da. 6
Positioning address/movement
amount
Speed-position switching signal
(External command signal (DI))
Cd.45
Speed-position switching
device selection
Setting details are taken in at positioning start.
0
(Note): Refer to Section 3.3 for input/output signal of QD77MS16.
Fig. 9.16 Speed-position switching control (ABS mode) operation timing