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Chapter 9 Major Positioning Control
Operation timing and processing time during speed-position switching
control (INC mode)
[QD77MS4 operation example]
Positioning start signal
BUSY signal
M code ON signal
[X4, X5, X6, X7](WITH mode)
Standby
Speed control
Start complete signal
Positioning operation
Positioning complete signal
M code ON signal (AFTER mode)
t1
t2
t3
t4
t5
t2
t7
Position control
Speed
control
Position
control
Speed-position switching
command
t6
Speed control carried out until speed-position switching
signal turns ON
Position control movement amount is from the input position of
the external speed-position switching signal
Md.26 Axis operation status
Cd. 23 Speed-position switching
control movement amount
change register
OPR complete flag
( Md.31 Status: b4)
Cd.7 M code OFF request
Cd.7 M code OFF request
Standby
[XC, XD, XE, XF]
[X10, X11, X12, X13]
[X14, X15, X16, X17]
[X4, X5, X6, X7]
[Y10, Y11, Y12, Y13]
(Note): Refer to Section 3.3 for input/output signal of QD77MS16.
Fig. 9.14 Operation timing and processing time during speed-position switching control (INC mode)