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Chapter 9 Major Positioning Control
Operation timing and processing time during position-speed switching
control
[QD77MS4 operation example]
Positioning start signal
[Y10, Y11, Y12, Y13]
BUSY signal [XC, XD, XE, XF]
M code ON signal
[X4, X5, X6, X7](WITH mode)
Standby
Position control
Stopped
M code OFF request
Start complete signal
[X10, X11, X12, X13]
Positioning operation
t1
t2
t3
Positioning complete signal
[X14, X15, X16, X17]
Speed control
Position
control
Speed
control
Position-speed switching command
t6
Speed control command speed is from the input position of
the external position-speed switching signal.
Axis operation status
Md.26
Position-speed switching
control speed change register
Cd.25
Cd. 7
OPR complete flag
( Md.31 )Status: b4
Axis stop signal
[Y4, Y5, Y6, Y7]
t4
Position control carried out until position-speed switching
signal turns ON.
(Note): Refer to Section 3.3 for input/output signal of QD77MS16.
Fig. 9.19 Operation timing and processing time during position-speed switching control