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6 POSITIONING CONTROL
REMARK
(Note): "The external CHANGE signal input from external source" is inputted to
CHANGE of the Q172LX from external source. When "normally open contact
input" is set in the system settings, CHANGE input occurs at the CHANGE
signal on, and when "normally closed contact input" is set, CHANGE input
occurs at the CHANGE signal off. (Refer to the "Q173HCPU/Q172HCPU
Motion controller User's Manual".)
(3) Feed current value processing
The feed current value is as follows by turning feed current value update request
command (M3212+20n) on/off at the speed/position switching control start.
(a) M3212+20n OFF......
• The feed current value is cleared to "0" at the start.
• The feed current value is updated from the start
(speed control).
• The feed current value after stop is as follows:
Feed current
value after stop
Travel value
during speed
control
Travel value
for position
control
=+
(b) M3212+20n ON..…..
• The feed current value is not cleared at the start.
• The feed current value is updated from the start
(speed control).
• If the feed current value exceeds the stroke limit, a
deceleration stop is executed.
• The feed current value after stop is as follows:
=
+
+
Feed current
value after stop
Travel value
during speed
control
Travel value
for position
control
Address
before speed
control start
0
Feed
current
value
OFF
M3212
+20n
OFF
* *
[M3212+20n OFF] [M3212+20n ON]
CHANGE input CHANGE input
ON
M3212
+20n
* ** *
Feed
current
value
Update feed current value
Speed
controlling
Position
controlling
Speed
controlling
Position
controlling
Update feed current value
Clear feed current value
POINT
If it is started with M3212+20n on, leave M3212+20n on until positioning control is
completed. If it is turns off during control, the feed current value cannot be
guaranteed.