6 POSITIONING CONTROL

6.15 Speed/Position Switching Control 6.15.1 Speed/position switching control start

Speed/position switching control for specified axis is executed.

Speed/position switching control uses the VPF (Forward rotation), VPR (Reverse rotation) and VPSTART (Re-start) servo instructions.

 

 

 

 

 

Items are set in peripheral devices

 

 

 

 

 

 

Common

Arc

Parameter block

Others

 

 

 

 

blockParameterNo.

Axis valueAddress/travel speedCommand timeDwell code-M

valuelimitTorque pointAuxiliary Radius pointCentral unitControl

input

interpolation

Servo

Positioning

 

valuelimitSpeed timeAcceleration timeDeceleration decelerationstopRapid time valuelimitTorque processingDecelerationon stop

errorAllowablerange for circular ratiocurve-S Cancel ON/OFF-WAIT

Number of

 

 

 

 

Speed change

instruction

method

control axes

 

 

 

 

 

VPF

 

 

 

Incremental

1

Valid

 

VPR

 

 

 

 

 

 

 

 

 

: Must be set

 

 

 

: Set if required

[Control details]

(1)The speed control is executed after the start of the servomotor, and changes from speed control to position control with the CHANGE (Speed/position switching) signal from external source, and then the specified positioning travel value is executed.

•VPF...... Forward rotation direction (Address increase direction) start

•VPR….. Reverse rotation direction (Address decrease direction) start

(2)The CHANGE signal from external source is effective during speed/position switching enable signal (M3205+20n) is on only. If M3205+20n turns on after the CHANGE signal turned on, it does not change from speed control to position control and speed control is continued.

V

Setting travel value

Speed Position

t

controlling controlling

CHANGE signal valid

ON

Speed/position

OFF

switching enable signal

(M3205+20n)

 

CHANGE signal input

 

from external source (Note)

 

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