6 POSITIONING CONTROL

Example The following servo program which performs the speed control for axis 4 to the forward direction at speed 50000, and the position control of the travel value set in D76, D77 after the CHANGE signal from external source turns on.

<K 11>

 

 

 

 

 

 

 

 

 

 

VPF

 

 

 

 

Indicates indirect specification of travel value

Axis

4,

D76

 

 

Speed

 

 

50000

 

 

(b)The travel value is stored in the data register for travel value change during speed control in the Motion SFC program. When the CHANGE signal turns on, the contents of the data register for travel value change are set as the travel value.

 

V

Speed

 

Position

 

 

 

 

controlling

 

controlling

 

 

 

 

 

 

 

 

 

 

 

 

t

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Travel value

 

 

 

 

 

 

 

 

 

 

CHANGE signal input

 

change possible

ON

OFF

 

 

 

 

 

from external source

 

 

 

 

 

 

 

 

 

 

 

 

 

Data register for travel

 

P1

P2

 

 

P3

 

 

 

value change

 

 

 

 

 

 

 

 

 

P2 is reset as the travel value

 

 

 

 

 

 

 

 

 

(5) Travel value area after proximity dog ON

The travel value since the position mode was selected by the CHANGE signal input from external source is stored in the travel value storage register after proximity dog ON. (Refer to Section 3.2.1)

[Cautions]

(1)Item check at the CHANGE signal ON from external source

When the external CHANGE signal turns on, speed control switches to position control if the following conditions are met:

•Start accept flag (M2001+n) is turning on.

•Speed control is executing after starting of the speed/position switching control.

•Speed/position switching enable command (M3205+20n) is turning on.

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