6 POSITIONING CONTROL

(2)No speed control

Position control only is executed if M3205+20n and CHANGE signal are turning on at the start. The speed controlling signal (M2404+20n) does not turn on.

 

V

Position control only is executed, if M3205+20n

 

 

 

and CHANGE are turning on at the start.

 

 

 

 

 

 

 

 

t

Speed/position switching

ON

 

 

 

 

 

 

enable command (M3205+20n)

OFF

 

 

 

Speed switching signal

ON

 

 

 

input (CHANGE)

OFF

 

 

 

Servo program start

OFF

 

 

 

Speed controlling (M2404+20n)

OFF

 

 

 

 

 

 

 

Speed/position switching

OFF

ON

latch (M2405+20n)

 

 

 

 

 

 

 

 

 

(3)"Travel value for position control" is less than "deceleration distance"

(a)If the travel value for position control is less than the deceleration distance at controlling speed, deceleration processing starts immediately when CHANGE is input.

(b)The difference between travel value for the deceleration stop and position control is the overrun. At this time, the error detection signal (M2407+20n) turns on and error code [209] is stored in the data register.

(c)The positioning complete signal (M2401+20n) does not turn on.

 

 

V

 

 

 

Travel value for

 

 

 

 

 

 

 

 

 

 

 

 

position control

 

 

 

 

 

 

 

 

 

 

 

 

Overrun

 

 

 

 

 

 

 

 

 

t

Speed/position switching

 

 

 

ON

 

 

 

OFF

 

 

 

 

 

 

 

 

 

 

 

enable command (M3205+20n)

 

 

 

 

 

 

Position switching signal

OFF

ON

 

 

 

 

 

input (CHANGE)

 

ON

 

 

 

 

 

Error detection (M2407+20n)

OFF

 

 

 

 

 

 

Positioning complete signal

OFF

 

 

 

 

 

 

(M2401+20n)

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

(4)Stroke limit check

Stroke limit range is not checked during the speed mode. If the travel value exceeds the stroke limit range, a minor error (error code: 210) occurs when position mode is selected, and performs a deceleration stop.

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