Mitsubishi Electronics Q172HCPU, Q173HCPU 6 POSITIONING CONTROL, Fig. 6.27 Re-startingduring speed control, 6.15.2 Re-startingafter stop during control

6 POSITIONING CONTROL

6.15.2 Re-starting after stop during control

Re-starting (continuing) after stop with stop command during speed/position switching control is executed.

Re-starting uses VPSTART servo instruction.

Items are set in peripheral devices

Common

Arc

Parameter block

No.blockParameter

Axis

valueAddress/travel

speedCommand

timeDwell

code-M

valuelimitTorque

pointAuxiliary

Radius

pointCentral

unitControl

valuelimitSpeed

timeAcceleration

timeDeceleration

timedecelerationstopRapid

valuelimitTorque

input

interpolation

Servo

Positioning

Number of

stoponprocessingDeceleration

circularforrangeerrorAllowable

instruction

method

control axes

VPSTART

[Control details]

Others

Speed change

WAIT-ON/OFF

Cancel

S-curve ratio

: Must be set

: Set if required

(1)The continuous control after stop during speed control is executed, after speed/ position switching control start.

(2)Re-starting using the VPSTART is effective by stop during speed control or position control.

(a)Re-starts with the speed control at the stop during speed control, then switches to position control by turning on the CHANGE signal.

•The control contents after re-starting are same as the speed/position switching control. Refer to Section "6.15.1 Speed/position switching control start".

V

			Setting travel value
							t
		Speed
					Position
		controlling			controlling
			C			lid
				HANGE signal va
Speed/position		ON
	OFF
switching enable command
(M3205+20n)

CHANGE signal input from external source

Fig. 6.27 Re-starting during speed control

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