Mitsubishi Electronics Q172HCPU, Q173HCPU 6 POSITIONING CONTROL, 6.16Speed-SwitchingControl

6 POSITIONING CONTROL

6.16Speed-Switching Control

(1)Positioning control performs changing the speed on the point beforehand set by one start.

(2)The speed-switching points and speed are set using the servo program.

(3)Repetition control between any speed-switching points can be performed by using repetition instructions.

(4)M-codes and torque limit values can be changed at each speed-switching point.

6.16.1 Speed-switching control start, speed-switching points and end specification

					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

Start	VSTART
End	VEND
	ABS-1		1
End point
	ABS-2	Absolute data	2
address
	ABS-3		3		Valid
Travel	INC-1		1
	INC-2
value to		Incremental	2
end point
	INC-3		3
Speed-	VABS	Absolute data
Switching
	VINC	Incremental
point
				: Must be set
				: Set if required

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