6 POSITIONING CONTROL

6.19 Speed control with fixed position stop

Speed control with fixed position stop of the specified axis is executed.

Speed control with fixed position stop is started using the PVF (forward rotation) or PVR (reverse rotation) of servo program instruction.

Servo

Positioning

instruction

method

PVFAbsolute

PVRAbsolute

[Control details]

(1)

 

 

 

 

 

 

 

 

Items are set in peripheral devices

 

 

 

 

 

 

 

Common

 

 

Arc

 

 

 

Parameter block

 

Others

 

Number of

No.blockParameter

Axis

valueAddress/travel

speedCommand

timeDwell

code-M

valuelimitTorque

pointAuxiliary

Radius

pointCentral

unitControl

valuelimitSpeed

timeAcceleration

timeDeceleration

timedecelerationstopRapid

valuelimitTorque

stoponprocessingDecelerationinput

circularforrangeerrorAllowableinterpolation

ratiocurve-S

Cancel

ON/OFF-WAIT

accel./decel.timestoppositionFixed

stoppositionFixed

Speed

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

control axes

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

change

1

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Valid

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

1

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Valid

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

: Must be set

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

: Set if required

After starting of servomotor, control at the specified speed is executed until the fixed position stop command turns on.

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

•PVR...... Reverse rotation direction (Address decrease direction) start

(2)When the fixed position stop command turns on, a positioning control to the specified address is executed.

[Positioning address :180.00000[degree]]

359.99999[degree]

Current value

 

 

 

180.00000[degree]

0[degree]

ON

Servo program

OFF

start

ON

 

Fixed position stop

OFF

command device

 

 

(3)It can be controlled in the real mode only for axis which "control unit is [degree] and stroke limit is invalid ("upper stroke limit value" equal to "lower stroke limit value")". If it is started for axis which "control unit is except [degree] or stroke limit is not invalid", a minor error [130] occurs and it does not start.

And, if it is started for the virtual servomotor axis in the virtual mode, a servo program setting error [905] occurs and it does not start. (It can be started for real mode axis.)

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