6 POSITIONING CONTROL

(4)Address setting range is 0 to 35999999 (0 to 359.99999[degree]) in the indirect setting of positioning address. If it is set outside the setting range, a servo program setting error [n03] occurs and it does not start. Positioning address is input at the program start.

(5)It is controlled in the fixed position stop acceleration/deceleration time set in the servo program at the time of positioning start, speed change request (CHGV) and fixed position stop command ON. The fixed acceleration/deceleration time method is used as an acceleration/deceleration processing in this case.

(6)The setting range of fixed position stop acceleration/deceleration time is 1 to 65536[ms].

(7)In the case of indirect setting, the fixed position stop acceleration/deceleration time is input in the following timing.

•Positioning start

•Speed change request (CHGV)

•Fixed position stop command ON

(8)When the positioning to specified address completes, the positioning complete signal (M2401+20n) turns on. It does not turn on at the time of stop by the stop command (M3200+20n)/rapid stop command (M3201+20n). The positioning complete signal (M2401+20n) turns off by turning the complete signal OFF command (M3204+20n) off to on or positioning start.

(9)Speed change can be executed any number of times by the speed change request (CHGV) instruction during operation.

 

V

 

 

 

 

 

 

Change value by speed

 

 

 

 

 

 

 

 

 

change request (CHGV).

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

t

 

 

 

 

a

b

c

 

 

 

 

 

 

 

 

 

d

 

 

 

 

 

 

 

 

 

 

 

 

Fixed position

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

stop accel./decel.

 

 

 

 

ON

 

 

 

 

 

 

time

 

 

 

 

 

 

 

 

 

 

 

 

Servo program start

OFF

ON

 

 

 

 

 

 

 

Speed change

OFF

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

request (CHGV)

 

 

 

 

 

 

ON

 

 

 

 

 

 

 

 

 

Fixed position stop

OFF

 

 

 

 

 

 

 

 

command device

 

 

 

 

 

 

 

 

 

 

 

Fixed position stop

 

 

 

 

 

 

 

 

 

 

 

accel./decel. time

 

 

a

b

 

c

 

d

(Indirect setting device)

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

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