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6 POSITIONING CONTROL
6.15 Speed/Position Switching Control
6.15.1 Speed/position switching control start
Speed/position switching control for specified axis is executed.
Speed/position switching control uses the VPF (Forward rotation), VPR (Reverse
rotation) and VPSTART (Re-start) servo instructions.
Items are set in peripheral devices
Common Arc Parameter block Others
Servo
instruction
Positioning
method
Number of
control axes
Parameter block No.
Axis
Address/travel value
Command s
p
eed
Dwell time
M-code
Tor
q
ue limit value
Auxiliar
y
p
oint
Radius
Central
p
oint
Control unit
S
p
eed limit value
Acceleration time
Deceleration time
Ra
p
id sto
p
deceleration time
Tor
q
ue limit value
Deceleration
p
rocessin
g
on sto
p
in
p
ut
Allowable error ran
g
e for circular inter
p
olation
S-curve ratio
Cancel
WAIT-ON/OFF
Speed change
VPF
VPR
Incremental 1
Valid
: Must be set
: Set if required
[Control details]
(1) The speed control is executed after the start of the servomotor, and changes from
speed control to position control with the CHANGE (Speed/position switching)
signal from external source, and then the specified positioning travel value is
executed.
• VPF...... Forward rotation direction (Address increase direction) start
• VPR….. Reverse rotation direction (Address decrease direction) start
(2) The CHANGE signal from external source is effective during speed/position
switching enable signal (M3205+20n) is on only. If M3205+20n turns on after the
CHANGE signal turned on, it does not change from speed control to position
control and speed control is continued.
V
ON
t
Position
controlling
Speed
controlling
Setting travel value
OFF
Speed/position
switching enable signal
(M3205+20n)
CHANGE signal input
from external source
CHANGE signal valid
(Note)