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6 POSITIONING CONTROL
(b) If the stop occurred during position control, re-start with position, and the
positioning control of setting travel value.
The travel value after the re-start is calculated as follows:
Travel value
before stop
(P1)
Travel value
after re-start
(P2)
Setting travel
value(P)
=
-
P1
P1: Travel value before stop
Stop command accept
CHANGE
signal ON
Operation speed
V
Stop
P2: Travel value after restart
Position
control
Speed
control
t
P2
Restart
VPF/VPR instruction
Servo program start
Speed/position switching
enable command (M3205+20n)
VPSTART
ON
OFF
Speed/position
switching control
start
Stop command
(M3200+20n)
Position
control
Fig.6.28 Re-starting during speed control
(3) It controls at the speed stored at the VPF/VPR instruction execution in the re-
starting.
Therefore, even if the speed change before stop during control, it becomes the
speed at the VPF/VPR instruction execution.
Stop command
CHANGE signal ON
Operation speed
Speed change
Setting
speed
V
Speed control
Restart
Position
control
Speed
control
t
Fig.6.29 Re-starting after speed change