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