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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.
Servo program start
OFF
a
b
cd
abc d
V
t
OFF
OFF
ON
ON
Speed change
request (CHGV)
Fixed position stop
command device
Fixed position stop
accel./decel. time
(Indirect setting device)
ON
Change value by speed
change request (CHGV).
Fixed position
stop accel./decel.
time