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6 POSITIONING CONTROL
The following servo program which performs the speed control for axis 4 to the
forward direction at speed 50000, and the position control of the travel value set in
D76, D77 after the CHANGE signal from external source turns on.
<K 11>
VPF
Speed 50000
Axis 4, D76
Indicates indirect specification of travel value
(b) The travel value is stored in the data register for travel value change during
speed control in the Motion SFC program. When the CHANGE signal turns
on, the contents of the data register for travel value change are set as the
travel value.
P2 is reset as the travel value
Travel value
Position
controlling
Speed
controlling
V
Data register for travel
value change
OFF
t
ON
P2
P1
P3
change possible
CHANGE signal input
from external source
(5) Travel value area after proximity dog ON
The travel value since the position mode was selected by the CHANGE signal
input from external source is stored in the travel value storage register after
proximity dog ON. (Refer to Section 3.2.1)
[Cautions]
(1) Item check at the CHANGE signal ON from external source
When the external CHANGE signal turns on, speed control switches to position
control if the following conditions are met:
• Start accept flag (M2001+n) is turning on.
• Speed control is executing after starting of the speed/position switching control.
• Speed/position switching enable command (M3205+20n) is turning on.
Example