LS Industrial Systems XGT Series - Speed;Position Switching Control (APM_VTP)

Chapter 7 Function Block
7-30
7.8.5 Speed/Position Switching Control (APM_VTP)
Form of Function Block Description
Input
REQ : Request for execution of function block
BASE : Set the base no. with module
SLOT : Set the slot no. with module
AXIS : Axis to command
Output
DONE : Maintain 1 after first operating
STAT : Output the error no. in operation
(1) Give “Speed/Position Switching Control” command to the axis designated as the axis of positioning module with
BASE (Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) When the designated axis receives speed/position control switching command in speed control operation,
speed control will be changed to position control and keep operating by the position value at the beginning.
(3) If this command is executed, origin would be decided at the same time and it finishes the positioning after arrive
at the goal position.
(4) Set an axis to command from 0 ~ 1. If you set wrongly, “Error6” arises.