Chapter 3 Before positioning
3- 7
3.1.4 Speed/position switching control
• It change speed control to position control by switching command (VTP instruction).
• In case of speed/position switching control, items affecting the operation are different according to
control method.
- First, object moves by speed control. If speed/position switching control is executed, target will
move by position control.
- At this time, position control is executed by absolute coordinates with initializing the current
position as 0. So coordinates item doesn’t affect the operation.
- Since control method also changes by speed/position switching, control method in the operation
data doesn’t affect the operation.
- In case of speed/position switching, object keeps its previous direction.
(1) Example
• It assumes that operation data is specified as shown table 3-4.
Step
no.
Coord
.
Pattern
Contr
ol
Metho
d
Rep
step
Address
[Pulse]
M
Code
A/D
No.
Speed
[pls/s]
Dwell [㎳]
1 INC END SPD SIN 0 1000 11 1 500 100
<Table 3-4 operation data example of speed/position switching control>
< Figure 3-4 Operation of speed/position switching control >
These items don’t affect the operation in case of speed
These items don’t affect the operation when changed into position
switching
occurrence flag
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