7. POSITIONING CONTROL
7 − 60
7.12 Speed Control (I)
(1) Speed control of the axis designated in the sequence program positioning
commands.
(2) Control includes positioning loops for control of servo amplifiers.
(3) Speed control (I) uses the VF (forward) and VR (reverse) servo instructions.
Items Set by Peripherals
Common Arc Parameter Block Others
Servo
Instruction
Positioning
Method
Number of
Controllable
Axes
Parameter Block No.
Axis
Address/Travel Value
Commanded Speed
Dwell Time
M-Code
Torque Limit Value
Auxiliary Point
Radius
Center Point
Control Unit
Speed Limit Value
Acceleration Time
Deceleration Time
Rapid Stop Deceleration Time
Torque Limit Value
Deceleration Processing on Stop Input
Allowable Error Range for Circular Interpolation
S-Curve Ratio
Cancel
Start
Speed Change
VF
VR
1 ∆ !! ∆ ∆∆∆∆∆∆ ∆∆∆OK
! : Must be set
∆ : Set if required
[Control Details]
(1) Controls the axis at the designated speed between the start of servo motor
operation and the input of the stop command.
• VF.........movement in forward direction
• VR ........movement in reverse direction
(2) The present value does not change at zero.
t
V
Operation speed
Set
s
eed
Start
speed
control
Stop command
received
Stop
Fig.7.26 Speed Control (I)
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