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6 POSITIONING CONTROL
6.13 Speed Control ( )
(1) Speed control for the specified axis is executed.
(2) Control includes positioning loops for control of servo amplifiers.
POINT
Refer to Section 7.7 for performing speed control that does not include positioning
loops without using the servo program.
QDS
(3) Speed control (
) uses the VF (Forward) and VR (Reverse) servo instructions.
Servo
instruction
Positioning
method
Number of
control axes
Items set using MT Developer2
Speed
change
Common Arc Parameter block Others
Parameter block No.
Axis
Address/travel value
Command speed
Dwell time
M-code
Torque limit value
Auxiliary point
Radius
Central point
Interpolation 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
Advanced S-curve acceleration/deceleration
Cancel
WAIT-ON/OFF
VF
— 1
Valid
VR
: Must be set
: Set if required
[Control details]
(1) Controls the axis at the specified speed until the input of the stop command after
starting of the servo motors.
• VF .............. Forward direction start
• VR .............. Reverse direction start
(2) The operation of the current value is as follows.
(a) Q173DSCPU/Q172DSCPU
Ver.!
The operation is as follows depending on the status of the feed current value
update command (M3212+20n).
• ON ........... The feed current value is updated. The software stroke limit is
valid.
• OFF ......... "0" is stored in the feed current value.
(Note): When the operating system software is 00A, the operation is same as
(b).
Ver.!
: Refer to Section 1.3 for the software version that supports this function.
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