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6 POSITIONING CONTROL
6.15 Speed-Position Switching Control
6.15.1 Speed-position switching control start
Speed-position switching control for specified axis is executed.
Speed-position switching control uses the VPF (Forward rotation), VPR (Reverse
rotation) and VPSTART (Re-start) 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
VPF
Incremental 1
Valid
VPR
: Must be set
: Set if required
[Control details]
(1) The speed control (including positioning loops) is executed after the start of the
servo motor, and changes from speed control to position control with the
CHANGE (Speed/position switching) signal from external source, and then the
specified positioning travel value is executed.
• VPF...... Forward rotation direction (Address increase direction) start
• VPR….. Reverse rotation direction (Address decrease direction) start
(2) The CHANGE signal from external source is effective during speed/position
switching enable signal (M3205+20n) is on only. If M3205+20n turns on after the
CHANGE signal turned on, it does not change from speed control to position
control and speed control is continued.
V
ON
t
Position
controlling
Speed
controlling
Setting travel value
OFF
Speed/position
switching enable command
(M3205+20n)
CHANGE signal input
from external source
CHANGE signal valid
(Note)
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