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6 POSITIONING CONTROL
6.15.2 Re-starting after stop during control
Re-starting (continuing) after stop with stop command during speed-position switching
control is executed.
Re-starting uses VPSTART servo instruction.
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
VPSTART
Incremental 1
Valid
: Must be set
: Set if required
[Control details]
(1) The continuous control after stop during speed control is executed, after speed-
position switching control start.
(2) Re-starting using the VPSTART is effective by stop during speed control or
position control.
(a) Re-starts with the speed control at the stop during speed control, then
switches to position control by turning on the CHANGE signal.
The control contents after re-starting are same as the speed-position
switching control. Refer to Section 6.15.1.
V
ON
t
Position
controlling
Speed
controlling
Setting travel value
OFF
Speed/position
switching enable command
(M3205+20n)
CHANGE signal valid
CHANGE signal input
from external source
Fig. 6.27 Re-starting during speed control
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