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Chapter 12 Expansion Control
[2] Speed control mode
Operation for speed control mode
The speed control is executed at the speed set in "[Cd.140] Command speed at
speed control mode" in the speed control mode. Set a positive value for forward
rotation and a negative value for reverse rotation. "[Cd.140]" can be changed any
time during the speed control mode.
Acceleration/deceleration is performed based on a trapezoidal
acceleration/deceleration processing. Set acceleration/deceleration time toward
"[Pr.8] Speed limit value" in "[Cd.141] Acceleration time at speed control mode"
and "[Cd.142] Deceleration time at speed control mode". The value at speed
control mode switching request is valid for "[Cd.141]" and "[Cd.142]".
The command speed during the speed control mode is limited with "[Pr.8] Speed
limit value". If the speed exceeding the speed limit value is set, the warning
"Speed limit value over" (warning code: 501) occurs, and the operation is
controlled with the speed limit value.
Confirm the command speed to servo amplifier with "[Md.122] Speed during
command".
Cd.142
Deceleration time at
speed control mode
0
t
V
0
20000 30000
-10000
-200000
0
Pr.8 Speed limit value
30000
20000
-10000
-20000
Pr.8
Speed limit value
Md.122
The command speed to servo amplifier is stored
in " Speed during command.
Cd.141
Acceleration time at
speed control mode
Cd.140
Command speed at
speed control mode
Cd.141
Acceleration time at
speed control mode
Cd.142
Deceleration time at
speed control mode
Feed current value during speed control mode
"[Md.20] Feed current value", "[Md.21] Feed machine value" and "[Md.101] Real
current value" are updated even in the speed control mode.
If the feed current value exceeds the software stroke limit, the error "Software
stroke limit +" (error code: 507) or "Software stroke limit -" (error code: 508) occurs,
and the operation switches to the position control mode. Invalidate the software
stroke limit to execute one-way feed.
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