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5 OPERATION CONTROL PROGRAMS
(9) By specifying a negative speed and making a speed change request during the
start, allows the axis to start deceleration at that point and return in the opposite
direction upon completion of deceleration. The following operations by the servo
instruction are shown below.
Control mode Servo instruction Operation
Linear control
ABS
1 INC 1
ABS
2 INC 2
ABS
3 INC 3
ABS
4 INC 4
On completion of deceleration, the axis reverses its
moving direction, returns to the positioning starting
point at the absolute value of the specified speed,
and stops (waits) there.
For circular interpolation, the axis returns in the
circular path.
Circular interpolation control
ABS circular
INC circular
Fixed-pitch feed
FEED
1 FEED 2 FEED 3
Constant-speed control
CPSTART1
CPSTART2
CPSTART3
CPSTART4
On completion of deceleration, the axis reverses its
moving direction, returns to the preceding point at
the absolute value of the specified speed, and stops
(waits) there.
Speed control ( )
VF
VR
On completion of deceleration, the axis reverses its
moving direction at the absolute value of the
specified speed.
The axis does not stop until a stop instruction is
input.
Position follow-up control
PFSTART
The axis cannot return.
The speed change request is regarded as a normal
speed change request.
Minor error [305]
(Note)
will occur and the axis will be
controlled at the speed limit value.
Speed control with fixed
position stop
PVF
PVR
JOG operation
(Note): Minor error [305] : The setting speed is outside the range of 0 to speed limit value.
[Controls]
(a) If a speed change is made to a negative speed, control is executed with the
control mode during the start as indicated in the above table.
(b) The returning command speed is the absolute value of a new speed.
(c) When the axis is waiting at the return position
1) Signal states
• [St.345] Command generation axis
start accept flag (M9810+20n) ............................... ON (unchanged from
before execution of
CHGVS instruction)
• [St.340] Command generation axis
positioning start complete (M9800+20n) ............... ON (unchanged from
before execution of
CHGVS instruction)
• [St.341] Command generation axis
positioning complete (M9801+20n) ....................... OFF
• [St.342] Command generation axis
command in-position (M9803+20n)....................... OFF
• [St.347] Command generation axis
speed change "0" accepting flag (M9812+20n) .... ON
2) Make a speed change to a positive speed for a restart.
3) Turn on the stop command to end the positioning.
4) A negative speed change made again will be ignored.
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