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3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
Position-speed switching control
In "position-speed switching control" ("[Da.2] Control method" = Forward run: position/speed, Reverse run: position/speed),
before the position-speed switching signal is input, position control is carried out for the movement amount set in "[Da.6]
Positioning address/movement amount" in the axis direction in which the positioning data has been set. When the position-
speed switching signal is input, the position control is carried out by continuously outputting the pulses for the speed set in
"[Da.8] Command speed" until the input of a stop command.
The two types of position-speed switching control are "Forward run: position/speed" in which the control starts in the forward
run direction, and "Reverse run: position/speed" in which control starts in the reverse run direction.
Switching over from position control to speed control
• The control is selected the switching method from position control to speed control by the setting value of "[Cd.45] Speed-
position switching device selection".
n: Axis No. - 1
The switching is performed by using the following device when "2" is set.
n: Axis No. - 1
• "[Cd.26] Position-speed switching enable flag" must be turned ON to switch over from position control to speed control. (If
the "[Cd.26] Position-speed switching enable flag" turns ON after the position-speed switching signal turns ON, the control
will continue as position control without switching over to speed control. The control will be switched over from position
control to speed control when the position-speed switching signal turns from OFF to ON again. Only speed control will be
carried out when the "[Cd.26] Position-speed switching enable flag" and position-speed switching signal are ON at the
operation start.)
n: Axis No. - 1
Setting item Setting value Setting details Buffer memory address
[Cd.45] Speed-position switching
device selection
The device used for speed-position switching is selected.
0: Use the external command signal for switching from
position control to speed control
1: Use the near-point signal for switching from position control
to speed control
2: Use the "[Cd.46] Speed-position switching command" for
switching from position control to speed control
4366+100n
Setting item Setting value Setting details Buffer memory address
[Cd.46] Speed-position switching
command
The speed-position control switching is performed when "2" is
set in "[Cd.45] Speed-position switching device selection".
4367+100n
Setting item Setting value Setting details Buffer memory address
[Cd.26] Position-speed switching
enable flag
1 1: Position control will be taken over by speed control when
the external command signal [DI] comes ON.
4332+100n
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