112
3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
Speed-position switching control (INC mode)
In "speed-position switching control (INC mode)" ("[Da.2] Control method" = Forward run: speed/position, Reverse run:
speed/position), the pulses of the speed set in "[Da.8] Command speed" are kept output on the axial direction set to the
positioning data. When the "speed-position switching signal" is input, position control of the movement amount set in "[Da.6]
Positioning address/movement amount" is exercised.
"Speed-position switching control (INC mode)" is available in two different types: "forward run: speed/position" which starts the
axis in the forward run direction and "reverse run: speed/position" which starts the axis in the reverse run direction.
Use the detailed parameter 1 "[Pr.81] Speed-position function selection" with regard to the choice for "speed-position
switching control (INC mode)".
n: Axis No. - 1
*1 If the set value is other than 0 and 2, it is regarded as 0 and operation is performed in the INC mode.
For details of the setting, refer to the following.
Page 407 Basic Setting
Switching over from speed control to position control
• The control is selected the switching method from speed control to position 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.24] Speed-position switching enable flag" must be turned ON to switch over from speed control to position control. (If
the "[Cd.24] Speed-position switching enable flag" turns ON after the speed-position switching signal turns ON, the control
will continue as speed control without switching over to position control. The control will be switched over from position
control to speed control when the speed-position switching signal turns from OFF to ON again. Only position control will be
carried out when the "[Cd.24] Speed-position switching enable flag" and speed-position switching signal are ON at the
operation start.)
n: Axis No. - 1
Setting item Setting value Setting details Buffer memory address
[Pr.81] Speed-position function
selection
0 Speed-position switching control (INC mode) 34+150n
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 speed
control to position control
1: Use the near-point signal for switching from speed control to
position control
2: Use the "[Cd.46] Speed-position switching command" for
switching from speed control to position 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.24] Speed-position switching
enable flag
1 1: Speed control will be taken over by position control when
the external command signal [DI] comes ON.
4328+100n
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