3 MAJOR POSITIONING CONTROL
3.1 Outline of Major Positioning Controls
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3
■Speed handling
• Continuous path control command speeds are set with each positioning data. The Simple Motion module carries out the
positioning at the speed designated with each positioning data.
• The command speed can be set to "-1" in continuous path control. The control will be carried out at the speed used in the
previous positioning data No. if the command speed is set to "-1". The "current speed" will be displayed in the command
speed when the positioning data is set with an engineering tool. The current speed is the speed of the positioning control
being executed currently.
• The speed does not need to be set in each positioning data when carrying out uniform speed control if "-1" is set
beforehand in the command speed.
• If the speed is changed or the override function is executed, in the previous positioning data when "-1" is set in the
command speed, the operation can be continued at the new speed.
• The error "No command speed" (error code: 1A12H to 1A14H) occurs and positioning cannot be started if "-1" is set in the
command speed of the first positioning data at start.
[Relation between the command speed and current speed]
• In the continuous path control, a speed variation will not occur using the near-pass function when the
positioning data is switched. (Page 231 Near pass function)
• The Simple Motion module holds the command speed set with the positioning data, and the latest value of
the speed set with the speed change request as the "[Md.27] Current speed". It controls the operation at the
"current speed" when "-1" is set in the command speed. (Depending on the relation between the movement
amount and the speed, the feedrate may not reach the command speed value, but even then the current
speed will be updated.)
• When the address for speed change is identified beforehand, generate and execute the positioning data for
speed change by the continuous path control to carry out the speed change without requesting the speed
change with a program.
2000
1000
3000
30001000
1000
-1
3000
-1
3000
-1
3000
P1 P2 P3 P4 P5
Speed
3000
[Da.8] Command speed
[Md.27] Current speed
The current speed is changed
even if the command speed
is not reached in P2.
2000
1000
3000
30001000
1000
-1
3000
-1
3000
-1
3000
P1 P2 P3 P4 P5
Speed
3000
[Da.8] Command speed
[Md.27] Current speed
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