7. POSITIONING CONTROL
7
−
67
7.14
Speed/Position Switching Control
7.14.1
Starting speed/position switching control
Speed/position switching control of the axes designated in the sequence program
positioning commands.
Speed/position switching control uses the VPF (forward), VPR (reverse), and
VPSTART (restart) servo instructions.
Items Set by Peripherals
Common
Arc
Parameter Block
Others
Servo
Instruction
Positioning
Method
Number of
Controllable
Axes
Pa
ra
me
te
r B
lo
c
k
N
o
.
Ax
is
A
d
d
ress/T
ra
v
e
l V
a
lu
e
C
o
mma
nd
e
d
Sp
e
e
d
Dwell T
im
e
M
C
ode
T
o
rq
ue
L
imi
t Va
lu
e
A
u
xiliar
y
P
o
in
t
Ra
d
iu
s
Cen
ter
P
o
in
t
Co
n
tr
o
l Un
it
S
p
e
e
d Li
m
it V
a
lu
e
A
c
celer
atio
n
T
im
e
D
e
c
e
le
ra
ti
o
n
T
ime
R
a
pi
d S
top D
e
c
e
le
ra
ti
on
T
im
e
T
o
rq
ue
L
imi
t Va
lu
e
D
e
celer
a
tio
n
P
ro
cessin
g
o
n
S
to
p
I
n
p
u
t
A
ll
o
w
a
b
le
Erro
r R
a
ng
e
f
o
r C
irc
ul
a
r I
n
te
rp
o
la
ti
o
n
SCurv
e
Ra
ti
o
Ca
n
c
e
l
St
a
rt
S
p
eed
C
h
an
g
e
VPF
VPR
Incremental
1
∆
!
!
!
∆
∆
∆
∆
∆
∆
∆
∆
∆
∆
∆
∆
OK
!
: Must be set
∆
: Set if required
[Control Details]
(1) The servomotor starts under speed control, but on input of the external
CHANGE signal the control changes from speed control to position control and
the axis is positioned by the designated travel value.
•
VPF.........movement in forward direction (direction in which addresses
increase)
•
VPR ........movement in reverse direction (direction in which addresses
decrease)
(2) The external CHANGE signal is only valid when M1805
+
20n (Speed/position
switching enable signal) is ON. If M1805
+
20n turns ON after the CHANGE
signal turns ON, no speed/position switching occurs and speed control is
continued.
V
External CHANGE input
Speed/position
switching enable signal
t
Speed control
Set travel
value
Position control
CHANGE signal valid
ON
OFF
(Note)
M1805
+20n
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