7. POSITIONING CONTROL
7
−
80
7.15 Speed-Switching
Control
(1) After a single control start, the speed is switched for positioning control to the
preset speed-switching points.
(2) The speed-switching points and speed are set by the servo program.
(3) Repeated instructions permit repeated control between any speed-switching
points.
(4) M-codes and torque limit values can be changed at each speed-switching point.
7.15.1
Starting speed-switching control, speed-switching points, end designation
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
rav
el 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
c
e
le
ra
ti
o
n
T
ime
D
e
c
e
le
ra
ti
o
n
T
ime
R
a
p
id
S
to
p
D
eceler
atio
n
T
im
e
T
o
rq
ue
L
imi
t Va
lu
e
D
e
c
e
le
ra
ti
on
P
roc
e
s
s
in
g
on
S
top I
n
pu
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
S-
Cu
rv
e
Ra
ti
o
C
a
n
cel
St
a
rt
S
p
e
e
d C
h
a
n
ge
Start
VSTART
∆
∆
∆
∆
∆
∆
∆
∆
∆
∆
∆
End
VEND
ABS-1
1
ABS-2
2
End point
address
ABS-3
Absolute data
3
INC-1
1
INC-2
2
Travel value
to end point
INC-3
Incremental
3
!
!
!
∆
∆
∆
∆
∆
OK
VABS
Absolute data
Speed-
switching
point
VABC
Incremental
!
!
∆
∆
!
: Must be set
∆
: Set if required
