Mitsubishi Electric MELSEC iQ-R16MTCPU, Programming Manual

Page: 323 / 482

5 POSITIONING CONTROL
5.14 Speed Control (II)
321
5
5.14
Speed Control (II)
• Speed control for the specified axis is executed.
• Speed control not includes positioning loops for control of servo amplifiers. It can be used for control, etc. so that it may not
become error excessive.
Refer to the speed-torque control for executing speed control that does not include positioning loops without
using the servo program. (

Page 431 Speed-Torque Control)
• Speed control (

) uses the VVF (Forward) and VVR (Reverse) servo instructions.

: Must be set,

: Set if required
*1 Only when the reference axis speed is specified
Processing details
• Controls the axis at the specified speed until the input of the stop command after starting of the servomotors.
• Current value or deviation counter do not change at "0".
• When the setting for "torque" is set in the servo program and an indirect setting made, the torque limit value can be
changed during operation by changing the value of the indirect device.
• The stop command and stop processing are the same as for speed control (

). (

Page 259 Stop processing and
restarting after stop)
Precautions
• The feed current value is changed to "0" at the start. When speed control (

) is executed in the absolute position system,
the feed current value that is restored when the control circuit power supply of the servo amplifier or the Multiple CPU
system power supply is turned ON again, may be different from the feed current value before the power supply was turned
ON again.
• The dwell time cannot be set.
Servo instruction Description
VVF Forward direction start
VVR Reverse direction start
Positioning data set in servo instructions
Common Servo
instruction
Positioning
method
Number
of
control
axes
Arc OSC Parameter block Others
Parameter block No. Acceleration time Deceleration time Rapid Stop deceleration time Torque limit value Deceleration processing on stop input Allowable error range for circular interpolation S-curve ratio Advanced S-curve acceleration/deceleration Bias speed at start Repeat condition Program No. Command speed (Continuous trajectory) Skip FIN acceleration/deceleration WAIT-ON/OFF Fixed position stop Axis Address/travel value Command speed Dwell time M-code Torque limit value Auxiliary point Radius Central point Number of pitches Starting angle Amplitude Frequency Interpolation control unit Speed limit value Reference axis No.
*1
Fixed position stop acceleration/deceleration time
VVR
VVF
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