Mitsubishi Electric MELSEC iQ-R16MTCPU, Programming Manual

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5 POSITIONING CONTROL
5.15 Speed/Position Switching Control
Re-starting after stop during control
Re-starting (continuing) after stop with stop command during speed/position switching control is executed.
Re-starting uses VPSTART servo instruction.

: Must be set,

: Set if required
*1 Only when the reference axis speed is specified
Processing details
• The continuous control after stop during speed control is executed, after speed/position switching control start.
• Re-starting using the VPSTART is effective by stop during speed control or position control.
• Re-starts with the speed control at the stop during speed control, then switches to position control by turning on the CHANGE signal. The control contents
after re-starting are same as the speed/position switching control. (  Page 324 Speed/position switching control 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
VPSTART Incremental 1
¨
V
ON
t
Position
controlling
Speed
controlling
Setting travel value
OFF
[Rq.1145] Speed/position
switching enable command
(R: 32n/Q: M3205+20n)
CHANGE signal valid
CHANGE signal input
from external source