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Speed Control
Section 10-5
Status and Monitoring
during Speed Control
When SPEED CONTROL is executed, some of the Status Flags, monitoring
functions, and display units change.
Servo Status Flags in Axis
Operating Input Memory
Area (Word b+1)
The functions of bits 07 and 08 in the Servo Status Flags of the Axis Operat-
ing Input Memory Area change depending on whether position control or
speed control is used.
Monitors 1 and 2 in Axis
Operating Input Memory
Areas
When the speed (feedback speed, command speed, or target speed) is
selected for monitor 1 or 2, the monitoring unit for position control/torque con-
trol, and speed control will change, as follows:
10-5-3 Switching Control Mode
The PCU's operating commands can be used to switch between position con-
trol, speed control, and torque control of active axes, as follows:
Word
Bits
Control
mode
Flag name
Function
Function change timing
b+1
07
Position
control
Positioning Com-
pleted (PSET) Flag
Sending the position control com-
mand to the Servo Drive com-
pleted and the position is within
Positioning Completion Range 1
(in position).
The function changes when
the command to switch to
position control has been
received (when the Receiving
Command Flag turns OFF).
Speed con-
trol
Speed Conformity
(V-CMP) Flag
Speed matches the speed com-
mand value for speed control.
The function changes when
SPEED CONTROL has been
received (when the Receiving
Command Flag turns OFF).
08
Position
control
Distribution Com-
pleted (DEN) Flag
Sending the position control com-
mand to the Servo Drive com-
pleted (operating for the number of
pulses remaining in the deviation
counter).
The function changes when
the command to switch to
position control has been
received (when the Receiving
Command Flag turns OFF).
Speed con-
trol
Zero Speed (ZSPD)
Flag
Speed control with zero speed in
progress.
The function changes when
SPEED CONTROL has been
received (when the Receiving
Command Flag turns OFF).
Control mode
Speed monitoring
unit
Unit change timing
Position con-
trol/Torque control
Command units/s
The unit changes when the command
to switch to position control/torque con-
trol has been received (when the
Receiving Command Flag turns OFF).
Speed control
0.001%
(percentage of Ser-
vomotor's momen-
tary maximum
rotation speed)
The unit changes when SPEED CON-
TROL has been received (when the
Receiving Command Flag turns OFF).
Operating
command
Control mode
Operation when operating command is
executed
ABSOLUTE
MOVEMENT
Position control
Switches to position control from any control
mode when the command starts and executes
positioning with an absolute position.
RELATIVE
MOVEMENT
Position control
Switches to position control from any control
mode when the command starts and executes
positioning with a relative position.
ORIGIN
SEARCH
Position control
A multistart error occurs when the command
starts from any control mode, and deceleration
stop is executed in position control mode.
ORIGIN
RETURN
Position control
A multistart error occurs when the command
starts from any control mode, and deceleration
stop is executed in position control mode.
Summary of Contents for CJ1W-NC271 - 12-2009
Page 2: ......
Page 4: ...iv ...
Page 6: ...vi ...
Page 22: ...xxii ...
Page 58: ...30 Starting Operation Section 2 2 ...
Page 244: ...216 Axis Operating Input Memory Areas Section 4 8 ...
Page 264: ...236 Transferring Servo Parameters Section 5 3 ...
Page 396: ...368 Linear Interpolation Section 9 7 ...
Page 648: ...620 List of Error Codes Appendix D ...
Page 674: ...646 Additional Functions for the CJ1W NCF71 MA Appendix F ...
Page 684: ...656 Index ...
Page 686: ...658 Revision History ...