7. POSITIONING CONTROL
7
−
60
7.12
Speed Control (I)
(1) Speed control of the axis designated in the sequence program positioning
commands.
(2) Control includes positioning loops for control of servo amplifiers.
(3) Speed control (I) uses the VF (forward) and VR (reverse) 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
rav
el V
a
lu
e
C
o
m
m
a
n
d
ed
S
p
eed
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
eed
C
h
an
g
e
VF
VR
1
∆
!
!
∆
∆
∆
∆
∆
∆
∆
∆
∆
∆
OK
!
: Must be set
∆
: Set if required
[Control Details]
(1) Controls the axis at the designated speed between the start of servo motor
operation and the input of the stop command.
•
VF......... movement in forward direction
•
VR ........ movement in reverse direction
(2) The present value does not change at zero.
t
V
Operation speed
Set
speed
Start
speed
control
Stop command
received
Stop
Fig.7.26 Speed Control (I)
