7. POSITIONING CONTROL
7 − 67
7.14 Speed/Position Switching Control
7.14.1 Starting speed/position switching control
Speed/position switching control of the axis designated in the sequence program
positioning commands.
Speed/position switching control uses the VPF (forward), VPR (reverse), and
VPSTART (restart) servo instructions.
Items Set by Peripherals
Common Arc Parameter Block Others
Servo
Instruction
Positioning
Method
Number of
Controllable
Axes
Parameter Block No.
Axis
Address/Travel Value
Commanded Speed
Dwell Time
M-Code
Torque Limit Value
Auxiliary Point
Radius
Center Point
Control Unit
Speed Limit Value
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
Cancel
Start
Speed Change
VPF
VPR
Incremental 1 ∆ !!! ∆∆∆ ∆∆∆∆∆∆ ∆∆∆OK
! : Must be set
∆ : Set if required
[Control Details]
(1) The servomotor starts under speed control, but on input of the external
CHANGE signal the control changes from speed control to position control and
the axis is positioned by the designated travel value.
• VPF.........movement in forward direction (direction in which addresses
increase)
• VPR ........movement in reverse direction (direction in which addresses
decrease)
(2) The external CHANGE signal is only valid when M3205+20n (Speed/position
switching enable signal) is ON. If M3205+20n turns ON after the CHANGE
signal turns ON, no speed/position switching occurs and speed control is
continued.
V
ON
OFF
Position
contorol
Speed
control
CHANGE signal valid
Set travel value
Speed/position
switching enable signal
External CHANGE input
(Note-1)
M3205
+20n
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