7. POSITIONING CONTROL
7 − 75
7.14.2 Restarting speed/position switching control
Restarting (continuing) speed/position switching control after a stop due to a stop
command. Control is restarted using the VPSTART servo instruction.
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
VPSTART
! ∆∆
! : Must be set
∆ : Set if required
[Control Details]
(1) Speed/position switching control is continued after it was stopped due to a stop
command.
(2) Restarting using VPSTART is valid whether the stop occurred during speed
control or position control.
(a) If the stop occurred during speed control, then speed control continues and
switches to position control when the CHANGE signal turns ON.
The control conditions after restarting are the same as the
previous speed/position switching control conditions.
See 7.14.1 "Starting Speed/Position Switching Control".
V
t
Speed control
Operation speed
SVST insutruction
CHANGE signal ON
VPF/VPR instruction
VPSTART
OFF
M3205+20n
ON
Speed
control
Position
control
Speed/position
switching control
start
Stop command received
Stop
Restart
Set travel value
Stop
Fig.7.27 Restarting During Speed Control
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