Mitsubishi Electric A173UHCPU Programming Manual

7. POSITIONING CONTROL
7 − 80
7.15 Speed-Switching Control
(1) After a single control start, the speed is switched for positioning control to the
preset speed-switching points.
(2) The speed-switching points and speed are set by the servo program.
(3) Repeated instructions permit repeated control between any speed-switching
points.
(4) M-codes and torque limit values can be changed at each speed-switching point.
7.15.1 Starting speed-switching control, speed-switching points, end designation
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
Start
VSTART
∆ ∆∆∆∆∆∆∆ ∆∆∆
End
VEND
 
ABS-1
1
ABS-2
2
End point
address
ABS-3
Absolute data
3
INC-1
1
INC-2
2
Travel value
to end point
INC-3
Incremental
3
!!! ∆∆∆ ∆∆OK
VABS
Absolute data
Speed-
switching
point
VABC
Incremental
 !! ∆∆ 
! : Must be set
∆ : Set if required

Mitsubishi Electric A173UHCPU Specifications

General

Brand	Mitsubishi Electric
Model	A173UHCPU
Category	Control Unit
Language	English