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4.2 Setup Procedure
4.2.5 Servo Commands to Use
Movement Direction after Changing to Position Control
during Speed Control, Torque Control, or Constant-Speed
Control
When you change to position control (POSING or EX_POSING) during speed control
(VELCTRL), torque control (TRQCTRL), or constant-speed control (FEED or EX_FEED), the
movement direction for positioning is determined by the setting of Pn87E = n.
ment Method for the Rotational Coordinates).
The following figure gives an example of the operation for changing from speed control to posi-
tion control.
• Changing to Position Control in the Same Direction (Pn87E = n.0) as the Direction of
Speed Control (Direction Specified in the Command)
+ Speed
- Speed
• Changing to Position Control in a Different Direction (Pn87E = n.0) from the Direction of
Speed Control (Command Reference Direction)
+ Speed
- Speed
Note: If the Movement Method for Rotational Coordinates (Pn87E = n.
= n.
timing of changing to position control.
4-8
Speed control
(Movement direction is determined
by the command (VREF).)
Speed control
(Movement direction is determined
by the command (VREF).)
0) or to Positioning by Near Course (Pn87E = n.
Deceleration rate for position control
Target position (TPOS)
Position control
(Movement direction is determined
by setting of Pn87E = n.
0.)
Deceleration rate for position control
Target position (TPOS)
Positioning is completed by
Position control
moving in the opposite direction.
(Movement direction is determined
by setting of Pn87E = n.
0.)
X) is set to Absolute Positioning (Pn87E
3), the movement direction will depend on the
X (Move-
Time
Time
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