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7. POSITIONING CONTROL
SVST insutruction
VPF/VPR instruction
VPSTART
M3205+20n
V
Set
speed
(b) If the stop occurred during position control, then position control continues
until the positioning reaches the set travel value.
The travel value after the restart is calculated as follows:
Travel value
= = = =
after restart
(P2)
V
Operation speed
Speed/position
switching control
start
ON
OFF
Fig.7.28 Restarting During Speed Control
(3) The speed at restart is the speed stored when the VPF/VPR instruction
occurred.
Therefore, even if a speed change occurred before the stop, control restarts at
the speed set at the time of VPF/VPR instruction execution.
Speed change
Speed control
Fig.7.29 Restarting After Speed Change
Travel value
Set travel
+ + + +
be-
value (P)
fore stop (P1)
Stop
CHANGE
command
signal ON
received
Restart
Stop
P1
Speed
Position
control
control
Operation speed
Stop command
Restart
7 − 76
P1 : Travel value before stop
P2 : Travel value after restart
P2
t
Position
control
CHANGE signal ON
t
Speed
Position
control
control
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