Speed-Switching Control; Starting Speed-Switching Control, Speed-Switching Points, End Designation - Mitsubishi Electric A173UHCPU Programming Manual

7. POSITIONING CONTROL
7.15

Speed-Switching Control

7.15.1

Starting speed-switching control, speed-switching points, end designation

Servo Positioning
Instruction
VSTART
Start
End
VEND
ABS-1
End point
Absolute data
ABS-2
address
ABS-3
INC-1
Travel value
INC-2
to end point
INC-3
Speed-
Absolute data
VABS
switching
VABC
point
(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.
Number of
Controllable
Method
Axes
∆
 
1
2
3
!
1
Incremental 2
3

Incremental
Items Set by Peripherals
Common Arc
∆ ∆ ∆
! !
∆ ∆
! !
7 − 80
Parameter Block
∆ ∆ ∆ ∆ ∆ ∆ ∆
Others
∆ ∆ ∆

∆ ∆
OK

! : Must be set
∆ : Set if required