Speed-Position Switching Control; Speed-Position Switching Control Start - Mitsubishi Electric MELSEC Q Series Programming Manual

6 POSITIONING CONTROL

6.15 Speed-Position Switching Control

6.15.1 Speed-position switching control start

Servo Positioning
instruction method
VPF
Incremental
VPR
[Control details]
Speed-position switching control for specified axis is executed.
Speed-position switching control uses the VPF (Forward rotation), VPR (Reverse
rotation) and VPSTART (Re-start) servo instructions.
Common
Number of
control axes
1
(1) The speed control (including positioning loops) is executed after the start of the
servo motor, and changes from speed control to position control with the
CHANGE (Speed/position switching) signal from external source, and then the
specified positioning travel value is executed.
VPF...... Forward rotation direction (Address increase direction) start
•
VPR..... Reverse rotation direction (Address decrease direction) start
•
(2) The CHANGE signal from external source is effective during speed/position
switching enable signal (M3205+20n) is on only. If M3205+20n turns on after the
CHANGE signal turned on, it does not change from speed control to position
control and speed control is continued.
Speed/position
switching enable command
(M3205+20n)
CHANGE signal input
from external source
Items set using MT Developer2
Arc
V
Speed
controlling
ON
OFF
(Note)
6 - 100
Parameter block Others
Setting travel value
Position
controlling
CHANGE signal valid
Speed
change
Valid
: Must be set
: Set if required
t