Mitsubishi Electric SV13/22 Programming Manual page 224

7. POSITIONING CONTROL
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(2) Positioning conditions
(a) The positioning conditions are shown below.
Servo program number
Controlled axis
Positioning control
travel value
Commanded speed
(b) Positioning start command ........................... leading edge of X000
(c) Speed/position switching enable flag ........... M1865
(3) Operation timing
The operation timing for speed/position switching control is shown below.
PLC ready (M2000)
All axes servo start command
(M2042)
All-axis servo start accept flag
(M2009)
Start command (X000)
SVST instruction
Axis 4 start accept flag (M2004)
Speed/position switching enable flag
(M1865)
CHANGE (external input)
Speed/position switching latch
(M1665)
(4) Servo program
The servo program No. 101 for speed/position switching control is shown
below.
<K 101>
VPF
Axis
Speed
Dwell
search engine
Item Setting
No. 101
Axis 4
40000
Servo program No.101
V
4, 40000
1000
1000
7 − 72
1000
(OFF → ON)
1 s 1 s
Speed/position switching control
Axis used Axis 4
Travel value 40000
Speed 1000
Dwell 1000
Speed control
Position
control
t