Restarting Speed/Position Switching Control - Mitsubishi Electric SV13/22 Programming Manual

7. POSITIONING CONTROL
7.14.2

Restarting speed/position switching control

Servo
Instruction
VPSTART
[Control Details]
SVST instruction
VPF/VPR instruction
VPSTART
M18m5
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Restarting (continuing) speed/position switching control after a stop due to a stop
command. Control is restarted using the VPSTART servo instruction.
Number of
Positioning
Controllable
Method
Axes
!
(1) Speed/position switching control is continued after it was stopped due to a stop
command.
(2) Restarting using VPSTART is valid whether the stop occurred during speed
control or position control.
(a) If the stop occurred during speed control, then speed control continues and
switches to position control when the CHANGE signal turns ON.
The control conditions after restarting are the same as the
previous speed/position switching control conditions.
See 7.14.1 "Starting Speed/Position Switching Control".
V
Speed/position
switching
control start
OFF
Fig. 7.27 Restarting During Speed Control
search engine
Items Set by Peripherals
Common Arc
Operation speed
Stop command received
Restart
Stop
Speed control
ON
7 − 74
Parameter Block
CHANGE signal ON
Set travel value
Stop
Speed control Position control
Others
∆ ∆
! : Must be set
∆ : Set if required
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