Speed/Position Switching Control; Starting Speed/Position Switching Control - Mitsubishi Electric A173UHCPU Programming Manual

7. POSITIONING CONTROL
7.14

Speed/Position Switching Control

7.14.1

Starting speed/position switching control

Servo Positioning
Instruction Method
VPF
Incremental
VPR
[Control Details]
Speed/position switching control of the axis designated in the sequence program
positioning commands.
Speed/position switching control uses the VPF (forward), VPR (reverse), and
VPSTART (restart) servo instructions.
Common
Number of
Controllable
Axes
∆
! ! !
1
(1) The servomotor starts under speed control, but on input of the external
CHANGE signal the control changes from speed control to position control and
the axis is positioned by the designated travel value.
• VPF.........movement in forward direction (direction in which addresses
increase)
• VPR ........movement in reverse direction (direction in which addresses
decrease)
(2) The external CHANGE signal is only valid when M3205+20n (Speed/position
switching enable signal) is ON. If M3205+20n turns ON after the CHANGE
signal turns ON, no speed/position switching occurs and speed control is
continued.
Speed/position
switching enable signal
External CHANGE input
Items Set by Peripherals
Arc
∆ ∆ ∆
V
OFF
M3205
+20n
(Note-1)
7 − 67
Parameter Block
∆ ∆ ∆ ∆ ∆ ∆
Set travel value
Speed Position
control contorol
CHANGE signal valid
ON
Others
∆ ∆ ∆
OK
! : Must be set
∆ : Set if required
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