Mitsubishi Electric MELSEC Q Series Programming Manual page 296

6 POSITIONING CONTROL
(b) If the stop occurred during position control, re-start with position, and the
positioning control of setting travel value.
The travel value after the re-start is calculated as follows:
Travel value
after re-start
(P2)
Servo program start
VPF/VPR instruction
VPSTART
Stop command
(M3200+20n)
Speed/position switching
enable command (M3205+20n)
Fig.6.28 Re-starting during speed control
(3) It controls at the speed stored at the VPF/VPR instruction execution in the re-
starting.
Therefore, even if the speed change before stop during control, it becomes the
speed at the VPF/VPR instruction execution.
V
Setting
speed
Fig.6.29 Re-starting after speed change
Setting travel
=
value(P)
V
Operation speed
Speed-position
switching control
start
Speed
control
ON
OFF
Speed change
Stop command
Speed control
6 - 109
Travel value
before stop
(P1)
P1: Travel value before stop
P2: Travel value after restart
CHANGE
signal ON
Stop command accept
Restart
P1
Stop
Position
control
Operation speed
CHANGE signal ON
Restart
Speed Position
control control
P2
t
Position
control
t