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

7. POSITIONING CONTROL
7.14

Speed/Position Switching Control

7.14.1

Starting speed/position switching control

Servo
Instruction
VPF
VPR
[Control Details]
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Speed/position switching control of the axes designated in the sequence program
positioning commands.
Speed/position switching control uses the VPF (forward), VPR (reverse), and
VPSTART (restart) servo instructions.
Number of
Positioning
Controllable
Method
Axes
∆
!
Incremental 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
• VPR ........movement in reverse direction (direction in which addresses
(2) The external CHANGE signal is only valid when M1805+20n (Speed/position
switching enable signal) is ON. If M1805+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
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Items Set by Peripherals
Common Arc
∆ ∆ ∆
! !
increase)
decrease)
V
M1805
OFF
+20n
(Note)
7 − 67
Parameter Block
∆ ∆ ∆ ∆ ∆ ∆
Set travel
value
Position control
Speed control
CHANGE signal valid
ON
Others
∆ ∆ ∆
OK
! : Must be set
∆ : Set if required
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